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// |
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// Copyright (c) 2020 CNRS, NYU, MPI Tübingen, PAL Robotics |
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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-capture-point-inequality.hpp> |
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#include "tsid/math/utils.hpp" |
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#include "tsid/robots/robot-wrapper.hpp" |
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/** This class has been implemented following : |
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* Ramos, O. E., Mansard, N., & Soueres, P. |
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* (2014). Whole-body Motion Integrating the Capture Point in the Operational |
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* Space Inverse Dynamics Control. In IEEE-RAS International Conference on |
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* Humanoid Robots (Humanoids). |
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*/ |
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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 trajectories; |
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using namespace pinocchio; |
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TaskCapturePointInequality::TaskCapturePointInequality(const std::string& name, |
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RobotWrapper& robot, |
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const double timeStep) |
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: TaskMotion(name, robot), |
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m_constraint(name, 2, robot.nv()), |
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m_nv(robot.nv()), |
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m_delta_t(timeStep) { |
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m_dim = 2; |
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m_p_com.setZero(3); |
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m_v_com.setZero(3); |
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m_safety_margin.setZero(m_dim); |
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m_support_limits_x.setZero(m_dim); |
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m_support_limits_y.setZero(m_dim); |
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m_rp_max.setZero(m_dim); |
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m_rp_min.setZero(m_dim); |
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b_lower.setZero(m_dim); |
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b_upper.setZero(m_dim); |
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m_g = robot.model().gravity.linear().norm(); |
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m_w = 0; |
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m_ka = 0; |
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} |
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int TaskCapturePointInequality::dim() const { return m_dim; } |
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Vector TaskCapturePointInequality::getAcceleration(ConstRefVector dv) const { |
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return m_constraint.matrix() * dv - m_drift; |
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} |
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const Vector& TaskCapturePointInequality::position() const { return m_p_com; } |
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const ConstraintBase& TaskCapturePointInequality::getConstraint() const { |
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return m_constraint; |
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} |
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void TaskCapturePointInequality::setSupportLimitsXAxis(const double x_min, |
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const double x_max) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(x_min >= x_max, |
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"The minimum limit for x needs to be greater " |
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"or equal to the maximum limit"); |
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m_support_limits_x(0) = x_min; |
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m_support_limits_x(1) = x_max; |
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} |
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void TaskCapturePointInequality::setSupportLimitsYAxis(const double y_min, |
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const double y_max) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(y_min >= y_max, |
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"The minimum limit for y needs to be greater " |
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"or equal to the maximum limit"); |
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m_support_limits_y(0) = y_min; |
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m_support_limits_y(1) = y_max; |
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} |
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void TaskCapturePointInequality::setSafetyMargin(const double x_margin, |
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const double y_margin) { |
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m_safety_margin(0) = x_margin; |
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m_safety_margin(1) = y_margin; |
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} |
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const ConstraintBase& TaskCapturePointInequality::compute(const double, |
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ConstRefVector, |
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ConstRefVector, |
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Data& data) { |
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m_robot.com(data, m_p_com, m_v_com, m_drift); |
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const Matrix3x& Jcom = m_robot.Jcom(data); |
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m_w = sqrt(m_g / m_p_com(2)); |
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m_ka = (2 * m_w) / ((m_w * m_delta_t + 2) * m_delta_t); |
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m_rp_min(0) = |
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m_support_limits_x(0) + m_safety_margin(0); // x min support polygon |
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m_rp_min(1) = |
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m_support_limits_y(0) + m_safety_margin(1); // y min support polygon |
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m_rp_max(0) = |
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m_support_limits_x(1) - m_safety_margin(0); // x max support polygon |
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m_rp_max(1) = |
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m_support_limits_y(1) - m_safety_margin(1); // y max support polygon |
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for (int i = 0; i < m_dim; i++) { |
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b_lower(i) = |
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m_ka * (m_rp_min(i) - m_p_com(i) - m_v_com(i) * (m_delta_t + 1 / m_w)); |
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b_upper(i) = |
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m_ka * (m_rp_max(i) - m_p_com(i) - m_v_com(i) * (m_delta_t + 1 / m_w)); |
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} |
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m_constraint.lowerBound() = b_lower - m_drift.head(m_dim); |
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m_constraint.upperBound() = b_upper - m_drift.head(m_dim); |
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m_constraint.setMatrix(Jcom.block(0, 0, m_dim, m_nv)); |
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return m_constraint; |
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} |
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} // namespace tasks |
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} // namespace tsid |