From 0c2d9e0107176ee4321223b649b752e25effe611 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Thu, 29 May 2014 16:26:14 -0400 Subject: [PATCH 001/271] Update README --- README | 1 + 1 file changed, 1 insertion(+) diff --git a/README b/README index 4b199035e5d9..bc3b6f293eb9 100644 --- a/README +++ b/README @@ -61,3 +61,4 @@ templates. The policies and templates can be found at: http://sourceforge.net/projects/pods + From c54beb7519899aad8161d08d54b4d20437b45dee Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 6 Jun 2014 14:10:58 -0400 Subject: [PATCH 002/271] Beginnings of LIDAR sensor. --- systems/plants/RigidBodyLidar.m | 39 +++++ .../plants/test/bullet_lidar_sensor_test.m | 138 ++++++++++++++++++ 2 files changed, 177 insertions(+) create mode 100644 systems/plants/RigidBodyLidar.m create mode 100644 systems/plants/test/bullet_lidar_sensor_test.m diff --git a/systems/plants/RigidBodyLidar.m b/systems/plants/RigidBodyLidar.m new file mode 100644 index 000000000000..ee7903d0243e --- /dev/null +++ b/systems/plants/RigidBodyLidar.m @@ -0,0 +1,39 @@ +classdef RigidBodyLidar < RigidBodySensor + % Uses collision detection framework to simulate a laser rangefinder + + methods + function obj = RigidBodyLidar(manip,robotnum) + % @param manip a RigidBodyManipulator + % @param robotnum (optional) + % @default 1 + + typecheck(manip,'RigidBodyManipulator'); + if (nargin<3) robotnum = 1; end + obj.robotnum = robotnum; + + end + + function y = output(obj,manip,t,x,u) + y=x(obj.dof_mask); + end + function fr = constructFrame(obj,manip) + state_frame = manip.getStateFrame; + c = getCoordinateNames(state_frame); + fr = CoordinateFrame([manip.name{obj.robotnum},'JointPosition'],numel(obj.dof_mask),'p',c(obj.dof_mask)); + end + function tf = isDirectFeedthrough(obj) + tf=false; + end + + function obj = compile(obj,manip) + obj.dof_mask = [manip.body([manip.body.has_position_sensor] & [manip.body.robotnum]==obj.robotnum).dofnum]; + end + + end + + properties + robotnum; + dof_mask; + end + +end \ No newline at end of file diff --git a/systems/plants/test/bullet_lidar_sensor_test.m b/systems/plants/test/bullet_lidar_sensor_test.m new file mode 100644 index 000000000000..7af98ff913d6 --- /dev/null +++ b/systems/plants/test/bullet_lidar_sensor_test.m @@ -0,0 +1,138 @@ +function bullet_lidar_sensor_test +% tests lidar sensor + +checkDependency('bullet'); + +use_visualizer = 1; + +if (use_visualizer == 1) + checkDependency('lcmgl'); +end + +% set up a world with two poles and a brick in it + +options.floating = true; +options.terrain = []; + +rb = RigidBodyManipulator([getDrakePath '/systems/plants/test/FallingBrick.urdf'], options); + + +% world is rb.body(1) + +world = rb.getBody(1); + + +% add obstacles to the world + +obstacle1 = RigidBodyCapsule(1, 10); +obstacle1.T(1:3, 4) = [ 10; 0; 0 ]; + +world.contact_shapes{end+1} = obstacle1; +world.visual_shapes{end+1} = obstacle1; + +obstacle2 = RigidBodyCapsule(1, 10); +obstacle2.T(1:3, 4) = [ -10; 0; 0 ]; + +world.contact_shapes{end+1} = obstacle2; +world.visual_shapes{end+1} = obstacle2; + +% put the new world back into the rb +rb = rb.setBody(1, world); + +% we're about to throw a warning, so supress it but immediately restore it +warn_state = warning('query', 'Drake:RigidBodyManipulator:UnsupportedContactPoints'); +warning('off', 'Drake:RigidBodyManipulator:UnsupportedContactPoints'); + +rb = compile(rb); + +% reset warning state +warning(warn_state.state, 'Drake:RigidBodyManipulator:UnsupportedContactPoints'); + +% test the LIDAR + +lidar = Lidar(); + + +% test raycasting + +zheight = 0; + +q0 = rand(rb.getNumDOF(), 1); +q0(2) = 10; +q0(3) = 10; % the block shouldn't be in the sensor's view for a 2D sweep +x0 = [q0; rand(rb.getNumDOF(), 1)]; % full state (positions, velocities) + +if (use_visualizer == 1) + v = rb.constructVisualizer(); + v.draw(0, x0); +end + +kinsol = doKinematics(rb, q0); + +distance = []; +angles = []; + +for angle = 0:.01:2*pi + + origin = [0; 0; zheight]; + + point_on_ray = [cos(angle); sin(angle); 0] * 1000; + point_on_ray(3) = zheight; + + angles(end+1) = angle; + distance(end+1) = collisionRaycast(rb, kinsol, origin, point_on_ray); + +end + +if (use_visualizer == 1) + lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(), 'raycasting'); + lcmgl.glColor3f(1, 0, 0); +end + +% count the number of hits we get +hit_num = 0; + +for i=1:length(distance) + if (distance(i) > 0) + % got a hit + hit_num = hit_num + 1; + + point = [cos(angles(i)); sin(angles(i)); 0] * distance(i); + point(3) = zheight; + + % draw point hit and lines + if (use_visualizer == 1) + lcmgl.sphere(point, .1, 20, 20); + lcmgl.line3(origin(1), origin(2), origin(3), point(1), point(2), point(3)); + end + + % make sure the hit is on one of the poles + + % poles are located at (-10, 0, 0) and (10, 0, 0) + % with radius 1 + + if (point(1) > 0) + if (point(1) >= 8.5 && point(1) <= 11.5 && point (2) >= -1 && point(2) <= 1) + % ok + else + error('Raycasting point did not end on a cylinder.'); + end + else + % on the other pole + if (point(1) <= -8.5 && point(1) >= -11.5 && point (2) >= -1 && point(2) <= 1) + % ok + else + error('Raycasting point did not end on a cylinder.'); + end + end + + end +end + +if (use_visualizer == 1) + lcmgl.switchBuffers; +end + +valuecheck(hit_num, 41); % we should get 41 hits on the poles + + From b56657c938785d5f60036b3aa2b4de2211b9d1da Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 6 Jun 2014 15:22:28 -0400 Subject: [PATCH 003/271] Adds documentation --- .../plants/@RigidBodyManipulator/RigidBodyManipulator.m | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 9942fe32aa78..2c7350901505 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -498,6 +498,15 @@ end function model = addSensor(model,sensor) + % Adds a sensor to the RigidBodyManipulator. This modifies the + % model.sensor parameter and marks the model as dirty. + % + % @param model existing RigidBodyManipulator the sensor should be + % added to + % @param sensor sensor to add + % + % @retval new RigidBodyManipulator with the sensor added. + typecheck(sensor,'RigidBodySensor'); model.sensor{end+1}=sensor; model.dirty = true; From ffcc39cabe47d7ac107ba657471ecbcece7e7172 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 19 Aug 2014 21:49:16 -0400 Subject: [PATCH 004/271] small change --- README | 1 - 1 file changed, 1 deletion(-) diff --git a/README b/README index bc3b6f293eb9..4b199035e5d9 100644 --- a/README +++ b/README @@ -61,4 +61,3 @@ templates. The policies and templates can be found at: http://sourceforge.net/projects/pods - From 4ab11476fe89f5fc34037b05f3e8f76684bfb881 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 19 Aug 2014 22:16:26 -0400 Subject: [PATCH 005/271] beginnings of the rigid body control surface code. --- .../RigidBodyControlSurface.m | 30 +++++++++++++++++++ .../RigidBodyManipulator.m | 5 ++++ 2 files changed, 35 insertions(+) create mode 100644 systems/plants/@RigidBodyControlSurface/RigidBodyControlSurface.m diff --git a/systems/plants/@RigidBodyControlSurface/RigidBodyControlSurface.m b/systems/plants/@RigidBodyControlSurface/RigidBodyControlSurface.m new file mode 100644 index 000000000000..fc52dc50619b --- /dev/null +++ b/systems/plants/@RigidBodyControlSurface/RigidBodyControlSurface.m @@ -0,0 +1,30 @@ +classdef RigidBodyControlSurface < RigidBodyWing + % Implements massless, position controlled control surfaces. This is an + % approximation of small aircraft control surfaces that assumes + % instantaneous response from the servo motor and control surface. + % + % It is useful because it can significantly reduce the number of states + % in a model by eliminating the states from aileron, elevator, or rudder + % position and velocity. + + properties + + end + + methods + function obj = RigidBodyControlSurface(frame_id, profile, chord, span, stallAngle, velocity) + %calls AVL and XFOIL over different angles of attack at the + %given velocity, generates first order polynomials of the CL, + %CD, and pitch moments of the wing. The axes for use in DRAKE are: + % X = forward, in the usual direction of travel + % Y = out th + + + + end + + + end + + +end \ No newline at end of file diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 4fcbfe263e07..cadcdcc91f8d 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -2265,6 +2265,11 @@ function checkDirty(obj) [model,fe] = RigidBodyWing.parseURDFNode(model,robotnum,elnode,options); end + elnode = node.getElementsByTagName('control_surface').item(0); + if ~isempty(elnode) + [model,fe] = RigidBodyControlSurface.parseURDFNode(model,robotnum,elnode,options); + end + elnode = node.getElementsByTagName('thrust').item(0); if ~isempty(elnode) [model,fe] = RigidBodyThrust.parseURDFNode(model,robotnum,elnode,options); From 7b6cfc57504972ca07935eedb357cbde0eb290fe Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Wed, 20 Aug 2014 17:58:28 -0400 Subject: [PATCH 006/271] Adds RigidBodySubWing class and manages the transition smoothly. --- .../@RigidBodySubWing/RigidBodySubWing.m | 551 +++++++++++++++++ systems/plants/@RigidBodyWing/RigidBodyWing.m | 582 ++---------------- 2 files changed, 618 insertions(+), 515 deletions(-) create mode 100644 systems/plants/@RigidBodySubWing/RigidBodySubWing.m diff --git a/systems/plants/@RigidBodySubWing/RigidBodySubWing.m b/systems/plants/@RigidBodySubWing/RigidBodySubWing.m new file mode 100644 index 000000000000..4122ee64f653 --- /dev/null +++ b/systems/plants/@RigidBodySubWing/RigidBodySubWing.m @@ -0,0 +1,551 @@ +classdef RigidBodySubWing < RigidBodyForceElement + % This class implements all of the details for RigidBodyWing. It is + % considered a sub-wing because all RigidBodyWings in Drake are + % containers for sub-wings, allowing one wing to be made up of multiple + % parts. + % + % Having multiple parts in one wing allows for simulation of a wing with + % control surface(s) by splitting up in the wing. + + properties + kinframe; % index to RigidBodyFrame + fCl % PPTrajectories (splines) representing the *dimensional* coefficients + fCd % with fCl = 1/2 rho*S*Cl, etc. (S=area) + fCm + dfCl + dfCd + dfCm + area + %Air density for 20 degC dry air, at sea level + rho = 1.204; + end + + methods + function obj = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity) + %calls AVL and XFOIL over different angles of attack at the + %given velocity, generates first order polynomials of the CL, + %CD, and pitch moments of the wing. The axes for use in DRAKE are: + % X = forward, in the usual direction of travel + % Y = out the left side of the wing + % Z = up + % Note: an sign inversion is needed for the moment coefficient, as a + % positive pitching moment from AVL/XFOIL represents a pitch up, but + % a positive y-axis rotation represents a pitch down. + % @param frame_id = RigidBodyFrame specifying the location (and + % orientation) of the quarter-chord of the airfoil and the body which + % is it mounted on. + % @param profile = Profile can either be a: + % -NACA airfoil designation starting with 'NACA' + % -File location of a .dat file generated by xfoil + % -File location of a .mat file which contains the + % variables 'CLSpline', 'CDSpline', 'CMSpline' + % -the words 'flat plate' + % @param chord = the chord of the wing (meters) + % @param span = the wing span (width) of the wing (meters) + % @param stallAngle = user-defined angle at which the wing + % stalls (degrees). The negative of the stall angle + % is used for AoA<0, even though airfoils do not stall + % at exactly the same abs(AoA). + % @param velocity = the approximate operating velocity of the wing. + % Needed to pass in the correct Reynolds and Mach numbers to the + % to the numerical solvers to generate appropriate CL and CD + % splines. + % + %TODO: + % Implement some values for post-stall CMs + % i.e. at 90 degrees aoa, the center of pressure should be + % at the half chord. + % use variables for path to xfoil and AVL + % + + typecheck(frame_id,'numeric'); + obj.kinframe = frame_id; + linux = isunix(); + obj.area = chord*span; + mach = velocity/341; % mach 1 at sea level is about 341 m/s + %Reynolds number calculation for 10 deg C and sea level + Re = velocity*chord/.0000144; + profile = deblank(profile); + disp('Constructing a new airfoil'); + setEnvVars(); + if strcmpi(profile(end-3:end), '.mat') + load(profile, 'CLSpline', 'CDSpline', 'CMSpline') + obj.fCl = CLSpline; + obj.fCd = CDSpline; + obj.fCm = CMSpline; + elseif strcmpi(profile, 'flat plate') + flatplate() + else % not flat plate. I.e. its either a NACA or .dat file + if strcmp(profile(1:4),'NACA') + profile = strtrim(profile(5:end)); + avlprofile = strcat('NACA', '\n', profile); + xfoilprofile = strcat('NACA ', profile); + elseif strcmpi(profile(end-3:end), '.dat') %Path to a .dat file + if ~exist(profile) + error('Cannot find wing input .dat file. Please check file path') + end + % xfoil cannot handle long filenames (see bug 1734), so + % copy the profile to the tmp directory and call that instead. + % yuck. + [~,filename,fileext] = fileparts(profile); + copyfile(which(profile),fullfile(tempdir,[filename,fileext])); + profile = fullfile(tempdir,[filename,fileext]); + + avlprofile = strcat('AFILE', '\n', profile); + xfoilprofile = strcat('LOAD', '\n', profile); + else + err = MException('InputType:NotSupported', 'Input profile not supported. (.dat, .m, NACA, flat plate)'); + throw(err); + end + %{ + Reads in template avl files defining the geometry of the wing and the run + profile (airspeed, AoA). Then replaces the appropriate fields in the + Template files with the correct numbers. + The .0001 additions are to avoid repeated angles. + %} + angles = -stallAngle:stallAngle/12:(stallAngle-.0001); + AoAs = []; + CLs = []; + CDs = []; + CMs = []; + runAvl(); + runXfoil(); + %at this point the laminar regime is done. Now a flat + %plate approximation is added on from -90 degrees to + %-stall, and then from stall to +90 degrees + disp('Laminar regime complete. Adding post-stall points') + addPostStallPoints(); + makeSplines(); + revertEnvVars(); + end % if not a flat plate + + + function runAvl() + checkDependency('avl'); + avlpath = deblank(getCMakeParam('avl')); + + avlfile = fileread(which('avlblank.avl')); + avlfile = regexprep(avlfile, '\$airfoil', avlprofile); + avlfile = regexprep(avlfile, '\$span', sprintf('%.1f',span)); + avlfile = regexprep(avlfile, '\$chord', sprintf('%.1f',chord)); + avlfile = regexprep(avlfile, '\$area', sprintf('%.1f',obj.area)); + avlfile = regexprep(avlfile, '\$mach', sprintf('%.4f',mach)); + avlfile = regexprep(avlfile, '\$yle', sprintf('%.2f',span/2)); + avlfile = regexprep(avlfile, '\$Xorig', sprintf('%.2f',0)); + avlfile = regexprep(avlfile, '\$Yorig', sprintf('%.2f',0)); + avlfile = regexprep(avlfile, '\$Zorig', sprintf('%.2f',0)); + filename = tempname; + avlfilepath = [filename,'.avl']; + avlid = fopen(avlfilepath, 'w'); + fprintf(avlid, avlfile); + fclose(avlid); + + %writes the case-specific files avl requires to run + runfilepath = [filename,'.run']; + runid = fopen(runfilepath, 'w'); + commandfilepath = [filename,'_command.txt']; + avlcommandfile = fopen(commandfilepath, 'w'); + avlresultsloc = [filename,'_results.txt']; + if ~linux %because windows file paths use backslashes. + avlresultsloc = regexprep(avlresultsloc, '\\', '\\\\'); + end + avlcommandstring = sprintf('OPER\nX\nW\n%s\n', avlresultsloc); + runfiletemplate = fileread(which('avlblank.run')); + for x = 1:length(angles) + runfile = regexprep(runfiletemplate, '\$casenum', sprintf('%d',x)); + runfile = regexprep(runfile, '\$alpha', sprintf('%.2f',angles(x))); + runfile = regexprep(runfile, '\$mach', sprintf('%.1f',mach)); + runfile = regexprep(runfile, '\$vel', sprintf('%.1f',velocity)); + runfile = regexprep(runfile, '\$span', sprintf('%.1f',span)); + fprintf(runid, runfile); + if x ~=1 % case 1 is already taken care of above. Need to do this way to get the output filename correct + avlcommandstring = [avlcommandstring, sprintf('%d\nX\nW\n\n', x)]; + end + end + avlcommandstring = [avlcommandstring, sprintf('\nquit')]; + fprintf(avlcommandfile, avlcommandstring); + fclose(avlcommandfile); + fclose(runid); + + disp('Running AVL...'); + % runs AVL. This generates results.txt, which CL, Cm, and part of CD is + % extracted from. + try + commandstring = sprintf('%s %s %s < %s > %s', avlpath, avlfilepath, runfilepath, commandfilepath, [filename,'_screen_output.txt']); + result = systemWCMakeEnv(commandstring); + catch E + disp('Error running AVL. Switching to Flat Plate. Results likely inaccurate') + flatplate() + return + end + if result ~= 0 || ~ exist(avlresultsloc, 'file');%if AVL didn't execute properly + warning('Error running AVL. The system() call did not execute properly. Switching to Flat Plate. Results likely inaccurate') + flatplate() + return + end + % disp('Processing AVL output...') + avlresult = fileread(avlresultsloc); + AoAindices = strfind(avlresult, 'Alpha ='); + AoAindices = AoAindices + 8; + for x = 1:length(AoAindices) + AoAs = [AoAs str2double(avlresult(AoAindices(x):AoAindices(x)+6))]; + end + CLindices = strfind(avlresult, 'CLtot ='); + CLindices = CLindices + 8; + for x = 1:length(CLindices) + CLs = [CLs str2double(avlresult(CLindices(x):CLindices(x)+6))]; + end + CDindices = strfind(avlresult, 'CDtot ='); + CDindices = CDindices + 8; + for x = 1:length(CDindices) + CDs = [CDs str2double(avlresult(CDindices(x):CDindices(x)+6))]; + end + Cmindices = strfind(avlresult, 'Cmtot ='); + Cmindices = Cmindices + 8; + for x = 1:length(Cmindices) + CMs = [CMs str2double(avlresult(Cmindices(x):Cmindices(x)+6))]; + end + end %runAvl() + + + function runXfoil() + checkDependency('xfoil'); + xfoilpath = deblank(getCMakeParam('xfoil')); + + % Reads template Xfoil commands file and fills in appropriate values + xfoilfile = fileread(which('xfoilblank.txt')); + filename = tempname; + polarLoc = [tempname,'_polar.txt']; + if ~linux %because Windows. + polarLoc = regexprep(polarLoc, '\\', '\\\\\\\\'); + end + xfoilfile = regexprep(xfoilfile, '\$airfoil', xfoilprofile); + xfoilfile = regexprep(xfoilfile, '\$re', sprintf('%.2f',Re)); + xfoilfile = regexprep(xfoilfile, '\$mach', sprintf('%.4f',mach)); + xfoilfile = regexprep(xfoilfile, '\$negStallAngle', sprintf('%.1f',-stallAngle)); + xfoilfile = regexprep(xfoilfile, '\$stallAngle', sprintf('%.1f',stallAngle)); + xfoilfile = regexprep(xfoilfile, '\$polarLocation', polarLoc); + commandfile = [filename,'_commands.txt']; + xfoilid = fopen(commandfile, 'w'); + fprintf(xfoilid, xfoilfile); + fclose(xfoilid); + %runs Xfoil. + disp('Running XFOIL...') + try + commandstring = sprintf('%s < %s > %s', xfoilpath, commandfile, [filename,'_screen_output.txt']); + result = systemWCMakeEnv(commandstring); + + % disp('Processing Xfoil output') + xfoilresult = fopen(polarLoc); + xfoillines = textscan(xfoilresult, '%[^\r\n]'); + fclose(xfoilresult); + %Strips down the output so its just a list of the alpha, + %CL, CD, CDp, CM numbers from xfoil. The while loop should run + %~6 times + xfoillines = xfoillines{1}(1:end); + while ~strcmp(xfoillines{1}(1:5), '-----') + xfoillines = xfoillines(2:end); + end + xfoillines = xfoillines(2:end); + catch E + disp('Warning: Error in running XFOIL. Drag forces pre-stall are likely underestimated. Check the location of your wing data file?') + addPostStallPoints() + makeSplines() + return + end + if result ~= 0 %if XFOIL didn't execute properly + disp('Warning: Error in running XFOIL. Drag forces pre-stall are likely underestimated') + addPostStallPoints() + makeSplines() + return + end + + Cds = []; + Cls = []; + alphas = []; + for x = 1:length(xfoillines) + currline = textscan(xfoillines{x}, '%f'); + currline = currline{1}; + alphas = [alphas currline(1)]; + Cls = [Cls currline(2)]; + Cds = [Cds currline(3)]; + end + %{ + xfoil runs from 0 to negstallangle, then resets and runs + from 0 to stallangle to promote convergence of solutions. + (If it started at negstallangle, it may not converge if + the wing is stalled, so it starts from 0 and works its way + outwards.) This creates improper ordering of the output + file, which these next four lines take care of. + reorders the matricies from -stallangle to stallangle + %} + + [~,pivot] = max(diff(alphas)); + %Xfoil on my lab machine would have two zero data points, which would + %break spline generation. If there are two zeros, then skip the + %second one. I'm not sure why this happens. Something in the + %Xfoil install? --Tim + if length(find(alphas==0))==2 + inc = 2; + else + inc = 1; + end + alphas = [fliplr(alphas(1:pivot)) alphas(pivot+inc:end)]; + Cls = [fliplr(Cls(1:pivot)) Cls(pivot+inc:end)]; + Cds = [fliplr(Cds(1:pivot)) Cds(pivot+inc:end)]; + [~, maxloc] = max(Cls); + if alphas(maxloc)+1 < stallAngle + disp('Warning: Wing stall detected earlier than the user-specified stall') + end + xfoilspline = spline(alphas, Cds); + %Add the xfoil Cd to the AVL Cd + try + for x = 1:length(AoAs) + CDs(x) = CDs(x) + ppval(xfoilspline, AoAs(x)); + end + catch E + disp('Warning: Error in matching up XFOIL Cds. Drag forces are likely underestimated') + end + %output piped to a file to avoid cluttering + %Matlab's screen output + delete(fullfile(tempdir,'xfoilCMDoutput.txt')); + end %runXfoil() + + + function addPostStallPoints() + postStallAngles = stallAngle+2:2:180; + postStallCLs = 2*sind(postStallAngles).*cosd(postStallAngles); + postStallCDs = 2*sind(postStallAngles).^2; + postStallCMs = -2*postStallAngles./(90*4); + AoAs = [-fliplr(postStallAngles) AoAs postStallAngles]; + CLs = [-fliplr(postStallCLs) CLs postStallCLs]; + CDs = [fliplr(postStallCDs) CDs postStallCDs]; + CMs = [-fliplr(postStallCMs) CMs postStallCMs]; + end + + + function flatplate() + disp('Using a flat plate airfoil.') + laminarpts = 30; + angles = [-180:2:-(stallAngle+.0001) -stallAngle:2*stallAngle/laminarpts:(stallAngle-.0001) stallAngle:2:180]; + %CMangles is used to make the Moment coefficient zero when the wing + %is not stalled + CMangles = [-180:2:-(stallAngle+.0001) zeros(1,laminarpts) stallAngle:2:180]; + obj.fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*chord/4); + obj.fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); + obj.fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); + end + + + function makeSplines() + %Dimensionalized splines, such that you only need to + %multiply by vel^2. Lift = .5*Cl*rho*area*vel^2 + obj.fCl = spline(AoAs, .5*CLs*obj.rho*obj.area); + obj.fCd = spline(AoAs, .5*CDs*obj.rho*obj.area); + obj.fCm = spline(AoAs, .5*CMs*obj.rho*obj.area*chord); + disp('Aerodynamic Splines Finished') + end + + + %These are needed in order to make avl and xfoil run correctly. Not + %entirely sure what the underlying problem is, but this was the + %workaround from mathworks.com. + function setEnvVars() + setenv('GFORTRAN_STDIN_UNIT', '5') + setenv('GFORTRAN_STDOUT_UNIT', '6') + setenv('GFORTRAN_STDERR_UNIT', '0') + end %setEnvVars() + + + function revertEnvVars() + setenv('GFORTRAN_STDIN_UNIT', '-1') + setenv('GFORTRAN_STDOUT_UNIT', '-1') + setenv('GFORTRAN_STDERR_UNIT', '-1') + end %revertEnvVars() + + % convert the splines to PPTrajectory, allowing + % for fasteval improving performance a lot + obj.fCm = PPTrajectory(obj.fCm); + obj.fCl = PPTrajectory(obj.fCl); + obj.fCd = PPTrajectory(obj.fCd); + obj.dfCm = obj.fCm.fnder(1); + obj.dfCl = obj.fCl.fnder(1); + obj.dfCd = obj.fCd.fnder(1); + + end %constructor + + + function [force, dforce] = computeSpatialForce(obj,manip,q,qd) + nq = size(q,1); + frame = getFrame(manip,obj.kinframe); + + if (nargout>1) + kinsol = doKinematics(manip,q,true,true,qd); + [~,J] = forwardKin(manip,kinsol,obj.kinframe,zeros(3,1)); + Jdot = forwardJacDot(manip,kinsol,obj.kinframe,zeros(3,1)); + wingvel_world = J*qd; % assume still air. Air flow over the wing + dwingvel_worlddq = Jdot; + dwingvel_worlddqd = J; + else + kinsol = doKinematics(manip,q); + [~,J] = forwardKin(manip,kinsol,obj.kinframe,zeros(3,1)); + wingvel_world = J*qd; % assume still air. Air flow over the wing + end + + % Implementation note: for homogenous transforms, I could do the following + % vector transforms more efficiently. forwardKin is adding a 1 on + % the end of every pt for the homogenous coordinates. it would be + % equivalent, cleaner, and more efficient, to just add a zero on the + % end instead of the 1... because for homogeneous transform matrix + % T we have: + % T * [x;1] - T * [0;1] = T * [x;0] + % but I made this change everywhere and decided it was more important + % to keep the interface to the forwardKin method clean instead of + % polluting it (and bodyKin, and the mex files, ...) with an extra + % input/option for "vectors_not_points". + + %project this onto the XZ plane of the wing (ignores sideslip) + if (nargout>1) + [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,obj.kinframe,[0 0; 1 0; 0 0]); + wingYunit = wingYunit(:,1)-wingYunit(:,2); + dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:); + dwingYunitdqd = zeros(3,nq); + else + wingYunit = forwardKin(manip,kinsol,obj.kinframe,[0 0; 1 0; 0 0]); + wingYunit = wingYunit(:,1)-wingYunit(:,2); + end + + sideslip = wingvel_world'*wingYunit; + if (nargout>1) + dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world'*dwingYunitdq; + dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world'*dwingYunitdqd; + end + + wingvel_world = wingvel_world - sideslip*wingYunit; + if (nargout>1) + dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq; + dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd; + end + + if (nargout>1) + [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,obj.kinframe,[wingvel_world,zeros(3,1)]); + wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); + wingvel_relJ = wingvel_relJ(1:3,:)-wingvel_relJ(4:6,:); + wingvel_relP = wingvel_relP(1:3,:)-wingvel_relP(4:6,:); + dwingvel_reldq = wingvel_relJ+wingvel_relP(:,1:3)*dwingvel_worlddq; + dwingvel_reldqd = wingvel_relP(:,1:3)*dwingvel_worlddqd; + else + wingvel_rel = bodyKin(manip,kinsol,obj.kinframe,[wingvel_world,zeros(3,1)]); + wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); + end + + airspeed = norm(wingvel_world); + if (nargout>1) + dairspeeddq = (wingvel_world'*dwingvel_worlddq)/norm(wingvel_world); + dairspeeddqd = (wingvel_world'*dwingvel_worlddqd)/norm(wingvel_world); + end + + aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1)); + if (nargout>1) + daoadq = -(180/pi)*(wingvel_rel(1)*dwingvel_reldq(3,:)-wingvel_rel(3)*dwingvel_reldq(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); + daoadqd = -(180/pi)*(wingvel_rel(1)*dwingvel_reldqd(3,:)-wingvel_rel(3)*dwingvel_reldqd(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); + end + + %lift and drag are the forces on the body in the world frame. + %cross(wingXZvelocity, wingYunit) rotates it by 90 degrees + if (nargout>1) + [CL, CD, CM, dCL, dCD, dCM] = obj.coeffs(aoa); + dCLdq = dCL*daoadq; + dCDdq = dCD*daoadq; + dCMdq = dCM*daoadq; + dCLdqd = dCL*daoadqd; + dCDdqd = dCD*daoadqd; + dCMdqd = dCM*daoadqd; + else + [CL, CD, CM] = obj.coeffs(aoa); + end + + x_wingvel_world_wingYunit = cross(wingvel_world, wingYunit); + if (nargout>1) + dx_wingvel_world_wingYunitdq = cross(dwingvel_worlddq, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world,1,nq), dwingYunitdq, 1); + dx_wingvel_world_wingYunitdqd = cross(dwingvel_worlddqd, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world,1,nq), dwingYunitdqd, 1); + end + lift_world = CL*airspeed*x_wingvel_world_wingYunit; + drag_world = CD*airspeed*(-wingvel_world); + torque_world = -CM*airspeed*airspeed*wingYunit; + if (nargout>1) + dlift_worlddq = x_wingvel_world_wingYunit*airspeed*dCLdq + x_wingvel_world_wingYunit*CL*dairspeeddq + CL*airspeed*dx_wingvel_world_wingYunitdq; + dlift_worlddqd = x_wingvel_world_wingYunit*airspeed*dCLdqd + x_wingvel_world_wingYunit*CL*dairspeeddqd + CL*airspeed*dx_wingvel_world_wingYunitdqd; + ddrag_worlddq = airspeed*-wingvel_world*dCDdq + CD*(-wingvel_world*dairspeeddq) + CD*airspeed*-dwingvel_worlddq; + ddrag_worlddqd = airspeed*-wingvel_world*dCDdqd + CD*(-wingvel_world*dairspeeddqd) + CD*airspeed*-dwingvel_worlddqd; + dtorque_worlddq = -airspeed*airspeed*wingYunit*dCMdq + -CM*2*airspeed*(wingYunit*dairspeeddq) + -CM*airspeed*airspeed*dwingYunitdq; + dtorque_worlddqd = -airspeed*airspeed*wingYunit*dCMdqd + -CM*2*airspeed*(wingYunit*dairspeeddqd); + end + + % convert torque to joint frame (featherstone dynamics algorithm never reasons in body coordinates) + if (nargout>1) + [torque_body, torque_bodyJ, torque_bodyP] = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); + torque_body = torque_body(:,1)-torque_body(:,2); + torque_bodyJ = torque_bodyJ(1:3,:)-torque_bodyJ(4:6,:); + torque_bodyP = torque_bodyP(1:3,:)-torque_bodyP(4:6,:); + dtorque_bodydq = torque_bodyJ+torque_bodyP(1:3,1:3)*dtorque_worlddq; + dtorque_bodydqd = torque_bodyP(1:3,1:3)*dtorque_worlddqd; + else + torque_body = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); + torque_body = torque_body(:,1)-torque_body(:,2); + end + + torque_joint = manip.body(frame.body_ind).X_joint_to_body'*[torque_body;0;0;0]; + if (nargout>1) + dtorque_jointdq = manip.body(frame.body_ind).X_joint_to_body'*[dtorque_bodydq;zeros(3,nq)]; + dtorque_jointdqd = manip.body(frame.body_ind).X_joint_to_body'*[dtorque_bodydqd;zeros(3,nq)]; + end + + %inputs of point (body coordinates), and force (world coordinates) + %returns [torque; xforce; yforce] in the body coordinates + %obj.body.dofnum should have 6 elements for + %linkID = manip.findLinkInd(obj.body.linkname, 0); + if (nargout>1) + [f,fJ,fP] = cartesianForceToSpatialForce(manip, kinsol, frame.body_ind, frame.T(1:3,4),lift_world+drag_world); + dfdq = fJ+fP*(dlift_worlddq+ddrag_worlddq); + dfdqd = fP*(dlift_worlddqd+ddrag_worlddqd); + else + f = cartesianForceToSpatialForce(manip, kinsol, frame.body_ind, frame.T(1:3,4),lift_world+drag_world); + end + + body_force = torque_joint + f; + if (nargout>1) + dbody_forcedq = dtorque_jointdq + dfdq; + dbody_forcedqd = dtorque_jointdqd + dfdqd; + end + + force = sparse(6,getNumBodies(manip))*q(1); % q(1) is for taylorvar + force(:,frame.body_ind) = body_force; + if (nargout>1) + dforce = sparse(numel(force),2*nq); + dforce((frame.body_ind-1)*6+1:frame.body_ind*6,:) = [dbody_forcedq,dbody_forcedqd]; + dforce = reshape(dforce,6,[]); + end + + end + + function [CL, CD, CM, dCL, dCD, dCM] = coeffs(obj, aoa) + %returns dimensionalized coefficient of lift, drag, and pitch moment for a + %given angle of attack + CL = obj.fCl.eval(aoa); + CD = obj.fCd.eval(aoa); + CM = obj.fCm.eval(aoa); + if (nargout>3) + dCL = obj.dfCl.eval(aoa); + dCD = obj.dfCd.eval(aoa); + dCM = obj.dfCm.eval(aoa); + end + end + + end + + methods (Static) + + end + +end diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index c2ee6ede1f61..8f80e8983308 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -1,524 +1,62 @@ classdef RigidBodyWing < RigidBodyForceElement - + % RigidBodyWing is a container class for one or more RigidBodySubWing's. + % This allows us to handle wings with control surfaces as multiple + % smaller parts of a wing. + % + % On initialization, we create the appropriate RigidBodySubWing objects. + properties - kinframe; % index to RigidBodyFrame - fCl % PPTrajectories (splines) representing the *dimensional* coefficients - fCd % with fCl = 1/2 rho*S*Cl, etc. (S=area) - fCm - dfCl - dfCd - dfCm - area - %Air density for 20 degC dry air, at sea level - rho = 1.204; + + subwings; + end + methods function obj = RigidBodyWing(frame_id, profile, chord, span, stallAngle, velocity) - %calls AVL and XFOIL over different angles of attack at the - %given velocity, generates first order polynomials of the CL, - %CD, and pitch moments of the wing. The axes for use in DRAKE are: - % X = forward, in the usual direction of travel - % Y = out the left side of the wing - % Z = up - % Note: an sign inversion is needed for the moment coefficient, as a - % positive pitching moment from AVL/XFOIL represents a pitch up, but - % a positive y-axis rotation represents a pitch down. - % @param frame_id = RigidBodyFrame specifying the location (and - % orientation) of the quarter-chord of the airfoil and the body which - % is it mounted on. - % @param profile = Profile can either be a: - % -NACA airfoil designation starting with 'NACA' - % -File location of a .dat file generated by xfoil - % -File location of a .mat file which contains the - % variables 'CLSpline', 'CDSpline', 'CMSpline' - % -the words 'flat plate' - % @param chord = the chord of the wing (meters) - % @param span = the wing span (width) of the wing (meters) - % @param stallAngle = user-defined angle at which the wing - % stalls (degrees). The negative of the stall angle - % is used for AoA<0, even though airfoils do not stall - % at exactly the same abs(AoA). - % @param velocity = the approximate operating velocity of the wing. - % Needed to pass in the correct Reynolds and Mach numbers to the - % to the numerical solvers to generate appropriate CL and CD - % splines. - % - %TODO: - % Implement some values for post-stall CMs - % i.e. at 90 degrees aoa, the center of pressure should be - % at the half chord. - % use variables for path to xfoil and AVL - % - - typecheck(frame_id,'numeric'); - obj.kinframe = frame_id; - linux = isunix(); - obj.area = chord*span; - mach = velocity/341; - %Reynolds number calculation for 10 deg C and sea level - Re = velocity*chord/.0000144; - profile = deblank(profile); - disp('Constructing a new airfoil'); - setEnvVars(); - if strcmpi(profile(end-3:end), '.mat') - load(profile, 'CLSpline', 'CDSpline', 'CMSpline') - obj.fCl = CLSpline; - obj.fCd = CDSpline; - obj.fCm = CMSpline; - elseif strcmpi(profile, 'flat plate') - flatplate() - else % not flat plate. I.e. its either a NACA or .dat file - if strcmp(profile(1:4),'NACA') - profile = strtrim(profile(5:end)); - avlprofile = strcat('NACA', '\n', profile); - xfoilprofile = strcat('NACA ', profile); - elseif strcmpi(profile(end-3:end), '.dat') %Path to a .dat file - if ~exist(profile) - error('Cannot find wing input .dat file. Please check file path') - end - % xfoil cannot handle long filenames (see bug 1734), so - % copy the profile to the tmp directory and call that instead. - % yuck. - [~,filename,fileext] = fileparts(profile); - copyfile(which(profile),fullfile(tempdir,[filename,fileext])); - profile = fullfile(tempdir,[filename,fileext]); - - avlprofile = strcat('AFILE', '\n', profile); - xfoilprofile = strcat('LOAD', '\n', profile); - else - err = MException('InputType:NotSupported', 'Input profile not supported. (.dat, .m, NACA, flat plate)'); - throw(err); - end - %{ - Reads in template avl files defining the geometry of the wing and the run - profile (airspeed, AoA). Then replaces the appropriate fields in the - Template files with the correct numbers. - The .0001 additions are to avoid repeated angles. - %} - angles = -stallAngle:stallAngle/12:(stallAngle-.0001); - AoAs = []; - CLs = []; - CDs = []; - CMs = []; - runAvl(); - runXfoil(); - %at this point the laminar regime is done. Now a flat - %plate approximation is added on from -90 degrees to - %-stall, and then from stall to +90 degrees - disp('Laminar regime complete. Adding post-stall points') - addPostStallPoints(); - makeSplines(); - revertEnvVars(); - end % if not a flat plate - function runAvl() - checkDependency('avl'); - avlpath = deblank(getCMakeParam('avl')); - - avlfile = fileread(which('avlblank.avl')); - avlfile = regexprep(avlfile, '\$airfoil', avlprofile); - avlfile = regexprep(avlfile, '\$span', sprintf('%.1f',span)); - avlfile = regexprep(avlfile, '\$chord', sprintf('%.1f',chord)); - avlfile = regexprep(avlfile, '\$area', sprintf('%.1f',obj.area)); - avlfile = regexprep(avlfile, '\$mach', sprintf('%.4f',mach)); - avlfile = regexprep(avlfile, '\$yle', sprintf('%.2f',span/2)); - avlfile = regexprep(avlfile, '\$Xorig', sprintf('%.2f',0)); - avlfile = regexprep(avlfile, '\$Yorig', sprintf('%.2f',0)); - avlfile = regexprep(avlfile, '\$Zorig', sprintf('%.2f',0)); - filename = tempname; - avlfilepath = [filename,'.avl']; - avlid = fopen(avlfilepath, 'w'); - fprintf(avlid, avlfile); - fclose(avlid); + % This constructor supports no arguments or the arguments above. + % Given the parameters above, we create one RigidBodySubWing with the + % parameters described there. + + if nargin > 0 + + thisWing = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity); + + obj.subwings(end) = thisWing; - %writes the case-specific files avl requires to run - runfilepath = [filename,'.run']; - runid = fopen(runfilepath, 'w'); - commandfilepath = [filename,'_command.txt']; - avlcommandfile = fopen(commandfilepath, 'w'); - avlresultsloc = [filename,'_results.txt']; - if ~linux %because windows file paths use backslashes. - avlresultsloc = regexprep(avlresultsloc, '\\', '\\\\'); - end - avlcommandstring = sprintf('OPER\nX\nW\n%s\n', avlresultsloc); - runfiletemplate = fileread(which('avlblank.run')); - for x = 1:length(angles) - runfile = regexprep(runfiletemplate, '\$casenum', sprintf('%d',x)); - runfile = regexprep(runfile, '\$alpha', sprintf('%.2f',angles(x))); - runfile = regexprep(runfile, '\$mach', sprintf('%.1f',mach)); - runfile = regexprep(runfile, '\$vel', sprintf('%.1f',velocity)); - runfile = regexprep(runfile, '\$span', sprintf('%.1f',span)); - fprintf(runid, runfile); - if x ~=1 % case 1 is already taken care of above. Need to do this way to get the output filename correct - avlcommandstring = [avlcommandstring, sprintf('%d\nX\nW\n\n', x)]; - end - end - avlcommandstring = [avlcommandstring, sprintf('\nquit')]; - fprintf(avlcommandfile, avlcommandstring); - fclose(avlcommandfile); - fclose(runid); + else + % with no arguments, this is probably the URDF constructor - disp('Running AVL...'); - % runs AVL. This generates results.txt, which CL, Cm, and part of CD is - % extracted from. - try - commandstring = sprintf('%s %s %s < %s > %s', avlpath, avlfilepath, runfilepath, commandfilepath, [filename,'_screen_output.txt']); - result = systemWCMakeEnv(commandstring); - catch E - disp('Error running AVL. Switching to Flat Plate. Results likely inaccurate') - flatplate() - return - end - if result ~= 0 || ~ exist(avlresultsloc, 'file');%if AVL didn't execute properly - warning('Error running AVL. The system() call did not execute properly. Switching to Flat Plate. Results likely inaccurate') - flatplate() - return - end - % disp('Processing AVL output...') - avlresult = fileread(avlresultsloc); - AoAindices = strfind(avlresult, 'Alpha ='); - AoAindices = AoAindices + 8; - for x = 1:length(AoAindices) - AoAs = [AoAs str2double(avlresult(AoAindices(x):AoAindices(x)+6))]; - end - CLindices = strfind(avlresult, 'CLtot ='); - CLindices = CLindices + 8; - for x = 1:length(CLindices) - CLs = [CLs str2double(avlresult(CLindices(x):CLindices(x)+6))]; - end - CDindices = strfind(avlresult, 'CDtot ='); - CDindices = CDindices + 8; - for x = 1:length(CDindices) - CDs = [CDs str2double(avlresult(CDindices(x):CDindices(x)+6))]; - end - Cmindices = strfind(avlresult, 'Cmtot ='); - Cmindices = Cmindices + 8; - for x = 1:length(Cmindices) - CMs = [CMs str2double(avlresult(Cmindices(x):Cmindices(x)+6))]; - end - end %runAvl() - function runXfoil() - checkDependency('xfoil'); - xfoilpath = deblank(getCMakeParam('xfoil')); + % no op - % Reads template Xfoil commands file and fills in appropriate values - xfoilfile = fileread(which('xfoilblank.txt')); - filename = tempname; - polarLoc = [tempname,'_polar.txt']; - if ~linux %because Windows. - polarLoc = regexprep(polarLoc, '\\', '\\\\\\\\'); - end - xfoilfile = regexprep(xfoilfile, '\$airfoil', xfoilprofile); - xfoilfile = regexprep(xfoilfile, '\$re', sprintf('%.2f',Re)); - xfoilfile = regexprep(xfoilfile, '\$mach', sprintf('%.4f',mach)); - xfoilfile = regexprep(xfoilfile, '\$negStallAngle', sprintf('%.1f',-stallAngle)); - xfoilfile = regexprep(xfoilfile, '\$stallAngle', sprintf('%.1f',stallAngle)); - xfoilfile = regexprep(xfoilfile, '\$polarLocation', polarLoc); - commandfile = [filename,'_commands.txt']; - xfoilid = fopen(commandfile, 'w'); - fprintf(xfoilid, xfoilfile); - fclose(xfoilid); - %runs Xfoil. - disp('Running XFOIL...') - try - commandstring = sprintf('%s < %s > %s', xfoilpath, commandfile, [filename,'_screen_output.txt']); - result = systemWCMakeEnv(commandstring); - - % disp('Processing Xfoil output') - xfoilresult = fopen(polarLoc); - xfoillines = textscan(xfoilresult, '%[^\r\n]'); - fclose(xfoilresult); - %Strips down the output so its just a list of the alpha, - %CL, CD, CDp, CM numbers from xfoil. The while loop should run - %~6 times - xfoillines = xfoillines{1}(1:end); - while ~strcmp(xfoillines{1}(1:5), '-----') - xfoillines = xfoillines(2:end); - end - xfoillines = xfoillines(2:end); - catch E - disp('Warning: Error in running XFOIL. Drag forces pre-stall are likely underestimated. Check the location of your wing data file?') - addPostStallPoints() - makeSplines() - return - end - if result ~= 0 %if XFOIL didn't execute properly - disp('Warning: Error in running XFOIL. Drag forces pre-stall are likely underestimated') - addPostStallPoints() - makeSplines() - return - end + end + end + + + function [force, dforce] = computeSpatialForce(obj,manip,q,qd) + % Calls the appropriate RigidBodySubWing.computeSpatialForce + % for all of the subwings, adds the results, and returns. + + if length(obj.subwings) < 1 + error('computeSpatialForce called with no subwings.'); + end + + for i = 1 : length(obj.subwings) - Cds = []; - Cls = []; - alphas = []; - for x = 1:length(xfoillines) - currline = textscan(xfoillines{x}, '%f'); - currline = currline{1}; - alphas = [alphas currline(1)]; - Cls = [Cls currline(2)]; - Cds = [Cds currline(3)]; - end - %{ - xfoil runs from 0 to negstallangle, then resets and runs - from 0 to stallangle to promote convergence of solutions. - (If it started at negstallangle, it may not converge if - the wing is stalled, so it starts from 0 and works its way - outwards.) This creates improper ordering of the output - file, which these next four lines take care of. - reorders the matricies from -stallangle to stallangle - %} + [this_force, this_dforce] = obj.subwings(i).computeSpatialForce(manip, q, qd); - [~,pivot] = max(diff(alphas)); - %Xfoil on my lab machine would have two zero data points, which would - %break spline generation. If there are two zeros, then skip the - %second one. I'm not sure why this happens. Something in the - %Xfoil install? --Tim - if length(find(alphas==0))==2 - inc = 2; + if i == 1 + force = this_force; + dforce = this_dforce; else - inc = 1; - end - alphas = [fliplr(alphas(1:pivot)) alphas(pivot+inc:end)]; - Cls = [fliplr(Cls(1:pivot)) Cls(pivot+inc:end)]; - Cds = [fliplr(Cds(1:pivot)) Cds(pivot+inc:end)]; - [~, maxloc] = max(Cls); - if alphas(maxloc)+1 < stallAngle - disp('Warning: Wing stall detected earlier than the user-specified stall') + force = force + this_force; + dforce = dforce + this_dforce; end - xfoilspline = spline(alphas, Cds); - %Add the xfoil Cd to the AVL Cd - try - for x = 1:length(AoAs) - CDs(x) = CDs(x) + ppval(xfoilspline, AoAs(x)); - end - catch E - disp('Warning: Error in matching up XFOIL Cds. Drag forces are likely underestimated') - end - %output piped to a file to avoid cluttering - %Matlab's screen output - delete(fullfile(tempdir,'xfoilCMDoutput.txt')); - end %runXfoil() - function addPostStallPoints() - postStallAngles = stallAngle+2:2:180; - postStallCLs = 2*sind(postStallAngles).*cosd(postStallAngles); - postStallCDs = 2*sind(postStallAngles).^2; - postStallCMs = -2*postStallAngles./(90*4); - AoAs = [-fliplr(postStallAngles) AoAs postStallAngles]; - CLs = [-fliplr(postStallCLs) CLs postStallCLs]; - CDs = [fliplr(postStallCDs) CDs postStallCDs]; - CMs = [-fliplr(postStallCMs) CMs postStallCMs]; - end - function flatplate() - disp('Using a flat plate airfoil.') - laminarpts = 30; - angles = [-180:2:-(stallAngle+.0001) -stallAngle:2*stallAngle/laminarpts:(stallAngle-.0001) stallAngle:2:180]; - %CMangles is used to make the Moment coefficient zero when the wing - %is not stalled - CMangles = [-180:2:-(stallAngle+.0001) zeros(1,laminarpts) stallAngle:2:180]; - obj.fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*chord/4); - obj.fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); - obj.fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); - end - function makeSplines() - %Dimensionalized splines, such that you only need to - %multiply by vel^2. Lift = .5*Cl*rho*area*vel^2 - obj.fCl = spline(AoAs, .5*CLs*obj.rho*obj.area); - obj.fCd = spline(AoAs, .5*CDs*obj.rho*obj.area); - obj.fCm = spline(AoAs, .5*CMs*obj.rho*obj.area*chord); - disp('Aerodynamic Splines Finished') - end - %These are needed in order to make avl and xfoil run correctly. Not - %entirely sure what the underlying problem is, but this was the - %workaround from mathworks.com. - function setEnvVars() - setenv('GFORTRAN_STDIN_UNIT', '5') - setenv('GFORTRAN_STDOUT_UNIT', '6') - setenv('GFORTRAN_STDERR_UNIT', '0') - end %setEnvVars() - function revertEnvVars() - setenv('GFORTRAN_STDIN_UNIT', '-1') - setenv('GFORTRAN_STDOUT_UNIT', '-1') - setenv('GFORTRAN_STDERR_UNIT', '-1') - end %revertEnvVars() - - % convert the splines to PPTrajectory, allowing - % for fasteval improving performance a lot - obj.fCm = PPTrajectory(obj.fCm); - obj.fCl = PPTrajectory(obj.fCl); - obj.fCd = PPTrajectory(obj.fCd); - obj.dfCm = obj.fCm.fnder(1); - obj.dfCl = obj.fCl.fnder(1); - obj.dfCd = obj.fCd.fnder(1); - - end %constructor - - function [force, dforce] = computeSpatialForce(obj,manip,q,qd) - nq = size(q,1); - frame = getFrame(manip,obj.kinframe); - - if (nargout>1) - kinsol = doKinematics(manip,q,true,true,qd); - [~,J] = forwardKin(manip,kinsol,obj.kinframe,zeros(3,1)); - Jdot = forwardJacDot(manip,kinsol,obj.kinframe,zeros(3,1)); - wingvel_world = J*qd; % assume still air. Air flow over the wing - dwingvel_worlddq = Jdot; - dwingvel_worlddqd = J; - else - kinsol = doKinematics(manip,q); - [~,J] = forwardKin(manip,kinsol,obj.kinframe,zeros(3,1)); - wingvel_world = J*qd; % assume still air. Air flow over the wing - end - - % Implementation note: for homogenous transforms, I could do the following - % vector transforms more efficiently. forwardKin is adding a 1 on - % the end of every pt for the homogenous coordinates. it would be - % equivalent, cleaner, and more efficient, to just add a zero on the - % end instead of the 1... because for homogeneous transform matrix - % T we have: - % T * [x;1] - T * [0;1] = T * [x;0] - % but I made this change everywhere and decided it was more important - % to keep the interface to the forwardKin method clean instead of - % polluting it (and bodyKin, and the mex files, ...) with an extra - % input/option for "vectors_not_points". - - %project this onto the XZ plane of the wing (ignores sideslip) - if (nargout>1) - [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,obj.kinframe,[0 0; 1 0; 0 0]); - wingYunit = wingYunit(:,1)-wingYunit(:,2); - dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:); - dwingYunitdqd = zeros(3,nq); - else - wingYunit = forwardKin(manip,kinsol,obj.kinframe,[0 0; 1 0; 0 0]); - wingYunit = wingYunit(:,1)-wingYunit(:,2); - end - - sideslip = wingvel_world'*wingYunit; - if (nargout>1) - dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world'*dwingYunitdq; - dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world'*dwingYunitdqd; - end - - wingvel_world = wingvel_world - sideslip*wingYunit; - if (nargout>1) - dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq; - dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd; - end - - if (nargout>1) - [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,obj.kinframe,[wingvel_world,zeros(3,1)]); - wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); - wingvel_relJ = wingvel_relJ(1:3,:)-wingvel_relJ(4:6,:); - wingvel_relP = wingvel_relP(1:3,:)-wingvel_relP(4:6,:); - dwingvel_reldq = wingvel_relJ+wingvel_relP(:,1:3)*dwingvel_worlddq; - dwingvel_reldqd = wingvel_relP(:,1:3)*dwingvel_worlddqd; - else - wingvel_rel = bodyKin(manip,kinsol,obj.kinframe,[wingvel_world,zeros(3,1)]); - wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); - end - - airspeed = norm(wingvel_world); - if (nargout>1) - dairspeeddq = (wingvel_world'*dwingvel_worlddq)/norm(wingvel_world); - dairspeeddqd = (wingvel_world'*dwingvel_worlddqd)/norm(wingvel_world); - end - - aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1)); - if (nargout>1) - daoadq = -(180/pi)*(wingvel_rel(1)*dwingvel_reldq(3,:)-wingvel_rel(3)*dwingvel_reldq(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); - daoadqd = -(180/pi)*(wingvel_rel(1)*dwingvel_reldqd(3,:)-wingvel_rel(3)*dwingvel_reldqd(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); - end - - %lift and drag are the forces on the body in the world frame. - %cross(wingXZvelocity, wingYunit) rotates it by 90 degrees - if (nargout>1) - [CL, CD, CM, dCL, dCD, dCM] = obj.coeffs(aoa); - dCLdq = dCL*daoadq; - dCDdq = dCD*daoadq; - dCMdq = dCM*daoadq; - dCLdqd = dCL*daoadqd; - dCDdqd = dCD*daoadqd; - dCMdqd = dCM*daoadqd; - else - [CL, CD, CM] = obj.coeffs(aoa); - end - - x_wingvel_world_wingYunit = cross(wingvel_world, wingYunit); - if (nargout>1) - dx_wingvel_world_wingYunitdq = cross(dwingvel_worlddq, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world,1,nq), dwingYunitdq, 1); - dx_wingvel_world_wingYunitdqd = cross(dwingvel_worlddqd, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world,1,nq), dwingYunitdqd, 1); - end - lift_world = CL*airspeed*x_wingvel_world_wingYunit; - drag_world = CD*airspeed*(-wingvel_world); - torque_world = -CM*airspeed*airspeed*wingYunit; - if (nargout>1) - dlift_worlddq = x_wingvel_world_wingYunit*airspeed*dCLdq + x_wingvel_world_wingYunit*CL*dairspeeddq + CL*airspeed*dx_wingvel_world_wingYunitdq; - dlift_worlddqd = x_wingvel_world_wingYunit*airspeed*dCLdqd + x_wingvel_world_wingYunit*CL*dairspeeddqd + CL*airspeed*dx_wingvel_world_wingYunitdqd; - ddrag_worlddq = airspeed*-wingvel_world*dCDdq + CD*(-wingvel_world*dairspeeddq) + CD*airspeed*-dwingvel_worlddq; - ddrag_worlddqd = airspeed*-wingvel_world*dCDdqd + CD*(-wingvel_world*dairspeeddqd) + CD*airspeed*-dwingvel_worlddqd; - dtorque_worlddq = -airspeed*airspeed*wingYunit*dCMdq + -CM*2*airspeed*(wingYunit*dairspeeddq) + -CM*airspeed*airspeed*dwingYunitdq; - dtorque_worlddqd = -airspeed*airspeed*wingYunit*dCMdqd + -CM*2*airspeed*(wingYunit*dairspeeddqd); - end - - % convert torque to joint frame (featherstone dynamics algorithm never reasons in body coordinates) - if (nargout>1) - [torque_body, torque_bodyJ, torque_bodyP] = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); - torque_body = torque_body(:,1)-torque_body(:,2); - torque_bodyJ = torque_bodyJ(1:3,:)-torque_bodyJ(4:6,:); - torque_bodyP = torque_bodyP(1:3,:)-torque_bodyP(4:6,:); - dtorque_bodydq = torque_bodyJ+torque_bodyP(1:3,1:3)*dtorque_worlddq; - dtorque_bodydqd = torque_bodyP(1:3,1:3)*dtorque_worlddqd; - else - torque_body = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); - torque_body = torque_body(:,1)-torque_body(:,2); - end - - torque_joint = manip.body(frame.body_ind).X_joint_to_body'*[torque_body;0;0;0]; - if (nargout>1) - dtorque_jointdq = manip.body(frame.body_ind).X_joint_to_body'*[dtorque_bodydq;zeros(3,nq)]; - dtorque_jointdqd = manip.body(frame.body_ind).X_joint_to_body'*[dtorque_bodydqd;zeros(3,nq)]; - end - - %inputs of point (body coordinates), and force (world coordinates) - %returns [torque; xforce; yforce] in the body coordinates - %obj.body.dofnum should have 6 elements for - %linkID = manip.findLinkInd(obj.body.linkname, 0); - if (nargout>1) - [f,fJ,fP] = cartesianForceToSpatialForce(manip, kinsol, frame.body_ind, frame.T(1:3,4),lift_world+drag_world); - dfdq = fJ+fP*(dlift_worlddq+ddrag_worlddq); - dfdqd = fP*(dlift_worlddqd+ddrag_worlddqd); - else - f = cartesianForceToSpatialForce(manip, kinsol, frame.body_ind, frame.T(1:3,4),lift_world+drag_world); - end - - body_force = torque_joint + f; - if (nargout>1) - dbody_forcedq = dtorque_jointdq + dfdq; - dbody_forcedqd = dtorque_jointdqd + dfdqd; - end - - force = sparse(6,getNumBodies(manip))*q(1); % q(1) is for taylorvar - force(:,frame.body_ind) = body_force; - if (nargout>1) - dforce = sparse(numel(force),2*nq); - dforce((frame.body_ind-1)*6+1:frame.body_ind*6,:) = [dbody_forcedq,dbody_forcedqd]; - dforce = reshape(dforce,6,[]); - end - - end - - function [CL, CD, CM, dCL, dCD, dCM] = coeffs(obj, aoa) - %returns dimensionalized coefficient of lift, drag, and pitch moment for a - %given angle of attack - CL = obj.fCl.eval(aoa); - CD = obj.fCd.eval(aoa); - CM = obj.fCm.eval(aoa); - if (nargout>3) - dCL = obj.dfCl.eval(aoa); - dCD = obj.dfCd.eval(aoa); - dCM = obj.dfCm.eval(aoa); + end + end + end @@ -543,15 +81,29 @@ function revertEnvVars() end [model,frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); - profile = char(node.getAttribute('profile')); - chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); - span = parseParamString(model,robotnum,char(node.getAttribute('span'))); - stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); - nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); - - obj = RigidBodyWing(frame_id, profile, chord, span, stall_angle, nominal_speed); - - obj.name = name; + % search for control surfaces + control_surface_nodes = node.getElementsByTagName('control_surface'); + + if isempty(control_surface_nodes.item(0)) + + profile = char(node.getAttribute('profile')); + chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); + span = parseParamString(model,robotnum,char(node.getAttribute('span'))); + stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); + nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); + + this_subwing = RigidBodySubWing(frame_id, profile, chord, span, stall_angle, nominal_speed); + obj = RigidBodyWing(); + obj.subwings = [obj.subwings this_subwing ]; + + else + % deal with control surfaces + + % TODO + + obj = RigidBodyWing(); + + end end end From 3b71494656b46d9deed08dc54925f2ab3a44cb97 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Wed, 20 Aug 2014 18:00:20 -0400 Subject: [PATCH 007/271] Removes control surface class that is not used right now. --- .../RigidBodyControlSurface.m | 30 ------------------- 1 file changed, 30 deletions(-) delete mode 100644 systems/plants/@RigidBodyControlSurface/RigidBodyControlSurface.m diff --git a/systems/plants/@RigidBodyControlSurface/RigidBodyControlSurface.m b/systems/plants/@RigidBodyControlSurface/RigidBodyControlSurface.m deleted file mode 100644 index fc52dc50619b..000000000000 --- a/systems/plants/@RigidBodyControlSurface/RigidBodyControlSurface.m +++ /dev/null @@ -1,30 +0,0 @@ -classdef RigidBodyControlSurface < RigidBodyWing - % Implements massless, position controlled control surfaces. This is an - % approximation of small aircraft control surfaces that assumes - % instantaneous response from the servo motor and control surface. - % - % It is useful because it can significantly reduce the number of states - % in a model by eliminating the states from aileron, elevator, or rudder - % position and velocity. - - properties - - end - - methods - function obj = RigidBodyControlSurface(frame_id, profile, chord, span, stallAngle, velocity) - %calls AVL and XFOIL over different angles of attack at the - %given velocity, generates first order polynomials of the CL, - %CD, and pitch moments of the wing. The axes for use in DRAKE are: - % X = forward, in the usual direction of travel - % Y = out th - - - - end - - - end - - -end \ No newline at end of file From 53922037a8e6bced69fcbfac430e42250c36c4db Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Wed, 20 Aug 2014 18:00:42 -0400 Subject: [PATCH 008/271] Documentation. --- systems/plants/RigidBodyForceElement.m | 3 +++ 1 file changed, 3 insertions(+) diff --git a/systems/plants/RigidBodyForceElement.m b/systems/plants/RigidBodyForceElement.m index c8f2325a2320..ffcc28cc7b81 100644 --- a/systems/plants/RigidBodyForceElement.m +++ b/systems/plants/RigidBodyForceElement.m @@ -23,6 +23,9 @@ methods (Static=true) function f = cartesianForceToSpatialForce(varargin); + % This method is deprecated. Use + % RigidBodyManipulator.cartesianForceToSpatialForce instead. + error('this method is deprecated. use RigidBodyManipulator.cartesianForceToSpatialForce instead'); end end From 7106466e8cbc7a7e81ada7c3a88363b65259cf53 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Wed, 20 Aug 2014 19:03:35 -0400 Subject: [PATCH 009/271] Adds control surface parsing and error checking. Does not yet implement real control surface work. --- .../RigidBodyManipulator.m | 5 -- systems/plants/@RigidBodyWing/RigidBodyWing.m | 78 ++++++++++++++++--- systems/plants/ControlSurface.m | 27 +++++++ 3 files changed, 95 insertions(+), 15 deletions(-) create mode 100644 systems/plants/ControlSurface.m diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index cadcdcc91f8d..4fcbfe263e07 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -2265,11 +2265,6 @@ function checkDirty(obj) [model,fe] = RigidBodyWing.parseURDFNode(model,robotnum,elnode,options); end - elnode = node.getElementsByTagName('control_surface').item(0); - if ~isempty(elnode) - [model,fe] = RigidBodyControlSurface.parseURDFNode(model,robotnum,elnode,options); - end - elnode = node.getElementsByTagName('thrust').item(0); if ~isempty(elnode) [model,fe] = RigidBodyThrust.parseURDFNode(model,robotnum,elnode,options); diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 8f80e8983308..269e7f21f201 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -8,6 +8,7 @@ properties subwings; + control_surfaces; end @@ -22,7 +23,7 @@ thisWing = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity); - obj.subwings(end) = thisWing; + obj.subwings = [ obj.subwings thisWing ]; else % with no arguments, this is probably the URDF constructor @@ -84,24 +85,81 @@ % search for control surfaces control_surface_nodes = node.getElementsByTagName('control_surface'); + obj = RigidBodyWing(); + + profile = char(node.getAttribute('profile')); + chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); + span = parseParamString(model,robotnum,char(node.getAttribute('span'))); + stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); + nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); + if isempty(control_surface_nodes.item(0)) + % no control surfaces - profile = char(node.getAttribute('profile')); - chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); - span = parseParamString(model,robotnum,char(node.getAttribute('span'))); - stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); - nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); - this_subwing = RigidBodySubWing(frame_id, profile, chord, span, stall_angle, nominal_speed); - obj = RigidBodyWing(); + obj.subwings = [obj.subwings this_subwing ]; else % deal with control surfaces - % TODO + % load control surface data + count = 0; + + this_surface = control_surface_nodes.item(count); + while ~isempty(this_surface) + + + surface_name = char(this_surface.getAttribute('name')); + surface_chord = parseParamString(model,robotnum,char(this_surface.getAttribute('chord'))); + surface_span = parseParamString(model,robotnum,char(this_surface.getAttribute('span'))); + surface_left_edge_position_along_wing = parseParamString(model,robotnum,char(this_surface.getAttribute('left_edge_position_along_wing'))); + + assert(surface_span > 0, ['Span must be > 0 on control surface "' surface_name '"']); + assert(surface_chord > 0, ['Chord must be > 0 on control surface "' surface_name '"']); + assert(surface_left_edge_position_along_wing >= 0, ['Left edge position must be >= 0 on control surface "' surface_name '"']); + + assert(surface_span + surface_left_edge_position_along_wing <= span, ['Control surface runs off the right end of the wing on surface "' surface_name '"']); + + for other_surface = obj.control_surfaces + if strcmp(other_surface.name, surface_name) + error(['Duplicate control surface name "' surface_name '"']); + end + end + + obj.control_surfaces = [ obj.control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing) ]; + + + + count = count + 1; + this_surface = control_surface_nodes.item(count); + + end + + % now we split the wing up into multiple segments that either + % contain one of the control surfaces or don't + + % do some sanity checks to make sure that the control surfaces do + % not overlap + for surface = obj.control_surfaces + for surface2 = obj.control_surfaces + + if ~strcmp(surface.name, surface2.name) + + left1 = surface.left_edge_position_along_wing; + right1 = left1 + surface.span; + + left2 = surface2.left_edge_position_along_wing; + + if (left1 < left2 && right1 > left2) + error(['Control surfaces "' surface.name '" and "' surface2.name '" overlap.']); + end + + end + end + end + - obj = RigidBodyWing(); end end diff --git a/systems/plants/ControlSurface.m b/systems/plants/ControlSurface.m new file mode 100644 index 000000000000..c585b1a66e99 --- /dev/null +++ b/systems/plants/ControlSurface.m @@ -0,0 +1,27 @@ +classdef ControlSurface + + properties + name; + chord; + span; + left_edge; + + + end + + + methods + + function obj = ControlSurface(name, chord, span, left_edge_position_along_wing) + obj.name = name; + obj.chord = chord; + obj.span = span; + obj.left_edge_position_along_wing = left_edge_position_along_wing; + + end + + end + + +end + \ No newline at end of file From 451e96065917208ed771d479cecfb006eb26404c Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 22 Aug 2014 16:28:47 -0400 Subject: [PATCH 010/271] Adds logic for building wings with control surfaces in different parts --- systems/plants/@RigidBodyWing/RigidBodyWing.m | 59 ++++++++++++++++++- systems/plants/ControlSurface.m | 2 +- 2 files changed, 58 insertions(+), 3 deletions(-) diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 269e7f21f201..ebcc64a3f546 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -8,6 +8,7 @@ properties subwings; + subwing_left_edges; control_surfaces; end @@ -99,6 +100,7 @@ this_subwing = RigidBodySubWing(frame_id, profile, chord, span, stall_angle, nominal_speed); obj.subwings = [obj.subwings this_subwing ]; + obj.subwing_left_edges = 0; else % deal with control surfaces @@ -128,8 +130,7 @@ end obj.control_surfaces = [ obj.control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing) ]; - - + count = count + 1; this_surface = control_surface_nodes.item(count); @@ -157,6 +158,60 @@ end end + end % end sanity checks + + % split the wing up starting from the left edge + + remaining_surfaces = obj.control_surfaces; + point_along_wing = 0; + + while (span - point_along_wing > 1e-6) % not always exactly less than + + % find the minimum value of the control surface left edges + min_left_edge_value = inf; + min_left_edge_index = -1; + + for i = 1 : length(remaining_surfaces) + % need a loop heree because min() doesn't support two matricies + % with two output arguments + if (remaining_surfaces(i).left_edge_position_along_wing < min_left_edge_value) + min_left_edge_value = remaining_surfaces(i).left_edge_position_along_wing; + min_left_edge_index = i; + end + end + + if (min_left_edge_value == point_along_wing) + % control surface starts at the left edge + + % span of this part of the wing is the span of the control + % surface + + this_surface = obj.control_surfaces(min_left_edge_index); + this_span = this_surface.span; + this_subwing = RigidBodySubWing(frame_id, profile, chord, this_span, stall_angle, nominal_speed); + + % remove this surface from consideration + remaining_surfaces(min_left_edge_index) = []; + + else + % make a non-control surfaced wing since the control surface + % does not start at the left edge + + if (min_left_edge_value == inf) + this_span = span - point_along_wing; + else + this_span = min_left_edge_value - point_along_wing; + end + + this_subwing = RigidBodySubWing(frame_id, profile, chord, this_span, stall_angle, nominal_speed); + end + + + obj.subwings = [ obj.subwings this_subwing ]; + obj.subwing_left_edges = [ obj.subwing_left_edges point_along_wing ]; + + point_along_wing = point_along_wing + this_span; + end diff --git a/systems/plants/ControlSurface.m b/systems/plants/ControlSurface.m index c585b1a66e99..5eb3a4ac8458 100644 --- a/systems/plants/ControlSurface.m +++ b/systems/plants/ControlSurface.m @@ -4,7 +4,7 @@ name; chord; span; - left_edge; + left_edge_position_along_wing; end From 1d7105e0fd4f51d5431ca8a67401ec4e0faf8f8e Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 22 Aug 2014 18:23:45 -0400 Subject: [PATCH 011/271] Adds beginnings of wing implementation with a control surface. --- .../@RigidBodySubWing/RigidBodySubWing.m | 2 + .../RigidBodySubWingWithControlSurface.m | 59 +++++++++++++++++++ systems/plants/@RigidBodyWing/RigidBodyWing.m | 14 +++-- 3 files changed, 69 insertions(+), 6 deletions(-) create mode 100644 systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m diff --git a/systems/plants/@RigidBodySubWing/RigidBodySubWing.m b/systems/plants/@RigidBodySubWing/RigidBodySubWing.m index 4122ee64f653..e4c6f92e3162 100644 --- a/systems/plants/@RigidBodySubWing/RigidBodySubWing.m +++ b/systems/plants/@RigidBodySubWing/RigidBodySubWing.m @@ -35,11 +35,13 @@ % orientation) of the quarter-chord of the airfoil and the body which % is it mounted on. % @param profile = Profile can either be a: + %
       %         -NACA airfoil designation starting with 'NACA'
       %         -File location of a .dat file generated by xfoil
       %         -File location of a .mat file which contains the
       %         variables 'CLSpline', 'CDSpline', 'CMSpline'
       %         -the words 'flat plate'
+      %         
% @param chord = the chord of the wing (meters) % @param span = the wing span (width) of the wing (meters) % @param stallAngle = user-defined angle at which the wing diff --git a/systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m b/systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m new file mode 100644 index 000000000000..bb46746a4519 --- /dev/null +++ b/systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m @@ -0,0 +1,59 @@ +classdef RigidBodySubWingWithControlSurface < RigidBodySubWing + % Implements functionality similar to RigidBodySubWing but with a + % control surface attached to the wing. + + properties + fCl; + fCd; + fCm; + chord; + span; + stall_angle; + end + + methods + + function obj = RigidBodySubWingWithControlSurface(frame_id, profile, chord, span, stall_angle, velocity, control_surface) + % Constructor taking similar arguments to RigidBodySubWing except + % with the addition of a ControlSurface + % + % @param control_surface a ControlSurface attached to this wing. + + typecheck(frame_id,'numeric'); + obj.kinframe = frame_id; + linux = isunix(); + obj.area = chord*span; + obj.chord = chord; + obj.span = span; + obj.stall_angle = stall_angle; + + % compute the coefficients for the flat plate + + [obj.fCl, obj.fCd, obj.fCm] = obj.flatplate(); + + + + end + + + function [fCl, fCd, fCm] = flatplate(obj) + disp('Using a flat plate airfoil with control surfaces.') + laminarpts = 30; + stallAngle = obj.stall_angle; + + angles = [-180:2:-(stallAngle+.0001) -stallAngle:2*stallAngle/laminarpts:(stallAngle-.0001) stallAngle:2:180]; + %CMangles is used to make the Moment coefficient zero when the wing + %is not stalled + CMangles = [-180:2:-(stallAngle+.0001) zeros(1,laminarpts) stallAngle:2:180]; + obj.fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*obj.chord/4); + obj.fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); + obj.fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); + + % TODO + end + + + end + + +end diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index ebcc64a3f546..ca68632a10bc 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -7,9 +7,11 @@ properties - subwings; - subwing_left_edges; - control_surfaces; + subwings; % array of RigidBodySubWing's that make up this wing + + subwing_left_edges; % sorted array of points along the wing denoting the left edge of each subwing. Index is the same as obj.subwings. + + control_surfaces; % array of control surfaces on this wing, sorted by order appearing in the URDF end @@ -27,7 +29,7 @@ obj.subwings = [ obj.subwings thisWing ]; else - % with no arguments, this is probably the URDF constructor + % with no arguments, we were probably called by the URDF constructor % no op @@ -51,8 +53,8 @@ force = this_force; dforce = this_dforce; else - force = force + this_force; - dforce = dforce + this_dforce; + error('not yet implemented'); + end end From 4bddb8731310291beb5a2f2ebeb8ac4c50c57104 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Sat, 23 Aug 2014 20:34:06 -0400 Subject: [PATCH 012/271] Works on implementation of flate plates with control surfaces. --- .../RigidBodySubWingWithControlSurface.m | 50 ++++++++++++++++++- 1 file changed, 49 insertions(+), 1 deletion(-) diff --git a/systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m b/systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m index bb46746a4519..d9bdbf196147 100644 --- a/systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m +++ b/systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m @@ -49,7 +49,55 @@ obj.fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); obj.fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); - % TODO + end + + function [ fCl, fCd, fCm ] = flatplate(obj, aoa, control_surface_angle_rad) + % Computes coefficients for a flat plate given angle of attack and + % the control surface offset in radians. + % + % @param aoa angle of attack of the wing (can be an array) + % @param control_surface_angle_rad angle of the control surface in + % radians. 0 is no deflection, positive deflection is upwards (if + % it was an elevator, it would be pitch up on the plane) + % can be an array. + % + % + % Lift force = \f$ \frac{1}{2} \rho v^2 \left( C_l(aoa) S + C_l(aoa+u) S_2 \right) \f$ + %
+      %   rho: air pressure
+      %   S: wing area
+      %   S2: control surface area
+      %   aoa: angle of attack
+      %   u: amount of deflection in radians from the control input
+      %   v: airspeed
+      % 
+ % + % See pages 34-35 of Cory10a. + % + % So here, we return \f$ \frac{1}{2}*\rho* (C_l(aoa) * S + C_l(aoa+u) * S_2) \f$ + % because then you can multiply by just \f$ v^2 \f$ to compute force. + % + % @retval fCl instantaneous life force divided by \f$ v^2 \f$ + % @retval Cd instantaneous coefficient of drag divided by \f$ v^2 \f$ + % @retval Cm instantaneous moment coefficient + + Cl = 2 * sin(aoa) * cos(aoa); + Cl_control_surface = 2 * sin(aoa + control_surface_angle_rad) * cos(aoa + control_surface_angle_rad); + + Cd = 2 * (sin(aoa)) ^ 2; + Cd_control_surface = 2 * (sin(aoa + control_surface_angle_rad)) ^ 2; + + control_surface_area = obj.control_surface.span * obj.control_surface.chord; + + fCl = 0.5 * obj.rho * ( Cl * obj.area + Cl_control_surface * control_surface_area); + + fCd = 0.5 * obj.rho * ( Cd * obj.area + Cd_control_surface * control_surface_area); + + fCm + + + + end From ac2de274168211e62eaa96a72282cf76745e041e Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Mon, 25 Aug 2014 16:05:35 -0400 Subject: [PATCH 013/271] move files outside of unneeded class folders. --- systems/plants/{@RigidBodySubWing => }/RigidBodySubWing.m | 0 .../RigidBodySubWingWithControlSurface.m | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename systems/plants/{@RigidBodySubWing => }/RigidBodySubWing.m (100%) rename systems/plants/{@RigidBodySubWingWithControlSurface => }/RigidBodySubWingWithControlSurface.m (100%) diff --git a/systems/plants/@RigidBodySubWing/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m similarity index 100% rename from systems/plants/@RigidBodySubWing/RigidBodySubWing.m rename to systems/plants/RigidBodySubWing.m diff --git a/systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m similarity index 100% rename from systems/plants/@RigidBodySubWingWithControlSurface/RigidBodySubWingWithControlSurface.m rename to systems/plants/RigidBodySubWingWithControlSurface.m From 8b771fb29bd8228e31e484ad867924da7f23aa09 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Mon, 25 Aug 2014 16:31:51 -0400 Subject: [PATCH 014/271] Implements flatplate coefficients with control surfaces. --- systems/plants/@RigidBodyWing/RigidBodyWing.m | 2 +- .../RigidBodySubWingWithControlSurface.m | 68 +++++++++++++------ 2 files changed, 50 insertions(+), 20 deletions(-) diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index ca68632a10bc..f6999a3662ae 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -190,7 +190,7 @@ this_surface = obj.control_surfaces(min_left_edge_index); this_span = this_surface.span; - this_subwing = RigidBodySubWing(frame_id, profile, chord, this_span, stall_angle, nominal_speed); + this_subwing = RigidBodySubWingWithControlSurface(frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface); % remove this surface from consideration remaining_surfaces(min_left_edge_index) = []; diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m index d9bdbf196147..b23591e0e786 100644 --- a/systems/plants/RigidBodySubWingWithControlSurface.m +++ b/systems/plants/RigidBodySubWingWithControlSurface.m @@ -1,14 +1,22 @@ -classdef RigidBodySubWingWithControlSurface < RigidBodySubWing +classdef RigidBodySubWingWithControlSurface < RigidBodyForceElement % Implements functionality similar to RigidBodySubWing but with a % control surface attached to the wing. properties - fCl; - fCd; - fCm; - chord; + kinframe; % index to RigidBodyFrame + fCl % PPTrajectories (splines) representing the *dimensional* coefficients + fCd % with fCl = 1/2 rho*S*Cl, etc. (S=area) + fCm + dfCl + dfCd + dfCm + area + %Air density for 20 degC dry air, at sea level + rho = 1.204; span; stall_angle; + chord; + control_surface % the control surface attached to this wing end methods @@ -26,17 +34,26 @@ obj.chord = chord; obj.span = span; obj.stall_angle = stall_angle; + obj.control_surface = control_surface; % compute the coefficients for the flat plate - [obj.fCl, obj.fCd, obj.fCm] = obj.flatplate(); + [obj.fCl, obj.fCd, obj.fCm] = obj.flatplate_old(); + + laminarpts = 30; + aoa_range = [-180:2:-(obj.stall_angle+.0001) -obj.stall_angle:2*obj.stall_angle/laminarpts:(obj.stall_angle-.0001) obj.stall_angle:2:180]; + aoa_range = deg2rad(aoa_range); + + + [fCl2, fCd2, fCm2] = obj.flatplate(aoa_range, 0); + keyboard end - function [fCl, fCd, fCm] = flatplate(obj) + function [fCl, fCd, fCm] = flatplate_old(obj) disp('Using a flat plate airfoil with control surfaces.') laminarpts = 30; stallAngle = obj.stall_angle; @@ -45,9 +62,10 @@ %CMangles is used to make the Moment coefficient zero when the wing %is not stalled CMangles = [-180:2:-(stallAngle+.0001) zeros(1,laminarpts) stallAngle:2:180]; - obj.fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*obj.chord/4); - obj.fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); - obj.fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); + fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*obj.chord/4); + fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); + %fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); + fCd = (.5*(2*sind(angles).^2)*obj.rho*obj.area); end @@ -63,6 +81,14 @@ % % % Lift force = \f$ \frac{1}{2} \rho v^2 \left( C_l(aoa) S + C_l(aoa+u) S_2 \right) \f$ + % + % Drag force = \f$ \frac{1}{2} \rho v^2 \left( C_d(aoa) S + C_d(aoa+u) S_2 \right) \f$ + % + % Moment torque comes just from the lift on the control surface since + % the center of lift is at the center of a flat plate. + % + % Moment torque = \f$ v^2 \rho r \sin(aoa + u) \cos(aoa + u) S_2 \f$ + % %
       %   rho: air pressure
       %   S: wing area
@@ -79,21 +105,25 @@
       %   
       % @retval fCl instantaneous life force divided by \f$ v^2 \f$
       % @retval Cd instantaneous coefficient of drag divided by \f$ v^2 \f$
-      % @retval Cm instantaneous moment coefficient
+      % @retval Cm instantaneous moment coefficient divided by \f$ v^2 \f$
+      
+      Cl = 2 .* sin(aoa) .* cos(aoa);
+      Cl_control_surface = 2 .* sin(aoa + control_surface_angle_rad) .* cos(aoa + control_surface_angle_rad);
       
