void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) { if(nlhs != 19 || nrhs != 1) { mexErrMsgIdAndTxt("Drake:testIKoptions:BadInputs","Usage [robot_address,Q,Qa,Qv,debug_mode, sequentialSeedFlag,majorFeasibilityTolerance,majorIterationsLimit,iterationsLimit,superbasicsLimit,majorOptimalityTolerance,additional_tSamples,fixInitialState,q0_lb,q0_ub,qd0_lb,qd0_ub,qdf_lb,qdf_ub] = testIKoptionsmex(ikoptions_ptr)"); } IKoptions* ikoptions = (IKoptions*) getDrakeMexPointer(prhs[0]); long long robot_address = reinterpret_cast<long long>(ikoptions->getRobotPtr()); int nq = ikoptions->getRobotPtr()->num_positions; MatrixXd Q; ikoptions->getQ(Q); MatrixXd Qv; ikoptions->getQv(Qv); MatrixXd Qa; ikoptions->getQa(Qa); bool debug_mode = ikoptions->getDebug(); bool sequentialSeedFlag = ikoptions->getSequentialSeedFlag(); double majorFeasibilityTolerance = ikoptions->getMajorFeasibilityTolerance(); int majorIterationsLimit = ikoptions->getMajorIterationsLimit(); int iterationsLimit = ikoptions->getIterationsLimit(); int superbasicsLimit = ikoptions->getSuperbasicsLimit(); double majorOptimalityTolerance = ikoptions->getMajorOptimalityTolerance(); RowVectorXd t_samples; ikoptions->getAdditionaltSamples(t_samples); bool fixInitialState = ikoptions->getFixInitialState(); VectorXd q0_lb,q0_ub; VectorXd qd0_lb,qd0_ub; VectorXd qdf_lb,qdf_ub; ikoptions->getq0(q0_lb,q0_ub); ikoptions->getqd0(qd0_lb,qd0_ub); ikoptions->getqdf(qdf_lb,qdf_ub); plhs[0] = mxCreateDoubleScalar((double) robot_address); plhs[1] = mxCreateDoubleMatrix(nq,nq,mxREAL); memcpy(mxGetPr(plhs[1]),Q.data(),sizeof(double)*nq*nq); plhs[2] = mxCreateDoubleMatrix(nq,nq,mxREAL); memcpy(mxGetPr(plhs[2]),Qa.data(),sizeof(double)*nq*nq); plhs[3] = mxCreateDoubleMatrix(nq,nq,mxREAL); memcpy(mxGetPr(plhs[3]),Qv.data(),sizeof(double)*nq*nq); plhs[4] = mxCreateLogicalScalar(debug_mode); plhs[5] = mxCreateLogicalScalar(sequentialSeedFlag); plhs[6] = mxCreateDoubleScalar(majorFeasibilityTolerance); plhs[7] = mxCreateDoubleScalar((double) majorIterationsLimit); plhs[8] = mxCreateDoubleScalar((double) iterationsLimit); plhs[9] = mxCreateDoubleScalar((double) superbasicsLimit); plhs[10] = mxCreateDoubleScalar(majorOptimalityTolerance); if(t_samples.size()>0) { plhs[11] = mxCreateDoubleMatrix(1,static_cast<int>(t_samples.size()),mxREAL); memcpy(mxGetPr(plhs[11]),t_samples.data(),sizeof(double)*t_samples.size()); } else { plhs[11] = mxCreateDoubleMatrix(0,0,mxREAL); } plhs[12] = mxCreateLogicalScalar(fixInitialState); plhs[13] = mxCreateDoubleMatrix(nq,1,mxREAL); memcpy(mxGetPr(plhs[13]),q0_lb.data(),sizeof(double)*nq); plhs[14] = mxCreateDoubleMatrix(nq,1,mxREAL); memcpy(mxGetPr(plhs[14]),q0_ub.data(),sizeof(double)*nq); plhs[15] = mxCreateDoubleMatrix(nq,1,mxREAL); memcpy(mxGetPr(plhs[15]),qd0_lb.data(),sizeof(double)*nq); plhs[16] = mxCreateDoubleMatrix(nq,1,mxREAL); memcpy(mxGetPr(plhs[16]),qd0_ub.data(),sizeof(double)*nq); plhs[17] = mxCreateDoubleMatrix(nq,1,mxREAL); memcpy(mxGetPr(plhs[17]),qdf_lb.data(),sizeof(double)*nq); plhs[18] = mxCreateDoubleMatrix(nq,1,mxREAL); memcpy(mxGetPr(plhs[18]),qdf_ub.data(),sizeof(double)*nq); }
