QPLocomotionPlan::QPLocomotionPlan(RigidBodyManipulator& robot, const QPLocomotionPlanSettings& settings, const std::string& lcm_channel) :
robot(robot),
settings(settings),
start_time(std::numeric_limits<double>::quiet_NaN()),
pelvis_id(robot.findLinkId(settings.pelvis_name)),
foot_body_ids(createFootBodyIdMap(robot, settings.foot_names)),
knee_indices(createJointIndicesMap(robot, settings.knee_names)),
akx_indices(createJointIndicesMap(robot, settings.akx_names)),
aky_indices(createJointIndicesMap(robot, settings.aky_names)),
plan_shift(Vector3d::Zero()),
shifted_zmp_trajectory(settings.zmp_trajectory)
{
for (int i = 1; i < settings.support_times.size(); i++) {
if (settings.support_times[i] < settings.support_times[i - 1])
throw std::runtime_error("support times must be increasing");
}
for (auto it = Side::values.begin(); it != Side::values.end(); ++it) {
toe_off_active[*it] = false;
knee_pd_active[*it] = false;
knee_pd_settings[*it] = QPLocomotionPlanSettings::createDefaultKneeSettings();
foot_shifts[*it] = Vector3d::Zero();
}
if (!lcm.good())
{
cerr << "ERROR: lcm is not good()" << endl;
}
}
const std::map<Side, int> QPLocomotionPlan::createFootBodyIdMap(RigidBodyManipulator& robot, const std::map<Side, std::string>& foot_names)
{
std::map<Side, int> foot_body_ids;
for (auto it = Side::values.begin(); it != Side::values.end(); ++it) {
foot_body_ids[*it] = robot.findLinkId(foot_names.at(*it));
}
return foot_body_ids;
}
void App::solveGazeProblem(){
// Publish the query for visualisation in Director
bot_core::pose_t goalMsg;
goalMsg.utime = rstate_.utime;
goalMsg.pos[0] = cl_cfg_.gazeGoal(0);
goalMsg.pos[1] = cl_cfg_.gazeGoal(1);
goalMsg.pos[2] = cl_cfg_.gazeGoal(2);
goalMsg.orientation[0] = 1;
goalMsg.orientation[1] = 0;
goalMsg.orientation[2] = 0;
goalMsg.orientation[3] = 0;
lcm_->publish("POSE_BODY_ALT", &goalMsg);
// Solve the IK problem for the neck:
VectorXd q_star(robotStateToDrakePosition(rstate_, dofMap_, model_.num_positions));
VectorXd q_sol(model_.num_positions);
int info = getConstraints(q_star, q_sol);
if (info != 1) {
std::cout << "Problem not solved\n";
return;
}
bool mode = 0;
if (mode==0){ // publish utorso-to-head as orientation, not properly tracking but works with different orientations
// Get the utorso to head frame:
int pelvis_link = model_.findLinkId("pelvis");
int head_link = model_.findLinkId("head");
int utorso_link = model_.findLinkId("torso");
KinematicsCache<double> cache = model_.doKinematics(q_sol,0);
Eigen::Isometry3d world_to_pelvis = matrixdToIsometry3d( model_.forwardKin(cache, Vector3d::Zero().eval(), pelvis_link, 0, 2, 0).value() );
Eigen::Isometry3d world_to_head = matrixdToIsometry3d( model_.forwardKin(cache, Vector3d::Zero().eval(), head_link, 0, 2, 0).value() );
Eigen::Isometry3d pelvis_to_head = world_to_head.inverse()*world_to_pelvis;
Eigen::Isometry3d pelvis_to_utorso = matrixdToIsometry3d( model_.forwardKin(cache, Vector3d::Zero().eval(), utorso_link, 0, 2, 0).value() ).inverse()*world_to_pelvis;
Eigen::Isometry3d utorso_to_head = pelvis_to_utorso.inverse()*pelvis_to_head;
// Apply 180 roll as head orientation control seems to be in z-up frame
Eigen::Isometry3d rotation_frame;
rotation_frame.setIdentity();
Eigen::Quaterniond quat = euler_to_quat( M_PI, 0, 0);
rotation_frame.rotate(quat);
utorso_to_head = utorso_to_head*rotation_frame;
bot_core::pose_t world_to_head_frame_pose_msg = getPoseAsBotPose(world_to_head, rstate_.utime);
lcm_->publish("POSE_VICON",&world_to_head_frame_pose_msg);// for debug
bot_core::pose_t utorso_to_head_frame_pose_msg = getPoseAsBotPose(utorso_to_head, rstate_.utime);
lcm_->publish("DESIRED_HEAD_ORIENTATION",&utorso_to_head_frame_pose_msg);// temp
}else{ // publish neck pitch and yaw joints as orientation. this works ok when robot is facing 1,0,0,0
// Fish out the two neck joints (in simulation) and send as a command:
std::vector<string> jointNames;
for (int i=0 ; i <model_.num_positions ; i++){
// std::cout << model.getPositionName(i) << " " << i << "\n";
jointNames.push_back( model_.getPositionName(i) ) ;
}
drc::robot_state_t robot_state_msg;
