task_map.cpp

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//
// Copyright (c) 2018-2020, University of Edinburgh, University of Oxford
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#include <exotica_core/task_map.h>
 
#include <exotica_core/frame_initializer.h>
#include <exotica_core/task_map_initializer.h>
 
namespace exotica
{
void TaskMap::AssignScene(ScenePtr scene)
{
    scene_ = scene;
}
 
void TaskMap::InstantiateBase(const Initializer& init)
{
    Object::InstantiateObject(init);
    TaskMapInitializer MapInitializer(init);
    is_used = true;
 
    frames_.clear();
 
    for (Initializer& eff : MapInitializer.EndEffector)
    {
        FrameInitializer frame(eff);
        frames_.push_back(KinematicFrameRequest(frame.Link, GetFrame(frame.LinkOffset), frame.Base, GetFrame(frame.BaseOffset)));
    }
}
 
std::vector<KinematicFrameRequest> TaskMap::GetFrames() const
{
    return frames_;
}
 
void TaskMap::Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)
{
    if (jacobian.rows() != TaskSpaceDim() && jacobian.cols() != q.rows())
        ThrowNamed("Jacobian dimension mismatch!");
 
    if (scene_ == nullptr)
    {
        ThrowNamed("Scene is not initialised!");
    }
 
    // Set constants
    constexpr double h = 1e-6;
    constexpr double h_inverse = 1.0 / h;
 
    // Compute x/phi using forward mapping (no jacobian)
    Update(q, phi);
 
    // Setup for gradient estimate
    Eigen::VectorXd q_backward(q.size()), phi_backward(TaskSpaceDim());
 
    // Backward finite differencing
    for (int i = 0; i < jacobian.cols(); ++i)
    {
        // Compute and set x_backward as model state
        q_backward = q;
        q_backward(i) -= h;
        scene_->GetKinematicTree().Update(q_backward);
 
        // Compute phi_backward using forward mapping (no jacobian)
        Update(q_backward, phi_backward);
 
        // Compute gradient estimate
        jacobian.col(i).noalias() = h_inverse * (phi - phi_backward);
    }
 
    // Reset model state
    scene_->GetKinematicTree().Update(q);
}
 
void TaskMap::Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)
{
    Update(q, phi, jacobian);
    const int ndq = scene_->get_has_quaternion_floating_base() ? scene_->get_num_positions() - 1 : scene_->get_num_positions();
    for (int i = 0; i < TaskSpaceJacobianDim(); ++i)
    {
        Eigen::Block<Eigen::Ref<Eigen::MatrixXd>> jacobian_row = jacobian.block(i, 0, 1, ndq);
        hessian(i).topLeftCorner(ndq, ndq).noalias() = jacobian_row.transpose() * jacobian_row;
    }
}
 
void TaskMap::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi)
{
    // WARNING("x,u update not implemented - defaulting to q update.");
    Update(x.head(scene_->get_num_positions()), phi);
}
 
void TaskMap::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du)
{
    // WARNING("x,u update not implemented - defaulting to q update.");
    const int ndq = scene_->get_has_quaternion_floating_base() ? scene_->get_num_positions() - 1 : scene_->get_num_positions();
    Update(x.head(ndq), phi, dphi_dx.topLeftCorner(TaskSpaceJacobianDim(), ndq));
}
 
void TaskMap::Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu)
{
    // WARNING("x,u update not implemented - defaulting to q update.");
    const int ndq = scene_->get_has_quaternion_floating_base() ? scene_->get_num_positions() - 1 : scene_->get_num_positions();
    Update(x.head(ndq), phi, dphi_dx.topLeftCorner(TaskSpaceJacobianDim(), ndq), ddphi_ddx);
}
 
}  // namespace exotica