Exemplo n.º 1
0
  VectorXd operator()(const VectorXd& x) const {
    m_config->SetDOFValues(toDblVec(x.topRows(m_nDof)));
    OR::Vector ptWorldA, ptWorldB, nWorldA, nWorldB;
    CalcWorldPoints(x, ptWorldA, ptWorldB);
     return toVector3d(ptWorldA - ptWorldB);

  }
Exemplo n.º 2
0
VectorXd LinearizedControlError::operator()(const VectorXd& a) const {
    Vector6d x1 = a.topRows(6);
    Vector6d x2 = a.middleRows(6,6);
    double phi = a(12), Delta = a(13), curvature = a(14);
    double phi_ref = cfg0->phi, Delta_ref = cfg0->Delta, curvature_ref = cfg0->curvature;

    MatrixXd F = MatrixXd::Zero(6,6);
    F.topLeftCorner(3, 3) = -rotMat(Vector3d(Delta_ref*curvature_ref, 0, phi_ref));
    F.topRightCorner(3, 3) = -rotMat(Vector3d(0, 0, Delta_ref));
    F.bottomRightCorner(3, 3) = -rotMat(Vector3d(Delta_ref*curvature_ref, 0, phi_ref));

    MatrixXd G = MatrixXd::Zero(6,6);
    G(2, 0) = 1;
    G(3, 2) = 1;
    G(5, 1) = 1;

    MatrixXd A = F.exp();
    MatrixXd halfF = 0.5*F;
    MatrixXd B = (1/6.0) * (G + 4.0*(halfF.exp()*G) + A*G);

    Vector3d u;
    u << Delta - Delta_ref, phi - phi_ref, Delta*curvature - Delta_ref*curvature_ref;

    return x2 - A * x1 - B * u;
}
Exemplo n.º 3
0
void FaceContactConstraint::Plot(const DblVec& xvec, OR::EnvironmentBase& env, std::vector<OR::GraphHandlePtr>& handles) {
  FaceContactErrorCalculator* calc = static_cast<FaceContactErrorCalculator*>(f_.get());
  OR::Vector ptA, ptB;
  VectorXd x = getVec(xvec, vars_);
  calc->m_config->SetDOFValues(toDblVec(x.topRows(calc->m_nDof)));
  calc->CalcWorldPoints(x, ptA, ptB);
  handles.push_back(env.drawarrow(ptA, ptB, .001, OR::Vector(1, 0, 1, 1)));
}
Exemplo n.º 4
0
VectorXd ControlError::operator()(const VectorXd& a) const {
    Matrix4d pose1 = cfg0->pose * expUp(a.topRows(6));
    Matrix4d pose2 = cfg1->pose * expUp(a.middleRows(6,6));

    double phi = a(12), Delta = a(13), curvature = a(14);
    return logDown(helper->TransformPose(pose1, phi, Delta, curvature).inverse() * pose2);

}
Exemplo n.º 5
0
VectorXd ControlErrorFirstFixed::operator()(const VectorXd& a) const {
    Matrix4d pose1 = cfg0->pose;
    Matrix4d pose2 = cfg1->pose * expUp(a.topRows(6));

    double phi = a(6), Delta = a(7), curvature = a(8);
    return logDown(helper->TransformPose(pose1, phi, Delta, curvature).inverse() * pose2);

}
Exemplo n.º 6
0
VectorXd PoseError::operator()(const VectorXd& a) const {
    Matrix4d pose1 = cfg0->pose * expUp(a.topRows(6));
    Matrix4d pose2 = cfg1->pose * expUp(a.middleRows(6,6));
    double Delta = a(12);
    double curvature = a(13);
    double theta = Delta * curvature;
    Vector6d v;
    v << 0, 0, Delta, theta, 0, 0;
    return logDown((pose1 * expUp(v)).inverse() * pose2);
}
Exemplo n.º 7
0
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
  int error;
  if (nrhs<1) mexErrMsgTxt("usage: ptr = QPControllermex(0,control_obj,robot_obj,...); alpha=QPControllermex(ptr,...,...)");
  if (nlhs<1) mexErrMsgTxt("take at least one output... please.");

  struct QPControllerData* pdata;
  mxArray* pm;
  double* pr;
  int i,j;

  if (mxGetScalar(prhs[0])==0) { // then construct the data object and return
    pdata = new struct QPControllerData;
    
    // get control object properties
    const mxArray* pobj = prhs[1];
    
    pm = myGetProperty(pobj,"slack_limit");
    pdata->slack_limit = mxGetScalar(pm);

    pm = myGetProperty(pobj,"W_kdot");
    assert(mxGetM(pm)==3); assert(mxGetN(pm)==3);
    pdata->W_kdot.resize(mxGetM(pm),mxGetN(pm));
    memcpy(pdata->W_kdot.data(),mxGetPr(pm),sizeof(double)*mxGetM(pm)*mxGetN(pm));

    pm= myGetProperty(pobj,"w_grf");
    pdata->w_grf = mxGetScalar(pm);    

    pm= myGetProperty(pobj,"w_slack");
    pdata->w_slack = mxGetScalar(pm);    

    pm = myGetProperty(pobj,"Kp_ang");
    pdata->Kp_ang = mxGetScalar(pm);

    pm = myGetProperty(pobj,"Kp_accel");
    pdata->Kp_accel = mxGetScalar(pm);

    pm= myGetProperty(pobj,"n_body_accel_inputs");
    pdata->n_body_accel_inputs = (int) mxGetScalar(pm); 

    pm= myGetProperty(pobj,"n_body_accel_bounds");
    pdata->n_body_accel_bounds = (int) mxGetScalar(pm); 

    mxArray* body_accel_bounds = myGetProperty(pobj,"body_accel_bounds");
    Vector6d vecbound;
    for (int i=0; i<pdata->n_body_accel_bounds; i++) {
      pdata->accel_bound_body_idx.push_back((int) mxGetScalar(mxGetField(body_accel_bounds,i,"body_idx"))-1);
      pm = mxGetField(body_accel_bounds,i,"min_acceleration");

      assert(mxGetM(pm)==6); assert(mxGetN(pm)==1);
      memcpy(vecbound.data(),mxGetPr(pm),sizeof(double)*6);
      pdata->min_body_acceleration.push_back(vecbound);
      pm = mxGetField(body_accel_bounds,i,"max_acceleration");
      assert(mxGetM(pm)==6); assert(mxGetN(pm)==1);
      memcpy(vecbound.data(),mxGetPr(pm),sizeof(double)*6);
      pdata->max_body_acceleration.push_back(vecbound);
    }

    pm = myGetProperty(pobj,"body_accel_input_weights");
    pdata->body_accel_input_weights.resize(pdata->n_body_accel_inputs);
    memcpy(pdata->body_accel_input_weights.data(),mxGetPr(pm),sizeof(double)*pdata->n_body_accel_inputs);

    pdata->n_body_accel_eq_constraints = 0;
    for (int i=0; i<pdata->n_body_accel_inputs; i++) {
      if (pdata->body_accel_input_weights(i) < 0)
        pdata->n_body_accel_eq_constraints++;
    }

    // get robot mex model ptr
    if (!mxIsNumeric(prhs[2]) || mxGetNumberOfElements(prhs[2])!=1)
      mexErrMsgIdAndTxt("Drake:QPControllermex:BadInputs","the third argument should be the robot mex ptr");
    memcpy(&(pdata->r),mxGetData(prhs[2]),sizeof(pdata->r));
    
    pdata->B.resize(mxGetM(prhs[3]),mxGetN(prhs[3]));
    memcpy(pdata->B.data(),mxGetPr(prhs[3]),sizeof(double)*mxGetM(prhs[3])*mxGetN(prhs[3]));

    int nq = pdata->r->num_dof, nu = pdata->B.cols();
    
    pm = myGetProperty(pobj,"w_qdd");
    pdata->w_qdd.resize(nq);
    memcpy(pdata->w_qdd.data(),mxGetPr(pm),sizeof(double)*nq);

    pdata->umin.resize(nu);
    pdata->umax.resize(nu);
    memcpy(pdata->umin.data(),mxGetPr(prhs[4]),sizeof(double)*nu);
    memcpy(pdata->umax.data(),mxGetPr(prhs[5]),sizeof(double)*nu);

    pdata->B_act.resize(nu,nu);
    pdata->B_act = pdata->B.bottomRows(nu);

