bayesian_ik_solver.h

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#ifndef EXOTICA_AICO_SOLVER_BAYESIAN_IK_SOLVER_H_
#define EXOTICA_AICO_SOLVER_BAYESIAN_IK_SOLVER_H_
 
#include <iostream>
 
#include <exotica_core/motion_solver.h>
#include <exotica_core/problems/unconstrained_end_pose_problem.h>
 
#include <exotica_aico_solver/incremental_gaussian.h>
#include <exotica_aico_solver/math_operations.h>
 
#include <exotica_aico_solver/bayesian_ik_solver_initializer.h>
 
namespace exotica
{
class BayesianIKSolver : public MotionSolver, public Instantiable<BayesianIKSolverInitializer>
{
public:
    void Instantiate(const BayesianIKSolverInitializer& init) override;
 
    void Solve(Eigen::MatrixXd& solution) override;
 
    void SpecifyProblem(PlanningProblemPtr pointer) override;
 
protected:
    void InitMessages();
 
    void InitTrajectory(const Eigen::VectorXd& q_init);
 
private:
    UnconstrainedEndPoseProblemPtr prob_;   
    double damping = 0.01;                  
    double damping_init_ = 100.0;           
    double minimum_step_tolerance_ = 1e-5;  
    double step_tolerance_ = 1e-5;          
    double function_tolerance_ = 1e-5;      
    int max_backtrack_iterations_ = 10;     
    bool use_bwd_msg_ = false;              
    Eigen::VectorXd bwd_msg_v_;             
    Eigen::MatrixXd bwd_msg_Vinv_;          
    bool sweep_improved_cost_;              
    int iteration_count_;                   
 
    Eigen::VectorXd s;     
    Eigen::MatrixXd Sinv;  
    Eigen::VectorXd v;     
    Eigen::MatrixXd Vinv;  
    Eigen::VectorXd r;     
    Eigen::MatrixXd R;     
    double rhat;           
    Eigen::VectorXd b;     
    Eigen::MatrixXd Binv;  
    Eigen::VectorXd q;     
    Eigen::VectorXd qhat;  
 
    Eigen::VectorXd s_old;     
    Eigen::MatrixXd Sinv_old;  
    Eigen::VectorXd v_old;     
    Eigen::MatrixXd Vinv_old;  
    Eigen::VectorXd r_old;     
    Eigen::MatrixXd R_old;     
    double rhat_old;           
    Eigen::VectorXd b_old;     
    Eigen::MatrixXd Binv_old;  
    Eigen::VectorXd q_old;     
    Eigen::VectorXd qhat_old;  
 
    Eigen::VectorXd damping_reference_;                      
    double cost_ = 0.0;                                      
    double cost_old_ = std::numeric_limits<double>::max();   
    double cost_prev_ = std::numeric_limits<double>::max();  
    double b_step_ = 0.0;                                    
    double b_step_old_;
 
    Eigen::MatrixXd W;     
    Eigen::MatrixXd Winv;  
 
    int sweep_ = 0;  
    int best_sweep_ = 0;
    int best_sweep_old_ = 0;
    enum SweepMode
    {
        FORWARD = 0,
        SYMMETRIC,
        LOCAL_GAUSS_NEWTON,
        LOCAL_GAUSS_NEWTON_DAMPED
    };
    int sweep_mode_ = 0;  
    int update_count_ = 0;
 
    bool verbose_ = false;
 
    void UpdateFwdMessage();
 
    void UpdateBwdMessage();
 
    void UpdateTaskMessage(const Eigen::Ref<const Eigen::VectorXd>& qhat_t, double tolerance,
                           double max_step_size = -1.);
 
    void UpdateTimestep(bool update_fwd, bool update_bwd,
                        int max_relocation_iterations, double tolerance, bool force_relocation,
                        double max_step_size = -1.);
 
    void UpdateTimestepGaussNewton(bool update_fwd, bool update_bwd,
                                   int max_relocation_iterations, double tolerance, double max_step_size = -1.);
    double EvaluateTrajectory(const Eigen::VectorXd& x, bool skip_update = false);
 
    void RememberOldState();
 
    void PerhapsUndoStep();
 
    void GetTaskCosts();
 
    double Step();
};
}  // namespace exotica
 
#endif  // EXOTICA_AICO_SOLVER_BAYESIAN_IK_SOLVER_H_