void addJointSoftLimits(const JointSoftLimitParams ¶ms, const DrakeRobotState &robot_state, const VectorXd &q_des, std::vector<SupportStateElement,Eigen::aligned_allocator<SupportStateElement>> &supports, std::vector<drake::lcmt_joint_pd_override> &joint_pd_override) {
Matrix<bool, Dynamic, 1> has_joint_override = Matrix<bool, Dynamic, 1>::Zero(q_des.size());
for (std::vector<drake::lcmt_joint_pd_override>::iterator it = joint_pd_override.begin(); it != joint_pd_override.end(); ++it) {
has_joint_override(it->position_ind - 1) = true;
}
for (int i=0; i < params.lb.size(); i++) {
if (!has_joint_override(i) && params.enabled(i)) {
int disable_body_1idx = params.disable_when_body_in_support(i);
if (disable_body_1idx == 0 || !inSupport(supports, disable_body_1idx - 1)) {
double w_lb = 0;
double w_ub = 0;
if (!std::isinf(params.lb(i))) {
w_lb = logisticSigmoid(params.weight(i), params.k_logistic(i), params.lb(i), robot_state.q(i));
}
if (!std::isinf(params.ub(i))) {
w_ub = logisticSigmoid(params.weight(i), params.k_logistic(i), robot_state.q(i), params.ub(i));
}
double weight = std::max(w_ub, w_lb);
drake::lcmt_joint_pd_override override;
override.position_ind = i + 1;
override.qi_des = q_des(i);
Vector6d bodySpatialMotionPD(
const RigidBodyTree &r, const DrakeRobotState &robot_state,
const int body_index, const Isometry3d &body_pose_des,
const Ref<const Vector6d> &body_v_des,
const Ref<const Vector6d> &body_vdot_des, const Ref<const Vector6d> &Kp,
const Ref<const Vector6d> &Kd, const Isometry3d &T_task_to_world) {
// @param body_pose_des desired pose in the task frame, this is the
// homogeneous transformation from desired body frame to task frame
// @param body_v_des desired [xyzdot;angular_velocity] in task frame
// @param body_vdot_des desired [xyzddot;angular_acceleration] in task
// frame
// @param Kp The gain in task frame
// @param Kd The gain in task frame
// @param T_task_to_world The homogeneous transform from task to world
// @retval twist_dot, [angular_acceleration, xyz_acceleration] in body frame
Isometry3d T_world_to_task = T_task_to_world.inverse();
KinematicsCache<double> cache = r.doKinematics(robot_state.q, robot_state.qd);
auto body_pose = r.relativeTransform(cache, 0, body_index);
const auto &body_xyz = body_pose.translation();
Vector3d body_xyz_task = T_world_to_task * body_xyz;
Vector4d body_quat = rotmat2quat(body_pose.linear());
std::vector<int> v_indices;
auto J_geometric =
r.geometricJacobian(cache, 0, body_index, body_index, true, &v_indices);
VectorXd v_compact(v_indices.size());
for (size_t i = 0; i < v_indices.size(); i++) {
v_compact(i) = robot_state.qd(v_indices[i]);
}
Vector6d body_twist = J_geometric * v_compact;
Matrix3d R_body_to_world = quat2rotmat(body_quat);
Matrix3d R_world_to_body = R_body_to_world.transpose();
Matrix3d R_body_to_task = T_world_to_task.linear() * R_body_to_world;
Vector3d body_angular_vel =
R_body_to_world *
body_twist.head<3>(); // body_angular velocity in world frame
Vector3d body_xyzdot =
R_body_to_world * body_twist.tail<3>(); // body_xyzdot in world frame
Vector3d body_angular_vel_task = T_world_to_task.linear() * body_angular_vel;
Vector3d body_xyzdot_task = T_world_to_task.linear() * body_xyzdot;
Vector3d body_xyz_des = body_pose_des.translation();
Vector3d body_angular_vel_des = body_v_des.tail<3>();
Vector3d body_angular_vel_dot_des = body_vdot_des.tail<3>();
Vector3d xyz_err_task = body_xyz_des - body_xyz_task;
Matrix3d R_des = body_pose_des.linear();
Matrix3d R_err_task = R_des * R_body_to_task.transpose();
Vector4d angleAxis_err_task = rotmat2axis(R_err_task);
Vector3d angular_err_task =
angleAxis_err_task.head<3>() * angleAxis_err_task(3);
Vector3d xyzdot_err_task = body_v_des.head<3>() - body_xyzdot_task;
Vector3d angular_vel_err_task = body_angular_vel_des - body_angular_vel_task;
Vector3d Kp_xyz = Kp.head<3>();
Vector3d Kd_xyz = Kd.head<3>();
Vector3d Kp_angular = Kp.tail<3>();
Vector3d Kd_angular = Kd.tail<3>();
Vector3d body_xyzddot_task =
(Kp_xyz.array() * xyz_err_task.array()).matrix() +
(Kd_xyz.array() * xyzdot_err_task.array()).matrix() +
body_vdot_des.head<3>();
Vector3d body_angular_vel_dot_task =