-      Cl = 2 * sin(aoa) * cos(aoa);
-      Cl_control_surface = 2 * sin(aoa + control_surface_angle_rad) * cos(aoa + control_surface_angle_rad);
+      Cd = 2 .* (sin(aoa)) .^ 2;
+      Cd_control_surface = 2 .* (sin(aoa + control_surface_angle_rad)) .^ 2;
       
-      Cd = 2 * (sin(aoa)) ^ 2;
-      Cd_control_surface = 2 * (sin(aoa + control_surface_angle_rad)) ^ 2;
+      control_surface_area = obj.control_surface.span .* obj.control_surface.chord;
       
-      control_surface_area = obj.control_surface.span * obj.control_surface.chord;
+      fCl = 0.5 .* obj.rho .* ( Cl .* obj.area + Cl_control_surface .* control_surface_area);
       
-      fCl = 0.5 * obj.rho * ( Cl * obj.area + Cl_control_surface * control_surface_area);
+      fCd = 0.5 .* obj.rho .* ( Cd .* obj.area + Cd_control_surface .* control_surface_area);
       
-      fCd = 0.5 * obj.rho * ( Cd * obj.area + Cd_control_surface * control_surface_area);
+      % distance from the center of the wing to the center of the control
+      % surface
+      r = obj.chord / 2 + obj.control_surface.chord / 2;
       
-      fCm
+      fCm = obj.rho .* r .* sin(aoa + control_surface_angle_rad) .* cos(aoa + control_surface_angle_rad) .* control_surface_area;
       
       
       

From dbabfaa966a959d5a57ffa3396d7b0574e9c8f0b Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Tue, 26 Aug 2014 20:26:10 -0400
Subject: [PATCH 015/271] Work on implementing control surface dynamics. 
 Starting to move around code in SubWing to prevent duplication.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m |   4 +-
 systems/plants/ControlSurface.m               |   8 +-
 systems/plants/RigidBodySubWing.m             |  65 ++++++--
 .../RigidBodySubWingWithControlSurface.m      | 148 +++++++++++++-----
 4 files changed, 165 insertions(+), 60 deletions(-)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index f6999a3662ae..182d41bd1c0d 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -118,6 +118,8 @@
           surface_chord = parseParamString(model,robotnum,char(this_surface.getAttribute('chord')));
           surface_span = parseParamString(model,robotnum,char(this_surface.getAttribute('span')));
           surface_left_edge_position_along_wing = parseParamString(model,robotnum,char(this_surface.getAttribute('left_edge_position_along_wing')));
+          surface_min_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('min_deflection')));
+          surface_max_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('max_deflection')));
           
           assert(surface_span > 0, ['Span must be > 0 on control surface "' surface_name '"']);
           assert(surface_chord > 0, ['Chord must be > 0 on control surface "' surface_name '"']);
@@ -131,7 +133,7 @@
             end
           end
           
-          obj.control_surfaces = [ obj.control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing) ];
+          obj.control_surfaces = [ obj.control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing, surface_min_deflection, surface_max_deflection) ];
 
           
           count = count + 1;
diff --git a/systems/plants/ControlSurface.m b/systems/plants/ControlSurface.m
index 5eb3a4ac8458..e87212f3a810 100644
--- a/systems/plants/ControlSurface.m
+++ b/systems/plants/ControlSurface.m
@@ -5,19 +5,21 @@
     chord;
     span;
     left_edge_position_along_wing;
-    
+    min_deflection; % in radians
+    max_deflection; % in radians
     
   end
   
   
   methods
     
-    function obj = ControlSurface(name, chord, span, left_edge_position_along_wing)
+    function obj = ControlSurface(name, chord, span, left_edge_position_along_wing, min_deflection, max_deflection)
       obj.name = name;
       obj.chord = chord;
       obj.span = span;
       obj.left_edge_position_along_wing = left_edge_position_along_wing;
-      
+      obj.min_deflection = min_deflection;
+      obj.max_deflection = max_deflection;
     end
     
   end
diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m
index e4c6f92e3162..1837d7526333 100644
--- a/systems/plants/RigidBodySubWing.m
+++ b/systems/plants/RigidBodySubWing.m
@@ -375,14 +375,17 @@ function revertEnvVars()
       obj.dfCd = obj.fCd.fnder(1);
 
     end %constructor
-
     
-    function [force, dforce] = computeSpatialForce(obj,manip,q,qd)
-      nq = size(q,1);
-      frame = getFrame(manip,obj.kinframe);
-
-      if (nargout>1)
-        kinsol = doKinematics(manip,q,true,true,qd);
+    function [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = computeWingVelocity(obj, manip, q, qd, kinsol)
+      % Computes the velcity of the wing in word coordinates
+      %
+      % @retval wingvel_world velocity in the word (vector in each
+      %   dimension)
+      % @retval dwingvel_worlddq
+      % @retval dwingvel_worlddqd derivative of the wing velocity
+      
+      if (nargout>2)
+        
         [~,J] = forwardKin(manip,kinsol,obj.kinframe,zeros(3,1));
         Jdot = forwardJacDot(manip,kinsol,obj.kinframe,zeros(3,1));
         wingvel_world = J*qd; % assume still air. Air flow over the wing
@@ -393,7 +396,7 @@ function revertEnvVars()
         [~,J] = forwardKin(manip,kinsol,obj.kinframe,zeros(3,1));
         wingvel_world = J*qd; % assume still air. Air flow over the wing
       end
-
+      
       % Implementation note: for homogenous transforms, I could do the following
       % vector transforms more efficiently.  forwardKin is adding a 1 on
       % the end of every pt for the homogenous coordinates.  it would be
@@ -407,28 +410,35 @@ function revertEnvVars()
       % input/option for "vectors_not_points".
 
