imu-elastic-local-frame-dynamical-system.hpp

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/*
 * imu-elastic-local-frame-dynamical-system.hpp
 *
 *  Created on: 19 mai 2014
 *      Author: alexis
 */
 
#ifndef DYNAMICAL_SYSTEM_HPP_
#define DYNAMICAL_SYSTEM_HPP_
 
#include <vector>
 
#include <state-observation/api.h>
#include <state-observation/dynamical-system/dynamical-system-functor-base.hpp>
#include <state-observation/noise/noise-base.hpp>
#include <state-observation/sensors-simulation/accelerometer-gyrometer.hpp>
#include <state-observation/tools/hrp2.hpp>
#include <state-observation/tools/rigid-body-kinematics.hpp>
 
#include <Eigen/Cholesky>
 
namespace stateObservation
{
 
namespace flexibilityEstimation
{
 
class STATE_OBSERVATION_DLLAPI IMUElasticLocalFrameDynamicalSystem : public stateObservation::DynamicalSystemFunctorBase
{
public:
  struct input
  {
    static constexpr unsigned posCom = 0;
    static constexpr unsigned velCom = 3;
    static constexpr unsigned accCom = 6;
    static constexpr unsigned inertia = 9;
    static constexpr unsigned angMoment = 15;
    static constexpr unsigned dotInertia = 18;
    static constexpr unsigned dotAngMoment = 24;
    static constexpr unsigned posIMU = 27;
    static constexpr unsigned oriIMU = 30;
    static constexpr unsigned linVelIMU = 33;
    static constexpr unsigned angVelIMU = 36;
    static constexpr unsigned linAccIMU = 39;
    static constexpr unsigned additionalForces = 42;
    static constexpr unsigned contacts = 48;
 
    static constexpr unsigned sizeBase = 48;
  };
 
  struct state
  {
    static constexpr unsigned pos = 0;
    static constexpr unsigned ori = 3;
    static constexpr unsigned linVel = 6;
    static constexpr unsigned angVel = 9;
    static constexpr unsigned fc = 12;
    static constexpr unsigned unmodeledForces = 24;
    static constexpr unsigned comBias = 30;
    static constexpr unsigned drift = 32;
 
    static constexpr unsigned size = 35;
  };
 
  struct contactModel
  {
    static constexpr unsigned elasticContact = 1;
    static constexpr unsigned pendulum = 2;
    static constexpr unsigned none = 0;
  };
 
  typedef Eigen::LLT<Matrix3> LLTMatrix3;
 
  explicit IMUElasticLocalFrameDynamicalSystem(double dt);
 
  virtual ~IMUElasticLocalFrameDynamicalSystem();
 
  void test();
 
  // Get the contact wrench
  void computeContactWrench(const Matrix3 & orientation,
                            const Vector3 & position,
                            const IndexedVectorArray & contactPosV,
                            const IndexedVectorArray & contactOriV,
                            const Vector & fc,
                            const Vector & tc,
                            const Vector3 & fm,
                            const Vector3 & tm,
                            const Vector3 & addForce,
                            const Vector3 & addMoment);
 
  stateObservation::Vector computeAccelerations(const Vector & x, const Vector & u);
 
  // computation of the acceleration linear
  virtual void computeAccelerations(const Vector3 & positionCom,
                                    const Vector3 & velocityCom,
                                    const Vector3 & accelerationCom,
                                    const Vector3 & AngMomentum,
                                    const Vector3 & dotAngMomentum,
                                    const Matrix3 & Inertia,
                                    const Matrix3 & dotInertia,
                                    const IndexedVectorArray & contactPos,
                                    const IndexedVectorArray & contactOri,
                                    const Vector3 & position,
                                    const Vector3 & linVelocity,
                                    Vector3 & linearAcceleration,
                                    const Vector3 & oriVector,
                                    const Matrix3 & orientation,
                                    const Vector3 & angularVel,
                                    Vector3 & angularAcceleration,
                                    const Vector & fc,
                                    const Vector & tc,
                                    const Vector3 & fm,
                                    const Vector3 & tm,
                                    const Vector3 & addForces,
                                    const Vector3 & addMoments);
 
