bdk-blender/intern/itasc/CopyPose.cpp
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/** \file itasc/CopyPose.cpp
* \ingroup itasc
*/
/*
* CopyPose.cpp
*
* Created on: Mar 17, 2009
* Author: benoit bolsee
*/
#include "CopyPose.hpp"
#include "kdl/kinfam_io.hpp"
#include <math.h>
#include <string.h>
namespace iTaSC
{
const unsigned int maxPoseCacheSize = (2*(3+3*2));
CopyPose::CopyPose(unsigned int control_output, unsigned int dynamic_output, double armlength, double accuracy, unsigned int maximum_iterations):
ConstraintSet(),
m_cache(NULL),
m_poseCCh(-1),m_poseCTs(0)
{
m_maxerror = armlength/2.0;
m_outputControl = (control_output & CTL_ALL);
unsigned int _nc = nBitsOn(m_outputControl);
if (!_nc)
return;
// reset the constraint set
reset(_nc, accuracy, maximum_iterations);
_nc = 0;
m_nvalues = 0;
int nrot = 0, npos = 0;
int nposCache = 0, nrotCache = 0;
m_outputDynamic = (dynamic_output & m_outputControl);
memset(m_values, 0, sizeof(m_values));
memset(m_posData, 0, sizeof(m_posData));
memset(m_rotData, 0, sizeof(m_rotData));
memset(&m_rot, 0, sizeof(m_rot));
memset(&m_pos, 0, sizeof(m_pos));
if (m_outputControl & CTL_POSITION) {
m_pos.alpha = 1.0;
m_pos.K = 20.0;
m_pos.tolerance = 0.05;
m_values[m_nvalues].alpha = m_pos.alpha;
m_values[m_nvalues].feedback = m_pos.K;
m_values[m_nvalues].tolerance = m_pos.tolerance;
m_values[m_nvalues].id = ID_POSITION;
if (m_outputControl & CTL_POSITIONX) {
m_Wy(_nc) = m_pos.alpha/*/(m_pos.tolerance*m_pos.K)*/;
m_Cf(_nc++,0)=1.0;
m_posData[npos++].id = ID_POSITIONX;
if (m_outputDynamic & CTL_POSITIONX)
nposCache++;
}
if (m_outputControl & CTL_POSITIONY) {
m_Wy(_nc) = m_pos.alpha/*/(m_pos.tolerance*m_pos.K)*/;
m_Cf(_nc++,1)=1.0;
m_posData[npos++].id = ID_POSITIONY;
if (m_outputDynamic & CTL_POSITIONY)
nposCache++;
}
if (m_outputControl & CTL_POSITIONZ) {
m_Wy(_nc) = m_pos.alpha/*/(m_pos.tolerance*m_pos.K)*/;
m_Cf(_nc++,2)=1.0;
m_posData[npos++].id = ID_POSITIONZ;
if (m_outputDynamic & CTL_POSITIONZ)
nposCache++;
}
m_values[m_nvalues].number = npos;
m_values[m_nvalues++].values = m_posData;
m_pos.firsty = 0;
m_pos.ny = npos;
}
if (m_outputControl & CTL_ROTATION) {
m_rot.alpha = 1.0;
m_rot.K = 20.0;
m_rot.tolerance = 0.05;
m_values[m_nvalues].alpha = m_rot.alpha;
m_values[m_nvalues].feedback = m_rot.K;
m_values[m_nvalues].tolerance = m_rot.tolerance;
m_values[m_nvalues].id = ID_ROTATION;
if (m_outputControl & CTL_ROTATIONX) {
m_Wy(_nc) = m_rot.alpha/*/(m_rot.tolerance*m_rot.K)*/;
m_Cf(_nc++,3)=1.0;
m_rotData[nrot++].id = ID_ROTATIONX;
if (m_outputDynamic & CTL_ROTATIONX)
nrotCache++;
}
if (m_outputControl & CTL_ROTATIONY) {
m_Wy(_nc) = m_rot.alpha/*/(m_rot.tolerance*m_rot.K)*/;
m_Cf(_nc++,4)=1.0;
m_rotData[nrot++].id = ID_ROTATIONY;
if (m_outputDynamic & CTL_ROTATIONY)
nrotCache++;
}
if (m_outputControl & CTL_ROTATIONZ) {
m_Wy(_nc) = m_rot.alpha/*/(m_rot.tolerance*m_rot.K)*/;
m_Cf(_nc++,5)=1.0;
m_rotData[nrot++].id = ID_ROTATIONZ;
if (m_outputDynamic & CTL_ROTATIONZ)
nrotCache++;
}
m_values[m_nvalues].number = nrot;
m_values[m_nvalues++].values = m_rotData;