     // get the map ptr back from matlab
     if (!mxIsNumeric(prhs[6]) || mxGetNumberOfElements(prhs[6])!=1)
     mexErrMsgIdAndTxt("Drake:QPControllermex:BadInputs","the seventh argument should be the map ptr");
     memcpy(&pdata->map_ptr,mxGetPr(prhs[6]),sizeof(pdata->map_ptr));
    
//    pdata->map_ptr = NULL;
    if (!pdata->map_ptr)
      mexWarnMsgTxt("Map ptr is NULL.  Assuming flat terrain at z=0");
    
    // create gurobi environment
    error = GRBloadenv(&(pdata->env),NULL);

    // set solver params (http://www.gurobi.com/documentation/5.5/reference-manual/node798#sec:Parameters)
    mxArray* psolveropts = myGetProperty(pobj,"gurobi_options");
    int method = (int) mxGetScalar(myGetField(psolveropts,"method"));
    CGE ( GRBsetintparam(pdata->env,"outputflag",0), pdata->env );
    CGE ( GRBsetintparam(pdata->env,"method",method), pdata->env );
    // CGE ( GRBsetintparam(pdata->env,"method",method), pdata->env );
    CGE ( GRBsetintparam(pdata->env,"presolve",0), pdata->env );
    if (method==2) {
      CGE ( GRBsetintparam(pdata->env,"bariterlimit",20), pdata->env );
      CGE ( GRBsetintparam(pdata->env,"barhomogeneous",0), pdata->env );
      CGE ( GRBsetdblparam(pdata->env,"barconvtol",0.0005), pdata->env );
    }

    mxClassID cid;
    if (sizeof(pdata)==4) cid = mxUINT32_CLASS;
    else if (sizeof(pdata)==8) cid = mxUINT64_CLASS;
    else mexErrMsgIdAndTxt("Drake:constructModelmex:PointerSize","Are you on a 32-bit machine or 64-bit machine??");
    
    plhs[0] = mxCreateNumericMatrix(1,1,cid,mxREAL);
    memcpy(mxGetData(plhs[0]),&pdata,sizeof(pdata));
    
    // preallocate some memory
    pdata->H.resize(nq,nq);
    pdata->H_float.resize(6,nq);
    pdata->H_act.resize(nu,nq);

    pdata->C.resize(nq);
    pdata->C_float.resize(6);
    pdata->C_act.resize(nu);

    pdata->J.resize(3,nq);
    pdata->Jdot.resize(3,nq);
    pdata->J_xy.resize(2,nq);
    pdata->Jdot_xy.resize(2,nq);
    pdata->Hqp.resize(nq,nq);
    pdata->fqp.resize(nq);
    pdata->Ag.resize(6,nq);
    pdata->Agdot.resize(6,nq);
    pdata->Ak.resize(3,nq);
    pdata->Akdot.resize(3,nq);

    pdata->vbasis_len = 0;
    pdata->cbasis_len = 0;
    pdata->vbasis = NULL;
    pdata->cbasis = NULL;
    return;
  }
  
  // first get the ptr back from matlab
  if (!mxIsNumeric(prhs[0]) || mxGetNumberOfElements(prhs[0])!=1)
    mexErrMsgIdAndTxt("Drake:QPControllermex:BadInputs","the first argument should be the ptr");
  memcpy(&pdata,mxGetData(prhs[0]),sizeof(pdata));

//  for (i=0; i<pdata->r->num_bodies; i++)
//    mexPrintf("body %d (%s) has %d contact points\n", i, pdata->r->bodies[i].linkname.c_str(), pdata->r->bodies[i].contact_pts.cols());

  int nu = pdata->B.cols(), nq = pdata->r->num_dof;
  const int dim = 3, // 3D
  nd = 2*m_surface_tangents; // for friction cone approx, hard coded for now
  
  assert(nu+6 == nq);

  int narg=1;

  int use_fast_qp = (int) mxGetScalar(prhs[narg++]);
  
  Map< VectorXd > qddot_des(mxGetPr(prhs[narg++]),nq);
  
  double *q = mxGetPr(prhs[narg++]);
  double *qd = &q[nq];

  vector<VectorXd,aligned_allocator<VectorXd>> body_accel_inputs;
  for (int i=0; i<pdata->n_body_accel_inputs; i++) {
    assert(mxGetM(prhs[narg])==7); assert(mxGetN(prhs[narg])==1);
    VectorXd v = VectorXd::Zero(7,1);
    memcpy(v.data(),mxGetPr(prhs[narg++]),sizeof(double)*7);
    body_accel_inputs.push_back(v);
  }
  
  int num_condof;
  VectorXd condof;
  if (!mxIsEmpty(prhs[narg])) {
    assert(mxGetN(prhs[narg])==1);
    num_condof=mxGetM(prhs[narg]);
    condof = VectorXd::Zero(num_condof);
    memcpy(condof.data(),mxGetPr(prhs[narg++]),sizeof(double)*num_condof);
  }
  else {
    num_condof=0;
    narg++; // skip over empty vector
  }

  int desired_support_argid = narg++;

  Map<MatrixXd> A_ls(mxGetPr(prhs[narg]),mxGetM(prhs[narg]),mxGetN(prhs[narg])); narg++;
  Map<MatrixXd> B_ls(mxGetPr(prhs[narg]),mxGetM(prhs[narg]),mxGetN(prhs[narg])); narg++;
  Map<MatrixXd> Qy  (mxGetPr(prhs[narg]),mxGetM(prhs[narg]),mxGetN(prhs[narg])); narg++;
  Map<MatrixXd> R_ls(mxGetPr(prhs[narg]),mxGetM(prhs[narg]),mxGetN(prhs[narg])); narg++;
  Map<MatrixXd> C_ls(mxGetPr(prhs[narg]),mxGetM(prhs[narg]),mxGetN(prhs[narg])); narg++;
  Map<MatrixXd> D_ls(mxGetPr(prhs[narg]),mxGetM(prhs[narg]),mxGetN(prhs[narg])); narg++;
  Map<MatrixXd> S   (mxGetPr(prhs[narg]),mxGetM(prhs[narg]),mxGetN(prhs[narg])); narg++;

  Map<VectorXd> s1(mxGetPr(prhs[narg]),mxGetM(prhs[narg])); narg++;
  Map<VectorXd> s1dot(mxGetPr(prhs[narg]),mxGetM(prhs[narg])); narg++;
  double s2dot = mxGetScalar(prhs[narg++]);
  Map<VectorXd> x0(mxGetPr(prhs[narg]),mxGetM(prhs[narg])); narg++;
  Map<VectorXd> u0(mxGetPr(prhs[narg]),mxGetM(prhs[narg])); narg++;
  Map<VectorXd> y0(mxGetPr(prhs[narg]),mxGetM(prhs[narg])); narg++;
  Map<VectorXd> qdd_lb(mxGetPr(prhs[narg]),mxGetM(prhs[narg])); narg++;
  Map<VectorXd> qdd_ub(mxGetPr(prhs[narg]),mxGetM(prhs[narg])); narg++;
  memcpy(pdata->w_qdd.data(),mxGetPr(prhs[narg++]),sizeof(double)*nq); 
  
  double mu = mxGetScalar(prhs[narg++]);
  double terrain_height = mxGetScalar(prhs[narg++]); // nonzero if we're using DRCFlatTerrainMap

