HierarchicalIK.hpp

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#ifndef DART_DYNAMICS_HIERARCHICALIK_HPP_
#define DART_DYNAMICS_HIERARCHICALIK_HPP_
 
#include <unordered_set>
 
#include "dart/dynamics/InverseKinematics.hpp"
 
namespace dart {
namespace dynamics {
 
typedef std::vector< std::vector< std::shared_ptr<InverseKinematics> > > IKHierarchy;
 
class HierarchicalIK : public common::Subject
{
public:
 
  virtual ~HierarchicalIK() = default;
 
  bool solve(bool _applySolution = true);
 
  bool solve(Eigen::VectorXd& positions, bool _applySolution = true);
 
  virtual std::shared_ptr<HierarchicalIK> clone(
      const SkeletonPtr& _newSkel) const = 0;
 
  class Function
  {
  public:
 
    virtual optimizer::FunctionPtr clone(
        const std::shared_ptr<HierarchicalIK>& _newIK) const = 0;
 
    virtual ~Function() = default;
  };
 
  void setObjective(const std::shared_ptr<optimizer::Function>& _objective);
 
  const std::shared_ptr<optimizer::Function>& getObjective();
 
  std::shared_ptr<const optimizer::Function> getObjective() const;
 
  void setNullSpaceObjective(
      const std::shared_ptr<optimizer::Function>& _nsObjective);
 
  const std::shared_ptr<optimizer::Function>& getNullSpaceObjective();
 
  std::shared_ptr<const optimizer::Function> getNullSpaceObjective() const;
 
  bool hasNullSpaceObjective() const;
 
  const std::shared_ptr<optimizer::Problem>& getProblem();
 
  std::shared_ptr<const optimizer::Problem> getProblem() const;
 
  void resetProblem(bool _clearSeeds=false);
 
  void setSolver(const std::shared_ptr<optimizer::Solver>& _newSolver);
 
  const std::shared_ptr<optimizer::Solver>& getSolver();
 
  std::shared_ptr<const optimizer::Solver> getSolver() const;
 
  virtual void refreshIKHierarchy() = 0;
 
  const IKHierarchy& getIKHierarchy() const;
 
  const std::vector<Eigen::MatrixXd>& computeNullSpaces() const;
 
  Eigen::VectorXd getPositions() const;
 
  void setPositions(const Eigen::VectorXd& _q);
 
  SkeletonPtr getSkeleton();
 
  ConstSkeletonPtr getSkeleton() const;
 
  SkeletonPtr getAffiliation();
 
  ConstSkeletonPtr getAffiliation() const;
 
  void clearCaches();
 
protected:
 
  class Objective final : public Function, public optimizer::Function
  {
  public:
 
    Objective(const std::shared_ptr<HierarchicalIK>& _ik);
 
    virtual ~Objective() = default;
 
    // Documentation inherited
    optimizer::FunctionPtr clone(
        const std::shared_ptr<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;
 
  protected:
 
    std::weak_ptr<HierarchicalIK> mIK;
 
    Eigen::VectorXd mGradCache;
  };
 
  class Constraint final : public Function, public optimizer::Function
  {
  public:
 
    Constraint(const std::shared_ptr<HierarchicalIK>& _ik);
 
    virtual ~Constraint() = default;
 
    // Documentation inherited
    optimizer::FunctionPtr clone(
        const std::shared_ptr<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;
 
  protected:
 
    std::weak_ptr<HierarchicalIK> mIK;
 
    Eigen::VectorXd mLevelGradCache;
 
    Eigen::VectorXd mTempGradCache;
  };
 
  HierarchicalIK(const SkeletonPtr& _skeleton);
 
  void initialize(const std::shared_ptr<HierarchicalIK>& my_ptr);
 
  void copyOverSetup(const std::shared_ptr<HierarchicalIK>& _otherIK) const;
 
  WeakSkeletonPtr mSkeleton;
 
  IKHierarchy mHierarchy;
 
  std::shared_ptr<optimizer::Problem> mProblem;
 
  std::shared_ptr<optimizer::Solver> mSolver;
 
  optimizer::FunctionPtr mObjective;
 
  optimizer::FunctionPtr mNullSpaceObjective;
 
  std::weak_ptr<HierarchicalIK> mPtr;
 
  mutable Eigen::VectorXd mLastPositions;
 
  mutable std::vector<Eigen::MatrixXd> mNullSpaceCache;
 
  mutable Eigen::MatrixXd mPartialNullspaceCache;
 
  mutable Eigen::JacobiSVD<math::Jacobian> mSVDCache;
 
  mutable math::Jacobian mJacCache;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
class CompositeIK : public HierarchicalIK
{
public:
 
  typedef std::unordered_set< std::shared_ptr<InverseKinematics> > ModuleSet;
  typedef std::unordered_set< std::shared_ptr<const InverseKinematics> > ConstModuleSet;
 
  static std::shared_ptr<CompositeIK> create(const SkeletonPtr& _skel);
 
  // Documentation inherited
  std::shared_ptr<HierarchicalIK> clone(
      const SkeletonPtr &_newSkel) const override;
 
  virtual std::shared_ptr<CompositeIK> cloneCompositeIK(
      const SkeletonPtr& _newSkel) const;
 
  bool addModule(const std::shared_ptr<InverseKinematics>& _ik);
 
  const ModuleSet& getModuleSet();
 
  ConstModuleSet getModuleSet() const;
 
  // Documentation inherited
  void refreshIKHierarchy() override;
 
protected:
 
  CompositeIK(const SkeletonPtr& _skel);
 
  std::unordered_set< std::shared_ptr<InverseKinematics> > mModuleSet;
};
 
class WholeBodyIK : public HierarchicalIK
{
public:
 
  static std::shared_ptr<WholeBodyIK> create(const SkeletonPtr& _skel);
 
  // Documentation inherited
  std::shared_ptr<HierarchicalIK> clone(
      const SkeletonPtr &_newSkel) const override;
 
  virtual std::shared_ptr<WholeBodyIK> cloneWholeBodyIK(
      const SkeletonPtr& _newSkel) const;
 
  // Documentation inherited
  void refreshIKHierarchy() override;
 
protected:
 
  WholeBodyIK(const SkeletonPtr& _skel);
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_HIERARCHICALIK_HPP_