blender/intern/itasc/Scene.cpp

548 lines
20 KiB
C++

/** \file itasc/Scene.cpp
* \ingroup itasc
*/
/*
* Scene.cpp
*
* Created on: Jan 5, 2009
* Author: rubensmits
*/
#include "Scene.hpp"
#include "ControlledObject.hpp"
#include "kdl/utilities/svd_eigen_HH.hpp"
#include <cstdio>
namespace iTaSC {
class SceneLock : public ControlledObject::JointLockCallback {
private:
Scene* m_scene;
Range m_qrange;
public:
SceneLock(Scene* scene) :
m_scene(scene), m_qrange(0,0) {}
virtual ~SceneLock() {}
void setRange(Range& range)
{
m_qrange = range;
}
// lock a joint, no need to update output
virtual void lockJoint(unsigned int q_nr, unsigned int ndof)
{
q_nr += m_qrange.start;
project(m_scene->m_Wq, Range(q_nr, ndof), m_qrange).setZero();
}
// lock a joint and update output in view of reiteration
virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double* qdot)
{
q_nr += m_qrange.start;
project(m_scene->m_Wq, Range(q_nr, ndof), m_qrange).setZero();
// update the ouput vector so that the movement of this joint will be
// taken into account and we can put the joint back in its initial position
// which means that the jacobian doesn't need to be changed
for (unsigned int i=0 ;i<ndof ; ++i, ++q_nr) {
m_scene->m_ydot -= m_scene->m_A.col(q_nr)*qdot[i];
}
}
};
Scene::Scene():
m_A(), m_B(), m_Atemp(), m_Wq(), m_Jf(), m_Jq(), m_Ju(), m_Cf(), m_Cq(), m_Jf_inv(),
m_Vf(),m_Uf(), m_Wy(), m_ydot(), m_qdot(), m_xdot(), m_Sf(),m_tempf(),
m_ncTotal(0),m_nqTotal(0),m_nuTotal(0),m_nsets(0),
m_solver(NULL),m_cache(NULL)
{
m_minstep = 0.01;
m_maxstep = 0.06;
}
Scene::~Scene()
{
ConstraintMap::iterator constraint_it;
while ((constraint_it = constraints.begin()) != constraints.end()) {
delete constraint_it->second;
constraints.erase(constraint_it);
}
ObjectMap::iterator object_it;
while ((object_it = objects.begin()) != objects.end()) {
delete object_it->second;
objects.erase(object_it);
}
}
bool Scene::setParam(SceneParam paramId, double value)
{
switch (paramId) {
case MIN_TIMESTEP:
m_minstep = value;
break;
case MAX_TIMESTEP:
m_maxstep = value;
break;
default:
return false;
}
return true;
}
bool Scene::addObject(const std::string& name, Object* object, UncontrolledObject* base, const std::string& baseFrame)
{
// finalize the object before adding
if (!object->finalize())
return false;
//Check if Object is controlled or uncontrolled.
if(object->getType()==Object::Controlled){
int baseFrameIndex = base->addEndEffector(baseFrame);
if (baseFrameIndex < 0)
return false;
std::pair<ObjectMap::iterator, bool> result;
if (base->getNrOfCoordinates() == 0) {
// base is fixed object, no coordinate range
result = objects.insert(ObjectMap::value_type(
name, new Object_struct(object,base,baseFrameIndex,
Range(m_nqTotal,object->getNrOfCoordinates()),
Range(m_ncTotal,((ControlledObject*)object)->getNrOfConstraints()),
Range(0,0))));
} else {
// base is a moving object, must be in list already
ObjectMap::iterator base_it;
for (base_it=objects.begin(); base_it != objects.end(); base_it++) {
if (base_it->second->object == base)
break;
}
if (base_it == objects.end())
return false;
result = objects.insert(ObjectMap::value_type(
name, new Object_struct(object,base,baseFrameIndex,
Range(m_nqTotal,object->getNrOfCoordinates()),
Range(m_ncTotal,((ControlledObject*)object)->getNrOfConstraints()),
base_it->second->coordinaterange)));
}
if (!result.second) {
return false;
}
m_nqTotal+=object->getNrOfCoordinates();
m_ncTotal+=((ControlledObject*)object)->getNrOfConstraints();
return true;
}
if(object->getType()==Object::UnControlled){
if ((WorldObject*)base != &Object::world)
return false;
std::pair<ObjectMap::iterator,bool> result = objects.insert(ObjectMap::value_type(
name,new Object_struct(object,base,0,