  MatrixXd R_DQyD_ls = R_ls + D_ls.transpose()*Qy*D_ls;

  pdata->r->doKinematics(q,false,qd);

  //---------------------------------------------------------------------
  // Compute active support from desired supports -----------------------

  vector<SupportStateElement> active_supports;
  set<int> contact_bodies; // redundant, clean up later
  int num_active_contact_pts=0;
  if (!mxIsEmpty(prhs[desired_support_argid])) {
    VectorXd phi;
    mxArray* mxBodies = myGetField(prhs[desired_support_argid],"bodies");
    if (!mxBodies) mexErrMsgTxt("couldn't get bodies");
    double* pBodies = mxGetPr(mxBodies);
    mxArray* mxContactPts = myGetField(prhs[desired_support_argid],"contact_pts");
    if (!mxContactPts) mexErrMsgTxt("couldn't get contact points");
    mxArray* mxContactSurfaces = myGetField(prhs[desired_support_argid],"contact_surfaces");
    if (!mxContactSurfaces) mexErrMsgTxt("couldn't get contact surfaces");
    double* pContactSurfaces = mxGetPr(mxContactSurfaces);
    
    for (i=0; i<mxGetNumberOfElements(mxBodies);i++) {
      mxArray* mxBodyContactPts = mxGetCell(mxContactPts,i);
      int nc = mxGetNumberOfElements(mxBodyContactPts);
      if (nc<1) continue;
      
      SupportStateElement se;
      se.body_idx = (int) pBodies[i]-1;
      pr = mxGetPr(mxBodyContactPts); 
      for (j=0; j<nc; j++) {
        se.contact_pt_inds.insert((int)pr[j]-1);
      }
      se.contact_surface = (int) pContactSurfaces[i]-1;
      
      active_supports.push_back(se);
      num_active_contact_pts += nc;
      contact_bodies.insert((int)se.body_idx); 
    }
  }

  pdata->r->HandC(q,qd,(MatrixXd*)NULL,pdata->H,pdata->C,(MatrixXd*)NULL,(MatrixXd*)NULL,(MatrixXd*)NULL);

  pdata->H_float = pdata->H.topRows(6);
  pdata->H_act = pdata->H.bottomRows(nu);
  pdata->C_float = pdata->C.head(6);
  pdata->C_act = pdata->C.tail(nu);

  bool include_angular_momentum = (pdata->W_kdot.array().maxCoeff() > 1e-10);

  if (include_angular_momentum) {
    pdata->r->getCMM(q,qd,pdata->Ag,pdata->Agdot);
    pdata->Ak = pdata->Ag.topRows(3);
    pdata->Akdot = pdata->Agdot.topRows(3);
  }
  Vector3d xcom;
  // consider making all J's into row-major
  
  pdata->r->getCOM(xcom);
  pdata->r->getCOMJac(pdata->J);
  pdata->r->getCOMJacDot(pdata->Jdot);
  pdata->J_xy = pdata->J.topRows(2);
  pdata->Jdot_xy = pdata->Jdot.topRows(2);

  MatrixXd Jcom,Jcomdot;

  if (x0.size()==6) {
    Jcom = pdata->J;
    Jcomdot = pdata->Jdot;
  }
  else {
    Jcom = pdata->J_xy;
    Jcomdot = pdata->Jdot_xy;
  }
  Map<VectorXd> qdvec(qd,nq);
  
  MatrixXd B,JB,Jp,Jpdot,normals;
  int nc = contactConstraintsBV(pdata->r,num_active_contact_pts,mu,active_supports,pdata->map_ptr,B,JB,Jp,Jpdot,normals,terrain_height);
  int neps = nc*dim;

  VectorXd x_bar,xlimp;
  MatrixXd D_float(6,JB.cols()), D_act(nu,JB.cols());
  if (nc>0) {
    if (x0.size()==6) {
      // x,y,z com 
      xlimp.resize(6); 
      xlimp.topRows(3) = xcom;
      xlimp.bottomRows(3) = Jcom*qdvec;
    }
    else {
      xlimp.resize(4); 
      xlimp.topRows(2) = xcom.topRows(2);
      xlimp.bottomRows(2) = Jcom*qdvec;
    }
    x_bar = xlimp-x0;

    D_float = JB.topRows(6);
    D_act = JB.bottomRows(nu);
  }

  int nf = nc*nd; // number of contact force variables
  int nparams = nq+nf+neps;

  Vector3d kdot_des; 
  if (include_angular_momentum) {
    VectorXd k = pdata->Ak*qdvec;
    kdot_des = -pdata->Kp_ang*k; // TODO: parameterize
  }
  
  //----------------------------------------------------------------------
  // QP cost function ----------------------------------------------------
  //
  //  min: ybar*Qy*ybar + ubar*R*ubar + (2*S*xbar + s1)*(A*x + B*u) +
  //    w_qdd*quad(qddot_ref - qdd) + w_eps*quad(epsilon) +
  //    w_grf*quad(beta) + quad(kdot_des - (A*qdd + Adot*qd))  
  VectorXd f(nparams);
  {      
    if (nc > 0) {
      // NOTE: moved Hqp calcs below, because I compute the inverse directly for FastQP (and sparse Hqp for gurobi)
      VectorXd tmp = C_ls*xlimp;
      VectorXd tmp1 = Jcomdot*qdvec;
      MatrixXd tmp2 = R_DQyD_ls*Jcom;

      pdata->fqp = tmp.transpose()*Qy*D_ls*Jcom;
      pdata->fqp += tmp1.transpose()*tmp2;
      pdata->fqp += (S*x_bar + 0.5*s1).transpose()*B_ls*Jcom;
      pdata->fqp -= u0.transpose()*tmp2;
      pdata->fqp -= y0.transpose()*Qy*D_ls*Jcom;
      pdata->fqp -= (pdata->w_qdd.array()*qddot_des.array()).matrix().transpose();
      if (include_angular_momentum) {
        pdata->fqp += qdvec.transpose()*pdata->Akdot.transpose()*pdata->W_kdot*pdata->Ak;
        pdata->fqp -= kdot_des.transpose()*pdata->W_kdot*pdata->Ak;
      }
      f.head(nq) = pdata->fqp.transpose();
     } else {
      f.head(nq) = -qddot_des;
    } 
  }
  f.tail(nf+neps) = VectorXd::Zero(nf+neps);
  
  int neq = 6+neps+6*pdata->n_body_accel_eq_constraints+num_condof;
  MatrixXd Aeq = MatrixXd::Zero(neq,nparams);
  VectorXd beq = VectorXd::Zero(neq);
  
  // constrained floating base dynamics
  //  H_float*qdd - J_float'*lambda - Dbar_float*beta = -C_float
  Aeq.topLeftCorner(6,nq) = pdata->H_float;
  beq.topRows(6) = -pdata->C_float;
    
  if (nc>0) {
    Aeq.block(0,nq,6,nc*nd) = -D_float;
  }
  
  if (nc > 0) {
    // relative acceleration constraint
    Aeq.block(6,0,neps,nq) = Jp;
    Aeq.block(6,nq,neps,nf) = MatrixXd::Zero(neps,nf);  // note: obvious sparsity here
    Aeq.block(6,nq+nf,neps,neps) = MatrixXd::Identity(neps,neps);             // note: obvious sparsity here
    beq.segment(6,neps) = (-Jpdot -pdata->Kp_accel*Jp)*qdvec; 
  }    
  
