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Copy pathCMPC_Locomotion_cv.cpp
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CMPC_Locomotion_cv.cpp
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#include <Utilities/Timer.h>
#include <Utilities/Utilities_print.h>
#include <cmath>
#include <iostream>
#include <iterator>
#include <math.h>
#include <streambuf>
#include "CMPC_Locomotion_cv.h"
#include "ControlFSMData.h"
#include "GraphSearch.h"
#include "convexMPC_interface.h"
#include "Gait.h"
// #define SHOW_MPC_SOLVE_TIME
using namespace std;
////////////////////
// Controller
////////////////////
CMPCLocomotion_Cv::CMPCLocomotion_Cv(float _dt, int _iterations_between_mpc, ControlFSMData<float>* data)
: _data(data),
_parameters(_data->userParameters),
_gait_period(_parameters->gait_period),
_gait_period_long(32),
trotting(_gait_period,
Vec4<int>(0, _gait_period / 2.0, _gait_period / 2.0, 0),
Vec4<int>(_gait_period / 2.0, _gait_period / 2.0, _gait_period / 2.0, _gait_period / 2.0),
"Trotting"),
trot_long(_gait_period_long,
Vec4<int>(0, _gait_period_long / 2.0, _gait_period_long / 2.0, 0),
Vec4<int>(24, 24, 24, 24),
"Trotting long"),
standing(_gait_period, Vec4<int>(0, 0, 0, 0), Vec4<int>(_gait_period, _gait_period, _gait_period, _gait_period), "Standing"),
walking(_gait_period,
Vec4<int>(2 * _gait_period / 4., 0, _gait_period / 4., 3 * _gait_period / 4.),
Vec4<int>(0.75 * _gait_period, 0.75 * _gait_period, 0.75 * _gait_period, 0.75 * _gait_period),
"Walking"),
iterationsBetweenMPC(_iterations_between_mpc),
horizonLength(_data->staticParams->horizon),
dt(_dt),
_grid_map_raw(),
_grid_map_filter(),
_grid_map_plane(),
_tf_buffer(),
_tf_listener(_tf_buffer)
{
dtMPC = dt * iterationsBetweenMPC;
default_iterations_between_mpc = iterationsBetweenMPC;
printf("[Convex MPC] dt: %.3f iterations: %d, dtMPC: %.3f\n", dt, iterationsBetweenMPC, dtMPC);
// setup_problem(dtMPC, horizonLength, 0.4, 150); // original
setup_problem(dtMPC, horizonLength, 0.4, 150, _data->quadruped->_whole_mass); // original
rpy_comp[0] = 0;
rpy_comp[1] = 0;
rpy_comp[2] = 0;
rpy_int[0] = 0;
rpy_int[1] = 0;
rpy_int[2] = 0;
for (int i = 0; i < 4; i++)
{
firstSwing[i] = true;
}
// _initSparseMPC();
pBody_des.setZero();
vBody_des.setZero();
aBody_des.setZero();
_model = _data->quadruped->buildModel();
_state.q = DVec<float>::Zero(cheetah::num_act_joint);
_state.qd = DVec<float>::Zero(cheetah::num_act_joint);
_doorstep_case = true;
_max_cell = 0;
_gait = nullptr;
}
void CMPCLocomotion_Cv::initialize()
{
for (int i = 0; i < 4; i++)
{
firstSwing[i] = true;
}
firstRun = true;
iterationCounter = 0;
}
void CMPCLocomotion_Cv::_recompute_timing(int iterations_per_mpc)
{
iterationsBetweenMPC = iterations_per_mpc;
dtMPC = dt * iterations_per_mpc;
}
void CMPCLocomotion_Cv::_SetupCommand(float cmd_vel_x, float cmd_vel_y)
{
_body_height = _parameters->body_height;
float x_vel_cmd;
float y_vel_cmd;
float filter_x(0.005);
float filter_y(0.005);
_yaw_turn_rate = _data->gamepad_command->right_stick_analog[0] * _data->staticParams->max_turn_rate;
x_vel_cmd = cmd_vel_x * _data->staticParams->max_vel_x;
y_vel_cmd = cmd_vel_y * _data->staticParams->max_vel_y;
_pitch_cmd = 0.4 * _data->gamepad_command->right_stick_analog[1];
_x_vel_des = _x_vel_des * (1 - filter_x) + x_vel_cmd * filter_x;
_y_vel_des = _y_vel_des * (1 - filter_y) + y_vel_cmd * filter_y;
// _yaw_des = _data->stateEstimator->getResult().rpy[2] + dt * _yaw_turn_rate;
// _yaw_des += dt * _yaw_turn_rate;
if ((M_PI - abs(_yaw_des)) <= 0.1)
{
_yaw_des = _data->stateEstimator->getResult().rpy[2] + dt * _yaw_turn_rate;
}
else
{
_yaw_des += dt * _yaw_turn_rate;
}
if (current_gait == 13 || current_gait == 4 || current_gait == 11)
{
world_position_desired[0] = stand_traj[0] + 0.05 * cmd_vel_x;
