Commit 34a6a440 authored by Nahuel Villa's avatar Nahuel Villa
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CLUTTER_IM_MODULE=xim
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LD_LIBRARY_PATH=/local/users/nvilla/workspace/install/lib:/opt/ros/melodic/lib:/opt/openrobots/lib:
LD_LIBRARY_PATH=/local/users/ewen_expe/sobec/install/sobec/lib:/local/users/nvilla/workspace/install/lib:/opt/ros/melodic/lib:/opt/openrobots/lib:
VSCODE_NLS_CONFIG={"locale":"en-us","availableLanguages":{},"_languagePackSupport":true}
LESSCLOSE=/usr/bin/lesspipe %s %s
TERMINATOR_UUID=urn:uuid:725fe1ee-1542-4990-b1c6-5fd475b13bdd
XDG_MENU_PREFIX=gnome-
_=/usr/bin/env
LANG=en_US.UTF-8
DISPLAY=:0
ORIGINAL_XDG_CURRENT_DESKTOP=ubuntu:GNOME
OLDPWD=/local/users/ewen_expe
VSCODE_LOG_STACK=false
GNOME_SHELL_SESSION_MODE=ubuntu
VSCODE_IPC_HOOK_EXTHOST=/run/user/7424/vscode-ipc-d9eb82ad-761e-41e6-ada9-63dfe69ab3fa.sock
VSCODE_IPC_HOOK_EXTHOST=/run/user/7424/vscode-ipc-139d1e33-ceff-49fc-abe7-d0c28581a229.sock
COLORTERM=truecolor
ROS_ETC_DIR=/opt/ros/melodic/etc/ros
DESKTOP_AUTOSTART_ID=1074a3323c3c1e4367165424659646069000000087480007
USERNAME=nvilla
CHROME_DESKTOP=code-url-handler.desktop
XDG_VTNR=2
GIO_LAUNCHED_DESKTOP_FILE_PID=9085
SSH_AUTH_SOCK=/run/user/7424/keyring/ssh
MANDATORY_PATH=/usr/share/gconf/ubuntu.mandatory.path
APPLICATION_INSIGHTS_NO_DIAGNOSTIC_CHANNEL=1
......@@ -26,30 +28,30 @@ USER=nvilla
DESKTOP_SESSION=ubuntu
QT4_IM_MODULE=xim
TEXTDOMAINDIR=/usr/share/locale/
GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/d16c3163_e5d5_45c1_b2a7_4e7fcd0d05b0
DEFAULTS_PATH=/usr/share/gconf/ubuntu.default.path
PWD=/local/users/ewen_expe/sobec
HOME=/home/nvilla
TEXTDOMAIN=im-config
CMAKE_PREFIX_PATH=/local/users/nvilla/workspace/install:/opt/ros/melodic
SSH_AGENT_PID=7096
CMAKE_PREFIX_PATH=/local/users/ewen_expe/sobec/install/sobec:/local/users/nvilla/workspace/install:/opt/ros/melodic
SSH_AGENT_PID=8866
QT_ACCESSIBILITY=1
VSCODE_VERBOSE_LOGGING=true
XDG_SESSION_TYPE=x11
VSCODE_LOG_NATIVE=false
XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
VSCODE_CWD=/local/users/ewen_expe/sobec
COLCON_PREFIX_PATH=/local/users/nvilla/workspace/install
COLCON_PREFIX_PATH=/local/users/ewen_expe/sobec/install:/local/users/nvilla/workspace/install
VSCODE_AMD_ENTRYPOINT=vs/workbench/api/node/extensionHostProcess
TERMINATOR_DBUS_NAME=net.tenshu.Terminator20x1a6021154d881c
XDG_SESSION_DESKTOP=ubuntu
ROS_ROOT=/opt/ros/melodic/share/ros
GJS_DEBUG_OUTPUT=stderr
ROS_MASTER_URI=http://localhost:11311
ELECTRON_NO_ATTACH_CONSOLE=1
VSCODE_CLI=1
ROS_VERSION=1
GTK_MODULES=gail:atk-bridge
VSCODE_PID=10561
TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
VSCODE_PID=24423
WINDOWPATH=2
VTE_VERSION=5202
SHELL=/bin/bash
