hpp-bezier-com-traj  4.12.0
Multi contact trajectory generation for the COM using Bezier curves
utils.hh
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1 /*
2  * Copyright 2018, LAAS-CNRS
3  * Author: Steve Tonneau
4  */
5 
6 #ifndef BEZIER_COM_TRAJ_LIB_UTILS_H
7 #define BEZIER_COM_TRAJ_LIB_UTILS_H
8 
12 
13 #include <Eigen/Dense>
14 
15 #include <vector>
16 
17 namespace bezier_com_traj {
18 
19 template <typename T>
20 T initwp();
21 waypoint_t initwp(const size_t rows, const size_t cols);
22 waypoint_t operator+(const waypoint_t& w1, const waypoint_t& w2);
23 waypoint_t operator-(const waypoint_t& w1, const waypoint_t& w2);
24 waypoint_t operator*(const double k, const waypoint_t& w);
25 waypoint_t operator*(const waypoint_t& w, const double k);
26 
27 struct waypoint_t {
30 
31  waypoint_t() : first(MatrixXX()), second(VectorX()) {}
32 
33  waypoint_t(MatrixXX A, VectorX b) : first(A), second(b) {}
34 
35  static waypoint_t Zero(size_t dim) { return initwp(dim, dim); }
36 
37  size_t size() const { return second.size(); }
38 
39  bool isApprox(const waypoint_t& other,
40  const value_type prec = Eigen::NumTraits<value_type>::dummy_precision()) const {
41  return first.isApprox(other.first, prec) && second.isApprox(other.second, prec);
42  }
43 
44  bool operator==(const waypoint_t& other) const { return isApprox(other); }
45 
46  bool operator!=(const waypoint_t& other) const { return !(*this == other); }
47 };
48 
54 BEZIER_COM_TRAJ_DLLAPI std::vector<ndcurves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree);
55 
64 template <typename Bezier, typename Point>
65 BEZIER_COM_TRAJ_DLLAPI Bezier computeBezierCurve(const ConstraintFlag& flag, const double T,
66  const std::vector<Point>& pi, const Point& x);
67 
76 T_time computeDiscretizedTimeFixed(const VectorX& phaseTimings, const unsigned int pointsPerPhase);
77 
85 T_time computeDiscretizedTime(const VectorX& phaseTimings, const double timeStep);
86 
92 void printQHullFile(const std::pair<MatrixXX, VectorX>& Ab, VectorX intPoint, const std::string& fileName,
93  bool clipZ = false);
94 
99 
104 
105 } // end namespace bezier_com_traj
106 
107 template <typename Bezier, typename Point>
108 Bezier bezier_com_traj::computeBezierCurve(const ConstraintFlag& flag, const double T, const std::vector<Point>& pi,
109  const Point& x) {
110  std::vector<Point> wps;
111  size_t i = 0;
112  if (flag & INIT_POS) {
113  wps.push_back(pi[i]);
114  i++;
115  if (flag & INIT_VEL) {
116  wps.push_back(pi[i]);
117  i++;
118  if (flag & INIT_ACC) {
119  wps.push_back(pi[i]);
120  i++;
121  }
122  }
123  }
124  wps.push_back(x);
125  i++;
126  if (flag & (END_VEL) && !(flag & (END_POS))) {
127  wps.push_back(x);
128  i++;
129  } else {
130  if (flag & END_ACC) {
131  assert(flag & END_VEL && "You cannot constrain final acceleration if final velocity is not constrained.");
132  wps.push_back(pi[i]);
133  i++;
134  }
135  if (flag & END_VEL) {
136  assert(flag & END_POS && "You cannot constrain final velocity if final position is not constrained.");
137  wps.push_back(pi[i]);
138  i++;
139  }
140  if (flag & END_POS) {
141  wps.push_back(pi[i]);
142  i++;
143  }
144  }
145  return Bezier(wps.begin(), wps.end(), 0., T);
146 }
147 
148 #endif
waypoint_t operator+(const waypoint_t &w1, const waypoint_t &w2)
Definition: utils.cpp:16
waypoint_t operator*(const double k, const waypoint_t &w)
Definition: utils.cpp:28
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
waypoint6_t w2(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha)
Definition: solve_0_step.cpp:32
waypoint6_t w1(point_t_tC p0, point_t_tC p1, point_t_tC, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha)
Definition: solve_0_step.cpp:22
VectorX second
Definition: utils.hh:29
Eigen::Ref< VectorX > Ref_vectorX
Definition: definitions.hh:26
waypoint_t()
Definition: utils.hh:31
INIT_VEL
Definition: flags.hh:21
Definition: utils.hh:27
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:23
bool operator==(const waypoint_t &other) const
Definition: utils.hh:44
T_time computeDiscretizedTime(const VectorX &phaseTimings, const double timeStep)
computeDiscretizedTime build an array of discretized points in time, given the timestep. Doesn&#39;t contain t=0, is of size pointsPerPhase*phaseTimings.size()
Definition: utils.cpp:90
std::vector< std::pair< double, int > > T_time
Definition: definitions.hh:58
T_time computeDiscretizedTimeFixed(const VectorX &phaseTimings, const unsigned int pointsPerPhase)
computeDiscretizedTime build an array of discretized points in time, such that there is the same numb...
Definition: utils.cpp:73
double value_type
Definition: definitions.hh:15
END_ACC
Definition: flags.hh:25
bool operator!=(const waypoint_t &other) const
Definition: utils.hh:46
MatrixXX first
Definition: utils.hh:28
static waypoint_t Zero(size_t dim)
Definition: utils.hh:35
END_POS
Definition: flags.hh:23
waypoint_t(MatrixXX A, VectorX b)
Definition: utils.hh:33
waypoint_t operator-(const waypoint_t &w1, const waypoint_t &w2)
Definition: utils.cpp:22
void printQHullFile(const std::pair< MatrixXX, VectorX > &Ab, VectorX intPoint, const std::string &fileName, bool clipZ=false)
write a polytope describe by A x <= b linear constraints in a given filename
Definition: utils.cpp:108
INIT_ACC
Definition: flags.hh:22
int Normalize(Ref_matrixXX A, Ref_vectorX b)
normalize inequality constraints
Definition: common_solve_methods.cpp:72
BEZIER_COM_TRAJ_DLLAPI std::vector< ndcurves::Bern< double > > ComputeBersteinPolynoms(const unsigned int degree)
Compute the Bernstein polynoms for a given degree.
Definition: utils.cpp:67
Eigen::Ref< MatrixXX > Ref_matrixXX
Definition: definitions.hh:28
END_VEL
Definition: flags.hh:24
Eigen::Matrix< value_type, 3, 3 > Matrix3
Definition: definitions.hh:16
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > MatrixXX
Definition: definitions.hh:20
const Eigen::Ref< const point_t > & point_t_tC
Definition: definitions.hh:42
Definition: common_solve_methods.hh:16
size_t size() const
Definition: utils.hh:37
INIT_POS
Definition: flags.hh:20
BEZIER_COM_TRAJ_DLLAPI Matrix3 skew(point_t_tC x)
skew symmetric matrix
Definition: utils.cpp:56
BEZIER_COM_TRAJ_DLLAPI Bezier computeBezierCurve(const ConstraintFlag &flag, const double T, const std::vector< Point > &pi, const Point &x)
given the constraints of the problem, and a set of waypoints, return the bezier curve corresponding ...
bool isApprox(const waypoint_t &other, const value_type prec=Eigen::NumTraits< value_type >::dummy_precision()) const
Definition: utils.hh:39