  // add in body spatial equality constraints
  VectorXd body_vdot;
  MatrixXd orig = MatrixXd::Zero(4,1);
  orig(3,0) = 1;
  int body_idx;
  int equality_ind = 6+neps;
  MatrixXd Jb(6,nq);
  MatrixXd Jbdot(6,nq);
  for (int i=0; i<pdata->n_body_accel_inputs; i++) {
    if (pdata->body_accel_input_weights(i) < 0) {
      // negative implies constraint
      body_vdot = body_accel_inputs[i].bottomRows(6);
      body_idx = (int)(body_accel_inputs[i][0])-1;

      if (!inSupport(active_supports,body_idx)) {
        pdata->r->forwardJac(body_idx,orig,1,Jb);
        pdata->r->forwardJacDot(body_idx,orig,1,Jbdot);

        for (int j=0; j<6; j++) {
          if (!std::isnan(body_vdot[j])) {
            Aeq.block(equality_ind,0,1,nq) = Jb.row(j);
            beq[equality_ind++] = -Jbdot.row(j)*qdvec + body_vdot[j];
          }
        }
      }
    }
  }

  if (num_condof>0) {
    // add joint acceleration constraints
    for (int i=0; i<num_condof; i++) {
      Aeq(equality_ind,(int)condof[i]-1) = 1;
      beq[equality_ind++] = qddot_des[(int)condof[i]-1];
    }
  }  
  
  int n_ineq = 2*nu+2*6*pdata->n_body_accel_bounds;
  MatrixXd Ain = MatrixXd::Zero(n_ineq,nparams);  // note: obvious sparsity here
  VectorXd bin = VectorXd::Zero(n_ineq);

  // linear input saturation constraints
  // u=B_act'*(H_act*qdd + C_act - Jz_act'*z - Dbar_act*beta)
  // using transpose instead of inverse because B is orthogonal
  Ain.topLeftCorner(nu,nq) = pdata->B_act.transpose()*pdata->H_act;
  Ain.block(0,nq,nu,nc*nd) = -pdata->B_act.transpose()*D_act;
  bin.head(nu) = -pdata->B_act.transpose()*pdata->C_act + pdata->umax;

  Ain.block(nu,0,nu,nparams) = -1*Ain.block(0,0,nu,nparams);
  bin.segment(nu,nu) = pdata->B_act.transpose()*pdata->C_act - pdata->umin;

  int body_index;
  int constraint_start_index = 2*nu;
  for (int i=0; i<pdata->n_body_accel_bounds; i++) {
    body_index = pdata->accel_bound_body_idx[i];
    pdata->r->forwardJac(body_index,orig,1,Jb);
    pdata->r->forwardJacDot(body_index,orig,1,Jbdot);
    Ain.block(constraint_start_index,0,6,pdata->r->num_dof) = Jb;
    bin.segment(constraint_start_index,6) = -Jbdot*qdvec + pdata->max_body_acceleration[i];
    constraint_start_index += 6;
    Ain.block(constraint_start_index,0,6,pdata->r->num_dof) = -Jb;
    bin.segment(constraint_start_index,6) = Jbdot*qdvec - pdata->min_body_acceleration[i];
    constraint_start_index += 6;
  }
       
  for (int i=0; i<n_ineq; i++) {
    // remove inf constraints---needed by gurobi
    if (std::isinf(double(bin(i)))) {
      Ain.row(i) = 0*Ain.row(i);
      bin(i)=0;
    }  
  }

  GRBmodel * model = NULL;
  int info=-1;
  
  // set obj,lb,up
  VectorXd lb(nparams), ub(nparams);
  lb.head(nq) = qdd_lb;
  ub.head(nq) = qdd_ub;
  lb.segment(nq,nf) = VectorXd::Zero(nf);
  ub.segment(nq,nf) = 1e3*VectorXd::Ones(nf);
  lb.tail(neps) = -pdata->slack_limit*VectorXd::Ones(neps);
  ub.tail(neps) = pdata->slack_limit*VectorXd::Ones(neps);

  VectorXd alpha(nparams);

  MatrixXd Qnfdiag(nf,1), Qneps(neps,1);
  vector<MatrixXd*> QBlkDiag( nc>0 ? 3 : 1 );  // nq, nf, neps   // this one is for gurobi
  
  VectorXd w = (pdata->w_qdd.array() + REG).matrix();
  #ifdef USE_MATRIX_INVERSION_LEMMA
  bool include_body_accel_cost_terms = pdata->n_body_accel_inputs > 0 && pdata->body_accel_input_weights.array().maxCoeff() > 1e-10;
  if (use_fast_qp > 0 && !include_angular_momentum && !include_body_accel_cost_terms)
  { 
    // TODO: update to include angular momentum, body accel objectives.

  	//    We want Hqp inverse, which I can compute efficiently using the
  	//    matrix inversion lemma (see wikipedia):
  	//    inv(A + U'CV) = inv(A) - inv(A)*U* inv([ inv(C)+ V*inv(A)*U ]) V inv(A)
  	if (nc>0) {
      MatrixXd Wi = ((1/(pdata->w_qdd.array() + REG)).matrix()).asDiagonal();
  		if (R_DQyD_ls.trace()>1e-15) { // R_DQyD_ls is not zero
  			pdata->Hqp = Wi - Wi*Jcom.transpose()*(R_DQyD_ls.inverse() + Jcom*Wi*Jcom.transpose()).inverse()*Jcom*Wi;
      }
  	} 
    else {
    	pdata->Hqp = MatrixXd::Constant(nq,1,1/(1+REG));
  	}

	  #ifdef TEST_FAST_QP
  	  if (nc>0) {
        MatrixXd Hqp_test(nq,nq);
        MatrixXd W = w.asDiagonal();
        Hqp_test = (Jcom.transpose()*R_DQyD_ls*Jcom + W).inverse();
    	  if (((Hqp_test-pdata->Hqp).array().abs()).maxCoeff() > 1e-6) {
    		  mexErrMsgTxt("Q submatrix inverse from matrix inversion lemma does not match direct Q inverse.");
        }
      }
	  #endif

    Qnfdiag = MatrixXd::Constant(nf,1,1/REG);
    Qneps = MatrixXd::Constant(neps,1,1/(.001+REG));

    QBlkDiag[0] = &pdata->Hqp;
    if (nc>0) {
    	QBlkDiag[1] = &Qnfdiag;
    	QBlkDiag[2] = &Qneps;     // quadratic slack var cost, Q(nparams-neps:end,nparams-neps:end)=eye(neps)
    }

    MatrixXd Ain_lb_ub(n_ineq+2*nparams,nparams);
    VectorXd bin_lb_ub(n_ineq+2*nparams);
    Ain_lb_ub << Ain, 			     // note: obvious sparsity here
    		-MatrixXd::Identity(nparams,nparams),
    		MatrixXd::Identity(nparams,nparams);
    bin_lb_ub << bin, -lb, ub;

    info = fastQPThatTakesQinv(QBlkDiag, f, Aeq, beq, Ain_lb_ub, bin_lb_ub, pdata->active, alpha);

    //if (info<0)  	mexPrintf("fastQP info = %d.  Calling gurobi.\n", info);
  }
  else {
  #endif

    if (nc>0) {
      pdata->Hqp = Jcom.transpose()*R_DQyD_ls*Jcom;
      if (include_angular_momentum) {
        pdata->Hqp += pdata->Ak.transpose()*pdata->W_kdot*pdata->Ak;
      }
      pdata->Hqp += pdata->w_qdd.asDiagonal();
      pdata->Hqp += REG*MatrixXd::Identity(nq,nq);
    } else {
      pdata->Hqp = (1+REG)*MatrixXd::Identity(nq,nq);
    }

    // add in body spatial acceleration cost terms
    double w_i;
    for (int i=0; i<pdata->n_body_accel_inputs; i++) {
      w_i=pdata->body_accel_input_weights(i);
      if (w_i > 0) {
        body_vdot = body_accel_inputs[i].bottomRows(6);
        body_idx = (int)(body_accel_inputs[i][0])-1;
        
        if (!inSupport(active_supports,body_idx)) {
          pdata->r->forwardJac(body_idx,orig,1,Jb);
          pdata->r->forwardJacDot(body_idx,orig,1,Jbdot);

          for (int j=0; j<6; j++) {
            if (!std::isnan(body_vdot[j])) {
              pdata->Hqp += w_i*(Jb.row(j)).transpose()*Jb.row(j);
              f.head(nq) += w_i*(qdvec.transpose()*Jbdot.row(j).transpose() - body_vdot[j])*Jb.row(j).transpose();
            }
          }
        }
      }
    }

