tasks/task-joint-posVelAcc-bounds.hpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __invdyn_task_joint_posVelAcc_bounds_hpp__
#define __invdyn_task_joint_posVelAcc_bounds_hpp__

#include <tsid/tasks/task-motion.hpp>
#include <tsid/math/constraint-bound.hpp>
#include <tsid/math/constraint-inequality.hpp>
#include <tsid/deprecated.hh>

namespace tsid {
namespace tasks {

class TaskJointPosVelAccBounds : public TaskMotion {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef math::Vector Vector;
  typedef math::ConstraintBound ConstraintBound;
  typedef math::ConstraintInequality ConstraintInequality;
  typedef math::VectorXi VectorXi;
  typedef pinocchio::Data Data;

  TaskJointPosVelAccBounds(const std::string& name, RobotWrapper& robot,
                           double dt, bool verbose = true);

  virtual ~TaskJointPosVelAccBounds() {}

  int dim() const;

  const ConstraintBase& compute(const double t, ConstRefVector q,
                                ConstRefVector v, Data& data);

  const ConstraintBase& getConstraint() const;

  void setTimeStep(double dt);
  void setPositionBounds(ConstRefVector lower, ConstRefVector upper);
  void setVelocityBounds(ConstRefVector upper);
  void setAccelerationBounds(ConstRefVector upper);
  const Vector& getAccelerationBounds() const;
  const Vector& getVelocityBounds() const;
  const Vector& getPositionLowerBounds() const;
  const Vector& getPositionUpperBounds() const;

  void setVerbose(bool verbose);

  void setImposeBounds(bool impose_position_bounds, bool impose_velocity_bounds,
                       bool impose_viability_bounds,
                       bool impose_acceleration_bounds);

  void isStateViable(ConstRefVector q, ConstRefVector dq, bool verbose = true);

  void computeAccLimitsFromPosLimits(ConstRefVector q, ConstRefVector dq,
                                     bool verbose = true);

  void computeAccLimitsFromViability(ConstRefVector q, ConstRefVector dq,
                                     bool verbose = true);

  void computeAccLimits(ConstRefVector q, ConstRefVector dq,
                        bool verbose = true);

  TSID_DEPRECATED const Vector& mask() const;     // deprecated
  TSID_DEPRECATED void mask(const Vector& mask);  // deprecated
  virtual void setMask(math::ConstRefVector mask);

 protected:
  ConstraintInequality m_constraint;
  double m_dt;
  bool m_verbose;
  int m_nv, m_na;

  Vector m_mask;
  VectorXi m_activeAxes;

  Vector m_qa;   // actuated part of q
  Vector m_dqa;  // actuated part of dq

  double m_eps;  // tolerance used to check violations

  Vector m_qMin;    // joints position limits
  Vector m_qMax;    // joints position limits
  Vector m_dqMax;   // joints max velocity limits
  Vector m_ddqMax;  // joints max acceleration limits

  Vector m_dqMinViab;  // velocity lower limits from viability
  Vector m_dqMaxViab;  // velocity upper limits from viability

  Vector m_ddqLBPos;  // acceleration lower bound from position bounds
  Vector m_ddqUBPos;  // acceleration upper bound from position bounds
  Vector m_ddqLBVia;  // acceleration lower bound from viability bounds
  Vector m_ddqUBVia;  // acceleration upper bound from viability bounds
  Vector m_ddqLBVel;  // acceleration lower bound from velocity bounds
  Vector m_ddqUBVel;  // acceleration upper bound from velocity bounds
  Vector m_ddqLBAcc;  // acceleration lower bound from acceleration bounds
  Vector m_ddqUBAcc;  // acceleration upper bound from acceleration bounds

  Vector m_ddqLB;  // final acceleration bounds
  Vector m_ddqUB;  // final acceleration bounds

  bool m_impose_position_bounds;
  bool m_impose_velocity_bounds;
  bool m_impose_viability_bounds;
  bool m_impose_acceleration_bounds;

  Vector m_viabViol;  // 0 if the state is viable, error otherwise

  // Used in computeAccLimitsFromPosLimits
  double m_two_dt_sq;
  Vector m_ddqMax_q3;
  Vector m_ddqMin_q3;
  Vector m_ddqMax_q2;
  Vector m_ddqMin_q2;
  Vector m_minus_dq_over_dt;

  // Used in computeAccLimitsFromViability
  double m_dt_square;
  Vector m_dt_dq;
  Vector m_dt_two_dq;
  Vector m_two_ddqMax;
  Vector m_dt_ddqMax_dt;
  Vector m_dq_square;
  Vector m_q_plus_dt_dq;
  double m_two_a;
  Vector m_b_1;
  Vector m_b_2;
  Vector m_ddq_1;
  Vector m_ddq_2;
  Vector m_c_1;
  Vector m_delta_1;
  Vector m_c_2;
  Vector m_delta_2;

  // Used in computeAccLimits
  Vector m_ub;
  Vector m_lb;
};

}  // namespace tasks
}  // namespace tsid

#endif  // ifndef __invdyn_task_joint_bounds_hpp__