Range(0,0),
Range(0,0),
Range(m_nuTotal,object->getNrOfCoordinates()))));
if(!result.second)
return false;
m_nuTotal+=object->getNrOfCoordinates();
return true;
}
return false;
}
bool Scene::addConstraintSet(const std::string& name,ConstraintSet* task,const std::string& object1,const std::string& object2, const std::string& ee1, const std::string& ee2)
{
//Check if objects exist:
ObjectMap::iterator object1_it = objects.find(object1);
ObjectMap::iterator object2_it = objects.find(object2);
if(object1_it==objects.end()||object2_it==objects.end())
return false;
int ee1_index = object1_it->second->object->addEndEffector(ee1);
int ee2_index = object2_it->second->object->addEndEffector(ee2);
if (ee1_index < 0 || ee2_index < 0)
return false;
std::pair<ConstraintMap::iterator,bool> result =
constraints.insert(ConstraintMap::value_type(name,new ConstraintSet_struct(
task,object1_it,ee1_index,object2_it,ee2_index,
Range(m_ncTotal,task->getNrOfConstraints()),Range(6*m_nsets,6))));
if(!result.second)
return false;
m_ncTotal+=task->getNrOfConstraints();
m_nsets+=1;
return true;
}
bool Scene::addSolver(Solver* _solver){
if(m_solver==NULL){
m_solver=_solver;
return true;
}
else
return false;
}
bool Scene::addCache(Cache* _cache){
if(m_cache==NULL){
m_cache=_cache;
return true;
}
else
return false;
}
bool Scene::initialize(){
//prepare all matrices:
if (m_ncTotal == 0 || m_nqTotal == 0 || m_nsets == 0)
return false;
m_A = e_zero_matrix(m_ncTotal,m_nqTotal);
if (m_nuTotal > 0) {
m_B = e_zero_matrix(m_ncTotal,m_nuTotal);
m_xdot = e_zero_vector(m_nuTotal);
m_Ju = e_zero_matrix(6*m_nsets,m_nuTotal);
}
m_Atemp = e_zero_matrix(m_ncTotal,6*m_nsets);
m_ydot = e_zero_vector(m_ncTotal);
m_qdot = e_zero_vector(m_nqTotal);
m_Wq = e_zero_matrix(m_nqTotal,m_nqTotal);
m_Wy = e_zero_vector(m_ncTotal);
m_Jq = e_zero_matrix(6*m_nsets,m_nqTotal);
m_Jf = e_zero_matrix(6*m_nsets,6*m_nsets);
m_Jf_inv = m_Jf;
m_Cf = e_zero_matrix(m_ncTotal,m_Jf.rows());
m_Cq = e_zero_matrix(m_ncTotal,m_nqTotal);
bool result=true;
// finalize all objects
for (ObjectMap::iterator it=objects.begin(); it!=objects.end(); ++it) {
Object_struct* os = it->second;
os->object->initCache(m_cache);
if (os->constraintrange.count > 0)
project(m_Cq,os->constraintrange,os->jointrange) = (((ControlledObject*)(os->object))->getCq());
}
m_ytask.resize(m_ncTotal);
bool toggle=true;
int cnt = 0;
//Initialize all ConstraintSets:
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
//Calculate the external pose:
ConstraintSet_struct* cs = it->second;
Frame external_pose;
getConstraintPose(cs->task, cs, external_pose);
result&=cs->task->initialise(external_pose);
cs->task->initCache(m_cache);
for (int i=0; i<cs->constraintrange.count; i++, cnt++) {
m_ytask[cnt] = toggle;
}
toggle = !toggle;
project(m_Cf,cs->constraintrange,cs->featurerange)=cs->task->getCf();
}
if(m_solver!=NULL)
m_solver->init(m_nqTotal,m_ncTotal,m_ytask);
else
return false;
return result;
}
bool Scene::getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Frame& _pose)
{
// function called from constraint when they need to get the external pose
ConstraintSet_struct* cs = (ConstraintSet_struct*)_param;
// verification, the pointer MUST match
assert (constraint == cs->task);
Object_struct* ob1 = cs->object1->second;
Object_struct* ob2 = cs->object2->second;
//Calculate the external pose:
_pose=(ob1->base->getPose(ob1->baseFrameIndex)*ob1->object->getPose(cs->ee1index)).Inverse()*(ob2->base->getPose(ob2->baseFrameIndex)*ob2->object->getPose(cs->ee2index));
return true;
}
bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate)
{
// we must have valid timestep and timestamp
if (timestamp < KDL::epsilon || timestep < 0.0)
return false;
Timestamp ts;
ts.realTimestamp = timestamp;
