Commit ed123dc7 authored by Julian Viereck's avatar Julian Viereck
Browse files

Fix mask usage in task-se3-equality

parent d4693af3
#ifndef __tsid_python_contact_6d_hpp__
#define __tsid_python_contact_6d_hpp__
#include <boost/python.hpp>
#include <string>
#include <eigenpy/eigenpy.hpp>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid 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.
// tsid 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
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
#include "tsid/contacts/contact-point.hpp"
#include "tsid/robots/robot-wrapper.hpp"
#include "tsid/math/constraint-inequality.hpp"
#include "tsid/math/constraint-equality.hpp"
#include "tsid/math/constraint-base.hpp"
namespace tsid
{
namespace python
{
namespace bp = boost::python;
template<typename ContactPoint>
struct ContactPointPythonVisitor
: public boost::python::def_visitor< ContactPointPythonVisitor<ContactPoint> >
{
template<class PyClass>
void visit(PyClass& cl) const
{
cl
.def(bp::init<std::string, robots::RobotWrapper &, std::string, Eigen::VectorXd, double, double, double, double> ((bp::arg("name"), bp::arg("robot"), bp::arg("framename"), bp::arg("contactNormal"), bp::arg("frictionCoeff"), bp::arg("minForce"), bp::arg("maxForce"), bp::arg("regWeight")), "Default Constructor"))
.add_property("n_motion", &ContactPoint::n_motion, "return number of motion")
.add_property("n_force", &ContactPoint::n_force, "return number of force")
.add_property("name", &ContactPointPythonVisitor::name, "return name")
.def("computeMotionTask", &ContactPointPythonVisitor::computeMotionTask, bp::args("t", "q", "v", "data"))
.def("computeForceTask", &ContactPointPythonVisitor::computeForceTask, bp::args("t", "q", "v", "data"))
.def("computeForceRegularizationTask", &ContactPointPythonVisitor::computeForceRegularizationTask, bp::args("t", "q", "v", "data"))
.add_property("getForceGeneratorMatrix", bp::make_function(&ContactPointPythonVisitor::getForceGeneratorMatrix, bp::return_value_policy<bp::copy_const_reference>()))
.add_property("getForceRegularizationWeight", &ContactPoint::getForceRegularizationWeight, "return force reg weight")
.def("getNormalForce", &ContactPointPythonVisitor::getNormalForce, bp::arg("vec"))
.add_property("getMinNormalForce", &ContactPoint::getMinNormalForce)
.add_property("getMaxNormalForce", &ContactPoint::getMaxNormalForce)
.add_property("Kp", bp::make_function(&ContactPointPythonVisitor::Kp, bp::return_value_policy<bp::copy_const_reference>()))
.add_property("Kd", bp::make_function(&ContactPointPythonVisitor::Kd, bp::return_value_policy<bp::copy_const_reference>()))
.def("setKp", &ContactPointPythonVisitor::setKp, bp::arg("Kp"))
.def("setKd", &ContactPointPythonVisitor::setKd, bp::arg("Kd"))
.def("setContactNormal", &ContactPointPythonVisitor::setContactNormal, bp::args("vec"))
.def("setFrictionCoefficient", &ContactPointPythonVisitor::setFrictionCoefficient, bp::args("friction_coeff"))
.def("setMinNormalForce", &ContactPointPythonVisitor::setMinNormalForce, bp::args("min_force"))
.def("setMaxNormalForce", &ContactPointPythonVisitor::setMaxNormalForce, bp::args("max_force"))
.def("setRegularizationTaskWeight", &ContactPointPythonVisitor::setRegularizationTaskWeight, bp::args("double"))
.def("setReference", &ContactPointPythonVisitor::setReference, bp::args("SE3"))
.def("setForceReference", &ContactPointPythonVisitor::setForceReference, bp::args("f_vec"))
.def("setRegularizationTaskWeightVector", &ContactPointPythonVisitor::setRegularizationTaskWeightVector, bp::args("w_vec"))
;
}