    Qnfdiag = MatrixXd::Constant(nf,1,pdata->w_grf+REG);
    Qneps = MatrixXd::Constant(neps,1,pdata->w_slack+REG);

    QBlkDiag[0] = &pdata->Hqp;
    if (nc>0) {
      QBlkDiag[1] = &Qnfdiag;
      QBlkDiag[2] = &Qneps;     // quadratic slack var cost, Q(nparams-neps:end,nparams-neps:end)=eye(neps)
    }


    MatrixXd Ain_lb_ub(n_ineq+2*nparams,nparams);
    VectorXd bin_lb_ub(n_ineq+2*nparams);
    Ain_lb_ub << Ain,            // note: obvious sparsity here
        -MatrixXd::Identity(nparams,nparams),
        MatrixXd::Identity(nparams,nparams);
    bin_lb_ub << bin, -lb, ub;


    if (use_fast_qp > 0)
    { // set up and call fastqp
      info = fastQP(QBlkDiag, f, Aeq, beq, Ain_lb_ub, bin_lb_ub, pdata->active, alpha);
      //if (info<0)    mexPrintf("fastQP info=%d... calling Gurobi.\n", info);
    }
    else {
      // use gurobi active set 
      model = gurobiActiveSetQP(pdata->env,QBlkDiag,f,Aeq,beq,Ain,bin,lb,ub,pdata->vbasis,pdata->vbasis_len,pdata->cbasis,pdata->cbasis_len,alpha);
      CGE(GRBgetintattr(model,"NumVars",&pdata->vbasis_len), pdata->env);
      CGE(GRBgetintattr(model,"NumConstrs",&pdata->cbasis_len), pdata->env);
      info=66;
      //info = -1;
    }

    if (info<0) {
      model = gurobiQP(pdata->env,QBlkDiag,f,Aeq,beq,Ain,bin,lb,ub,pdata->active,alpha);
      int status; CGE(GRBgetintattr(model, "Status", &status), pdata->env);
      //if (status!=2) mexPrintf("Gurobi reports non-optimal status = %d\n", status);
    }
  #ifdef USE_MATRIX_INVERSION_LEMMA
  }
  #endif

  //----------------------------------------------------------------------
  // Solve for inputs ----------------------------------------------------
  VectorXd y(nu);
  VectorXd qdd = alpha.head(nq);
  VectorXd beta = alpha.segment(nq,nc*nd);

  // use transpose because B_act is orthogonal
  y = pdata->B_act.transpose()*(pdata->H_act*qdd + pdata->C_act - D_act*beta);
  //y = pdata->B_act.jacobiSvd(ComputeThinU|ComputeThinV).solve(pdata->H_act*qdd + pdata->C_act - Jz_act.transpose()*lambda - D_act*beta);
  
  if (nlhs>0) {
    plhs[0] = eigenToMatlab(y);
  }
  
  if (nlhs>1) {
    plhs[1] = eigenToMatlab(qdd);
  }

  if (nlhs>2) {
    plhs[2] = mxCreateNumericMatrix(1,1,mxINT32_CLASS,mxREAL);
    memcpy(mxGetData(plhs[2]),&info,sizeof(int));
  }

  if (nlhs>3) {
      plhs[3] = mxCreateDoubleMatrix(1,active_supports.size(),mxREAL);
      pr = mxGetPr(plhs[3]);
      int i=0;
      for (vector<SupportStateElement>::iterator iter = active_supports.begin(); iter!=active_supports.end(); iter++) {
          pr[i++] = (double) (iter->body_idx + 1);
      }
  }

  if (nlhs>4) {
    plhs[4] = eigenToMatlab(alpha);
  }

  if (nlhs>5) {
    plhs[5] = eigenToMatlab(pdata->Hqp);
  }

  if (nlhs>6) {
    plhs[6] = eigenToMatlab(f);
  }

  if (nlhs>7) {
    plhs[7] = eigenToMatlab(Aeq);
  }

  if (nlhs>8) {
    plhs[8] = eigenToMatlab(beq);
  }

  if (nlhs>9) {
    plhs[9] = eigenToMatlab(Ain_lb_ub);
  }

  if (nlhs>10) {
    plhs[10] = eigenToMatlab(bin_lb_ub);
  }

  if (nlhs>11) {
    plhs[11] = eigenToMatlab(Qnfdiag);
  }

  if (nlhs>12) {
    plhs[12] = eigenToMatlab(Qneps);
  }

  if (nlhs>13) {
    double Vdot;
    if (nc>0) 
      // note: Sdot is 0 for ZMP/double integrator dynamics, so we omit that term here
      Vdot = ((2*x_bar.transpose()*S + s1.transpose())*(A_ls*x_bar + B_ls*(Jcomdot*qdvec + Jcom*qdd)) + s1dot.transpose()*x_bar)(0) + s2dot;
    else
      Vdot = 0;
    plhs[13] = mxCreateDoubleScalar(Vdot);
  }

  if (nlhs>14) {
    RigidBodyManipulator* r = pdata->r;

    VectorXd individual_cops = individualSupportCOPs(r, active_supports, normals, B, beta);
    plhs[14] = eigenToMatlab(individual_cops);
  }

  if (model) { 
    GRBfreemodel(model); 
  } 
  //  GRBfreeenv(env);
} 
Exemplo n.º 8
0
int setupAndSolveQP(NewQPControllerData *pdata, std::shared_ptr<drake::lcmt_qp_controller_input> qp_input, double t, Map<VectorXd> &q, Map<VectorXd> &qd, const Ref<Matrix<bool, Dynamic, 1>> &b_contact_force, QPControllerOutput *qp_output, std::shared_ptr<QPControllerDebugData> debug) {
  // The primary solve loop for our controller. This constructs and solves a Quadratic Program and produces the instantaneous desired torques, along with reference positions, velocities, and accelerations. It mirrors the Matlab implementation in atlasControllers.InstantaneousQPController.setupAndSolveQP(), and more documentation can be found there. 
  // Note: argument `debug` MAY be set to NULL, which signals that no debug information is requested.

  // look up the param set by name
  AtlasParams *params; 
  std::map<string,AtlasParams>::iterator it;
  it = pdata->param_sets.find(qp_input->param_set_name);
  if (it == pdata->param_sets.end()) {
    mexWarnMsgTxt("Got a param set I don't recognize! Using standing params instead");
    it = pdata->param_sets.find("standing");
    if (it == pdata->param_sets.end()) {
      mexErrMsgTxt("Could not fall back to standing parameters either. I have to give up here.");
    }
  }
  // cout << "using params set: " + it->first + ", ";
  params = &(it->second);
  // mexPrintf("Kp_accel: %f, ", params->Kp_accel);

  int nu = pdata->B.cols();
  int nq = pdata->r->num_positions;

  // zmp_data
  Map<Matrix<double, 4, 4, RowMajor>> A_ls(&qp_input->zmp_data.A[0][0]);
  Map<Matrix<double, 4, 2, RowMajor>> B_ls(&qp_input->zmp_data.B[0][0]);
  Map<Matrix<double, 2, 4, RowMajor>> C_ls(&qp_input->zmp_data.C[0][0]);
  Map<Matrix<double, 2, 2, RowMajor>> D_ls(&qp_input->zmp_data.D[0][0]);
  Map<Matrix<double, 4, 1>> x0(&qp_input->zmp_data.x0[0][0]);
  Map<Matrix<double, 2, 1>> y0(&qp_input->zmp_data.y0[0][0]);
  Map<Matrix<double, 2, 1>> u0(&qp_input->zmp_data.u0[0][0]);
  Map<Matrix<double, 2, 2, RowMajor>> R_ls(&qp_input->zmp_data.R[0][0]);
  Map<Matrix<double, 2, 2, RowMajor>> Qy(&qp_input->zmp_data.Qy[0][0]);
  Map<Matrix<double, 4, 4, RowMajor>> S(&qp_input->zmp_data.S[0][0]);
  Map<Matrix<double, 4, 1>> s1(&qp_input->zmp_data.s1[0][0]);
  Map<Matrix<double, 4, 1>> s1dot(&qp_input->zmp_data.s1dot[0][0]);