getRobotState(robot_state_msg, 0*1E6, q_sol , jointNames);
lcm_->publish("CANDIDATE_ROBOT_ENDPOSE",&robot_state_msg);
std::vector<std::string>::iterator it1 = find(jointNames.begin(),
jointNames.end(), "lowerNeckPitch");
int lowerNeckPitchIndex = std::distance(jointNames.begin(), it1);
float lowerNeckPitchAngle = q_sol[lowerNeckPitchIndex];
std::vector<std::string>::iterator it2 = find(jointNames.begin(),
jointNames.end(), "neckYaw");
int neckYawIndex = std::distance(jointNames.begin(), it2);
float neckYawAngle = q_sol[neckYawIndex];
std::cout << lowerNeckPitchAngle << " (" << lowerNeckPitchAngle*180.0/M_PI << ") is lowerNeckPitchAngle\n";
std::cout << neckYawAngle << " (" << neckYawAngle*180.0/M_PI << ") is neckYawAngle\n";
bot_core::pose_t headOrientationMsg;
headOrientationMsg.utime = rstate_.utime;
headOrientationMsg.pos[0] = 0;
headOrientationMsg.pos[1] = 0;
headOrientationMsg.pos[2] = 0;
Eigen::Quaterniond quat = euler_to_quat(0, lowerNeckPitchAngle, neckYawAngle);
headOrientationMsg.orientation[0] = quat.w();
headOrientationMsg.orientation[1] = quat.x();
headOrientationMsg.orientation[2] = quat.y();
headOrientationMsg.orientation[3] = quat.z();
lcm_->publish("DESIRED_HEAD_ORIENTATION",&headOrientationMsg);
lcm_->publish("POSE_VICON",&headOrientationMsg); // for debug
}
//std::cout << "Desired orientation sent, exiting\n";
//exit(-1);
}
int App::getConstraints(Eigen::VectorXd q_star, Eigen::VectorXd &q_sol){
Vector2d tspan;
tspan << 0, 1;
// 0 Pelvis Position and Orientation Constraints
int pelvis_link = model_.findLinkId("pelvis");
Vector3d pelvis_pt = Vector3d::Zero();
Vector3d pelvis_pos0;
pelvis_pos0(0) = rstate_.pose.translation.x;
pelvis_pos0(1) = rstate_.pose.translation.y;
pelvis_pos0(2) = rstate_.pose.translation.z;
Vector3d pelvis_pos_lb = pelvis_pos0;
//pelvis_pos_lb(0) += 0.001;
//pelvis_pos_lb(1) += 0.001;
//pelvis_pos_lb(2) += 0.001;
Vector3d pelvis_pos_ub = pelvis_pos_lb;
//pelvis_pos_ub(2) += 0.001;
WorldPositionConstraint kc_pelvis_pos(&model_, pelvis_link, pelvis_pt, pelvis_pos_lb, pelvis_pos_ub, tspan);
Eigen::Vector4d pelvis_quat_des(rstate_.pose.rotation.w , rstate_.pose.rotation.x, rstate_.pose.rotation.y, rstate_.pose.rotation.z);
double pelvis_tol = 0;//0.0017453292519943296;
WorldQuatConstraint kc_pelvis_quat(&model_, pelvis_link, pelvis_quat_des, pelvis_tol, tspan);
// 1 Back Posture Constraint
PostureConstraint kc_posture_back(&model_, tspan);
std::vector<int> back_idx;
findJointAndInsert(model_, "torsoYaw", back_idx);
findJointAndInsert(model_, "torsoPitch", back_idx);
findJointAndInsert(model_, "torsoRoll", back_idx);
VectorXd back_lb = VectorXd::Zero(3);
VectorXd back_ub = VectorXd::Zero(3);
kc_posture_back.setJointLimits(3, back_idx.data(), back_lb, back_ub);
// 2 Upper Neck Constraint
PostureConstraint kc_posture_neck(&model_, tspan);
std::vector<int> neck_idx;
findJointAndInsert(model_, "upperNeckPitch", neck_idx);
VectorXd neck_lb = VectorXd::Zero(1);
neck_lb(0) = 0.0;
VectorXd neck_ub = VectorXd::Zero(1);
neck_ub(0) = 0.0;
kc_posture_neck.setJointLimits(1, neck_idx.data(), neck_lb, neck_ub);
// 3 Look At constraint:
int head_link = model_.findLinkId("head");
Eigen::Vector3d gaze_axis = Eigen::Vector3d(1,0,0);
Eigen::Vector3d target = cl_cfg_.gazeGoal;
Eigen::Vector3d gaze_origin = Eigen::Vector3d(0,0, 0);//0.45);// inserting this offset almost achieves the required look-at
double conethreshold = 0;
WorldGazeTargetConstraint kc_gaze(&model_, head_link, gaze_axis, target, gaze_origin, conethreshold, tspan);
// Assemble Constraint Set
std::vector<RigidBodyConstraint *> constraint_array;
constraint_array.push_back(&kc_pelvis_pos);
constraint_array.push_back(&kc_pelvis_quat);
constraint_array.push_back(&kc_gaze);
constraint_array.push_back(&kc_posture_back); // leave this out to also use the back
constraint_array.push_back(&kc_posture_neck); // upper neck pitch
// Solve
IKoptions ikoptions(&model_);
int info;
vector<string> infeasible_constraint;
inverseKin(&model_, q_star, q_star, constraint_array.size(), constraint_array.data(), q_sol, info, infeasible_constraint, ikoptions);
printf("INFO = %d\n", info);
return info;
}
