ThrustAllocation.hpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, LABUST, UNIZG-FER
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the LABUST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Author: Dula Nad
 *  Created: 06.03.2013.
 *********************************************************************/
#ifndef THRUSTALLOCATION_HPP_
#define THRUSTALLOCATION_HPP_
#include <labust/simulation/matrixfwd.hpp>
#include <labust/math/NumberManipulation.hpp>

#include <vector>
#include <ros/ros.h>

namespace labust
{
        namespace vehicles
        {
                class ThrustAllocator
                {
                        enum {NoAlloc=0,SimpleAlloc=1, ScaleAlloc=2};
                public:
                        ThrustAllocator():
                                dofs(6,1),
                                groups(1,dofs),
                                B(labust::simulation::matrix::Identity()),
                                Binv(B),
                                tmax(1),
                                tmin(-tmax),
                                coercion(Eigen::VectorXi::Zero(6)),
                                type(NoAlloc),
                                num_thrusters(6){};

                        void allocate(const labust::simulation::vector& tauIn,
                                        labust::simulation::vector& tauOut)
                        {
                                Eigen::VectorXd vi(dofs.size());
                                for (int i=0; i<dofs.size(); ++i) vi(i)=tauIn(dofs[i]);

                                tdes = Binv*vi;

                                //ROS_ERROR("Before tdes: %f %f %f %f",tdes(0), tdes(1), tdes(2), tdes(3));

                                switch (type)
                                {
                                case NoAlloc:
                                        //noalloc
                                        break;
                                case SimpleAlloc:
                                        simple_alloc();
                                        break;
                                case ScaleAlloc:
                                        scale_alloc();
                                        break;
                                default:
                                        throw std::runtime_error("ThrustAllocator: Undefined allocation type.");
                                }

                                //ROS_ERROR("Forces %f %f %f",tdes(0), tdes(1), tdes(2), tdes(3));
                                vi = B*tdes;

                                for (int i=0; i<dofs.size(); ++i) tauOut(dofs[i])=vi(i);

                                //Determine coercion for windup
                                switch (type)
                                {
                                case NoAlloc:
                                        //noalloc
                                        break;
                                case SimpleAlloc:
                                        //It is safe to compare these
                                        for (int i=0; i<dofs.size(); ++i)
                                        {
                                                coercion(dofs[i]) = 0;
                                                if (tauIn(dofs[i])>tauOut(dofs[i]))     coercion(dofs[i])=1;
                                                else if (tauIn(dofs[i])<tauOut(dofs[i]))        coercion(dofs[i])=-1;
                                        }
                                        break;
                                case ScaleAlloc:
                                        //                                              bool scaling;
                                        //                                              for (int i=0; i<group_scales.size(); ++i) if ((scaling = (group_scales[i]>1))) break;
                                        //                                              if (scaling)
                                        //                                              {
                                        //                                                      for (int i=0; i<dofs.size(); ++i)
                                        //                                                      {
                                        //                                                              if (tauIn(dofs[i])>tauOut(dofs[i]))     coercion(dofs[i])=1;
                                        //                                                              else if (tauIn(dofs[i])<tauOut(dofs[i]))        coercion(dofs[i])=-1;
                                        //                                                      }
                                        //                                              }

                                        //Alternative to scaling inspection
                                        for (int i=0; i<dofs.size(); ++i)
                                        {
                                                coercion(dofs[i]) = 0;
                                                //If there is deviation between input and output we assume
                                                if (fabs(tauIn(dofs[i]) - tauOut(dofs[i])) > 0.01)
                                                {
                                                        if (tauIn(dofs[i])>tauOut(dofs[i]))     coercion(dofs[i])=1;
                                                        else if (tauIn(dofs[i])<tauOut(dofs[i]))        coercion(dofs[i])=-1;
                                                }
                                        }
                                        break;
                                default:
                                        break;
                                }
                        }


