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/*
* Copyright (c) 2011-2022, 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.
*/
#include "Controller.hpp"
Controller::Controller(dart::dynamics::SkeletonPtr _skel, double _t)
{
mSkel = _skel;
mLeftHeel = _skel->getBodyNode("h_heel_left");
mLeftFoot[0] = _skel->getDof("j_heel_left_1")->getIndexInSkeleton();
mLeftFoot[1] = _skel->getDof("j_toe_left")->getIndexInSkeleton();
mRightFoot[0] = _skel->getDof("j_heel_right_1")->getIndexInSkeleton();
mRightFoot[1] = _skel->getDof("j_toe_right")->getIndexInSkeleton();
mTimestep = _t;
mFrame = 0;
int nDof = mSkel->getNumDofs();
mKp = Eigen::MatrixXd::Identity(nDof, nDof);
mKd = Eigen::MatrixXd::Identity(nDof, nDof);
mTorques.resize(nDof);
mTorques.setZero();
mDesiredDofs = mSkel->getPositions();
// using SPD results in simple Kp coefficients
for (int i = 0; i < 6; i++)
{
mKp(i, i) = 0.0;
mKd(i, i) = 0.0;
}
for (int i = 6; i < nDof; i++)
mKp(i, i) = 400.0;
for (int i = 6; i < nDof; i++)
mKd(i, i) = 40.0;
mPreOffset = 0.0;
}
Controller::~Controller() {}
Eigen::VectorXd Controller::getTorques()
{
return mTorques;
}
double Controller::getTorque(int _index)
{
return mTorques[_index];
}
void Controller::setDesiredDof(int _index, double _val)
{
mDesiredDofs[_index] = _val;
}
void Controller::computeTorques()
{
Eigen::VectorXd _dof = mSkel->getPositions();
Eigen::VectorXd _dofVel = mSkel->getVelocities();
Eigen::VectorXd constrForces = mSkel->getConstraintForces();
// SPD tracking
// std::size_t nDof = mSkel->getNumDofs();
Eigen::MatrixXd invM = (mSkel->getMassMatrix() + mKd * mTimestep).inverse();
Eigen::VectorXd p = -mKp * (_dof + _dofVel * mTimestep - mDesiredDofs);
Eigen::VectorXd d = -mKd * _dofVel;
Eigen::VectorXd qddot
= invM * (-mSkel->getCoriolisAndGravityForces() + p + d + constrForces);
mTorques = p + d - mKd * qddot * mTimestep;
// ankle strategy for sagital plane
Eigen::Vector3d com = mSkel->getCOM();
Eigen::Vector3d cop = mLeftHeel->getTransform() * Eigen::Vector3d(0.05, 0, 0);
double offset = com[0] - cop[0];
if (offset < 0.1 && offset > 0.0)
{
double k1 = 200.0;
double k2 = 100.0;
double kd = 10.0;
mTorques[mLeftFoot[0]] += -k1 * offset + kd * (mPreOffset - offset);
mTorques[mLeftFoot[1]] += -k2 * offset + kd * (mPreOffset - offset);
mTorques[mRightFoot[0]] += -k1 * offset + kd * (mPreOffset - offset);
mTorques[mRightFoot[1]] += -k2 * offset + kd * (mPreOffset - offset);
mPreOffset = offset;
}
else if (offset > -0.2 && offset < -0.05)
{
double k1 = 2000.0;
double k2 = 100.0;
double kd = 100.0;
mTorques[mLeftFoot[0]] += -k1 * offset + kd * (mPreOffset - offset);
mTorques[mLeftFoot[1]] += -k2 * offset + kd * (mPreOffset - offset);
mTorques[mRightFoot[0]] += -k1 * offset + kd * (mPreOffset - offset);
mTorques[mRightFoot[1]] += -k2 * offset + kd * (mPreOffset - offset);
mPreOffset = offset;
}
// Just to make sure no illegal torque is used
for (int i = 0; i < 6; i++)
{
mTorques[i] = 0.0;
}
mFrame++;
}
dart::dynamics::MetaSkeletonPtr Controller::getSkel()
{
return mSkel;
}
Eigen::VectorXd Controller::getDesiredDofs()
{
return mDesiredDofs;
}
Eigen::MatrixXd Controller::getKp()
{
return mKp;
}
Eigen::MatrixXd Controller::getKd()
{
return mKd;
}
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