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Commit 566481ff authored by Jory Lafaye's avatar Jory Lafaye
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Optimize and clarify the code

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src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
+ 105
− 110
View file @ 566481ff
......@@ -36,11 +36,12 @@ using namespace PatternGeneratorJRL;
GeneratorVelRef::GeneratorVelRef(SimplePluginManager *lSPM,
IntermedQPMat * Data, RigidBodySystem * Robot )
: MPCTrajectoryGeneration(lSPM)
, IntermedData_ (Data)
, Robot_(Robot)
, MV_(1,false)
, MM_(1,1,false)
, MV2_(1,false)
{
IntermedData_ = Data;
Robot_ = Robot;
}
......@@ -330,58 +331,58 @@ GeneratorVelRef::build_constraints_cop(const linear_inequality_t & IneqCoP,
unsigned int NbStepsPreviewed, QPProblem & Pb)
{
int NbInequalities = IneqCoP.dc.size();
boost_ublas::matrix<double> MM(NbInequalities,N_,false);
unsigned int NbConstraints = Pb.NbConstraints();
// -D*U
compute_term( MM, -1.0, IneqCoP.D.x,Robot_->DynamicsCoPJerk().U );
Pb.add_term( MM, QPProblem::MATRIX_DU, NbConstraints, 0 );
compute_term( MM, -1.0, IneqCoP.D.y,Robot_->DynamicsCoPJerk().U );
Pb.add_term( MM, QPProblem::MATRIX_DU, NbConstraints, N_ );
compute_term( MM_, -1.0, IneqCoP.D.x , Robot_->DynamicsCoPJerk().U );
Pb.add_term_to( QPProblem::MATRIX_DU, MM_, NbConstraints, 0 );
compute_term( MM_, -1.0, IneqCoP.D.y , Robot_->DynamicsCoPJerk().U );
Pb.add_term_to( QPProblem::MATRIX_DU, MM_, NbConstraints, N_ );
// +D*V
compute_term( MM, 1.0, IneqCoP.D.x,IntermedData_->State().V+
Robot_->LeftFoot().Dynamics(COP).U+Robot_->RightFoot().Dynamics(COP).U );
Pb.add_term( MM, QPProblem::MATRIX_DU, NbConstraints, 2*N_ );
compute_term( MM, 1.0, IneqCoP.D.y,IntermedData_->State().V+
Robot_->LeftFoot().Dynamics(COP).U+Robot_->RightFoot().Dynamics(COP).U );
Pb.add_term( MM, QPProblem::MATRIX_DU, NbConstraints, 2*N_+NbStepsPreviewed );
compute_term( MM_, 1.0, IneqCoP.D.x , IntermedData_->State().V +
Robot_->LeftFoot().Dynamics(COP).U + Robot_->RightFoot().Dynamics(COP).U );
Pb.add_term_to( QPProblem::MATRIX_DU, MM_, NbConstraints, 2*N_ );
compute_term( MM_, 1.0, IneqCoP.D.y , IntermedData_->State().V +
Robot_->LeftFoot().Dynamics(COP).U + Robot_->RightFoot().Dynamics(COP).U );
Pb.add_term_to( QPProblem::MATRIX_DU, MM_, NbConstraints, 2*N_+NbStepsPreviewed );
//constant part
// +dc
Pb.add_term( IneqCoP.dc, QPProblem::VECTOR_DS,NbConstraints );
Pb.add_term_to( QPProblem::VECTOR_DS,IneqCoP.dc, NbConstraints );
boost_ublas::vector<double> MV(NbInequalities,false);
boost_ublas::matrix<double> MM2(NbInequalities,3,false);
// -D*S_z*x
compute_term( MM2, 1.0, IneqCoP.D.x, Robot_->DynamicsCoPJerk().S );
compute_term( MV, -1.0, MM2,IntermedData_->State().CoM.x );
Pb.add_term( MV, QPProblem::VECTOR_DS, NbConstraints );
compute_term( MM2, 1.0, IneqCoP.D.x, Robot_->LeftFoot().Dynamics(COP).S );
compute_term( MV, -1.0, MM2,Robot_->LeftFoot().State().X );
Pb.add_term( MV, QPProblem::VECTOR_DS, NbConstraints );