world_position_desired[1] = stand_traj[1] + 0.05 * cmd_vel_y;
_body_height = stand_traj[2];
_pitch_des = 0.2 * _data->gamepad_command->right_stick_analog[1];
_yaw_des = stand_traj[5] + 0.2 * _data->gamepad_command->right_stick_analog[0];
}
_body_height = _parameters->body_height;
// Update PD coefs
Kp = Vec3<float>(_parameters->Kp_cartesian_0, _parameters->Kp_cartesian_1, _parameters->Kp_cartesian_2).asDiagonal();
Kp_stance = Kp;
Kd = Vec3<float>(_parameters->Kd_cartesian_0, _parameters->Kd_cartesian_1, _parameters->Kd_cartesian_2).asDiagonal();
Kd_stance = Kd;
}
void CMPCLocomotion_Cv::run(ControlFSMData<float>& data)
{
// myVersion(data, _grid_map_filter, _grid_map_raw, _grid_map_plane);
}
void CMPCLocomotion_Cv::myVersion(ControlFSMData<float>& data)
{
bool omniMode = false;
// long_step_vel = _data->userParameters->cmpc_use_sparse;
// long_step_trigger = _data->userParameters->cmpc_use_sparse;
// Command Setup
// if (!long_step_vel)
_SetupCommand(_data->gamepad_command->left_stick_analog[1], _data->gamepad_command->left_stick_analog[0]);
// else
// {
// std::vector<float> vel = calcDesVel();
// _SetupCommand(vel[0], vel[1]);
// }
_gait_des = data.userParameters->cmpc_gait;
auto& seResult = data.stateEstimator->getResult();
// Check if transition to standing
if (((_gait_des == 4) && current_gait != 4) || firstRun)
{
stand_traj[0] = seResult.position[0];
stand_traj[1] = seResult.position[1];
stand_traj[2] = seResult.position[2];
stand_traj[3] = 0;
stand_traj[4] = 0;
stand_traj[5] = seResult.rpy[2];
world_position_desired[0] = stand_traj[0];
world_position_desired[1] = stand_traj[1];
}
// pick gait
_gait = &trotting;
current_gait = _gait_des;
if (current_gait == 9)
{
_gait = &trotting;
}
else if (current_gait == 15)
{
_gait = &trot_long;
}
else if (current_gait == 4)
{
_gait = &standing;
}
// _gait->updatePeriod(_dyn_params->gait_period);
_gait->restoreDefaults();
_gait->setIterations(iterationsBetweenMPC, iterationCounter);
_gait->earlyContactHandle(seResult.contactSensor, iterationsBetweenMPC, iterationCounter);
_recompute_timing(default_iterations_between_mpc);
// integrate position setpoint
Vec3<float> v_des_robot(_x_vel_des, _y_vel_des, 0);
Vec3<float> v_des_world = omniMode ? v_des_robot : seResult.rBody.transpose() * v_des_robot;
Vec3<float> v_robot = seResult.vWorld;
// Integral-esque pitche and roll compensation
if (fabs(v_robot[0]) > .2) // avoid dividing by zero
{
rpy_int[1] += dt * (_pitch_des - seResult.rpy[1]) / v_robot[0];
}
if (fabs(v_robot[1]) > 0.1)
{
rpy_int[0] += dt * (_roll_des - seResult.rpy[0]) / v_robot[1];
}
rpy_int[0] = fminf(fmaxf(rpy_int[0], -.25), .25);
rpy_int[1] = fminf(fmaxf(rpy_int[1], -.25), .25);
rpy_comp[1] = v_robot[0] * rpy_int[1];
rpy_comp[0] = v_robot[1] * rpy_int[0] * (_gait_des != 8); // turn off for pronking
static float z_des[4] = { 0 };
if (current_gait == 4 || current_gait == 13)
{
_pitch_des = 0.0;
}
else if (current_gait != 11)
{
// estimated pitch of plane and pitch correction depends on Vdes
_pitch_des = _pitch_cmd + data.stateEstimator->getResult().rpy[1] + data.stateEstimator->getResult().est_pitch_plane;
// _pitch_des = _pitch_cmd + data.stateEstimator->getResult().rpy[1] + data.stateEstimator->getResult().est_pitch_plane +
// 0.1;
if (_x_vel_des > 0)
{
_pitch_des += -0.3 * _x_vel_des / data.staticParams->max_vel_x;
}
else
{
_pitch_des += -0.2 * _x_vel_des / data.staticParams->max_vel_x;
}
}
for (int i = 0; i < 4; i++)
{
pFoot[i] =
seResult.position + seResult.rBody.transpose() * (data.quadruped->getHipLocation(i) + data.legController->datas[i].p);
}
if (_gait != &standing)
{
world_position_desired += dt * Vec3<float>(v_des_world[0], v_des_world[1], 0);
}
// some first time initialization
if (firstRun)
{
world_position_desired[0] = seResult.position[0];