m_rot.firsty = npos;
m_rot.ny = nrot;
}
assert(_nc == m_nc);
m_Jf=e_identity_matrix(6,6);
m_poseCacheSize = ((nrotCache)?(3+nrotCache*2):0)+((nposCache)?(3+nposCache*2):0);
}
CopyPose::~CopyPose()
{
}
bool CopyPose::initialise(Frame& init_pose)
{
m_externalPose = m_internalPose = init_pose;
updateJacobian();
return true;
}
void CopyPose::modelUpdate(Frame& _external_pose,const Timestamp& timestamp)
{
m_internalPose = m_externalPose = _external_pose;
updateJacobian();
}
void CopyPose::initCache(Cache *_cache)
{
m_cache = _cache;
m_poseCCh = -1;
if (m_cache) {
// create one channel for the coordinates
m_poseCCh = m_cache->addChannel(this, "Xf", m_poseCacheSize*sizeof(double));
// don't save initial value, it will be recomputed from external pose
//pushPose(0);
}
}
double* CopyPose::pushValues(double* item, ControlState* _state, unsigned int mask)
{
ControlState::ControlValue* _yval;
int i;
*item++ = _state->alpha;
*item++ = _state->K;
*item++ = _state->tolerance;
for (i=0, _yval=_state->output; i<_state->ny; mask<<=1) {
if (m_outputControl & mask) {
if (m_outputDynamic & mask) {
*item++ = _yval->yd;
*item++ = _yval->yddot;
}
_yval++;
i++;
}
}
return item;
}
void CopyPose::pushPose(CacheTS timestamp)
{
if (m_poseCCh >= 0) {
if (m_poseCacheSize) {
double buf[maxPoseCacheSize];
double *item = buf;
if (m_outputDynamic & CTL_POSITION)
item = pushValues(item, &m_pos, CTL_POSITIONX);
if (m_outputDynamic & CTL_ROTATION)
item = pushValues(item, &m_rot, CTL_ROTATIONX);
m_cache->addCacheVectorIfDifferent(this, m_poseCCh, timestamp, buf, m_poseCacheSize, KDL::epsilon);
} else
m_cache->addCacheVectorIfDifferent(this, m_poseCCh, timestamp, NULL, 0, KDL::epsilon);
m_poseCTs = timestamp;
}
}
double* CopyPose::restoreValues(double* item, ConstraintValues* _values, ControlState* _state, unsigned int mask)
{
ConstraintSingleValue* _data;
ControlState::ControlValue* _yval;
int i, j;
_values->alpha = _state->alpha = *item++;
_values->feedback = _state->K = *item++;
_values->tolerance = _state->tolerance = *item++;
for (i=_state->firsty, j=i+_state->ny, _yval=_state->output, _data=_values->values; i<j; mask<<=1) {
if (m_outputControl & mask) {
m_Wy(i) = _state->alpha/*/(_state->tolerance*_state->K)*/;
if (m_outputDynamic & mask) {
_data->yd = _yval->yd = *item++;
_data->yddot = _yval->yddot = *item++;
}
_data++;
_yval++;
i++;
}
}
return item;
}
bool CopyPose::popPose(CacheTS timestamp)
{
bool found = false;
if (m_poseCCh >= 0) {
double *item = (double*)m_cache->getPreviousCacheItem(this, m_poseCCh, &timestamp);
if (item) {
found = true;
if (timestamp != m_poseCTs) {
int i=0;
if (m_outputControl & CTL_POSITION) {
if (m_outputDynamic & CTL_POSITION) {
item = restoreValues(item, &m_values[i], &m_pos, CTL_POSITIONX);
}
i++;
}
if (m_outputControl & CTL_ROTATION) {
if (m_outputDynamic & CTL_ROTATION) {
item = restoreValues(item, &m_values[i], &m_rot, CTL_ROTATIONX);
}
i++;
}
m_poseCTs = timestamp;
item = NULL;
}
}
}
return found;
}
void CopyPose::interpolateOutput(ControlState* _state, unsigned int mask, const Timestamp& timestamp)
{