       %project this onto the XZ plane of the wing (ignores sideslip)
-      if (nargout>1)
+      if (nargout>2)
         [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,obj.kinframe,[0 0; 1 0; 0 0]);
         wingYunit = wingYunit(:,1)-wingYunit(:,2);
         dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:);
-        dwingYunitdqd = zeros(3,nq);
+        dwingYunitdqd = zeros(3, size(q,1));
       else
         wingYunit = forwardKin(manip,kinsol,obj.kinframe,[0 0; 1 0; 0 0]);
         wingYunit = wingYunit(:,1)-wingYunit(:,2);
       end
-
+      
       sideslip = wingvel_world'*wingYunit;
-      if (nargout>1)
+      if (nargout>2)
         dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world'*dwingYunitdq;
         dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world'*dwingYunitdqd;
       end
 
       wingvel_world = wingvel_world - sideslip*wingYunit;
-      if (nargout>1)
+      if (nargout>2)
         dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq;
         dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd;
       end
-
+      
+    end
+    
+    function [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = computeWingVelocityRelative(obj, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd)
+      % Computes the relative wing velocity
+      %
+      %
+      
       if (nargout>1)
         [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,obj.kinframe,[wingvel_world,zeros(3,1)]);
         wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2);
@@ -440,7 +450,34 @@ function revertEnvVars()
         wingvel_rel = bodyKin(manip,kinsol,obj.kinframe,[wingvel_world,zeros(3,1)]);
         wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2);
       end
+      
+    end
+
+    
+    function [force, dforce] = computeSpatialForce(obj,manip,q,qd)
+      nq = size(q,1);
+      frame = getFrame(manip,obj.kinframe);
+      
+      kinsol = doKinematics(manip,q,true,true,qd);
+
+      if (nargout > 1)
+        [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = obj.computeWingVelocity(manip, q, qd, kinsol);
+      else
+        [ wingvel_world, wingYunit ] = obj.computeWingVelocity(manip, q, qd, kinsol);
+      end
+
+      
+
+      
+      
 
+      if (nargout>1)
+        [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = obj.computeWingVelocityRelative(manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd);
+      else
+        wingvel_rel = obj.computeWingVelocityRelative(manip, kinsol, wingvel_world);
+      end
+
+      
       airspeed = norm(wingvel_world);
       if (nargout>1)
         dairspeeddq = (wingvel_world'*dwingvel_worlddq)/norm(wingvel_world);
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index b23591e0e786..126fe9fea5b6 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -1,22 +1,15 @@
-classdef RigidBodySubWingWithControlSurface < RigidBodyForceElement
+classdef RigidBodySubWingWithControlSurface < RigidBodySubWing
   % Implements functionality similar to RigidBodySubWing but with a
   % control surface attached to the wing.
       
   properties
-    kinframe;  % index to RigidBodyFrame
-    fCl  % PPTrajectories (splines) representing the *dimensional* coefficients
-    fCd  % with fCl = 1/2 rho*S*Cl, etc. (S=area)
-    fCm
-    dfCl
-    dfCd
-    dfCm
-    area
-    %Air density for 20 degC dry air, at sea level
-    rho = 1.204;
     span;
     stall_angle;
     chord;
     control_surface % the control surface attached to this wing
+    fCl_control_surface;
+    fCd_control_surface;
+    fCm_control_surface; 
   end
   
   methods
@@ -27,29 +20,63 @@
       %
       % @param control_surface a ControlSurface attached to this wing.
       
-      typecheck(frame_id,'numeric');
-      obj.kinframe = frame_id;
-      linux = isunix();
-      obj.area = chord*span;
+      obj = obj@RigidBodySubWing(frame_id, profile, chord, span, stall_angle, velocity);
+
       obj.chord = chord;
       obj.span = span;
       obj.stall_angle = stall_angle;
       obj.control_surface = control_surface;
+      obj.direct_feedthrough_flag = true;
       
       % compute the coefficients for the flat plate
       
-      [obj.fCl, obj.fCd, obj.fCm] = obj.flatplate_old();
+      %[obj.fCl, obj.fCd, obj.fCm] = obj.flatplate_old();
       
-      laminarpts = 30;
-      aoa_range = [-180:2:-(obj.stall_angle+.0001) -obj.stall_angle:2*obj.stall_angle/laminarpts:(obj.stall_angle-.0001) obj.stall_angle:2:180];
-      aoa_range = deg2rad(aoa_range);
       
+      [obj.fCl_control_surface, obj.fCd_control_surface, obj.fCm_control_surface ] = obj.flateplateControlSurfaceInterp();
+      
+      
+      
+      
+    end
+    
+    function [force, B_force, dforce, dB_force] = computeSpatialForce(obj,manip,q,qd)
+      % Computes the forces from the wing including the control surface.
+      % Returns the force from the wing along with the B matrix which the
+      % matrix for a linearized input for the control surface.
+      %
+      % @param manip
+      % @param q
+      % @param qd
+      %
+      %
+      % @retval force force from the wing that is independant of the
+      %   control surface
+      %
+      % @retval B_force B matrix containing the linearized component of the
+      %   force from the input (from the control surface's deflection)
+      
+      
+      % first, call the parent class's  computeSpatialForce to get the
+      % u-invariant parts
+      
+      [force, dforce] = computeSpatialForce@RigidBodySubWing(manip, q, qd);
+      
+      % now compute B and dB
       
+      % get the coefficients for this point
       
-      [fCl2, fCd2, fCm2] = obj.flatplate(aoa_range, 0);
+      [wingvel_world, dwingvel_worlddq, dwingvel_worlddqd] = obj.computeWingVelocity(manip, q, qd);
       
-      keyboard
+      airspeed = norm(wingvel_world);
       
+      aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1));
+      
+      Cl = obj.fCl_control_surface(aoa, control_surface_rad);
+      
+      
+      
+    
     end
     
     
@@ -64,13 +91,47 @@
         CMangles = [-180:2:-(stallAngle+.0001) zeros(1,laminarpts) stallAngle:2:180];
         fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*obj.chord/4);
         fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area);
-        %fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area);
-        fCd = (.5*(2*sind(angles).^2)*obj.rho*obj.area);
+        fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area);
+        
       
     end
     
-    function [ fCl, fCd, fCm ] = flatplate(obj, aoa, control_surface_angle_rad)
-      % Computes coefficients for a flat plate given angle of attack and
+    function [ fCl_interp, fCd_interp, fCm_interp ] = flateplateControlSurfaceInterp(obj)
+      % Builds a smooth interpolation of values for lift, drag, and moment
+      % coefficients for a flatplate control surface
+      %
+      %
+      % See flateplateControlSurface for more information on the
+      % computation.
+      %
+      % @retval fCl_interp smooth interpolated surface for lift force
+      %   divided by \f$ v^2 \f$
+      % @retval fCd_interp smooth interpolated surface for drag force
+      %   divided by \f$ v^2 \f$
+      % @retval fCm_interp smooth interpolated surface for moment force
+      %   divided by \f$ v^2 \f$
+      
+      
+      % build the ranges for interpolation
+      laminarpts = 30;
+      aoa_range = [-180:2:-(obj.stall_angle+.0001) -obj.stall_angle:2*obj.stall_angle/laminarpts:(obj.stall_angle-.0001) obj.stall_angle:2:180];
+      aoa_range = deg2rad(aoa_range);
+      
+      control_surface_increment = 0.01; % in radians
+      
+      control_surface_range = obj.control_surface.min_deflection : control_surface_increment : obj.control_surface.max_deflection;
+      
+      [ fCl, fCd, fCm, aoa_mat, control_surface_mat] = obj.flatplateControlSurface(aoa_range, control_surface_range);
+      
+      
+      fCl_interp = scatteredInterpolant(aoa_mat(:), control_surface_mat(:), fCl(:));
+      fCd_interp = scatteredInterpolant(aoa_mat(:), control_surface_mat(:), fCd(:));
+      fCm_interp = scatteredInterpolant(aoa_mat(:), control_surface_mat(:), fCm(:));
+
+    end
+    
+    function [ fCl, fCd, fCm, aoa_mat, control_surface_mat ] = flatplateControlSurface(obj, aoa, control_surface_angle_rad)
+      % Computes coefficients for a flat plate control surface given angle of attack and
       % the control surface offset in radians.
       %
       % @param aoa angle of attack of the wing (can be an array)
@@ -80,18 +141,17 @@
       %   can be an array.
       %
       % 
-      % Lift force = \f$ \frac{1}{2} \rho v^2 \left( C_l(aoa) S + C_l(aoa+u) S_2 \right) \f$
+      % Lift force from control surface = \f$ \frac{1}{2} \rho v^2 C_l(aoa+u) S_2 \f$
       %
-      % Drag force = \f$ \frac{1}{2} \rho v^2 \left( C_d(aoa) S + C_d(aoa+u) S_2 \right) \f$
+      % Drag force = \f$ \frac{1}{2} \rho v^2 C_d(aoa+u) S_2 \f$
       %
       % Moment torque comes just from the lift on the control surface since
-      % the center of lift is at the center of a flat plate.
+      % drag is in the plane and will not produce a torque
       %
       % Moment torque = \f$ v^2 \rho r \sin(aoa + u) \cos(aoa + u) S_2 \f$
       %
       % 
       %   rho: air pressure
-      %   S: wing area
       %   S2: control surface area
       %   aoa: angle of attack
       %   u: amount of deflection in radians from the control input
@@ -100,37 +160,41 @@
       %
       % See pages 34-35 of Cory10a.
       %
-      % So here, we return \f$ \frac{1}{2}*\rho* (C_l(aoa) * S + C_l(aoa+u) * S_2) \f$
+      % So here, we return \f$ \frac{1}{2} \rho C_l(aoa+u) S_2 \f$
       % because then you can multiply by just \f$ v^2 \f$ to compute force.
       %   
-      % @retval fCl instantaneous life force divided by \f$ v^2 \f$
-      % @retval Cd instantaneous coefficient of drag divided by \f$ v^2 \f$
-      % @retval Cm instantaneous moment coefficient divided by \f$ v^2 \f$
+      % @retval fCl instantaneous life force from the control surface divided by \f$ v^2 \f$
+      % @retval Cd instantaneous drag force from the control surface divided by \f$ v^2 \f$
+      % @retval Cm instantaneous moment coefficient from the control surface divided by \f$ v^2 \f$
+      % @retval aoa_mat matrix of angle of attack values used 
+      % @retval control_surface_mat matrix of control surfaces used
       
-      Cl = 2 .* sin(aoa) .* cos(aoa);
-      Cl_control_surface = 2 .* sin(aoa + control_surface_angle_rad) .* cos(aoa + control_surface_angle_rad);
+      % repmat so we evaluate at every aoa and control surface angle
       
-      Cd = 2 .* (sin(aoa)) .^ 2;
-      Cd_control_surface = 2 .* (sin(aoa + control_surface_angle_rad)) .^ 2;
+      aoa_mat = repmat(aoa, length(control_surface_angle_rad), 1);
+      control_surface_mat = repmat(control_surface_angle_rad', 1, length(aoa));
+      
+      Cl_control_surface = 2 .* sin(aoa_mat + control_surface_mat) .* cos(aoa_mat + control_surface_mat);
+      
+      Cd_control_surface = 2 .* (sin(aoa_mat + control_surface_mat)) .^ 2;
       
       control_surface_area = obj.control_surface.span .* obj.control_surface.chord;
       
-      fCl = 0.5 .* obj.rho .* ( Cl .* obj.area + Cl_control_surface .* control_surface_area);
+      fCl = 0.5 .* obj.rho .* Cl_control_surface .* control_surface_area;
       
-      fCd = 0.5 .* obj.rho .* ( Cd .* obj.area + Cd_control_surface .* control_surface_area);
+      fCd = 0.5 .* obj.rho .* Cd_control_surface .* control_surface_area;
       
       % distance from the center of the wing to the center of the control
       % surface
       r = obj.chord / 2 + obj.control_surface.chord / 2;
       
-      fCm = obj.rho .* r .* sin(aoa + control_surface_angle_rad) .* cos(aoa + control_surface_angle_rad) .* control_surface_area;
-      
-      
+      fCm = obj.rho .* r .* sin(aoa_mat + control_surface_mat) .* cos(aoa_mat + control_surface_mat) .* control_surface_area;
       
       
     end
     
     
+    
   end
   
   

From 47a68109c2252857021991f3db84beade843a015 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Fri, 29 Aug 2014 18:45:33 -0400
Subject: [PATCH 016/271] Adds more support for control surfaces, including
 enabling direct_feedthrough_flag if there is a control surface and some
 parsing of the RigidBodyManipulator that goes along with it.

---
 .../RigidBodyManipulator.m                    |  5 ++
 systems/plants/@RigidBodyWing/RigidBodyWing.m | 54 +++++++++++--
 systems/plants/RigidBodySubWing.m             |  7 ++
 .../RigidBodySubWingWithControlSurface.m      | 81 +++++++++++++++++--
 4 files changed, 133 insertions(+), 14 deletions(-)

diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
index 4fcbfe263e07..2aee6b3dffa0 100644
--- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
+++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
@@ -1634,7 +1634,12 @@ function checkDirty(obj)
           frame = model.frame(-model.force{i}.kinframe);
           inputparents = [inputparents model.body(frame.body_ind)];
           inputnames{end+1} = model.force{i}.name;
+        elseif model.force{i}.direct_feedthrough_flag
+          frame = model.frame(-model.force{i}.kinframe);
+          inputparents = [inputparents model.body(frame.body_ind)];
+          inputnames{end+1} = model.force{i}.name;
         end
+        
       end
       for i=1:length(model.name)
         robot_inputs = [inputparents.robotnum]==i;
diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index 182d41bd1c0d..addb78ae6abd 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -7,7 +7,7 @@
   
   properties
     
-    subwings; % array of RigidBodySubWing's that make up this wing
+    subwings = {}; % array of RigidBodySubWing's that make up this wing
     
     subwing_left_edges; % sorted array of points along the wing denoting the left edge of each subwing. Index is the same as obj.subwings.
     
@@ -26,7 +26,7 @@
       
         thisWing = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity);
       
-        obj.subwings = [ obj.subwings  thisWing ];
+        obj.subwings{length(obj.subwings) + 1} = this_subwing;
         
       else
         % with no arguments, we were probably called by the URDF constructor
@@ -37,7 +37,7 @@
     end
     
     
-    function [force, dforce] = computeSpatialForce(obj,manip,q,qd)
+    function [force, B_force, dforce, dB_force ] = computeSpatialForce(obj,manip,q,qd)
       % Calls the appropriate RigidBodySubWing.computeSpatialForce
       % for all of the subwings, adds the results, and returns.
       
@@ -47,20 +47,52 @@
       
       for i = 1 : length(obj.subwings)
         
-        [this_force, this_dforce] = obj.subwings(i).computeSpatialForce(manip, q, qd);
+        if (obj.subwings{i}.has_control_surface)
+          [force, B_force, dforce, dB_force ] = obj.subwings{i}.computeSpatialForce(manip,q,qd);
+          
+          if i ~= 1
+            error('uh oh');
+          end
+        else
         
-        if i == 1
+          [this_force, this_dforce] = obj.subwings{i}.computeSpatialForce(manip, q, qd);
+           if i == 1
           force = this_force;
           dforce = this_dforce;
         else
           error('not yet implemented');
           
         end
+        end
+        
+       
         
       end
       
     end
     
+    function frame_id = kinframe(obj)
+      % Gets the frame_id for the wing and throws an error if any subwing
+      % has a different frame id.
+      %
+      % @retval frame_id the frame_id passed into the constructor of each
+      %   subwing.
+      
+      
+      if length(obj.subwings) < 1
+        error('called with no subwings.  Init wing before calling.');
+      end
+      
+      frame_id = obj.subwings{1}.kinframe;
+      
+      for i = 2 : length(obj.subwings)
+        if frame_id ~= obj.subwings{i}.kinframe
+          error('frame id mismatch.');
+        end
+      end
+    end
+        
+    
 
   end
 
@@ -101,7 +133,7 @@
         
         this_subwing = RigidBodySubWing(frame_id, profile, chord, span, stall_angle, nominal_speed);
         
-        obj.subwings = [obj.subwings this_subwing ];
+        obj.subwings{length(obj.subwings) + 1} = this_subwing;
         obj.subwing_left_edges = 0;
         
       else
@@ -186,6 +218,8 @@
 
           if (min_left_edge_value == point_along_wing)
             % control surface starts at the left edge
+            
+            obj.direct_feedthrough_flag = true;
 
             % span of this part of the wing is the span of the control
             % surface
@@ -194,8 +228,12 @@
             this_span = this_surface.span;
             this_subwing = RigidBodySubWingWithControlSurface(frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface);
             
+            
+            obj.input_limits = [ obj.input_limits [ this_surface.min_deflection; this_surface.max_deflection] ];
+            
             % remove this surface from consideration
             remaining_surfaces(min_left_edge_index) = [];
+            
 
           else
             % make a non-control surfaced wing since the control surface
@@ -211,7 +249,7 @@
           end
           
           
-          obj.subwings = [ obj.subwings this_subwing ];
+          obj.subwings{length(obj.subwings) + 1} = this_subwing;
           obj.subwing_left_edges = [ obj.subwing_left_edges point_along_wing ];
           
           point_along_wing = point_along_wing + this_span;
@@ -221,7 +259,9 @@
         
         
       end
+      obj.name = name;
     end
+    
   end
 
 end
diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m
index 1837d7526333..b83639d4a6fb 100644
--- a/systems/plants/RigidBodySubWing.m
+++ b/systems/plants/RigidBodySubWing.m
@@ -18,6 +18,7 @@
     area
     %Air density for 20 degC dry air, at sea level
     rho = 1.204;
+    has_control_surface = false;
   end
 
   methods
@@ -59,6 +60,12 @@
       %     at the half chord.
       % use variables for path to xfoil and AVL
       %
+      
+      % we need to be able to construct with no arguments per 
+      % http://www.mathworks.com/help/matlab/matlab_oop/class-constructor-methods.html#btn2kiy
+      if (nargin == 0)
+        return;
+      end
 
       typecheck(frame_id,'numeric');
       obj.kinframe = frame_id;
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 126fe9fea5b6..319e21ee9ca5 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -7,9 +7,11 @@
     stall_angle;
     chord;
     control_surface % the control surface attached to this wing
-    fCl_control_surface;
+    fCl_control_surface; % Interpolant for the control surface, given aoa and u
     fCd_control_surface;
     fCm_control_surface; 
+    
+    control_surface_increment = 0.01; % resolution of control surface parameterization in radians
   end
   
   methods
@@ -20,6 +22,13 @@
       %
       % @param control_surface a ControlSurface attached to this wing.
       
+      
+      % we need to be able to construct with no arguments per 
+      % http://www.mathworks.com/help/matlab/matlab_oop/class-constructor-methods.html#btn2kiy
+      if (nargin == 0)
+        return;
+      end
+      
       obj = obj@RigidBodySubWing(frame_id, profile, chord, span, stall_angle, velocity);
 
       obj.chord = chord;
@@ -28,6 +37,8 @@
       obj.control_surface = control_surface;
       obj.direct_feedthrough_flag = true;
       
+      obj.has_control_surface = true;
+      
       % compute the coefficients for the flat plate
       
       %[obj.fCl, obj.fCd, obj.fCm] = obj.flatplate_old();
@@ -60,23 +71,69 @@
       % first, call the parent class's  computeSpatialForce to get the
       % u-invariant parts
       
-      [force, dforce] = computeSpatialForce@RigidBodySubWing(manip, q, qd);
+      [force, dforce] = computeSpatialForce@RigidBodySubWing(obj, manip, q, qd);
       
       % now compute B and dB
       
+      
+      kinsol = doKinematics(manip,q,true,true,qd);
+      
       % get the coefficients for this point
       
-      [wingvel_world, dwingvel_worlddq, dwingvel_worlddqd] = obj.computeWingVelocity(manip, q, qd);
+      [ wingvel_world, wingYunit ] = obj.computeWingVelocity(manip, q, qd, kinsol);
+      wingvel_rel = obj.computeWingVelocityRelative(manip, kinsol, wingvel_world);
+      
+      
       
       airspeed = norm(wingvel_world);
       
       aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1));
       
-      Cl = obj.fCl_control_surface(aoa, control_surface_rad);
+      aoa = deg2rad(aoa);
       
+      aoa = deg2rad(20);
       
       
-    
+      % linearize about u = 0
+      
+      du = 0.01;
+      
+      Cl_linear = (obj.fCl_control_surface(aoa, du) - obj.fCl_control_surface(aoa, -du) ) / (2*du);
+      Cd_linear = (obj.fCd_control_surface(aoa, du) - obj.fCd_control_surface(aoa, -du) ) / (2*du);
+      Cm_linear = (obj.fCm_control_surface(aoa, du) - obj.fCm_control_surface(aoa, -du) ) / (2*du);
+      
+      
+      % debug data to create plots
+      control_surface_range = obj.getControlSurfaceRange();
+      aoa_range = repmat(aoa, 1, length(control_surface_range));
+      Cl = obj.fCl_control_surface(aoa_range, control_surface_range);
+      Cd = obj.fCd_control_surface(aoa_range, control_surface_range);
+      Cm = obj.fCm_control_surface(aoa_range, control_surface_range);
+      
+      figure(1)
+      clf
+      plot(rad2deg(control_surface_range), Cl)
+      hold on
+      plot(rad2deg(control_surface_range), Cl_linear * control_surface_range, 'r');
+      
+      figure(2)
+      clf
+      plot(rad2deg(control_surface_range), Cd)
+      hold on
+      plot(rad2deg(control_surface_range), Cd_linear * control_surface_range, 'g');
+      
+      figure(3)
+      clf
+      plot(rad2deg(control_surface_range), Cm);
+      hold on
+      plot(rad2deg(control_surface_range), Cm_linear * control_surface_range, 'k');
+      
+      
+      
+      keyboard
+      % 
+      
+         
     end
     
     
@@ -117,9 +174,9 @@
       aoa_range = [-180:2:-(obj.stall_angle+.0001) -obj.stall_angle:2*obj.stall_angle/laminarpts:(obj.stall_angle-.0001) obj.stall_angle:2:180];
       aoa_range = deg2rad(aoa_range);
       
-      control_surface_increment = 0.01; % in radians
       
-      control_surface_range = obj.control_surface.min_deflection : control_surface_increment : obj.control_surface.max_deflection;
+      
+      control_surface_range = obj.getControlSurfaceRange();
       
       [ fCl, fCd, fCm, aoa_mat, control_surface_mat] = obj.flatplateControlSurface(aoa_range, control_surface_range);
       
@@ -193,6 +250,16 @@
       
     end
     
+    function control_surface_range = getControlSurfaceRange(obj)
+      % Returns a range of values between the minimum and maximum
+      % deflection of the control surface
+      %
+      %
+      % @retval control_surface_range the range as an array
+      
+      control_surface_range = obj.control_surface.min_deflection : obj.control_surface_increment : obj.control_surface.max_deflection;
+    end
+    
     
     
   end

From ee097d1b04b507ed096f12a13e1043a974ee30ec Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Mon, 1 Sep 2014 17:23:02 -0400
Subject: [PATCH 017/271] Implements B_force for wings with control surfaces.

---
 .../RigidBodyManipulator.m                    |  2 +-
 systems/plants/@RigidBodyWing/RigidBodyWing.m | 11 +++++
 systems/plants/RigidBodyForceElement.m        |  4 ++
 .../RigidBodySubWingWithControlSurface.m      | 47 ++++++++++++++++++-
 4 files changed, 61 insertions(+), 3 deletions(-)

diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
index 2aee6b3dffa0..3aefc0e6aca8 100644
--- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
+++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
@@ -564,7 +564,7 @@
         if model.force{i}.direct_feedthrough_flag
           input_num = size(B,2)+1;
           B(1,size(B,2)+1) = 0; %Add another column to B
-          model.force{i}.input_num = input_num;
+          model.force{i} = model.force{i}.setInputNum(input_num);
           u_limit(size(u_limit,1)+1,:) = model.force{i}.input_limits;
         end
       end
diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index addb78ae6abd..2d222a18c889 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -92,6 +92,17 @@
       end
     end
         
+    function obj = setInputNum(obj, input_num)
+      % override RigidBodyForceElement.setInputNum to support subwings.
+      
+      obj.input_num = input_num;
+      
+      for i = 1 : length(obj.subwings)
+        if obj.subwings{i}.has_control_surface
+          obj.subwings{i} = obj.subwings{i}.setInputNum(input_num);
+        end
+      end
+    end
     
 
   end
diff --git a/systems/plants/RigidBodyForceElement.m b/systems/plants/RigidBodyForceElement.m
index ffcc28cc7b81..94e514e8ab72 100644
--- a/systems/plants/RigidBodyForceElement.m
+++ b/systems/plants/RigidBodyForceElement.m
@@ -19,6 +19,10 @@
     function obj = updateBodyCoordinates(obj,body_ind,T_old_body_to_new_body)
       error('probably need to implement this (see changeRootLink)');
     end
+    
+    function obj = setInputNum(obj, input_num)
+      obj.input_num = input_num;
+    end
   end
   
   methods (Static=true)
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 319e21ee9ca5..0ff86e334145 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -78,6 +78,7 @@
       
       kinsol = doKinematics(manip,q,true,true,qd);
       
+      
       % get the coefficients for this point
       
       [ wingvel_world, wingYunit ] = obj.computeWingVelocity(manip, q, qd, kinsol);
@@ -128,10 +129,52 @@
       hold on
       plot(rad2deg(control_surface_range), Cm_linear * control_surface_range, 'k');
       
+      f_lift = Cl_linear * airspeed*airspeed;
+      f_drag = Cd_linear * airspeed*airspeed;
+      torque_moment = Cm_linear * airspeed * airspeed;
       
+      % initalize B
+      B_force = manip.B*0*q(1);
       
-      keyboard
-      % 
+      lift_axis_in_body_frame = [0; 0; 1]; % z axis is up
+      drag_axis_in_body_frame = [0; 1; 0];
+      moment_axis_in_body_frame = [1; 0; 0];
+      
+      % position of origin
+      [origin_in_world_frame, J] = forwardKin(manip, kinsol, obj.kinframe, zeros(3,1));
+      
+      % TODO: check if this is redundant and is always [0 0 1]'
+      
+      lift_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, lift_axis_in_body_frame);
+      lift_axis_in_world_frame = lift_axis_in_world_frame - origin_in_world_frame;
+     
+      
+      
+      B_lift = f_lift * J' * lift_axis_in_world_frame;
+      
+      
+      drag_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, drag_axis_in_body_frame);
+      drag_axis_in_world_frame = drag_axis_in_world_frame - origin_in_world_frame;
+      
+      
+      B_drag = f_drag * J' * drag_axis_in_world_frame;
+      
+      
+      
+      moment_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, moment_axis_in_body_frame);
+      moment_axis_in_world_frame = moment_axis_in_world_frame - origin_in_world_frame;
+      
+      
+      B_moment = torque_moment * J' * moment_axis_in_world_frame;
+      
+      
+      
+      
+      B_force(:, obj.input_num) = B_lift + B_drag + B_moment; 
+      
+      dB_force = 0; %todo
+      
+       
       
          
     end

From 2c45886116222ecc929938d25416eee9506701d0 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Mon, 1 Sep 2014 18:19:38 -0400
Subject: [PATCH 018/271] Finishes first implementation of massless position
 controlled control surfaces.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m | 25 ++++++++++++-------
 .../RigidBodySubWingWithControlSurface.m      |  3 ++-
 2 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index 2d222a18c889..31456114463f 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -45,24 +45,31 @@
         error('computeSpatialForce called with no subwings.');
       end
       
+      control_surface_flag = false;
+      
       for i = 1 : length(obj.subwings)
         
         if (obj.subwings{i}.has_control_surface)
-          [force, B_force, dforce, dB_force ] = obj.subwings{i}.computeSpatialForce(manip,q,qd);
           
-          if i ~= 1
-            error('uh oh');
+          if control_surface_flag
+            error('multiple control surfaces on one wing not supported.');
           end
+          
+          control_surface_flag = true;
+          
+          [force, B_force, dforce, dB_force ] = obj.subwings{i}.computeSpatialForce(manip,q,qd);
+          
         else
         
           [this_force, this_dforce] = obj.subwings{i}.computeSpatialForce(manip, q, qd);
-           if i == 1
-          force = this_force;
-          dforce = this_dforce;
-        else
-          error('not yet implemented');
+          if i == 1
+            force = this_force;
+            dforce = this_dforce;
+          else
+            force = force + this_force;
+            dforce = dforce + this_dforce;
           
-        end
+          end
         end
         
        
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 0ff86e334145..5a00f74ab7d1 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -105,6 +105,7 @@
       
       
       % debug data to create plots
+      %{
       control_surface_range = obj.getControlSurfaceRange();
       aoa_range = repmat(aoa, 1, length(control_surface_range));
       Cl = obj.fCl_control_surface(aoa_range, control_surface_range);
@@ -128,7 +129,7 @@
       plot(rad2deg(control_surface_range), Cm);
       hold on
       plot(rad2deg(control_surface_range), Cm_linear * control_surface_range, 'k');
-      
+      %}
       f_lift = Cl_linear * airspeed*airspeed;
       f_drag = Cd_linear * airspeed*airspeed;
       torque_moment = Cm_linear * airspeed * airspeed;

From 47b973e604a5dd297d09f035145cddf3bac3e2b4 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Mon, 1 Sep 2014 18:22:55 -0400
Subject: [PATCH 019/271] Zaps a debug statement that pinned aaoa.

---
 systems/plants/RigidBodySubWingWithControlSurface.m | 2 --
 1 file changed, 2 deletions(-)

diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 5a00f74ab7d1..1acfc35f9567 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -92,8 +92,6 @@
       
       aoa = deg2rad(aoa);
       
-      aoa = deg2rad(20);
-      
       
       % linearize about u = 0
       

From 9e1585c7eb14fc504e861d7e3ae75d0989aedbe2 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Mon, 8 Sep 2014 22:36:31 -0400
Subject: [PATCH 020/271] Fixes torques for the control surfaces using the
 solution Ani came up with.

---
 .../RigidBodySubWingWithControlSurface.m      | 103 +++++++++++++-----
 1 file changed, 73 insertions(+), 30 deletions(-)

diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 1acfc35f9567..84185189a1f5 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -12,6 +12,7 @@
     fCm_control_surface; 
     
     control_surface_increment = 0.01; % resolution of control surface parameterization in radians
+    lcmgl;
   end
   
   methods
@@ -46,6 +47,7 @@
       
       [obj.fCl_control_surface, obj.fCd_control_surface, obj.fCm_control_surface ] = obj.flateplateControlSurfaceInterp();
       
+      obj = obj.enableLCMGL();
       
       
       
@@ -103,31 +105,44 @@
       
       
       % debug data to create plots
+      
       %{
-      control_surface_range = obj.getControlSurfaceRange();
-      aoa_range = repmat(aoa, 1, length(control_surface_range));
-      Cl = obj.fCl_control_surface(aoa_range, control_surface_range);
-      Cd = obj.fCd_control_surface(aoa_range, control_surface_range);
-      Cm = obj.fCm_control_surface(aoa_range, control_surface_range);
-      
-      figure(1)
-      clf
-      plot(rad2deg(control_surface_range), Cl)
-      hold on
-      plot(rad2deg(control_surface_range), Cl_linear * control_surface_range, 'r');
-      
-      figure(2)
-      clf
-      plot(rad2deg(control_surface_range), Cd)
-      hold on
-      plot(rad2deg(control_surface_range), Cd_linear * control_surface_range, 'g');
-      
-      figure(3)
-      clf
-      plot(rad2deg(control_surface_range), Cm);
-      hold on
-      plot(rad2deg(control_surface_range), Cm_linear * control_surface_range, 'k');
+      % begin_debug
+        control_surface_range = obj.getControlSurfaceRange();
+        aoa_range = repmat(aoa, 1, length(control_surface_range));
+        Cl = obj.fCl_control_surface(aoa_range, control_surface_range);
+        Cd = obj.fCd_control_surface(aoa_range, control_surface_range);
+        Cm = obj.fCm_control_surface(aoa_range, control_surface_range);
+
+        figure(1)
+        clf
+        plot(rad2deg(control_surface_range), Cl)
+        hold on
+        plot(rad2deg(control_surface_range), Cl_linear * control_surface_range, 'r');
+        xlabel('Control surface deflection (deg)');
+        ylabel('Coefficient of lift');
+        title(['aoa = ' num2str(rad2deg(aoa))]);
+
+        figure(2)
+        clf
+        plot(rad2deg(control_surface_range), Cd)
+        hold on
+        plot(rad2deg(control_surface_range), Cd_linear * control_surface_range, 'g');
+        xlabel('Control surface deflection (deg)');
+        ylabel('Coefficient of drag');
+        title(['aoa = ' num2str(rad2deg(aoa))]);
+
+        figure(3)
+        clf
+        plot(rad2deg(control_surface_range), Cm);
+        hold on
+        plot(rad2deg(control_surface_range), Cm_linear * control_surface_range, 'k');
+        xlabel('Control surface deflection (deg)');
+        ylabel('Moment coefficient');
+        title(['aoa = ' num2str(rad2deg(aoa))]);
+      % end_debug
       %}
+      
       f_lift = Cl_linear * airspeed*airspeed;
       f_drag = Cd_linear * airspeed*airspeed;
       torque_moment = Cm_linear * airspeed * airspeed;
@@ -136,8 +151,8 @@
       B_force = manip.B*0*q(1);
       
       lift_axis_in_body_frame = [0; 0; 1]; % z axis is up
-      drag_axis_in_body_frame = [0; 1; 0];
-      moment_axis_in_body_frame = [1; 0; 0];
+      drag_axis_in_body_frame = [1; 0; 0];
+      
       
       % position of origin
       [origin_in_world_frame, J] = forwardKin(manip, kinsol, obj.kinframe, zeros(3,1));
@@ -146,7 +161,6 @@
       
       lift_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, lift_axis_in_body_frame);
       lift_axis_in_world_frame = lift_axis_in_world_frame - origin_in_world_frame;
-     
       
       
       B_lift = f_lift * J' * lift_axis_in_world_frame;
@@ -159,25 +173,54 @@
       B_drag = f_drag * J' * drag_axis_in_world_frame;
       
       
+      % use two forces in opposite directions one meter away to create a
+      % torque (a couple)
       
-      moment_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, moment_axis_in_body_frame);
-      moment_axis_in_world_frame = moment_axis_in_world_frame - origin_in_world_frame;
+      moment_location_in_body_frame1 = [1; 0; 0];
+      moment_location_in_body_frame2 = [-1; 0; 0];
       
+      moment_direction_in_body_frame1 = [0; 0; 1];
+      moment_direction_in_body_frame2 = [0; 0; -1];
       
-      B_moment = torque_moment * J' * moment_axis_in_world_frame;
-      
+      [moment_location_in_world_frame1, J1] = forwardKin(manip, kinsol, obj.kinframe, moment_location_in_body_frame1);
+      moment_axis_in_world_frame1 = forwardKin(manip, kinsol, obj.kinframe, moment_direction_in_body_frame1);
+      moment_axis_in_world_frame1 = moment_axis_in_world_frame1 - moment_location_in_world_frame1;
       
+      [moment_location_in_world_frame2, J2] = forwardKin(manip, kinsol, obj.kinframe, moment_location_in_body_frame2);
+      moment_axis_in_world_frame2 = forwardKin(manip, kinsol, obj.kinframe, moment_direction_in_body_frame2);
+      moment_axis_in_world_frame2 = moment_axis_in_world_frame2 - moment_location_in_world_frame2;
       
+      B_moment = torque_moment * 0.5 * J1' * moment_axis_in_world_frame1 ...
+       + torque_moment * 0.5 * J2' * moment_axis_in_world_frame2;
       
       B_force(:, obj.input_num) = B_lift + B_drag + B_moment; 
       
       dB_force = 0; %todo
       
+      
+      if ~isempty(obj.lcmgl)
+        
+        
+        obj.lcmgl.glColor3f(1, 0, 0);
+        obj.lcmgl.line3(0, 0, 0, 1, 1, 1);
+        obj.lcmgl.switchBuffers;
+        
+      end
        
       
          
     end
     
+    function drawSurface(obj, u)
+      % Draws the control surface in the given configuration
+      
+      
+    end
+    
+    function obj = enableLCMGL(obj)
+      checkDependency('lcmgl');
+      obj.lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(), 'subwing');
+    end
     
     function [fCl, fCd, fCm] = flatplate_old(obj)
       disp('Using a flat plate airfoil with control surfaces.')

From f1f27bf99182a725c88dbd0d5f42052f4f142141 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Wed, 10 Sep 2014 18:28:39 -0400
Subject: [PATCH 021/271] zaps lcmgl code and removes error for rpy but does
 not test rpy yet.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m |  1 -
 .../RigidBodySubWingWithControlSurface.m      | 22 ++-----------------
 2 files changed, 2 insertions(+), 21 deletions(-)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index 31456114463f..57d136bc376a 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -130,7 +130,6 @@
         end
         if elnode.hasAttribute('rpy')
           rpy = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('rpy'))),3,1);
-          if any(rpy), error('rpy not implemented yet for wings'); end
         end
       end
       [model,frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame']));
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 84185189a1f5..6ffe85bdea6b 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -12,7 +12,6 @@
     fCm_control_surface; 
     
     control_surface_increment = 0.01; % resolution of control surface parameterization in radians
-    lcmgl;
   end
   
   methods
@@ -47,8 +46,6 @@
       
       [obj.fCl_control_surface, obj.fCd_control_surface, obj.fCm_control_surface ] = obj.flateplateControlSurfaceInterp();
       
-      obj = obj.enableLCMGL();
-      
       
       
     end
@@ -196,18 +193,7 @@
       B_force(:, obj.input_num) = B_lift + B_drag + B_moment; 
       
       dB_force = 0; %todo
-      
-      
-      if ~isempty(obj.lcmgl)
-        
-        
-        obj.lcmgl.glColor3f(1, 0, 0);
-        obj.lcmgl.line3(0, 0, 0, 1, 1, 1);
-        obj.lcmgl.switchBuffers;
-        
-      end
-       
-      
+
          
     end
     
@@ -216,11 +202,7 @@ function drawSurface(obj, u)
       
       
     end
-    
-    function obj = enableLCMGL(obj)
-      checkDependency('lcmgl');
-      obj.lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(), 'subwing');
-    end
+a
     
     function [fCl, fCd, fCm] = flatplate_old(obj)
       disp('Using a flat plate airfoil with control surfaces.')