world_position_desired[1] = seResult.position[1];
world_position_desired[2] = seResult.position[2];
_yaw_des = seResult.rpy[2];
for (int i = 0; i < 4; i++)
{
// footSwingTrajectories[i].setHeight(_data->userParameters->Swing_traj_height);
footSwingTrajectories[i].setHeight(_updateTrajHeight(i));
footSwingTrajectories[i].setInitialPosition(pFoot[i]);
data.debug->all_legs_info.leg[i].swing_ps.x = pFoot[i](0);
data.debug->all_legs_info.leg[i].swing_ps.y = pFoot[i](1);
data.debug->all_legs_info.leg[i].swing_ps.z = pFoot[i](2);
footSwingTrajectories[i].setFinalPosition(pFoot[i]);
// data.debug->all_legs_info.leg[i].swing_pf.x = pFoot[i](0);
// data.debug->all_legs_info.leg[i].swing_pf.y = pFoot[i](1);
// data.debug->all_legs_info.leg[i].swing_pf.z = pFoot[i](2);
z_des[i] = pFoot[i](2);
}
firstRun = false;
}
// foot placement
for (int l = 0; l < 4; l++)
{
swingTimes[l] = _gait->getCurrentSwingTime(dtMPC, l);
_findPF(v_des_world, l);
}
// Calculate PF
// calc gait
iterationCounter++;
// gait
Vec4<float> contactStates = _gait->getContactState();
Vec4<float> swingStates = _gait->getSwingState();
int* mpcTable = _gait->getMpcTable();
_updateMPCIfNeeded(mpcTable, data, omniMode);
Vec4<float> se_contactState(0, 0, 0, 0);
static bool is_stance[4] = { 0, 0, 0, 0 };
static Vec3<float> p_fw[4] = {};
static Vec3<float> p_fl[4] = {};
static float delta_yaw[4] = {};
static Vec3<float> delta_p_bw[4] = {};
for (int foot = 0; foot < 4; foot++)
{
float contactState = contactStates[foot];
float swingState = swingStates[foot];
if ((is_stance[foot] == 0) && !(swingState > 0))
{
is_stance[foot] = 1;
data.debug->last_p_stance[foot] = ros::toMsg(pFoot[foot]);
p_fw[foot] = pFoot[foot];
p_fl[foot] = data.legController->datas[foot].p + data.quadruped->getHipLocation(foot);
delta_p_bw[foot] << 0, 0, 0;
delta_yaw[foot] = 0;
}
delta_p_bw[foot] += seResult.vBody * dt;
delta_yaw[foot] += seResult.omegaBody(2) * dt;
data.debug->last_p_local_stance[foot] =
ros::toMsg(ori::rpyToRotMat(Vec3<float>(0, 0, delta_yaw[foot])) * (p_fl[foot] - delta_p_bw[foot]));
if (swingState > 0) // foot is in swing
{
// Calculate P0
if (firstSwing[foot])
{
firstSwing[foot] = false;
is_stance[foot] = 0;
footSwingTrajectories[foot].setInitialPosition(pFoot[foot]);
data.debug->all_legs_info.leg[foot].swing_ps.x = pFoot[foot](0);
data.debug->all_legs_info.leg[foot].swing_ps.y = pFoot[foot](1);
data.debug->all_legs_info.leg[foot].swing_ps.z = pFoot[foot](2);
z_des[foot] = pFoot[foot][2];
}
// Update PF
// if (!long_step_vel)
//{
// Vec3<float> pf = footSwingTrajectories[foot].getFinalPosition();
// _updateFoothold(pf, seResult.position, foot);
// footSwingTrajectories[foot].setFinalPosition(pf);
// data.debug->all_legs_info.leg[foot].swing_pf.x = pf(0);
// data.debug->all_legs_info.leg[foot].swing_pf.y = pf(1);
// data.debug->all_legs_info.leg[foot].swing_pf.z = pf(2);
//}
// for visual -----------------------------------------------------------------------
geometry_msgs::PoseStamped pose_traj;
Vec3<float> p_des_traj(0, 0, 0);
data.debug->leg_traj_des[foot].poses.clear();
data.debug->leg_traj_des[foot].header.stamp = ros::Time::now();
// 20 segment trajcetory
for (size_t i = 0; i < 21; i++)
{
footSwingTrajectories[foot].computeSwingTrajectoryBezier(swingState + ((1.0 - swingState) / 21.0 * (float)i),
swingTimes[foot]);
p_des_traj = footSwingTrajectories[foot].getPosition();
pose_traj.pose.position = ros::toMsg(p_des_traj);
data.debug->leg_traj_des[foot].poses.push_back(pose_traj);
}
// for visual -----------------------------------------------------------------------
footSwingTrajectories[foot].computeSwingTrajectoryBezier(swingState, swingTimes[foot]);
Vec3<float> pDesFootWorld = footSwingTrajectories[foot].getPosition();
Vec3<float> vDesFootWorld = footSwingTrajectories[foot].getVelocity();
