140 lines
3.2 KiB
C++
140 lines
3.2 KiB
C++
/* SPDX-FileCopyrightText: 2009 Ruben Smits
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*
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* SPDX-License-Identifier: LGPL-2.1-or-later */
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/** \file
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* \ingroup intern_itasc
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*/
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#include "WSDLSSolver.hpp"
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#include "kdl/utilities/svd_eigen_HH.hpp"
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#include <cstdio>
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namespace iTaSC {
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WSDLSSolver::WSDLSSolver() :
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m_ns(0), m_nc(0), m_nq(0)
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{
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// default maximum speed: 50 rad/s
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m_qmax = 50.0;
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}
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WSDLSSolver::~WSDLSSolver() {
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}
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bool WSDLSSolver::init(unsigned int _nq, unsigned int _nc, const std::vector<bool>& gc)
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{
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if (_nc == 0 || _nq == 0 || gc.size() != _nc)
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return false;
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m_nc = _nc;
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m_nq = _nq;
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m_ns = std::min(m_nc,m_nq);
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m_AWq = e_zero_matrix(m_nc,m_nq);
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m_WyAWq = e_zero_matrix(m_nc,m_nq);
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m_WyAWqt = e_zero_matrix(m_nq,m_nc);
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m_S = e_zero_vector(std::max(m_nc,m_nq));
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m_Wy_ydot = e_zero_vector(m_nc);
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m_ytask = gc;
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if (m_nq > m_nc) {
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m_transpose = true;
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m_temp = e_zero_vector(m_nc);
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m_U = e_zero_matrix(m_nc,m_nc);
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m_V = e_zero_matrix(m_nq,m_nc);
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m_WqV = e_zero_matrix(m_nq,m_nc);
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} else {
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m_transpose = false;
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m_temp = e_zero_vector(m_nq);
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m_U = e_zero_matrix(m_nc,m_nq);
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m_V = e_zero_matrix(m_nq,m_nq);
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m_WqV = e_zero_matrix(m_nq,m_nq);
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}
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return true;
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}
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bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& ydot, const e_matrix& Wq, e_vector& qdot, e_scalar& nlcoef)
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{
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unsigned int i, j, l;
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e_scalar N, M;
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// Create the Weighted jacobian
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m_AWq.noalias() = A*Wq;
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for (i=0; i<m_nc; i++)
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m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
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// Compute the SVD of the weighted jacobian
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int ret;
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if (m_transpose) {
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m_WyAWqt = m_WyAWq.transpose();
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ret = KDL::svd_eigen_HH(m_WyAWqt,m_V,m_S,m_U,m_temp);
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} else {
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ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp);
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}
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if(ret<0)
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return false;
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m_Wy_ydot = Wy.array() * ydot.array();
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m_WqV.noalias() = Wq*m_V;
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qdot.setZero();
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e_scalar maxDeltaS = e_scalar(0.0);
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e_scalar prevS = e_scalar(0.0);
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e_scalar maxS = e_scalar(1.0);
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for(i=0;i<m_ns;++i) {
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e_scalar norm, mag, alpha, _qmax, Sinv, vmax, damp;
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e_scalar S = m_S(i);
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bool prev;
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if (S < KDL::epsilon)
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break;
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Sinv = e_scalar(1.)/S;
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if (i > 0) {
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if ((prevS-S) > maxDeltaS) {
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maxDeltaS = (prevS-S);
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maxS = prevS;
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}
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}
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N = M = e_scalar(0.);
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for (l=0, prev=m_ytask[0], norm=e_scalar(0.); l<m_nc; l++) {
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if (prev == m_ytask[l]) {
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norm += m_U(l,i)*m_U(l,i);
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} else {
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N += std::sqrt(norm);
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norm = m_U(l,i)*m_U(l,i);
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}
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prev = m_ytask[l];
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}
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N += std::sqrt(norm);
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for (j=0; j<m_nq; j++) {
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for (l=0, prev=m_ytask[0], norm=e_scalar(0.), mag=e_scalar(0.); l<m_nc; l++) {
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if (prev == m_ytask[l]) {
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norm += m_WyAWq(l,j)*m_WyAWq(l,j);
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} else {
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mag += std::sqrt(norm);
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norm = m_WyAWq(l,j)*m_WyAWq(l,j);
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}
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prev = m_ytask[l];
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}
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mag += std::sqrt(norm);
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M += fabs(m_V(j,i))*mag;
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}
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M *= Sinv;
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alpha = m_U.col(i).dot(m_Wy_ydot);
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_qmax = (N < M) ? m_qmax*N/M : m_qmax;
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vmax = m_WqV.col(i).array().abs().maxCoeff();
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norm = fabs(Sinv*alpha*vmax);
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if (norm > _qmax) {
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damp = Sinv*alpha*_qmax/norm;
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} else {
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damp = Sinv*alpha;
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}
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qdot += m_WqV.col(i)*damp;
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prevS = S;
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}
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if (maxDeltaS == e_scalar(0.0))
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nlcoef = e_scalar(KDL::epsilon);
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else
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nlcoef = (maxS-maxDeltaS)/maxS;
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return true;
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}
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}
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