Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

2009-09-24 21:22:24 +00:00
parent c995c605f6 222fe6b1a5
commit 1483fafd13
386 changed files with 54369 additions and 1008 deletions
@@ -0,0 +1,122 @@
+/* $Id: WSDLSSolver.cpp 20749 2009-06-09 11:27:30Z ben2610 $
+ * WDLSSolver.hpp.cpp
+ *
+ *  Created on: Jan 8, 2009
+ *      Author: rubensmits
+ */
+
+#include "WSDLSSolver.hpp"
+#include "kdl/utilities/svd_eigen_HH.hpp"
+#include <cstdio>
+
+namespace iTaSC {
+
+WSDLSSolver::WSDLSSolver() :
+	m_ns(0), m_nc(0), m_nq(0)
+
+{
+	// default maximum speed: 50 rad/s
+	m_qmax = 50.0;
+}
+
+WSDLSSolver::~WSDLSSolver() {
+}
+
+bool WSDLSSolver::init(unsigned int _nq, unsigned int _nc, const std::vector<bool>& gc)
+{
+	if (_nc == 0 || _nq == 0 || gc.size() != _nc)
+		return false;
+	m_nc = _nc;
+	m_nq = _nq;
+	m_ns = std::min(m_nc,m_nq);
+    m_AWq = e_zero_matrix(m_nc,m_nq);
+    m_WyAWq = e_zero_matrix(m_nc,m_nq);
+    m_U = e_zero_matrix(m_nc,m_nq);
+	m_S = e_zero_vector(std::max(m_nc,m_nq));
+    m_temp = e_zero_vector(m_nq);
+    m_V = e_zero_matrix(m_nq,m_nq);
+    m_WqV = e_zero_matrix(m_nq,m_nq);
+	m_Wy_ydot = e_zero_vector(m_nc);
+	m_ytask = gc;
+    return true;
+}
+
+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)
+{
+	unsigned int i, j, l;
+	e_scalar N, M;
+
+	// Create the Weighted jacobian
+    m_AWq = (A*Wq).lazy();
+	for (i=0; i<m_nc; i++)
+		m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
+
+    // Compute the SVD of the weighted jacobian
+	int ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp);
+    if(ret<0)
+        return false;
+
+	m_Wy_ydot = Wy.cwise() * ydot;
+    m_WqV = (Wq*m_V).lazy();
+	qdot.setZero();
+	e_scalar maxDeltaS = e_scalar(0.0);
+	e_scalar prevS = e_scalar(0.0);
+	e_scalar maxS = e_scalar(1.0);
+	for(i=0;i<m_ns;++i) {
+		e_scalar norm, mag, alpha, _qmax, Sinv, vmax, damp;
+		e_scalar S = m_S(i);
+		bool prev;
+		if (S < KDL::epsilon)
+			break;
+		Sinv = e_scalar(1.)/S;
+		if (i > 0) {
+			if ((prevS-S) > maxDeltaS) {
+				maxDeltaS = (prevS-S);
+				maxS = prevS;
+			}
+		}
+		N = M = e_scalar(0.);
+		for (l=0, prev=m_ytask[0], norm=e_scalar(0.); l<m_nc; l++) {
+			if (prev == m_ytask[l]) {
+				norm += m_U(l,i)*m_U(l,i);
+			} else {
+				N += std::sqrt(norm);
+				norm = m_U(l,i)*m_U(l,i);
+			}
+			prev = m_ytask[l];
+		}
+		N += std::sqrt(norm);
+		for (j=0; j<m_nq; j++) {
+			for (l=0, prev=m_ytask[0], norm=e_scalar(0.), mag=e_scalar(0.); l<m_nc; l++) {
+				if (prev == m_ytask[l]) {
+					norm += m_WyAWq(l,j)*m_WyAWq(l,j);
+				} else {
+					mag += std::sqrt(norm);
+					norm = m_WyAWq(l,j)*m_WyAWq(l,j);
+				}
+				prev = m_ytask[l];
+			}
+			mag += std::sqrt(norm);
+			M += fabs(m_V(j,i))*mag;
+		}
+		M *= Sinv;
+		alpha = m_U.col(i).dot(m_Wy_ydot);
+		_qmax = (N < M) ? m_qmax*N/M : m_qmax;
+		vmax = m_WqV.col(i).cwise().abs().maxCoeff();
+		norm = fabs(Sinv*alpha*vmax);
+		if (norm > _qmax) {
+			damp = Sinv*alpha*_qmax/norm;
+		} else {
+			damp = Sinv*alpha;
+		}
+		qdot += m_WqV.col(i)*damp;
+		prevS = S;
+	}
+	if (maxDeltaS == e_scalar(0.0))
+		nlcoef = e_scalar(KDL::epsilon);
+	else
+		nlcoef = (maxS-maxDeltaS)/maxS;
+    return true;
+}
+
+}