  // // whole_body_data
  if (qp_input->whole_body_data.num_positions != nq) mexErrMsgTxt("number of positions doesn't match num_dof for this robot");
  Map<VectorXd> q_des(qp_input->whole_body_data.q_des.data(), nq);
  Map<VectorXd> condof(qp_input->whole_body_data.constrained_dofs.data(), qp_input->whole_body_data.num_constrained_dofs);
  PIDOutput pid_out = wholeBodyPID(pdata, t, q, qd, q_des, &params->whole_body);
  qp_output->q_ref = pid_out.q_ref;

  // mu
  // NOTE: we're using the same mu for all supports
  double mu;
  if (qp_input->num_support_data == 0) {
    mu = 1.0;
  } else {
    mu = qp_input->support_data[0].mu;
    for (int i=1; i < qp_input->num_support_data; i++) {
      if (qp_input->support_data[i].mu != mu) {
        mexWarnMsgTxt("Currently, we assume that all supports have the same value of mu");
      }
    }
  }

  const int dim = 3, // 3D
  nd = 2*m_surface_tangents; // for friction cone approx, hard coded for now
  
  assert(nu+6 == nq);

  vector<DesiredBodyAcceleration> desired_body_accelerations;
  desired_body_accelerations.resize(qp_input->num_tracked_bodies);
  Vector6d body_pose_des, body_v_des, body_vdot_des;
  Vector6d body_vdot;

  for (int i=0; i < qp_input->num_tracked_bodies; i++) {
    int body_id0 = qp_input->body_motion_data[i].body_id - 1;
    double weight = params->body_motion[body_id0].weight;
    desired_body_accelerations[i].body_id0 = body_id0;
    Map<Matrix<double, 6, 4,RowMajor>>coefs_rowmaj(&qp_input->body_motion_data[i].coefs[0][0]);
    Matrix<double, 6, 4> coefs = coefs_rowmaj;
    evaluateCubicSplineSegment(t - qp_input->body_motion_data[i].ts[0], coefs, body_pose_des, body_v_des, body_vdot_des);
    desired_body_accelerations[i].body_vdot = bodyMotionPD(pdata->r, q, qd, body_id0, body_pose_des, body_v_des, body_vdot_des, params->body_motion[body_id0].Kp, params->body_motion[body_id0].Kd);
    desired_body_accelerations[i].weight = weight;
    desired_body_accelerations[i].accel_bounds = params->body_motion[body_id0].accel_bounds;
    // mexPrintf("body: %d, vdot: %f %f %f %f %f %f weight: %f\n", body_id0, 
    //           desired_body_accelerations[i].body_vdot(0), 
    //           desired_body_accelerations[i].body_vdot(1), 
    //           desired_body_accelerations[i].body_vdot(2), 
    //           desired_body_accelerations[i].body_vdot(3), 
    //           desired_body_accelerations[i].body_vdot(4), 
    //           desired_body_accelerations[i].body_vdot(5),
    //           weight);
      // mexPrintf("tracking body: %d, coefs[:,0]: %f %f %f %f %f %f coefs(", body_id0,
  }

  int n_body_accel_eq_constraints = 0;
  for (int i=0; i < desired_body_accelerations.size(); i++) {
    if (desired_body_accelerations[i].weight < 0)
      n_body_accel_eq_constraints++;
  }

  MatrixXd R_DQyD_ls = R_ls + D_ls.transpose()*Qy*D_ls;

  pdata->r->doKinematics(q,false,qd);

  //---------------------------------------------------------------------

  vector<SupportStateElement> available_supports = loadAvailableSupports(qp_input);
  vector<SupportStateElement> active_supports = getActiveSupports(pdata->r, pdata->map_ptr, q, qd, available_supports, b_contact_force, params->contact_threshold, pdata->default_terrain_height);

  int num_active_contact_pts=0;
  for (vector<SupportStateElement>::iterator iter = active_supports.begin(); iter!=active_supports.end(); iter++) {
    num_active_contact_pts += iter->contact_pts.size();
  }

  pdata->r->HandC(q,qd,(MatrixXd*)nullptr,pdata->H,pdata->C,(MatrixXd*)nullptr,(MatrixXd*)nullptr,(MatrixXd*)nullptr);

  pdata->H_float = pdata->H.topRows(6);
  pdata->H_act = pdata->H.bottomRows(nu);
  pdata->C_float = pdata->C.head(6);
  pdata->C_act = pdata->C.tail(nu);

  bool include_angular_momentum = (params->W_kdot.array().maxCoeff() > 1e-10);

  if (include_angular_momentum) {
    pdata->r->getCMM(q,qd,pdata->Ag,pdata->Agdot);
    pdata->Ak = pdata->Ag.topRows(3);
    pdata->Akdot = pdata->Agdot.topRows(3);
  }
  Vector3d xcom;
  // consider making all J's into row-major
  
  pdata->r->getCOM(xcom);
  pdata->r->getCOMJac(pdata->J);
  pdata->r->getCOMJacDot(pdata->Jdot);
  pdata->J_xy = pdata->J.topRows(2);
  pdata->Jdot_xy = pdata->Jdot.topRows(2);

  MatrixXd Jcom,Jcomdot;

  if (x0.size()==6) {
    Jcom = pdata->J;
    Jcomdot = pdata->Jdot;
  }
  else {
    Jcom = pdata->J_xy;
    Jcomdot = pdata->Jdot_xy;
  }
  
  MatrixXd B,JB,Jp,Jpdot,normals;
  int nc = contactConstraintsBV(pdata->r,num_active_contact_pts,mu,active_supports,pdata->map_ptr,B,JB,Jp,Jpdot,normals,pdata->default_terrain_height);
  int neps = nc*dim;

  VectorXd x_bar,xlimp;
  MatrixXd D_float(6,JB.cols()), D_act(nu,JB.cols());
  if (nc>0) {
    if (x0.size()==6) {
      // x,y,z com 
      xlimp.resize(6); 
      xlimp.topRows(3) = xcom;
      xlimp.bottomRows(3) = Jcom*qd;
    }
    else {
      xlimp.resize(4); 
      xlimp.topRows(2) = xcom.topRows(2);
      xlimp.bottomRows(2) = Jcom*qd;
    }
    x_bar = xlimp-x0;

    D_float = JB.topRows(6);
    D_act = JB.bottomRows(nu);
  }

  int nf = nc*nd; // number of contact force variables
  int nparams = nq+nf+neps;

  Vector3d kdot_des; 
  if (include_angular_momentum) {
    VectorXd k = pdata->Ak*qd;
    kdot_des = -params->Kp_ang*k; // TODO: parameterize
  }
  