Vec3<float> pDesLeg = seResult.rBody * (pDesFootWorld - seResult.position) - data.quadruped->getHipLocation(foot);
Vec3<float> vDesLeg = seResult.rBody * (vDesFootWorld - seResult.vWorld);
Vec3<float> vActFootWorld = seResult.rBody.inverse() * (data.legController->datas[foot].v) + seResult.vWorld;
_hipSefetyCircle(pDesLeg, pDesFootWorld, foot);
// Update for WBC
pFoot_des[foot] = pDesFootWorld;
vFoot_des[foot] = vDesFootWorld;
aFoot_des[foot] = footSwingTrajectories[foot].getAcceleration();
data.debug->all_legs_info.leg.at(foot).p_des = ros::toMsg(pDesLeg);
data.debug->all_legs_info.leg.at(foot).v_des = ros::toMsg(vDesLeg);
data.debug->all_legs_info.leg.at(foot).p_w_act = ros::toMsg(pFoot[foot]);
data.debug->all_legs_info.leg.at(foot).v_w_act = ros::toMsg(vActFootWorld);
data.debug->all_legs_info.leg.at(foot).p_w_des = ros::toMsg(pDesFootWorld);
data.debug->all_legs_info.leg.at(foot).v_w_des = ros::toMsg(vDesFootWorld);
if (!data.userParameters->use_wbc)
{
data.legController->commands[foot].pDes = pDesLeg;
data.legController->commands[foot].vDes = vDesLeg;
data.legController->commands[foot].kpCartesian = Kp;
data.legController->commands[foot].kdCartesian = Kd;
}
}
else // foot is in stance
{
firstSwing[foot] = true;
// for visual ---------------------------------------------------------
data.debug->leg_traj_des[foot].poses.clear();
data.debug->leg_traj_des[foot].header.stamp = ros::Time::now();
data.debug->all_legs_info.leg[foot].swing_pf = ros::toMsg(pFoot[foot]);
// for visual ---------------------------------------------------------
geometry_msgs::Point point;
point = ros::toMsg(data.legController->datas[foot].p + data.quadruped->getHipLocation(foot));
data.debug->last_p_local_stance[foot] = point;
Vec3<float> pDesFootWorld = footSwingTrajectories[foot].getPosition();
// Vec3<float> vDesFootWorld = footSwingTrajectories[foot].getVelocity();
Vec3<float> vDesFootWorld = Vec3<float>::Zero();
Vec3<float> pDesLeg = seResult.rBody * (pDesFootWorld - seResult.position) - data.quadruped->getHipLocation(foot);
Vec3<float> vDesLeg = seResult.rBody * (vDesFootWorld - seResult.vWorld);
Vec3<float> vActFootWorld = seResult.rBody.inverse() * (data.legController->datas[foot].v) + seResult.vWorld;
// temporary debug
data.debug->all_legs_info.leg.at(foot).p_des = ros::toMsg(pDesLeg);
data.debug->all_legs_info.leg.at(foot).v_des = ros::toMsg(vDesLeg);
if (!data.userParameters->use_wbc) // wbc off
{
data.legController->commands[foot].pDes = pDesLeg;
data.legController->commands[foot].vDes = vDesLeg;
data.legController->commands[foot].kpCartesian = Kp_stance;
data.legController->commands[foot].kdCartesian = Kd_stance;
data.legController->commands[foot].forceFeedForward = f_ff[foot];
data.legController->commands[foot].kdJoint =
Vec3<float>(_parameters->Kd_joint_0, _parameters->Kd_joint_1, _parameters->Kd_joint_2).asDiagonal();
}
else
{ // Stance foot damping
data.legController->commands[foot].pDes = pDesLeg;
data.legController->commands[foot].vDes = vDesLeg;
data.legController->commands[foot].kpCartesian = 0. * Kp_stance;
data.legController->commands[foot].kdCartesian = Kd_stance;
}
se_contactState[foot] = contactState;
data.debug->all_legs_info.leg.at(foot).p_des = ros::toMsg(pDesLeg);
data.debug->all_legs_info.leg.at(foot).v_des = ros::toMsg(vDesLeg);
data.debug->all_legs_info.leg.at(foot).p_w_act = ros::toMsg(pFoot[foot]);
data.debug->all_legs_info.leg.at(foot).v_w_act = ros::toMsg(vActFootWorld);
data.debug->all_legs_info.leg.at(foot).p_w_des = ros::toMsg(pDesFootWorld);
data.debug->all_legs_info.leg.at(foot).v_w_des = ros::toMsg(vDesFootWorld);
data.debug->leg_force[foot] = ros::toMsg(f_ff[foot]);
}
}
data.stateEstimator->setContactPhase(se_contactState);
data.stateEstimator->setSwingPhase(_gait->getSwingState());
