示例#1
0
// Current code only works for the left leg with only one constraint
VectorXd MyWorld::updateGradients() {
  // compute c(q)
  mC = mSkel->getMarker(mConstrainedMarker)->getWorldPosition() - mTarget;

  // compute J(q)
  Vector4d offset;
  offset << mSkel->getMarker(mConstrainedMarker)->getLocalPosition(), 1; // Create a vector in homogeneous coordinates
  // w.r.t ankle dofs
  BodyNode *node = mSkel->getMarker(mConstrainedMarker)->getBodyNode();
  Joint *joint = node->getParentJoint();
  Matrix4d worldToParent = node->getParentBodyNode()->getTransform().matrix();
  Matrix4d parentToJoint = joint->getTransformFromParentBodyNode().matrix();
  Matrix4d dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
  Matrix4d R = joint->getTransform(1).matrix();
  Matrix4d jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
  Vector4d jCol = worldToParent * parentToJoint * dR * R * jointToChild * offset;
  int colIndex = joint->getIndexInSkeleton(0);
  mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of jCol
  dR = joint->getTransformDerivative(1);
  R = joint->getTransform(0).matrix();
  jCol = worldToParent * parentToJoint * R * dR * jointToChild * offset;
  colIndex = joint->getIndexInSkeleton(1);
  mJ.col(colIndex) = jCol.head(3);
  offset = parentToJoint * joint->getTransform(0).matrix() * joint->getTransform(1).matrix() * jointToChild * offset; // Update offset so it stores the chain below the parent joint

  // w.r.t knee dof
  node = node->getParentBodyNode(); // return NULL if node is the root node
  joint = node->getParentJoint();
  worldToParent = node->getParentBodyNode()->getTransform().matrix();
  parentToJoint = joint->getTransformFromParentBodyNode().matrix();
  dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
  jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
  jCol = worldToParent * parentToJoint * dR * jointToChild * offset;
  colIndex = joint->getIndexInSkeleton(0);
  mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of jCol
  offset = parentToJoint * joint->getTransform(0).matrix() * jointToChild * offset;

  // w.r.t hip dofs
  node = node->getParentBodyNode();
  joint = node->getParentJoint();
  worldToParent = node->getParentBodyNode()->getTransform().matrix();
  parentToJoint = joint->getTransformFromParentBodyNode().matrix();
  dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
  Matrix4d R1 = joint->getTransform(1).matrix();
  Matrix4d R2 = joint->getTransform(2).matrix();
  jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
  jCol = worldToParent * parentToJoint * dR * R1 * R2 * jointToChild * offset;
  colIndex = joint->getIndexInSkeleton(0);
  mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of J

  R1 = joint->getTransform(0).matrix();
  dR = joint->getTransformDerivative(1);
  R2 = joint->getTransform(2).matrix();
  jCol = worldToParent * parentToJoint * R1 * dR * R2 * jointToChild * offset;
  colIndex = joint->getIndexInSkeleton(1);
  mJ.col(colIndex) = jCol.head(3);

  R1 = joint->getTransform(0).matrix();
  R2 = joint->getTransform(1).matrix();
  dR = joint->getTransformDerivative(2);
  jCol = worldToParent * parentToJoint * R1 * R2 * dR * jointToChild * offset;
  colIndex = joint->getIndexInSkeleton(2);
  mJ.col(colIndex) = jCol.head(3);

  // compute gradients
  VectorXd gradients = 2 * mJ.transpose() * mC;
  return gradients;
}
示例#2
0
// Current code only works for the left leg with only one constraint
VectorXd MyWorld::updateGradients() {
    mJ.setZero();
    mC.setZero();

  // compute c(q)
  //std::cout << "HAMYDEBUG: mConstrainedMarker = " << getMarker(mConstrainedMarker) << std::endl;
  mC = getMarker(mConstrainedMarker)->getWorldPosition() - mTarget;
  std::cout << "C(q) = " << mC << std::endl;

  // compute J(q)
  Vector4d offset;
  offset << getMarker(mConstrainedMarker)->getLocalPosition(), 1; // Create a vector in homogeneous coordinates

