BalanceConstraint.hpp

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#ifndef DART_CONSTRAINT_BALANCECONSTRAINT_HPP_
#define DART_CONSTRAINT_BALANCECONSTRAINT_HPP_
 
#include "dart/dynamics/HierarchicalIK.hpp"
 
namespace dart {
namespace constraint {
 
class BalanceConstraint : public optimizer::Function,
                          public dynamics::HierarchicalIK::Function
{
public:
  enum ErrorMethod_t
  {
    FROM_CENTROID = 0,
    FROM_EDGE,
    OPTIMIZE_BALANCE
  };
 
  enum BalanceMethod_t
  {
    SHIFT_SUPPORT = 0,
    SHIFT_COM
  };
 
  BalanceConstraint(
      const std::shared_ptr<dynamics::HierarchicalIK>& _ik,
      BalanceMethod_t _balanceMethod = SHIFT_SUPPORT,
      ErrorMethod_t _errorMethod = FROM_CENTROID);
 
  virtual ~BalanceConstraint() = default;
 
  // Documentation inherited
  optimizer::FunctionPtr clone(
      const std::shared_ptr<dynamics::HierarchicalIK>& _newIK) const override;
 
  // Documentation inherited
  double eval(const Eigen::VectorXd& _x) override;
 
  // Documentation inherited
  void evalGradient(
      const Eigen::VectorXd& _x, Eigen::Map<Eigen::VectorXd> _grad) override;
 
  void setErrorMethod(ErrorMethod_t _method);
 
  ErrorMethod_t getErrorMethod() const;
 
  void setBalanceMethod(BalanceMethod_t _method);
 
  BalanceMethod_t getBalanceMethod() const;
 
  void setOptimizationTolerance(double _tol);
 
  double getOptimizationTolerance() const;
 
  void setPseudoInverseDamping(double _damping);
 
  double getPseudoInverseDamping() const;
 
  const Eigen::Vector3d& getLastError() const;
 
  void clearCaches();
 
protected:
  void convertJacobianMethodOutputToGradient(Eigen::Map<Eigen::VectorXd>& grad);
 
  std::weak_ptr<dynamics::HierarchicalIK> mIK;
 
  ErrorMethod_t mErrorMethod;
 
  BalanceMethod_t mBalanceMethod;
 
  double mOptimizationTolerance;
 
  double mDamping;
 
  std::size_t mClosestEndEffector[2];
 
  Eigen::Vector3d mLastError;
 
  Eigen::Vector3d mLastCOM;
 
  std::size_t mLastSupportVersion;
 
  math::LinearJacobian mComJacCache;
 
  math::LinearJacobian mEEJacCache;
 
  Eigen::JacobiSVD<math::LinearJacobian> mSVDCache;
 
  Eigen::MatrixXd mNullSpaceCache;
 
  Eigen::MatrixXd mPartialNullSpaceCache;
 
  Eigen::VectorXd mInitialPositionsCache;
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_BALANCECONSTRAINT_HPP_