  virtual stateObservation::Vector stateDynamics(const stateObservation::Vector & x,
                                                 const stateObservation::Vector & u,
                                                 TimeIndex k);
 
  stateObservation::Matrix stateDynamicsJacobian();
 
  stateObservation::Matrix stateDynamicsJacobian(const stateObservation::Vector & x,
                                                 const stateObservation::Vector & u,
                                                 TimeIndex k);
 
  void setFDstep(const stateObservation::Vector & dx);
 
  virtual stateObservation::Vector measureDynamics(const stateObservation::Vector & x,
                                                   const stateObservation::Vector & u,
                                                   TimeIndex k);
 
  stateObservation::Matrix measureDynamicsJacobian();
 
  stateObservation::Matrix measureDynamicsJacobian(const stateObservation::Vector & x,
                                                   const stateObservation::Vector & u,
                                                   TimeIndex k);
 
  virtual void setProcessNoise(stateObservation::NoiseBase *);
 
  virtual void resetProcessNoise();
 
  virtual stateObservation::NoiseBase * getProcessNoise() const;
 
  virtual void setMeasurementNoise(stateObservation::NoiseBase *);
 
  virtual void resetMeasurementNoise();
 
  virtual stateObservation::NoiseBase * getMeasurementNoise() const;
 
  virtual void setSamplingPeriod(double dt);
 
  virtual Index getStateSize() const;
 
  virtual Index getInputSize() const;
 
  virtual void setInputSize(Index i);
 
 
 
  virtual Index getMeasurementSize() const;
 
  virtual void setContactsNumber(unsigned);
 
  virtual void setPe(stateObservation::Vector3 Pe)
  {
    pe = Pe;
  }
 
  inline unsigned getContactsNumber(void) const
  {
    return nbContacts_;
  }
 
  virtual void setContactModel(unsigned nb);
 
  virtual void setPrinted(bool b)
  {
    printed_ = b;
  }
 
  virtual void computeElastContactForcesAndMoments(const IndexedVectorArray & contactPosArray,
                                                   const IndexedVectorArray & contactOriArray,
                                                   const IndexedVectorArray & contactVelArray,
                                                   const IndexedVectorArray & contactAngVelArray,
                                                   const Vector3 & position,
                                                   const Vector3 & linVelocity,
                                                   const Vector3 & oriVector,
                                                   const Matrix3 & orientation,
                                                   const Vector3 & angVel,
                                                   Vector & fc,
                                                   Vector & tc);
 
  virtual void computeElastPendulumForcesAndMoments(const IndexedVectorArray & PrArray,
                                                    const Vector3 & position,
                                                    const Vector3 & linVelocity,
                                                    const Vector3 & oriVector,
                                                    const Matrix3 & orientation,
                                                    const Vector3 & angVel,
                                                    Vector & forces,
                                                    Vector & moments);
 
  void computeForcesAndMoments(const IndexedVectorArray & position1,
                               const IndexedVectorArray & position2,
                               const IndexedVectorArray & velocity1,
                               const IndexedVectorArray & velocity2,
                               const Vector3 & position,
                               const Vector3 & linVelocity,
                               const Vector3 & oriVector,
                               const Matrix3 & orientation,
                               const Vector3 & angVel,
                               Vector & fc,
                               Vector & tc);
 
  virtual void computeForcesAndMoments(const Vector & x, const Vector & u);
 
  virtual Vector getForcesAndMoments();
 
  virtual Vector getForcesAndMoments(const Vector & x, const Vector & u);
 
  virtual Vector getMomentaDotFromForces(const Vector & x, const Vector & u);
  virtual Vector getMomentaDotFromKinematics(const Vector & x, const Vector & u);
 