(Kp_angular.array() * angular_err_task.array()).matrix() +
(Kd_angular.array() * angular_vel_err_task.array()).matrix() +
body_angular_vel_dot_des;
Vector6d twist_dot = Vector6d::Zero();
Vector3d body_xyzddot = T_task_to_world.linear() * body_xyzddot_task;
Vector3d body_angular_vel_dot =
T_task_to_world.linear() * body_angular_vel_dot_task;
twist_dot.head<3>() = R_world_to_body * body_angular_vel_dot;
twist_dot.tail<3>() = R_world_to_body * body_xyzddot -
body_twist.head<3>().cross(body_twist.tail<3>());
return twist_dot;
}
Vector6d bodySpatialMotionPD(RigidBodyManipulator *r, DrakeRobotState &robot_state, const int body_index, const Isometry3d &body_pose_des, const Ref<const Vector6d> &body_v_des, const Ref<const Vector6d> &body_vdot_des, const Ref<const Vector6d> &Kp, const Ref<const Vector6d> &Kd, const Isometry3d &T_task_to_world)
{
// @param body_pose_des desired pose in the task frame, this is the homogeneous transformation from desired body frame to task frame
// @param body_v_des desired [xyzdot;angular_velocity] in task frame
// @param body_vdot_des desired [xyzddot;angular_acceleration] in task frame
// @param Kp The gain in task frame
// @param Kd The gain in task frame
// @param T_task_to_world The homogeneous transform from task to world
// @retval twist_dot, [angular_acceleration, xyz_acceleration] in body frame
if(!r->getUseNewKinsol())
{
throw std::runtime_error("bodySpatialMotionPD requires new kinsol format");
}
Isometry3d T_world_to_task = T_task_to_world.inverse();
r->doKinematicsNew(robot_state.q,robot_state.qd,false);
Vector3d origin = Vector3d::Zero();
auto body_pose = r->forwardKinNew(origin,body_index,0,2,0);
Vector3d body_xyz = body_pose.value().head<3>();
Vector3d body_xyz_task = T_world_to_task * body_xyz.colwise().homogeneous();
Vector4d body_quat = body_pose.value().tail<4>();
std::vector<int> v_indices;
auto J_geometric = r->geometricJacobian<double>(0,body_index,body_index,0,true,&v_indices);
VectorXd v_compact(v_indices.size());
for(size_t i = 0;i<v_indices.size();i++)
{
v_compact(i) = robot_state.qd(v_indices[i]);
}
Vector6d body_twist = J_geometric.value() * v_compact;
Matrix3d R_body_to_world = quat2rotmat(body_quat);
Matrix3d R_world_to_body = R_body_to_world.transpose();
Matrix3d R_body_to_task = T_world_to_task.linear() * R_body_to_world;
Vector3d body_angular_vel = R_body_to_world * body_twist.head<3>();// body_angular velocity in world frame
Vector3d body_xyzdot = R_body_to_world * body_twist.tail<3>();// body_xyzdot in world frame
Vector3d body_angular_vel_task = T_world_to_task.linear() * body_angular_vel;
Vector3d body_xyzdot_task = T_world_to_task.linear() * body_xyzdot;
Vector3d body_xyz_des = body_pose_des.translation();
Vector3d body_angular_vel_des = body_v_des.tail<3>();
Vector3d body_angular_vel_dot_des = body_vdot_des.tail<3>();
Vector3d xyz_err_task = body_xyz_des-body_xyz_task;
Matrix3d R_des = body_pose_des.linear();
Matrix3d R_err_task = R_des * R_body_to_task.transpose();
Vector4d angleAxis_err_task = rotmat2axis(R_err_task);
Vector3d angular_err_task = angleAxis_err_task.head<3>() * angleAxis_err_task(3);
Vector3d xyzdot_err_task = body_v_des.head<3>() - body_xyzdot_task;
Vector3d angular_vel_err_task = body_angular_vel_des - body_angular_vel_task;
Vector3d Kp_xyz = Kp.head<3>();
Vector3d Kd_xyz = Kd.head<3>();
Vector3d Kp_angular = Kp.tail<3>();
Vector3d Kd_angular = Kd.tail<3>();
Vector3d body_xyzddot_task = (Kp_xyz.array() * xyz_err_task.array()).matrix() + (Kd_xyz.array() * xyzdot_err_task.array()).matrix() + body_vdot_des.head<3>();
Vector3d body_angular_vel_dot_task = (Kp_angular.array() * angular_err_task.array()).matrix() + (Kd_angular.array() * angular_vel_err_task.array()).matrix() + body_angular_vel_dot_des;
Vector6d twist_dot = Vector6d::Zero();
Vector3d body_xyzddot = T_task_to_world.linear() * body_xyzddot_task;
Vector3d body_angular_vel_dot = T_task_to_world.linear() * body_angular_vel_dot_task;
twist_dot.head<3>() = R_world_to_body * body_angular_vel_dot;
twist_dot.tail<3>() = R_world_to_body * body_xyzddot - body_twist.head<3>().cross(body_twist.tail<3>());
return twist_dot;
}