void inverseKinBackend( RigidBodyTree* model, const int nT, const double* t, const MatrixBase<DerivedA>& q_seed, const MatrixBase<DerivedB>& q_nom, const int num_constraints, RigidBodyConstraint** const constraint_array, const IKoptions& ikoptions, MatrixBase<DerivedC>* q_sol, int* info, std::vector<std::string>* infeasible_constraint) { // Validate some basic parameters of the input. if (q_seed.rows() != model->number_of_positions() || q_seed.cols() != nT || q_nom.rows() != model->number_of_positions() || q_nom.cols() != nT) { throw std::runtime_error( "Drake::inverseKinBackend: q_seed and q_nom must be of size " "nq x nT"); } KinematicsCacheHelper<double> kin_helper(model->bodies); // TODO(sam.creasey) I really don't like rebuilding the // OptimizationProblem for every timestep, but it's not possible to // enable/disable (or even remove) a constraint from an // OptimizationProblem between calls to Solve() currently, so // there's not actually another way. for (int t_index = 0; t_index < nT; t_index++) { OptimizationProblem prog; SetIKSolverOptions(ikoptions, &prog); DecisionVariableView vars = prog.AddContinuousVariables(model->number_of_positions()); MatrixXd Q; ikoptions.getQ(Q); auto objective = std::make_shared<InverseKinObjective>(model, Q); prog.AddCost(objective, {vars}); for (int i = 0; i < num_constraints; i++) { RigidBodyConstraint* constraint = constraint_array[i]; const int constraint_category = constraint->getCategory(); if (constraint_category == RigidBodyConstraint::SingleTimeKinematicConstraintCategory) { SingleTimeKinematicConstraint* stc = static_cast<SingleTimeKinematicConstraint*>(constraint); if (!stc->isTimeValid(&t[t_index])) { continue; } auto wrapper = std::make_shared<SingleTimeKinematicConstraintWrapper>( stc, &kin_helper); prog.AddConstraint(wrapper, {vars}); } else if (constraint_category == RigidBodyConstraint::PostureConstraintCategory) { PostureConstraint* pc = static_cast<PostureConstraint*>(constraint); if (!pc->isTimeValid(&t[t_index])) { continue; } VectorXd lb; VectorXd ub; pc->bounds(&t[t_index], lb, ub); prog.AddBoundingBoxConstraint(lb, ub, {vars}); } else if ( constraint_category == RigidBodyConstraint::SingleTimeLinearPostureConstraintCategory) { AddSingleTimeLinearPostureConstraint( &t[t_index], constraint, model->number_of_positions(), vars, &prog); } else if (constraint_category == RigidBodyConstraint::QuasiStaticConstraintCategory) { AddQuasiStaticConstraint(&t[t_index], constraint, &kin_helper, vars, &prog); } else if (constraint_category == RigidBodyConstraint::MultipleTimeKinematicConstraintCategory) { throw std::runtime_error( "MultipleTimeKinematicConstraint is not supported" " in pointwise mode."); } else if ( constraint_category == RigidBodyConstraint::MultipleTimeLinearPostureConstraintCategory) { throw std::runtime_error( "MultipleTimeLinearPostureConstraint is not supported" " in pointwise mode."); } } // Add a bounding box constraint from the model. prog.AddBoundingBoxConstraint( model->joint_limit_min, model->joint_limit_max, {vars}); // TODO(sam.creasey) would this be faster if we stored the view // instead of copying into a VectorXd? objective->set_q_nom(q_nom.col(t_index)); if (!ikoptions.getSequentialSeedFlag() || (t_index == 0)) { prog.SetInitialGuess(vars, q_seed.col(t_index)); } else { prog.SetInitialGuess(vars, q_sol->col(t_index - 1)); } SolutionResult result = prog.Solve(); prog.PrintSolution(); q_sol->col(t_index) = vars.value(); info[t_index] = GetIKSolverInfo(prog, result); } }