bool DiscretizeConstrainedMultiPath(Robot& robot,const MultiPath& path,MultiPath& out,Real xtol)
{
if(path.settings.contains("resolution")) {
//see if the resolution is high enough to just interpolate directly
Real res=path.settings.as<Real>("resolution");
if(res <= xtol) {
out = path;
return true;
}
}
vector<GeneralizedCubicBezierSpline> paths;
if(!InterpolateConstrainedMultiPath(robot,path,paths,xtol))
return false;
out = path;
{
out.settings.set("resolution",xtol);
out.settings.set("program","DiscretizeConstrainedMultiPath");
}
Real tofs = (path.HasTiming() ? path.sections[0].times.front() : 0);
for(size_t i=0;i<out.sections.size();i++) {
out.sections[i].velocities.resize(0);
paths[i].GetPiecewiseLinear(out.sections[i].times,out.sections[i].milestones);
//shift section timing
Real tscale = (path.HasTiming() ? path.sections[i].times.back()-path.sections[i].times.front() : 1.0) / out.sections[i].times.back();
for(size_t j=0;j<out.sections[i].times.size();j++)
out.sections[i].times[j] = tofs + out.sections[i].times[j]*tscale;
tofs = out.sections[i].times.back();
}
return true;
}
void ContactOptimizeMultipath(const char* robfile,const char* pathfile,const char* settingsfile = NULL)
{
ContactOptimizeSettings settings;
if(settingsfile != NULL) {
if(!settings.read(settingsfile)) {
printf("Unable to read settings file %s\n",settingsfile);
return;
}
}
Real xtol=Real(settings["xtol"]);
int numdivs = int(settings["numdivs"]);
bool ignoreForces = bool(settings["ignoreForces"]);
Real torqueRobustness = Real(settings["torqueRobustness"]);
Real frictionRobustness = Real(settings["frictionRobustness"]);
Real forceRobustness = Real(settings["forceRobustness"]);
string outputPath;
settings["outputPath"].as(outputPath);
Real outputDt = Real(settings["outputDt"]);
Robot robot;
if(!robot.Load(robfile)) {
printf("Unable to load robot file %s\n",robfile);
return;
}
MultiPath path;
if(!path.Load(pathfile)) {
printf("Unable to load path file %s\n",pathfile);
return;
}
//double check friction
for(size_t i=0;i<path.sections.size();i++) {
Stance s;
path.GetStance(s,i);
bool changed = false;
int k=0;
int numContacts = 0;
for(Stance::iterator h=s.begin();h!=s.end();h++,k++) {
numContacts += (int)h->second.contacts.size();
for(size_t j=0;j<h->second.contacts.size();j++)
if(h->second.contacts[j].kFriction <= 0) {
if(!changed)
printf("Warning, contact %d of hold %d has invalid friction %g, setting to 0.5\n",j,k,h->second.contacts[j].kFriction);
h->second.contacts[j].kFriction = 0.5;
changed = true;
}
}
path.SetStance(s,i);
if(numContacts == 0 && !ignoreForces && robot.joints[0].type == RobotJoint::Floating) {
printf("Warning, no contacts given in stance %d for floating-base robot\n",i);
printf("Should set ignoreForces = true in trajopt.settings if you wish\n");
printf("to ignore contact force constraints.\n");
printf("Press enter to continue...\n");
getchar();
}
}
TimeScaledBezierCurve opttraj;
if(ignoreForces) {
bool res=GenerateAndTimeOptimizeMultiPath(robot,path,xtol,outputDt);
if(!res) {
printf("Time optimization failed\n");
return;
}
Assert(path.HasTiming());
cout<<"Saving dynamically optimized path to "<<outputPath<<endl;
ofstream out(outputPath.c_str(),ios::out);
for(size_t i=0;i<path.sections.size();i++) {
for(size_t j=0;j<path.sections[i].milestones.size();j++)
out<<path.sections[i].times[j]<<"\t"<<path.sections[i].milestones[j]<<endl;
}
out.close();
}
else {
bool res=ContactOptimizeMultipath(robot,path,xtol,
numdivs,opttraj,
torqueRobustness,
frictionRobustness,
forceRobustness);
if(!res) {
printf("Time optimization failed\n");
return;
}
RobotCSpace cspace(robot);
for(size_t i=0;i<opttraj.path.segments.size();i++) {
opttraj.path.segments[i].space = &cspace;
opttraj.path.segments[i].manifold = &cspace;
}
vector<Config> milestones;
opttraj.GetDiscretizedPath(outputDt,milestones);
cout<<"Saving dynamically optimized path to "<<outputPath<<endl;
ofstream out(outputPath.c_str(),ios::out);
for(size_t i=0;i<milestones.size();i++) {
out<<i*outputDt<<"\t"<<milestones[i]<<endl;
}
out.close();
printf("Plotting vel/acc constraints to trajopt_plot.csv...\n");
opttraj.Plot("trajopt_plot.csv",robot.velMin,robot.velMax,-1.0*robot.accMax,robot.accMax);
}
}