......@@ -61,8 +63,8 @@ XMODIFIERS=@im=ibus
IM_CONFIG_PHASE=2
XDG_CURRENT_DESKTOP=Unity
GPG_AGENT_INFO=/run/user/7424/gnupg/S.gpg-agent:0:1
GNOME_TERMINAL_SERVICE=:1.105
VSCODE_PIPE_LOGGING=true
GIO_LAUNCHED_DESKTOP_FILE=/etc/xdg/autostart/org.gnome.SettingsDaemon.MediaKeys.desktop
ELECTRON_RUN_AS_NODE=1
SHLVL=2
XDG_SEAT=seat0
......@@ -80,9 +82,9 @@ XAUTHORITY=/run/user/7424/gdm/Xauthority
XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
PATH=/local/users/nvilla/docker_image/pal_docker_utils/scripts:/local/users/nvilla/workspace/install/bin:/opt/ros/melodic/bin:/opt/openrobots/bin:/home/nvilla/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
VSCODE_IPC_HOOK=/run/user/7424/vscode-805b1443-1.67.2-main.sock
PKG_CONFIG_PATH=/local/users/nvilla/workspace/install/lib/x86_64-linux-gnu/pkgconfig:/local/users/nvilla/workspace/install/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig
GJS_DEBUG_TOPICS=JS ERROR;JS LOG
SESSION_MANAGER=local/jakuchisan:@/tmp/.ICE-unix/6980,unix/jakuchisan:/tmp/.ICE-unix/6980
PKG_CONFIG_PATH=/local/users/ewen_expe/sobec/install/sobec/lib/x86_64-linux-gnu/pkgconfig:/local/users/ewen_expe/sobec/install/sobec/lib/pkgconfig:/local/users/nvilla/workspace/install/lib/x86_64-linux-gnu/pkgconfig:/local/users/nvilla/workspace/install/lib/pkgconfig:/opt/ros/melodic/lib/pkgconfig
SESSION_MANAGER=local/jakuchisan:@/tmp/.ICE-unix/8748,unix/jakuchisan:/tmp/.ICE-unix/8748
ROS_DISTRO=melodic
LESSOPEN=| /usr/bin/lesspipe %s
GTK_IM_MODULE=ibus
_=/usr/bin/env
......@@ -66,6 +66,12 @@
"cinttypes": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp",
"valarray": "cpp"
"valarray": "cpp",
"matrixd": "cpp",
"matrixf": "cpp",
"state": "cpp",
"valueobject": "cpp",
"observer_ptr": "cpp",
"ref_ptr": "cpp"
}
}
\ No newline at end of file
......@@ -33,14 +33,13 @@ typedef Eigen::Matrix<double, 6, 1> eVector6;
typedef Eigen::Matrix<double, 4, 1> eVector4;
typedef Eigen::Vector3d eVector3;
typedef Eigen::Vector2d eVector2;
typedef crocoddyl::IntegratedActionModelEuler IAM;
typedef crocoddyl::IntegratedActionDataEuler IAD;
typedef crocoddyl::DifferentialActionModelContactFwdDynamics DAM;
typedef crocoddyl::CostModelSum Cost;
typedef crocoddyl::ContactModelMultiple Contact;
// typedef Eigen::Matrix<double, 6, 1> eVector6;
typedef boost::shared_ptr<crocoddyl::IntegratedActionModelEuler> IAM;
typedef boost::shared_ptr<crocoddyl::IntegratedActionDataEuler> IAD;
typedef boost::shared_ptr<crocoddyl::ActionModelAbstract> AMA;
typedef boost::shared_ptr<crocoddyl::DifferentialActionModelContactFwdDynamics> DAM;
typedef boost::shared_ptr<crocoddyl::CostModelSum> Cost;
typedef boost::shared_ptr<crocoddyl::ContactModelMultiple> Contact;
typedef boost::shared_ptr<crocoddyl::SolverFDDP> DDP;
} // namespace sobec
......