compute_term( MM2, 1.0, IneqCoP.D.x, Robot_->RightFoot().Dynamics(COP).S );
compute_term( MV, -1.0, MM2,Robot_->RightFoot().State().X );
Pb.add_term( MV, QPProblem::VECTOR_DS, NbConstraints );
compute_term( MM2, 1.0, IneqCoP.D.y, Robot_->DynamicsCoPJerk().S );
compute_term( MV, -1.0, MM2, IntermedData_->State().CoM.y );
Pb.add_term( MV, QPProblem::VECTOR_DS, NbConstraints );
compute_term( MM2, 1.0, IneqCoP.D.y, Robot_->LeftFoot().Dynamics(COP).S );
compute_term( MV, -1.0, MM2, Robot_->LeftFoot().State().Y );
Pb.add_term( MV, QPProblem::VECTOR_DS, NbConstraints );
compute_term( MM2, 1.0, IneqCoP.D.y, Robot_->RightFoot().Dynamics(COP).S );
compute_term( MV, -1.0, MM2, Robot_->RightFoot().State().Y );
Pb.add_term( MV, QPProblem::VECTOR_DS, NbConstraints );
compute_term( MV_ , -1.0, IneqCoP.D.x , Robot_->DynamicsCoPJerk().S , IntermedData_->State().CoM.x );
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints );
compute_term( MV_, -1.0, IneqCoP.D.x , Robot_->LeftFoot().Dynamics(COP).S , Robot_->LeftFoot().State().X );
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints );
compute_term( MV_, -1.0, IneqCoP.D.x , Robot_->RightFoot().Dynamics(COP).S , Robot_->RightFoot().State().X );
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints );
compute_term( MV_, -1.0, IneqCoP.D.y, Robot_->DynamicsCoPJerk().S , IntermedData_->State().CoM.y );
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints );
compute_term( MV_, -1.0, IneqCoP.D.y, Robot_->LeftFoot().Dynamics(COP).S , Robot_->LeftFoot().State().Y );
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints );
compute_term( MV_, -1.0, IneqCoP.D.y, Robot_->RightFoot().Dynamics(COP).S , Robot_->RightFoot().State().Y );
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints );
// +D*Vc*FP
compute_term( MV, IntermedData_->State().SupportState.X, IneqCoP.D.x, IntermedData_->State().Vc);
Pb.add_term( MV, QPProblem::VECTOR_DS,NbConstraints);
compute_term( MV, IntermedData_->State().SupportState.Y, IneqCoP.D.y, IntermedData_->State().Vc);
Pb.add_term( MV, QPProblem::VECTOR_DS,NbConstraints);
compute_term( MV_, IntermedData_->State().SupportState.X , IneqCoP.D.x , IntermedData_->State().Vc);
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints);
compute_term( MV_, IntermedData_->State().SupportState.Y , IneqCoP.D.y , IntermedData_->State().Vc);
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints);
}
......@@ -393,25 +394,24 @@ GeneratorVelRef::build_constraints_feet(const linear_inequality_t & IneqFeet,
{
unsigned int NbConstraints = Pb.NbConstraints();
unsigned int NbNewConstraints = IneqFeet.dc.size();
boost_ublas::matrix<double> MM( NbNewConstraints, NbStepsPreviewed, false );
// -D*V_f
compute_term( MM, -1.0, IneqFeet.D.x, State.V_f );
Pb.add_term( MM, QPProblem::MATRIX_DU, NbConstraints, 2*N_ );
compute_term( MM, -1.0, IneqFeet.D.y, State.V_f );
Pb.add_term( MM, QPProblem::MATRIX_DU, NbConstraints, 2*N_+NbStepsPreviewed );
compute_term( MM_, -1.0, IneqFeet.D.x , State.V_f );