// initially we start with the full timestep to allow velocity estimation over the full interval
ts.realTimestep = timestep;
setCacheTimestamp(ts);
ts.substep = 0;
// for reiteration don't load cache
// reiteration=additional iteration with same timestamp if application finds the convergence not good enough
ts.reiterate = (reiterate) ? 1 : 0;
ts.interpolate = (interpolate) ? 1 : 0;
ts.cache = (cache) ? 1 : 0;
ts.update = 1;
ts.numstep = (numsubstep & 0xFF);
bool autosubstep = (numsubstep == 0) ? true : false;
if (numsubstep < 1)
numsubstep = 1;
double timesubstep = timestep/numsubstep;
double timeleft = timestep;
if (timeleft == 0.0) {
// this special case correspond to a request to cache data
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){
it->second->object->pushCache(ts);
}
//Update the Constraints
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
it->second->task->pushCache(ts);
}
return true;
}
// double maxqdot; // UNUSED
e_scalar nlcoef;
SceneLock lockCallback(this);
Frame external_pose;
bool locked;
// initially we keep timestep unchanged so that update function compute the velocity over
while (numsubstep > 0) {
// get objects
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it) {
Object_struct* os = it->second;
if (os->object->getType()==Object::Controlled) {
((ControlledObject*)(os->object))->updateControlOutput(ts);
if (os->constraintrange.count > 0) {
project(m_ydot, os->constraintrange) = ((ControlledObject*)(os->object))->getControlOutput();
project(m_Wy, os->constraintrange) = ((ControlledObject*)(os->object))->getWy();
// project(m_Cq,os->constraintrange,os->jointrange) = (((ControlledObject*)(os->object))->getCq());
}
if (os->jointrange.count > 0) {
project(m_Wq,os->jointrange,os->jointrange) = ((ControlledObject*)(os->object))->getWq();
}
}
if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) {
((UncontrolledObject*)(os->object))->updateCoordinates(ts);
if (!ts.substep) {
// velocity of uncontrolled object remains constant during substepping
project(m_xdot,os->coordinaterange) = ((UncontrolledObject*)(os->object))->getXudot();
}
}
}
//get new Constraints values
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it) {
ConstraintSet_struct* cs = it->second;
Object_struct* ob1 = cs->object1->second;
Object_struct* ob2 = cs->object2->second;
if (ob1->base->updated() || ob1->object->updated() || ob2->base->updated() || ob2->object->updated()) {
// the object from which the constraint depends have changed position
// recompute the constraint pose
getConstraintPose(cs->task, cs, external_pose);
cs->task->initialise(external_pose);
}
cs->task->updateControlOutput(ts);
project(m_ydot,cs->constraintrange)=cs->task->getControlOutput();
if (!ts.substep || cs->task->substep()) {
project(m_Wy,cs->constraintrange)=(cs->task)->getWy();
//project(m_Cf,cs->constraintrange,cs->featurerange)=cs->task->getCf();
}
project(m_Jf,cs->featurerange,cs->featurerange)=cs->task->getJf();
//std::cout << "Jf = " << Jf << std::endl;
//Transform the reference frame of this jacobian to the world reference frame
Eigen::Block<e_matrix> Jf_part = project(m_Jf,cs->featurerange,cs->featurerange);
changeBase(Jf_part,ob1->base->getPose(ob1->baseFrameIndex)*ob1->object->getPose(cs->ee1index));
//std::cout << "Jf_w = " << Jf << std::endl;
//calculate the inverse of Jf
KDL::svd_eigen_HH(project(m_Jf,cs->featurerange,cs->featurerange),m_Uf,m_Sf,m_Vf,m_tempf);
for(unsigned int i=0;i<6;++i)
if(m_Sf(i)<KDL::epsilon)
m_Uf.col(i).setConstant(0.0);
else
m_Uf.col(i)*=(1/m_Sf(i));
project(m_Jf_inv,cs->featurerange,cs->featurerange).noalias()=m_Vf*m_Uf.transpose();
//Get the robotjacobian associated with this constraintset