// Update For WBC
pBody_des[0] = world_position_desired[0];
pBody_des[1] = world_position_desired[1];
pBody_des[2] = _body_height;
vBody_des[0] = v_des_world[0];
vBody_des[1] = v_des_world[1];
vBody_des[2] = 0.;
aBody_des.setZero();
// pBody_RPY_des[0] = 0.;
pBody_RPY_des[1] = _pitch_des;
pBody_RPY_des[0] = rpy_comp[0];
// pBody_RPY_des[1] = rpy_comp[1];
pBody_RPY_des[2] = _yaw_des;
vBody_Ori_des[0] = 0.;
vBody_Ori_des[1] = 0.;
vBody_Ori_des[2] = _yaw_turn_rate;
data.debug->body_info.pos_des.x = pBody_des[0];
data.debug->body_info.pos_des.y = pBody_des[1];
data.debug->body_info.pos_des.z = pBody_des[2];
data.debug->body_info.vel_des.linear.x = vBody_des[0];
data.debug->body_info.vel_des.linear.y = vBody_des[1];
data.debug->body_info.vel_des.linear.z = vBody_des[2];
data.debug->body_info.euler_des.x = pBody_RPY_des[0];
data.debug->body_info.euler_des.y = pBody_RPY_des[1];
data.debug->body_info.euler_des.z = pBody_RPY_des[2];
data.debug->body_info.vel_des.angular.x = vBody_Ori_des[0];
data.debug->body_info.vel_des.angular.y = vBody_Ori_des[1];
data.debug->body_info.vel_des.angular.z = vBody_Ori_des[2];
contact_state = _gait->getContactState();
// END of WBC Update
}
void CMPCLocomotion_Cv::_updateMPCIfNeeded(int* mpcTable, ControlFSMData<float>& data, bool omniMode)
{
if ((iterationCounter % iterationsBetweenMPC) == 0)
{
auto seResult = data.stateEstimator->getResult();
float* p = seResult.position.data();
Vec3<float> v_des_robot(_x_vel_des, _y_vel_des, 0);
Vec3<float> v_des_world = omniMode ? v_des_robot : seResult.rBody.transpose() * v_des_robot;
const float max_pos_error = .1;
float xStart = world_position_desired[0];
float yStart = world_position_desired[1];
if (xStart - p[0] > max_pos_error)
{
xStart = p[0] + max_pos_error;
}
if (p[0] - xStart > max_pos_error)
{
xStart = p[0] - max_pos_error;
}
if (yStart - p[1] > max_pos_error)
{
yStart = p[1] + max_pos_error;
}
if (p[1] - yStart > max_pos_error)
{
yStart = p[1] - max_pos_error;
}
world_position_desired[0] = xStart;
world_position_desired[1] = yStart;
float trajInitial[12] = { pBody_RPY_des[0], // 0 roll des
pBody_RPY_des[1], // 1 pitch des
pBody_RPY_des[2], // 2 yaw des
pBody_des[0], // 3 x body des
pBody_des[1], // 4 y body des
pBody_des[2], // 5 z body des
vBody_Ori_des[0], // 6 velocity roll des
vBody_Ori_des[1], // 7 velocity pitch des
vBody_Ori_des[2], // 8 velocity yaw des
vBody_des[0], // 9 vx body des
vBody_des[1], // 10 vy body des
vBody_des[2] }; // 11 vz body des
// i - horizon step, j - traj element
for (int i = 0; i < horizonLength; i++)
{
for (int j = 0; j < 12; j++)
{
trajAll[12 * i + j] = trajInitial[j];
}
if (i > 0)
{
trajAll[12 * i + 2] = trajAll[12 * (i - 1) + 2] + dtMPC * _yaw_turn_rate;
trajAll[12 * i + 3] = trajAll[12 * (i - 1) + 3] + dtMPC * v_des_world[0];
trajAll[12 * i + 4] = trajAll[12 * (i - 1) + 4] + dtMPC * v_des_world[1];
}
}
Timer solveTimer;
// dense matrix - contain mostly NON zero values
_solveDenseMPC(mpcTable, data);
// printf("TOTAL SOLVE TIME: %.3f\n", solveTimer.getMs());
}
}
void CMPCLocomotion_Cv::_solveDenseMPC(int* mpcTable, ControlFSMData<float>& data)
{
auto seResult = data.stateEstimator->getResult();
// Q roll pitch yaw x_des y_des z_des v_roll_des v_pitch_des v_yaw_des vx_des vy_des vz_des
// original
// float Q[12] = {0.25, 0.25, 10, 2, 2, 50, 0, 0, 0.3, 0.2, 0.2, 0.1};
// my
// float Q[12] = { 2.5, 2.5, 10, 300, 300, 1000, 0, 0, 0.5, 1.5, 1.5, 1 };
// float Q[12] = { 0.25, 4, 7, 4, 4, 20, 0.1, 0.1, 3, 0.4, 0.4, 0.2 };
// float Q[12] = { 10, 10, 15, 15, 15, 20, 0.5, 0.5, 3, 0.4, 0.4, 0.2 }; //+- norm
float Q[12] = { 10, 10, 15, 3, 3, 30, 0.5, 0.5, 3, 0.4, 0.4, 0.2 };
float Q_roll = data.staticParams->Q_roll;
float Q_pitch = data.staticParams->Q_pitch;
float Q_yaw = data.staticParams->Q_yaw;
float Q_x = data.staticParams->Q_x;