Pb.add_term_to( QPProblem::MATRIX_DU, MM_, NbConstraints, 2*N_ );
compute_term( MM_, -1.0, IneqFeet.D.y , State.V_f );
Pb.add_term_to( QPProblem::MATRIX_DU, MM_, NbConstraints, 2*N_+NbStepsPreviewed );
// +dc
Pb.add_term( IneqFeet.dc, QPProblem::VECTOR_DS, NbConstraints );
Pb.add_term_to( QPProblem::VECTOR_DS, IneqFeet.dc, NbConstraints );
// D*Vc_f*FPc
boost_ublas::vector<double> MV( NbNewConstraints*NbStepsPreviewed, false );
compute_term( MV, State.SupportState.X, IneqFeet.D.x, State.Vc_f );
Pb.add_term( MV, QPProblem::VECTOR_DS, NbConstraints );
compute_term( MV, State.SupportState.Y, IneqFeet.D.y, State.Vc_f );
Pb.add_term( MV, QPProblem::VECTOR_DS, NbConstraints );
compute_term( MV_, State.SupportState.X , IneqFeet.D.x , State.Vc_f );
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints );
compute_term( MV_, State.SupportState.Y , IneqFeet.D.y , State.Vc_f );
Pb.add_term_to( QPProblem::VECTOR_DS, MV_, NbConstraints );
}
......@@ -436,8 +436,8 @@ GeneratorVelRef::build_eq_constraints_feet( const std::deque<support_state_t> &
{
EqualityMatrix(0,i) = 1.0; EqualityVector(0) = -SPTraj_it->X;
EqualityMatrix(1,NbStepsPreviewed+i) = 1.0; EqualityVector(1) = -SPTraj_it->Y;
Pb.add_term( EqualityMatrix, QPProblem::MATRIX_DU, 2*i, 2*N_ );
Pb.add_term( EqualityVector, QPProblem::VECTOR_DS, 2*i );
Pb.add_term_to( QPProblem::MATRIX_DU, EqualityMatrix, 2*i, 2*N_ );
Pb.add_term_to( QPProblem::VECTOR_DS, EqualityVector, 2*i );
EqualityMatrix.clear();
EqualityVector.clear();
SPTraj_it++;
......@@ -480,28 +480,28 @@ GeneratorVelRef::build_invariant_part( QPProblem & Pb )
{
const RigidBody & CoM = Robot_->CoM();
boost_ublas::matrix<double> weightMTM(N_,N_,false);
//Constant terms in the Hessian
// +a*U'*U
const IntermedQPMat::objective_variant_t & Jerk = IntermedData_->Objective(IntermedQPMat::JERK_MIN);
const linear_dynamics_t & JerkDynamics = CoM.Dynamics( JERK );
compute_term( weightMTM, Jerk.weight, JerkDynamics.UT, JerkDynamics.U );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, 0, 0 );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, N_, N_ );
compute_term( MM_, Jerk.weight , JerkDynamics.UT , JerkDynamics.U );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, 0, 0 );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, N_, N_ );
// +a*U'*U
const IntermedQPMat::objective_variant_t & InstVel = IntermedData_->Objective(IntermedQPMat::INSTANT_VELOCITY);
const linear_dynamics_t & VelDynamics = CoM.Dynamics( VELOCITY );
compute_term( weightMTM, InstVel.weight, VelDynamics.UT, VelDynamics.U );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, 0, 0 );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, N_, N_ );
compute_term( MM_ , InstVel.weight , VelDynamics.UT , VelDynamics.U );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, 0, 0 );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, N_, N_ );
// +a*U'*U
const IntermedQPMat::objective_variant_t & COPCent = IntermedData_->Objective(IntermedQPMat::COP_CENTERING);