From 177c863a8be04be2409a7a81e53d6fb0ae13d5e4 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Wed, 10 Sep 2014 20:45:30 -0400
Subject: [PATCH 022/271] Fixes bugs where the left edge position of control
 surfaces was not implemented correctly.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m | 55 +++++++++----------
 .../RigidBodySubWingWithControlSurface.m      |  6 --
 2 files changed, 27 insertions(+), 34 deletions(-)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index 57d136bc376a..f9f5e1ee1246 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -13,6 +13,8 @@
     
     control_surfaces; % array of control surfaces on this wing, sorted by order appearing in the URDF
     
+    kinframe; % frame_id for the wing (note: there are different ones for the subwings based on their actual position)
+    
   end
   
 
@@ -28,6 +30,10 @@
       
         obj.subwings{length(obj.subwings) + 1} = this_subwing;
         
+        obj.subwing_left_edges = 0;
+        
+        obj.kinframe = frame_id;
+        
       else
         % with no arguments, we were probably called by the URDF constructor
         
@@ -72,32 +78,9 @@
           end
         end
         
-       
-        
       end
       
     end
-    
-    function frame_id = kinframe(obj)
-      % Gets the frame_id for the wing and throws an error if any subwing
-      % has a different frame id.
-      %
-      % @retval frame_id the frame_id passed into the constructor of each
-      %   subwing.
-      
-      
-      if length(obj.subwings) < 1
-        error('called with no subwings.  Init wing before calling.');
-      end
-      
-      frame_id = obj.subwings{1}.kinframe;
-      
-      for i = 2 : length(obj.subwings)
-        if frame_id ~= obj.subwings{i}.kinframe
-          error('frame id mismatch.');
-        end
-      end
-    end
         
     function obj = setInputNum(obj, input_num)
       % override RigidBodyForceElement.setInputNum to support subwings.
@@ -132,23 +115,27 @@
           rpy = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('rpy'))),3,1);
         end
       end
-      [model,frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame']));
-
+      [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame']));
+      
       % search for control surfaces
       control_surface_nodes = node.getElementsByTagName('control_surface');
       
       obj = RigidBodyWing();
       
+      obj.kinframe = this_frame_id;
+      
       profile = char(node.getAttribute('profile'));
       chord = parseParamString(model,robotnum,char(node.getAttribute('chord')));
       span = parseParamString(model,robotnum,char(node.getAttribute('span')));
       stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle')));
       nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed')));
       
+      left_edge_of_wing = xyz - [0; span/2; 0];
+      
       if isempty(control_surface_nodes.item(0))
         % no control surfaces
         
-        this_subwing = RigidBodySubWing(frame_id, profile, chord, span, stall_angle, nominal_speed);
+        this_subwing = RigidBodySubWing(obj.kinframe, profile, chord, span, stall_angle, nominal_speed);
         
         obj.subwings{length(obj.subwings) + 1} = this_subwing;
         obj.subwing_left_edges = 0;
@@ -243,7 +230,14 @@
 
             this_surface = obj.control_surfaces(min_left_edge_index);
             this_span = this_surface.span;
-            this_subwing = RigidBodySubWingWithControlSurface(frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface);
+            
+            this_subwing_center_y = this_span / 2 + point_along_wing;
+            
+            
+            subwing_frame_xyz = left_edge_of_wing + [0; this_subwing_center_y; 0];
+            [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,[this_surface.name '_subwing' num2str(length(obj.subwings)) '_of_' name '_frame']));
+            
+            this_subwing = RigidBodySubWingWithControlSurface(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface);
             
             
             obj.input_limits = [ obj.input_limits [ this_surface.min_deflection; this_surface.max_deflection] ];
@@ -261,8 +255,13 @@
             else
               this_span = min_left_edge_value - point_along_wing;
             end
+            
+            this_subwing_center_y = this_span / 2 + point_along_wing;
+            
+            subwing_frame_xyz = left_edge_of_wing + [0; this_subwing_center_y; 0];
+            [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,['subwing' num2str(length(obj.subwings)) '_of_' name '_frame']));
 
-            this_subwing = RigidBodySubWing(frame_id, profile, chord, this_span, stall_angle, nominal_speed);
+            this_subwing = RigidBodySubWing(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed);
           end
           
           
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 6ffe85bdea6b..2ace8b48d3b1 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -197,12 +197,6 @@
          
     end
     
-    function drawSurface(obj, u)
-      % Draws the control surface in the given configuration
-      
-      
-    end
-a
     
     function [fCl, fCd, fCm] = flatplate_old(obj)
       disp('Using a flat plate airfoil with control surfaces.')

From c342c47628cc5f297f676985c5b2ce98720c47c8 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Thu, 11 Sep 2014 15:47:24 -0400
Subject: [PATCH 023/271] Adds drawing functions to wing for easy
 visualization.  Adds support for roll/pitch/yaw for wings with control
 surfaces.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m | 46 +++++++++++++++--
 systems/plants/RigidBodySubWing.m             | 51 +++++++++++++++++++
 .../RigidBodySubWingWithControlSurface.m      | 51 ++++++++++++++++---
 3 files changed, 138 insertions(+), 10 deletions(-)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index f9f5e1ee1246..25ef1fb6014b 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -94,6 +94,27 @@
       end
     end
     
+    
+    function drawWing(obj, manip, q, qd, fill_color)
+      % Draws the wing onto the current figure in the state
+      % given by q and qdot
+      %
+      % @param manip manipulator the wing is part of
+      % @param q state vector
+      % @param qd q-dot (state vector derivatives)
+      % @param fill_color @default 1
+      
+      if nargin < 5
+        fill_color = 1;
+      end
+      
+      disp('drawing');
+      
+      for i = 1 : length(obj.subwings)
+        obj.subwings{i}.drawWing(manip, q, qd, fill_color);
+      end
+    end
+    
 
   end
 
@@ -231,10 +252,12 @@
             this_surface = obj.control_surfaces(min_left_edge_index);
             this_span = this_surface.span;
             
-            this_subwing_center_y = this_span / 2 + point_along_wing;
             
+            subwing_center_body_frame = [0; this_span / 2 + point_along_wing; 0];
+
             
-            subwing_frame_xyz = left_edge_of_wing + [0; this_subwing_center_y; 0];
+            subwing_frame_xyz = left_edge_of_wing + obj.getSubWingFrameXYZ(subwing_center_body_frame, rpy);
+
             [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,[this_surface.name '_subwing' num2str(length(obj.subwings)) '_of_' name '_frame']));
             
             this_subwing = RigidBodySubWingWithControlSurface(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface);
@@ -256,9 +279,10 @@
               this_span = min_left_edge_value - point_along_wing;
             end
             
-            this_subwing_center_y = this_span / 2 + point_along_wing;
+            subwing_center_body_frame = [0; this_span / 2 + point_along_wing; 0];
+            
+            subwing_frame_xyz = left_edge_of_wing + obj.getSubWingFrameXYZ(subwing_center_body_frame, rpy);
             
-            subwing_frame_xyz = left_edge_of_wing + [0; this_subwing_center_y; 0];
             [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,['subwing' num2str(length(obj.subwings)) '_of_' name '_frame']));
 
             this_subwing = RigidBodySubWing(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed);
@@ -278,6 +302,20 @@
       obj.name = name;
     end
     
+    function subwing_frame_xyz = getSubWingFrameXYZ(subwing_center_body_frame, rpy)
+      % figure out where the center of this subwing is, accounting
+      % for possible roll/pitch/yaw in the spec
+
+      rot_matrix = [ cos(rpy(3))*cos(rpy(2)), cos(rpy(3))*sin(rpy(2))*sin(rpy(1)) - sin(rpy(3))*cos(rpy(1)), cos(rpy(3))*sin(rpy(2))*cos(rpy(1)) + sin(rpy(3))*sin(rpy(1)); ...
+                     sin(rpy(3))*cos(rpy(2)), sin(rpy(3))*sin(rpy(2))*sin(rpy(1)) + cos(rpy(3))*cos(rpy(1)), sin(rpy(3))*sin(rpy(2))*cos(rpy(1)) - cos(rpy(3))*sin(rpy(1)); ...
+                     -sin(rpy(2)),    cos(rpy(2))*sin(rpy(1)),    cos(rpy(2))*cos(rpy(1))   ];
+
+
+
+      subwing_frame_xyz = rot_matrix * subwing_center_body_frame;
+      
+    end
+    
   end
 
 end
diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m
index 70665019035c..8bef8564f61f 100644
--- a/systems/plants/RigidBodySubWing.m
+++ b/systems/plants/RigidBodySubWing.m
@@ -19,6 +19,10 @@
     %Air density for 20 degC dry air, at sea level
     rho = 1.204;
     has_control_surface = false;
+    span;
+    stall_angle;
+    chord;
+    profile;
   end
 
   methods
@@ -71,6 +75,10 @@
       obj.kinframe = frame_id;
       linux = isunix();
       obj.area = chord*span;
+      obj.chord = chord;
+      obj.span = span;
+      obj.stall_angle = stallAngle;
+      obj.profile = profile;
       mach = velocity/341; % mach 1 at sea level is about 341 m/s
       %Reynolds number calculation for 10 deg C and sea level
       Re = velocity*chord/.0000144;
@@ -587,6 +595,49 @@ function revertEnvVars()
         dCM = obj.dfCm.eval(aoa);
       end
     end
+    
+    function drawWing(obj, manip, q, qd, fill_color)
+      % Draws the subwing onto the current figure
+      % @param manip manipulator the wing is part of
+      % @param q state vector
+      % @param qd q-dot (state vector derivatives)
+      % @param fill_color @default 1
+      
+      if ~strcmpi(obj.profile, 'flat plate')
+        error('Drawing not implemented for non-flat plate wings.');
+      end
+      
+      hold on
+      
+      kinsol = doKinematics(manip,q,false, false, qd);
+      
+      origin = forwardKin(manip, kinsol, obj.kinframe, zeros(3,1), 1);
+      
+      % draw a box around the origin in world frame
+      
+      height = 0.01;
+      
+      % get the corner points in 3d space
+      
+      p1 = [-obj.chord/2, -obj.span/2, 0];
+      
+      p2 = [ obj.chord/2, -obj.span/2, 0];
+      
+      p3 = [ obj.chord/2,  obj.span/2, 0];
+      
+      p4 = [-obj.chord/2,  obj.span/2, 0];
+      
+      pts = forwardKin(manip, kinsol, obj.kinframe, [p1; p2; p3; p4]');
+      
+      fill3(pts(1,:), pts(2,:), pts(3,:), fill_color);
+      
+      xlabel('x');
+      ylabel('y');
+      zlabel('z');
+      
+      axis equal
+      
+    end
 
   end
 
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 2ace8b48d3b1..9bade9852030 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -3,9 +3,6 @@
   % control surface attached to the wing.
       
   properties
-    span;
-    stall_angle;
-    chord;
     control_surface % the control surface attached to this wing
     fCl_control_surface; % Interpolant for the control surface, given aoa and u
     fCd_control_surface;
@@ -31,9 +28,6 @@
       
       obj = obj@RigidBodySubWing(frame_id, profile, chord, span, stall_angle, velocity);
 
-      obj.chord = chord;
-      obj.span = span;
-      obj.stall_angle = stall_angle;
       obj.control_surface = control_surface;
       obj.direct_feedthrough_flag = true;
       
@@ -321,6 +315,51 @@
       control_surface_range = obj.control_surface.min_deflection : obj.control_surface_increment : obj.control_surface.max_deflection;
     end
     
+    function drawWing(obj, manip, q, qd, fill_color)
+      % Draws the subwing with control surfaces.
+      %
+      % @param manip manipulator the wing is part of
+      % @param q state vector
+      % @param qd q-dot (state vector derivatives)
+      % @param fill_color @default 1
+      
+      color = fill_color - [.3 .3 .3];
+      color = max([0 0 0], color);
+      
+      % first draw the main part of the wing
+      drawWing@RigidBodySubWing(obj, manip, q, qd, color)
+      
+      
+      % now draw the control surface
+      
+      kinsol = doKinematics(manip,q,false, false, qd);
+      
+      % move the origin to the control surface's origin
+      origin = [-obj.chord/2 - obj.control_surface.chord/2; 0; 0];
+    
+      p1 = [origin(1) - obj.control_surface.chord/2, origin(2) - obj.control_surface.span/2, origin(3)];
+      
+      p2 = [origin(1) + obj.control_surface.chord/2, origin(2) - obj.control_surface.span/2, origin(3)];
+      
+      p3 = [origin(1) + obj.control_surface.chord/2, origin(2) + obj.control_surface.span/2, origin(3)];
+      
+      p4 = [origin(1) - obj.control_surface.chord/2, origin(2) + obj.control_surface.span/2, origin(3)];
+      
+      
+      pts = forwardKin(manip, kinsol, obj.kinframe, [p1; p2; p3; p4]');
+      
+      color = fill_color + [.3 .3 .3];
+      color = min([1 1 1], color);
+      
+      fill3(pts(1,:), pts(2,:), pts(3,:), color);
+      
+      xlabel('x');
+      ylabel('y');
+      zlabel('z');
+      
+      axis equal
+      
+    end
     
     
   end

From 7bbe1a3fb36caf137a70cfda16a170c061d7f5ae Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Thu, 11 Sep 2014 15:54:02 -0400
Subject: [PATCH 024/271] Changes flatplate error to a warning since the
 drawing is likely still useful and also zaps some debug printouts.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m | 2 --
 systems/plants/RigidBodySubWing.m             | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index 25ef1fb6014b..931445b2e7cf 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -108,8 +108,6 @@ function drawWing(obj, manip, q, qd, fill_color)
         fill_color = 1;
       end
       
-      disp('drawing');
-      
       for i = 1 : length(obj.subwings)
         obj.subwings{i}.drawWing(manip, q, qd, fill_color);
       end
diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m
index 8bef8564f61f..3b2c9df55dc7 100644
--- a/systems/plants/RigidBodySubWing.m
+++ b/systems/plants/RigidBodySubWing.m
@@ -604,7 +604,7 @@ function drawWing(obj, manip, q, qd, fill_color)
       % @param fill_color @default 1
       
       if ~strcmpi(obj.profile, 'flat plate')
-        error('Drawing not implemented for non-flat plate wings.');
+        warning('Drawing may not be right for non-flat plate wings.');
       end
       
       hold on

From 51a8b6a203389ab8c997201e47598a67abfea634 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Fri, 12 Sep 2014 22:43:22 -0400
Subject: [PATCH 025/271] Fixes a very serious bug where wings with control
 surfaces would drop the forces from one or more wings.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m      | 14 ++++++++++++--
 .../plants/RigidBodySubWingWithControlSurface.m    |  7 +++----
 2 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index 931445b2e7cf..b4fdcb5859cc 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -43,7 +43,7 @@
     end
     
     
-    function [force, B_force, dforce, dB_force ] = computeSpatialForce(obj,manip,q,qd)
+    function [force, B_force, dforce ] = computeSpatialForce(obj,manip,q,qd)
       % Calls the appropriate RigidBodySubWing.computeSpatialForce
       % for all of the subwings, adds the results, and returns.
       
@@ -63,7 +63,17 @@
           
           control_surface_flag = true;
           
-          [force, B_force, dforce, dB_force ] = obj.subwings{i}.computeSpatialForce(manip,q,qd);
+          [this_force, B_force, this_dforce, dB_force ] = obj.subwings{i}.computeSpatialForce(manip,q,qd);
+          
+          if i == 1
+            force = this_force;
+            dforce = this_dforce;
+          else
+            force = force + this_force;
+            dforce = dforce + this_dforce;
+          
+          end
+          
           
         else
         
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 9bade9852030..c20ad0a68864 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -68,7 +68,6 @@
       
       % now compute B and dB
       
-      
       kinsol = doKinematics(manip,q,true,true,qd);
       
       
@@ -323,8 +322,8 @@ function drawWing(obj, manip, q, qd, fill_color)
       % @param qd q-dot (state vector derivatives)
       % @param fill_color @default 1
       
-      color = fill_color - [.3 .3 .3];
-      color = max([0 0 0], color);
+      color = fill_color + [.1 .1 .1];
+      color = min([1 1 1], color);
       
       % first draw the main part of the wing
       drawWing@RigidBodySubWing(obj, manip, q, qd, color)
@@ -348,7 +347,7 @@ function drawWing(obj, manip, q, qd, fill_color)
       
       pts = forwardKin(manip, kinsol, obj.kinframe, [p1; p2; p3; p4]');
       
-      color = fill_color + [.3 .3 .3];
+      color = fill_color + [.2 .2 .2];
       color = min([1 1 1], color);
       
       fill3(pts(1,:), pts(2,:), pts(3,:), color);

From 58d907c8fbe001907574a0ca94857dd8f3da150e Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Fri, 12 Sep 2014 23:26:36 -0400
Subject: [PATCH 026/271] Adds unit test for control surfaces.

---
 .../testRigidBodySubWingWithControlSurface.m  | 46 ++++++++++
 ...estRigidBodySubWingWithControlSurface.urdf | 85 +++++++++++++++++++
 2 files changed, 131 insertions(+)
 create mode 100644 systems/plants/test/testRigidBodySubWingWithControlSurface.m
 create mode 100644 systems/plants/test/testRigidBodySubWingWithControlSurface.urdf

diff --git a/systems/plants/test/testRigidBodySubWingWithControlSurface.m b/systems/plants/test/testRigidBodySubWingWithControlSurface.m
new file mode 100644
index 000000000000..cbfcd9a5130b
--- /dev/null
+++ b/systems/plants/test/testRigidBodySubWingWithControlSurface.m
@@ -0,0 +1,46 @@
+% Tests control surfaces by creating from a URDF that has control surfaces
+% and simulating.
+
+%% Construct from URDF
+
+
+disp('Constructing from URDF...');
+
+options.floating = true;
+r = RigidBodyManipulator('testRigidBodySubWingWithControlSurface.urdf', options);
+%v = r.constructVisualizer();
+
+% Visualize the constructed wing with the wing-drawing tools
+%
+%q = zeros(r.getNumContStates(),1);
+%qd = zeros(r.getNumContStates(),1);
+% clf
+% for i = 1 : length(r.force)
+%   plot3(0, 0, 0, '*');
+%   if isa(r.force{i}, 'RigidBodyWing')
+%     r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]);
+%   end
+% end
+
+%% simulate
+
+disp('Simulating...');
+
+x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0];
+end_t = .5;
+
+constant_traj = ConstantTrajectory([0.8 0.8 100]);
+constant_traj = constant_traj.setOutputFrame(r.getInputFrame());
+
+feedback_system = cascade(constant_traj, r);
+
+[ytraj, xtraj] = feedback_system.simulate([0 end_t], x0);
+
+%v.playback(xtraj)
+
+final_x = xtraj.eval(end_t);
+
+
+assert(final_x(1) > 5) % should move forward
+assert(abs(final_x(2)) < .1) % should stay in the center
+assert(final_x(3) > 1); % should gain altitude
diff --git a/systems/plants/test/testRigidBodySubWingWithControlSurface.urdf b/systems/plants/test/testRigidBodySubWingWithControlSurface.urdf
new file mode 100644
index 000000000000..fa2b0a310171
--- /dev/null
+++ b/systems/plants/test/testRigidBodySubWingWithControlSurface.urdf
@@ -0,0 +1,85 @@
+
+  
+    
+      
+      
+      
+    
+    
+      
+      
+        
+      
+      
+        
+      
+    
+  
+  
+    
+      
+        
+        
+    
+  
+
+  
+    
+      
+      
+        
+    
+  
+
+
+    
+    
+      
+      
+    
+  
+
+  
+    
+      
+      
+    
+  
+
+
+  
+    
+  
+      
+      
+      
+    
+  
+

From 24407cce5c0602cb92aaaea4dbc765271af93484 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Sun, 14 Sep 2014 02:30:01 -0400
Subject: [PATCH 027/271] Revert "visualizes different types of force and
 better impl"

This reverts commit 477fd5214efe4c0d78592498bd5e6ce8f205b307.
---
 systems/plants/RigidBodyVisualizer.m |   7 +-
 systems/visualizers/Visualizer.m     | 111 ++++++++++++++-------------
 2 files changed, 61 insertions(+), 57 deletions(-)

diff --git a/systems/plants/RigidBodyVisualizer.m b/systems/plants/RigidBodyVisualizer.m
index af5bdd4c3ff6..9c5407c1b850 100644
--- a/systems/plants/RigidBodyVisualizer.m
+++ b/systems/plants/RigidBodyVisualizer.m
@@ -10,16 +10,15 @@
     function inspector(obj,x0,state_dims,minrange,maxrange)
       if (nargin<2), x0 = getInitialState(obj.model); end
       if (nargin<3), state_dims = 1:getNumPositions(obj.model); end
+      vel_dims = state_dims+getNumPositions(obj.model);
       [jlmin,jlmax] = getJointLimits(obj.model);
       jlmin(isinf(jlmin))=-2*pi; jlmax(isinf(jlmax))=2*pi;
-      jlmin = [jlmin;-100*ones(getNumVelocities(obj.model),1)];
-      jlmax = [jlmax;100*ones(getNumVelocities(obj.model),1)];
       if (nargin<4), minrange = jlmin(state_dims); end
       if (nargin<5), maxrange = jlmax(state_dims); end
       
-      inspector@Visualizer(obj,x0,state_dims,minrange,maxrange,obj.model);
+      inspector@Visualizer(obj,x0,state_dims,vel_dims,minrange,maxrange,obj.model);
     end
-      
+    
     function kinematicInspector(obj,body_or_frame_id,pt,q0,minrange,maxrange)
       % kinematicInspector(model,body_or_frame_id,pt,q0)
       % brings up a simple slider gui (like the inspector() in Visualizer)
diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m
index 6bccf2e71247..9d28dfbc5ca8 100644
--- a/systems/visualizers/Visualizer.m
+++ b/systems/visualizers/Visualizer.m
@@ -195,7 +195,7 @@ function timer_draw(timerobj,event)
       end
     end
 
-    function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system)
+    function inspector(obj,x0,state_dims,vel_dims,minrange,maxrange,visualized_system)
       % set up a little gui with sliders to manually adjust each of the
       % coordinates.
 
@@ -211,7 +211,7 @@ function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system)
         [x0,~,prog] = resolveConstraints(visualized_system,x0);
       end
 
-      rows = ceil(length(state_dims)/2);
+      rows = ceil((length(state_dims)+length(vel_dims))/2);
       f = sfigure(99); clf;
       set(f,'ResizeFcn',@resize_gui);
 
@@ -226,10 +226,23 @@ function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system)
         % use a little undocumented matlab to get continuous slider feedback:
         slider_listener{i} = handle.listener(slider{i},'ActionEvent',@update_display);
       end
+
+      for i=1:numel(vel_dims)
+        label{i+numel(state_dims)} = uicontrol('Style','text','String',getCoordinateName(fr,vel_dims(i)), ...
+          'BackgroundColor',[.8 .8 .8],'HorizontalAlignment','right');
+        slider{i+numel(state_dims)} = uicontrol('Style', 'slider', 'Min', -100, 'Max', 100, ...
+          'Value', x0(i), 'Callback',{@update_velocities},'UserData',vel_dims(i));
+        value{i+numel(state_dims)} = uicontrol('Style','text','String',num2str(x0(i)), ...
+          'BackgroundColor',[.8 .8 .8],'HorizontalAlignment','left');
+
+        % use a little undocumented matlab to get continuous slider feedback:
+        slider_listener{i+numel(state_dims)} = handle.listener(slider{i+numel(state_dims)},'ActionEvent',@update_velocities);
+      end
       
       set(f, 'Position', [560 400 560 20 + 30*rows]);
       resize_gui();
       update_display(slider{1});
+      update_velocities(slider{numel(state_dims)+1});
 
       function resize_gui(source, eventdata)
         p = get(gcf,'Position');
@@ -241,6 +254,12 @@ function resize_gui(source, eventdata)
           set(value{i},'Position', [width/2-45+width/2*(i>rows), y+30*rows*(i>rows), 45, 20]);
           y = y - 30;
         end
+        for i=numel(state_dims)+1:numel(state_dims)+numel(vel_dims)
+          set(label{i},'Position',[20+width/2*(i>rows), y+30*rows*(i>rows), width/2-220, 20]);
+          set(slider{i},'Position', [width/2-190+width/2*(i>rows), y+30*rows*(i>rows), 140, 20]);
+          set(value{i},'Position', [width/2-45+width/2*(i>rows), y+30*rows*(i>rows), 45, 20]);
+          y = y - 30;
+        end
       end
 
       function update_display(source, eventdata)
@@ -274,62 +293,48 @@ function update_display(source, eventdata)
         end
         x0 = x;
         obj.drawWrapper(t,x);
+        update_velocities(slider{numel(state_dims)+1});
+      end
+      
+      function update_velocities(source, eventdata)
+        t = 0;
+        for i=1:numel(vel_dims)
+          x0(vel_dims(i)) = get(slider{i+numel(state_dims)}, 'Value');
+          set(value{i+numel(state_dims)},'String',num2str(x0(vel_dims(i)),'%4.3f'));
+        end
         
-        if (max(state_dims)>getNumPositions(visualized_system))
-          % was asked to show velocties, draw forces and torques
-          q = x0(1:getNumPositions(visualized_system));
-          qd = x0(getNumPositions(visualized_system)+1:getNumPositions(visualized_system)+getNumVelocities(visualized_system));
-          unit_length = .25; % the length corresponding to gravity on the robot
-          
-          gravity_force = getMass(visualized_system)*visualized_system.gravity;
-          vector_scale = unit_length/norm(gravity_force,2);
-          lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'Gravity');
-          lcmgl.glColor3f(.5,0,0);
-          lcmgl.drawVector3d(getCOM(visualized_system,q),vector_scale*gravity_force);
-          lcmgl.switchBuffers();
-          
-          kinsol = doKinematics(visualized_system,q,false,false);
-          force_vectors = {};
-          for i=1:length(visualized_system.force)
-            if ~visualized_system.force{i}.direct_feedthrough_flag
-              force_element = visualized_system.force{i};
-              force_type = class(force_element);
-              if isprop(force_element,'child_body')
-                  body_ind = force_element.child_body;
-              else
-                  frame = getFrame(visualized_system,force_element.kinframe);
-                  body_ind = frame.body_ind;
-              end
-              f_ext = computeSpatialForce(force_element,visualized_system,q,qd);
-              joint_wrench = f_ext(:,body_ind);
-              body_wrench = inv(visualized_system.body(body_ind).X_joint_to_body)'*joint_wrench;
-              body_T = kinsol.T{body_ind};
-              point = body_T(1:3,4);
-              torque = body_T(1:3,1:3)*body_wrench(1:3);
-              force = body_T(1:3,1:3)*body_wrench(4:6);
-              if ~isfield(force_vectors,force_type), force_vectors.(force_type) = []; end
-              force_vectors.(force_type) = [force_vectors.(force_type),[point;torque;force]];              
-            end
-          end
-          force_types = fields(force_vectors);
-          for i=1:length(force_types);
-              force_type = force_types(i); force_type = force_type{1};
-              vectors = force_vectors.(force_type);
-              lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,force_type);
-              for j=1:size(vectors,2)
-                  point = vectors(1:3,j);
-                  torque = vectors(4:6,j);
-                  force = vectors(7:9,j);
-                  lcmgl.glColor3f(.4,.2,.4);      
-                  lcmgl.drawVector3d(point,vector_scale*torque);
-                  lcmgl.glColor3f(.2,.4,.2);      
-                  lcmgl.drawVector3d(point,vector_scale*force);
-              end
-              lcmgl.switchBuffers();
+        q = x0(1:numel(x0)/2);
+        qd = x0(numel(x0)/2+1:end);
+        
+        unit_length = .25;
+        
+        lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'gravity');
+        gravity_force = getMass(visualized_system)*visualized_system.gravity;
+        normalized_gravity = (unit_length/norm(gravity_force,2))*gravity_force;
+        robot_com = getCOM(visualized_system,q);
+        lcmgl.glColor3f(.5,0,0);
+        lcmgl.drawVector3d(robot_com,normalized_gravity);
+        
+        lcmgl.glColor3f(.5,.5,.5);
+        kinsol = doKinematics(visualized_system,q,false,false);
+        for i=1:length(visualized_system.force)
+          if ~visualized_system.force{i}.direct_feedthrough_flag && isa(visualized_system.force{i},'RigidBodyWing')
+            f_ext = computeSpatialForce(visualized_system.force{i},visualized_system,q,qd);
+            frame = getFrame(visualized_system,visualized_system.force{i}.kinframe);
+            joint_wrench = f_ext(:,frame.body_ind);
+            body_wrench = inv(visualized_system.body(frame.body_ind).X_joint_to_body)'*joint_wrench;
+            T = kinsol.T{frame.body_ind};
+            point = T(1:3,4);
+            force = T(1:3,1:3)*body_wrench(4:6);
+            nforce = (unit_length/norm(gravity_force,2))*force;
+            lcmgl.drawVector3d(point,nforce);
           end
         end
         
+        lcmgl.switchBuffers();
+        obj.drawWrapper(t,x0);
       end
+      
     end
 
     function playbackMovie(obj,xtraj,filename)

From a8a444640585d6ce05f6035c843b839ccfa721b1 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Sun, 14 Sep 2014 02:30:12 -0400
Subject: [PATCH 028/271] Revert "vis using lcm vectors"

This reverts commit 0d426bb16446d1189cf3e20ba434f026e169d544.
---
 systems/visualizers/Visualizer.m | 23 +++++++++++++++--------
 1 file changed, 15 insertions(+), 8 deletions(-)

diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m
index 9d28dfbc5ca8..540283038953 100644
--- a/systems/visualizers/Visualizer.m
+++ b/systems/visualizers/Visualizer.m
@@ -306,28 +306,35 @@ function update_velocities(source, eventdata)
         q = x0(1:numel(x0)/2);
         qd = x0(numel(x0)/2+1:end);
         
-        unit_length = .25;
+        lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'aeroforces');
         
-        lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'gravity');
+        unit_length = .25;
         gravity_force = getMass(visualized_system)*visualized_system.gravity;
-        normalized_gravity = (unit_length/norm(gravity_force,2))*gravity_force;
         robot_com = getCOM(visualized_system,q);
         lcmgl.glColor3f(.5,0,0);
-        lcmgl.drawVector3d(robot_com,normalized_gravity);
+        lcmgl.glTranslated(robot_com(1),robot_com(2),robot_com(3)-.125);
+        lcmgl.glRotated(90, 0, 1, 0);
+        lcmgl.drawArrow3d(unit_length,0.01,0.01,0.0025);
         
         lcmgl.glColor3f(.5,.5,.5);
         kinsol = doKinematics(visualized_system,q,false,false);
         for i=1:length(visualized_system.force)
           if ~visualized_system.force{i}.direct_feedthrough_flag && isa(visualized_system.force{i},'RigidBodyWing')
-            f_ext = computeSpatialForce(visualized_system.force{i},visualized_system,q,qd);
+            
+            wing_force = computeSpatialForce(visualized_system.force{i},visualized_system,q,qd);
             frame = getFrame(visualized_system,visualized_system.force{i}.kinframe);
-            joint_wrench = f_ext(:,frame.body_ind);
+            joint_wrench = wing_force(:,frame.body_ind);
+            
             body_wrench = inv(visualized_system.body(frame.body_ind).X_joint_to_body)'*joint_wrench;
             T = kinsol.T{frame.body_ind};
-            point = T(1:3,4);
             force = T(1:3,1:3)*body_wrench(4:6);
             nforce = (unit_length/norm(gravity_force,2))*force;
-            lcmgl.drawVector3d(point,nforce);
+            point = T(1:3,4);
+            
+            lcmgl.glPushMatrix();
+            lcmgl.line3(point(1),point(2),point(3),point(1)+nforce(1),point(2)+nforce(2),point(3)+nforce(3));
+            lcmgl.glPopMatrix();
+            
           end
         end
         

From 093f901db953b7b3b22562517c84aff1fcc56b9d Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Sun, 14 Sep 2014 02:30:47 -0400
Subject: [PATCH 029/271] Revert "better transforms"

This reverts commit 49c4534284900246731d8ac58c493375a5f88d99.
---
 systems/visualizers/Visualizer.m | 28 +++++++++++-----------------
 1 file changed, 11 insertions(+), 17 deletions(-)

diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m
index 540283038953..6406803730a2 100644
--- a/systems/visualizers/Visualizer.m
+++ b/systems/visualizers/Visualizer.m
@@ -306,35 +306,29 @@ function update_velocities(source, eventdata)
         q = x0(1:numel(x0)/2);
         qd = x0(numel(x0)/2+1:end);
         
-        lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'aeroforces');
+        lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'force');
+        lcmgl.glColor3f(1,0,0);
         
-        unit_length = .25;
         gravity_force = getMass(visualized_system)*visualized_system.gravity;
         robot_com = getCOM(visualized_system,q);
-        lcmgl.glColor3f(.5,0,0);
+        lcmgl.glPushMatrix();
         lcmgl.glTranslated(robot_com(1),robot_com(2),robot_com(3)-.125);
         lcmgl.glRotated(90, 0, 1, 0);
-        lcmgl.drawArrow3d(unit_length,0.01,0.01,0.0025);
+        lcmgl.drawArrow3d(.25,0.01,0.01,0.0025);
+        lcmgl.glPopMatrix();
         
-        lcmgl.glColor3f(.5,.5,.5);
-        kinsol = doKinematics(visualized_system,q,false,false);
+        lcmgl.glColor3f(.5,.5,0);
         for i=1:length(visualized_system.force)
           if ~visualized_system.force{i}.direct_feedthrough_flag && isa(visualized_system.force{i},'RigidBodyWing')
-            
             wing_force = computeSpatialForce(visualized_system.force{i},visualized_system,q,qd);
             frame = getFrame(visualized_system,visualized_system.force{i}.kinframe);
-            joint_wrench = wing_force(:,frame.body_ind);
-            
-            body_wrench = inv(visualized_system.body(frame.body_ind).X_joint_to_body)'*joint_wrench;
-            T = kinsol.T{frame.body_ind};
-            force = T(1:3,1:3)*body_wrench(4:6);
-            nforce = (unit_length/norm(gravity_force,2))*force;
-            point = T(1:3,4);
-            
+            point = frame.T(1:3,4);
+            force_v = wing_force(4:6,frame.body_ind);
             lcmgl.glPushMatrix();
-            lcmgl.line3(point(1),point(2),point(3),point(1)+nforce(1),point(2)+nforce(2),point(3)+nforce(3));
+            lcmgl.glTranslated(point(1),point(2),point(3)-norm(force_v,2)/2);
+            lcmgl.glRotated(0,force_v(1),force_v(2),force_v(3));
+            lcmgl.drawArrow3d(norm(force_v,2),0.01,0.01,0.0025);
             lcmgl.glPopMatrix();
-            
           end
         end
         

From 156eebe3d6464eb870b882503af7bb00a50bb88d Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Sun, 14 Sep 2014 02:30:53 -0400
Subject: [PATCH 030/271] Revert "better drawing order"

This reverts commit f8c8e6a4c2cbfaf57e4c63e58cc5348f4c8a4593.
---
 systems/visualizers/Visualizer.m | 30 +++++++++++++-----------------
 1 file changed, 13 insertions(+), 17 deletions(-)

diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m
index 6406803730a2..56c6bc2e28ce 100644
--- a/systems/visualizers/Visualizer.m
+++ b/systems/visualizers/Visualizer.m
@@ -306,33 +306,29 @@ function update_velocities(source, eventdata)
         q = x0(1:numel(x0)/2);
         qd = x0(numel(x0)/2+1:end);
         
-        lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'force');
-        lcmgl.glColor3f(1,0,0);
+        force = sparse(6,size(visualized_system.body,2));
+        for i=1:length(visualized_system.force)
+          if ~visualized_system.force{i}.direct_feedthrough_flag
+            force = force + computeSpatialForce(visualized_system.force{i},visualized_system,q,qd);
+          end
+        end
         
         gravity_force = getMass(visualized_system)*visualized_system.gravity;
         robot_com = getCOM(visualized_system,q);
+        
+        lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'force');
+        lcmgl.glColor3f(1,0,0);
+
         lcmgl.glPushMatrix();
         lcmgl.glTranslated(robot_com(1),robot_com(2),robot_com(3)-.125);
         lcmgl.glRotated(90, 0, 1, 0);
         lcmgl.drawArrow3d(.25,0.01,0.01,0.0025);
         lcmgl.glPopMatrix();
         
-        lcmgl.glColor3f(.5,.5,0);
-        for i=1:length(visualized_system.force)
-          if ~visualized_system.force{i}.direct_feedthrough_flag && isa(visualized_system.force{i},'RigidBodyWing')
-            wing_force = computeSpatialForce(visualized_system.force{i},visualized_system,q,qd);
-            frame = getFrame(visualized_system,visualized_system.force{i}.kinframe);
-            point = frame.T(1:3,4);
-            force_v = wing_force(4:6,frame.body_ind);
-            lcmgl.glPushMatrix();
-            lcmgl.glTranslated(point(1),point(2),point(3)-norm(force_v,2)/2);
-            lcmgl.glRotated(0,force_v(1),force_v(2),force_v(3));
-            lcmgl.drawArrow3d(norm(force_v,2),0.01,0.01,0.0025);
-            lcmgl.glPopMatrix();
-          end
-        end
-        
         lcmgl.switchBuffers();
+        
+        display(full(force));
+        display(full(gravity_force));
         obj.drawWrapper(t,x0);
       end
       

From e33ebebe358322d941464d5b1b4f86b1bd48c5ba Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Sun, 14 Sep 2014 02:30:59 -0400
Subject: [PATCH 031/271] Revert "some viz code"

This reverts commit 45e5bd2330ff6c7ff4001d39c639a9a353ead63b.
---
 systems/plants/RigidBodyVisualizer.m |  8 ++--
 systems/visualizers/Visualizer.m     | 62 +---------------------------
 2 files changed, 7 insertions(+), 63 deletions(-)

diff --git a/systems/plants/RigidBodyVisualizer.m b/systems/plants/RigidBodyVisualizer.m
index 9c5407c1b850..6bd2ac627d13 100644
--- a/systems/plants/RigidBodyVisualizer.m
+++ b/systems/plants/RigidBodyVisualizer.m
@@ -7,16 +7,18 @@
       obj = obj@Visualizer(getStateFrame(manip));
       obj.model = manip;
     end
-    function inspector(obj,x0,state_dims,minrange,maxrange)
+    function inspector(obj,x0, state_dims,minrange,maxrange)
       if (nargin<2), x0 = getInitialState(obj.model); end
       if (nargin<3), state_dims = 1:getNumPositions(obj.model); end
-      vel_dims = state_dims+getNumPositions(obj.model);
+      if any(state_dims)>getNumPositions(obj.model)
+        error('can''t draw velocities');
+      end
       [jlmin,jlmax] = getJointLimits(obj.model);
       jlmin(isinf(jlmin))=-2*pi; jlmax(isinf(jlmax))=2*pi;
       if (nargin<4), minrange = jlmin(state_dims); end
       if (nargin<5), maxrange = jlmax(state_dims); end
       
-      inspector@Visualizer(obj,x0,state_dims,vel_dims,minrange,maxrange,obj.model);
+      inspector@Visualizer(obj,x0,state_dims,minrange,maxrange,obj.model);
     end
     
     function kinematicInspector(obj,body_or_frame_id,pt,q0,minrange,maxrange)
diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m
index 56c6bc2e28ce..c41ebbd17ce6 100644
--- a/systems/visualizers/Visualizer.m
+++ b/systems/visualizers/Visualizer.m
@@ -195,7 +195,7 @@ function timer_draw(timerobj,event)
       end
     end
 
-    function inspector(obj,x0,state_dims,vel_dims,minrange,maxrange,visualized_system)
+    function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system)
       % set up a little gui with sliders to manually adjust each of the
       % coordinates.
 
@@ -211,7 +211,7 @@ function inspector(obj,x0,state_dims,vel_dims,minrange,maxrange,visualized_syste
         [x0,~,prog] = resolveConstraints(visualized_system,x0);
       end
 
-      rows = ceil((length(state_dims)+length(vel_dims))/2);
+      rows = ceil(length(state_dims)/2);
       f = sfigure(99); clf;
       set(f,'ResizeFcn',@resize_gui);
 
@@ -227,22 +227,9 @@ function inspector(obj,x0,state_dims,vel_dims,minrange,maxrange,visualized_syste
         slider_listener{i} = handle.listener(slider{i},'ActionEvent',@update_display);
       end
 
-      for i=1:numel(vel_dims)
-        label{i+numel(state_dims)} = uicontrol('Style','text','String',getCoordinateName(fr,vel_dims(i)), ...
-          'BackgroundColor',[.8 .8 .8],'HorizontalAlignment','right');
-        slider{i+numel(state_dims)} = uicontrol('Style', 'slider', 'Min', -100, 'Max', 100, ...
-          'Value', x0(i), 'Callback',{@update_velocities},'UserData',vel_dims(i));
-        value{i+numel(state_dims)} = uicontrol('Style','text','String',num2str(x0(i)), ...
-          'BackgroundColor',[.8 .8 .8],'HorizontalAlignment','left');
-
-        % use a little undocumented matlab to get continuous slider feedback:
-        slider_listener{i+numel(state_dims)} = handle.listener(slider{i+numel(state_dims)},'ActionEvent',@update_velocities);
-      end
-      
       set(f, 'Position', [560 400 560 20 + 30*rows]);
       resize_gui();
       update_display(slider{1});
-      update_velocities(slider{numel(state_dims)+1});
 
       function resize_gui(source, eventdata)
         p = get(gcf,'Position');
@@ -254,12 +241,6 @@ function resize_gui(source, eventdata)
           set(value{i},'Position', [width/2-45+width/2*(i>rows), y+30*rows*(i>rows), 45, 20]);
           y = y - 30;
         end
-        for i=numel(state_dims)+1:numel(state_dims)+numel(vel_dims)
-          set(label{i},'Position',[20+width/2*(i>rows), y+30*rows*(i>rows), width/2-220, 20]);
-          set(slider{i},'Position', [width/2-190+width/2*(i>rows), y+30*rows*(i>rows), 140, 20]);
-          set(value{i},'Position', [width/2-45+width/2*(i>rows), y+30*rows*(i>rows), 45, 20]);
-          y = y - 30;
-        end
       end
 
       function update_display(source, eventdata)
@@ -268,7 +249,6 @@ function update_display(source, eventdata)
           x(state_dims(i)) = get(slider{i}, 'Value');
           set(value{i},'String',num2str(x(state_dims(i)),'%4.3f'));
         end
-        
         if (~isempty(visualized_system) && getNumStateConstraints(visualized_system)+getNumUnilateralConstraints(visualized_system)>0)
           % constrain the current slider to be exactly the specified value
           current_slider_statedim = get(source,'UserData');
@@ -293,45 +273,7 @@ function update_display(source, eventdata)
         end
         x0 = x;
         obj.drawWrapper(t,x);
-        update_velocities(slider{numel(state_dims)+1});
-      end
-      
-      function update_velocities(source, eventdata)
-        t = 0;
-        for i=1:numel(vel_dims)
-          x0(vel_dims(i)) = get(slider{i+numel(state_dims)}, 'Value');
-          set(value{i+numel(state_dims)},'String',num2str(x0(vel_dims(i)),'%4.3f'));
-        end
-        
-        q = x0(1:numel(x0)/2);
-        qd = x0(numel(x0)/2+1:end);
-        
-        force = sparse(6,size(visualized_system.body,2));
-        for i=1:length(visualized_system.force)
-          if ~visualized_system.force{i}.direct_feedthrough_flag
-            force = force + computeSpatialForce(visualized_system.force{i},visualized_system,q,qd);
-          end
-        end
-        
-        gravity_force = getMass(visualized_system)*visualized_system.gravity;
-        robot_com = getCOM(visualized_system,q);
-        
-        lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton,'force');
-        lcmgl.glColor3f(1,0,0);
-
-        lcmgl.glPushMatrix();
-        lcmgl.glTranslated(robot_com(1),robot_com(2),robot_com(3)-.125);
-        lcmgl.glRotated(90, 0, 1, 0);
-        lcmgl.drawArrow3d(.25,0.01,0.01,0.0025);
-        lcmgl.glPopMatrix();
-        
-        lcmgl.switchBuffers();
-        
-        display(full(force));
-        display(full(gravity_force));
-        obj.drawWrapper(t,x0);
       end
-      
     end
 
     function playbackMovie(obj,xtraj,filename)

From be141a012e3ca2e7c9627f65dc1570c0976b0db5 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Sun, 14 Sep 2014 02:57:38 -0400
Subject: [PATCH 032/271] Adds a check so that control surfaces errors on
 unimplemented cases.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index b4fdcb5859cc..f94b028fe39f 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -172,6 +172,10 @@ function drawWing(obj, manip, q, qd, fill_color)
       else
         % deal with control surfaces
         
+        if ~strcmpi(profile, 'flat plate')
+            error('wings with control surfaces that are not flat plates is unimplemneted at the current time.');
+        end
+        
         % load control surface data
         count = 0;
 

From a0ca48b8b029818ce09977f99088c12dd0a6cebd Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Sun, 14 Sep 2014 03:02:41 -0400
Subject: [PATCH 033/271] deletes test that should not be included in this pull
 request.

