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// |
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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-angular-momentum-equality.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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#include <pinocchio/algorithm/centroidal.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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TaskAMEquality::TaskAMEquality(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_L_error.setZero(3); |
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m_dL_error.setZero(3); |
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m_L.setZero(3); |
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m_dL.setZero(3); |
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m_dL_des.setZero(3); |
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m_ref.resize(3); |
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} |
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int TaskAMEquality::dim() const { |
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// return self._mask.sum () |
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return 3; |
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} |
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const Vector3& TaskAMEquality::Kp() { return m_Kp; } |
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const Vector3& TaskAMEquality::Kd() { return m_Kd; } |
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void TaskAMEquality::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 TaskAMEquality::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 TaskAMEquality::setReference(const TrajectorySample& ref) { m_ref = ref; } |
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const TrajectorySample& TaskAMEquality::getReference() const { return m_ref; } |
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const Vector3& TaskAMEquality::getDesiredMomentumDerivative() const { |
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return m_dL_des; |
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} |
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Vector3 TaskAMEquality::getdMomentum(ConstRefVector dv) const { |
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return m_constraint.matrix() * dv - m_drift; |
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} |
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const Vector3& TaskAMEquality::momentum_error() const { return m_L_error; } |
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const Vector3& TaskAMEquality::momentum() const { return m_L; } |
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const Vector& TaskAMEquality::momentum_ref() const { return m_ref.getValue(); } |
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const Vector& TaskAMEquality::dmomentum_ref() const { |
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return m_ref.getDerivative(); |
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} |
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const ConstraintBase& TaskAMEquality::getConstraint() const { |
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return m_constraint; |
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} |
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const ConstraintBase& TaskAMEquality::compute(const double, ConstRefVector, |
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ConstRefVector v, Data& data) { |
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// Compute errors |
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// Get momentum jacobian |
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const Matrix6x& J_am = m_robot.momentumJacobian(data); |
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m_L = J_am.bottomRows(3) * v; |
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m_L_error = m_L - m_ref.getValue(); |
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m_dL_des = -m_Kp.cwiseProduct(m_L_error) + m_ref.getDerivative(); |
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#ifndef NDEBUG |
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// std::cout<<m_name<<" errors: "<<m_L_error.norm()<<" " |
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// <<m_dL_error.norm()<<std::endl; |
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#endif |
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m_drift = m_robot.angularMomentumTimeVariation(data); |
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m_constraint.setMatrix(J_am.bottomRows(3)); |
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m_constraint.setVector(m_dL_des - m_drift); |
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return m_constraint; |
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} |
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} // namespace tasks |
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} // namespace tsid |
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