static std::string name(ContactPoint & self){
std::string name = self.name();
return name;
}
static math::ConstraintEquality computeMotionTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
self.computeMotionTask(t, q, v, data);
math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());
return cons;
}
static math::ConstraintInequality computeForceTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
self.computeForceTask(t, q, v, data);
math::ConstraintInequality cons(self.getForceConstraint().name(), self.getForceConstraint().matrix(), self.getForceConstraint().lowerBound(), self.getForceConstraint().upperBound());
return cons;
}
static math::ConstraintEquality computeForceRegularizationTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
self.computeForceRegularizationTask(t, q, v, data);
math::ConstraintEquality cons(self.getForceRegularizationTask().name(), self.getForceRegularizationTask().matrix(), self.getForceRegularizationTask().vector());
return cons;
}
static const Eigen::MatrixXd & getForceGeneratorMatrix(ContactPoint & self){
return self.getForceGeneratorMatrix();
}
static const Eigen::VectorXd & Kp (ContactPoint & self){
return self.Kp();
}
static const Eigen::VectorXd & Kd (ContactPoint & self){
return self.Kd();
}
static void setKp (ContactPoint & self, const::Eigen::VectorXd Kp){
return self.Kp(Kp);
}
static void setKd (ContactPoint & self, const::Eigen::VectorXd Kd){
return self.Kd(Kd);
}
static bool setContactPoints (ContactPoint & self, const::Eigen::MatrixXd contactpoints){
return self.setContactPoints(contactpoints);
}
static bool setContactNormal (ContactPoint & self, const::Eigen::VectorXd contactNormal){
return self.setContactNormal(contactNormal);
}
static bool setFrictionCoefficient (ContactPoint & self, const double frictionCoefficient){
return self.setFrictionCoefficient(frictionCoefficient);
}
static bool setMinNormalForce (ContactPoint & self, const double minNormalForce){
return self.setMinNormalForce(minNormalForce);
}
static bool setMaxNormalForce (ContactPoint & self, const double maxNormalForce){
return self.setMaxNormalForce(maxNormalForce);
}
static bool setRegularizationTaskWeight (ContactPoint & self, const double w){
return self.setRegularizationTaskWeight(w);
}
static void setReference(ContactPoint & self, const se3::SE3 & ref){
self.setReference(ref);
}
static void setForceReference(ContactPoint & self, const::Eigen::VectorXd f_ref){
self.setForceReference(f_ref);
}
static void setRegularizationTaskWeightVector(ContactPoint & self, const::Eigen::VectorXd w){
self.setRegularizationTaskWeightVector(w);
}
static double getNormalForce(ContactPoint & self, Eigen::VectorXd f){
return self.getNormalForce(f);
}
static void expose(const std::string & class_name)
{
std::string doc = "ContactPoint info.";
bp::class_<ContactPoint>(class_name.c_str(),
doc.c_str(),
bp::no_init)
.def(ContactPointPythonVisitor<ContactPoint>());
}
};
}
}
#endif // ifndef __tsid_python_contact_hpp__
\ No newline at end of file
......@@ -54,7 +54,7 @@ namespace tsid
m_J.setZero(6, robot.nv());
m_mask.resize(6);
m_mask.setIdentity();
m_mask.fill(1.);
m_local_frame = true;
}
......@@ -196,8 +196,8 @@ namespace tsid
m_v_ref_vec = m_v_ref.toVector();
m_v = v_frame.toVector();
m_constraint.setMatrix(m_mask.transpose() * m_J);
m_constraint.setVector(m_mask.transpose() * (m_a_des - m_drift.toVector()));
m_constraint.setMatrix(m_mask.asDiagonal() * m_J);
m_constraint.setVector(m_mask.asDiagonal() * (m_a_des - m_drift.toVector()));
return m_constraint;
}
}
......
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