  //----------------------------------------------------------------------
  // QP cost function ----------------------------------------------------
  //
  //  min: ybar*Qy*ybar + ubar*R*ubar + (2*S*xbar + s1)*(A*x + B*u) +
  //    w_qdd*quad(qddot_ref - qdd) + w_eps*quad(epsilon) +
  //    w_grf*quad(beta) + quad(kdot_des - (A*qdd + Adot*qd))  
  VectorXd f(nparams);
  {      
    if (nc > 0) {
      // NOTE: moved Hqp calcs below, because I compute the inverse directly for FastQP (and sparse Hqp for gurobi)
      VectorXd tmp = C_ls*xlimp;
      VectorXd tmp1 = Jcomdot*qd;
      MatrixXd tmp2 = R_DQyD_ls*Jcom;

      pdata->fqp = tmp.transpose()*Qy*D_ls*Jcom;
      // mexPrintf("fqp head: %f %f %f\n", pdata->fqp(0), pdata->fqp(1), pdata->fqp(2));
      pdata->fqp += tmp1.transpose()*tmp2;
      pdata->fqp += (S*x_bar + 0.5*s1).transpose()*B_ls*Jcom;
      pdata->fqp -= u0.transpose()*tmp2;
      pdata->fqp -= y0.transpose()*Qy*D_ls*Jcom;
      pdata->fqp -= (params->whole_body.w_qdd.array()*pid_out.qddot_des.array()).matrix().transpose();
      if (include_angular_momentum) {
        pdata->fqp += qd.transpose()*pdata->Akdot.transpose()*params->W_kdot*pdata->Ak;
        pdata->fqp -= kdot_des.transpose()*params->W_kdot*pdata->Ak;
      }
      f.head(nq) = pdata->fqp.transpose();
     } else {
      f.head(nq) = -pid_out.qddot_des;
    } 
  }
  f.tail(nf+neps) = VectorXd::Zero(nf+neps);
  
  int neq = 6+neps+6*n_body_accel_eq_constraints+qp_input->whole_body_data.num_constrained_dofs;
  MatrixXd Aeq = MatrixXd::Zero(neq,nparams);
  VectorXd beq = VectorXd::Zero(neq);
  
  // constrained floating base dynamics
  //  H_float*qdd - J_float'*lambda - Dbar_float*beta = -C_float
  Aeq.topLeftCorner(6,nq) = pdata->H_float;
  beq.topRows(6) = -pdata->C_float;
    
  if (nc>0) {
    Aeq.block(0,nq,6,nc*nd) = -D_float;
  }
  
  if (nc > 0) {
    // relative acceleration constraint
    Aeq.block(6,0,neps,nq) = Jp;
    Aeq.block(6,nq,neps,nf) = MatrixXd::Zero(neps,nf);  // note: obvious sparsity here
    Aeq.block(6,nq+nf,neps,neps) = MatrixXd::Identity(neps,neps);             // note: obvious sparsity here
    beq.segment(6,neps) = (-Jpdot -params->Kp_accel*Jp)*qd; 
  }    
  
  // add in body spatial equality constraints
  // VectorXd body_vdot;
  MatrixXd orig = MatrixXd::Zero(4,1);
  orig(3,0) = 1;
  int equality_ind = 6+neps;
  MatrixXd Jb(6,nq);
  MatrixXd Jbdot(6,nq);
  for (int i=0; i<desired_body_accelerations.size(); i++) {
    if (desired_body_accelerations[i].weight < 0) { // negative implies constraint
      if (!inSupport(active_supports,desired_body_accelerations[i].body_id0)) {
        pdata->r->forwardJac(desired_body_accelerations[i].body_id0,orig,1,Jb);
        pdata->r->forwardJacDot(desired_body_accelerations[i].body_id0,orig,1,Jbdot);

        for (int j=0; j<6; j++) {
          if (!std::isnan(desired_body_accelerations[i].body_vdot(j))) {
            Aeq.block(equality_ind,0,1,nq) = Jb.row(j);
            beq[equality_ind++] = -Jbdot.row(j)*qd + desired_body_accelerations[i].body_vdot(j);
          }
        }
      }
    }
  }

  if (qp_input->whole_body_data.num_constrained_dofs>0) {
    // add joint acceleration constraints
    for (int i=0; i<qp_input->whole_body_data.num_constrained_dofs; i++) {
      Aeq(equality_ind,(int)condof[i]-1) = 1;
      beq[equality_ind++] = pid_out.qddot_des[(int)condof[i]-1];
    }
  }  
  
  int n_ineq = 2*nu+2*6*desired_body_accelerations.size();
  MatrixXd Ain = MatrixXd::Zero(n_ineq,nparams);  // note: obvious sparsity here
  VectorXd bin = VectorXd::Zero(n_ineq);

  // linear input saturation constraints
  // u=B_act'*(H_act*qdd + C_act - Jz_act'*z - Dbar_act*beta)
  // using transpose instead of inverse because B is orthogonal
  Ain.topLeftCorner(nu,nq) = pdata->B_act.transpose()*pdata->H_act;
  Ain.block(0,nq,nu,nc*nd) = -pdata->B_act.transpose()*D_act;
  bin.head(nu) = -pdata->B_act.transpose()*pdata->C_act + pdata->umax;

  Ain.block(nu,0,nu,nparams) = -1*Ain.block(0,0,nu,nparams);
  bin.segment(nu,nu) = pdata->B_act.transpose()*pdata->C_act - pdata->umin;

  int constraint_start_index = 2*nu;
  for (int i=0; i<desired_body_accelerations.size(); i++) {
    pdata->r->forwardJac(desired_body_accelerations[i].body_id0,orig,1,Jb);
    pdata->r->forwardJacDot(desired_body_accelerations[i].body_id0,orig,1,Jbdot);
    Ain.block(constraint_start_index,0,6,pdata->r->num_positions) = Jb;
    bin.segment(constraint_start_index,6) = -Jbdot*qd + desired_body_accelerations[i].accel_bounds.max;
    constraint_start_index += 6;
    Ain.block(constraint_start_index,0,6,pdata->r->num_positions) = -Jb;
    bin.segment(constraint_start_index,6) = Jbdot*qd - desired_body_accelerations[i].accel_bounds.min;
    constraint_start_index += 6;
  }
       
  for (int i=0; i<n_ineq; i++) {
    // remove inf constraints---needed by gurobi
    if (std::isinf(double(bin(i)))) {
      Ain.row(i) = 0*Ain.row(i);
      bin(i)=0;
    }  
  }

  GRBmodel * model = nullptr;
  int info=-1;
  
  // set obj,lb,up
  VectorXd lb(nparams), ub(nparams);
  lb.head(nq) = pdata->qdd_lb;
  ub.head(nq) = pdata->qdd_ub;
  lb.segment(nq,nf) = VectorXd::Zero(nf);
  ub.segment(nq,nf) = 1e3*VectorXd::Ones(nf);
  lb.tail(neps) = -params->slack_limit*VectorXd::Ones(neps);
  ub.tail(neps) = params->slack_limit*VectorXd::Ones(neps);

  VectorXd alpha(nparams);

  MatrixXd Qnfdiag(nf,1), Qneps(neps,1);
  vector<MatrixXd*> QBlkDiag( nc>0 ? 3 : 1 );  // nq, nf, neps   // this one is for gurobi
  
  VectorXd w = (params->whole_body.w_qdd.array() + REG).matrix();
  #ifdef USE_MATRIX_INVERSION_LEMMA
  double max_body_accel_weight = -numeric_limits<double>::infinity();
  for (int i=0; i < desired_body_accelerations.size(); i++) {
    max_body_accel_weight = max(max_body_accel_weight, desired_body_accelerations[i].weight);
  }
  bool include_body_accel_cost_terms = desired_body_accelerations.size() > 0 && max_body_accel_weight > 1e-10;
  if (pdata->use_fast_qp > 0 && !include_angular_momentum && !include_body_accel_cost_terms)
  { 
    // TODO: update to include angular momentum, body accel objectives.