compute_term( weightMTM, COPCent.weight, Robot_->DynamicsCoPJerk().UT, Robot_->DynamicsCoPJerk().U );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, 0, 0 );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, N_, N_ );
compute_term( MM_ , COPCent.weight , Robot_->DynamicsCoPJerk().UT , Robot_->DynamicsCoPJerk().U );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, 0, 0 );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, N_, N_ );
}
......@@ -510,14 +510,9 @@ void
GeneratorVelRef::update_problem( QPProblem & Pb, const std::deque<support_state_t> & SupportStates_deq )
{
Pb.clear(QPProblem::VECTOR_D);
//Intermediate vector
boost_ublas::vector<double> MV(N_);
MV.clear();
// Final scaled products that are added to the QP
MAL_MATRIX(weightMTM,double);
MAL_VECTOR(weightMTV,double);
const int NbStepsPreviewed = SupportStates_deq[N_].StepNumber;
......@@ -529,15 +524,15 @@ GeneratorVelRef::update_problem( QPProblem & Pb, const std::deque<support_state_
const linear_dynamics_t & VelDynamics = CoM.Dynamics( VELOCITY );
// Linear part
// +a*U'*S*x
compute_term( weightMTV, InstVel.weight, VelDynamics.UT, MV, VelDynamics.S, State.CoM.x );
Pb.add_term( weightMTV, QPProblem::VECTOR_D, 0 );
compute_term( weightMTV, InstVel.weight, VelDynamics.UT, MV, VelDynamics.S, State.CoM.y );
Pb.add_term( weightMTV, QPProblem::VECTOR_D, N_ );
compute_term( MV_ , InstVel.weight , VelDynamics.UT , VelDynamics.S , State.CoM.x );
Pb.add_term_to( QPProblem::VECTOR_D, MV_, 0 );
compute_term( MV_ , InstVel.weight , VelDynamics.UT , VelDynamics.S , State.CoM.y );
Pb.add_term_to( QPProblem::VECTOR_D, MV_, N_ );
// +a*U'*ref
compute_term( weightMTV, -InstVel.weight, VelDynamics.UT, State.Ref.Global.X );
Pb.add_term( weightMTV, QPProblem::VECTOR_D, 0 );
compute_term( weightMTV, -InstVel.weight, VelDynamics.UT, State.Ref.Global.Y );
Pb.add_term( weightMTV, QPProblem::VECTOR_D, N_ );
compute_term( MV_ , -InstVel.weight , VelDynamics.UT , State.Ref.Global.X );
Pb.add_term_to( QPProblem::VECTOR_D, MV_, 0 );
compute_term( MV_ , -InstVel.weight , VelDynamics.UT , State.Ref.Global.Y );
Pb.add_term_to( QPProblem::VECTOR_D, MV_, N_ );
// COP - centering terms
const IntermedQPMat::objective_variant_t & COPCent = IntermedData_->Objective(IntermedQPMat::COP_CENTERING);
......@@ -546,29 +541,29 @@ GeneratorVelRef::update_problem( QPProblem & Pb, const std::deque<support_state_
// const linear_dynamics_t & RFCoP = Robot_->RightFoot().Dynamics(COP);
// Hessian
// -a*U'*V
compute_term( weightMTM, -COPCent.weight, CoPDynamics.UT, State.V );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, 0, 2*N_ );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, N_, 2*N_+NbStepsPreviewed );
compute_term( MM_ , -COPCent.weight , CoPDynamics.UT , State.V );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, 0, 2*N_ );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, N_, 2*N_+NbStepsPreviewed );
// -a*V*U
compute_term( weightMTM, -COPCent.weight, State.VT, CoPDynamics.U );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, 2*N_, 0 );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, 2*N_+NbStepsPreviewed, N_ );