  virtual void iterateDynamicsEuler(const Vector3 & positionCom,
                                    const Vector3 & velocityCom,
                                    const Vector3 & accelerationCom,
                                    const Vector3 & AngMomentum,
                                    const Vector3 & dotAngMomentum,
                                    const Matrix3 & Inertia,
                                    const Matrix3 & dotInertia,
                                    const IndexedVectorArray & contactPos,
                                    const IndexedVectorArray & contactOri,
                                    Vector3 & position,
                                    Vector3 & linVelocity,
                                    Vector & fc1,
                                    Vector3 & oriVector,
                                    Vector3 & angularVel,
                                    Vector & fc2,
                                    const Vector3 & fm,
                                    const Vector3 & tm,
                                    const Vector3 & addForces,
                                    const Vector3 & addMoments,
                                    double dt);
 
  virtual void iterateDynamicsRK4(const Vector3 & positionCom,
                                  const Vector3 & velocityCom,
                                  const Vector3 & accelerationCom,
                                  const Vector3 & AngMomentum,
                                  const Vector3 & dotAngMomentum,
                                  const Matrix3 & Inertia,
                                  const Matrix3 & dotInertia,
                                  const IndexedVectorArray & contactPos,
                                  const IndexedVectorArray & contactOri,
                                  Vector3 & position,
                                  Vector3 & linVelocity,
                                  Vector & fc1,
                                  Vector3 & oriVector,
                                  Vector3 & angularVel,
                                  Vector & fc2,
                                  const Vector3 & fm,
                                  const Vector3 & tm,
                                  const Vector3 & addForces,
                                  const Vector3 & addMoments,
                                  double dt);
 
  virtual void setWithForceMeasurements(bool b);
  virtual bool getWithForceMeasurements() const;
  virtual void setWithComBias(bool b);
  virtual bool getWithComBias() const;
  virtual void setWithAbsolutePosition(bool b);
  virtual bool getWithAbsolutePosition() const;
  void setWithUnmodeledForces(bool b);
 
  virtual void setKfe(const Matrix3 & m);
  virtual void setKfv(const Matrix3 & m);
  virtual void setKte(const Matrix3 & m);
  virtual void setKtv(const Matrix3 & m);
 
  virtual void setKfeRopes(const Matrix3 & m);
  virtual void setKfvRopes(const Matrix3 & m);
  virtual void setKteRopes(const Matrix3 & m);
  virtual void setKtvRopes(const Matrix3 & m);
 
  virtual Matrix getKfe() const;
  virtual Matrix getKfv() const;
  virtual Matrix getKte() const;
  virtual Matrix getKtv() const;
 
  virtual void setRobotMass(double d);
 
  virtual double getRobotMass() const;
 
protected:
  bool printed_;
 
  stateObservation::AccelerometerGyrometer sensor_;
 
  stateObservation::NoiseBase * processNoise_;
 
  void updateMeasurementSize_();
 
  double dt_;
 
  double robotMass_;
  double robotMassInv_;
 
  Matrix3 & computeRotation_(const Vector3 & x, int i);
 
  static constexpr Index stateSize_ = state::size;
  Index inputSize_;
  static constexpr Index measurementSizeBase_ = 6;
  unsigned nbContacts_;
  unsigned contactModel_;
 
  Vector fc_;
  Vector tc_;
 
  Vector dx_;
 
  Vector xk1_;
  Vector xk_;
  Vector uk_;
 
  Vector xk_fory_;
  Vector yk_;
  Vector uk_fory_;
 
  Index measurementSize_;
 
  std::vector<Vector3, Eigen::aligned_allocator<Vector3>> contactPositions_;
 
  Matrix3 Kfe_, Kte_, Kfv_, Ktv_;
  Matrix3 KfeRopes_, KteRopes_, KfvRopes_, KtvRopes_;
 
  TimeIndex kcurrent_;
 
  bool withForceMeasurements_;
  bool withComBias_;
  bool withAbsolutePos_;
  bool withUnmodeledForces_;
 
  stateObservation::Vector3 pe;
 
  double marginalStabilityFactor_;
  // a scaling factor a=1-epsilon to avoid the natural marginal stability of
  // the dynamics x_{k+1}=x_k we replace it with x_{k+1}=a*x_k
 
  unsigned index_;
 
  struct Optimization
  {
 
    Vector6 momentaDot;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    Vector3 positionFlex;
    Vector3 velocityFlex;
    Vector3 accelerationFlex;
    Vector3 orientationFlexV;
    Vector3 angularVelocityFlex;
    Vector3 angularAccelerationFlex;
    Vector3 positionComBias;
 
