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// Copyright (c) 2023 MIPT |
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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-two-frames-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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TaskTwoFramesEquality::TaskTwoFramesEquality(const std::string& name, |
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RobotWrapper& robot, |
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const std::string& frameName1, |
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const std::string& frameName2) |
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: TaskMotion(name, robot), |
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m_frame_name1(frameName1), |
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m_frame_name2(frameName2), |
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m_constraint(name, 6, robot.nv()) { |
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assert(m_robot.model().existFrame(frameName1)); |
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assert(m_robot.model().existFrame(frameName2)); |
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m_frame_id1 = m_robot.model().getFrameId(frameName1); |
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m_frame_id2 = m_robot.model().getFrameId(frameName2); |
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m_v_ref.setZero(); |
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m_a_ref.setZero(); |
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m_wMl1.setIdentity(); |
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m_wMl2.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_J1.setZero(6, robot.nv()); |
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m_J2.setZero(6, robot.nv()); |
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m_J1_rotated.setZero(6, robot.nv()); |
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m_J2_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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} |
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void TaskTwoFramesEquality::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_J1.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 TaskTwoFramesEquality::dim() const { return (int)m_mask.sum(); } |
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const Vector& TaskTwoFramesEquality::Kp() const { return m_Kp; } |
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const Vector& TaskTwoFramesEquality::Kd() const { return m_Kd; } |
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void TaskTwoFramesEquality::Kp(ConstRefVector Kp) { |
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assert(Kp.size() == 6); |
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m_Kp = Kp; |
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} |
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void TaskTwoFramesEquality::Kd(ConstRefVector Kd) { |
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assert(Kd.size() == 6); |
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m_Kd = Kd; |
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} |
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const Vector& TaskTwoFramesEquality::position_error() const { |
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return m_p_error_masked_vec; |
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} |
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const Vector& TaskTwoFramesEquality::velocity_error() const { |
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return m_v_error_masked_vec; |
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} |
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const Vector& TaskTwoFramesEquality::getDesiredAcceleration() const { |
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return m_a_des_masked; |
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} |
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Vector TaskTwoFramesEquality::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 TaskTwoFramesEquality::frame_id1() const { return m_frame_id1; } |
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Index TaskTwoFramesEquality::frame_id2() const { return m_frame_id2; } |
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const ConstraintBase& TaskTwoFramesEquality::getConstraint() const { |
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return m_constraint; |
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} |
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const ConstraintBase& TaskTwoFramesEquality::compute(const double, |
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ConstRefVector, |
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ConstRefVector, |
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Data& data) { |
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// Calculating task with formulation: [J1 - J2 0 0] dv = [-J1dot*v + |
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// J2dot*v] |
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SE3 oMi1, oMi2; |
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Motion v_frame1, v_frame2; |
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Motion m_drift1, m_drift2; |
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m_robot.framePosition(data, m_frame_id1, oMi1); |
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m_robot.framePosition(data, m_frame_id2, oMi2); |
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m_robot.frameVelocity(data, m_frame_id1, v_frame1); |
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m_robot.frameVelocity(data, m_frame_id2, v_frame2); |
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m_robot.frameClassicAcceleration(data, m_frame_id1, m_drift1); |
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m_robot.frameClassicAcceleration(data, m_frame_id2, m_drift2); |
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// Transformations from local to local-world-aligned frame (thus only rotation |
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// is used) |
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m_wMl1.rotation(oMi1.rotation()); |
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m_wMl2.rotation(oMi2.rotation()); |
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m_robot.frameJacobianLocal(data, m_frame_id1, m_J1); |
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m_robot.frameJacobianLocal(data, m_frame_id2, m_J2); |
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// Doing all calculations in local-world-aligned frame |
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errorInSE3(oMi1, oMi2, m_p_error); // pos err in local oMi1 frame |
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m_p_error_vec = m_wMl1.toActionMatrix() * |
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m_p_error.toVector(); // pos err in local-world-aligned frame |
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m_v_error = m_wMl2.act(v_frame2) - |
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m_wMl1.act(v_frame1); // vel err in local-world-aligned frame |
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// desired acc in local-world-aligned 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_v_error_vec = m_v_error.toVector(); |
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m_drift = (m_wMl1.act(m_drift1) - m_wMl2.act(m_drift2)); |
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m_J1_rotated.noalias() = |
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m_wMl1.toActionMatrix() * |
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m_J1; // Use an explicit temporary m_J_rotated to avoid allocations |
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m_J1 = m_J1_rotated; |
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m_J2_rotated.noalias() = m_wMl2.toActionMatrix() * m_J2; |
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m_J2 = m_J2_rotated; |
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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_J1.row(i) - m_J2.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 |