//Each jacobian is expressed in robot base frame => convert to world reference
//and negate second robot because it is taken reversed when closing the loop:
if(ob1->object->getType()==Object::Controlled){
project(m_Jq,cs->featurerange,ob1->jointrange) = (((ControlledObject*)(ob1->object))->getJq(cs->ee1index));
//Transform the reference frame of this jacobian to the world reference frame:
Eigen::Block<e_matrix> Jq_part = project(m_Jq,cs->featurerange,ob1->jointrange);
changeBase(Jq_part,ob1->base->getPose(ob1->baseFrameIndex));
// if the base of this object is moving, get the Ju part
if (ob1->base->getNrOfCoordinates() != 0) {
// Ju is already computed for world reference frame
project(m_Ju,cs->featurerange,ob1->coordinaterange)=ob1->base->getJu(ob1->baseFrameIndex);
}
} else if (ob1->object->getType() == Object::UnControlled && ((UncontrolledObject*)ob1->object)->getNrOfCoordinates() != 0) {
// object1 is uncontrolled moving object
project(m_Ju,cs->featurerange,ob1->coordinaterange)=((UncontrolledObject*)ob1->object)->getJu(cs->ee1index);
}
if(ob2->object->getType()==Object::Controlled){
//Get the robotjacobian associated with this constraintset
// process a special case where object2 and object1 are equal but using different end effector
if (ob1->object == ob2->object) {
// we must create a temporary matrix
e_matrix JqTemp(((ControlledObject*)(ob2->object))->getJq(cs->ee2index));
//Transform the reference frame of this jacobian to the world reference frame:
changeBase(JqTemp,ob2->base->getPose(ob2->baseFrameIndex));
// substract in place
project(m_Jq,cs->featurerange,ob2->jointrange) -= JqTemp;
} else {
project(m_Jq,cs->featurerange,ob2->jointrange) = -(((ControlledObject*)(ob2->object))->getJq(cs->ee2index));
//Transform the reference frame of this jacobian to the world reference frame:
Eigen::Block<e_matrix> Jq_part = project(m_Jq,cs->featurerange,ob2->jointrange);
changeBase(Jq_part,ob2->base->getPose(ob2->baseFrameIndex));
}
if (ob2->base->getNrOfCoordinates() != 0) {
// if base is the same as first object or first object base,
// that portion of m_Ju has been set already => substract inplace
if (ob2->base == ob1->base || ob2->base == ob1->object) {
project(m_Ju,cs->featurerange,ob2->coordinaterange) -= ob2->base->getJu(ob2->baseFrameIndex);
} else {
project(m_Ju,cs->featurerange,ob2->coordinaterange) = -ob2->base->getJu(ob2->baseFrameIndex);
}
}
} else if (ob2->object->getType() == Object::UnControlled && ((UncontrolledObject*)ob2->object)->getNrOfCoordinates() != 0) {
if (ob2->object == ob1->base || ob2->object == ob1->object) {
project(m_Ju,cs->featurerange,ob2->coordinaterange) -= ((UncontrolledObject*)ob2->object)->getJu(cs->ee2index);
} else {
project(m_Ju,cs->featurerange,ob2->coordinaterange) = -((UncontrolledObject*)ob2->object)->getJu(cs->ee2index);
}
}
}
//Calculate A
m_Atemp.noalias()=m_Cf*m_Jf_inv;
m_A.noalias() = m_Cq-(m_Atemp*m_Jq);
if (m_nuTotal > 0) {
m_B.noalias()=m_Atemp*m_Ju;
m_ydot.noalias() += m_B*m_xdot;
}
//Call the solver with A, Wq, Wy, ydot to solver qdot:
if(!m_solver->solve(m_A,m_Wy,m_ydot,m_Wq,m_qdot,nlcoef))
// this should never happen
return false;
//send result to the objects
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it) {
Object_struct* os = it->second;
if(os->object->getType()==Object::Controlled)
((ControlledObject*)(os->object))->setJointVelocity(project(m_qdot,os->jointrange));
}
// compute the constraint velocity
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
ConstraintSet_struct* cs = it->second;
Object_struct* ob1 = cs->object1->second;
Object_struct* ob2 = cs->object2->second;
//Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot):
e_vector6 external_vel = e_zero_vector(6);
if (ob1->jointrange.count > 0)