---
 .../plants/test/bullet_lidar_sensor_test.m    | 138 ------------------
 1 file changed, 138 deletions(-)
 delete mode 100644 systems/plants/test/bullet_lidar_sensor_test.m

diff --git a/systems/plants/test/bullet_lidar_sensor_test.m b/systems/plants/test/bullet_lidar_sensor_test.m
deleted file mode 100644
index 7af98ff913d6..000000000000
--- a/systems/plants/test/bullet_lidar_sensor_test.m
+++ /dev/null
@@ -1,138 +0,0 @@
-function bullet_lidar_sensor_test
-% tests lidar sensor
-
-checkDependency('bullet');
-
-use_visualizer = 1;
-
-if (use_visualizer == 1)
-    checkDependency('lcmgl');
-end
-
-% set up a world with two poles and a brick in it
-
-options.floating = true;
-options.terrain = [];
-
-rb = RigidBodyManipulator([getDrakePath '/systems/plants/test/FallingBrick.urdf'], options);
-
-
-% world is rb.body(1)
-
-world = rb.getBody(1);
-
-
-% add obstacles to the world
-
-obstacle1 = RigidBodyCapsule(1, 10);
-obstacle1.T(1:3, 4) = [ 10; 0; 0 ];
-
-world.contact_shapes{end+1} = obstacle1;
-world.visual_shapes{end+1} = obstacle1;
-
-obstacle2 = RigidBodyCapsule(1, 10);
-obstacle2.T(1:3, 4) = [ -10; 0; 0 ];
-
-world.contact_shapes{end+1} = obstacle2;
-world.visual_shapes{end+1} = obstacle2;
-
-% put the new world back into the rb
-rb = rb.setBody(1, world);
-
-% we're about to throw a warning, so supress it but immediately restore it
-warn_state = warning('query', 'Drake:RigidBodyManipulator:UnsupportedContactPoints');
-warning('off', 'Drake:RigidBodyManipulator:UnsupportedContactPoints');
-
-rb = compile(rb);
-
-% reset warning state
-warning(warn_state.state, 'Drake:RigidBodyManipulator:UnsupportedContactPoints');
-
-% test the LIDAR
-
-lidar = Lidar();
-
-
-% test raycasting
-
-zheight = 0;
-
-q0 = rand(rb.getNumDOF(), 1);
-q0(2) = 10;
-q0(3) = 10; % the block shouldn't be in the sensor's view for a 2D sweep
-x0 = [q0; rand(rb.getNumDOF(), 1)]; % full state (positions, velocities)
-
-if (use_visualizer == 1)
-    v = rb.constructVisualizer();
-    v.draw(0, x0);
-end
-
-kinsol = doKinematics(rb, q0);
-
-distance = [];
-angles = [];
-
-for angle = 0:.01:2*pi
-    
-    origin = [0; 0; zheight];
-    
-    point_on_ray = [cos(angle); sin(angle); 0] * 1000;
-    point_on_ray(3) = zheight;
-    
-    angles(end+1) = angle;
-    distance(end+1) = collisionRaycast(rb, kinsol, origin, point_on_ray);
-    
-end
-
-if (use_visualizer == 1)
-    lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(), 'raycasting');
-    lcmgl.glColor3f(1, 0, 0);
-end
-
-% count the number of hits we get
-hit_num = 0;
-
-for i=1:length(distance)
-    if (distance(i) > 0)
-        % got a hit
-        hit_num = hit_num + 1;
-        
-        point = [cos(angles(i)); sin(angles(i)); 0] * distance(i);
-        point(3) = zheight;
-        
-        % draw point hit and lines
-        if (use_visualizer == 1)
-            lcmgl.sphere(point, .1, 20, 20);
-            lcmgl.line3(origin(1), origin(2), origin(3), point(1), point(2), point(3));
-        end
-        
-        % make sure the hit is on one of the poles
-        
-        % poles are located at (-10, 0, 0) and (10, 0, 0)
-        % with radius 1
-        
-        if (point(1) > 0)
-            if (point(1) >= 8.5 && point(1) <= 11.5 && point (2) >= -1 && point(2) <= 1)
-                % ok
-            else
-                error('Raycasting point did not end on a cylinder.');
-            end
-        else
-            % on the other pole
-            if (point(1) <= -8.5 && point(1) >= -11.5 && point (2) >= -1 && point(2) <= 1)
-                % ok
-            else
-                error('Raycasting point did not end on a cylinder.');
-            end
-        end
-            
-    end
-end
-
-if (use_visualizer == 1)
-    lcmgl.switchBuffers;
-end
-
-valuecheck(hit_num, 41); % we should get 41 hits on the poles
-
-

From 60def2976c461daab87df1e1bd9fe679329b22e5 Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Sun, 21 Sep 2014 13:42:56 -0400
Subject: [PATCH 034/271] add scott's files, modified to make the table lower
 and the walls higher

---
 examples/Quadrotor/Quadrotor.m             | 45 ++++++++++++++++++++++
 examples/Quadrotor/runMixedIntegerOffice.m | 44 +++++++++++++++++++++
 2 files changed, 89 insertions(+)
 create mode 100644 examples/Quadrotor/runMixedIntegerOffice.m

diff --git a/examples/Quadrotor/Quadrotor.m b/examples/Quadrotor/Quadrotor.m
index c79c71a6d571..8b2cfa25b1cc 100644
--- a/examples/Quadrotor/Quadrotor.m
+++ b/examples/Quadrotor/Quadrotor.m
@@ -82,6 +82,51 @@
       obj = compile(obj);
     end    
     
+    function obj = addBox(obj, lwh, xy, yaw)
+      % Adds a single box (this is addTree but without the leaves) with specified length width height, xy
+      % location, and yaw orientation.
+      height = lwh(1,3);
+      width_param = lwh(1,1:2);
+      treeTrunk = RigidBodyBox([.2+.8*width_param height],...
+          [xy;height/2],[0;0;yaw]);
+      treeTrunk.c = [83,53,10]/255;  % brown
+      obj = addShapeToBody(obj,'world',treeTrunk);
+      obj = addContactShapeToBody(obj,'world',treeTrunk);
+      obj = compile(obj);
+    end    
+    
+    function obj = addFloatingBox(obj, lwh, xyz, yaw, color)
+      if nargin < 5
+        color = [.8,.8,.8]; % gray
+      end
+      % Adds a single box with specified length width height, x,y, and z
+      % location, and yaw orientation.
+      height = lwh(1,3);
+      length = lwh(1,1);
+      width = lwh(1,2);
+      floatBox = RigidBodyBox([length width height],...
+          [xyz(1,1) xyz(1,2) xyz(1,3)],[0;0;yaw]);
+      floatBox.c = color;
+      obj = addShapeToBody(obj,'world',floatBox);
+      obj = addContactShapeToBody(obj,'world',floatBox);
+      obj = compile(obj);
+    end    
+    
+    function obj = addTable(r, lwh, xyz, dist)
+      % This adds 5 Floating boxes given the size, location, tilt of
+      % the Quadrant III leg, and shortest dist. from one leg to an
+      % adjacent one
+      
+      %leg boxes
+      r = addFloatingBox(r, lwh, [xyz(1,1),xyz(1,2),xyz(1,3)], 0);
+      r = addFloatingBox(r, lwh, [xyz(1,1),xyz(1,2)+dist,xyz(1,3)], 0);
+      r = addFloatingBox(r, lwh, [xyz(1,1)+dist,xyz(1,2),xyz(1,3)], 0);
+      r = addFloatingBox(r, lwh, [xyz(1,1)+dist,xyz(1,2)+dist,xyz(1,3)], 0);
+      %surface box
+      obj = addFloatingBox(r, [dist+.3,dist+.3,0.1], [xyz(1,1)+dist/2,xyz(1,2)+dist/2, 2 * xyz(1,3)], 0);
+
+    end    
+    
     function traj_opt = addPlanVisualizer(obj,traj_opt)
       % spew out an lcmgl visualization of the trajectory.  intended to be
       % used as a callback (fake objective) in the direct trajectory
diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m
new file mode 100644
index 000000000000..f009bfec42e0
--- /dev/null
+++ b/examples/Quadrotor/runMixedIntegerOffice.m
@@ -0,0 +1,44 @@
+function [r, xtraj, utraj, prog] = runMixedIntegerOffice
+
+r = Quadrotor();
+
+wall_height = 3.0;
+
+
+%room walls
+r = addBox(r, [10.0,.1,wall_height], [0;3.15],0);
+r = addBox(r, [10.0,.1,wall_height], [0;-3.15],0);
+r = addBox(r, [.1,8.0,1.0], [4.0;0],0);
+r = addBox(r, [.1,8.0,wall_height], [-4.0;0],0);
+
+%room internal wall
+r = addBox(r, [.1,3.7,wall_height], [2.5;-1.65],0);
+r = addBox(r, [.1,1.5,wall_height], [2.5;2.5],0);
+
+%room window
+r = addBox(r, [.1,4.0,wall_height], [4.0;1.5],0);
+r = addBox(r, [.1,1.75,wall_height], [4.0;-2.5],0);
+r = addFloatingBox(r, [.28,1.5,wall_height-2], [4.0,-.95,2.5], 0, [83,53,10]/255);
+
+%roof
+%r = addBox(r, [10,8,2.0], [0;0],0);
+
+%cabinet
+r = addFloatingBox(r, [.8,1.7,1.7],[-3.5,-1.8,0.8],0);
+
+r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,1.3],0);
+r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,0.8],0);
+r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,0.3],0);
+
+r = addTable(r, [.2,.2,1.0], [-1,-1,.5],2);
+
+
+  v = constructVisualizer(r);%,struct('use_contact_shapes',true));
+  %v.draw(0,double(x0));
+
+
+
+
+  return;
+
+

From 04b0ae1cd040a9566643fc6647d2859d0b37209b Mon Sep 17 00:00:00 2001
From: Russ Tedrake 
Date: Sun, 21 Sep 2014 21:48:22 -0400
Subject: [PATCH 035/271] implemented absolute minimal required logic for Robin
 to visualize the quadrotor plans

---
 .../Quadrotor/DifferentiallyFlatOutputFrame.m |  8 ++++
 examples/Quadrotor/invertFlatOutputs.m        | 43 +++++++++++++++++++
 examples/Quadrotor/runDircol.m                |  2 +-
 .../Quadrotor/test/testInvertFlatOutputs.m    | 15 +++++++
 4 files changed, 67 insertions(+), 1 deletion(-)
 create mode 100644 examples/Quadrotor/DifferentiallyFlatOutputFrame.m
 create mode 100644 examples/Quadrotor/invertFlatOutputs.m
 create mode 100644 examples/Quadrotor/test/testInvertFlatOutputs.m

diff --git a/examples/Quadrotor/DifferentiallyFlatOutputFrame.m b/examples/Quadrotor/DifferentiallyFlatOutputFrame.m
new file mode 100644
index 000000000000..ee79a70f8e92
--- /dev/null
+++ b/examples/Quadrotor/DifferentiallyFlatOutputFrame.m
@@ -0,0 +1,8 @@
+classdef DifferentiallyFlatOutputFrame < SingletonCoordinateFrame
+
+  methods
+    function obj=DifferentiallyFlatOutputFrame()
+      obj = obj@SingletonCoordinateFrame('QuadrotorDifferentiallyFlatOutput',4,'y',{'x','y','z','yaw'});
+    end
+  end  
+end
\ No newline at end of file
diff --git a/examples/Quadrotor/invertFlatOutputs.m b/examples/Quadrotor/invertFlatOutputs.m
new file mode 100644
index 000000000000..85aeca02d49e
--- /dev/null
+++ b/examples/Quadrotor/invertFlatOutputs.m
@@ -0,0 +1,43 @@
+function [xtraj,utraj] = invertFlatOutputs(plant,ytraj)
+
+% @param plant a quadrotor plant (either Quadrotor or QuadPlantPenn should
+% work)
+% @param ytraj a PPTrajectory in the DifferentiallyFlatOutputFrame
+
+% note: assumes g = [0;0;-9.81]
+
+typecheck(plant,'DrakeSystem');
+typecheck(ytraj,'PPTrajectory');
+assert(ytraj.getOutputFrame == DifferentiallyFlatOutputFrame);
+
+breaks = getBreaks(ytraj);
+ydtraj = fnder(ytraj);
+yddtraj = fnder(ydtraj);
+g = [0;0;-9.81];
+
+  function x = extractState(t)
+    y = ytraj.eval(t);
+    ydd = yddtraj.eval(t);
+    zB = ydd(1:3)-g;
+    zBmag = norm(zB);
+    if zBmag<1e-6, zB = [0;0;1]; else zB = zB/zBmag; end
+    xC = [cos(y(4));sin(y(4));0];
+    yB = cross(zB,xC);
+    yB = yB/norm(yB);
+    xB = cross(yB,zB);
+    R = [xB,yB,zB];
+    x = [y(1:3); rotmat2rpy(R); zeros(6,1)];
+  end
+
+% todo: actually output a polynomial, not just a function handle
+warning('state velocities are set to zero for now (because i''m lazy).  coming soon.');
+xtraj = FunctionHandleTrajectory(@extractState,12,breaks)
+xtraj = setOutputFrame(xtraj,getStateFrame(plant));
+
+if nargout>1
+  warning('inputs are set to zero for now (because i''m lazy).  coming soon.');
+  utraj = ConstantTrajectory(zeros(4,1));
+  utraj = setOutputFrame(utraj,getInputFrame(plant));
+end
+
+end
diff --git a/examples/Quadrotor/runDircol.m b/examples/Quadrotor/runDircol.m
index 9a98d3dca904..a2f00c23bdff 100644
--- a/examples/Quadrotor/runDircol.m
+++ b/examples/Quadrotor/runDircol.m
@@ -1,4 +1,4 @@
-function [utraj,xtraj,prog] = runDircol
+function [utraj,xtraj,prog,r] = runDircol
 
 % simple planning demo which takes the quadrotor from hover at x=0m to a new hover at
 % x=2m with minimal thrust.
diff --git a/examples/Quadrotor/test/testInvertFlatOutputs.m b/examples/Quadrotor/test/testInvertFlatOutputs.m
new file mode 100644
index 000000000000..7d58bb67b6e7
--- /dev/null
+++ b/examples/Quadrotor/test/testInvertFlatOutputs.m
@@ -0,0 +1,15 @@
+function testInvertFlatOutputs
+
+p = addpathTemporary(fullfile(pwd,'..'));
+
+[utraj,xtraj,~,plant] = runDircol;
+
+ytraj = xtraj([1:3,6]);
+ytraj = setOutputFrame(ytraj,DifferentiallyFlatOutputFrame);
+
+[xtraj_from_flat,utraj_from_flat] = invertFlatOutputs(plant,ytraj);
+
+% todo: test the remaining coordinates here
+% todo: improve tolerance (by finishing derivatives, etc)
+valuecheck(xtraj_from_flat(1:6),xtraj(1:6),.1);
+

From 8a42133af32598ad5267191dabb09a87cd6ba276 Mon Sep 17 00:00:00 2001
From: Russ Tedrake 
Date: Sun, 21 Sep 2014 21:55:58 -0400
Subject: [PATCH 036/271] clean up unwanted warning noise

---
 examples/Quadrotor/invertFlatOutputs.m          | 8 +++++---
 examples/Quadrotor/test/testInvertFlatOutputs.m | 1 -
 systems/trajectories/Trajectory.m               | 2 ++
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/examples/Quadrotor/invertFlatOutputs.m b/examples/Quadrotor/invertFlatOutputs.m
index 85aeca02d49e..3321ea1922b3 100644
--- a/examples/Quadrotor/invertFlatOutputs.m
+++ b/examples/Quadrotor/invertFlatOutputs.m
@@ -30,12 +30,14 @@
   end
 
 % todo: actually output a polynomial, not just a function handle
-warning('state velocities are set to zero for now (because i''m lazy).  coming soon.');
-xtraj = FunctionHandleTrajectory(@extractState,12,breaks)
+warning('state velocities are set to zero for now.  coming soon.');
+w = warning('off','Drake:FunctionHandleTrajectory');
+xtraj = FunctionHandleTrajectory(@extractState,12,breaks);
+warning(w);
 xtraj = setOutputFrame(xtraj,getStateFrame(plant));
 
 if nargout>1
-  warning('inputs are set to zero for now (because i''m lazy).  coming soon.');
+  warning('inputs are set to zero for now.  coming soon.');
   utraj = ConstantTrajectory(zeros(4,1));
   utraj = setOutputFrame(utraj,getInputFrame(plant));
 end
diff --git a/examples/Quadrotor/test/testInvertFlatOutputs.m b/examples/Quadrotor/test/testInvertFlatOutputs.m
index 7d58bb67b6e7..a71e38d4fc27 100644
--- a/examples/Quadrotor/test/testInvertFlatOutputs.m
+++ b/examples/Quadrotor/test/testInvertFlatOutputs.m
@@ -12,4 +12,3 @@
 % todo: test the remaining coordinates here
 % todo: improve tolerance (by finishing derivatives, etc)
 valuecheck(xtraj_from_flat(1:6),xtraj(1:6),.1);
-
diff --git a/systems/trajectories/Trajectory.m b/systems/trajectories/Trajectory.m
index c25351e77ad4..ffa3408969af 100644
--- a/systems/trajectories/Trajectory.m
+++ b/systems/trajectories/Trajectory.m
@@ -287,8 +287,10 @@
         
         for i=1:prod(size(traj))
           S.type = '()'; S.subs = {i};
+          w = warning('off','Drake:FunctionHandleTrajectory');
           sub_traj = subsref(traj,S);
           sub_desired_traj = subsref(desired_traj,S);
+          warning(w);
           
           [thistf,errstr] = valuecheck(eval(sub_traj,ts),eval(sub_desired_traj,ts),tol);
           if ~thistf

From 6da66ed36da4fdbecf9c645d65cfb91031cebd37 Mon Sep 17 00:00:00 2001
From: Russ Tedrake 
Date: Sun, 21 Sep 2014 21:59:46 -0400
Subject: [PATCH 037/271] make acceleration threshold a parameter

---
 examples/Quadrotor/invertFlatOutputs.m | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/examples/Quadrotor/invertFlatOutputs.m b/examples/Quadrotor/invertFlatOutputs.m
index 3321ea1922b3..882f1a7d5d22 100644
--- a/examples/Quadrotor/invertFlatOutputs.m
+++ b/examples/Quadrotor/invertFlatOutputs.m
@@ -1,8 +1,11 @@
-function [xtraj,utraj] = invertFlatOutputs(plant,ytraj)
+function [xtraj,utraj] = invertFlatOutputs(plant,ytraj,options)
 
 % @param plant a quadrotor plant (either Quadrotor or QuadPlantPenn should
 % work)
 % @param ytraj a PPTrajectory in the DifferentiallyFlatOutputFrame
+% @option zero_acceleration_tol threshold on the magnitude of the 
+%                        acceleration vector below which the quad is
+%                        considered stationary. @default 1e-8
 
 % note: assumes g = [0;0;-9.81]
 
@@ -10,6 +13,9 @@
 typecheck(ytraj,'PPTrajectory');
 assert(ytraj.getOutputFrame == DifferentiallyFlatOutputFrame);
 
+if nargin<3, options=struct(); end
+if ~isfield(options,'zero_acceleration_tol'), options.zero_acceleration_tol = 1e-8; end
+
 breaks = getBreaks(ytraj);
 ydtraj = fnder(ytraj);
 yddtraj = fnder(ydtraj);
@@ -20,7 +26,7 @@
     ydd = yddtraj.eval(t);
     zB = ydd(1:3)-g;
     zBmag = norm(zB);
-    if zBmag<1e-6, zB = [0;0;1]; else zB = zB/zBmag; end
+    if zBmag
Date: Mon, 22 Sep 2014 11:19:53 -0400
Subject: [PATCH 038/271] extract state velocity from flat outputs.  started on
 extracting inputs, but did not finish

---
 examples/Quadrotor/QuadPlantPenn.m            | 16 ++++++-
 examples/Quadrotor/Quadrotor.m                |  4 ++
 examples/Quadrotor/invertFlatOutputs.m        | 46 +++++++++++++++----
 .../Quadrotor/test/testInvertFlatOutputs.m    |  5 +-
 4 files changed, 58 insertions(+), 13 deletions(-)

diff --git a/examples/Quadrotor/QuadPlantPenn.m b/examples/Quadrotor/QuadPlantPenn.m
index 31d04754ac53..dee1813eb892 100644
--- a/examples/Quadrotor/QuadPlantPenn.m
+++ b/examples/Quadrotor/QuadPlantPenn.m
@@ -10,6 +10,14 @@
             obj = obj.setOutputFrame(obj.getStateFrame);
         end
         
+        function m = getMass(obj)
+          m = obj.m
+        end
+        
+        function I = getInertia(obj)
+          I = obj.I;
+        end
+        
         function qdd = sodynamics(obj,t,q,qd,u)
             % States
             % x
@@ -26,8 +34,8 @@
             % psidot
             
             % Parameters
-            m = 0.5000;
-            I = diag([0.0023,0.0023,0.004]);
+            m = obj.m;
+            I = obj.I;
             invI = diag(1./[0.0023,0.0023,0.004]);
             g = 9.81;
             L = 0.1750;
@@ -104,6 +112,10 @@
         end
         
     end
+    properties
+      m = .5;
+      I = diag([0.0023,0.0023,0.004]);
+    end
     
 end
 
diff --git a/examples/Quadrotor/Quadrotor.m b/examples/Quadrotor/Quadrotor.m
index c79c71a6d571..5f6e5ef94391 100644
--- a/examples/Quadrotor/Quadrotor.m
+++ b/examples/Quadrotor/Quadrotor.m
@@ -27,6 +27,10 @@
       obj = compile(obj);
     end
    
+    function I = getInertia(obj)
+      I = obj.body(2).inertia;
+    end
+    
     function u0 = nominalThrust(obj)
       % each propellor commands -mg/4
       u0 = Point(getInputFrame(obj),getMass(obj)*norm(getGravity(obj))*ones(4,1)/4);
diff --git a/examples/Quadrotor/invertFlatOutputs.m b/examples/Quadrotor/invertFlatOutputs.m
index 882f1a7d5d22..587d6c76b4b8 100644
--- a/examples/Quadrotor/invertFlatOutputs.m
+++ b/examples/Quadrotor/invertFlatOutputs.m
@@ -6,10 +6,13 @@
 % @option zero_acceleration_tol threshold on the magnitude of the 
 %                        acceleration vector below which the quad is
 %                        considered stationary. @default 1e-8
+%
+% implementation based on 
+% Minimum Snap Trajectory Generation and Control for Quadrotors
+% by Daniel Mellinger and Vijay Kumar
+% ICRA 2011
 
-% note: assumes g = [0;0;-9.81]
-
-typecheck(plant,'DrakeSystem');
+typecheck(plant,{'Quadrotor','QuadPlantPenn'});
 typecheck(ytraj,'PPTrajectory');
 assert(ytraj.getOutputFrame == DifferentiallyFlatOutputFrame);
 
@@ -19,10 +22,15 @@
 breaks = getBreaks(ytraj);
 ydtraj = fnder(ytraj);
 yddtraj = fnder(ydtraj);
-g = [0;0;-9.81];
+ydddtraj = fnder(yddtraj);
+g = plant.getGravity;
+zW = g/norm(g);
+m = plant.getMass;
+I = plant.getInertia;
 
-  function x = extractState(t)
+  function x_or_u = extractStateOrInput(t,tf_output_state)
     y = ytraj.eval(t);
+    yd = ydtraj.eval(t);
     ydd = yddtraj.eval(t);
     zB = ydd(1:3)-g;
     zBmag = norm(zB);
@@ -32,19 +40,39 @@
     yB = yB/norm(yB);
     xB = cross(yB,zB);
     R = [xB,yB,zB];
-    x = [y(1:3); rotmat2rpy(R); zeros(6,1)];
+    x = [y(1:3); rotmat2rpy(R); yd(1:3); zeros(3,1)];
+    
+    % compute velocities
+    yddd = ydddtraj.eval(t);
+    adot = yddd(1:3);
+    h_omega = m*(adot - (zB'*adot)*zB)/zBmag;
+
+    omegaBW = [ - h_omega'*yB; h_omega'*xB; yd(4)*zW'*zB ];
+    x(10:12) = angularvel2rpydot(x(4:6), omegaBW);
+
+    % now extract input
+    % note: my u vector = kf*omega.^2 from mellinger 
+%    omegadotBW = [ nan; nan; ydd(4)*zW'*zB ];
+%    mellinger_u = [zBmag; I*omegadotBW + omegaBW'*(I*omegaBW)]
+
+    if (tf_output_state)
+      x_or_u = x;
+    else
+      x_or_u = zeros(4,1);
+    end
   end
 
 % todo: actually output a polynomial, not just a function handle
-warning('state velocities are set to zero for now.  coming soon.');
 w = warning('off','Drake:FunctionHandleTrajectory');
-xtraj = FunctionHandleTrajectory(@extractState,12,breaks);
+xtraj = FunctionHandleTrajectory(@(t)extractStateOrInput(t,true),12,breaks);
 warning(w);
 xtraj = setOutputFrame(xtraj,getStateFrame(plant));
 
 if nargout>1
   warning('inputs are set to zero for now.  coming soon.');
-  utraj = ConstantTrajectory(zeros(4,1));
+  w = warning('off','Drake:FunctionHandleTrajectory');
+  utraj = FunctionHandleTrajectory(@(t)extractStateOrInput(t,false),4,breaks);
+  warning(w);
   utraj = setOutputFrame(utraj,getInputFrame(plant));
 end
 
diff --git a/examples/Quadrotor/test/testInvertFlatOutputs.m b/examples/Quadrotor/test/testInvertFlatOutputs.m
index a71e38d4fc27..daa7e880293a 100644
--- a/examples/Quadrotor/test/testInvertFlatOutputs.m
+++ b/examples/Quadrotor/test/testInvertFlatOutputs.m
@@ -9,6 +9,7 @@
 
 [xtraj_from_flat,utraj_from_flat] = invertFlatOutputs(plant,ytraj);
 
-% todo: test the remaining coordinates here
-% todo: improve tolerance (by finishing derivatives, etc)
+% todo: improve tolerance (by outputting polynomials, etc)
 valuecheck(xtraj_from_flat(1:6),xtraj(1:6),.1);
+% note: velocities are implemented, but do not pass a numeric test because 
+% ytraj is not defined to high enough order

From 266c4fa37b553665fadeccb0276b1d8a8ad7322f Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Mon, 22 Sep 2014 13:54:21 -0400
Subject: [PATCH 039/271] working 5th degree polynomial through office

---
 examples/Quadrotor/runMixedIntegerOffice.m |  61 +++++++++++++++++++--
 examples/Quadrotor/ytraj.mat               | Bin 0 -> 2700 bytes
 2 files changed, 57 insertions(+), 4 deletions(-)
 create mode 100644 examples/Quadrotor/ytraj.mat

diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m
index f009bfec42e0..61acb28557e8 100644
--- a/examples/Quadrotor/runMixedIntegerOffice.m
+++ b/examples/Quadrotor/runMixedIntegerOffice.m
@@ -1,6 +1,9 @@
 function [r, xtraj, utraj, prog] = runMixedIntegerOffice
 
+javaaddpath([getenv('DRC_BASE'), '/software/build/share/java/lcmtypes_eigen-utils.jar']);
+checkDependency('lcmgl');
 r = Quadrotor();
+lc = lcm.lcm.LCM.getSingleton();
 
 wall_height = 3.0;
 
@@ -37,8 +40,58 @@
   %v.draw(0,double(x0));
 
 
-
-
-  return;
-
+bot_bounding_box = RigidBodyBox([.6;.6;.6], [0;0;0], [0;0;0]).getPoints();
+
+b = r.getBody(1);
+obstacles = cell(1, length(b.getContactShapes()));
+for j = 1:length(b.getContactShapes())
+  obstacles{j} = iris.cspace.minkowski_sum(bot_bounding_box, b.getContactShapes{j}.getPoints());
+end
+padded = iris.pad_obstacle_points(obstacles);
+obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
+
+lb = [-10;-10;0];
+ub = [10;10;3];
+A_bounds = [eye(3);-eye(3)];
+b_bounds = [ub; -lb];
+
+figure(1);
+clf
+hold on
+
+seeds = [...
+         [1, 0, .5];
+         [2, 0, .5];
+         [3, 0, 1];
+         [2.5, .75, 1];
+         [4, -1, 1.5];
+         % [0, 0, 2];
+         % [-2, 0, 1];
+         ]';
+safe_regions = struct('A', {}, 'b', {});
+for j = 1:size(seeds, 2)
+  seed = seeds(:,j);
+  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
+  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
+  iris.drawing.drawPolyFromVertices(V, 'r');
+
+  msg = eigen_utils.eigen_matrixxd_t();
+  msg.rows = size(V, 1);
+  msg.cols = size(V, 2);
+  msg.num_data = msg.rows * msg.cols;
+  msg.data = reshape(V, [], 1);
+  lc.publish('DRAW_POLYTOPE', msg);
+  safe_regions(end+1) = struct('A', A, 'b', b);
+end
+drawnow();
+
+degree = 5;
+n_segments = 5;
+goal = [-1;0;.5];
+ytraj = SOSTrajectory([5;-1;1.5], goal, {safe_regions}, degree, n_segments);
+save('ytraj.mat', 'ytraj');
+% load('ytraj.mat', 'ytraj');
+ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);
+xtraj_from_flat = invertFlatOutputs(r,ytraj);
+v.playback(xtraj_from_flat, struct('slider', true));
 
diff --git a/examples/Quadrotor/ytraj.mat b/examples/Quadrotor/ytraj.mat
new file mode 100644
index 0000000000000000000000000000000000000000..df0a27209c26fac212904ae737824750a43ab445
GIT binary patch
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zE5*K!zJI;LJR@#D-*}_rRHn@D+50N
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From ddec8129a508473371fbe0147ce0edaa41f4dde9 Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Mon, 22 Sep 2014 15:38:54 -0400
Subject: [PATCH 040/271] nice 3rd degree example

---
 examples/Quadrotor/runMixedIntegerOffice.m | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m
index 61acb28557e8..653ecb1cf656 100644
--- a/examples/Quadrotor/runMixedIntegerOffice.m
+++ b/examples/Quadrotor/runMixedIntegerOffice.m
@@ -65,8 +65,8 @@
          [3, 0, 1];
          [2.5, .75, 1];
          [4, -1, 1.5];
-         % [0, 0, 2];
-         % [-2, 0, 1];
+         [0, 0, 2];
+         [-2, 0, 1];
          ]';
 safe_regions = struct('A', {}, 'b', {});
 for j = 1:size(seeds, 2)
@@ -85,11 +85,16 @@
 end
 drawnow();
 
-degree = 5;
-n_segments = 5;
-goal = [-1;0;.5];
-ytraj = SOSTrajectory([5;-1;1.5], goal, {safe_regions}, degree, n_segments);
-save('ytraj.mat', 'ytraj');
+degree = 3;
+n_segments = 7;
+% start = [5;-1;1.5];
+start = [-2;0;1];
+% goal = [0;0;.5];
+goal = [5;-1;1.5];
+% goal = [6;-1;1.5];
+
+ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments);
+% save('ytraj.mat', 'ytraj');
 % load('ytraj.mat', 'ytraj');
 ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);
 xtraj_from_flat = invertFlatOutputs(r,ytraj);

From 8cc3e6757a545ef71e0acadefd29f2159285110f Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Mon, 22 Sep 2014 17:08:10 -0400
Subject: [PATCH 041/271] start working on forest demo

---
 examples/Quadrotor/runMixedIntegerForest.m | 77 ++++++++++++++++++++++
 1 file changed, 77 insertions(+)
 create mode 100644 examples/Quadrotor/runMixedIntegerForest.m

diff --git a/examples/Quadrotor/runMixedIntegerForest.m b/examples/Quadrotor/runMixedIntegerForest.m
new file mode 100644
index 000000000000..3cf3bbe88abd
--- /dev/null
+++ b/examples/Quadrotor/runMixedIntegerForest.m
@@ -0,0 +1,77 @@
+function [r, xtraj, utraj, prog] = runMixedIntegerOffice
+
+javaaddpath([getenv('DRC_BASE'), '/software/build/share/java/lcmtypes_eigen-utils.jar']);
+checkDependency('lcmgl');
+r = Quadrotor();
+lc = lcm.lcm.LCM.getSingleton();
+
+r = Quadrotor();
+% The important trees to create swerving path
+r = addTree(r, [.8,.45,1.25], [.20;2.5], pi/4);
+r = addTree(r, [.5,.35,1.65], [-.25;5], -pi/6);
+r = addTree(r, [.55,.65,1.5], [.25;7.5], pi/4);
+r = addTree(r, [.55,.85,1.6], [-1.35;8.5], pi/3.7);
+r = addTree(r, [.85,.95,1.65], [-1.85;5.2], -pi/3.7);
+r = addTree(r, [.75,.9,1.75], [2;4.4], -pi/5);
+% Random trees to make forest bigger and more dense
+r = addTrees(r, 25);
+
+start = [0;-1.5;.5];
+goal = [0; 11; 0.5];
+
+
+  v = constructVisualizer(r);%,struct('use_contact_shapes',true));
+  %v.draw(0,double(x0));
+
+
+bot_bounding_box = RigidBodyBox([.6;.6;.6], [0;0;0], [0;0;0]).getPoints();
+
+b = r.getBody(1);
+obstacles = cell(1, length(b.getContactShapes()));
+for j = 1:length(b.getContactShapes())
+  obstacles{j} = iris.cspace.minkowski_sum(bot_bounding_box, b.getContactShapes{j}.getPoints());
+end
+padded = iris.pad_obstacle_points(obstacles);
+obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
+
+lb = [-5;-2;0];
+ub = [5;13;3];
+A_bounds = [eye(3);-eye(3)];
+b_bounds = [ub; -lb];
+
+figure(1);
+clf
+hold on
+
+seeds = [...
+         start';
+         goal';
+         [0,5,.5];
+         ]';
+safe_regions = struct('A', {}, 'b', {});
+for j = 1:size(seeds, 2)
+  seed = seeds(:,j);
+  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', false));
+  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
+  iris.drawing.drawPolyFromVertices(V, 'r');
+
+  msg = eigen_utils.eigen_matrixxd_t();
+  msg.rows = size(V, 1);
+  msg.cols = size(V, 2);
+  msg.num_data = msg.rows * msg.cols;
+  msg.data = reshape(V, [], 1);
+  lc.publish('DRAW_POLYTOPE', msg);
+  safe_regions(end+1) = struct('A', A, 'b', b);
+end
+drawnow();
+
+degree = 3;
+n_segments = 7;
+
+ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments);
+% save('ytraj.mat', 'ytraj');
+% load('ytraj.mat', 'ytraj');
+ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);
+xtraj_from_flat = invertFlatOutputs(r,ytraj);
+v.playback(xtraj_from_flat, struct('slider', true));
+

From 78f32bdc98ef5339cf7e8291e5d9d3fb8a920022 Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Mon, 22 Sep 2014 23:45:27 -0400
Subject: [PATCH 042/271] try auto-seeding regions

---
 examples/Quadrotor/runMixedIntegerForest.m | 55 ++++++++++++----
 examples/Quadrotor/runMixedIntegerOffice.m | 74 ++++++++++++++++------
 2 files changed, 98 insertions(+), 31 deletions(-)

diff --git a/examples/Quadrotor/runMixedIntegerForest.m b/examples/Quadrotor/runMixedIntegerForest.m
index 3cf3bbe88abd..fca29e261e28 100644
--- a/examples/Quadrotor/runMixedIntegerForest.m
+++ b/examples/Quadrotor/runMixedIntegerForest.m
@@ -1,8 +1,7 @@
-function [r, xtraj, utraj, prog] = runMixedIntegerOffice
+function runMixedIntegerForest
 
 javaaddpath([getenv('DRC_BASE'), '/software/build/share/java/lcmtypes_eigen-utils.jar']);
 checkDependency('lcmgl');
-r = Quadrotor();
 lc = lcm.lcm.LCM.getSingleton();
 
 r = Quadrotor();
@@ -14,26 +13,25 @@
 r = addTree(r, [.85,.95,1.65], [-1.85;5.2], -pi/3.7);
 r = addTree(r, [.75,.9,1.75], [2;4.4], -pi/5);
 % Random trees to make forest bigger and more dense
-r = addTrees(r, 25);
+% r = addTrees(r, 25);
 
 start = [0;-1.5;.5];
-goal = [0; 11; 0.5];
+goal = [2; 7; 0.5];
 
 
   v = constructVisualizer(r);%,struct('use_contact_shapes',true));
   %v.draw(0,double(x0));
 
 
-bot_bounding_box = RigidBodyBox([.6;.6;.6], [0;0;0], [0;0;0]).getPoints();
-
 b = r.getBody(1);
 obstacles = cell(1, length(b.getContactShapes()));
 for j = 1:length(b.getContactShapes())
-  obstacles{j} = iris.cspace.minkowski_sum(bot_bounding_box, b.getContactShapes{j}.getPoints());
+  obstacles{j} = b.getContactShapes{j}.getPoints();
 end
 padded = iris.pad_obstacle_points(obstacles);
 obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
 
+
 lb = [-5;-2;0];
 ub = [5;13;3];
 A_bounds = [eye(3);-eye(3)];
@@ -46,29 +44,62 @@
 seeds = [...
          start';
          goal';
-         [0,5,.5];
+         % [0,5,.5];
+         % [-1,3.5,.5];
+         % [.5,4,.5];
+         % [1,5.5,.5];
+         % [4,4,.5];
          ]';
+obs_regions = struct('A', cell(1, size(obstacle_pts, 3)), 'b', cell(1, size(obstacle_pts, 3)));
+for j = 1:size(obstacle_pts, 3)
+  [obs_regions(j).A, obs_regions(j).b] = iris.thirdParty.polytopes.vert2lcon(obstacle_pts(:,:,j)');
+end
 safe_regions = struct('A', {}, 'b', {});
 for j = 1:size(seeds, 2)
   seed = seeds(:,j);
-  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', false));
+  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
+  safe_regions(end+1) = struct('A', A, 'b', b);
   V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  iris.drawing.drawPolyFromVertices(V, 'r');
-
   msg = eigen_utils.eigen_matrixxd_t();
   msg.rows = size(V, 1);
   msg.cols = size(V, 2);
   msg.num_data = msg.rows * msg.cols;
   msg.data = reshape(V, [], 1);
   lc.publish('DRAW_POLYTOPE', msg);
+end
+
+num_cells = 10;
+step_size = (ub - lb) ./ num_cells;
+
+while length(safe_regions) < 7
+  dists = iris.util.obstacle_distance_matrix([obs_regions, safe_regions], lb, ub, num_cells);
+  [~, idx] = max(dists(:));
+  [i,j,k] = ind2sub(size(dists), idx);
+  seed = ([i;j;k] - 1) .* step_size + lb;
+  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
   safe_regions(end+1) = struct('A', A, 'b', b);
+  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
+  msg = eigen_utils.eigen_matrixxd_t();
+  msg.rows = size(V, 1);
+  msg.cols = size(V, 2);
+  msg.num_data = msg.rows * msg.cols;
+  msg.data = reshape(V, [], 1);
+  lc.publish('DRAW_POLYTOPE', msg);
+end
+
+
+for j = 1:length(safe_regions)
+  A = safe_regions(j).A;
+  b = safe_regions(j).b;
+  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
+  iris.drawing.drawPolyFromVertices(V, 'r');
 end
 drawnow();
 
 degree = 3;
 n_segments = 7;
 
-ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments);
+ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments, 0.6);
 % save('ytraj.mat', 'ytraj');
 % load('ytraj.mat', 'ytraj');
 ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);
diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m
index 653ecb1cf656..0b666a9ccfa6 100644
--- a/examples/Quadrotor/runMixedIntegerOffice.m
+++ b/examples/Quadrotor/runMixedIntegerOffice.m
@@ -5,6 +5,14 @@
 r = Quadrotor();
 lc = lcm.lcm.LCM.getSingleton();
 
+degree = 3;
+n_segments = 7;
+% start = [5;-1;1.5];
+start = [-2;0;1];
+% goal = [0;0;.5];
+goal = [5;-1;1.5];
+% goal = [6;-1;1.5];
+
 wall_height = 3.0;
 
 
@@ -40,60 +48,88 @@
   %v.draw(0,double(x0));
 
 
-bot_bounding_box = RigidBodyBox([.6;.6;.6], [0;0;0], [0;0;0]).getPoints();
+% bot_bounding_box = RigidBodyBox([.6;.6;.6], [0;0;0], [0;0;0]).getPoints();
 
 b = r.getBody(1);
 obstacles = cell(1, length(b.getContactShapes()));
 for j = 1:length(b.getContactShapes())
-  obstacles{j} = iris.cspace.minkowski_sum(bot_bounding_box, b.getContactShapes{j}.getPoints());
+  % obstacles{j} = iris.cspace.minkowski_sum(bot_bounding_box, b.getContactShapes{j}.getPoints());
+  obstacles{j} = b.getContactShapes{j}.getPoints();
 end
 padded = iris.pad_obstacle_points(obstacles);
 obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
 
-lb = [-10;-10;0];
-ub = [10;10;3];
+
+lb = [-5;-3.5;0.01];
+ub = [10;3.5;3];
 A_bounds = [eye(3);-eye(3)];
 b_bounds = [ub; -lb];
 
+
+
+
 figure(1);
 clf
 hold on
 
 seeds = [...
-         [1, 0, .5];
-         [2, 0, .5];
+         start'; 
+         goal';
+         % [1, 0, .5];
+         % [2, 0, .5];
          [3, 0, 1];
          [2.5, .75, 1];
          [4, -1, 1.5];
-         [0, 0, 2];
-         [-2, 0, 1];
+         % [0, 0, 2];
+         % [-2, 0, 1];
          ]';
+obs_regions = struct('A', cell(1, size(obstacle_pts, 3)), 'b', cell(1, size(obstacle_pts, 3)));
+for j = 1:size(obstacle_pts, 3)
+  [obs_regions(j).A, obs_regions(j).b] = iris.thirdParty.polytopes.vert2lcon(obstacle_pts(:,:,j)');
+end
 safe_regions = struct('A', {}, 'b', {});
 for j = 1:size(seeds, 2)
   seed = seeds(:,j);
   [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
+  safe_regions(end+1) = struct('A', A, 'b', b);
   V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  iris.drawing.drawPolyFromVertices(V, 'r');
-
   msg = eigen_utils.eigen_matrixxd_t();
   msg.rows = size(V, 1);
   msg.cols = size(V, 2);
   msg.num_data = msg.rows * msg.cols;
   msg.data = reshape(V, [], 1);
   lc.publish('DRAW_POLYTOPE', msg);
+end
+
+num_cells = 10;
+step_size = (ub - lb) ./ num_cells;
+
+while length(safe_regions) < 7
+  dists = iris.util.obstacle_distance_matrix([obs_regions, safe_regions], lb, ub, num_cells);
+  [~, idx] = max(dists(:));
+  [i,j,k] = ind2sub(size(dists), idx);
+  seed = ([i;j;k] - 1) .* step_size + lb;
+  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
   safe_regions(end+1) = struct('A', A, 'b', b);
+  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
+  msg = eigen_utils.eigen_matrixxd_t();
+  msg.rows = size(V, 1);
+  msg.cols = size(V, 2);
+  msg.num_data = msg.rows * msg.cols;
+  msg.data = reshape(V, [], 1);
+  lc.publish('DRAW_POLYTOPE', msg);
 end
-drawnow();
 
-degree = 3;
-n_segments = 7;
-% start = [5;-1;1.5];
-start = [-2;0;1];
-% goal = [0;0;.5];
-goal = [5;-1;1.5];
-% goal = [6;-1;1.5];
 
-ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments);
+for j = 1:length(safe_regions)
+  A = safe_regions(j).A;
+  b = safe_regions(j).b;
+  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
+  iris.drawing.drawPolyFromVertices(V, 'r');
+end
+drawnow();
+
+ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments, 0.6);
 % save('ytraj.mat', 'ytraj');
 % load('ytraj.mat', 'ytraj');
 ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);

From 09affda5d977aa5d6d53ef7a5546ccb4c18f2d7d Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Tue, 23 Sep 2014 10:52:01 -0400
Subject: [PATCH 043/271] seed all regions automatically and publish them with
 the new script

---
 examples/Quadrotor/runMixedIntegerForest.m | 54 +++++++++++-----------
 1 file changed, 28 insertions(+), 26 deletions(-)

diff --git a/examples/Quadrotor/runMixedIntegerForest.m b/examples/Quadrotor/runMixedIntegerForest.m
index fca29e261e28..05331bb98a5f 100644
--- a/examples/Quadrotor/runMixedIntegerForest.m
+++ b/examples/Quadrotor/runMixedIntegerForest.m
@@ -16,11 +16,18 @@
 % r = addTrees(r, 25);
 
 start = [0;-1.5;.5];
-goal = [2; 7; 0.5];
+goal = [1; 10; 0.5];
+% goal = [0;-.5;.5];
 
+lcmgl = LCMGLClient('quad_goal');
+lcmgl.glColor3f(.2,.8,.2);
+lcmgl.sphere(goal, .1, 20, 20);
+lcmgl.switchBuffers();
 
-  v = constructVisualizer(r);%,struct('use_contact_shapes',true));
-  %v.draw(0,double(x0));
+v = constructVisualizer(r);%,struct('use_contact_shapes',true));
+x0 = double(Point(getStateFrame(r)));  % initial conditions: all-zeros
+x0(1:3) = start;
+v.draw(0,double(x0));
 
 
 b = r.getBody(1);
@@ -32,8 +39,8 @@
 obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
 
 
-lb = [-5;-2;0];
-ub = [5;13;3];
+lb = [-3;-2;0];
+ub = [3;13;2];
 A_bounds = [eye(3);-eye(3)];
 b_bounds = [ub; -lb];
 
@@ -44,47 +51,42 @@
 seeds = [...
          start';
          goal';
-         % [0,5,.5];
-         % [-1,3.5,.5];
-         % [.5,4,.5];
-         % [1,5.5,.5];
-         % [4,4,.5];
          ]';
 obs_regions = struct('A', cell(1, size(obstacle_pts, 3)), 'b', cell(1, size(obstacle_pts, 3)));
 for j = 1:size(obstacle_pts, 3)
   [obs_regions(j).A, obs_regions(j).b] = iris.thirdParty.polytopes.vert2lcon(obstacle_pts(:,:,j)');
 end
 safe_regions = struct('A', {}, 'b', {});
+
+% Clear the displayed polytopes
+sendLCMPolytope(0, 0, 0, 0, lc);
+pause
+
+% Draw the bounding box
+sendLCMPolytope(A_bounds, b_bounds, 100, true, lc);
+pause
+
+% Clear the displayed polytopes
+sendLCMPolytope(0, 0, 0, 0, lc);
+
 for j = 1:size(seeds, 2)
   seed = seeds(:,j);
   [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
   safe_regions(end+1) = struct('A', A, 'b', b);
-  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  msg = eigen_utils.eigen_matrixxd_t();
-  msg.rows = size(V, 1);
-  msg.cols = size(V, 2);
-  msg.num_data = msg.rows * msg.cols;
-  msg.data = reshape(V, [], 1);
-  lc.publish('DRAW_POLYTOPE', msg);
+  sendLCMPolytope(A, b, j, false, lc);
 end
 
 num_cells = 10;
 step_size = (ub - lb) ./ num_cells;
 
-while length(safe_regions) < 7
+while length(safe_regions) < 9
   dists = iris.util.obstacle_distance_matrix([obs_regions, safe_regions], lb, ub, num_cells);
   [~, idx] = max(dists(:));
   [i,j,k] = ind2sub(size(dists), idx);
   seed = ([i;j;k] - 1) .* step_size + lb;
   [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
   safe_regions(end+1) = struct('A', A, 'b', b);
-  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  msg = eigen_utils.eigen_matrixxd_t();
-  msg.rows = size(V, 1);
-  msg.cols = size(V, 2);
-  msg.num_data = msg.rows * msg.cols;
-  msg.data = reshape(V, [], 1);
-  lc.publish('DRAW_POLYTOPE', msg);
+  sendLCMPolytope(A, b, length(safe_regions), false, lc);
 end
 
 
@@ -99,7 +101,7 @@
 degree = 3;
 n_segments = 7;
 
-ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments, 0.6);
+ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments, 0.3);
 % save('ytraj.mat', 'ytraj');
 % load('ytraj.mat', 'ytraj');
 ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);

From 86e4cc5bb734597da1913daace3539cde39ff14d Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Tue, 23 Sep 2014 12:29:34 -0400
Subject: [PATCH 044/271] generalize both environments

---
 .../Quadrotor/runMixedIntegerEnvironment.m    | 90 ++++++++++++++++++
 examples/Quadrotor/runMixedIntegerForest.m    | 91 ++----------------
 examples/Quadrotor/runMixedIntegerOffice.m    | 93 ++-----------------
 3 files changed, 104 insertions(+), 170 deletions(-)
 create mode 100644 examples/Quadrotor/runMixedIntegerEnvironment.m

diff --git a/examples/Quadrotor/runMixedIntegerEnvironment.m b/examples/Quadrotor/runMixedIntegerEnvironment.m
new file mode 100644
index 000000000000..58e6614143a6
--- /dev/null
+++ b/examples/Quadrotor/runMixedIntegerEnvironment.m
@@ -0,0 +1,90 @@
+function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments, n_regions)
+
+bot_radius = 0.3;
+
+lc = lcm.lcm.LCM.getSingleton();
+lcmgl = LCMGLClient('quad_goal');
+lcmgl.glColor3f(.2,.8,.2);
+lcmgl.sphere(goal, .1, 20, 20);
+lcmgl.switchBuffers();
+
+v = constructVisualizer(r);%,struct('use_contact_shapes',true));
+x0 = double(Point(getStateFrame(r)));  % initial conditions: all-zeros
+x0(1:3) = start;
+v.draw(0,double(x0));
+
+b = r.getBody(1);
+obstacles = cell(1, length(b.getContactShapes()));
+for j = 1:length(b.getContactShapes())
+  obstacles{j} = b.getContactShapes{j}.getPoints();
+end
+padded = iris.pad_obstacle_points(obstacles);
+obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
+
+A_bounds = [eye(3);-eye(3)];
+b_bounds = [ub; -lb];
+
+figure(1);
+clf
+hold on
+
+obs_regions = struct('A', cell(1, size(obstacle_pts, 3)), 'b', cell(1, size(obstacle_pts, 3)));
+for j = 1:size(obstacle_pts, 3)
+  [obs_regions(j).A, obs_regions(j).b] = iris.thirdParty.polytopes.vert2lcon(obstacle_pts(:,:,j)');
+end
+safe_regions = struct('A', {}, 'b', {});
+
+% Clear the displayed polytopes
+sendLCMPolytope(0, 0, 0, 0, lc);
+pause
+
+% Draw the bounding box
+sendLCMPolytope(A_bounds, b_bounds, 100, true, lc);
+pause
+
+% Clear the displayed polytopes
+sendLCMPolytope(0, 0, 0, 0, lc);
+
+lcmgl = LCMGLClient('region_seed');
+for j = 1:size(seeds, 2)
+  seed = seeds(:,j);
+  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
+  safe_regions(end+1) = struct('A', A, 'b', b);
+  sendLCMPolytope(A, b, j, false, lc);
+  lcmgl.glColor3f(.8,.8,.2);
+  lcmgl.sphere(seed, 0.06, 20, 20);
+  lcmgl.switchBuffers();
+  pause
+end
+
+num_cells = 10;
+step_size = (ub - lb) ./ num_cells;
+
+while length(safe_regions) < n_regions
+  dists = iris.util.obstacle_distance_matrix([obs_regions, safe_regions], lb, ub, num_cells);
+  [~, idx] = max(dists(:));
+  [i,j,k] = ind2sub(size(dists), idx);
+  seed = ([i;j;k] - 1) .* step_size + lb;
+  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
+  safe_regions(end+1) = struct('A', A, 'b', b);
+  sendLCMPolytope(A, b, length(safe_regions), false, lc);
+end
+
+
+for j = 1:length(safe_regions)
+  A = safe_regions(j).A;
+  b = safe_regions(j).b;
+  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
+  iris.drawing.drawPolyFromVertices(V, 'r');
+end
+drawnow();
+
+ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments, bot_radius);
+folder_name = ['~/locomotion/papers/icra-2015-uav-miqp/data/', datestr(now,'yyyy-mm-dd_HH.MM.SS')];
+system(sprintf('mkdir -p %s', folder_name));
+% load('ytraj.mat', 'ytraj');
+ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);
+xtraj = invertFlatOutputs(r,ytraj);
+save([folder_name, '/results.mat'], 'ytraj', 'r', 'v', 'xtraj');
+v.playback(xtraj, struct('slider', true));
+
diff --git a/examples/Quadrotor/runMixedIntegerForest.m b/examples/Quadrotor/runMixedIntegerForest.m
index 05331bb98a5f..cb33a018bd6b 100644
--- a/examples/Quadrotor/runMixedIntegerForest.m
+++ b/examples/Quadrotor/runMixedIntegerForest.m
@@ -1,8 +1,6 @@
 function runMixedIntegerForest
 
-javaaddpath([getenv('DRC_BASE'), '/software/build/share/java/lcmtypes_eigen-utils.jar']);
 checkDependency('lcmgl');
-lc = lcm.lcm.LCM.getSingleton();
 
 r = Quadrotor();
 % The important trees to create swerving path
@@ -18,93 +16,16 @@
 start = [0;-1.5;.5];
 goal = [1; 10; 0.5];
 % goal = [0;-.5;.5];
-
-lcmgl = LCMGLClient('quad_goal');
-lcmgl.glColor3f(.2,.8,.2);
-lcmgl.sphere(goal, .1, 20, 20);
-lcmgl.switchBuffers();
-
-v = constructVisualizer(r);%,struct('use_contact_shapes',true));
-x0 = double(Point(getStateFrame(r)));  % initial conditions: all-zeros
-x0(1:3) = start;
-v.draw(0,double(x0));
-
-
-b = r.getBody(1);
-obstacles = cell(1, length(b.getContactShapes()));
-for j = 1:length(b.getContactShapes())
-  obstacles{j} = b.getContactShapes{j}.getPoints();
-end
-padded = iris.pad_obstacle_points(obstacles);
-obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
-
-
-lb = [-3;-2;0];
-ub = [3;13;2];
-A_bounds = [eye(3);-eye(3)];
-b_bounds = [ub; -lb];
-
-figure(1);
-clf
-hold on
-
 seeds = [...
          start';
          goal';
-         ]';
-obs_regions = struct('A', cell(1, size(obstacle_pts, 3)), 'b', cell(1, size(obstacle_pts, 3)));
-for j = 1:size(obstacle_pts, 3)
-  [obs_regions(j).A, obs_regions(j).b] = iris.thirdParty.polytopes.vert2lcon(obstacle_pts(:,:,j)');
-end
-safe_regions = struct('A', {}, 'b', {});
-
-% Clear the displayed polytopes
-sendLCMPolytope(0, 0, 0, 0, lc);
-pause
-
-% Draw the bounding box
-sendLCMPolytope(A_bounds, b_bounds, 100, true, lc);
-pause
-
-% Clear the displayed polytopes
-sendLCMPolytope(0, 0, 0, 0, lc);
-
-for j = 1:size(seeds, 2)
-  seed = seeds(:,j);
-  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
-  safe_regions(end+1) = struct('A', A, 'b', b);
-  sendLCMPolytope(A, b, j, false, lc);
-end
-
-num_cells = 10;
-step_size = (ub - lb) ./ num_cells;
-
-while length(safe_regions) < 9
-  dists = iris.util.obstacle_distance_matrix([obs_regions, safe_regions], lb, ub, num_cells);
-  [~, idx] = max(dists(:));
-  [i,j,k] = ind2sub(size(dists), idx);
-  seed = ([i;j;k] - 1) .* step_size + lb;
-  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
-  safe_regions(end+1) = struct('A', A, 'b', b);
-  sendLCMPolytope(A, b, length(safe_regions), false, lc);
-end
-
-
-for j = 1:length(safe_regions)
-  A = safe_regions(j).A;
-  b = safe_regions(j).b;
-  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  iris.drawing.drawPolyFromVertices(V, 'r');
-end
-drawnow();
+         ];
+        
 
+lb = [-3;-2;0];
+ub = [3;13;2];
 degree = 3;
 n_segments = 7;
+n_regions = 9;
 
-ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments, 0.3);
-% save('ytraj.mat', 'ytraj');
-% load('ytraj.mat', 'ytraj');
-ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);
-xtraj_from_flat = invertFlatOutputs(r,ytraj);
-v.playback(xtraj_from_flat, struct('slider', true));
-
+runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments, n_regions);
diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m
index 0b666a9ccfa6..ed810bc31efd 100644
--- a/examples/Quadrotor/runMixedIntegerOffice.m
+++ b/examples/Quadrotor/runMixedIntegerOffice.m
@@ -1,9 +1,7 @@
 function [r, xtraj, utraj, prog] = runMixedIntegerOffice
 
-javaaddpath([getenv('DRC_BASE'), '/software/build/share/java/lcmtypes_eigen-utils.jar']);
 checkDependency('lcmgl');
 r = Quadrotor();
-lc = lcm.lcm.LCM.getSingleton();
 
 degree = 3;
 n_segments = 7;
@@ -44,95 +42,20 @@
 r = addTable(r, [.2,.2,1.0], [-1,-1,.5],2);
 
 
-  v = constructVisualizer(r);%,struct('use_contact_shapes',true));
-  %v.draw(0,double(x0));
-
-
-% bot_bounding_box = RigidBodyBox([.6;.6;.6], [0;0;0], [0;0;0]).getPoints();
-
-b = r.getBody(1);
-obstacles = cell(1, length(b.getContactShapes()));
-for j = 1:length(b.getContactShapes())
-  % obstacles{j} = iris.cspace.minkowski_sum(bot_bounding_box, b.getContactShapes{j}.getPoints());
-  obstacles{j} = b.getContactShapes{j}.getPoints();
-end
-padded = iris.pad_obstacle_points(obstacles);
-obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
-
-
 lb = [-5;-3.5;0.01];
-ub = [10;3.5;3];
-A_bounds = [eye(3);-eye(3)];
-b_bounds = [ub; -lb];
-
-
-
-
-figure(1);
-clf
-hold on
+ub = [6;3.5;3];
 
 seeds = [...
-         start'; 
-         goal';
+         [4, -1, 1.5];
+         [2.5, .75, 1];
+         [3, 0, 1];
+         start';
+         % goal';
          % [1, 0, .5];
          % [2, 0, .5];
-         [3, 0, 1];
-         [2.5, .75, 1];
-         [4, -1, 1.5];
          % [0, 0, 2];
          % [-2, 0, 1];
          ]';
-obs_regions = struct('A', cell(1, size(obstacle_pts, 3)), 'b', cell(1, size(obstacle_pts, 3)));
-for j = 1:size(obstacle_pts, 3)
-  [obs_regions(j).A, obs_regions(j).b] = iris.thirdParty.polytopes.vert2lcon(obstacle_pts(:,:,j)');
-end
-safe_regions = struct('A', {}, 'b', {});
-for j = 1:size(seeds, 2)
-  seed = seeds(:,j);
-  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
-  safe_regions(end+1) = struct('A', A, 'b', b);
-  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  msg = eigen_utils.eigen_matrixxd_t();
-  msg.rows = size(V, 1);
-  msg.cols = size(V, 2);
-  msg.num_data = msg.rows * msg.cols;
-  msg.data = reshape(V, [], 1);
-  lc.publish('DRAW_POLYTOPE', msg);
-end
-
-num_cells = 10;
-step_size = (ub - lb) ./ num_cells;
-
-while length(safe_regions) < 7
-  dists = iris.util.obstacle_distance_matrix([obs_regions, safe_regions], lb, ub, num_cells);
-  [~, idx] = max(dists(:));
-  [i,j,k] = ind2sub(size(dists), idx);
-  seed = ([i;j;k] - 1) .* step_size + lb;
-  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
-  safe_regions(end+1) = struct('A', A, 'b', b);
-  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  msg = eigen_utils.eigen_matrixxd_t();
-  msg.rows = size(V, 1);
-  msg.cols = size(V, 2);
-  msg.num_data = msg.rows * msg.cols;
-  msg.data = reshape(V, [], 1);
-  lc.publish('DRAW_POLYTOPE', msg);
-end
-
-
-for j = 1:length(safe_regions)
-  A = safe_regions(j).A;
-  b = safe_regions(j).b;
-  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  iris.drawing.drawPolyFromVertices(V, 'r');
-end
-drawnow();
-
-ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments, 0.6);
-% save('ytraj.mat', 'ytraj');
-% load('ytraj.mat', 'ytraj');
-ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame);
-xtraj_from_flat = invertFlatOutputs(r,ytraj);
-v.playback(xtraj_from_flat, struct('slider', true));
+n_regions = 7;
 
+runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments, n_regions);

From feafafcedb3e5ca2f709f92f7cfa696ba40274e3 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Wed, 24 Sep 2014 14:30:47 -0400
Subject: [PATCH 045/271] Works on fixing gradients for RigidBodyWing.

---
 systems/plants/@RigidBodyWing/RigidBodyWing.m | 52 ++++++++++++++++++-
 1 file changed, 51 insertions(+), 1 deletion(-)

diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m
index b4fdcb5859cc..1aa7f4f530af 100644
--- a/systems/plants/@RigidBodyWing/RigidBodyWing.m
+++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m
@@ -43,9 +43,22 @@
     end
     
     
-    function [force, B_force, dforce ] = computeSpatialForce(obj,manip,q,qd)
+    function [force, B_force_or_dforce, dforce ] = computeSpatialForce(obj,manip,q,qd)
       % Calls the appropriate RigidBodySubWing.computeSpatialForce
       % for all of the subwings, adds the results, and returns.
+      %
+      % @param manip RigidBodyManipulator we are a part of
+      % @param q state vector
+      % @param qd time derivative of state vector
+      %
+      % @retval force forces produced by the wing
+      % @retval B_force_or_dforce if we have a control surface anywhere,
+      %   this is the B matrix that maps control input to force.
+      %   Otherwise, this is the gradient of the forces.
+      %
+      % @retval dforce gradient of forces if we do have a control surface
+      %   anywhere
+
       
       if length(obj.subwings) < 1
         error('computeSpatialForce called with no subwings.');
@@ -90,6 +103,13 @@
         
       end
       
+      if control_surface_flag
+        % we have a control surface
+        B_force_or_dforce = B_force;
+      else
+        B_force_or_dforce = dforce;
+      end
+      
     end
         
     function obj = setInputNum(obj, input_num)
@@ -123,6 +143,36 @@ function drawWing(obj, manip, q, qd, fill_color)
       end
     end
     
+    
+    function [CL, CD, CM, dCL, dCD, dCM] = coeffs(obj, aoa)
+      % Returns dimensionalized coefficient of lift, drag, and pitch
+      % moment for a given angle of attack
+      %
+      % @param aoa angle of attack to get coefficients at
+      %
+      % @retval CL coefficient of lift
+      % @retval CD coefficient of drag
+      % @retval CM pitch moment
+      %
+      % @retval dCL derivative of coefficient of lift
+      % @retval dCL derivative of coefficient of drag
+      % @retval dCL derivative of pitch moment
+      
+      if length(obj.subwings) == 1
+        
+        if (nargout > 3)
+          [CL, CD, CM, dCL, dCD, dCM] = obj.subwings{1}.coeffs(aoa);
+        else
+          [CL, CD, CM] = obj.subwings{1}.coeffs(aoa);
+        end
+        
+      else
+        error('Not supported for wings with more than one subwing.');
+      end
+      
+      
+      
+    end
 
   end
 

From bcd6dbc5ae9171c10ca559f1da50f8decb3d8e1c Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Wed, 24 Sep 2014 20:08:07 -0400
Subject: [PATCH 046/271] move SOS trajectory into drake

---
 examples/Quadrotor/drawLCMPolytope.m          |  27 +++
 examples/Quadrotor/findSOSTrajectory.m        | 202 ++++++++++++++++++
 .../Quadrotor/runMixedIntegerEnvironment.m    |  61 ++----
 examples/Quadrotor/runMixedIntegerForest.m    |   2 +-
 4 files changed, 248 insertions(+), 44 deletions(-)
 create mode 100644 examples/Quadrotor/drawLCMPolytope.m
 create mode 100644 examples/Quadrotor/findSOSTrajectory.m

diff --git a/examples/Quadrotor/drawLCMPolytope.m b/examples/Quadrotor/drawLCMPolytope.m
new file mode 100644
index 000000000000..edd8866dab14
--- /dev/null
+++ b/examples/Quadrotor/drawLCMPolytope.m
@@ -0,0 +1,27 @@
+function drawLCMPolytope(A, b, id, highlight, lc)
+if nargin < 5
+  lc = lcm.lcm.LCM.getSingleton();
+end
+if nargin < 4
+  highlight = false;
+end
+if nargin < 3
+  id = 1;
+end
+if highlight
+  id = -id;
+end
+
+msg = drc.lin_con_t();
+msg.m = size(A, 2);
+msg.b = repmat(id, msg.m, 1);
+
+if id ~= 0
+  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
+  msg.n = size(V, 2);
+  msg.m_times_n = msg.m * msg.n;
+  msg.A = reshape(V, [], 1);
+end
+lc.publish('DRAW_POLYTOPE', msg);
+
+end
\ No newline at end of file
diff --git a/examples/Quadrotor/findSOSTrajectory.m b/examples/Quadrotor/findSOSTrajectory.m
new file mode 100644
index 000000000000..cb02d9e40467
--- /dev/null
+++ b/examples/Quadrotor/findSOSTrajectory.m
@@ -0,0 +1,202 @@
+function ytraj = findSOSTrajectory(start, goal, safe_region_sets, traj_degree, num_traj_segments, bot_radius)
+
+if nargin < 6
+  bot_radius = 0;
+end
+
+dim = length(start);
+assert(length(goal) == dim);
+nt = num_traj_segments;
+C_BOUND = 10;
+V_BOUND = 1000;
+dt = .5;
+
+t = sdpvar(1,1);
+shifted_legendre = [1;
+                    2*t - 1;
+                    6*t^2 - 6*t + 1;
+                    20*t^3 - 30*t^2 + 12*t - 1;
+                    70*t^4 - 140*t^3 + 90*t^2 - 20*t + 1;
+                    252*t^5 - 630*t^4 + 560*t^3 - 210*t^2 + 30*t - 1;
+                    924*t^6 - 2772*t^5 + 3150*t^4 - 1680*t^3 + 420*t^2 - 42*t + 1;
+                    3432*t^7 - 12012*t^6 + 16632*t^5 - 11550*t^4 + 4200*t^3 - 756*t^2 + 56*t - 1;
+                    ];
+
+% basis = monolist(t,traj_degree);
+basis = shifted_legendre(1:traj_degree+1);
+assign(t, 0);
+basis_t0 = value(basis);
+assign(t, 1);
+basis_t1 = value(basis);
+
+% s = sdpvar(1);
+% sbasis = monolist(s, traj_degree) .* flip(monolist(1+s, traj_degree));
+
+C = {};
+for j = 1:nt
+  C{j} = sdpvar(traj_degree+1,dim,'full');
+  X{j} = C{j}'*basis;
+  Xd{j} = {jacobian(X{j}, t)};
+  Cd{j} = {[coefficients(Xd{j}{1}(1), t); 0]};
+  for d = 2:dim
+    Cd{j}{1}(:,d) = [coefficients(Xd{j}{1}(d), t); 0];
+  end
+  for k = 2:traj_degree
+    Xd{j}{k} = jacobian(Xd{j}{k-1}, t);
+    Cd{j}{k} = [coefficients(Xd{j}{k}(1), t); zeros(k,1)];
+    for d = 2:dim
+      Cd{j}{k}(:,d) = [coefficients(Xd{j}{k}(d), t); zeros(k,1)];
+    end
+  end
+end
+
+x0 = start;
+xf = goal;
+
+constraints = [...
+               C{1}' * basis_t0 == x0,...
+               Cd{1}{1}' * [1; zeros(traj_degree,1)] == zeros(dim, 1),...
+               Cd{1}{2}' * [1; zeros(traj_degree,1)] == zeros(dim, 1),...
+               Cd{nt}{1}' * [1; ones(traj_degree,1)] == zeros(dim, 1),...
+               Cd{nt}{2}' * [1; ones(traj_degree,1)] == zeros(dim, 1),...
+               C{nt}' * basis_t1 == xf,...
+               ];
+
+region = {};
+for j = 1:length(safe_region_sets)
+  region{j} = binvar(length(safe_region_sets{j}), nt, 'full');
+  constraints = [constraints, sum(region{j}, 1) == 1];
+end
+
+for j = 1:nt-1
+  constraints = [constraints,...
+                 C{j}' * basis_t1 == C{j+1}' * basis_t0,...
+                 ];
+  for d = 1:traj_degree-1;
+    constraints = [constraints,...
+                   Cd{j}{d}' * [1; ones(traj_degree, 1)] == Cd{j+1}{d}' * [1; zeros(traj_degree, 1)],...
+                   ];
+  end
+end
+
+objective = 0;
+
+V = {};
+for j = 1:nt
+  V{j} = {};
+  constraints = [constraints, ...
+                 -C_BOUND <= C{j} <= C_BOUND,...
+                 ];
+  if traj_degree <= 3
+    for d = 1:dim
+      objective = objective + Cd{j}{traj_degree}(:,d)' * Cd{j}{traj_degree}(:,d);
+    end
+  else
+    snap_coeffs = Cd{j}{4};
+    objective = objective + sum(sum(snap_coeffs' .* snap_coeffs', 1) ./ (1:traj_degree+1));
+  end
+
+  for rs = 1:length(region)
+    V{j}{rs} = {};
+    nr = size(region{rs},1);
+    for r = 1:nr
+      V{j}{rs}{r} = {};
+      A = safe_region_sets{rs}(r).A;
+      b = safe_region_sets{rs}(r).b;
+      for k = 1:size(A,1)
+        ai = A(k,:);
+        bi = b(k);
+        n = norm(ai);
+        ai = ai / n;
+        bi = bi / n;
+        [coeff, ~] = coefficients(bi - bot_radius - (ai*(C{j}') * basis), t, monolist(t, traj_degree));
+        V{j}{rs}{r}{k} = {sdpvar(1, traj_degree), sdpvar(1, traj_degree)};
+        % objective = objective + 0.01 * (sum(abs(V{j}{rs}{r}{k}{1})) + sum(abs(V{j}{rs}{r}{k}{2})));
+        sigma1 = V{j}{rs}{r}{k}{1}*monolist(t, traj_degree-1);
+        sigma2 = V{j}{rs}{r}{k}{2}*monolist(t, traj_degree-1);
+        Q1 = sdpvar((traj_degree-1)/2 + 1);
+        Q2 = sdpvar((traj_degree-1)/2 + 1);
+        m = monolist(t, (traj_degree-1)/2);
+        if nr > 1
+          constraints = [constraints,...
+                         implies(region{rs}(r,j), coeff == coefficients((sigma1)*(t) + (sigma2)*(1-t), t)),...
+                         -V_BOUND <= V{j}{rs}{r}{k}{1} <= V_BOUND,...
+                         -V_BOUND <= V{j}{rs}{r}{k}{2} <= V_BOUND,...
+                        ];
+        else
+          constraints = [constraints,...
+                         coeff == coefficients((sigma1)*(t) + (sigma2)*(1-t), t)];
+        end
+        if traj_degree == 1
+          constraints = [constraints, sigma1 >= 0, sigma2 >= 0];
+        elseif traj_degree == 3
+          constraints = [constraints, ...
+                         rcone(V{j}{rs}{r}{k}{1}(2), 2*V{j}{rs}{r}{k}{1}(1), V{j}{rs}{r}{k}{1}(3)),...
+                         rcone(V{j}{rs}{r}{k}{2}(2), 2*V{j}{rs}{r}{k}{2}(1), V{j}{rs}{r}{k}{2}(3)),...
+                         ];
+        else
+          constraints = [constraints,...
+                         coefficients(sigma1, t) == coefficients(m'*Q1*m, t),...
+                         coefficients(sigma2, t) == coefficients(m'*Q2*m, t),...
+                         Q1 >= 0,...
+                         Q2 >= 0,...
+                       ];
+        end
+      end
+    end
+  end
+end
+
+t0 = tic;
+if traj_degree > 3
+  diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 3, 'debug', true))
+else
+  diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek'))
+end
+toc(t0);
+
+breaks = 0:dt:(num_traj_segments*dt);
+coeffs = zeros([dim+1, length(breaks)-1, traj_degree+1]);
+for k = 1:length(breaks)-1
+  c = value(C{k});
+  for i = 1:dim
+    [ct, ~] = coefficients(c(:,i)' * basis, t, monolist(t, traj_degree));
+    lambda = t / dt;
+    z = ct'* monolist(lambda, traj_degree);
+    [cz, ~] = coefficients(z, t, monolist(t, traj_degree));
+    coeffs(i,k,:) = flip(cz');
+  end
+end
+ytraj = PPTrajectory(mkpp(breaks, coeffs, dim+1));
+
+figure(1)
+hold on
+
+lc = lcm.lcm.LCM.getSingleton();
+lcmgl = drake.util.BotLCMGLClient(lc, 'quad_trajectory');
+lcmgl.glBegin(lcmgl.LCMGL_LINES);
+lcmgl.glColor3f(0.0,0.0,1.0);
+
+ts = linspace(0, dt*num_traj_segments);
+% ts = repmat(linspace(0, 1, 10), 1, num_traj_segments);
+Y = ytraj.eval(ts);
+Ybreaks = ytraj.eval(breaks);
+if size(Y, 1) == 2
+  plot(Y(1,:), Y(2,:), 'b-');
+  plot(Ybreaks(1,:), Ybreaks(2,:), 'bo')
+else
+  plot3(Y(1,:), Y(2,:), Y(3,:), 'b-');
+  plot3(Ybreaks(1,:), Ybreaks(2,:), Ybreaks(3,:), 'bo')
+  for i = 1:size(Y, 2)-1
+    lcmgl.glVertex3f(Y(1,i), Y(2,i), Y(3,i));
+    lcmgl.glVertex3f(Y(1,i+1), Y(2,i+1), Y(3,i+1));
+  end
+end
+
+lcmgl.glEnd();
+lcmgl.switchBuffers();
+% keyboard()
+
+axis equal
+
+% end
\ No newline at end of file
diff --git a/examples/Quadrotor/runMixedIntegerEnvironment.m b/examples/Quadrotor/runMixedIntegerEnvironment.m
index 58e6614143a6..7b4f0f309352 100644
--- a/examples/Quadrotor/runMixedIntegerEnvironment.m
+++ b/examples/Quadrotor/runMixedIntegerEnvironment.m
@@ -18,68 +18,41 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_seg
 for j = 1:length(b.getContactShapes())
   obstacles{j} = b.getContactShapes{j}.getPoints();
 end
-padded = iris.pad_obstacle_points(obstacles);
-obstacle_pts = cell2mat(reshape(padded, size(padded, 1), [], length(obstacles)));
-
-A_bounds = [eye(3);-eye(3)];
-b_bounds = [ub; -lb];
-
 figure(1);
 clf
 hold on
 
-obs_regions = struct('A', cell(1, size(obstacle_pts, 3)), 'b', cell(1, size(obstacle_pts, 3)));
-for j = 1:size(obstacle_pts, 3)
-  [obs_regions(j).A, obs_regions(j).b] = iris.thirdParty.polytopes.vert2lcon(obstacle_pts(:,:,j)');
-end
-safe_regions = struct('A', {}, 'b', {});
 
 % Clear the displayed polytopes
-sendLCMPolytope(0, 0, 0, 0, lc);
-pause
+drawLCMPolytope(0, 0, 0, 0, lc);
+% pause
 
 % Draw the bounding box
-sendLCMPolytope(A_bounds, b_bounds, 100, true, lc);
-pause
+dim = length(lb);
+A_bounds = [eye(dim);-eye(dim)];
+b_bounds = [ub; -lb];
+drawLCMPolytope(A_bounds, b_bounds, 100, true, lc);
+% pause
 
 % Clear the displayed polytopes
-sendLCMPolytope(0, 0, 0, 0, lc);
+drawLCMPolytope(0, 0, 0, 0, lc);
 
-lcmgl = LCMGLClient('region_seed');
-for j = 1:size(seeds, 2)
-  seed = seeds(:,j);
-  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
-  safe_regions(end+1) = struct('A', A, 'b', b);
-  sendLCMPolytope(A, b, j, false, lc);
+region_idx = 1;
+function done = drawRegion(r, seed)
+  drawLCMPolytope(r.A, r.b, region_idx, false, lc);
+  region_idx = region_idx + 1;
   lcmgl.glColor3f(.8,.8,.2);
   lcmgl.sphere(seed, 0.06, 20, 20);
   lcmgl.switchBuffers();
-  pause
+  done = false;
 end
 
-num_cells = 10;
-step_size = (ub - lb) ./ num_cells;
+num_steps = 10;
+safe_regions = iris.util.auto_seed_regions(obstacles, lb, ub, seeds, n_regions, num_steps, @drawRegion);
 
-while length(safe_regions) < n_regions
-  dists = iris.util.obstacle_distance_matrix([obs_regions, safe_regions], lb, ub, num_cells);
-  [~, idx] = max(dists(:));
-  [i,j,k] = ind2sub(size(dists), idx);
-  seed = ([i;j;k] - 1) .* step_size + lb;
-  [A, b] = iris.inflate_region(obstacle_pts, A_bounds, b_bounds, seed, struct('require_containment', true, 'error_on_infeas_start', true));
-  safe_regions(end+1) = struct('A', A, 'b', b);
-  sendLCMPolytope(A, b, length(safe_regions), false, lc);
-end
-
-
-for j = 1:length(safe_regions)
-  A = safe_regions(j).A;
-  b = safe_regions(j).b;
-  V = iris.thirdParty.polytopes.lcon2vert(A,b)';
-  iris.drawing.drawPolyFromVertices(V, 'r');
-end
 drawnow();
 
-ytraj = SOSTrajectory(start, goal, {safe_regions}, degree, n_segments, bot_radius);
+ytraj = findSOSTrajectory(start, goal, {safe_regions}, degree, n_segments, bot_radius);
 folder_name = ['~/locomotion/papers/icra-2015-uav-miqp/data/', datestr(now,'yyyy-mm-dd_HH.MM.SS')];
 system(sprintf('mkdir -p %s', folder_name));
 % load('ytraj.mat', 'ytraj');
@@ -88,3 +61,5 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_seg
 save([folder_name, '/results.mat'], 'ytraj', 'r', 'v', 'xtraj');
 v.playback(xtraj, struct('slider', true));
 
+end
+
diff --git a/examples/Quadrotor/runMixedIntegerForest.m b/examples/Quadrotor/runMixedIntegerForest.m
index cb33a018bd6b..0a0f6716799d 100644
--- a/examples/Quadrotor/runMixedIntegerForest.m
+++ b/examples/Quadrotor/runMixedIntegerForest.m
@@ -19,7 +19,7 @@
 seeds = [...
          start';
          goal';
-         ];
+         ]';
         
 
 lb = [-3;-2;0];

From b828faa9008b710629fb35969b12a3358fdd7e97 Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Wed, 24 Sep 2014 20:08:17 -0400
Subject: [PATCH 047/271] add method to scale time base

---
 systems/trajectories/PPTrajectory.m | 29 +++++++++++++++++++++++++++++
 1 file changed, 29 insertions(+)

diff --git a/systems/trajectories/PPTrajectory.m b/systems/trajectories/PPTrajectory.m
index 18cdf653b297..c6f70305bc8b 100644
--- a/systems/trajectories/PPTrajectory.m
+++ b/systems/trajectories/PPTrajectory.m
@@ -93,6 +93,35 @@
       obj.pp.breaks = obj.pp.breaks + offset;
       nobj = setOutputFrame(PPTrajectory(obj.pp),getOutputFrame(obj)); 
     end
+
+    function nobj = scaleTime(obj,scale)
+      % Scale the time of the PPTrajectory uniformly. The resulting trajectory has
+      % the duration of each segment multiplied by [scale]. The coefficients are
+      % also scaled in order to preserve the shape of the trajectory.
+      [breaks, flat_coefs, l, k, d] = unmkpp(obj.pp);
+
+
+      breaks = breaks * scale;
+      if d == 1
+        coefs = flat_coefs;
+        for i = 1:size(coefs, 1)
+          coefs(i,:) = coefs(i,:) .* bsxfun(@power, (1/scale), (size(coefs, 2)-1):-1:0);
+        end
+      else
+        % Even though they give us l, k, d in that order, coefs should actuall be an d-by-l-by-k array.
+        coefs = reshape(flat_coefs, [d, l, k]);
+        for j = 1:d
+          for i = 1:size(coefs, 2)
+            coefs(j,i,:) = coefs(j,i,:) .* reshape(bsxfun(@power, (1/scale), (size(coefs, 3)-1):-1:0), 1, 1, []);
+          end
+        end
+      end
+      if d == 1
+        nobj = PPTrajectory(mkpp(breaks, coefs));
+      else
+        nobj = PPTrajectory(mkpp(breaks, coefs, d));
+      end
+    end
     
     function nobj = uminus(obj)
       obj.pp.coefs = -obj.pp.coefs;

From 2afae81c6f40d10141face7c7c554fc267978d88 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Thu, 25 Sep 2014 00:37:41 -0400
Subject: [PATCH 048/271] Fixes a bug that was causing MATLAB to crash (!) when
 running testWingForceGradients.