    //    We want Hqp inverse, which I can compute efficiently using the
    //    matrix inversion lemma (see wikipedia):
    //    inv(A + U'CV) = inv(A) - inv(A)*U* inv([ inv(C)+ V*inv(A)*U ]) V inv(A)
    if (nc>0) {
      MatrixXd Wi = ((1/(params->whole_body.w_qdd.array() + REG)).matrix()).asDiagonal();
      if (R_DQyD_ls.trace()>1e-15) { // R_DQyD_ls is not zero
        pdata->Hqp = Wi - Wi*Jcom.transpose()*(R_DQyD_ls.inverse() + Jcom*Wi*Jcom.transpose()).inverse()*Jcom*Wi;
      }
    } 
    else {
      pdata->Hqp = MatrixXd::Constant(nq,1,1/(1+REG));
    }

    #ifdef TEST_FAST_QP
      if (nc>0) {
        MatrixXd Hqp_test(nq,nq);
        MatrixXd W = w.asDiagonal();
        Hqp_test = (Jcom.transpose()*R_DQyD_ls*Jcom + W).inverse();
        if (((Hqp_test-pdata->Hqp).array().abs()).maxCoeff() > 1e-6) {
          mexErrMsgTxt("Q submatrix inverse from matrix inversion lemma does not match direct Q inverse.");
        }
      }
    #endif

    Qnfdiag = MatrixXd::Constant(nf,1,1/REG);
    Qneps = MatrixXd::Constant(neps,1,1/(.001+REG));

    QBlkDiag[0] = &pdata->Hqp;
    if (nc>0) {
      QBlkDiag[1] = &Qnfdiag;
      QBlkDiag[2] = &Qneps;     // quadratic slack var cost, Q(nparams-neps:end,nparams-neps:end)=eye(neps)
    }

    MatrixXd Ain_lb_ub(n_ineq+2*nparams,nparams);
    VectorXd bin_lb_ub(n_ineq+2*nparams);
    Ain_lb_ub << Ain,            // note: obvious sparsity here
        -MatrixXd::Identity(nparams,nparams),
        MatrixXd::Identity(nparams,nparams);
    bin_lb_ub << bin, -lb, ub;

    info = fastQPThatTakesQinv(QBlkDiag, f, Aeq, beq, Ain_lb_ub, bin_lb_ub, pdata->state.active, alpha);

    //if (info<0)   mexPrintf("fastQP info = %d.  Calling gurobi.\n", info);
  }
  else {
  #endif

    if (nc>0) {
      pdata->Hqp = Jcom.transpose()*R_DQyD_ls*Jcom;
      if (include_angular_momentum) {
        pdata->Hqp += pdata->Ak.transpose()*params->W_kdot*pdata->Ak;
      }
      pdata->Hqp += params->whole_body.w_qdd.asDiagonal();
      pdata->Hqp += REG*MatrixXd::Identity(nq,nq);
    } else {
      pdata->Hqp = (1+REG)*MatrixXd::Identity(nq,nq);
    }

    // add in body spatial acceleration cost terms
    for (int i=0; i<desired_body_accelerations.size(); i++) {
      if (desired_body_accelerations[i].weight > 0) {
        if (!inSupport(active_supports,desired_body_accelerations[i].body_id0)) {
          pdata->r->forwardJac(desired_body_accelerations[i].body_id0,orig,1,Jb);
          pdata->r->forwardJacDot(desired_body_accelerations[i].body_id0,orig,1,Jbdot);

          for (int j=0; j<6; j++) {
            if (!std::isnan(desired_body_accelerations[i].body_vdot[j])) {
              pdata->Hqp += desired_body_accelerations[i].weight*(Jb.row(j)).transpose()*Jb.row(j);
              f.head(nq) += desired_body_accelerations[i].weight*(qd.transpose()*Jbdot.row(j).transpose() - desired_body_accelerations[i].body_vdot[j])*Jb.row(j).transpose();
            }
          }
        }
      }
    }

    Qnfdiag = MatrixXd::Constant(nf,1,params->w_grf+REG);
    Qneps = MatrixXd::Constant(neps,1,params->w_slack+REG);

    QBlkDiag[0] = &pdata->Hqp;
    if (nc>0) {
      QBlkDiag[1] = &Qnfdiag;
      QBlkDiag[2] = &Qneps;     // quadratic slack var cost, Q(nparams-neps:end,nparams-neps:end)=eye(neps)
    }


    MatrixXd Ain_lb_ub(n_ineq+2*nparams,nparams);
    VectorXd bin_lb_ub(n_ineq+2*nparams);
    Ain_lb_ub << Ain,            // note: obvious sparsity here
        -MatrixXd::Identity(nparams,nparams),
        MatrixXd::Identity(nparams,nparams);
    bin_lb_ub << bin, -lb, ub;


    if (pdata->use_fast_qp > 0)
    { // set up and call fastqp
      info = fastQP(QBlkDiag, f, Aeq, beq, Ain_lb_ub, bin_lb_ub, pdata->state.active, alpha);
      //if (info<0)    mexPrintf("fastQP info=%d... calling Gurobi.\n", info);
    }
    else {
      // use gurobi active set 
      model = gurobiActiveSetQP(pdata->env,QBlkDiag,f,Aeq,beq,Ain,bin,lb,ub,pdata->state.vbasis,pdata->state.vbasis_len,pdata->state.cbasis,pdata->state.cbasis_len,alpha);
      CGE(GRBgetintattr(model,"NumVars",&(pdata->state.vbasis_len)), pdata->env);
      CGE(GRBgetintattr(model,"NumConstrs",&(pdata->state.cbasis_len)), pdata->env);
      info=66;
      //info = -1;
    }

    if (info<0) {
      model = gurobiQP(pdata->env,QBlkDiag,f,Aeq,beq,Ain,bin,lb,ub,pdata->state.active,alpha);
      int status; CGE(GRBgetintattr(model, "Status", &status), pdata->env);
      //if (status!=2) mexPrintf("Gurobi reports non-optimal status = %d\n", status);
    }
  #ifdef USE_MATRIX_INVERSION_LEMMA
  }
  #endif

  //----------------------------------------------------------------------
  // Solve for inputs ----------------------------------------------------
  qp_output->qdd = alpha.head(nq);
  VectorXd beta = alpha.segment(nq,nc*nd);

  // use transpose because B_act is orthogonal
  qp_output->u = pdata->B_act.transpose()*(pdata->H_act*qp_output->qdd + pdata->C_act - D_act*beta);
  //y = pdata->B_act.jacobiSvd(ComputeThinU|ComputeThinV).solve(pdata->H_act*qdd + pdata->C_act - Jz_act.transpose()*lambda - D_act*beta);

  bool foot_contact[2];
  foot_contact[0] = b_contact_force(pdata->rpc.body_ids.r_foot) == 1;
  foot_contact[1] = b_contact_force(pdata->rpc.body_ids.l_foot) == 1;
  qp_output->qd_ref = velocityReference(pdata, t, q, qd, qp_output->qdd, foot_contact, &(params->vref_integrator), &(pdata->rpc));

  // Remember t for next time around
  pdata->state.t_prev = t;

  // If a debug pointer was passed in, fill it with useful data
  if (debug) {
    debug->active_supports.resize(active_supports.size());
    for (int i=0; i < active_supports.size(); i++) {
      debug->active_supports[i] = active_supports[i];
    }
    debug->nc = nc;
    debug->normals = normals;
    debug->B = B;
    debug->alpha = alpha;
    debug->f = f;
    debug->Aeq = Aeq;
    debug->beq = beq;
    debug->Ain_lb_ub = Ain_lb_ub;
    debug->bin_lb_ub = bin_lb_ub;
    debug->Qnfdiag = Qnfdiag;
    debug->Qneps = Qneps;
    debug->x_bar = x_bar;
    debug->S = S;
    debug->s1 = s1;
    debug->s1dot = s1dot;
    debug->s2dot = qp_input->zmp_data.s2dot;
    debug->A_ls = A_ls;
    debug->B_ls = B_ls;
    debug->Jcom = Jcom;
    debug->Jcomdot = Jcomdot;
    debug->beta = beta;
  }

  // if we used gurobi, clean up
  if (model) { 
    GRBfreemodel(model); 
  } 
  //  GRBfreeenv(env);

  return info;
}