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Commit bfe2f849 authored by Olivier Stasse's avatar Olivier Stasse
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Revert "Add new class for intermediate computations" 

This reverts commit 17abe740.
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src/CMakeLists.txt
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......@@ -41,7 +41,6 @@ SET(SOURCES
Mathematics/PLDPHerdt.cpp
Mathematics/qld.cpp
Mathematics/StepOverPolynome.cpp
Mathematics/intermediate-qp-matrices.cpp
PreviewControl/PreviewControl.cpp
PreviewControl/OptimalControllerSolver.cpp
PreviewControl/ZMPPreviewControlWithMultiBodyZMP.cpp
......
src/Mathematics/intermediate-qp-matrices.cpp deleted 100644 → 0
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/*
* Copyright 2010,
*
* Andrei Herdt
* Olivier Stasse
*
* JRL, CNRS/AIST
*
* This file is part of walkGenJrl.
* walkGenJrl is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* walkGenJrl is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Lesser Public License for more details.
* You should have received a copy of the GNU Lesser General Public License
* along with walkGenJrl. If not, see <http://www.gnu.org/licenses/>.
*
* Research carried out within the scope of the
* Joint Japanese-French Robotics Laboratory (JRL)
*/
/*! This object provides intermediate elements and operations for the construction of a QP.
*/
#include <Mathematics/intermediate-qp-matrices.hh> //TODO: Merge with ZMPVelocityReferencedQPDebug.cpp
using namespace PatternGeneratorJRL;
IntermedQPMat::IntermedQPMat()
{
//TODO:
}
IntermedQPMat::~IntermedQPMat()
{
//TODO:
}
void
IntermedQPMat::getLSTerm(ObjectiveTerm_t LST, int ObjectiveType)
{
//TODO:
}
//
//Private methods
//
void
IntermedQPMat::weightedTransProd(MAL_MATRIX (&M1, double), double alpha, MAL_MATRIX (&M2, double), MAL_MATRIX (&M3, double))
{
//TODO:
}
void
IntermedQPMat::weightedTransProd(MAL_MATRIX (&M1, double), double alpha, MAL_MATRIX (&M2, double), MAL_VECTOR (&V, double))
{
//TODO:
}
void
IntermedQPMat::weightedTransProd(MAL_MATRIX (&M1, double), double alpha, MAL_VECTOR (&M2, double), MAL_VECTOR (&M3, double), MAL_VECTOR (&V, double))
{
//TODO:
}
src/Mathematics/intermediate-qp-matrices.hh deleted 100644 → 0
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View file @ 13f6363e
/*
* Copyright 2010,
*
* Andrei Herdt
* Olivier Stasse
*
* JRL, CNRS/AIST
*
* This file is part of walkGenJrl.
* walkGenJrl is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* walkGenJrl is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Lesser Public License for more details.
* You should have received a copy of the GNU Lesser General Public License
* along with walkGenJrl. If not, see <http://www.gnu.org/licenses/>.
*
* Research carried out within the scope of the
* Joint Japanese-French Robotics Laboratory (JRL)
*/
/*! This object provides intermediate elements and operations that are necessary to construct a QP.
*/
#ifndef INTERMEDQPMAT_HH_
#define INTERMEDQPMAT_HH_
//# include <boost/numeric/ublas/matrix.hpp>
//# include <boost/numeric/ublas/vector.hpp>
#include <jrl/mal/matrixabstractlayer.hh>
#include <privatepgtypes.h>
namespace PatternGeneratorJRL
{
//namespace ublas = boost::numeric::ublas;
class IntermedQPMat
{
//
//Public constants
//
public:
const static int MEAN_VELOCITY = 0;
const static int INSTANT_VELOCITY = 1;
const static int FOOT_CENTERING = 2;
const static int JERK = 3;
//
//Public methods
//
public:
/// \name Constructors and destructors.
/// \{
IntermedQPMat();
~IntermedQPMat();
/// \}
/// \brief Get matrices corresponding to the desired Least Squares term
void getLSTerm(ObjectiveTerm_t LST, int ObjectiveType);
//
//Private methods
//
private:
/// \brief \f$ M1 = \alpha M2^{\top}M3 \f$
void weightedTransProd(MAL_MATRIX (&M1, double), double alpha, MAL_MATRIX (&M2, double), MAL_MATRIX (&M3, double));
/// \brief \f$ M1 = \alpa M2^{\top}V \f$
void weightedTransProd(MAL_MATRIX (&M1, double), double alpha, MAL_MATRIX (&M2, double), MAL_VECTOR (&V, double));
/// \brief \f$ M1 = \alpa M2^{\top}M3V \f$
void weightedTransProd(MAL_MATRIX (&M1, double), double alpha, MAL_VECTOR (&M2, double), MAL_VECTOR (&M3, double), MAL_VECTOR (&V, double));
//
//Private members
//
private:
/// \brief Current state of the point mass model.
MAL_VECTOR(m_xk,double);
/// \brief Matrix relating the command and the CoM position.
MAL_MATRIX(m_Up,double);
/// \brief Matrix relating the command and the ZMP position.
MAL_MATRIX(m_Uz,double);
/// \brief Matrix relating the command and the CoM speed.
MAL_MATRIX(m_Uv,double);
/// \brief Matrix relating the CoM state and the CoM position.
MAL_MATRIX(m_Sp,double);
/// \brief Matrix relating the CoM state and the ZMP position.
MAL_MATRIX(m_Sz,double);
/// \brief Matrix relating the CoM state and the CoM speed.
MAL_MATRIX(m_Sv,double);
/// \brief Selection matrix for the previewed feet positions.
MAL_MATRIX(m_U,double);
/// \brief Selection matrix for the support feet.
MAL_VECTOR(m_Uc,double);
/// \brief Cholesky decomposition of the initial objective function $Q$
MAL_MATRIX(m_LQ,double);
/// \brief Cholesky decomposition of the initial objective function $Q$
MAL_MATRIX(m_iLQ,double);
/// \brief Constant part of the constraint matrices.
MAL_MATRIX(m_iDu,double);
/// \brief Constant part of the constraint matrices.
MAL_MATRIX(m_Ds,double);
/// \brief Sub matrices to compute the linear part of the objective function $p^{\top}_k$.
MAL_MATRIX(m_OptA,double);
MAL_MATRIX(m_OptB,double);
MAL_MATRIX(m_OptC,double);
MAL_MATRIX(m_OptD,double);
enum MatrixType { M_UP, M_UZ, M_UV, M_SP,
M_SZ, M_SV, M_U,
M_LQ, M_ILQ};
enum VectorType { m_UC,M_OPTA, M_OPTB, M_OPTC, M_OPTD };
};
}
#endif /* INTERMEDQPMAT_HH_ */
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