                        template <class AllocMatrix, class DOFMatrix, class ThrusterGroups>
                        void init(int alloc_type, const AllocMatrix& alloc, const DOFMatrix& use_dofs,
                                        const ThrusterGroups& thrust_groups)
                        {
                                type = alloc_type;
                                if (type >= 0)
                                {
                                        dofs.clear();
                                        for (size_t i=0; i<use_dofs.size(); ++i) if (use_dofs(i)) dofs.push_back(i);
                                        groups.clear();
                                        num_thrusters=0;
                                        //Handle the optional group parameter
                                        if ((thrust_groups.cols() == 0) || (thrust_groups.rows() == 0))
                                        {
                                                //If the table was not specified put all in one group
                                                groups.push_back(std::vector<int>());
                                                for(int i=0; i<alloc.cols(); ++i) groups[0].push_back(i);
                                                num_thrusters=alloc.cols();
                                        }
                                        else
                                        {
                                                //If the table is specified fill the vectors
                                                for (size_t i=0; i<thrust_groups.rows();++i)
                                                {
                                                        //For each new row create a new group
                                                        groups.push_back(std::vector<int>());
                                                        //If thruster in group add it to the list
                                                        for (size_t j=0; j<thrust_groups.cols(); ++j)
                                                                if (thrust_groups(i,j))
                                                                {
                                                                        ++num_thrusters;
                                                                        groups[i].push_back(j);
                                                                }
                                                }
                                        }
                                        group_scales.resize(groups.size());

                                        this->B=alloc;
                                        Binv = B.transpose()*(B*B.transpose()).inverse();
                                }
                                else
                                {
                                        type = NoAlloc;
                                };

                                assert((B.cols() == num_thrusters) &&
                                                "Allocation matrix must have number of columns equal to number of thrusters.");

                                assert((B.rows() == dofs.size()) &&
                                                "Allocation matrix must have the same number of rows as controllable DOFs.");
                        }

                        inline void setThrusterMinMax(double min, double max)
                        {
                                this->tmax = max;
                                this->tmin = min;
                        }

                        inline const Eigen::VectorXd& getThrusterForces(){return tdes;};

                        inline const Eigen::VectorXi& getCoercion(){return coercion;};

                protected:
                        inline void simple_alloc()
                        {
                                for (size_t i=0; i<tdes.rows();++i)
                                {
                                        tdes(i)=labust::math::coerce(tdes(i),tmin,tmax);
                                }
                        };

                        void scale_alloc()
                        {
                                for (size_t i=0; i<groups.size(); ++i)
                                {
                                        //ROS_ERROR("Group size %d",groups[i].size());
                                        Eigen::VectorXd ttdes(groups[i].size());
                                        //Map from vector into group
                                        for (size_t j=0; j<groups[i].size(); ++j) ttdes(j)=tdes(groups[i][j]);

                                        //ROS_ERROR("Before: %f %f %f %f",ttdes(0), ttdes(1), ttdes(2), ttdes(3));
                                        //Scale inside the group
                                        double scale_max = 1;
                                        for (size_t j=0; j<ttdes.rows();++j)
                                        {
                                                double scale = fabs((ttdes(j)>0)?ttdes(j)/tmax:ttdes(j)/tmin);
                                                if (scale>scale_max) scale_max=scale;
                                        }
                                        //ROS_ERROR("Scale max: %f",scale_max);
                                        group_scales[i] = scale_max;
                                        ttdes = ttdes/scale_max;
                                        //ROS_ERROR("After: %f %f %f %f",ttdes(0), ttdes(1), ttdes(2), ttdes(3));

                                        //Map from group to final vector
                                        for (size_t j=0; j<groups[i].size(); ++j) tdes(groups[i][j])=ttdes(j);
                                }
                        }

                        std::vector<int> dofs;
                        std::vector< std::vector<int> > groups;
                        std::vector<double> group_scales;

                        Eigen::MatrixXd B, Binv;
                        double tmax, tmin;
                        Eigen::VectorXd tdes;
                        Eigen::VectorXi coercion;
                        int type, num_thrusters;
                };
        }
}

/* ALLOCATIONMODELS_HPP_ */
#endif