parameters.cc

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#include <towr/parameters.h>

#include <algorithm>

namespace towr {

Parameters::Parameters ()
{
  t_total_ = 3.0; // [s]

  duration_base_polynomial_ = 0.2;

  // 2 also works quite well. Remember that in between the nodes, forces
  // could still be violating unilateral and friction constraints by
  // polynomial interpolation
  force_polynomials_per_stance_phase_ = 3; // this makes it a lot bigger
  ee_polynomials_per_swing_phase_ = 2; // should always be 2 if i want to use swing constraint!


  dt_constraint_range_of_motion_ = 0.1;
  dt_constraint_dynamic_ = 0.2;
  dt_constraint_base_motion_ = duration_base_polynomial_/4.;


  min_phase_duration_ = 0.1;
  double max_time = 2.0; // this helps convergence
  max_phase_duration_ = max_time>t_total_?  t_total_ : max_time;
//  max_phase_duration_ = GetTotalTime()/contact_timings_.size();


  force_limit_in_norm_ = 1000; // [N] this affects convergence when optimizing gait

  constraints_ = {
      BaseAcc,
      EndeffectorRom,
      Dynamic,
      Terrain,
      Force,
//      TotalTime, // Attention: this causes segfault in SNOPT
      Swing, // remove this at some point -> hacky
//      BaseRom, //  CAREFUL: restricts the base to be in a specific range->very limiting
  };

  costs_ = {
//    {ForcesCostID, 1.0},
  };
}

bool
Parameters::OptimizeTimings () const
{
  ConstraintName c = TotalTime;
  auto v = constraints_; // shorthand
  return std::find(v.begin(), v.end(), c) != v.end();
}

Parameters::VecTimes
Parameters::GetBasePolyDurations () const
{
  std::vector<double> base_spline_timings_;
  double dt = duration_base_polynomial_;
  double t_left = t_total_;

  double eps = 1e-10; // since repeated subtraction causes inaccuracies
  while (t_left > eps) {
    double duration = t_left>dt?  dt : t_left;
    base_spline_timings_.push_back(duration);

    t_left -= dt;
  }

  return base_spline_timings_;
}

int
Parameters::GetPhaseCount(EEID ee) const
{
  return ee_phase_durations_.at(ee).size();
}

int
Parameters::GetEECount() const
{
  return ee_in_contact_at_start_.size();
}

} // namespace towr