CopyPose.cpp

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/* SPDX-FileCopyrightText: 2009 Benoit Bolsee
 *
 * SPDX-License-Identifier: LGPL-2.1-or-later */
 
#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;
}
 
}