  //Setup vars

  BodyNode *node = getMarker(mConstrainedMarker)->getBodyNode();
  Joint *joint = node->getParentJoint();
  Matrix4d worldToParent;
  Matrix4d parentToJoint;
  
  //Declare Vars
  Matrix4d dR; // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
  Matrix4d R;
  Matrix4d R1;
  Matrix4d R2;
  Matrix4d jointToChild;
  Vector4d jCol;
  int colIndex;

  //TODO: Might want to change this to check if root using given root fcn

  //Iterate until we get to the root node
  while(true) {

    //std::cout << "HAMY DEBUG: Beginning new looop" << std::endl;

    if(node->getParentBodyNode() == NULL) {
      worldToParent = worldToParent.setIdentity();
    } else {
      worldToParent = node->getParentBodyNode()->getTransform().matrix();
    }
    parentToJoint = joint->getTransformFromParentBodyNode().matrix();
     // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
    jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();

    //TODO: R1, R2, ... Rn code depending on DOFs
    int nDofs = joint->getNumDofs();
    //std::cout << "HAMY: nDofs=" << nDofs << std::endl;
    //Can only have up to 3 DOFs on any one piece
    switch(nDofs){
      case 1: //std::cout << "HAMY: 1 nDOF" << std::endl;

        dR = joint->getTransformDerivative(0);
        jCol = worldToParent * parentToJoint * dR * jointToChild * offset;
        colIndex = joint->getIndexInSkeleton(0);
        mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of jCol
        offset = parentToJoint * joint->getTransform(0).matrix() * jointToChild * offset;

        break;
      case 2: //std::cout << "HAMY: 2 nDOF" << std::endl;

        dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
        R = joint->getTransform(1).matrix();
        jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
        jCol = worldToParent * parentToJoint * dR * R * jointToChild * offset;
        colIndex = joint->getIndexInSkeleton(0);
        mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of jCol

        dR = joint->getTransformDerivative(1);
        R = joint->getTransform(0).matrix();
        jCol = worldToParent * parentToJoint * R * dR * jointToChild * offset;
        colIndex = joint->getIndexInSkeleton(1);
        mJ.col(colIndex) = jCol.head(3);
        offset = parentToJoint * joint->getTransform(0).matrix() * joint->getTransform(1).matrix() * jointToChild * offset; // Upd

        break;
      case 3: //std::cout << "HAMY: 3 nDOF" << std::endl;

        dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
        R1 = joint->getTransform(1).matrix();
        R2 = joint->getTransform(2).matrix();
        jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
        jCol = worldToParent * parentToJoint * dR * R1 * R2 * jointToChild * offset;
        colIndex = joint->getIndexInSkeleton(0);
        mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of J

        R1 = joint->getTransform(0).matrix();
        dR = joint->getTransformDerivative(1);
        R2 = joint->getTransform(2).matrix();
        jCol = worldToParent * parentToJoint * R1 * dR * R2 * jointToChild * offset;
        colIndex = joint->getIndexInSkeleton(1);
        mJ.col(colIndex) = jCol.head(3);

        R1 = joint->getTransform(0).matrix();
        R2 = joint->getTransform(1).matrix();
        dR = joint->getTransformDerivative(2);
        jCol = worldToParent * parentToJoint * R1 * R2 * dR * jointToChild * offset;
        colIndex = joint->getIndexInSkeleton(2);
        mJ.col(colIndex) = jCol.head(3);

        offset = parentToJoint * joint->getTransform(0).matrix() * joint->getTransform(1).matrix() * joint->getTransform(2).matrix() * jointToChild * offset;

        break;
      default: //std::cout << "HAMY: Unexpected nDOF = " << nDofs << std::endl;
        break;
    }

    if(node != mSkel->getRootBodyNode()) {
      //std::cout << "HAMY DEBUG: Not root, continue loop" << std::endl;
      node = node->getParentBodyNode(); // return NULL if node is the root node
      joint = node->getParentJoint();
    } else {
      break;
    }
  }

  // compute gradients
  VectorXd gradients = 2 * mJ.transpose() * mC;
  return gradients;
}