float Q_y = data.staticParams->Q_y;
float Q_z = data.staticParams->Q_z;
float Q_w_roll = data.staticParams->Q_w_roll;
float Q_w_pitch = data.staticParams->Q_w_pitch;
float Q_w_yaw = data.staticParams->Q_w_yaw;
float Q_vx = data.staticParams->Q_vx;
float Q_vy = data.staticParams->Q_vy;
float Q_vz = data.staticParams->Q_vz;
Q[0] = Q_roll;
Q[1] = Q_pitch;
Q[2] = Q_yaw;
Q[3] = Q_x;
Q[4] = Q_y;
Q[5] = Q_z;
Q[6] = Q_w_roll;
Q[7] = Q_w_pitch;
Q[8] = Q_w_yaw;
Q[9] = Q_vx;
Q[10] = Q_vy;
Q[11] = Q_vz;
// from sparse
// float Q[12] = { 0.25, 0.25, 10, 2, 2, 20, 0, 0, 0.3, 0.2, 0.2, 0.2 };
float roll = seResult.rpy[0];
float pitch = seResult.rpy[1];
float yaw = seResult.rpy[2];
float* weights = Q;
float alpha = data.staticParams->alpha;
// float alpha = 4e-7; // make setting eventually: DH
float* p = seResult.position.data();
float* v = seResult.vWorld.data();
float* w = seResult.omegaWorld.data();
float* q = seResult.orientation.data();
float r[12];
for (int i = 0; i < 12; i++)
{
r[i] = pFoot[i % 4][i / 4] - seResult.position[i / 4];
}
// printf("current posistion: %3.f %.3f %.3f\n", p[0], p[1], p[2]);
if (alpha > 1e-4)
{
std::cout << "Alpha was set too high (" << alpha << ") adjust to 1e-5\n";
alpha = 1e-5;
}
float pz_err = p[2] - _body_height;
Vec3<float> vxy(seResult.vWorld[0], seResult.vWorld[1], 0);
Timer t1;
setup_problem(dtMPC, horizonLength, 0.4, 150, _data->quadruped->_whole_mass);
update_x_drag(x_comp_integral);
if (vxy[0] > 0.3 || vxy[0] < -0.3)
{
// x_comp_integral += _parameters->cmpc_x_drag * pxy_err[0] * dtMPC /
// vxy[0];
x_comp_integral += _parameters->cmpc_x_drag * pz_err * dtMPC / vxy[0];
}
// printf("pz err: %.3f, pz int: %.3f\n", pz_err, x_comp_integral);
update_solver_settings(_parameters->jcqp_max_iter, _parameters->jcqp_rho, _parameters->jcqp_sigma, _parameters->jcqp_alpha,
_parameters->jcqp_terminate, _parameters->use_jcqp);
// t1.stopPrint("Setup MPC");
// printf("MPC Setup time %f ms\n", t1.getMs());
Timer t2;
// cout << "dtMPC: " << dtMPC << "\n";
update_problem_data_floats(p, v, q, w, r, roll, pitch, yaw, weights, trajAll, alpha, mpcTable);
// t2.stopPrint("Run MPC");
// printf("MPC Solve time %f ms\n", t2.getMs());
for (int leg = 0; leg < 4; leg++)
{
Vec3<float> f;
for (int axis = 0; axis < 3; axis++)
{
f[axis] = get_solution(leg * 3 + axis);
}
// printf("[%d] %7.3f %7.3f %7.3f\n", leg, f[0], f[1], f[2]);
f_ff[leg] = -seResult.rBody * f;
// Update for WBC
Fr_des[leg] = f;
}
}
void CMPCLocomotion_Cv::_initSparseMPC()
{
Mat3<double> baseInertia;
baseInertia << 0.07, 0, 0, 0, 0.26, 0, 0, 0, 0.242;
double mass = 9;
double maxForce = 150;
std::vector<double> dtTraj;
for (int i = 0; i < horizonLength; i++)
{
dtTraj.push_back(dtMPC);
}
Vec12<double> weights;
weights << 0.25, 0.25, 10, 2, 2, 20, 0, 0, 0.3, 0.2, 0.2, 0.2;
// weights << 0,0,0,1,1,10,0,0,0,0.2,0.2,0;
_sparseCMPC.setRobotParameters(baseInertia, mass, maxForce);
_sparseCMPC.setFriction(1.0);
// _sparseCMPC.setFriction(0.4);
_sparseCMPC.setWeights(weights, 4e-5);
_sparseCMPC.setDtTrajectory(dtTraj);
_sparseTrajectory.resize(horizonLength);
}
void CMPCLocomotion_Cv::_updateModel(const StateEstimate<float>& state_est, const LegControllerData<float>* leg_data)
{
_state.bodyOrientation = state_est.orientation;
_state.bodyPosition = state_est.position;
for (size_t i(0); i < 3; ++i)
{
_state.bodyVelocity[i] = state_est.omegaBody[i];
_state.bodyVelocity[i + 3] = state_est.vBody[i];
for (size_t leg(0); leg < 4; ++leg)
{
_state.q[3 * leg + i] = leg_data[leg].q[i];
_state.qd[3 * leg + i] = leg_data[leg].qd[i];
}
}
_model.setState(_state);
_model.contactJacobians();
_model.massMatrix();
_model.generalizedGravityForce();
_model.generalizedCoriolisForce();
_A = _model.getMassMatrix();
_grav = _model.getGravityForce();
_coriolis = _model.getCoriolisForce();
