/* ************************************************************************** */
void Pose2MobileVetLinArm::forwardKinematics(const Pose2Vector& p,
boost::optional<const gtsam::Vector&> v,
std::vector<gtsam::Pose3>& px, boost::optional<std::vector<gtsam::Vector3>&> vx,
boost::optional<std::vector<gtsam::Matrix>&> J_px_p,
boost::optional<std::vector<gtsam::Matrix>&> J_vx_p,
boost::optional<std::vector<gtsam::Matrix>&> J_vx_v) const {
if (v)
throw runtime_error("[Pose2MobileArm] TODO: velocity not implemented");
if (!v && (vx || J_vx_p || J_vx_v))
throw runtime_error("[Pose2MobileArm] ERROR: only ask for velocity in workspace given velocity in "
"configuration space");
// space for output
px.resize(nr_links());
if (vx) vx->resize(nr_links());
if (J_px_p) J_px_p->assign(nr_links(), Matrix::Zero(6, dof()));
if (J_vx_p) J_vx_p->assign(nr_links(), Matrix::Zero(3, dof()));
if (J_vx_v) J_vx_v->assign(nr_links(), Matrix::Zero(3, dof()));
// vehicle & arm base pose
Pose3 veh_base, tso_base, arm_base;
Matrix63 Hveh_base;
Matrix64 Htso_base, Harm_base;
if (J_px_p || J_vx_p || J_vx_v) {
veh_base = computeBasePose3(p.pose(), Hveh_base);
tso_base = liftBasePose3(p.pose(), p.configuration()(0), base_T_torso_, reverse_linact_,
Htso_base);
Matrix6 H_tso_comp;
arm_base = tso_base.compose(torso_T_arm_, H_tso_comp);
Harm_base = H_tso_comp * Htso_base;
} else {
veh_base = computeBasePose3(p.pose());
tso_base = liftBasePose3(p.pose(), p.configuration()(0), base_T_torso_, reverse_linact_);
arm_base = tso_base.compose(torso_T_arm_);
}
// veh base link
px[0] = veh_base;
if (J_px_p) (*J_px_p)[0].block<6,3>(0,0) = Hveh_base;
// torso link
px[1] = tso_base;
if (J_px_p) (*J_px_p)[1].block<6,4>(0,0) = Htso_base;
// arm links
vector<Pose3> armjpx;
vector<Matrix> Jarm_jpx_jp;
arm_.updateBasePose(arm_base);
arm_.forwardKinematics(p.configuration().tail(arm_.dof()), boost::none, armjpx, boost::none,
J_px_p ? boost::optional<vector<Matrix>&>(Jarm_jpx_jp) : boost::none);
for (size_t i = 0; i < arm_.dof(); i++) {
px[i+2] = armjpx[i];
if (J_px_p) {
// see compose's jacobian
(*J_px_p)[i+2].block<6,4>(0,0) = (armjpx[i].inverse() * arm_base).AdjointMap() * Harm_base;
(*J_px_p)[i+2].block(0,4,6,arm_.dof()) = Jarm_jpx_jp[i];
}
}
}
void Verify::apply()
{
print_pre_info();
if(!_valid || _c == NULL)
{
std::cerr << "Verify not valid. Exiting" << std::endl;
return;
}
int steps = _strides;
int samples = _samples;
int N = _size;
if(_exp){
nr_links = stat::make_exponential_points_array( N, steps, START_POINT );
}else{
nr_links = stat::make_linear_points_array( N, steps, START_POINT );
}
link_mean = (nr_links.segment(0, steps) + nr_links.segment(1, steps)) / 2;
set_theoretical_values();
Eigen::ArrayXXd binned_chain = Eigen::ArrayXXd::Zero(steps,3*samples);
std::vector< std::vector<PFloat> > w = std::vector< std::vector<PFloat> >(steps);
for(int i = 0; i < steps; i++)
{
w[i] = std::vector<PFloat>(samples);
}
Eigen::ArrayXXd Rg_tmp = Eigen::ArrayXXd::Zero(steps,samples);
for(int i = 0; i < samples; i++)
{
_c->build(N);
// Vector containing the weight for each individual link
Eigen::VectorXd w_tmp = _c->weights();
// bin values
for(int j = 0; j<steps; j++)
{
Eigen::ArrayXXd sub_chain = _c->as_array( nr_links(j), nr_links(j+1)-nr_links(j) ).transpose();
binned_chain(j,3*i+0) = sub_chain.col(0).mean();
binned_chain(j,3*i+1) = sub_chain.col(1).mean();
binned_chain(j,3*i+2) = sub_chain.col(2).mean();
Rg_tmp(j,i) = _c->Rg(0,floor(link_mean(j)));
w[j][i] = mult_weights( w_tmp.segment(0, nr_links(j+1)) );
}
if(verbose)
{
write_to_terminal(N,i,steps);
}
}
Eigen::ArrayXXd R_tmp = Eigen::ArrayXXd::Zero(steps,samples);
R = Eigen::ArrayXd::Zero(steps);
R_var = Eigen::ArrayXd::Zero(steps);
