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// Copyright (c) 2017 CNRS |
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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-joint-posture.hpp> |
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#include "tsid/robots/robot-wrapper.hpp" |
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#include <pinocchio/algorithm/joint-configuration.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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TaskJointPosture::TaskJointPosture(const std::string& name, RobotWrapper& robot) |
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: TaskMotion(name, robot), |
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m_ref(robot.nq_actuated(), robot.na()), |
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m_constraint(name, robot.na(), robot.nv()) { |
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m_ref_q_augmented = pinocchio::neutral(robot.model()); |
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m_Kp.setZero(robot.na()); |
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m_Kd.setZero(robot.na()); |
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Vector m = Vector::Ones(robot.na()); |
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setMask(m); |
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} |
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const Vector& TaskJointPosture::mask() const { return m_mask; } |
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void TaskJointPosture::mask(const Vector& m) { |
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// std::cerr<<"The method TaskJointPosture::mask is deprecated. Use |
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// TaskJointPosture::setMask instead.\n"; |
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return setMask(m); |
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} |
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void TaskJointPosture::setMask(ConstRefVector m) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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m.size() == m_robot.na(), |
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"The size of the mask needs to equal " + 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.nv()); |
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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, "Valid mask values are either 0.0 or 1.0 received: " + |
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std::to_string(m(i))); |
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S(j, m_robot.nv() - m_robot.na() + i) = 1.0; |
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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.nv()); |
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m_constraint.setMatrix(S); |
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} |
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int TaskJointPosture::dim() const { return (int)m_mask.sum(); } |
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const Vector& TaskJointPosture::Kp() { return m_Kp; } |
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const Vector& TaskJointPosture::Kd() { return m_Kd; } |
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void TaskJointPosture::Kp(ConstRefVector Kp) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(Kp.size() == m_robot.na(), |
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"The size of the Kp vector needs to equal " + |
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std::to_string(m_robot.na())); |
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m_Kp = Kp; |
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} |
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void TaskJointPosture::Kd(ConstRefVector Kd) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(Kd.size() == m_robot.na(), |
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"The size of the Kd vector needs to equal " + |
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std::to_string(m_robot.na())); |
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m_Kd = Kd; |
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} |
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void TaskJointPosture::setReference(const TrajectorySample& ref) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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ref.getValue().size() == m_robot.nq_actuated(), |
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"The size of the reference value vector needs to equal " + |
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std::to_string(m_robot.nq_actuated())); |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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ref.getDerivative().size() == m_robot.na(), |
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"The size of the reference value derivative vector needs to equal " + |
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std::to_string(m_robot.na())); |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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ref.getSecondDerivative().size() == m_robot.na(), |
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"The size of the reference value second derivative vector needs to " |
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"equal " + |
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std::to_string(m_robot.na())); |
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m_ref = ref; |
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} |
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const TrajectorySample& TaskJointPosture::getReference() const { return m_ref; } |
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const Vector& TaskJointPosture::getDesiredAcceleration() const { |
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return m_a_des; |
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} |
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Vector TaskJointPosture::getAcceleration(ConstRefVector dv) const { |
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return m_constraint.matrix() * dv; |
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} |
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const Vector& TaskJointPosture::position_error() const { return m_p_error; } |
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const Vector& TaskJointPosture::velocity_error() const { return m_v_error; } |
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const Vector& TaskJointPosture::position() const { return m_p; } |
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const Vector& TaskJointPosture::velocity() const { return m_v; } |
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const Vector& TaskJointPosture::position_ref() const { |
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return m_ref.getValue(); |
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} |
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const Vector& TaskJointPosture::velocity_ref() const { |
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return m_ref.getDerivative(); |
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} |
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const ConstraintBase& TaskJointPosture::getConstraint() const { |
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return m_constraint; |
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} |
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const ConstraintBase& TaskJointPosture::compute(const double, ConstRefVector q, |
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ConstRefVector v, Data&) { |
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m_ref_q_augmented.tail(m_robot.nq_actuated()) = m_ref.getValue(); |
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// Compute errors |
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m_p_error = pinocchio::difference(m_robot.model(), m_ref_q_augmented, q) |
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.tail(m_robot.na()); |
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m_v = v.tail(m_robot.na()); |
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m_v_error = m_v - 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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for (unsigned int i = 0; i < m_activeAxes.size(); i++) |
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m_constraint.vector()(i) = m_a_des(m_activeAxes(i)); |
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return m_constraint; |
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} |
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} // namespace tasks |
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} // namespace tsid |