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// Copyright (c) 2017-2020 CNRS, NYU, MPI Tübingen, 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/math/utils.hpp" |
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#include "tsid/tasks/task-se3-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 std; |
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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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TaskSE3Equality::TaskSE3Equality(const std::string& name, RobotWrapper& robot, |
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const std::string& frameName) |
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: TaskMotion(name, robot), |
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m_frame_name(frameName), |
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m_constraint(name, 6, robot.nv()), |
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m_ref(12, 6) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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m_robot.model().existFrame(frameName), |
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"The frame with name '" + frameName + "' does not exist"); |
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m_frame_id = m_robot.model().getFrameId(frameName); |
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m_v_ref.setZero(); |
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m_a_ref.setZero(); |
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m_M_ref.setIdentity(); |
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m_wMl.setIdentity(); |
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m_p_error_vec.setZero(6); |
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m_v_error_vec.setZero(6); |
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m_p.resize(12); |
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m_v.resize(6); |
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m_p_ref.resize(12); |
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m_v_ref_vec.resize(6); |
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m_Kp.setZero(6); |
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m_Kd.setZero(6); |
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m_a_des.setZero(6); |
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m_J.setZero(6, robot.nv()); |
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m_J_rotated.setZero(6, robot.nv()); |
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m_mask.resize(6); |
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m_mask.fill(1.); |
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setMask(m_mask); |
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m_local_frame = true; |
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} |
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void TaskSE3Equality::setMask(math::ConstRefVector mask) { |
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TaskMotion::setMask(mask); |
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int n = dim(); |
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m_constraint.resize(n, (unsigned int)m_J.cols()); |
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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 TaskSE3Equality::dim() const { return (int)m_mask.sum(); } |
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const Vector& TaskSE3Equality::Kp() const { return m_Kp; } |
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const Vector& TaskSE3Equality::Kd() const { return m_Kd; } |
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void TaskSE3Equality::Kp(ConstRefVector Kp) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(Kp.size() == 6, |
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"The size of the Kp vector needs to equal 6"); |
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m_Kp = Kp; |
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} |
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void TaskSE3Equality::Kd(ConstRefVector Kd) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(Kd.size() == 6, |
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"The size of the Kd vector needs to equal 6"); |
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m_Kd = Kd; |
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} |
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void TaskSE3Equality::setReference(TrajectorySample& ref) { |
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m_ref = ref; |
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TSID_DISABLE_WARNING_PUSH |
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TSID_DISABLE_WARNING_DEPRECATED |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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ref.pos.size() == 12, "The size of the reference vector needs to be 12"); |
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m_M_ref.translation(ref.pos.head<3>()); |
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m_M_ref.rotation(MapMatrix3(&ref.pos(3), 3, 3)); |
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TSID_DISABLE_WARNING_POP |
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m_v_ref = Motion(ref.getDerivative()); |
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m_a_ref = Motion(ref.getSecondDerivative()); |
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} |
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void TaskSE3Equality::setReference(const SE3& ref) { |
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TrajectorySample s(12, 6); |
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TSID_DISABLE_WARNING_PUSH |
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TSID_DISABLE_WARNING_DEPRECATED |
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tsid::math::SE3ToVector(ref, s.pos); |
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TSID_DISABLE_WARNING_POP |
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setReference(s); |
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} |
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const TrajectorySample& TaskSE3Equality::getReference() const { return m_ref; } |
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const Vector& TaskSE3Equality::position_error() const { |
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return m_p_error_masked_vec; |
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} |
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const Vector& TaskSE3Equality::velocity_error() const { |
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return m_v_error_masked_vec; |
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} |
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const Vector& TaskSE3Equality::position() const { return m_p; } |
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const Vector& TaskSE3Equality::velocity() const { return m_v; } |
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const Vector& TaskSE3Equality::position_ref() const { return m_p_ref; } |
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const Vector& TaskSE3Equality::velocity_ref() const { return m_v_ref_vec; } |
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const Vector& TaskSE3Equality::getDesiredAcceleration() const { |
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return m_a_des_masked; |
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} |
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Vector TaskSE3Equality::getAcceleration(ConstRefVector dv) const { |
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return m_constraint.matrix() * dv + m_drift_masked; |
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} |
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Index TaskSE3Equality::frame_id() const { return m_frame_id; } |
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const ConstraintBase& TaskSE3Equality::getConstraint() const { |
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return m_constraint; |
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} |
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void TaskSE3Equality::useLocalFrame(bool local_frame) { |
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m_local_frame = local_frame; |
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} |
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const ConstraintBase& TaskSE3Equality::compute(const double, ConstRefVector, |
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ConstRefVector, Data& data) { |
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SE3 oMi; |
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Motion v_frame; |
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m_robot.framePosition(data, m_frame_id, oMi); |
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m_robot.frameVelocity(data, m_frame_id, v_frame); |
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m_robot.frameClassicAcceleration(data, m_frame_id, m_drift); |
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// @todo Since Jacobian computation is cheaper in world frame |
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// we could do all computations in world frame |
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m_robot.frameJacobianLocal(data, m_frame_id, m_J); |
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errorInSE3(oMi, m_M_ref, m_p_error); // pos err in local frame |
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SE3ToVector(m_M_ref, m_p_ref); |
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SE3ToVector(oMi, m_p); |
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// Transformation from local to world |
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m_wMl.rotation(oMi.rotation()); |
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if (m_local_frame) { |
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m_p_error_vec = m_p_error.toVector(); |
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m_v_error = m_wMl.actInv(m_v_ref) - v_frame; // vel err in local frame |
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// desired acc in local frame |
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m_a_des = m_Kp.cwiseProduct(m_p_error_vec) + |
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m_Kd.cwiseProduct(m_v_error.toVector()) + |
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m_wMl.actInv(m_a_ref).toVector(); |
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} else { |
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m_p_error_vec = |
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m_wMl.toActionMatrix() * // pos err in local world-oriented frame |
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m_p_error.toVector(); |
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// cout<<"m_p_error_vec="<<m_p_error_vec.head<3>().transpose()<<endl; |
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// cout<<"oMi-m_M_ref |
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// ="<<-(oMi.translation()-m_M_ref.translation()).transpose()<<endl; |
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m_v_error = |
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m_v_ref - m_wMl.act(v_frame); // vel err in local world-oriented frame |
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m_drift = m_wMl.act(m_drift); |
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// desired acc in local world-oriented frame |
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m_a_des = m_Kp.cwiseProduct(m_p_error_vec) + |
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m_Kd.cwiseProduct(m_v_error.toVector()) + m_a_ref.toVector(); |
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// Use an explicit temporary `m_J_rotated` here to avoid allocations. |
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m_J_rotated.noalias() = m_wMl.toActionMatrix() * m_J; |
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m_J = m_J_rotated; |
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} |
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m_v_error_vec = m_v_error.toVector(); |
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m_v_ref_vec = m_v_ref.toVector(); |
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m_v = v_frame.toVector(); |
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int idx = 0; |
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for (int i = 0; i < 6; i++) { |
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if (m_mask(i) != 1.) continue; |
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m_constraint.matrix().row(idx) = m_J.row(i); |
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m_constraint.vector().row(idx) = (m_a_des - m_drift.toVector()).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.toVector()(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 |
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