_Ainv = _A.inverse();
// cout << "Mass Matrix: " << _A << endl;
// cout << "C+G: " << _grav+_coriolis << endl;
// cout << "Gravity: " << _grav << endl;
}
Eigen::Array2i checkBoundariess(const grid_map::GridMap& map, int col, int row)
{
col = std::clamp(col, 0, map.getSize()(1));
row = std::clamp(row, 0, map.getSize()(0));
return Eigen::Array2i(col, row);
}
void CMPCLocomotion_Cv::_updateFoothold(Vec3<float>& pf, const Vec3<float>& body_pos_arg, const int& leg)
{
// Положение лапы в СК тела
// Vec3<float> scale(1.2, 1, 1);
static bool first = true;
static Vec3<float> freeze_pose;
Vec3<float> body_pos;
Vec3<float> p0;
if (firstSwing[leg])
{
p0 = pFoot[leg];
}
else
{
p0 = footSwingTrajectories[leg].getInitialPosition();
}
Vec3<float> local_pf;
Vec3<float> local_p0;
if (_data->debug->is_map_upd_stop)
{
if (first)
{
freeze_pose = body_pos_arg;
first = false;
}
}
// else
// {
body_pos = body_pos_arg;
local_pf = pf - body_pos;
local_p0 = p0 - body_pos;
first = true;
// }
// Vec3<float> local_pf_scaled = foot.cwiseProduct(scale) - body_pos;
// std::cout << "pf in base frame: " << std::endl << local_pf << std::endl;
// Координаты цм робота на карте (обычно в центре)
int row_idx_body_com = _grid_map_raw.getSize()(0) / 2;
int col_idx_body_com = _grid_map_raw.getSize()(1) / 2;
if (_data->debug->is_map_upd_stop)
{
col_idx_body_com -= ceil((body_pos_arg[0] - freeze_pose[0]) / _grid_map_raw.getResolution());
row_idx_body_com += ceil((body_pos_arg[1] - freeze_pose[1]) / _grid_map_raw.getResolution());
col_idx_body_com = std::clamp(col_idx_body_com, 0, _grid_map_raw.getSize()(1) - 1);
row_idx_body_com = std::clamp(row_idx_body_com, 0, _grid_map_raw.getSize()(0) - 1);
// TODO:Call enable update service when touch map edge
}
// Минус для преобразования координат
int x_idx = col_idx_body_com - ceil(local_pf[0] / _grid_map_raw.getResolution());
int y_idx = row_idx_body_com - ceil(local_pf[1] / _grid_map_raw.getResolution());
x_idx = std::clamp(x_idx, 0, _grid_map_raw.getSize()(1) - 1);
y_idx = std::clamp(y_idx, 0, _grid_map_raw.getSize()(0) - 1);
int x_idx_selected = x_idx;
int y_idx_selected = y_idx;
int p0_x_idx = col_idx_body_com - ceil(local_p0[0] / _grid_map_raw.getResolution());
int p0_y_idx = row_idx_body_com - ceil(local_p0[1] / _grid_map_raw.getResolution());
auto p0_h = _grid_map_raw.at("elevation", checkBoundariess(_grid_map_raw, p0_x_idx, p0_y_idx));
_idxMapChecking(local_pf, x_idx, y_idx, x_idx_selected, y_idx_selected, leg);
// Минус для преобразования координат
pf[0] = (col_idx_body_com - x_idx_selected) * _grid_map_raw.getResolution() + body_pos[0];
pf[1] = (row_idx_body_com - y_idx_selected) * _grid_map_raw.getResolution() + body_pos[1];
auto pf_h = _grid_map_raw.at("elevation", checkBoundariess(_grid_map_raw, x_idx_selected, y_idx_selected));
if (leg == 3)
{
ROS_INFO_STREAM_THROTTLE(1, " Leg 3 height map = " << pf_h);
}
// check map on flat terrain
// static std::vector<float> pf_buffer;
// if (!std::isnan(pf_h) && pf_buffer.size() < 4000)
// {
// pf_buffer.push_back(pf_h);
// }
// else
// {
// double sum = 0.0;
// for (auto it : pf_buffer)
// {
// sum += it;
// }
// cout << "Mean pf = " << sum / pf_buffer.size() << endl;
// pf_buffer.clear();
// }
// _max_cell =
// _findMaxInMapByLine(height_map_filter, grid_map::Index(x_idx_selected, y_idx_selected), grid_map::Index(p0_x_idx,
// p0_y_idx));
// cout << "max cell = " << _max_cell << endl;
// ЕВРИСТИКА
// static double start_offset = 0.6;
// if (_data->stateEstimator->getResult().position(0) > start_offset)
// {
// static double step_length = 0.8;
// double x = _data->stateEstimator->getResult().position(0) - start_offset;
// double k = x / step_length;
// if (k >= 1.0)
// k = 1.0;
// _data->debug->z_offset = k * 0.40;
// }
// _body_height_heuristics("vio");
