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Humanoid Path Planner
hpp-centroidal-dynamics
Commits
4decf74e
Commit
4decf74e
authored
8 years ago
by
Steve Tonneau
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added static equilibrium robustness in python
parent
0830b58a
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3
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3 changed files
python/centroidal_dynamics_python.cpp
+8
-0
8 additions, 0 deletions
python/centroidal_dynamics_python.cpp
python/test/binding_tests.py
+7
-4
7 additions, 4 deletions
python/test/binding_tests.py
src/centroidal_dynamics.cpp
+10
-14
10 additions, 14 deletions
src/centroidal_dynamics.cpp
with
25 additions
and
18 deletions
python/centroidal_dynamics_python.cpp
+
8
−
0
View file @
4decf74e
...
...
@@ -12,6 +12,13 @@ namespace centroidal_dynamics
{
using
namespace
boost
::
python
;
boost
::
python
::
tuple
wrapComputeQuasiEquilibriumRobustness
(
Equilibrium
&
self
,
const
Vector3
&
com
)
{
double
robustness
;
LP_status
status
=
self
.
computeEquilibriumRobustness
(
com
,
robustness
);
return
boost
::
python
::
make_tuple
(
status
,
robustness
);
}
boost
::
python
::
tuple
wrapComputeEquilibriumRobustness
(
Equilibrium
&
self
,
const
Vector3
&
com
,
const
Vector3
&
acc
)
{
double
robustness
;
...
...
@@ -74,6 +81,7 @@ BOOST_PYTHON_MODULE(centroidal_dynamics)
.
def
(
"getName"
,
&
Equilibrium
::
getName
)
.
def
(
"getAlgorithm"
,
&
Equilibrium
::
getAlgorithm
)
.
def
(
"setNewContacts"
,
setNewContacts
)
.
def
(
"computeEquilibriumRobustness"
,
wrapComputeQuasiEquilibriumRobustness
)
.
def
(
"computeEquilibriumRobustness"
,
wrapComputeEquilibriumRobustness
)
;
}
...
...
This diff is collapsed.
Click to expand it.
python/test/binding_tests.py
+
7
−
4
View file @
4decf74e
#~ from centroidal_dynamics import Equilibrium, SolverLP, EquilibriumAlgorithm
from
centroidal_dynamics
import
*
#testing constructors
...
...
@@ -9,11 +8,13 @@ eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False)
eq
=
Equilibrium
(
"
test
"
,
54.
,
4
,
SolverLP
.
SOLVER_LP_QPOASES
,
False
,
1
)
eq
=
Equilibrium
(
"
test
"
,
54.
,
4
,
SolverLP
.
SOLVER_LP_QPOASES
,
True
,
1
,
True
)
#
testing all methods
#
whether useWarmStart is enable (True by default)
previous
=
eq
.
useWarmStart
()
#enable warm start in solver (only for QPOases)
eq
.
setUseWarmStart
(
False
)
assert
(
previous
!=
eq
.
useWarmStart
())
#access solver name
assert
(
eq
.
getName
()
==
"
test
"
)
...
...
@@ -24,15 +25,17 @@ z = array([0.,0.,1.])
P
=
asmatrix
(
array
([
array
([
x
,
y
,
0
])
for
x
in
[
-
0.05
,
0.05
]
for
y
in
[
-
0.1
,
0.1
]]))
N
=
asmatrix
(
array
([
z
for
_
in
range
(
4
)]))
#setting contact positions and normals, as well as friction coefficients
eq
.
setNewContacts
(
asmatrix
(
P
),
asmatrix
(
N
),
0.3
,
EquilibriumAlgorithm
.
EQUILIBRIUM_ALGORITHM_LP
)
c
=
asmatrix
(
array
([
0.
,
0.
,
1.
]))
ddc
=
asmatrix
(
array
([
0.
,
0.
,
0.
]))
status
,
robustness
=
eq
.
computeEquilibriumRobustness
(
c
,
ddc
)
#computing robustness of a given configuration, first with no argument (0 acceleration, static equilibrium)
status
,
robustness
=
eq
.
computeEquilibriumRobustness
(
c
)
assert
(
status
==
LP_STATUS_OPTIMAL
),
"
LP should not fail
"
assert
(
robustness
>
0
),
"
first test should be in equilibrirum
"
#computing robustness of a given configuration with non zero acceleration
ddc
=
asmatrix
(
array
([
1000.
,
0.
,
0.
]))
status
,
robustness
=
eq
.
computeEquilibriumRobustness
(
c
,
ddc
)
assert
(
status
==
LP_STATUS_OPTIMAL
),
"
LP should not fail
"
...
...
This diff is collapsed.
Click to expand it.
src/centroidal_dynamics.cpp
+
10
−
14
View file @
4decf74e
...
...
@@ -182,9 +182,19 @@ bool Equilibrium::setNewContacts(const MatrixX3& contactPoints, const MatrixX3&
return
true
;
}
static
const
Vector3
zero_acc
=
Vector3
::
Zero
();
LP_status
Equilibrium
::
computeEquilibriumRobustness
(
Cref_vector3
com
,
double
&
robustness
)
{
return
computeEquilibriumRobustness
(
com
,
zero_acc
,
robustness
);
}
LP_status
Equilibrium
::
computeEquilibriumRobustness
(
Cref_vector3
com
,
Cref_vector3
acc
,
double
&
robustness
)
{
// Take the acceleration in account in D and d :
m_D
.
block
<
3
,
3
>
(
3
,
0
)
=
crossMatrix
(
-
m_mass
*
(
m_gravity
-
acc
));
m_d
.
head
<
3
>
()
=
m_mass
*
(
m_gravity
-
acc
);
const
long
m
=
m_G_centr
.
cols
();
// number of gravito-inertial wrench generators
if
(
m
==
0
)
return
LP_STATUS_INFEASIBLE
;
...
...
@@ -311,20 +321,6 @@ LP_status Equilibrium::computeEquilibriumRobustness(Cref_vector3 com, double &ro
return
LP_STATUS_ERROR
;
}
LP_status
Equilibrium
::
computeEquilibriumRobustness
(
Cref_vector3
com
,
Cref_vector3
acc
,
double
&
robustness
){
// Take the acceleration in account in D and d :
Matrix63
old_D
=
m_D
;
Vector6
old_d
=
m_d
;
m_D
.
block
<
3
,
3
>
(
3
,
0
)
=
crossMatrix
(
-
m_mass
*
(
m_gravity
-
acc
));
m_d
.
head
<
3
>
()
=
m_mass
*
(
m_gravity
-
acc
);
// compute equilibrium robustness with the new D and d
LP_status
status
=
computeEquilibriumRobustness
(
com
,
robustness
);
// Switch back to the original values of D and d
m_D
=
old_D
;
m_d
=
old_d
;
return
status
;
}
/**
m_d.setZero();
m_d.head<3>() = m_mass*m_gravity;
...
...
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