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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* 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.
* 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 HOLDER 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.
*/
#ifndef EXAMPLES_HUMANJOINTLIMITS_HUMANLEGJOINTLIMITCONSTRAINT_HPP_
#define EXAMPLES_HUMANJOINTLIMITS_HUMANLEGJOINTLIMITCONSTRAINT_HPP_
#include <dart/dart.hpp>
#include <tiny_dnn/tiny_dnn.h>
DART_COMMON_MAKE_SHARED_WEAK(HumanLegJointLimitConstraint)
/// HumanLegJointLimitConstraint handles joint position limits on human leg,
/// representing range of motion of hip, knee and ankle joints.
class HumanLegJointLimitConstraint : public dart::constraint::ConstraintBase
{
public:
/// Constructor
explicit HumanLegJointLimitConstraint(
dart::dynamics::Joint* hipjoint,
dart::dynamics::Joint* kneejoint,
dart::dynamics::Joint* anklejoint,
bool isMirror);
/// Destructor
virtual ~HumanLegJointLimitConstraint() = default;
//----------------------------------------------------------------------------
// Property settings
//----------------------------------------------------------------------------
/// Set global error reduction parameter
static void setErrorAllowance(double allowance);
/// Get global error reduction parameter
static double getErrorAllowance();
/// Set global error reduction parameter
static void setErrorReductionParameter(double erp);
/// Get global error reduction parameter
static double getErrorReductionParameter();
/// Set global error reduction parameter
static void setMaxErrorReductionVelocity(double erv);
/// Get global error reduction parameter
static double getMaxErrorReductionVelocity();
/// Set global constraint force mixing parameter
static void setConstraintForceMixing(double cfm);
/// Get global constraint force mixing parameter
static double getConstraintForceMixing();
//----------------------------------------------------------------------------
// Friendship
//----------------------------------------------------------------------------
friend class dart::constraint::ConstraintSolver;
friend class dart::constraint::ConstrainedGroup;
protected:
//----------------------------------------------------------------------------
// Constraint virtual functions
//----------------------------------------------------------------------------
// Documentation inherited
void update() override;
// Documentation inherited
void getInformation(dart::constraint::ConstraintInfo* lcp) override;
// Documentation inherited
void applyUnitImpulse(std::size_t index) override;
// Documentation inherited
void getVelocityChange(double* delVel, bool withCfm) override;
// Documentation inherited
void excite() override;
// Documentation inherited
void unexcite() override;
// Documentation inherited
void applyImpulse(double* lambda) override;
// Documentation inherited
dart::dynamics::SkeletonPtr getRootSkeleton() const override;
// Documentation inherited
bool isActive() const override;
private:
/// leg joints involved
dart::dynamics::Joint* mHipJoint;
dart::dynamics::Joint* mKneeJoint;
dart::dynamics::Joint* mAnkleJoint;
/// leg body nodes involved
dart::dynamics::BodyNode* mThighNode;
dart::dynamics::BodyNode* mLowerLegNode;
dart::dynamics::BodyNode* mFootNode;
/// A workaround to have a de facto left-handed euler joint
/// for right hip, so it could share same limits with left hip.
/// left-leg set to false, right-leg set to true.
bool mIsMirror;
/// the neural network for calculating limits
tiny_dnn::network<tiny_dnn::sequential> mNet;
/// Gradient of the neural net function
Eigen::Vector6d mJacobian;
/// Index of applied impulse
std::size_t mAppliedImpulseIndex;
std::size_t mLifeTime;
double mViolation;
double mNegativeVel;
double mOldX;
double mUpperBound;
double mLowerBound;
bool mActive;
/// Global constraint error allowance
static double mErrorAllowance;
/// Global constraint error redection parameter in the range of [0, 1]. The
/// default is 0.01.
static double mErrorReductionParameter;
/// Maximum error reduction velocity
static double mMaxErrorReductionVelocity;
/// Global constraint force mixing parameter in the range of [1e-9, 1]. The
/// default is 1e-5
/// \sa http://www.ode.org/ode-latest-userguide.html#sec_3_8_0
static double mConstraintForceMixing;
};
#endif // EXAMPLES_HUMANJOINTLIMITS_HUMANLEGJOINTLIMITCONSTRAINT_HPP_
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