task-conti.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* SOT */
#include <dynamic-graph/linear-algebra.h>
 
#include <sot/core/debug.hh>
#include <sot/core/factory.hh>
#include <sot/core/task-conti.hh>
 
using namespace std;
using namespace dynamicgraph::sot;
using namespace dynamicgraph;
 
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TaskConti, "TaskConti");
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
TaskConti::TaskConti(const std::string &n)
    : Task(n),
      timeRef(TIME_REF_UNSIGNIFICANT),
      mu(0),
      controlPrevSIN(NULL, "sotTaskConti(" + n + ")::input(double)::q0") {
  taskSOUT.setFunction(
      boost::bind(&TaskConti::computeContiDesiredVelocity, this, _1, _2));
  signalRegistration(controlPrevSIN);
}
 
VectorMultiBound &TaskConti::computeContiDesiredVelocity(
    VectorMultiBound &desvel2b, const sigtime_t &timecurr) {
  sotDEBUG(15) << "# In {" << endl;
 
  dynamicgraph::Vector desvel = errorSOUT(timecurr);
  const double &lambda = controlGainSIN(timecurr);
 
  try {
    const dynamicgraph::Matrix &J = jacobianSOUT(timecurr);
 
    dynamicgraph::Vector deref(J.rows());
    sotDEBUG(15) << "q0 = " << q0 << std::endl;
    sotDEBUG(25) << "J = " << J << std::endl;
    if (q0.size() != (J.cols() - 6)) throw;  // TODO
    for (size_type i = 0; i < J.rows(); ++i) {
      deref(i) = 0;
      for (size_type j = 6; j < J.cols(); ++j) deref(i) += J(i, j) * q0(j - 6);
    }
 
    if (timeRef == TIME_REF_TO_BE_SET) {
      timeRef = timecurr;
    }
    if (timeRef < 0) {
      sotDEBUG(10) << "Time not used. " << std::endl;
      throw 1;
    }
 
    double dt = (double)(timeRef - timecurr);
    dt *= mu / 200.0;
    double contiGain = exp(dt);
    double gain = (contiGain - 1) * lambda;
 
    sotDEBUG(25) << "T: ref=" << timeRef << ", cur=" << timecurr << std::endl;
    sotDEBUG(25) << "Gains: l=" << lambda << ", expmu=" << contiGain
                 << std::endl;
    sotDEBUG(25) << "e = " << deref << std::endl;
 
    desvel *= gain;
    sotDEBUG(25) << "dedes: " << desvel << std::endl;
    deref *= contiGain;
    desvel += deref;
    sotDEBUG(25) << "task: " << desvel << std::endl;
 
    desvel2b.resize(desvel.size());
    for (size_type i = 0; i < desvel.size(); ++i) desvel2b[i] = desvel(i);
 
    sotDEBUG(15) << "# Out }" << endl;
    return desvel2b;
  } catch (...) {
    const dynamicgraph::Vector &desvel = errorSOUT(timecurr);
    const double &gain = controlGainSIN(timecurr);
    desvel2b.resize(desvel.size());
    for (size_type i = 0; i < desvel.size(); ++i)
      desvel2b[i] = -gain * desvel(i);
    return desvel2b;
  }
}
 
/* --- COMPUTATION ---------------------------------------------------------- */
/* --- COMPUTATION ---------------------------------------------------------- */
/* --- COMPUTATION ---------------------------------------------------------- */
 
/* --- DISPLAY ------------------------------------------------------------ */
/* --- DISPLAY ------------------------------------------------------------ */
/* --- DISPLAY ------------------------------------------------------------ */
 
void TaskConti::display(std::ostream &os) const {
  os << "TaskConti " << name << " [t=" << timeRef << "] "
     << ": " << endl;
  os << "--- LIST ---  " << std::endl;
 
  for (FeatureList_t::const_iterator iter = featureList.begin();
       iter != featureList.end(); ++iter) {
    os << "-> " << (*iter)->getName() << endl;
  }
}