Program Listing for File chomp_optimizer.h
↰ Return to documentation for file (include/chomp_motion_planner/chomp_optimizer.h)
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* 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 Willow Garage 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: Mrinal Kalakrishnan */
#pragma once
#include <chomp_motion_planner/chomp_cost.h>
#include <chomp_motion_planner/chomp_parameters.h>
#include <chomp_motion_planner/chomp_trajectory.h>
#include <chomp_motion_planner/multivariate_gaussian.h>
#include <moveit/collision_distance_field/collision_env_hybrid.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model/robot_model.h>
#include <Eigen/Core>
#include <Eigen/StdVector>
#include <vector>
namespace chomp
{
class ChompOptimizer
{
public:
ChompOptimizer(ChompTrajectory* trajectory, const planning_scene::PlanningSceneConstPtr& planning_scene,
const std::string& planning_group, const ChompParameters* parameters,
const moveit::core::RobotState& start_state);
virtual ~ChompOptimizer();
bool optimize();
inline void destroy()
{
// Nothing for now.
}
bool isInitialized() const
{
return initialized_;
}
bool isCollisionFree() const
{
return is_collision_free_;
}
private:
inline double getPotential(double field_distance, double radius, double clearance)
{
double d = field_distance - radius;
if (d >= clearance) // everything is fine
{
return 0.0;
}
else if (d >= 0.0) // transition phase, no collision yet
{
const double diff = (d - clearance);
const double gradient_magnitude = diff / clearance;
return 0.5 * gradient_magnitude * diff; // 0.5 * (d - clearance)^2 / clearance
}
else // d < 0.0: collision
{
return -d + 0.5 * clearance; // linearly increase, starting from 0.5 * clearance
}
}
template <typename Derived>
void getJacobian(int trajectoryPoint, Eigen::Vector3d& collision_point_pos, std::string& jointName,
Eigen::MatrixBase<Derived>& jacobian) const;
// void getRandomState(const moveit::core::RobotState& currentState,
// const std::string& group_name,
// Eigen::VectorXd& state_vec);
void setRobotStateFromPoint(ChompTrajectory& group_trajectory, int i);
// collision_proximity::CollisionProximitySpace::TrajectorySafety checkCurrentIterValidity();
int num_joints_;
int num_vars_free_;
int num_vars_all_;
int num_collision_points_;
int free_vars_start_;
int free_vars_end_;
int iteration_;
unsigned int collision_free_iteration_;
ChompTrajectory* full_trajectory_;
const moveit::core::RobotModelConstPtr& robot_model_;
std::string planning_group_;
const ChompParameters* parameters_;
ChompTrajectory group_trajectory_;
planning_scene::PlanningSceneConstPtr planning_scene_;
moveit::core::RobotState state_;
moveit::core::RobotState start_state_;
const moveit::core::JointModelGroup* joint_model_group_;
const collision_detection::CollisionEnvHybrid* hy_env_;
std::vector<ChompCost> joint_costs_;
collision_detection::GroupStateRepresentationPtr gsr_;
bool initialized_;
std::vector<std::vector<std::string> > collision_point_joint_names_;
std::vector<EigenSTL::vector_Vector3d> collision_point_pos_eigen_;
std::vector<EigenSTL::vector_Vector3d> collision_point_vel_eigen_;
std::vector<EigenSTL::vector_Vector3d> collision_point_acc_eigen_;
std::vector<std::vector<double> > collision_point_potential_;
std::vector<std::vector<double> > collision_point_vel_mag_;
std::vector<EigenSTL::vector_Vector3d> collision_point_potential_gradient_;
std::vector<EigenSTL::vector_Vector3d> joint_axes_;
std::vector<EigenSTL::vector_Vector3d> joint_positions_;
Eigen::MatrixXd group_trajectory_backup_;
Eigen::MatrixXd best_group_trajectory_;
double best_group_trajectory_cost_;
int last_improvement_iteration_;
unsigned int num_collision_free_iterations_;
// HMC stuff:
Eigen::MatrixXd momentum_;
Eigen::MatrixXd random_momentum_;
Eigen::VectorXd random_joint_momentum_; // temporary variable
std::vector<MultivariateGaussian> multivariate_gaussian_;
double stochasticity_factor_;
std::vector<int> state_is_in_collision_;
std::vector<std::vector<int> > point_is_in_collision_;
bool is_collision_free_;
double worst_collision_cost_state_;
Eigen::MatrixXd smoothness_increments_;
Eigen::MatrixXd collision_increments_;
Eigen::MatrixXd final_increments_;
// temporary variables for all functions:
Eigen::VectorXd smoothness_derivative_;
Eigen::MatrixXd jacobian_;
Eigen::MatrixXd jacobian_pseudo_inverse_;
Eigen::MatrixXd jacobian_jacobian_tranpose_;
Eigen::VectorXd random_state_;
Eigen::VectorXd joint_state_velocities_;
std::vector<std::string> joint_names_;
std::map<std::string, std::map<std::string, bool> > joint_parent_map_;
inline bool isParent(const std::string& childLink, const std::string& parentLink) const
{
if (childLink == parentLink)
{
return true;
}
if (joint_parent_map_.find(childLink) == joint_parent_map_.end())
{
// ROS_ERROR("%s was not in joint parent map! for lookup of %s", childLink.c_str(), parentLink.c_str());
return false;
}
const std::map<std::string, bool>& parents = joint_parent_map_.at(childLink);
return (parents.find(parentLink) != parents.end() && parents.at(parentLink));
}
void registerParents(const moveit::core::JointModel* model);
void initialize();
void calculateSmoothnessIncrements();
void calculateCollisionIncrements();
void calculateTotalIncrements();
void performForwardKinematics();
void addIncrementsToTrajectory();
void updateFullTrajectory();
void debugCost();
void handleJointLimits();
double getTrajectoryCost();
double getSmoothnessCost();
double getCollisionCost();
void perturbTrajectory();
void getRandomMomentum();
void updateMomentum();
void updatePositionFromMomentum();
void calculatePseudoInverse();
void computeJointProperties(int trajectoryPoint);
bool isCurrentTrajectoryMeshToMeshCollisionFree() const;
};
} // namespace chomp