Rg = Eigen::ArrayXd::Zero(steps);
Rg_var = Eigen::ArrayXd::Zero(steps);
for(int i = 0; i < steps; i++)
{
for(int j = 0; j < samples; j++)
{
Eigen::Vector3d pos = binned_chain.block(i,3*j,1,3).transpose();
R_tmp(i,j) = pos.norm();
}
}
for(int i = 0; i<steps; i++)
{
Eigen::Vector2d mv = stat::get_mean_and_variance(R_tmp.row(i), w[i]);
R(i) = mv(0);
R_var(i) = mv(1);
mv = stat::get_mean_and_variance(Rg_tmp.row(i), w[i]);
Rg(i) = mv(0);
Rg_var(i) = mv(1);
}
write_to_file();
print_post_info();
}
void Verify::write_to_terminal(int N, int i, int j)
{
double p = ( ( double) i*nr_links(nr_links.size()-1) + j) / ((double) _samples*nr_links(nr_links.size()-1)) * 100.f;
std::cout << "\r"<< "["<< std::setw(5) << std::setprecision(1)<< p << std::fixed << "%] "
<<"Generating " << _samples <<" " <<dictionary.at(_chain_type) <<"s with " << N << " links. " << std::flush;
}
/* ************************************************************************** */
void Pose2MobileArm::forwardKinematics(
const Pose2Vector& p, boost::optional<const gtsam::Vector&> v,
std::vector<gtsam::Pose3>& px, boost::optional<std::vector<gtsam::Vector3>&> vx,
boost::optional<std::vector<gtsam::Matrix>&> J_px_p,
boost::optional<std::vector<gtsam::Matrix>&> J_vx_p,
boost::optional<std::vector<gtsam::Matrix>&> J_vx_v) const {
if (v)
throw runtime_error("[Pose2MobileArm] TODO: velocity not implemented");
if (!v && (vx || J_vx_p || J_vx_v))
throw runtime_error("[Pose2MobileArm] ERROR: only ask for velocity in workspace given velocity in "
"configuration space");
// space for output
px.resize(nr_links());
if (vx) vx->resize(nr_links());
if (J_px_p) J_px_p->assign(nr_links(), Matrix::Zero(6, dof()));
if (J_vx_p) J_vx_p->assign(nr_links(), Matrix::Zero(3, dof()));
if (J_vx_v) J_vx_v->assign(nr_links(), Matrix::Zero(3, dof()));
// vehicle & arm base pose
Pose3 veh_base, arm_base;
Matrix63 Hveh_base, Harm_base;
if (J_px_p || J_vx_p || J_vx_v) {
veh_base = computeBasePose3(p.pose(), Hveh_base);
arm_base = computeBaseTransPose3(p.pose(), base_T_arm_, Harm_base);
} else {
veh_base = computeBasePose3(p.pose());
arm_base = computeBaseTransPose3(p.pose(), base_T_arm_);
}
// call arm pose and velocity, for arm links
// px[0] = base_pose3; px[i] = arm_base * px_arm[i-1]
// vx[0] = v(0:1,0); vx[i] = vx[0] + angular x arm_base_pos + arm_base_rot * vx_arm[i-1]
// veh base link
px[0] = veh_base;
if (J_px_p) (*J_px_p)[0].block<6,3>(0,0) = Hveh_base;
if (vx) {
(*vx)[0] = Vector3((*v)[0], (*v)[1], 0.0);
// (*J_vx_p)[0] is zero
if (J_vx_v)
(*J_vx_v)[0].block<2,2>(0,0) = Matrix2::Identity();
}
// arm links
vector<Pose3> armjpx;
vector<Vector3> armjvx;
vector<Matrix> Jarm_jpx_jp, Jarm_jvx_jp, Jarm_jvx_jv;
arm_.updateBasePose(arm_base);
if (v) {
const Vector varm = v->tail(arm_.dof());
arm_.forwardKinematics(p.configuration(), boost::optional<const Vector&>(varm),
armjpx, vx ? boost::optional<vector<Vector3>&>(armjvx) : boost::none,
J_px_p ? boost::optional<vector<Matrix>&>(Jarm_jpx_jp) : boost::none,
J_vx_p ? boost::optional<vector<Matrix>&>(Jarm_jvx_jp) : boost::none,
J_vx_v ? boost::optional<vector<Matrix>&>(Jarm_jvx_jv) : boost::none);
} else {
arm_.forwardKinematics(p.configuration(), boost::none,
armjpx, vx ? boost::optional<vector<Vector3>&>(armjvx) : boost::none,
J_px_p ? boost::optional<vector<Matrix>&>(Jarm_jpx_jp) : boost::none);
}
for (size_t i = 0; i < arm_.dof(); i++) {
px[i+1] = armjpx[i];
if (J_px_p) {
// see compose's jacobian
(*J_px_p)[i+1].block<6,3>(0,0) = (armjpx[i].inverse() * arm_base).AdjointMap() * Harm_base;
(*J_px_p)[i+1].block(0,3,6,arm_.dof()) = Jarm_jpx_jp[i];
}
if (vx) {
//(*vx)[i+1] = Vector3((*v)[0], (*v)[1], 0.0) + armjvx[i];
}
}
}