    Matrix3 rFlex;
    Matrix3 rFlexT;
 
    Vector3 drift;
    Vector3 pdrift;
    Matrix3 rdrift;
 
    double cy, sy;
 
    AngleAxis orientationAA;
 
    Vector xk1;
    Vector xk;
    Vector xk1dx;
 
    Vector xdx;
 
    Vector xk_fory;
    Vector yk;
    Vector ykdy;
 
    TimeIndex k_fory;
 
    Matrix3 orinertia;
 
    LLTMatrix3 invinertia;
 
    Matrix3 rtotal;
    Vector3 ptotal;
    AngleAxis aatotal;
    Vector3 oritotal;
 
    Matrix Jx;
    Matrix Jy;
 
    Matrix3 rimu;
    Vector3 imuAcc;
    Vector3 imuOmega;
    Vector sensorState;
 
    Vector3 positionCom;
    Vector3 velocityCom;
    Vector3 accelerationCom;
    Vector3 AngMomentum;
    Vector3 dotAngMomentum;
 
    Vector3 positionControl;
    Vector3 velocityControl;
    Vector3 accelerationControl;
    Vector3 orientationControlV;
    Vector3 angularVelocityControl;
 
    Matrix3 rControl;
 
    IndexedVectorArray contactPosV;
    IndexedVectorArray contactOriV;
    IndexedVectorArray contactVelArray;
    IndexedVectorArray contactAngVelArray;
 
    Matrix3 inertia;
    Matrix3 dotInertia;
 
    IndexedVectorArray efforts;
 
    Vector3 f, fi;
    Vector3 t;
 
    // unmodelled and unmeasured forces
    Vector3 fm;
    Vector3 tm;
 
    Vector3 linearAcceleration;
    Vector3 angularAcceleration;
 
    Vector3 vf;
    Vector3 vt;
 
    Vector3 crosstempV;
    Matrix3 crosstempM;
 
    // elastic contact forces and moments
    Matrix3 Rci; // rotation of contact i
    Matrix3 Rcit; // transpose of previous
    Vector3 contactPos; //
    Vector3 contactVel;
    Vector3 RciContactPos;
    Vector3 globalContactPos;
    Matrix3 Rt;
 
    Vector3 forcei;
    Vector3 momenti;
 
    // additional forces and moments
    Vector3 addForce;
    Vector3 addMoment;
 
    Matrix3 skewV;
    Matrix3 skewV2;
    Matrix3 skewVR;
    Matrix3 skewV2R;
    Matrix3 RIRT;
    Vector3 wx2Rc;
    Vector3 _2wxRv;
    Vector3 Ra;
    Vector3 Rc;
    Vector3 Rcp;
 
    // optimization of orientation transformation between vector3 to rotation matrix
 
    Matrix3 curRotation0;
    Vector3 orientationVector0;
    Matrix3 curRotation1;
    Vector3 orientationVector1;
    Matrix3 curRotation2;
    Vector3 orientationVector2;
    Matrix3 curRotation3;
    Vector3 orientationVector3;
 
    Optimization()
    : curRotation0(Matrix3::Identity()), orientationVector0(Vector3::Zero()), curRotation1(Matrix3::Identity()),
      orientationVector1(Vector3::Zero()), curRotation2(Matrix3::Identity()), orientationVector2(Vector3::Zero()),
      curRotation3(Matrix3::Identity()), orientationVector3(Vector3::Zero())
    {
    }
 
    inline Vector3 & orientationVector(int i)
    {
      if(i == 0) return orientationVector0;
      if(i == 1) return orientationVector1;
      if(i == 2) return orientationVector2;
 
      return orientationVector3;
    }
 
    inline Matrix3 & curRotation(int i)
    {
      if(i == 0) return curRotation0;
      if(i == 1) return curRotation1;
      if(i == 2) return curRotation2;
 
      return curRotation3;
    }
 
  } op_;
 
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace flexibilityEstimation
} // namespace stateObservation
 
#endif /* DYNAMICAL_SYSTEM_HPP_ */