---
 systems/plants/RigidBodySubWing.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m
index 3b2c9df55dc7..41349ad4863e 100644
--- a/systems/plants/RigidBodySubWing.m
+++ b/systems/plants/RigidBodySubWing.m
@@ -576,7 +576,7 @@ function revertEnvVars()
       force = sparse(6,getNumBodies(manip))*q(1); % q(1) is for taylorvar
       force(:,frame.body_ind) = body_force;
       if (nargout>1)
-        dforce = sparse(numel(force),2*nq);
+        dforce = sparse(numel(force),2*nq)*q(1); % q(1) is for taylorvar
         dforce((frame.body_ind-1)*6+1:frame.body_ind*6,:) = [dbody_forcedq,dbody_forcedqd];
         dforce = reshape(dforce,6,[]);
       end

From 0415770eafd4b46a7297eb20f9dd3b22dd6fd9d3 Mon Sep 17 00:00:00 2001
From: Robin Deits 
Date: Thu, 25 Sep 2014 14:01:08 -0400
Subject: [PATCH 049/271] move plotting out and speed up when region set has
 one member

---
 examples/Quadrotor/findSOSTrajectory.m        | 33 ++++---------------
 .../Quadrotor/runMixedIntegerEnvironment.m    | 18 ++++++++++
 2 files changed, 24 insertions(+), 27 deletions(-)

diff --git a/examples/Quadrotor/findSOSTrajectory.m b/examples/Quadrotor/findSOSTrajectory.m
index cb02d9e40467..0489ad997bee 100644
--- a/examples/Quadrotor/findSOSTrajectory.m
+++ b/examples/Quadrotor/findSOSTrajectory.m
@@ -64,8 +64,12 @@
 
 region = {};
 for j = 1:length(safe_region_sets)
-  region{j} = binvar(length(safe_region_sets{j}), nt, 'full');
-  constraints = [constraints, sum(region{j}, 1) == 1];
+  if length(safe_region_sets{j}) > 1
+    region{j} = binvar(length(safe_region_sets{j}), nt, 'full');
+    constraints = [constraints, sum(region{j}, 1) == 1];
+  else
+    region{j} = true;
+  end
 end
 
 for j = 1:nt-1
@@ -169,32 +173,7 @@
 end
 ytraj = PPTrajectory(mkpp(breaks, coeffs, dim+1));
 
-figure(1)
-hold on
-
-lc = lcm.lcm.LCM.getSingleton();
-lcmgl = drake.util.BotLCMGLClient(lc, 'quad_trajectory');
-lcmgl.glBegin(lcmgl.LCMGL_LINES);
-lcmgl.glColor3f(0.0,0.0,1.0);
-
-ts = linspace(0, dt*num_traj_segments);
-% ts = repmat(linspace(0, 1, 10), 1, num_traj_segments);
-Y = ytraj.eval(ts);
-Ybreaks = ytraj.eval(breaks);
-if size(Y, 1) == 2
-  plot(Y(1,:), Y(2,:), 'b-');
-  plot(Ybreaks(1,:), Ybreaks(2,:), 'bo')
-else
-  plot3(Y(1,:), Y(2,:), Y(3,:), 'b-');
-  plot3(Ybreaks(1,:), Ybreaks(2,:), Ybreaks(3,:), 'bo')
-  for i = 1:size(Y, 2)-1
-    lcmgl.glVertex3f(Y(1,i), Y(2,i), Y(3,i));
-    lcmgl.glVertex3f(Y(1,i+1), Y(2,i+1), Y(3,i+1));
-  end
-end
 
-lcmgl.glEnd();
-lcmgl.switchBuffers();
 % keyboard()
 
 axis equal
diff --git a/examples/Quadrotor/runMixedIntegerEnvironment.m b/examples/Quadrotor/runMixedIntegerEnvironment.m
index 7b4f0f309352..7475f1155454 100644
--- a/examples/Quadrotor/runMixedIntegerEnvironment.m
+++ b/examples/Quadrotor/runMixedIntegerEnvironment.m
@@ -61,5 +61,23 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_seg
 save([folder_name, '/results.mat'], 'ytraj', 'r', 'v', 'xtraj');
 v.playback(xtraj, struct('slider', true));
 
+lc = lcm.lcm.LCM.getSingleton();
+lcmgl = drake.util.BotLCMGLClient(lc, 'quad_trajectory');
+lcmgl.glBegin(lcmgl.LCMGL_LINES);
+lcmgl.glColor3f(0.0,0.0,1.0);
+
+breaks = ytraj.getBreaks();
+ts = linspace(breaks(1), breaks(end));
+Y = ytraj.eval(ts);
+Ybreaks = ytraj.eval(breaks);
+plot3(Y(1,:), Y(2,:), Y(3,:), 'b-');
+plot3(Ybreaks(1,:), Ybreaks(2,:), Ybreaks(3,:), 'bo')
+for i = 1:size(Y, 2)-1
+  lcmgl.glVertex3f(Y(1,i), Y(2,i), Y(3,i));
+  lcmgl.glVertex3f(Y(1,i+1), Y(2,i+1), Y(3,i+1));
+end
+
+lcmgl.glEnd();
+lcmgl.switchBuffers();
 end
 

From 749fc2f9b704163706dc39f0c3f4e675dac52d48 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Thu, 25 Sep 2014 14:25:24 -0400
Subject: [PATCH 050/271] Beginnings of a drag force class.  Moves airspeed
 computations to be static methods so I can call it from the drag force class
 as well.

---
 .../RigidBodyManipulator.m                    |   5 +
 systems/plants/RigidBodyDragForce.m           |  98 ++++++++++
 systems/plants/RigidBodySubWing.m             | 178 ++++++++++--------
 .../RigidBodySubWingWithControlSurface.m      |   4 +-
 4 files changed, 205 insertions(+), 80 deletions(-)
 create mode 100644 systems/plants/RigidBodyDragForce.m

diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
index 40b58118be45..342e75751405 100644
--- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
+++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m
@@ -2473,6 +2473,11 @@ function checkDirty(obj)
       if ~isempty(elnode)
         [model,fe] = RigidBodyWing.parseURDFNode(model,robotnum,elnode,options);
       end
+      
+      elnode = node.getElementsByTagName('drag').item(0);
+      if ~isempty(elnode)
+        [model,fe] = RigidBodyDragForce.parseURDFNode(model,robotnum,elnode,options);
+      end
 
       elnode = node.getElementsByTagName('thrust').item(0);
       if ~isempty(elnode)
diff --git a/systems/plants/RigidBodyDragForce.m b/systems/plants/RigidBodyDragForce.m
new file mode 100644
index 000000000000..6de17af9b8c0
--- /dev/null
+++ b/systems/plants/RigidBodyDragForce.m
@@ -0,0 +1,98 @@
+classdef RigidBodyDragForce < RigidBodyForceElement
+  % Element that provides an aerodynamic drag force at a point
+  
+  properties
+    
+    coefficient_drag_x; % coefficient of drag in the x (forward) direction
+    coefficient_drag_y; % coefficient of drag in the y (left/right) direction
+    coefficient_drag_z; % coefficient of drag in the z (up/down) direction
+    
+    kinframe;
+    
+  end
+  
+  
+  methods
+    
+    function obj = RigidBodyDragForce(frame_id, coefficient_drag_x, coefficient_drag_y, coefficient_drag_z)
+      % Provides an aerodynamic drag force at a point
+      %
+      % @param frame_id
+      % @param coefficient_drag_x coefficient of drag in the x (forward) direction
+      % @param coefficient_drag_y coefficient of drag in the y (left/right) direction
+      % @param coefficient_drag_z coefficient of drag in the z (up/down) direction
+      %
+      % @retval obj newly constructed object
+
+      obj.coefficient_drag_x = coefficient_drag_x;
+      obj.coefficient_drag_y = coefficient_drag_y;
+      obj.coefficient_drag_z = coefficient_drag_z;
+      
+      obj.kinframe = frame_id;
+      
+      
+    end
+    
+    function [force, dforce] = computeSpatialForce(obj,manip,q,qd)
+      % Computes the force and derivative of force for the aerodynamic
+      % drag on this object.
+      %
+      % @param manip RigidBodyManipulator we are a part of
+      % @param q state vector
+      % @param qd time derivative of state vector
+      %
+      % @retval force force produced by the drag
+      % @retval dforce gradient of force produced by the drag
+      
+      
+      % Compute airspeed over this point in xyz
+      
+      
+      
+      force = 0;
+      dforce = 0;
+      
+      
+    end
+    
+    
+  end
+  
+  methods (Static)
+    
+    function [model,obj] = parseURDFNode(model,robotnum,node,options)
+      % Parse URDF node for drag object.
+      
+      name = char(node.getAttribute('name'));
+      name = regexprep(name, '\.', '_', 'preservecase');
+
+      elNode = node.getElementsByTagName('parent').item(0);
+      parent = findLinkInd(model,char(elNode.getAttribute('link')),robotnum);
+      
+      % get the xyz position of the element
+      xyz=zeros(3,1);
+      elnode = node.getElementsByTagName('origin').item(0);
+      if ~isempty(elnode)
+        if elnode.hasAttribute('xyz')
+          xyz = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('xyz'))),3,1);
+        end
+      end
+      
+      rpy = zeros(3,1);
+      [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame']));
+      
+      % get the drag coefficients of the element
+      cdrag_x = parseParamString(model,robotnum,char(node.getAttribute('coefficient_drag_x')));
+      cdrag_y = parseParamString(model,robotnum,char(node.getAttribute('coefficient_drag_y')));
+      cdrag_z = parseParamString(model,robotnum,char(node.getAttribute('coefficient_drag_z')));
+      
+      
+      obj = RigidBodyDragForce(this_frame_id, cdrag_x, cdrag_y, cdrag_z);
+      obj.name = name;
+      
+    end
+    
+  end
+  
+  
+end
\ No newline at end of file
diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m
index baf60ec34d23..57c230f79049 100644
--- a/systems/plants/RigidBodySubWing.m
+++ b/systems/plants/RigidBodySubWing.m
@@ -391,82 +391,9 @@ function revertEnvVars()
 
     end %constructor
     
-    function [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = computeWingVelocity(obj, manip, q, qd, kinsol)
-      % Computes the velcity of the wing in word coordinates
-      %
-      % @retval wingvel_world velocity in the word (vector in each
-      %   dimension)
-      % @retval dwingvel_worlddq
-      % @retval dwingvel_worlddqd derivative of the wing velocity
-      
-      if (nargout>2)
-        
-        [~,J] = forwardKin(manip,kinsol,obj.kinframe,zeros(3,1));
-        Jdot = forwardJacDot(manip,kinsol,obj.kinframe,zeros(3,1));
-        wingvel_world = J*qd; % assume still air. Air flow over the wing
-        dwingvel_worlddq = Jdot;
-        dwingvel_worlddqd = J;
-      else
-        kinsol = doKinematics(manip,q);
-        [~,J] = forwardKin(manip,kinsol,obj.kinframe,zeros(3,1));
-        wingvel_world = J*qd; % assume still air. Air flow over the wing
-      end
-      
-      % Implementation note: for homogenous transforms, I could do the following
-      % vector transforms more efficiently.  forwardKin is adding a 1 on
-      % the end of every pt for the homogenous coordinates.  it would be
-      % equivalent, cleaner, and more efficient, to just add a zero on the
-      % end instead of the 1...  because for homogeneous transform matrix
-      % T we have:
-      %   T * [x;1] - T * [0;1] = T * [x;0]
-      % but I made this change everywhere and decided it was more important
-      % to keep the interface to the forwardKin method clean instead of
-      % polluting it (and bodyKin, and the mex files, ...) with an extra
-      % input/option for "vectors_not_points".
 
-      %project this onto the XZ plane of the wing (ignores sideslip)
-      if (nargout>2)
-        [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,obj.kinframe,[0 0; 1 0; 0 0]);
-        wingYunit = wingYunit(:,1)-wingYunit(:,2);
-        dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:);
-        dwingYunitdqd = zeros(3, size(q,1));
-      else
-        wingYunit = forwardKin(manip,kinsol,obj.kinframe,[0 0; 1 0; 0 0]);
-        wingYunit = wingYunit(:,1)-wingYunit(:,2);
-      end
-      
-      sideslip = wingvel_world'*wingYunit;
-      if (nargout>2)
-        dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world'*dwingYunitdq;
-        dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world'*dwingYunitdqd;
-      end
-
-      wingvel_world = wingvel_world - sideslip*wingYunit;
-      if (nargout>2)
-        dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq;
-        dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd;
-      end
-      
-    end
     
-    function [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = computeWingVelocityRelative(obj, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd)
-      % Computes the relative wing velocity
-      %
-      %
-      
-      if (nargout>1)
-        [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,obj.kinframe,[wingvel_world,zeros(3,1)]);
-        wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2);
-        wingvel_relJ = wingvel_relJ(1:3,:)-wingvel_relJ(4:6,:);
-        wingvel_relP = wingvel_relP(1:3,:)-wingvel_relP(4:6,:);
-        dwingvel_reldq = wingvel_relJ+wingvel_relP(:,1:3)*dwingvel_worlddq;
-        dwingvel_reldqd = wingvel_relP(:,1:3)*dwingvel_worlddqd;
-      else
-        wingvel_rel = bodyKin(manip,kinsol,obj.kinframe,[wingvel_world,zeros(3,1)]);
-        wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2);
-      end
-      
-    end
+    
 
     
     function [force, dforce] = computeSpatialForce(obj,manip,q,qd)
@@ -476,9 +403,9 @@ function revertEnvVars()
       kinsol = doKinematics(manip,q,true,true,qd);
 
       if (nargout > 1)
-        [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = obj.computeWingVelocity(manip, q, qd, kinsol);
+        [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
       else
-        [ wingvel_world, wingYunit ] = obj.computeWingVelocity(manip, q, qd, kinsol);
+        [ wingvel_world, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
       end
 
       
@@ -487,9 +414,9 @@ function revertEnvVars()
       
 
       if (nargout>1)
-        [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = obj.computeWingVelocityRelative(manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd);
+        [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd);
       else
-        wingvel_rel = obj.computeWingVelocityRelative(manip, kinsol, wingvel_world);
+        wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world);
       end
 
       
@@ -643,6 +570,101 @@ function drawWing(obj, manip, q, qd, fill_color)
 
   methods (Static)
     
+    function [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = computeWingVelocity(kinframe, manip, q, qd, kinsol)
+      % Computes the velcity of the wing in word coordinates
+      %
+      % @param kinframe frame id of the kinematic frame
+      % @param manip manipulator we are a part of
+      % @param q state vector
+      % @param qd q-dot (time derivative of state vector)
+      % @param kinsol solution from doKinematics
+      %
+      % @retval wingvel_world velocity in the word (vector in each
+      %   dimension)
+      % @retval dwingvel_worlddq
+      % @retval dwingvel_worlddqd derivative of the wing velocity
+      
+      if (nargout>2)
+        
+        [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1));
+        Jdot = forwardJacDot(manip,kinsol,kinframe,zeros(3,1));
+        wingvel_world = J*qd; % assume still air. Air flow over the wing
+        dwingvel_worlddq = Jdot;
+        dwingvel_worlddqd = J;
+      else
+        kinsol = doKinematics(manip,q);
+        [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1));
+        wingvel_world = J*qd; % assume still air. Air flow over the wing
+      end
+      
+      % Implementation note: for homogenous transforms, I could do the following
+      % vector transforms more efficiently.  forwardKin is adding a 1 on
+      % the end of every pt for the homogenous coordinates.  it would be
+      % equivalent, cleaner, and more efficient, to just add a zero on the
+      % end instead of the 1...  because for homogeneous transform matrix
+      % T we have:
+      %   T * [x;1] - T * [0;1] = T * [x;0]
+      % but I made this change everywhere and decided it was more important
+      % to keep the interface to the forwardKin method clean instead of
+      % polluting it (and bodyKin, and the mex files, ...) with an extra
+      % input/option for "vectors_not_points".
+
+      %project this onto the XZ plane of the wing (ignores sideslip)
+      if (nargout>2)
+        [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]);
+        wingYunit = wingYunit(:,1)-wingYunit(:,2);
+        dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:);
+        dwingYunitdqd = zeros(3, size(q,1));
+      else
+        wingYunit = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]);
+        wingYunit = wingYunit(:,1)-wingYunit(:,2);
+      end
+      
+      sideslip = wingvel_world'*wingYunit;
+      if (nargout>2)
+        dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world'*dwingYunitdq;
+        dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world'*dwingYunitdqd;
+      end
+
+      wingvel_world = wingvel_world - sideslip*wingYunit;
+      if (nargout>2)
+        dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq;
+        dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd;
+      end
+      
+    end
+    
+        
+    function [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = computeWingVelocityRelative(kinframe, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd)
+      % Computes the relative wing velocity
+      %
+      % @param kinframe frame id (usually in obj.kinframe)
+      % @param manip manipulator we are a part of
+      % @param kinsol solution from doKinematics
+      % @param wingvel_world world velocity from computeWingVelocity
+      % @param dwingvel_worlddq from computeWingVelocity
+      % @param dwingvel_worlddqd from computeWingVelocity
+      %
+      % @retval wingvel_rel relative wing velocity
+      % @retval dwingvel_reldq derivative of relative wing velocity with
+      %   respect to q
+      % @retval dwingvel_reldqd derivative of relative wing velocity with
+      %   respect to q-dot
+      
+      if (nargout>1)
+        [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,kinframe,[wingvel_world,zeros(3,1)]);
+        wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2);
+        wingvel_relJ = wingvel_relJ(1:3,:)-wingvel_relJ(4:6,:);
+        wingvel_relP = wingvel_relP(1:3,:)-wingvel_relP(4:6,:);
+        dwingvel_reldq = wingvel_relJ+wingvel_relP(:,1:3)*dwingvel_worlddq;
+        dwingvel_reldqd = wingvel_relP(:,1:3)*dwingvel_worlddqd;
+      else
+        wingvel_rel = bodyKin(manip,kinsol,kinframe,[wingvel_world,zeros(3,1)]);
+        wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2);
+      end
+      
+    end
+    
   end
 
 end
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index c20ad0a68864..056fc6d0028e 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -73,8 +73,8 @@
       
       % get the coefficients for this point
       
-      [ wingvel_world, wingYunit ] = obj.computeWingVelocity(manip, q, qd, kinsol);
-      wingvel_rel = obj.computeWingVelocityRelative(manip, kinsol, wingvel_world);
+      [ wingvel_world, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
+      wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world);
       
       
       

From 24ad6c7f7d10d2b1b51d920a175c4977ef425b8b Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Thu, 25 Sep 2014 17:36:22 -0400
Subject: [PATCH 051/271] Fixes a serious bug where the control surface was not
 producing for in the correct axis.

---
 systems/plants/RigidBodyDragForce.m           | 31 ++++++++++
 systems/plants/RigidBodySubWing.m             | 59 ++++++++++---------
 .../RigidBodySubWingWithControlSurface.m      | 33 +++++++----
 3 files changed, 84 insertions(+), 39 deletions(-)

diff --git a/systems/plants/RigidBodyDragForce.m b/systems/plants/RigidBodyDragForce.m
index 6de17af9b8c0..8cb283dff1b6 100644
--- a/systems/plants/RigidBodyDragForce.m
+++ b/systems/plants/RigidBodyDragForce.m
@@ -45,8 +45,39 @@
       % @retval dforce gradient of force produced by the drag
       
       
+      frame = getFrame(manip,obj.kinframe);
+      kinsol = doKinematics(manip,q,true,true,qd);
+      
       % Compute airspeed over this point in xyz
       
+      if (nargout > 1)
+        [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
+      else
+        [ wingvel_world, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
+      end
+      
+      
+      if (nargout>1)
+        [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd);
+      else
+        wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world);
+      end
+      
+      airspeed = norm(wingvel_world);
+      if (nargout>1)
+        dairspeeddq = (wingvel_world'*dwingvel_worlddq)/norm(wingvel_world);
+        dairspeeddqd = (wingvel_world'*dwingvel_worlddqd)/norm(wingvel_world);
+      end
+
+      aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1));
+      if (nargout>1)
+        daoadq = -(180/pi)*(wingvel_rel(1)*dwingvel_reldq(3,:)-wingvel_rel(3)*dwingvel_reldq(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2);
+        daoadqd = -(180/pi)*(wingvel_rel(1)*dwingvel_reldqd(3,:)-wingvel_rel(3)*dwingvel_reldqd(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2);
+      end
+      
+      
+      
+      
       
       
       force = 0;
diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m
index 57c230f79049..9235692ee3ba 100644
--- a/systems/plants/RigidBodySubWing.m
+++ b/systems/plants/RigidBodySubWing.m
@@ -403,9 +403,9 @@ function revertEnvVars()
       kinsol = doKinematics(manip,q,true,true,qd);
 
       if (nargout > 1)
-        [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
+        [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
       else
-        [ wingvel_world, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
+        [ wingvel_world_xz, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
       end
 
       
@@ -414,16 +414,16 @@ function revertEnvVars()
       
 
       if (nargout>1)
-        [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd);
+        [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz, dwingvel_worlddq, dwingvel_worlddqd);
       else
-        wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world);
+        wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz);
       end
 
       
-      airspeed = norm(wingvel_world);
+      airspeed = norm(wingvel_world_xz);
       if (nargout>1)
-        dairspeeddq = (wingvel_world'*dwingvel_worlddq)/norm(wingvel_world);
-        dairspeeddqd = (wingvel_world'*dwingvel_worlddqd)/norm(wingvel_world);
+        dairspeeddq = (wingvel_world_xz'*dwingvel_worlddq)/norm(wingvel_world_xz);
+        dairspeeddqd = (wingvel_world_xz'*dwingvel_worlddqd)/norm(wingvel_world_xz);
       end
 
       aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1));
@@ -446,19 +446,19 @@ function revertEnvVars()
         [CL, CD, CM] = obj.coeffs(aoa);
       end
 
-      x_wingvel_world_wingYunit = cross(wingvel_world, wingYunit);
+      x_wingvel_world_wingYunit = cross(wingvel_world_xz, wingYunit);
       if (nargout>1)
-        dx_wingvel_world_wingYunitdq = cross(dwingvel_worlddq, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world,1,nq), dwingYunitdq, 1);
-        dx_wingvel_world_wingYunitdqd = cross(dwingvel_worlddqd, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world,1,nq), dwingYunitdqd, 1);
+        dx_wingvel_world_wingYunitdq = cross(dwingvel_worlddq, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world_xz,1,nq), dwingYunitdq, 1);
+        dx_wingvel_world_wingYunitdqd = cross(dwingvel_worlddqd, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world_xz,1,nq), dwingYunitdqd, 1);
       end
-      lift_world = CL*airspeed*x_wingvel_world_wingYunit;
-      drag_world = CD*airspeed*(-wingvel_world);
+      lift_world = CL*airspeed*x_wingvel_world_wingYunit; % this is norm(airspeed)^2 because it equals CL*airspeed* norm(wingvel_world_xz) * norm(a unit_vector) * sin(90 deg)
+      drag_world = CD*airspeed*(-wingvel_world_xz);
       torque_world = -CM*airspeed*airspeed*wingYunit;
       if (nargout>1)
         dlift_worlddq = x_wingvel_world_wingYunit*airspeed*dCLdq + x_wingvel_world_wingYunit*CL*dairspeeddq + CL*airspeed*dx_wingvel_world_wingYunitdq;
         dlift_worlddqd = x_wingvel_world_wingYunit*airspeed*dCLdqd + x_wingvel_world_wingYunit*CL*dairspeeddqd + CL*airspeed*dx_wingvel_world_wingYunitdqd;
-        ddrag_worlddq = airspeed*-wingvel_world*dCDdq + CD*(-wingvel_world*dairspeeddq) + CD*airspeed*-dwingvel_worlddq;
-        ddrag_worlddqd = airspeed*-wingvel_world*dCDdqd + CD*(-wingvel_world*dairspeeddqd) + CD*airspeed*-dwingvel_worlddqd;
+        ddrag_worlddq = airspeed*-wingvel_world_xz*dCDdq + CD*(-wingvel_world_xz*dairspeeddq) + CD*airspeed*-dwingvel_worlddq;
+        ddrag_worlddqd = airspeed*-wingvel_world_xz*dCDdqd + CD*(-wingvel_world_xz*dairspeeddqd) + CD*airspeed*-dwingvel_worlddqd;
         dtorque_worlddq = -airspeed*airspeed*wingYunit*dCMdq + -CM*2*airspeed*(wingYunit*dairspeeddq) + -CM*airspeed*airspeed*dwingYunitdq;
         dtorque_worlddqd = -airspeed*airspeed*wingYunit*dCMdqd + -CM*2*airspeed*(wingYunit*dairspeeddqd);
       end
@@ -570,7 +570,7 @@ function drawWing(obj, manip, q, qd, fill_color)
 
   methods (Static)
     
-    function [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = computeWingVelocity(kinframe, manip, q, qd, kinsol)
+    function [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = computeWingVelocity(kinframe, manip, q, qd, kinsol)
       % Computes the velcity of the wing in word coordinates
       %
       % @param kinframe frame id of the kinematic frame
@@ -579,22 +579,27 @@ function drawWing(obj, manip, q, qd, fill_color)
       % @param qd q-dot (time derivative of state vector)
       % @param kinsol solution from doKinematics
       %
-      % @retval wingvel_world velocity in the word (vector in each
-      %   dimension)
-      % @retval dwingvel_worlddq
-      % @retval dwingvel_worlddqd derivative of the wing velocity
+      % @retval wingvel_world_xz velocity of the wing in world coodinates
+      %   projected onto the wing's XZ plane.  In other words, velocity with
+      %   sideslip subtracted out.
+      % @retval wingYunit unit vector along the wing's Y axis in world
+      %   coordinates
+      % @retval dwingvel_worlddq derivative of wing velocity with respect
+      %   to q
+      % @retval dwingvel_worlddqd derivative of the wing velocity with
+      %   respect to qdot
       
       if (nargout>2)
         
         [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1));
         Jdot = forwardJacDot(manip,kinsol,kinframe,zeros(3,1));
-        wingvel_world = J*qd; % assume still air. Air flow over the wing
+        wingvel_world_xz = J*qd; % assume still air. Air flow over the wing
         dwingvel_worlddq = Jdot;
         dwingvel_worlddqd = J;
       else
         kinsol = doKinematics(manip,q);
         [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1));
-        wingvel_world = J*qd; % assume still air. Air flow over the wing
+        wingvel_world_xz = J*qd; % assume still air. Air flow over the wing
       end
       
       % Implementation note: for homogenous transforms, I could do the following
@@ -612,21 +617,21 @@ function drawWing(obj, manip, q, qd, fill_color)
       %project this onto the XZ plane of the wing (ignores sideslip)
       if (nargout>2)
         [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]);
-        wingYunit = wingYunit(:,1)-wingYunit(:,2);
+        wingYunit = wingYunit(:,1)-wingYunit(:,2); % subtract out the origin
         dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:);
         dwingYunitdqd = zeros(3, size(q,1));
       else
         wingYunit = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]);
-        wingYunit = wingYunit(:,1)-wingYunit(:,2);
+        wingYunit = wingYunit(:,1)-wingYunit(:,2); % subtract out the origin
       end
       
-      sideslip = wingvel_world'*wingYunit;
+      sideslip = wingvel_world_xz'*wingYunit;
       if (nargout>2)
-        dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world'*dwingYunitdq;
-        dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world'*dwingYunitdqd;
+        dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world_xz'*dwingYunitdq;
+        dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world_xz'*dwingYunitdqd;
       end
 
-      wingvel_world = wingvel_world - sideslip*wingYunit;
+      wingvel_world_xz = wingvel_world_xz - sideslip*wingYunit;
       if (nargout>2)
         dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq;
         dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd;
diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index 056fc6d0028e..f8811e7215a0 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -49,9 +49,9 @@
       % Returns the force from the wing along with the B matrix which the
       % matrix for a linearized input for the control surface.
       %
-      % @param manip
-      % @param q
-      % @param qd
+      % @param manip manipulator we are a part of
+      % @param q state vector
+      % @param qd q-dot, time derivative of the state vector
       %
       %
       % @retval force force from the wing that is independant of the
@@ -73,12 +73,12 @@
       
       % get the coefficients for this point
       
-      [ wingvel_world, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
-      wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world);
+      [ wingvel_world_xz, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol);
+      wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz);
       
       
       
-      airspeed = norm(wingvel_world);
+      airspeed = norm(wingvel_world_xz);
       
       aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1));
       
@@ -140,8 +140,17 @@
       % initalize B
       B_force = manip.B*0*q(1);
       
-      lift_axis_in_body_frame = [0; 0; 1]; % z axis is up
-      drag_axis_in_body_frame = [1; 0; 0];
+      % lift is defined as the force perpendicular to the direction of
+      % airflow, so the lift axis in the body frame is the axis
+      % perpendicular to wingvel_world_xz
+      % We can get this vector by rotating wingvel_world_xz by 90 deg:
+      % cross(wingvel_world_xz, wingYunit)
+      
+      lift_axis_in_world_frame = cross(wingvel_world_xz, wingYunit);
+      lift_axis_in_world_frame = lift_axis_in_world_frame / norm(lift_axis_in_world_frame);
+      
+      % drag axis is the opposite of the x axis of the wing velocity
+      drag_axis_in_world_frame = -wingvel_world_xz / norm(wingvel_world_xz);
       
       
       % position of origin
@@ -149,15 +158,15 @@
       
       % TODO: check if this is redundant and is always [0 0 1]'
       
-      lift_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, lift_axis_in_body_frame);
-      lift_axis_in_world_frame = lift_axis_in_world_frame - origin_in_world_frame;
+      %lift_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, lift_axis_in_body_frame);
+      %lift_axis_in_world_frame = lift_axis_in_world_frame - origin_in_world_frame;
       
       
       B_lift = f_lift * J' * lift_axis_in_world_frame;
       
       
-      drag_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, drag_axis_in_body_frame);
-      drag_axis_in_world_frame = drag_axis_in_world_frame - origin_in_world_frame;
+      %drag_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, drag_axis_in_body_frame);
+      %drag_axis_in_world_frame = drag_axis_in_world_frame - origin_in_world_frame;
       
       
       B_drag = f_drag * J' * drag_axis_in_world_frame;

From 12c6eb2f8cc6c16a05cdf455dd9f6aefbf44ce27 Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Thu, 25 Sep 2014 17:37:11 -0400
Subject: [PATCH 052/271] Cleans up old comments.

---
 .../plants/RigidBodySubWingWithControlSurface.m  | 16 +++-------------
 1 file changed, 3 insertions(+), 13 deletions(-)

diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodySubWingWithControlSurface.m
index f8811e7215a0..c764f7d25654 100644
--- a/systems/plants/RigidBodySubWingWithControlSurface.m
+++ b/systems/plants/RigidBodySubWingWithControlSurface.m
@@ -154,21 +154,11 @@
       
       
       % position of origin
-      [origin_in_world_frame, J] = forwardKin(manip, kinsol, obj.kinframe, zeros(3,1));
-      
-      % TODO: check if this is redundant and is always [0 0 1]'
-      
-      %lift_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, lift_axis_in_body_frame);
-      %lift_axis_in_world_frame = lift_axis_in_world_frame - origin_in_world_frame;
-      
+      [~, J] = forwardKin(manip, kinsol, obj.kinframe, zeros(3,1));
+
       
       B_lift = f_lift * J' * lift_axis_in_world_frame;
-      
-      
-      %drag_axis_in_world_frame = forwardKin(manip, kinsol, obj.kinframe, drag_axis_in_body_frame);
-      %drag_axis_in_world_frame = drag_axis_in_world_frame - origin_in_world_frame;
-      
-      
+
       B_drag = f_drag * J' * drag_axis_in_world_frame;
       
       

From 9b6e3ad773da5ea7b9c254ebdf3c2022594930bc Mon Sep 17 00:00:00 2001
From: Andy Barry 
Date: Thu, 25 Sep 2014 18:15:09 -0400
Subject: [PATCH 053/271] incremental commit

---
 systems/plants/RigidBodyDragForce.m | 73 ++++++++++++++++++-----------
 systems/plants/RigidBodySubWing.m   | 15 +++---
 2 files changed, 54 insertions(+), 34 deletions(-)

diff --git a/systems/plants/RigidBodyDragForce.m b/systems/plants/RigidBodyDragForce.m
index 8cb283dff1b6..fb4f5df233bf 100644
--- a/systems/plants/RigidBodyDragForce.m
+++ b/systems/plants/RigidBodyDragForce.m
@@ -9,18 +9,41 @@
     
     kinframe;
     
+    %Air density for 20 degC dry air, at sea level
+    rho = 1.204;
+    
+    area_x; % area of the drag surface in x
+    area_y; % area of the drag surface in y
+    area_z; % area of the drag surface in z
+    
   end
   
