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// |
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// Copyright (c) 2017-2020 CNRS, Inria |
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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-com-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 trajectories; |
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using namespace pinocchio; |
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TaskComEquality::TaskComEquality(const std::string& name, RobotWrapper& robot) |
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: TaskMotion(name, robot), m_constraint(name, 3, robot.nv()) { |
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m_Kp.setZero(3); |
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m_Kd.setZero(3); |
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m_p_error_vec.setZero(3); |
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m_v_error_vec.setZero(3); |
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m_p_com.setZero(3); |
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m_v_com.setZero(3); |
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m_a_des_vec.setZero(3); |
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m_ref.resize(3); |
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m_mask.resize(3); |
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m_mask.fill(1.); |
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setMask(m_mask); |
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} |
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void TaskComEquality::setMask(math::ConstRefVector mask) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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mask.size() == 3, "The size of the mask vector needs to equal 3"); |
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TaskMotion::setMask(mask); |
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int n = dim(); |
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m_constraint.resize(n, m_robot.nv()); |
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m_p_error_masked_vec.resize(n); |
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m_v_error_masked_vec.resize(n); |
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m_drift_masked.resize(n); |
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m_a_des_masked.resize(n); |
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} |
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int TaskComEquality::dim() const { return int(m_mask.sum()); } |
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const Vector3& TaskComEquality::Kp() { return m_Kp; } |
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const Vector3& TaskComEquality::Kd() { return m_Kd; } |
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void TaskComEquality::Kp(ConstRefVector Kp) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(Kp.size() == 3, |
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"The size of the Kp vector needs to equal 3"); |
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m_Kp = Kp; |
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} |
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void TaskComEquality::Kd(ConstRefVector Kd) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(Kd.size() == 3, |
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"The size of the Kd vector needs to equal 3"); |
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m_Kd = Kd; |
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} |
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void TaskComEquality::setReference(const TrajectorySample& ref) { m_ref = ref; } |
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const TrajectorySample& TaskComEquality::getReference() const { return m_ref; } |
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const Vector& TaskComEquality::getDesiredAcceleration() const { |
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return m_a_des_masked; |
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} |
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Vector TaskComEquality::getAcceleration(ConstRefVector dv) const { |
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return m_constraint.matrix() * dv - m_drift_masked; |
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} |
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const Vector& TaskComEquality::position_error() const { |
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return m_p_error_masked_vec; |
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} |
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const Vector& TaskComEquality::velocity_error() const { |
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return m_v_error_masked_vec; |
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} |
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const Vector& TaskComEquality::position() const { return m_p_com; } |
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const Vector& TaskComEquality::velocity() const { return m_v_com; } |
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const Vector& TaskComEquality::position_ref() const { return m_ref.getValue(); } |
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const Vector& TaskComEquality::velocity_ref() const { |
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return m_ref.getDerivative(); |
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} |
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const ConstraintBase& TaskComEquality::getConstraint() const { |
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return m_constraint; |
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} |
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const ConstraintBase& TaskComEquality::compute(const double, ConstRefVector, |
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ConstRefVector, Data& data) { |
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m_robot.com(data, m_p_com, m_v_com, m_drift); |
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// Compute errors |
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m_p_error = m_p_com - m_ref.getValue(); |
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m_v_error = m_v_com - m_ref.getDerivative(); |
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m_a_des = -m_Kp.cwiseProduct(m_p_error) - m_Kd.cwiseProduct(m_v_error) + |
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m_ref.getSecondDerivative(); |
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m_p_error_vec = m_p_error; |
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m_v_error_vec = m_v_error; |
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m_a_des_vec = m_a_des; |
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#ifndef NDEBUG |
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// std::cout<<m_name<<" errors: "<<m_p_error.norm()<<" " |
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// <<m_v_error.norm()<<std::endl; |
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#endif |
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// Get CoM jacobian |
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const Matrix3x& Jcom = m_robot.Jcom(data); |
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int idx = 0; |
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for (int i = 0; i < 3; i++) { |
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if (m_mask(i) != 1.) continue; |
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m_constraint.matrix().row(idx) = Jcom.row(i); |
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m_constraint.vector().row(idx) = (m_a_des - m_drift).row(i); |
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m_a_des_masked(idx) = m_a_des(i); |
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m_drift_masked(idx) = m_drift(i); |
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m_p_error_masked_vec(idx) = m_p_error_vec(i); |
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m_v_error_masked_vec(idx) = m_v_error_vec(i); |
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idx += 1; |
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} |
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return m_constraint; |
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} |
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} // namespace tasks |
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} // namespace tsid |