ControlState::ControlValue* _yval;
int i;
for (i=0, _yval=_state->output; i<_state->ny; mask <<= 1) {
if (m_outputControl & mask) {
if (m_outputDynamic & mask) {
if (timestamp.substep && timestamp.interpolate) {
_yval->yd += _yval->yddot*timestamp.realTimestep;
} else {
_yval->yd = _yval->nextyd;
_yval->yddot = _yval->nextyddot;
}
}
i++;
_yval++;
}
}
}
void CopyPose::pushCache(const Timestamp& timestamp)
{
if (!timestamp.substep && timestamp.cache) {
pushPose(timestamp.cacheTimestamp);
}
}
void CopyPose::updateKinematics(const Timestamp& timestamp)
{
if (timestamp.interpolate) {
if (m_outputDynamic & CTL_POSITION)
interpolateOutput(&m_pos, CTL_POSITIONX, timestamp);
if (m_outputDynamic & CTL_ROTATION)
interpolateOutput(&m_rot, CTL_ROTATIONX, timestamp);
}
pushCache(timestamp);
}
void CopyPose::updateJacobian()
{
//Jacobian is always identity at the start of the constraint chain
//instead of going through complicated jacobian operation, implemented direct formula
//m_Jf(1,3) = m_internalPose.p.z();
//m_Jf(2,3) = -m_internalPose.p.y();
//m_Jf(0,4) = -m_internalPose.p.z();
//m_Jf(2,4) = m_internalPose.p.x();
//m_Jf(0,5) = m_internalPose.p.y();
//m_Jf(1,5) = -m_internalPose.p.x();
}
void CopyPose::updateState(ConstraintValues* _values, ControlState* _state, unsigned int mask, double timestep)
{
unsigned int id = (mask == CTL_ROTATIONX) ? ID_ROTATIONX : ID_POSITIONX;
ControlState::ControlValue* _yval;
ConstraintSingleValue* _data;
int i, j, k;
int action = 0;
if ((_values->action & ACT_ALPHA) && _values->alpha >= 0.0) {
_state->alpha = _values->alpha;
action |= ACT_ALPHA;
}
if ((_values->action & ACT_TOLERANCE) && _values->tolerance > KDL::epsilon) {
_state->tolerance = _values->tolerance;
action |= ACT_TOLERANCE;
}
if ((_values->action & ACT_FEEDBACK) && _values->feedback > KDL::epsilon) {
_state->K = _values->feedback;
action |= ACT_FEEDBACK;
}
for (i=_state->firsty, j=_state->firsty+_state->ny, _yval=_state->output; i<j; mask <<= 1, id++) {
if (m_outputControl & mask) {
if (action)
m_Wy(i) = _state->alpha/*/(_state->tolerance*_state->K)*/;
// check if this controlled output is provided
for (k=0, _data=_values->values; k<_values->number; k++, _data++) {
if (_data->id == id) {
switch (_data->action & (ACT_VALUE|ACT_VELOCITY)) {
case 0:
// no indication, keep current values
break;
case ACT_VELOCITY:
// only the velocity is given estimate the new value by integration
_data->yd = _yval->yd+_data->yddot*timestep;
// walkthrough
case ACT_VALUE:
_yval->nextyd = _data->yd;
// if the user sets the value, we assume future velocity is zero
// (until the user changes the value again)
_yval->nextyddot = (_data->action & ACT_VALUE) ? 0.0 : _data->yddot;
if (timestep>0.0) {
_yval->yddot = (_data->yd-_yval->yd)/timestep;
} else {
// allow the user to change target instantenously when this function
// if called from setControlParameter with timestep = 0
_yval->yd = _yval->nextyd;
_yval->yddot = _yval->nextyddot;
}
break;
case (ACT_VALUE|ACT_VELOCITY):
// the user should not set the value and velocity at the same time.