external_vel.noalias() += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange));
if (ob2->jointrange.count > 0)
external_vel.noalias() += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange));
if (ob1->coordinaterange.count > 0)
external_vel.noalias() += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange));
if (ob2->coordinaterange.count > 0)
external_vel.noalias() += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange));
//the twist caused by the constraint must be opposite because of the closed loop
//estimate the velocity of the joints using the inverse jacobian
e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel);
cs->task->setJointVelocity(estimated_chidot);
}
if (autosubstep) {
// automatic computing of substep based on maximum joint change
// and joint limit gain variation
// We will pass the joint velocity to each object and they will recommend a maximum timestep
timesubstep = timeleft;
// get armature max joint velocity to estimate the maximum duration of integration
// maxqdot = m_qdot.cwise().abs().maxCoeff(); // UNUSED
double maxsubstep = nlcoef*m_maxstep;
if (maxsubstep < m_minstep)
maxsubstep = m_minstep;
if (timesubstep > maxsubstep)
timesubstep = maxsubstep;
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){
Object_struct* os = it->second;
if(os->object->getType()==Object::Controlled)
((ControlledObject*)(os->object))->getMaxTimestep(timesubstep);
}
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
ConstraintSet_struct* cs = it->second;
cs->task->getMaxTimestep(timesubstep);
}
// use substep that are even dividers of timestep for more regularity
maxsubstep = 2.0*floor(timestep/2.0/timesubstep-0.66666);
timesubstep = (maxsubstep < 0.0) ? timestep : timestep/(2.0+maxsubstep);
if (timesubstep >= timeleft-(m_minstep/2.0)) {
timesubstep = timeleft;
numsubstep = 1;
timeleft = 0.;
} else {
numsubstep = 2;
timeleft -= timesubstep;
}
}
if (numsubstep > 1) {
ts.substep = 1;
} else {
// set substep to false for last iteration so that controlled output
// can be updated in updateKinematics() and model_update)() before next call to Secne::update()
ts.substep = 0;
}
// change timestep so that integration is done correctly
ts.realTimestep = timesubstep;
do {
ObjectMap::iterator it;
Object_struct* os;
locked = false;
for(it=objects.begin();it!=objects.end();++it){
os = it->second;
if (os->object->getType()==Object::Controlled) {
lockCallback.setRange(os->jointrange);
if (((ControlledObject*)os->object)->updateJoint(ts, lockCallback)) {
// this means one of the joint was locked and we must rerun
// the solver to update the remaining joints
locked = true;
break;
}
}
}
if (locked) {
// Some rows of m_Wq have been cleared so that the corresponding joint will not move
if(!m_solver->solve(m_A,m_Wy,m_ydot,m_Wq,m_qdot,nlcoef))
// this should never happen
return false;
//send result to the objects
for(it=objects.begin();it!=objects.end();++it) {
os = it->second;
if(os->object->getType()==Object::Controlled)
((ControlledObject*)(os->object))->setJointVelocity(project(m_qdot,os->jointrange));
}
}
} while (locked);
//Update the Objects
for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){
it->second->object->updateKinematics(ts);
// mark this object not updated since the constraint will be updated anyway
// this flag is only useful to detect external updates
it->second->object->updated(false);
}
//Update the Constraints
for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){
ConstraintSet_struct* cs = it->second;
//Calculate the external pose:
getConstraintPose(cs->task, cs, external_pose);
cs->task->modelUpdate(external_pose,ts);
// update the constraint output and cache
cs->task->updateKinematics(ts);
}
numsubstep--;
}
return true;
}
}