pf_h -= p0_h;
pf[2] = (std::isnan(pf_h)) ? 0.0 : pf_h;
if (pf[2] > MAX_STEP_HEIGHT)
{
pf[2] = MAX_STEP_HEIGHT;
ROS_INFO_STREAM_THROTTLE(1, " Leg " << leg << " height limit = " << pf_h);
}
}
void CMPCLocomotion_Cv::_body_height_heuristics(std::string type)
{
if (type == "map")
{
grid_map::Index robot_com(_grid_map_plane.getSize()(0) / 2., _grid_map_plane.getSize()(1) / 2.);
auto base_footprint_h = _grid_map_plane.at("smooth_planar", robot_com);
_data->debug->z_offset = base_footprint_h;
}
else if (type == "vio")
{
geometry_msgs::TransformStamped odom2camera;
static geometry_msgs::Transform camera2base;
camera2base.translation.x = -0.055;
camera2base.translation.y = 0.055;
camera2base.translation.z = -0.13;
camera2base.rotation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, 3.14);
try
{
odom2camera = _tf_buffer.lookupTransform("odom", "camera_t265_pose_frame", ros::Time(0));
}
catch (tf2::TransformException& ex)
{
ROS_WARN("%s", ex.what());
}
_data->debug->vio_z = odom2camera.transform.translation.z + camera2base.translation.z;
}
}
void CMPCLocomotion_Cv::_idxMapChecking(Vec3<float>& pf,
int x_idx,
int y_idx,
int& x_idx_selected,
int& y_idx_selected,
const int& leg)
{
grid_map::Index center(x_idx, y_idx);
// std::cout << " Leg position (x,y) " << pf[0] << " " << pf[1] << std::endl;
double radius = 0.10;
// std::cout << "Normal is " << _grid_map_raw.at("normal_z", Eigen::Array2i(x_idx, y_idx)) <<
// std::endl;
for (grid_map_utils::SpiralIterator iterator(_grid_map_raw, center, radius); !iterator.isPastEnd(); ++iterator)
{
// auto traversability = _grid_map_raw.at("traversability", *iterator);
auto traversability = _grid_map_plane.at("plane_classification", *iterator);
// auto uncertainty_r = height_map_filter.at("uncertainty_range", *iterator);
// if (leg == 0)
// std::cout << "traversability = " << traversability << std::endl;
// If can step
if (!std::isnan(traversability) && traversability > 0.8 /*&& !std::isnan(uncertainty_r) && uncertainty_r < 0.7*/)
{
x_idx_selected = (*iterator)(0);
// if (!_doorstep_case)
// y_idx_selected = (*iterator)(1);
// if ((x_idx != x_idx_selected) && (y_idx != y_idx_selected))
// std::cout << "Edit footstep from ( " << x_idx << " " << y_idx << ") to ( " << x_idx_selected << " " << y_idx_selected
// << " )" << std::endl;
return;
}
}
// std::cout << "Can`t find foothold from map!" << std::endl;
}
void CMPCLocomotion_Cv::_findPF(Vec3<float>& v_des_world, size_t foot)
{
// auto swing_state = (_gait->getSwingState())[foot];
// if (long_step_trigger && firstSwing[foot])
// {
// long_step_run = true;
// }
// if (long_step_run)
// {
// _longStep(_grid_map_filter, foot);
// if (swing_state <= 0) // stance
// {
// long_step_run = false;
// long_step_trigger = false;
// }
// return;
// }
// if (long_step_vel)
// {
// _longStep(_grid_map_filter, foot);
// return;
// }
float side_sign[4] = { -1, 1, -1, 1 };
float interleave_y[4] = { -0.08, 0.08, 0.02, -0.02 };
float interleave_gain = -0.2;
Vec3<float> v_des_robot(_x_vel_des, _y_vel_des, 0);
float v_abs = std::fabs(v_des_robot[0]);
auto seResult = _data->stateEstimator->getResult();
if (firstSwing[foot])
{
swingTimeRemaining[foot] = swingTimes[foot];
}
else
{
swingTimeRemaining[foot] -= dt;
}
// footSwingTrajectories[foot].setHeight(_data->userParameters->Swing_traj_height);
footSwingTrajectories[foot].setHeight(_updateTrajHeight(foot));
Vec3<float> offset(0, side_sign[foot] * _data->quadruped->_abadLinkLength, 0);
Vec3<float> pRobotFrame = (_data->quadruped->getHipLocation(foot) + offset);
pRobotFrame[1] += interleave_y[foot] * v_abs * interleave_gain;
float stance_time = _gait->getCurrentStanceTime(dtMPC, foot);
Vec3<float> pYawCorrected = coordinateRotation(CoordinateAxis::Z, -_yaw_turn_rate * stance_time / 2) * pRobotFrame;