// In this case, we will assume that he wants to set the future value
// and we compute the current value to match the velocity
_yval->yd = _data->yd - _data->yddot*timestep;
_yval->nextyd = _data->yd;
_yval->nextyddot = _data->yddot;
if (timestep>0.0) {
_yval->yddot = (_data->yd-_yval->yd)/timestep;
} else {
_yval->yd = _yval->nextyd;
_yval->yddot = _yval->nextyddot;
}
break;
}
}
}
_yval++;
i++;
}
}
}
bool CopyPose::setControlParameters(struct ConstraintValues* _values, unsigned int _nvalues, double timestep)
{
while (_nvalues > 0) {
if (_values->id >= ID_POSITION && _values->id <= ID_POSITIONZ && (m_outputControl & CTL_POSITION)) {
updateState(_values, &m_pos, CTL_POSITIONX, timestep);
}
if (_values->id >= ID_ROTATION && _values->id <= ID_ROTATIONZ && (m_outputControl & CTL_ROTATION)) {
updateState(_values, &m_rot, CTL_ROTATIONX, timestep);
}
_values++;
_nvalues--;
}
return true;
}
void CopyPose::updateValues(Vector& vel, ConstraintValues* _values, ControlState* _state, unsigned int mask)
{
ConstraintSingleValue* _data;
ControlState::ControlValue* _yval;
int i, j;
_values->action = 0;
for (i=_state->firsty, j=0, _yval=_state->output, _data=_values->values; j<3; j++, mask<<=1) {
if (m_outputControl & mask) {
*(double*)&_data->y = vel(j);
*(double*)&_data->ydot = m_ydot(i);
_data->yd = _yval->yd;
_data->yddot = _yval->yddot;
_data->action = 0;
i++;
_data++;
_yval++;
}
}
}
void CopyPose::updateOutput(Vector& vel, ControlState* _state, unsigned int mask)
{
ControlState::ControlValue* _yval;
int i, j;
double coef=1.0;
if (mask & CTL_POSITION) {
// put a limit on position error
double len=0.0;
for (j=0, _yval=_state->output; j<3; j++) {
if (m_outputControl & (mask<<j)) {
len += KDL::sqr(_yval->yd-vel(j));
_yval++;
}
}
len = KDL::sqrt(len);
if (len > m_maxerror)
coef = m_maxerror/len;
}
for (i=_state->firsty, j=0, _yval=_state->output; j<3; j++) {
if (m_outputControl & (mask<<j)) {
m_ydot(i)=_yval->yddot+_state->K*coef*(_yval->yd-vel(j));
_yval++;
i++;
}
}
}
void CopyPose::updateControlOutput(const Timestamp& timestamp)
{
//IMO this should be done, no idea if it is enough (wrt Distance impl)
Twist y = diff(F_identity, m_internalPose);
bool found = true;
if (!timestamp.substep) {
if (!timestamp.reiterate) {
found = popPose(timestamp.cacheTimestamp);
}
}
if (m_constraintCallback && (m_substep || (!timestamp.reiterate && !timestamp.substep))) {
// initialize first callback the application to get the current values
int i=0;
if (m_outputControl & CTL_POSITION) {
updateValues(y.vel, &m_values[i++], &m_pos, CTL_POSITIONX);
}
if (m_outputControl & CTL_ROTATION) {
updateValues(y.rot, &m_values[i++], &m_rot, CTL_ROTATIONX);
}
if ((*m_constraintCallback)(timestamp, m_values, m_nvalues, m_constraintParam)) {
setControlParameters(m_values, m_nvalues, (found && timestamp.interpolate)?timestamp.realTimestep:0.0);
}
}
if (m_outputControl & CTL_POSITION) {
updateOutput(y.vel, &m_pos, CTL_POSITIONX);
}
if (m_outputControl & CTL_ROTATION) {
updateOutput(y.rot, &m_rot, CTL_ROTATIONX);
}
}
const ConstraintValues* CopyPose::getControlParameters(unsigned int* _nvalues)
{
Twist y = diff(m_internalPose,F_identity);
int i=0;
if (m_outputControl & CTL_POSITION) {
updateValues(y.vel, &m_values[i++], &m_pos, CTL_POSITIONX);
}
if (m_outputControl & CTL_ROTATION) {
updateValues(y.rot, &m_values[i++], &m_rot, CTL_ROTATIONX);
}
if (_nvalues)
*_nvalues=m_nvalues;
return m_values;
}
double CopyPose::getMaxTimestep(double& timestep)
{
// CopyPose should not have any limit on linear velocity:
// in case the target is out of reach, this can be very high.
// We will simply limit on rotation
e_scalar maxChidot = m_chidot.block(3,0,3,1).array().abs().maxCoeff();
if (timestep*maxChidot > m_maxDeltaChi) {
timestep = m_maxDeltaChi/maxChidot;
}
return timestep;
}
}