compute_term( MM_ , -COPCent.weight , State.VT , CoPDynamics.U );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, 2*N_, 0 );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, 2*N_+NbStepsPreviewed, N_ );
//+a*V'*V
compute_term( weightMTM, COPCent.weight, State.VT, State.V );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, 2*N_, 2*N_ );
Pb.add_term( weightMTM, QPProblem::MATRIX_Q, 2*N_+NbStepsPreviewed, 2*N_+NbStepsPreviewed );
compute_term( MM_ , COPCent.weight , State.VT , State.V );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, 2*N_, 2*N_ );
Pb.add_term_to( QPProblem::MATRIX_Q, MM_, 2*N_+NbStepsPreviewed, 2*N_+NbStepsPreviewed );
//Linear part
// -a*V'*S*x
compute_term( weightMTV, -COPCent.weight, State.VT, MV, CoPDynamics.S, State.CoM.x );
Pb.add_term( weightMTV, QPProblem::VECTOR_D, 2*N_ );
compute_term( weightMTV, -COPCent.weight, State.VT, MV, CoPDynamics.S, State.CoM.y );
Pb.add_term( weightMTV, QPProblem::VECTOR_D, 2*N_+NbStepsPreviewed );
compute_term( MV_ , -COPCent.weight , State.VT , CoPDynamics.S , State.CoM.x );
Pb.add_term_to( QPProblem::VECTOR_D, MV_, 2*N_ );
compute_term( MV_ , -COPCent.weight , State.VT , CoPDynamics.S , State.CoM.y );
Pb.add_term_to( QPProblem::VECTOR_D, MV_, 2*N_+NbStepsPreviewed );
// +a*V'*Vc*x
compute_term( weightMTV, COPCent.weight, State.VT, State.Vc, State.SupportState.X );
Pb.add_term( weightMTV, QPProblem::VECTOR_D, 2*N_ );
compute_term( weightMTV, COPCent.weight, State.VT, State.Vc, State.SupportState.Y );
Pb.add_term( weightMTV, QPProblem::VECTOR_D, 2*N_+NbStepsPreviewed );
compute_term( MV_ , COPCent.weight , State.VT , State.Vc , State.SupportState.X );
Pb.add_term_to( QPProblem::VECTOR_D, MV_, 2*N_ );
compute_term( MV_ , COPCent.weight , State.VT , State.Vc , State.SupportState.Y );
Pb.add_term_to( QPProblem::VECTOR_D, MV_, 2*N_+NbStepsPreviewed );
}
......@@ -577,22 +572,18 @@ void
GeneratorVelRef::compute_term(MAL_MATRIX (&weightMM, double), double weight,
const MAL_MATRIX (&M1, double), const MAL_MATRIX (&M2, double))
{
weightMM = weight*MAL_RET_A_by_B(M1,M2);
weightMM = MAL_RET_A_by_B(M1,M2);
weightMM *= weight;
}
void
GeneratorVelRef::compute_term(MAL_MATRIX (&MM, double),
const MAL_MATRIX (&M1, double), const MAL_MATRIX (&M2, double))
{
MM = MAL_RET_A_by_B(M1,M2);
}
void
GeneratorVelRef::compute_term(MAL_VECTOR (&weightMV, double), double weight,
const MAL_MATRIX (&M, double), const MAL_VECTOR (&V, double))
{
weightMV = weight*MAL_RET_A_by_B(M,V);
weightMV = MAL_RET_A_by_B(M,V);
weightMV *= weight;
}
......@@ -601,15 +592,19 @@ GeneratorVelRef::compute_term(MAL_VECTOR (&weightMV, double),
double weight, const MAL_MATRIX (&M, double),
const MAL_VECTOR (&V, double), double scalar)
{
weightMV = weight*scalar*MAL_RET_A_by_B(M,V);
weightMV = MAL_RET_A_by_B(M,V);
weightMV *= weight*scalar;
}
void
GeneratorVelRef::compute_term(MAL_VECTOR (&weightMV, double),