......@@ -17,7 +17,7 @@ namespace sobec{
class HorizonManager{
private:
crocoddyl::SolverFDDP ddp_;
DDP ddp_;
HorizonManagerSettings settings_;
public:
......@@ -31,6 +31,7 @@ namespace sobec{
const std::vector<IAM> &runningModels,
const IAM &terminalModel);
AMA ama(const unsigned long &time);
IAM iam(const unsigned long &time);
DAM dam(const unsigned long &time);
Cost costs(const unsigned long &time);
......
......@@ -74,10 +74,10 @@ namespace sobec{
ModelMaker(const ModelMakerSettings &settings, const RobotDesigner &design);
void initialize(const ModelMakerSettings &settings, const RobotDesigner &design);
IAM formulate_flat_walker(const Support &support);
IAM formulate_stair_climber(const Support &support);
AMA formulate_flat_walker(const Support &support);
AMA formulate_stair_climber(const Support &support);
std::vector<IAM> formulateHorizon(const std::vector<Support> &suports, const double &T);
std::vector<AMA> formulateHorizon(const std::vector<Support> &suports, const double &T);
};
......
#include "sobec/horizon_manager.hpp"
#include <crocoddyl/multibody/fwd.hpp>
#include <crocoddyl/multibody/states/multibody.hpp>
#include <crocoddyl/multibody/actions/free-fwddyn.hpp>
#include <crocoddyl/multibody/actuations/full.hpp>
#include <crocoddyl/multibody/frames.hpp>
#include <crocoddyl/multibody/residuals/state.hpp>
#include <crocoddyl/multibody/residuals/anticipated-state.hpp>
#include <crocoddyl/multibody/residuals/frame-translation.hpp>
#include <crocoddyl/multibody/residuals/frame-placement.hpp>
#include <crocoddyl/multibody/residuals/contact-control-gravity.hpp>
#include <crocoddyl/multibody/contacts/multiple-contacts.hpp>
#include <crocoddyl/multibody/residuals/com-position.hpp>
#include <crocoddyl/multibody/residuals/com-velocity.hpp>
#include <crocoddyl/multibody/residuals/frame-velocity.hpp>
#include <crocoddyl/multibody/residuals/contact-wrench-cone.hpp>
#include <crocoddyl/multibody/contacts/contact-3d.hpp>
#include <crocoddyl/multibody/contacts/contact-6d.hpp>
#include <crocoddyl/multibody/actuations/floating-base.hpp>
#include <crocoddyl/multibody/actions/contact-fwddyn.hpp>
#include <crocoddyl/multibody/residuals/frame-rotation.hpp>
#include <crocoddyl/multibody/residuals/contact-force.hpp>
#include <crocoddyl/multibody/actions/impulse-fwddyn.hpp>
#include <crocoddyl/multibody/impulses/impulse-6d.hpp>
#include <crocoddyl/core/activations/quadratic-ref.hpp>
#include <crocoddyl/core/optctrl/shooting.hpp>
#include <crocoddyl/core/solver-base.hpp>
#include <crocoddyl/core/utils/exception.hpp>
#include <crocoddyl/core/activations/quadratic-barrier.hpp>
#include <crocoddyl/core/activations/quadratic-flat-log.hpp>
#include <crocoddyl/core/activations/weighted-quadratic.hpp>
#include <crocoddyl/core/activations/smooth-1norm.hpp>
#include <crocoddyl/core/integrator/euler.hpp>
#include <crocoddyl/core/solvers/ddp.hpp>
#include <crocoddyl/core/action-base.hpp>
#include <crocoddyl/core/integrator/euler.hpp> // this one used
#include <crocoddyl/core/solvers/ddp.hpp>
#include <crocoddyl/core/solvers/fddp.hpp>
#include <crocoddyl/core/residuals/control.hpp>
namespace sobec {
/*
HorizonManager::HorizonManager(){}
HorizonManager::HorizonManager(const HorizonManagerSettings &settings,
const std::vector<IAM> &runningModels,
const IAM &terminalModel){
......@@ -12,13 +53,53 @@ HorizonManager::HorizonManager(const HorizonManagerSettings &settings,
