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// |
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// Copyright (c) 2021 CNRS INRIA LORIA |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include <tsid/tasks/task-actuation-equality.hpp> |
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#include "tsid/robots/robot-wrapper.hpp" |
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namespace tsid { |
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namespace tasks { |
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using namespace math; |
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using namespace pinocchio; |
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TaskActuationEquality::TaskActuationEquality(const std::string& name, |
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RobotWrapper& robot) |
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: TaskActuation(name, robot), m_constraint(name, robot.na(), robot.na()) { |
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m_ref = Vector::Zero(robot.na()); |
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m_weights = Vector::Ones(robot.na()); |
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Vector m = Vector::Ones(robot.na()); |
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mask(m); |
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} |
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const Vector& TaskActuationEquality::mask() const { return m_mask; } |
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void TaskActuationEquality::mask(const Vector& m) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(m.size() == m_robot.na(), |
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"The size of the mask vector needs to equal " + |
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std::to_string(m_robot.na())); |
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m_mask = m; |
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const Vector::Index dim = static_cast<Vector::Index>(m.sum()); |
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Matrix S = Matrix::Zero(dim, m_robot.na()); |
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m_activeAxes.resize(dim); |
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unsigned int j = 0; |
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for (unsigned int i = 0; i < m.size(); i++) |
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if (m(i) != 0.0) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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m(i) == 1.0, |
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"Entries in the mask vector need to be either 0.0 or 1.0"); |
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S(j, i) = m_weights(i); |
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m_activeAxes(j) = i; |
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j++; |
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} |
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m_constraint.resize((unsigned int)dim, m_robot.na()); |
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m_constraint.setMatrix(S); |
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for (unsigned int i = 0; i < m_activeAxes.size(); i++) |
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m_constraint.vector()(i) = |
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m_ref(m_activeAxes(i)) * m_weights(m_activeAxes(i)); |
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} |
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int TaskActuationEquality::dim() const { return (int)m_mask.sum(); } |
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// Reference should be the same size as robot.na(), even if a mask is used |
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// (masked dof values will just be ignored) |
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void TaskActuationEquality::setReference(ConstRefVector ref) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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ref.size() == m_robot.na(), |
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"The size of the reference vector needs to equal " + |
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std::to_string(m_robot.na())); |
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m_ref = ref; |
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for (unsigned int i = 0; i < m_activeAxes.size(); i++) |
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m_constraint.vector()(i) = |
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m_ref(m_activeAxes(i)) * m_weights(m_activeAxes(i)); |
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} |
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const Vector& TaskActuationEquality::getReference() const { return m_ref; } |
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// Weighting vector should be the same size as robot.na(), even if a mask is |
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// used (masked dof values will just be ignored) |
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void TaskActuationEquality::setWeightVector(ConstRefVector weights) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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weights.size() == m_robot.na(), |
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"The size of the weight vector needs to equal " + |
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std::to_string(m_robot.na())); |
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m_weights = weights; |
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for (unsigned int i = 0; i < m_activeAxes.size(); i++) { |
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m_constraint.matrix()(i, m_activeAxes(i)) = m_weights(m_activeAxes(i)); |
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m_constraint.vector()(i) = |
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m_ref(m_activeAxes(i)) * m_weights(m_activeAxes(i)); |
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} |
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} |
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const Vector& TaskActuationEquality::getWeightVector() const { |
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return m_weights; |
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} |
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const ConstraintBase& TaskActuationEquality::getConstraint() const { |
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return m_constraint; |
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} |
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const ConstraintBase& TaskActuationEquality::compute(const double, |
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ConstRefVector, |
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ConstRefVector, Data&) { |
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return m_constraint; |
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} |
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} // namespace tasks |
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} // namespace tsid |