double weight, const MAL_MATRIX (&M1, double), MAL_VECTOR (&V1, double),
double weight, const MAL_MATRIX (&M1, double),
const MAL_MATRIX (&M2, double), const MAL_VECTOR (&V2, double))
{
V1 = MAL_RET_A_by_B(M2,V2);
weightMV = weight*MAL_RET_A_by_B(M1,V1);
MV2_ = MAL_RET_A_by_B(M2,V2);
weightMV = MAL_RET_A_by_B(M1,MV2_);
weightMV *= weight;
}
src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
+ 7
− 5
View file @ 566481ff
......@@ -201,10 +201,6 @@ namespace PatternGeneratorJRL
void compute_term(MAL_MATRIX (&weightMM, double),
double weight, const MAL_MATRIX (&M1, double), const MAL_MATRIX (&M2, double));
/// \brief Scaled product\f$ M*M \f$
void compute_term(MAL_MATRIX (&MM, double),
const MAL_MATRIX (&M1, double), const MAL_MATRIX (&M2, double));
/// \brief Scaled product \f$ weight*M*V \f$
void compute_term(MAL_VECTOR (&weightMV, double),
double weight, const MAL_MATRIX (&M, double), const MAL_VECTOR (&V, double));
......@@ -216,7 +212,7 @@ namespace PatternGeneratorJRL
/// \brief Scaled product \f$ weight*M*M*V \f$
void compute_term(MAL_VECTOR (&weightMV, double),
double weight, const MAL_MATRIX (&M1, double), MAL_VECTOR (&V1, double),
double weight, const MAL_MATRIX (&M1, double),
const MAL_MATRIX (&M2, double), const MAL_VECTOR (&V2, double));
......@@ -229,6 +225,12 @@ namespace PatternGeneratorJRL
RigidBodySystem * Robot_;
private:
//Temporary vectors
boost_ublas::matrix<double> MM_;
boost_ublas::vector<double> MV_;
boost_ublas::vector<double> MV2_;
};
}
......
src/ZMPRefTrajectoryGeneration/qp-problem.cpp
+ 2
− 2
View file @ 566481ff
......@@ -276,7 +276,7 @@ break;
void
QPProblem_s::add_term( const MAL_MATRIX (&Mat, double), QPElement Type,
QPProblem_s::add_term_to( QPElement Type, const MAL_MATRIX (&Mat, double),
unsigned int Row, unsigned int Col )
{
......@@ -350,7 +350,7 @@ QPProblem_s::add_term( const MAL_MATRIX (&Mat, double), QPElement Type,
void
QPProblem_s::add_term( const MAL_VECTOR (&Vec, double), QPElement Type,
QPProblem_s::add_term_to( QPElement Type, const MAL_VECTOR (&Vec, double),
unsigned int Row )
{
......
src/ZMPRefTrajectoryGeneration/qp-problem.hh
+ 2
− 2
View file @ 566481ff
......@@ -92,7 +92,7 @@ namespace PatternGeneratorJRL
/// \param[in] Type Target matrix type
/// \param[in] Row First row inside the target
/// \param[in] Col First column inside the target
void add_term( const boost_ublas::matrix<double> & Mat, QPElement Type,
void add_term_to( QPElement Type, const boost_ublas::matrix<double> & Mat,
unsigned int Row, unsigned int Col );
/// \brief Add a vector to the final optimization problem in array form
......@@ -100,7 +100,7 @@ namespace PatternGeneratorJRL
/// \param Mat Added vector
/// \param ype Target vector type
/// \param row First row inside the target
void add_term( const boost_ublas::vector<double> & Vec, QPElement Type,
void add_term_to( QPElement Type, const boost_ublas::vector<double> & Vec,
unsigned int Row );
/// \brief Dump current problem on disk.
......
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