void HorizonManager::initialize(const HorizonManagerSettings &settings,
const std::vector<IAM> &runningModels,
const IAM &terminalModel){
const IAM &terminalModel){
settings_ = settings;
// set the ddp_ from shootingProblem with the runningModels
}
AMA HorizonManager::ama(const unsigned long &time){
return ddp_->get_problem()->get_runningModels()[time];
}
IAM HorizonManager::iam(const unsigned long &time){
return boost::static_pointer_cast< crocoddyl::IntegratedActionModelEuler >(ama(time));
}
DAM HorizonManager::dam(const unsigned long &time){
return boost::static_pointer_cast<crocoddyl::DifferentialActionModelContactFwdDynamics >(iam(time)->get_differential());
// boost::static_pointer_cast<crocoddyl::DifferentialActionModelContactFwdDynamics >(iam(time));
}
/*Cost HorizonManager::costs(const unsigned long &time);
Contact HorizonManager::contacts(const unsigned long &time);
IAD HorizonManager::data(const unsigned long &time);
void HorizonManager::setResidualReference(unsigned long time, const std::string &name, const auto &new_value);
void HorizonManager::setResidualReferences(unsigned long time, const std::string &name);
void HorizonManager::activateContactLF(const unsigned long &time);
void HorizonManager::activateContactRF(const unsigned long &time);
void HorizonManager::removeContactLF(const unsigned long &time);
void HorizonManager::removeContactRF(const unsigned long &time);
void HorizonManager::setForceReferenceLF(const unsigned long &time, const eVector6 &reference);
void HorizonManager::setForceReferenceRF(const unsigned long &time, const eVector6 &reference);
void HorizonManager::setSwingingLF(const unsigned long &time);
void HorizonManager::setSwingingRF(const unsigned long &time);
void HorizonManager::setSupportingLF(const unsigned long &time);
void HorizonManager::setSupportingRF(const unsigned long &time);
std::HorizonManager::vector<std::string> get_contacts(const unsigned long &time);
std::HorizonManager::vector<Eigen::VectorXd> preview_states();
std::HorizonManager::vector<Eigen::VectorXd> preview_actions();
void HorizonManager::recede(IAM new_model, IAD new_data);
unsigned HorizonManager::long get_size();
*/
}
......@@ -19,24 +19,30 @@ void ModelMaker::initialize(const ModelMakerSettings &settings, const RobotDesig
}
//IAM ModelMaker::formulate_flat_walker(Support support){
AMA ModelMaker::formulate_flat_walker(const Support &support){
// Here goes the full definition of contacts and costs to get the IAM
// Use the support enumeration to set the appropriate contact and wrench cone.
//}
// // Here goes the full definition of contacts and costs to get the IAM
// // Use the support enumeration to set the appropriate contact and wrench cone.
return AMA();
}
//IAM ModelMaker::formulate_stair_climber(Support support){
AMA ModelMaker::formulate_stair_climber(const Support &support){
// Here goes the full definition of contacts and costs to get the IAM
// Use the support enumeration to set the appropriate contact and wrench cone.
//}
//std::vector<IAM> ModelMaker::formulateHorizon(std::vector<Support> suports, double T){
return AMA();
}
std::vector<AMA> ModelMaker::formulateHorizon(const std::vector<Support> &suports, const double &T){
// for loop to generate a vector of IAMs
//}
std::vector<AMA> models = { AMA(), AMA() };
return models;
}
}
......
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