terrain_constraint.cc
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29 
31 
32 
33 namespace towr {
34 
35 
37  std::string ee_motion)
38  :ConstraintSet(kSpecifyLater, "terrain-" + ee_motion)
39 {
40  ee_motion_id_ = ee_motion;
41  terrain_ = terrain;
42 }
43 
44 void
46 {
48 
49  // skip first node, b/c already constrained by initial stance
50  for (int id=1; id<ee_motion_->GetNodes().size(); ++id)
51  node_ids_.push_back(id);
52 
53  int constraint_count = node_ids_.size();
54  SetRows(constraint_count);
55 }
56 
59 {
60  VectorXd g(GetRows());
61 
62  auto nodes = ee_motion_->GetNodes();
63  int row = 0;
64  for (int id : node_ids_) {
65  Vector3d p = nodes.at(id).p();
66  g(row++) = p.z() - terrain_->GetHeight(p.x(), p.y());
67  }
68 
69  return g;
70 }
71 
74 {
75  VecBound bounds(GetRows());
76  double max_distance_above_terrain = 1e20; // [m]
77 
78  int row = 0;
79  for (int id : node_ids_) {
80  if (ee_motion_->IsConstantNode(id))
81  bounds.at(row) = ifopt::BoundZero;
82  else
83  bounds.at(row) = ifopt::Bounds(0.0, max_distance_above_terrain);
84  row++;
85  }
86 
87  return bounds;
88 }
89 
90 void
91 TerrainConstraint::FillJacobianBlock (std::string var_set, Jacobian& jac) const
92 {
93  if (var_set == ee_motion_->GetName()) {
94  auto nodes = ee_motion_->GetNodes();
95  int row = 0;
96  for (int id : node_ids_) {
97  int idx = ee_motion_->GetOptIndex(NodesVariables::NodeValueInfo(id, kPos, Z));
98  jac.coeffRef(row, idx) = 1.0;
99 
100  Vector3d p = nodes.at(id).p();
101  for (auto dim : {X,Y}) {
102  int idx = ee_motion_->GetOptIndex(NodesVariables::NodeValueInfo(id, kPos, dim));
103  jac.coeffRef(row, idx) = -terrain_->GetDerivativeOfHeightWrt(To2D(dim), p.x(), p.y());
104  }
105  row++;
106  }
107  }
108 }
109 
110 } /* namespace towr */
VecBound GetBounds() const override
static Dim2D To2D(Dim3D dim)
static const Bounds BoundZero
Composite::Ptr VariablesPtr
Eigen::VectorXd VectorXd
VectorXd GetValues() const override
int GetRows() const
Semantic information associated with a scalar node value.
std::string ee_motion_id_
the name of the endeffector variable set.
void SetRows(int num_rows)
NodesVariablesPhaseBased::Ptr ee_motion_
the position of the endeffector.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
HeightMap::Ptr terrain_
the height map of the current terrain.
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Nodes that are associated to either swing or stance phases.
std::vector< int > node_ids_
the indices of the nodes constrained.
std::vector< Bounds > VecBound
std::shared_ptr< HeightMap > Ptr
Definition: height_map.h:73
TerrainConstraint(const HeightMap::Ptr &terrain, std::string ee_motion_id)
Constructs a terrain constraint.
void InitVariableDependedQuantities(const VariablesPtr &x) override
Eigen::VectorXd VectorXd


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22