   
   methods
     
-    function obj = RigidBodyDragForce(frame_id, coefficient_drag_x, coefficient_drag_y, coefficient_drag_z)
+    function obj = RigidBodyDragForce(frame_id, coefficient_drag_x, coefficient_drag_y, coefficient_drag_z, area_x, area_y, area_z)
       % Provides an aerodynamic drag force at a point
       %
+      % Drag force is computed as:
+      %  \f$ F_d = \frac{1}{2} \rho v^2 C_d A \f$
+      %
+      % where:
+      % 
+      %  F_d: drag force
+      %  rho: air density
+      %  v: velocity
+      %  C_d: coefficient of drag
+      %  A: area
+      % 
+ % + % % @param frame_id % @param coefficient_drag_x coefficient of drag in the x (forward) direction % @param coefficient_drag_y coefficient of drag in the y (left/right) direction % @param coefficient_drag_z coefficient of drag in the z (up/down) direction + % @param area_x of the object in drag in the x direction + % @param area_y of the object in drag in the y direction + % @param area_z of the object in drag in the z direction % % @retval obj newly constructed object @@ -28,12 +51,16 @@ obj.coefficient_drag_y = coefficient_drag_y; obj.coefficient_drag_z = coefficient_drag_z; + obj.area_x = area_x; + obj.area_y = area_y; + obj.area_z = area_z; + obj.kinframe = frame_id; end - function [force, dforce] = computeSpatialForce(obj,manip,q,qd) + function [force] = computeSpatialForce(obj,manip,q,qd) % Computes the force and derivative of force for the aerodynamic % drag on this object. % @@ -50,37 +77,25 @@ % Compute airspeed over this point in xyz - if (nargout > 1) - [wingvel_world, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - else - [ wingvel_world, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - end + [~, ~, ~, ~, ~, ~, wingvel_world_xyz ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + velocity_x = wingvel_world_xyz(1); + velocity_y = wingvel_world_xyz(2); + velocity_z = wingvel_world_xyz(3); - if (nargout>1) - [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd); - else - wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world); - end + force_x = -0.5 * obj.rho * velocity_x * velocity_x * obj.coefficient_drag_x * obj.area_x; + force_y = -0.5 * obj.rho * velocity_y * velocity_y * obj.coefficient_drag_y * obj.area_y; + force_z = -0.5 * obj.rho * velocity_z * velocity_z * obj.coefficient_drag_z * obj.area_z; - airspeed = norm(wingvel_world); - if (nargout>1) - dairspeeddq = (wingvel_world'*dwingvel_worlddq)/norm(wingvel_world); - dairspeeddqd = (wingvel_world'*dwingvel_worlddqd)/norm(wingvel_world); - end - - aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1)); - if (nargout>1) - daoadq = -(180/pi)*(wingvel_rel(1)*dwingvel_reldq(3,:)-wingvel_rel(3)*dwingvel_reldq(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); - daoadqd = -(180/pi)*(wingvel_rel(1)*dwingvel_reldqd(3,:)-wingvel_rel(3)*dwingvel_reldqd(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); - end + f = sparse(6, getNumBodies(manip)) * q(1); % q(1) for taylorvar + f(:, frame.body_ind) = [force_x; force_y; force_z; 0; 0; 0]; + force = manip.cartesianForceToSpatialForce(kinsol, frame.body_ind, zeros(3,1), f); - - - force = 0; + full(force) + % TODO dforce = 0; @@ -117,8 +132,12 @@ cdrag_y = parseParamString(model,robotnum,char(node.getAttribute('coefficient_drag_y'))); cdrag_z = parseParamString(model,robotnum,char(node.getAttribute('coefficient_drag_z'))); + this_area_x = parseParamString(model,robotnum,char(node.getAttribute('area_x'))); + this_area_y = parseParamString(model,robotnum,char(node.getAttribute('area_y'))); + this_area_z = parseParamString(model,robotnum,char(node.getAttribute('area_z'))); + - obj = RigidBodyDragForce(this_frame_id, cdrag_x, cdrag_y, cdrag_z); + obj = RigidBodyDragForce(this_frame_id, cdrag_x, cdrag_y, cdrag_z, this_area_x, this_area_y, this_area_z); obj.name = name; end diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m index 9235692ee3ba..45b7f1e24afb 100644 --- a/systems/plants/RigidBodySubWing.m +++ b/systems/plants/RigidBodySubWing.m @@ -570,7 +570,7 @@ function drawWing(obj, manip, q, qd, fill_color) methods (Static) - function [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = computeWingVelocity(kinframe, manip, q, qd, kinsol) + function [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd, wingvel_world_xyz ] = computeWingVelocity(kinframe, manip, q, qd, kinsol) % Computes the velcity of the wing in word coordinates % % @param kinframe frame id of the kinematic frame @@ -588,18 +588,19 @@ function drawWing(obj, manip, q, qd, fill_color) % to q % @retval dwingvel_worlddqd derivative of the wing velocity with % respect to qdot + % @retval wingvel_world_xzy velocity of the wing in world coordinates if (nargout>2) [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1)); Jdot = forwardJacDot(manip,kinsol,kinframe,zeros(3,1)); - wingvel_world_xz = J*qd; % assume still air. Air flow over the wing + wingvel_world_xyz = J*qd; % assume still air. Air flow over the wing dwingvel_worlddq = Jdot; dwingvel_worlddqd = J; else kinsol = doKinematics(manip,q); [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1)); - wingvel_world_xz = J*qd; % assume still air. Air flow over the wing + wingvel_world_xyz = J*qd; % assume still air. Air flow over the wing end % Implementation note: for homogenous transforms, I could do the following @@ -625,13 +626,13 @@ function drawWing(obj, manip, q, qd, fill_color) wingYunit = wingYunit(:,1)-wingYunit(:,2); % subtract out the origin end - sideslip = wingvel_world_xz'*wingYunit; + sideslip = wingvel_world_xyz'*wingYunit; if (nargout>2) - dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world_xz'*dwingYunitdq; - dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world_xz'*dwingYunitdqd; + dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world_xyz'*dwingYunitdq; + dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world_xyz'*dwingYunitdqd; end - wingvel_world_xz = wingvel_world_xz - sideslip*wingYunit; + wingvel_world_xz = wingvel_world_xyz - sideslip*wingYunit; if (nargout>2) dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq; dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd; From 44972c0dbbf9e6b3ee6c615377890ad31d63c291 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Thu, 25 Sep 2014 18:23:33 -0400 Subject: [PATCH 054/271] add mosek mip tol gap --- examples/Quadrotor/findSOSTrajectory.m | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/examples/Quadrotor/findSOSTrajectory.m b/examples/Quadrotor/findSOSTrajectory.m index 0489ad997bee..2d3891074e98 100644 --- a/examples/Quadrotor/findSOSTrajectory.m +++ b/examples/Quadrotor/findSOSTrajectory.m @@ -155,7 +155,8 @@ if traj_degree > 3 diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 3, 'debug', true)) else - diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek')) + % diagnostics = optimize(constraints, objective, sdpsettings('solver', 'gurobi', 'gurobi.MIPGap', 1e-2)) + diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2)) end toc(t0); From 8ae3ffdf5fbc591133c21e2d9b88f33853a6f553 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Thu, 25 Sep 2014 20:59:42 -0400 Subject: [PATCH 055/271] Implements drag force element and adds a unit test for it. --- systems/plants/RigidBodyDragForce.m | 8 +- systems/plants/test/testRigidBodyDragForce.m | 59 ++++++++++++ .../plants/test/testRigidBodyDragForce.urdf | 94 +++++++++++++++++++ 3 files changed, 157 insertions(+), 4 deletions(-) create mode 100644 systems/plants/test/testRigidBodyDragForce.m create mode 100644 systems/plants/test/testRigidBodyDragForce.urdf diff --git a/systems/plants/RigidBodyDragForce.m b/systems/plants/RigidBodyDragForce.m index fb4f5df233bf..ba0c64f13852 100644 --- a/systems/plants/RigidBodyDragForce.m +++ b/systems/plants/RigidBodyDragForce.m @@ -87,14 +87,14 @@ force_y = -0.5 * obj.rho * velocity_y * velocity_y * obj.coefficient_drag_y * obj.area_y; force_z = -0.5 * obj.rho * velocity_z * velocity_z * obj.coefficient_drag_z * obj.area_z; - f = sparse(6, getNumBodies(manip)) * q(1); % q(1) for taylorvar - f(:, frame.body_ind) = [force_x; force_y; force_z; 0; 0; 0]; - force = manip.cartesianForceToSpatialForce(kinsol, frame.body_ind, zeros(3,1), f); + f = [force_x; force_y; force_z]; + f = manip.cartesianForceToSpatialForce(kinsol, frame.body_ind, zeros(3,1), f); + force = sparse(6, getNumBodies(manip)) * q(1); % q(1) for taylorvar + force(:, frame.body_ind) = f; - full(force) % TODO dforce = 0; diff --git a/systems/plants/test/testRigidBodyDragForce.m b/systems/plants/test/testRigidBodyDragForce.m new file mode 100644 index 000000000000..41c4199eb787 --- /dev/null +++ b/systems/plants/test/testRigidBodyDragForce.m @@ -0,0 +1,59 @@ +% Tests control surfaces by creating from a URDF that has control surfaces +% and simulating. + +%% Construct from URDF + + +disp('Constructing from URDF...'); + +options.floating = true; +r = RigidBodyManipulator('testRigidBodySubWingWithControlSurface.urdf', options); + +%v = r.constructVisualizer(); + +% Visualize the constructed wing with the wing-drawing tools +% +%q = zeros(r.getNumContStates(),1); +%qd = zeros(r.getNumContStates(),1); +% clf +% for i = 1 : length(r.force) +% plot3(0, 0, 0, '*'); +% if isa(r.force{i}, 'RigidBodyWing') +% r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); +% end +% end + +%% simulate + +disp('Simulating...'); + +x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0]; +end_t = .5; + +constant_traj = ConstantTrajectory([0.8 0.8 100]); +constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); + +feedback_system = cascade(constant_traj, r); + +[ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + +%v.playback(xtraj) + +final_x = xtraj.eval(end_t) + +% now simulate with drag forces +disp('Simulating with drag forces...'); +r2 = RigidBodyManipulator('testRigidBodyDragForce.urdf', options); + +constant_traj = ConstantTrajectory([0.8 0.8 100]); +constant_traj = constant_traj.setOutputFrame(r2.getInputFrame()); + +feedback_system = cascade(constant_traj, r2); + +[ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + +final_x_with_drag = xtraj.eval(end_t) + +assert(final_x_with_drag(1) < final_x(1)) % should move forward less with drag +assert(abs(final_x_with_drag(2)) < .1) % should stay in the center regardless of drag +assert(final_x_with_drag(3) < final_x(3)); % should gain less altitude with drag diff --git a/systems/plants/test/testRigidBodyDragForce.urdf b/systems/plants/test/testRigidBodyDragForce.urdf new file mode 100644 index 000000000000..2d3b9dc4d9fd --- /dev/null +++ b/systems/plants/test/testRigidBodyDragForce.urdf @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 73075fa78006ac7d96710dc10381722ba686b6e7 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Thu, 25 Sep 2014 22:51:14 -0400 Subject: [PATCH 056/271] Fixes a bug that caused upper bounds on parameters in URDFs to fail. --- systems/plants/@RigidBodyManipulator/addRobotFromURDF.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m index 5280793a656a..c60411179cc7 100644 --- a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m +++ b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m @@ -158,7 +158,7 @@ n = char(node.getAttribute('lb')); % optional if isempty(n), model.param_db{robotnum}.(name).lb = -inf; else model.param_db{robotnum}.(name).lb = str2num(n); end n = char(node.getAttribute('ub')); % optional - if isempty(n), model.param_db{robotnum}.(name).ub = inf; else model.param_db{robotnum}.ub = str2num(n); end + if isempty(n), model.param_db{robotnum}.(name).ub = inf; else model.param_db{robotnum}.(name).ub = str2num(n); end end function model = parseGazebo(model,robotnum,node,options) From 80c135aa20be908cbcc02661b56861d57ce83c29 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Fri, 26 Sep 2014 11:48:52 -0400 Subject: [PATCH 057/271] more outputs --- examples/Quadrotor/findSOSTrajectory.m | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/examples/Quadrotor/findSOSTrajectory.m b/examples/Quadrotor/findSOSTrajectory.m index 2d3891074e98..8e61323af94b 100644 --- a/examples/Quadrotor/findSOSTrajectory.m +++ b/examples/Quadrotor/findSOSTrajectory.m @@ -1,4 +1,4 @@ -function ytraj = findSOSTrajectory(start, goal, safe_region_sets, traj_degree, num_traj_segments, bot_radius) +function [ytraj, diagnostics, objective] = findSOSTrajectory(start, goal, safe_region_sets, traj_degree, num_traj_segments, bot_radius) if nargin < 6 bot_radius = 0; @@ -156,7 +156,7 @@ diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 3, 'debug', true)) else % diagnostics = optimize(constraints, objective, sdpsettings('solver', 'gurobi', 'gurobi.MIPGap', 1e-2)) - diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2)) + diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2, 'mosek.MSK_DPAR_MIO_MAX_TIME', 1200)) end toc(t0); @@ -174,6 +174,7 @@ end ytraj = PPTrajectory(mkpp(breaks, coeffs, dim+1)); +objective = double(objective); % keyboard() From 9d7a58b1e3988bffc28ed1ffa4932ba8d4cdc81f Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 26 Sep 2014 14:10:37 -0400 Subject: [PATCH 058/271] Provides support for parameters for RigidBodyForces, Sensors, and Actuators. --- .../@RigidBodyManipulator/RigidBodyManipulator.m | 13 +++++++++++++ .../plants/@RigidBodyManipulator/addRobotFromURDF.m | 12 ++++++++++++ 2 files changed, 25 insertions(+) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 342e75751405..d8a2f6f9a77e 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -891,6 +891,19 @@ for i=1:length(model.body) model.body(i) = updateParams(model.body(i),fr.getPoly,p); end + + for i=1:length(model.force) + model.force{i} = updateParams(model.force{i}, fr.getPoly.p); + end + + for i=1:length(model.sensor) + model.sensor{i} = updateParams(model.sensor{i}, fr.getPoly.p); + end + + for i=1:length(model.actuator) + model.actuator(i) = updateParams(model.actuator(i), fr.getPoly.p); + end + model = compile(model); end diff --git a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m index c60411179cc7..68396b1c5d5a 100644 --- a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m +++ b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m @@ -150,6 +150,18 @@ model.body(i) = bindParams(model.body(i),model,pval); end +for i=1:length(model.force) + model.force{i} = bindParams(model.force{i}, model, pval); +end + +for i=1:length(model.sensor) + model.sensor{i} = bindParams(model.sensor{i}, model, pval); +end + +for i=1:length(model.actuator) + model.actuator(i) = bindParams(model.actuator(i), model, pval); +end + end function model = parseParameter(model,robotnum,node,options) From f4554917cf0e2fcf5fc881027446ac7e50027010 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 26 Sep 2014 14:50:43 -0400 Subject: [PATCH 059/271] Fixes a bug in the param implementation from last commit. --- .../plants/@RigidBodyManipulator/RigidBodyManipulator.m | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index d8a2f6f9a77e..b469ef8d36d0 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -889,19 +889,19 @@ end for i=1:length(model.body) - model.body(i) = updateParams(model.body(i),fr.getPoly,p); + model.body(i) = updateParams(model.body(i),fr.getPoly, p); end for i=1:length(model.force) - model.force{i} = updateParams(model.force{i}, fr.getPoly.p); + model.force{i} = updateParams(model.force{i}, fr.getPoly, p); end for i=1:length(model.sensor) - model.sensor{i} = updateParams(model.sensor{i}, fr.getPoly.p); + model.sensor{i} = updateParams(model.sensor{i}, fr.getPoly, p); end for i=1:length(model.actuator) - model.actuator(i) = updateParams(model.actuator(i), fr.getPoly.p); + model.actuator(i) = updateParams(model.actuator(i), fr.getPoly, p); end From ea8566d6b49aba1d5f888d192743e36312decc53 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Sat, 27 Sep 2014 10:35:59 -0400 Subject: [PATCH 060/271] use mosek --- examples/Quadrotor/findSOSTrajectory.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Quadrotor/findSOSTrajectory.m b/examples/Quadrotor/findSOSTrajectory.m index 8e61323af94b..183689c9d792 100644 --- a/examples/Quadrotor/findSOSTrajectory.m +++ b/examples/Quadrotor/findSOSTrajectory.m @@ -156,7 +156,7 @@ diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 3, 'debug', true)) else % diagnostics = optimize(constraints, objective, sdpsettings('solver', 'gurobi', 'gurobi.MIPGap', 1e-2)) - diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2, 'mosek.MSK_DPAR_MIO_MAX_TIME', 1200)) + diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2, 'mosek.MSK_DPAR_MIO_MAX_TIME', 600, 'verbose', 0)) end toc(t0); From 52b73c769914d6d69de66ce0c0720faef51f5fe3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Tue, 30 Sep 2014 10:43:53 -0400 Subject: [PATCH 061/271] Add more grp support for getTerrainContactPoints. Now you can pass a single cell-array of strings to use the same groups for all bodies. --- .../@RigidBodyManipulator/RigidBodyManipulator.m | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index ed183e21bde6..888177480a5d 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -996,6 +996,16 @@ body_idx = 2:obj.getNumBodies(); % World-fixed objects can't collide % with the terrain end + if nargin >= 3 + if all(cellfun(@ischar,contact_groups)) + contact_groups = {contact_groups}; + end + if numel(contact_groups) == 1 + contact_groups = repmat(contact_groups,size(body_idx)); + else + sizecheck(contact_groups,size(body_idx)); + end + end terrain_contact_point_struct = struct('pts',{},'idx',{}); for i = 1:length(body_idx) bi=body_idx(i); From 6a6768a479fe058d753c8da05c1e2c97114b8f7c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Tue, 30 Sep 2014 10:49:31 -0400 Subject: [PATCH 062/271] Don't check terrain collisions unnecessarily. If specific groups are specified in `active_collision_options` and `terrain` is not one of them, don't check terrain collisions. --- systems/plants/@RigidBodyManipulator/collisionDetect.m | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/systems/plants/@RigidBodyManipulator/collisionDetect.m b/systems/plants/@RigidBodyManipulator/collisionDetect.m index 29e65f6af932..20a507c9b716 100644 --- a/systems/plants/@RigidBodyManipulator/collisionDetect.m +++ b/systems/plants/@RigidBodyManipulator/collisionDetect.m @@ -108,7 +108,9 @@ end if ~isempty(obj.terrain) && ... - (force_collisionDetectTerrain || ~isa(obj.terrain,'RigidBodyFlatTerrain')) + (force_collisionDetectTerrain || ~isa(obj.terrain,'RigidBodyFlatTerrain')) && ... + (~isfield(active_collision_options,'collision_groups') || ... + ismember('terrain',active_collision_options.collision_groups)) % For each point on the manipulator that can collide with terrain, % find the closest point on the terrain geometry if isfield(active_collision_options,'body_idx') From 32f5f141436008d078e793b9c8dd91881afafa03 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Tue, 30 Sep 2014 10:51:29 -0400 Subject: [PATCH 063/271] Use active groups when checking terrain collisions Pass the groups specified by `active_collision_options` into `getTerrainContactPoints` --- .../@RigidBodyManipulator/collisionDetect.m | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/collisionDetect.m b/systems/plants/@RigidBodyManipulator/collisionDetect.m index 20a507c9b716..c9c68099a7ae 100644 --- a/systems/plants/@RigidBodyManipulator/collisionDetect.m +++ b/systems/plants/@RigidBodyManipulator/collisionDetect.m @@ -114,10 +114,22 @@ % For each point on the manipulator that can collide with terrain, % find the closest point on the terrain geometry if isfield(active_collision_options,'body_idx') - terrain_contact_point_struct = ... - getTerrainContactPoints(obj,active_collision_options.body_idx); + if isfield(active_collision_options,'collision_groups') + terrain_contact_point_struct = getTerrainContactPoints(obj, ... + active_collision_options.body_idx,... + active_collision_options.collision_groups); + else + terrain_contact_point_struct = getTerrainContactPoints(obj, ... + active_collision_options.body_idx); + end else - terrain_contact_point_struct = getTerrainContactPoints(obj); + if isfield(active_collision_options,'collision_groups') + terrain_contact_point_struct = getTerrainContactPoints(obj, ... + 2:obj.getNumBodies(),... + active_collision_options.collision_groups); + else + terrain_contact_point_struct = getTerrainContactPoints(obj); + end end if ~isempty(terrain_contact_point_struct) From 141d078c63f9e57aaaa86f5c5df0d0cbff082415 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Tue, 30 Sep 2014 10:54:05 -0400 Subject: [PATCH 064/271] Update testActiveCollisionOptions. Now we check both bullet (if applicable) and non-bullet (i.e. terrain_only) collision detection. Resolves #364. --- .../test/testActiveCollisionOptions.m | 35 ++++++++++++++++--- 1 file changed, 31 insertions(+), 4 deletions(-) diff --git a/systems/plants/collision/test/testActiveCollisionOptions.m b/systems/plants/collision/test/testActiveCollisionOptions.m index 550f234514f9..f0642527ea0b 100644 --- a/systems/plants/collision/test/testActiveCollisionOptions.m +++ b/systems/plants/collision/test/testActiveCollisionOptions.m @@ -14,18 +14,45 @@ function testActiveCollisionOptions() kinsol = doKinematics(r,x0(1:r.getNumPositions())); - phi = r.collisionDetect(kinsol,false); - valuecheck(phi,[1.5;0.5]); + if checkDependency('bullet') + phi = r.collisionDetect(kinsol,false); + valuecheck(phi,[1.5;0.5]); + end + + active_collision_options.terrain_only = true; + phi = r.collisionDetect(kinsol,false,active_collision_options); + valuecheck(phi,[2.5;2.5;1.5;1.5;1.5;1.5;2.5;2.5]); + clear active_collision_options active_collision_options.collision_groups = {'default','terrain'}; + if checkDependency('bullet') + phi = r.collisionDetect(kinsol,false,active_collision_options); + valuecheck(phi,1.5); + end + + active_collision_options.terrain_only = true; phi = r.collisionDetect(kinsol,false,active_collision_options); - valuecheck(phi,1.5); + valuecheck(phi,[2.5;2.5;1.5;1.5;1.5;1.5;2.5;2.5]); + clear active_collision_options active_collision_options.collision_groups = {'default','groupA'}; + if checkDependency('bullet') + phi = r.collisionDetect(kinsol,false,active_collision_options); + valuecheck(phi,0.5); + end + + active_collision_options.terrain_only = true; phi = r.collisionDetect(kinsol,false,active_collision_options); - valuecheck(phi,0.5); + sizecheck(phi,0); + clear active_collision_options active_collision_options.collision_groups = {'terrain','groupA'}; + if checkDependency('bullet') + phi = r.collisionDetect(kinsol,false,active_collision_options); + sizecheck(phi,0); + end + + active_collision_options.terrain_only = true; phi = r.collisionDetect(kinsol,false,active_collision_options); sizecheck(phi,0); end From 409d179dfaffdd5edd5bbedd092be1afa1f4d2e9 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Tue, 30 Sep 2014 16:08:46 -0400 Subject: [PATCH 065/271] fix degree 1 case --- examples/Quadrotor/findSOSTrajectory.m | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/examples/Quadrotor/findSOSTrajectory.m b/examples/Quadrotor/findSOSTrajectory.m index 183689c9d792..d0fde2eb5b54 100644 --- a/examples/Quadrotor/findSOSTrajectory.m +++ b/examples/Quadrotor/findSOSTrajectory.m @@ -56,11 +56,15 @@ constraints = [... C{1}' * basis_t0 == x0,... Cd{1}{1}' * [1; zeros(traj_degree,1)] == zeros(dim, 1),... - Cd{1}{2}' * [1; zeros(traj_degree,1)] == zeros(dim, 1),... Cd{nt}{1}' * [1; ones(traj_degree,1)] == zeros(dim, 1),... - Cd{nt}{2}' * [1; ones(traj_degree,1)] == zeros(dim, 1),... C{nt}' * basis_t1 == xf,... - ]; + ]; +if traj_degree > 1 + constraints = [constraints,... + Cd{1}{2}' * [1; zeros(traj_degree,1)] == zeros(dim, 1),... + Cd{nt}{2}' * [1; ones(traj_degree,1)] == zeros(dim, 1),... + ]; + end region = {}; for j = 1:length(safe_region_sets) @@ -153,7 +157,7 @@ t0 = tic; if traj_degree > 3 - diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 3, 'debug', true)) + diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 0, 'debug', true)) else % diagnostics = optimize(constraints, objective, sdpsettings('solver', 'gurobi', 'gurobi.MIPGap', 1e-2)) diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2, 'mosek.MSK_DPAR_MIO_MAX_TIME', 600, 'verbose', 0)) @@ -166,6 +170,9 @@ c = value(C{k}); for i = 1:dim [ct, ~] = coefficients(c(:,i)' * basis, t, monolist(t, traj_degree)); + if length(ct) < traj_degree + 1 + ct = [ct; 1e-6]; % stupid yalmip bug + end lambda = t / dt; z = ct'* monolist(lambda, traj_degree); [cz, ~] = coefficients(z, t, monolist(t, traj_degree)); From 4750e1595dc99a7f50cd5c79ad13cd670ade1314 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Wed, 1 Oct 2014 10:10:13 -0400 Subject: [PATCH 066/271] Tweak terrain collision detect logic Running `collisionDetect` with `active_collision_options.terrain_only` set to `true` now implies that you want to check for collisions against the `terrain` group. Or rather, it always implied that, but now the code actually respects that. --- systems/plants/@RigidBodyManipulator/collisionDetect.m | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/collisionDetect.m b/systems/plants/@RigidBodyManipulator/collisionDetect.m index c9c68099a7ae..3f1aa71022a5 100644 --- a/systems/plants/@RigidBodyManipulator/collisionDetect.m +++ b/systems/plants/@RigidBodyManipulator/collisionDetect.m @@ -91,7 +91,11 @@ return; end - force_collisionDetectTerrain = true; + if active_collision_options.terrain_only || ... + ~isfield(active_collision_options,'collision_groups') || ... + ismember('terrain',active_collision_options.collision_groups) + force_collisionDetectTerrain = true; + end if obj.mex_model_ptr == 0 warnOnce(obj.warning_manager,'Drake:RigidBodyManipulator:collisionDetect:noMexPtr', ... @@ -108,9 +112,7 @@ end if ~isempty(obj.terrain) && ... - (force_collisionDetectTerrain || ~isa(obj.terrain,'RigidBodyFlatTerrain')) && ... - (~isfield(active_collision_options,'collision_groups') || ... - ismember('terrain',active_collision_options.collision_groups)) + (force_collisionDetectTerrain || ~isa(obj.terrain,'RigidBodyFlatTerrain')) % For each point on the manipulator that can collide with terrain, % find the closest point on the terrain geometry if isfield(active_collision_options,'body_idx') From 008e83d9ff73defa0d34995c460ca1efc8ff80f7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Wed, 1 Oct 2014 10:12:34 -0400 Subject: [PATCH 067/271] Remove no-longer-necessary hack from QPController. Takes out a bit of code that was needed because `collisionDetect` didn't respect filtering by group for terrain collisions. --- systems/controllers/QPController.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/controllers/QPController.m b/systems/controllers/QPController.m index d9df3d09dc37..321928c5d41e 100644 --- a/systems/controllers/QPController.m +++ b/systems/controllers/QPController.m @@ -352,7 +352,7 @@ end [~,~,JB] = contactConstraintsBV(r,kinsol,false,struct('terrain_only',~obj.use_bullet,... 'body_idx',[1,active_supports(j)],'collision_groups',active_contact_groups(j))); - Dbar = [Dbar, vertcat(JB{active_contact_pts{j}})']; % because contact constraints seems to ignore the collision_groups option + Dbar = [Dbar, vertcat(JB{:})']; c_pre = c_pre + length(active_contact_pts{j}); end From e427eda06adc2ad51d26f7d67301efe63e42d8fb Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Wed, 1 Oct 2014 11:27:56 -0400 Subject: [PATCH 068/271] Added guards that check the existence of mex files used in tests. --- systems/plants/joints/test/testDrakeJointsComparison.m | 5 +++++ util/test/testGeometryConversionFunctionsComparison.m | 4 ++++ util/test/testGeometryGradientsComparison.m | 5 +++++ 3 files changed, 14 insertions(+) diff --git a/systems/plants/joints/test/testDrakeJointsComparison.m b/systems/plants/joints/test/testDrakeJointsComparison.m index 40b93f81ef68..b487366c4ce1 100644 --- a/systems/plants/joints/test/testDrakeJointsComparison.m +++ b/systems/plants/joints/test/testDrakeJointsComparison.m @@ -1,4 +1,9 @@ function testDrakeJointsComparison() + +if exist('testDrakeJointsmex','file')~=3 + error('Drake:MissingDependency', 'Cannot find testDrakeJointsmex. It may not have been compiled due to a missing dependency.'); +end + data_in.prismatic.joint_axis = randn(3, 1); data_in.prismatic.joint_axis = data_in.prismatic.joint_axis / norm(data_in.prismatic.joint_axis); data_in.prismatic.q = randn; diff --git a/util/test/testGeometryConversionFunctionsComparison.m b/util/test/testGeometryConversionFunctionsComparison.m index 8f0e46c06f4e..8567efbc9e49 100644 --- a/util/test/testGeometryConversionFunctionsComparison.m +++ b/util/test/testGeometryConversionFunctionsComparison.m @@ -1,5 +1,9 @@ function testGeometryConversionFunctionsComparison() +if exist('testGeometryConversionFunctionsmex','file')~=3 + error('Drake:MissingDependency', 'Cannot find testGeometryConversionFunctionsmex. It may not have been compiled due to a missing dependency.'); +end + nq = 15; for i = 1 : 100 diff --git a/util/test/testGeometryGradientsComparison.m b/util/test/testGeometryGradientsComparison.m index 62af7eb29dd5..72837569b3a4 100644 --- a/util/test/testGeometryGradientsComparison.m +++ b/util/test/testGeometryGradientsComparison.m @@ -1,4 +1,9 @@ function testGeometryGradientsComparison() + +if exist('testGeometryGradientsmex','file')~=3 + error('Drake:MissingDependency', 'Cannot find testGeometryGradientsmex. It may not have been compiled due to a missing dependency.'); +end + twist_size = 6; nv = 8; nq = 15; From cf69a53ccfaadf50d9e804cbb625fe1b88bd3d89 Mon Sep 17 00:00:00 2001 From: Hongkai Dai Date: Wed, 1 Oct 2014 11:45:26 -0400 Subject: [PATCH 069/271] fmincon in NonlinearProgram uses user gradient now --- solvers/NonlinearProgram.m | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/solvers/NonlinearProgram.m b/solvers/NonlinearProgram.m index bd959af53418..ab310a18f3ec 100644 --- a/solvers/NonlinearProgram.m +++ b/solvers/NonlinearProgram.m @@ -170,6 +170,8 @@ obj.solver_options.snopt.OldBasisFile = 0; obj.solver_options.snopt.BackupBasisFile = 0; obj.solver_options.snopt.LinesearchTolerance = 0.9; + obj.solver_options.fmincon.GradConstr = 'on'; + obj.solver_options.fmincon.GradObj = 'on'; obj.constraint_err_tol = 1e-4; obj.check_grad = false; end @@ -1325,8 +1327,8 @@ function checkGradient(x_free) [g,h,dg,dh] = obj.nonlinearConstraints(x); ceq = h; c = [g(~ub_inf_idx)-obj.cin_ub(~ub_inf_idx);obj.cin_lb(~lb_inf_idx)-g(~lb_inf_idx)]; - dc = [dg(~ub_inf_idx,:);-dg(~lb_inf_idx,:)]; - dceq = dh; + dc = [dg(~ub_inf_idx,:);-dg(~lb_inf_idx,:)]'; + dceq = dh'; end [x,objval,exitflag] = fmincon(@obj.objective,x0,full(obj.Ain),... From 4baad08b2bcf72c40dbe3aa7cc731538e3445bba Mon Sep 17 00:00:00 2001 From: Hongkai Dai Date: Wed, 1 Oct 2014 11:45:58 -0400 Subject: [PATCH 070/271] in testIK, add check if snopt is not installed. --- systems/plants/test/testIK.m | 68 ++++++++++++++++++++++++++---------- 1 file changed, 49 insertions(+), 19 deletions(-) diff --git a/systems/plants/test/testIK.m b/systems/plants/test/testIK.m index 71b5a5d4359a..7f5b9024cea0 100644 --- a/systems/plants/test/testIK.m +++ b/systems/plants/test/testIK.m @@ -67,7 +67,7 @@ error('CoM constraint is not satisfied') end display('Check IK pointwise with a single CoM constraint') -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed],[q_nom q_nom],kc1,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed],[q_nom q_nom],kc1,ikoptions); for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); com = getCOM(robot,kinsol); @@ -77,7 +77,8 @@ end end display('Check IK pointwise with multiple CoM constraints') -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed],[q_nom q_nom],kc1,kc1prime,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed],[q_nom q_nom],kc1,kc1prime,ikoptions); +if(all(info == 1)&&~isempty(info)) kinsol = doKinematics(robot,q(:,1)); com = getCOM(robot,kinsol); valuecheck(com(1:2),[0;0],1e-5); @@ -90,7 +91,7 @@ if(com(3)>1+1e-5 ||com(3)<0.9-1e-5) error('CoM constraint is not satisfied'); end - +end pc_knee = PostureConstraint(robot,tspan); l_knee_idx = find(strcmp(robot.getStateFrame.coordinates,'l_leg_kny')); r_knee_idx = find(strcmp(robot.getStateFrame.coordinates,'r_leg_kny')); @@ -108,7 +109,8 @@ end display('Check IK pointwise with a single CoM constraint with a posture constraint') -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,ikoptions); +if(all(info == 1)&&~isempty(info)) if(any(q([l_knee_idx;r_knee_idx],:)<0.2-1e-5)) error('Posture constraint is not satisfied'); end @@ -120,9 +122,11 @@ error('CoM constraint is not satisfied'); end end +end display('Check IK pointwise with multiple CoM constraints with a posture constraint') -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,kc1prime,pc_knee,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,kc1prime,pc_knee,ikoptions); +if(all(info == 1)&&~isempty(info)) if(any(q([l_knee_idx;r_knee_idx],:)<0.2-1e-5)) error('Posture constraint is not satisfied'); end @@ -138,7 +142,7 @@ if(com(3)>1+1e-5 ||com(3)<0.9-1e-5) error('CoM constraint is not satisfied'); end - +end display('Check a body position constraint') @@ -152,7 +156,8 @@ valuecheck(rfoot_pos(3,:),[0 0 0 0],1e-5); display('Check IK pointwise with body position constraint'); -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,ikoptions); +if(all(info == 1)&&~isempty(info)) for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); lfoot_pos = forwardKin(robot,kinsol,l_foot,l_foot_pts,0); @@ -160,6 +165,7 @@ valuecheck(lfoot_pos(3,:),[0 0 0 0],1e-5); valuecheck(rfoot_pos(3,:),[0 0 0 0],1e-5); end +end display('Check a body position (in random frame) constraint') rpy = [pi/10,pi/20,pi/10]; @@ -175,7 +181,8 @@ valuecheck(rfoot_pos(3,:),[0 0 0 0],1e-5); display('Check IK pointwise with body position (in random frame) constraint'); -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l_frame,kc2r_frame,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l_frame,kc2r_frame,ikoptions); +if(all(info == 1)&&~isempty(info)) for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); lfoot_pos = homogTransMult(invHT(T),forwardKin(robot,kinsol,l_foot,l_foot_pts,0)); @@ -183,10 +190,11 @@ valuecheck(lfoot_pos(3,:),[0 0 0 0],1e-5); valuecheck(rfoot_pos(3,:),[0 0 0 0],1e-5); end - +end display('Check the infeasible case') kc_err = WorldCoMConstraint(robot,[0;0;2],[0;0;inf],tspan); +if(checkDependency('snopt')) [q,info,infeasible_constraint] = inverseKin(robot,q_seed,q_nom,kc_err,kc2l,kc2r,ikoptions); [qmex,info_mex,infeasible_constraint_mex] = inverseKin(robot,q_seed,q_nom,kc_err,kc2l,kc2r,ikmexoptions); valuecheck(info_mex,info); @@ -195,11 +203,14 @@ end display('The infeasible constraints are'); disp(infeasible_constraint_mex); +end ikproblem = InverseKinematics(robot,q_nom,kc_err,kc2l,kc2r); [qik,F,info,infeasible_constraint_ik] = ikproblem.solve(q_seed); +if(checkDependency('snopt')) [qmex,info_mex,infeasible_constraint_mex] = inverseKinPointwise(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc_err,kc2l,kc2r,ikmexoptions); display('The infeasible constraints are'); disp(infeasible_constraint_mex); +end display('Check a body quaternion constraint') kc3 = WorldQuatConstraint(robot,r_foot,[1;0;0;0],0,tspan); @@ -208,12 +219,14 @@ rfoot_pos = forwardKin(robot,kinsol,r_foot,[0;0;0],2); valuecheck(rfoot_pos(4:7)'*[1;0;0;0],1,1e-5); display('Check IK pointwise with body orientation constraint'); -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,kc3,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,kc3,ikoptions); +if(all(info == 1)&&~isempty(info)) for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); rfoot_pos = forwardKin(robot,kinsol,r_foot,[0;0;0],2); valuecheck(rfoot_pos(4:7)'*[1;0;0;0],1,1e-5); end +end display('Check a gaze orientation constraint') kc4 = WorldGazeOrientConstraint(robot,r_hand,[1;0;0],[0.5;0.5;-0.5;0.5],0.1*pi,0.8*pi,tspan); @@ -226,7 +239,8 @@ error('Gaze conethreshold does not satisfy'); end display('Check IK pointwise with gaze orientation'); -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,kc3,kc4,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,kc3,kc4,ikoptions); +if(all(info == 1)&&~isempty(info)) for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); rhand_pos = forwardKin(robot,kinsol,r_hand,[0 1;0 0;0 0],0); @@ -236,6 +250,7 @@ error('Gaze conethreshold does not satisfy'); end end +end display('Check a gaze direction constraint') kc5 = WorldGazeDirConstraint(robot,l_hand,[1;0;0],[1;0;0],0.4*pi,tspan); @@ -247,7 +262,8 @@ error('Gaze conethreshold does not satisfy'); end display('Check IK pointwise with gaze direction Constraint'); -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,kc3,kc4,kc5,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,kc3,kc4,kc5,ikoptions); +if(all(info == 1)&&~isempty(info)) for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); lhand_pos = forwardKin(robot,kinsol,l_hand,[0 1;0 0;0 0],0); @@ -256,6 +272,7 @@ error('Gaze conethreshold does not satisfy'); end end +end display('Check a gaze target constraint') gaze_target = [1;0;1.5]; @@ -272,7 +289,8 @@ error('Does not satisfy conethreshold constraint'); end display('Check IK pointwise with gaze target constraint'); -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,kc3,kc4,kc5,kc6,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,pc_knee,kc2l,kc2r,kc3,kc4,kc5,kc6,ikoptions); +if(all(info == 1)&&~isempty(info)) for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); head_pos = forwardKin(robot,kinsol,head,[gaze_origin gaze_origin+gaze_axis],0); @@ -283,7 +301,9 @@ error('Does not satisfy conethreshold constraint'); end end +end +if(robot.getMexModelPtr~=0) display('Check all-to-all closest distance constraint') abcdc = AllBodiesClosestDistanceConstraint(robot,0.05,1e3,tspan); q = test_IK_userfun(robot,q_seed,q_nom,kc1,kc2l,kc2r,kc3,kc4,kc5,kc6,abcdc,ikoptions); @@ -295,7 +315,7 @@ q = test_IK_userfun(robot,q_seed,q_nom,kc1,kc2l,kc2r,kc3,kc4,kc5,kc6,min_dist_cnstr,ikoptions); display('Check IK pointwise with minimum-distance constraint') q = test_IKpointwise_userfun(robot,[0,1],[q_seed,q_seed+1e-3*randn(nq,1)],[q_nom,q_nom],kc1,pc_knee,kc2l,kc2r,kc3,kc4,kc5,kc6,min_dist_cnstr,ikoptions); - +end display('Check quasi static constraint') qsc = QuasiStaticConstraint(robot); qsc = qsc.addContact(r_foot,r_foot_pts); @@ -316,11 +336,13 @@ [q,F,info,infeasible_constraint] = ikproblem.solve(q_seed); display('Check quasi static constraint for pointwise'); -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,qsc,kc2l,kc2r,kc3,kc4,kc5,kc6,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,qsc,kc2l,kc2r,kc3,kc4,kc5,kc6,ikoptions); +if(all(info == 1)&&~isempty(info)) for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); valuecheck(qsc.checkConstraint(kinsol),true); end +end display('Check SingleTimeLinearPostureConstraint'); iAfun = [1;1;2;2;3;3;4;4]; @@ -335,12 +357,13 @@ error('SingleTimeLinearPostureConstraint is not satisfied'); end display('Check SingleTimeLinearPostureConstraint for pointwise'); -q = test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,qsc,kc2l,kc2r,stlpc,ikoptions); +[q ,info]= test_IKpointwise_userfun(robot,[0,1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,qsc,kc2l,kc2r,stlpc,ikoptions); +if(all(info == 1)&&~isempty(info)) valuecheck(q([l_leg_kny;l_leg_hpy;l_leg_aky],:),q([r_leg_kny;r_leg_hpy;r_leg_aky],:),1e-10); if(any(abs(q(l_leg_hpz,:)-q(r_leg_hpz,:))>0.1*pi+1e-8)) error('SingleTimeLinearPostureConstraint is not satisfied'); end - +end display('Check point to point distance constraint') hands_distance_cnst = Point2PointDistanceConstraint(robot,l_hand,r_hand,[0;0;0],[0;0;0],0.5,1,tspan); @@ -352,7 +375,8 @@ if(hand_dist>1+1e-5 || hand_dist<0.5-1e-5) error('point to point distance constraint is not satisfied'); end -q = test_IKpointwise_userfun(robot,[0 1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,qsc,kc2l,kc2r,kc3,hands_distance_cnst,ikoptions); +[q,info] = test_IKpointwise_userfun(robot,[0 1],[q_seed q_seed+1e-3*randn(nq,1)],[q_nom q_nom],kc1,qsc,kc2l,kc2r,kc3,hands_distance_cnst,ikoptions); +if(all(info == 1)&&~isempty(info)) for i = 1:size(q,2) kinsol = doKinematics(robot,q(:,i)); lhand_pos = forwardKin(robot,kinsol,l_hand,[0;0;0],0); @@ -362,6 +386,7 @@ error('point to point distance constraint is not satisfied'); end end +end head_pts = [[0;0;0] [0.1;0;0]]; world_pts = [[0;0;0] [0.1;0;0]]; @@ -461,6 +486,8 @@ if(~ikoptions.use_rbm_joint_bnd) ikproblem = ikproblem.deleteBoundingBoxConstraint(ikproblem.rbm_joint_bnd_cnstr_id); end +ikproblem = ikproblem.setSolverOptions('fmincon','Algorithm','sqp'); +ikproblem = ikproblem.setSolverOptions('fmincon','MaxIter',500); [qik,F,info,infeasible_cnstr_ik] = ikproblem.solve(q_seed); toc % valuecheck(qik,q,1e-6); @@ -485,7 +512,7 @@ end end -function qmex = test_IKpointwise_userfun(r,t,q_seed,q_nom,varargin) +function [qmex,info] = test_IKpointwise_userfun(r,t,q_seed,q_nom,varargin) ikoptions = varargin{end}; ikoptions = ikoptions.setMex(false); ikmexoptions = ikoptions; @@ -510,6 +537,9 @@ testConstraint(r,t(i),qmex(:,i),varargin{1:end-1}); end % valuecheck(q,qmex,5e-2); +else + qmex = []; + info = []; end end From 4085ce2e16030834d678bd123b5bf12091db4e66 Mon Sep 17 00:00:00 2001 From: Hongkai Dai Date: Wed, 1 Oct 2014 11:49:02 -0400 Subject: [PATCH 071/271] All the RigidBodyConstraint should check if the mex pointer of robot exists, before constructing the mex pointer of itself --- .../plants/constraint/AllBodiesClosestDistanceConstraint.m | 5 +++-- systems/plants/constraint/MinDistanceConstraint.m | 5 +++-- .../plants/constraint/MultipleTimeKinematicConstraint.m | 4 +++- systems/plants/constraint/Point2LineSegDistConstraint.m | 6 ++++-- systems/plants/constraint/Point2PointDistanceConstraint.m | 6 ++++-- systems/plants/constraint/QuasiStaticConstraint.m | 4 +++- systems/plants/constraint/SingleTimeKinematicConstraint.m | 4 +++- systems/plants/constraint/WorldGazeDirConstraint.m | 7 +++++-- systems/plants/constraint/WorldGazeTargetConstraint.m | 6 ++++-- systems/plants/constraint/WorldPositionInFrameConstraint.m | 6 ++++-- 10 files changed, 36 insertions(+), 17 deletions(-) diff --git a/systems/plants/constraint/AllBodiesClosestDistanceConstraint.m b/systems/plants/constraint/AllBodiesClosestDistanceConstraint.m index 732a78cac103..5919fdae37d6 100644 --- a/systems/plants/constraint/AllBodiesClosestDistanceConstraint.m +++ b/systems/plants/constraint/AllBodiesClosestDistanceConstraint.m @@ -41,13 +41,14 @@ end; sizecheck(lb,[1,1]); sizecheck(ub,[1,1]); - ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.AllBodiesClosestDistanceConstraintType,robot.getMexModelPtr,lb,ub,active_collision_options,tspan); obj = obj@SingleTimeKinematicConstraint(robot,tspan); obj = setNumConstraint(obj); obj.lb = repmat(lb,obj.num_constraint,1); obj.ub = repmat(ub,obj.num_constraint,1); obj.type = RigidBodyConstraint.AllBodiesClosestDistanceConstraintType; - obj.mex_ptr = ptr; + if robot.getMexModelPtr~=0 && exist('constructPtrRigidBodyConstraintmex','file') + obj.mex_ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.AllBodiesClosestDistanceConstraintType,robot.getMexModelPtr,lb,ub,active_collision_options,tspan); + end end function cnstr = generateConstraint(obj,t) diff --git a/systems/plants/constraint/MinDistanceConstraint.m b/systems/plants/constraint/MinDistanceConstraint.m index 5cfc5f68b420..91d07fc1ed73 100644 --- a/systems/plants/constraint/MinDistanceConstraint.m +++ b/systems/plants/constraint/MinDistanceConstraint.m @@ -38,11 +38,12 @@ if nargin < 3, active_collision_options = struct(); end; sizecheck(min_distance,[1,1]); assert(min_distance>0); - ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.MinDistanceConstraintType,robot.getMexModelPtr,min_distance,active_collision_options,tspan); obj = obj@SingleTimeKinematicConstraint(robot,tspan); obj.type = RigidBodyConstraint.MinDistanceConstraintType; obj.min_distance = min_distance; - obj.mex_ptr = ptr; + if robot.getMexModelPtr~=0 && exist('constructPtrRigidBodyConstraintmex','file') + obj.mex_ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.MinDistanceConstraintType,robot.getMexModelPtr,min_distance,active_collision_options,tspan); + end obj.num_constraint = 1; obj.active_collision_options = active_collision_options; end diff --git a/systems/plants/constraint/MultipleTimeKinematicConstraint.m b/systems/plants/constraint/MultipleTimeKinematicConstraint.m index 7cf91a8c1582..2fd49aa2c30e 100644 --- a/systems/plants/constraint/MultipleTimeKinematicConstraint.m +++ b/systems/plants/constraint/MultipleTimeKinematicConstraint.m @@ -40,7 +40,9 @@ function obj = updateRobot(obj,robot) obj.robot = robot; - obj.mex_ptr = updatePtrRigidBodyConstraintmex(obj.mex_ptr,'robot',robot.getMexModelPtr); + if(robot.getMexModelPtr~=0 && exist('updatePtrRigidBodyConstraintmex','file')) + obj.mex_ptr = updatePtrRigidBodyConstraintmex(obj.mex_ptr,'robot',robot.getMexModelPtr); + end end function cnstr = generateConstraint(obj,t,N) diff --git a/systems/plants/constraint/Point2LineSegDistConstraint.m b/systems/plants/constraint/Point2LineSegDistConstraint.m index 7d07c1e0214e..48bb91d9b5a3 100644 --- a/systems/plants/constraint/Point2LineSegDistConstraint.m +++ b/systems/plants/constraint/Point2LineSegDistConstraint.m @@ -56,7 +56,7 @@ if(nargin == 7) tspan = [-inf inf]; end - ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.Point2LineSegDistConstraintType,robot.getMexModelPtr,pt_body,pt,line_body,line_ends,dist_lb,dist_ub,tspan); + obj = obj@SingleTimeKinematicConstraint(robot,tspan); if(~isnumeric(pt_body)) error('Point2LineSegDistanceConstraint: pt_body should be numeric'); @@ -101,7 +101,9 @@ obj.pt_body_name = obj.robot.getBody(obj.pt_body).linkname; obj.line_body_name = obj.robot.getBody(obj.line_body).linkname; obj.type = RigidBodyConstraint.Point2LineSegDistConstraintType; - obj.mex_ptr = ptr; + if robot.getMexModelPtr~=0 && exist('constructPtrRigidBodyConstraintmex','file') + obj.mex_ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.Point2LineSegDistConstraintType,robot.getMexModelPtr,pt_body,pt,line_body,line_ends,dist_lb,dist_ub,tspan); + end end function [lb,ub] = bounds(obj,t) diff --git a/systems/plants/constraint/Point2PointDistanceConstraint.m b/systems/plants/constraint/Point2PointDistanceConstraint.m index bc2884cf4bd1..e9656b7a476e 100644 --- a/systems/plants/constraint/Point2PointDistanceConstraint.m +++ b/systems/plants/constraint/Point2PointDistanceConstraint.m @@ -58,7 +58,7 @@ error('Point2PointDistanceConstraint:SameBodies', ... 'body_a and body_b should refer different frames or bodies'); end - mex_ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.Point2PointDistanceConstraintType,robot.getMexModelPtr,body_a_idx,body_b_idx,ptA,ptB,dist_lb,dist_ub,tspan); + obj = obj@SingleTimeKinematicConstraint(robot,tspan); obj.body_a.idx = body_a_idx; obj.body_b.idx = body_b_idx; @@ -90,7 +90,9 @@ obj.dist_lb = dist_lb; obj.dist_ub = dist_ub; obj.type = RigidBodyConstraint.Point2PointDistanceConstraintType; - obj.mex_ptr = mex_ptr; + if robot.getMexModelPtr~=0 && exist('constructPtrRigidBodyConstraintmex','file') + obj.mex_ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.Point2PointDistanceConstraintType,robot.getMexModelPtr,body_a_idx,body_b_idx,ptA,ptB,dist_lb,dist_ub,tspan); + end end function [lb,ub] = bounds(obj,t) diff --git a/systems/plants/constraint/QuasiStaticConstraint.m b/systems/plants/constraint/QuasiStaticConstraint.m index 73f47d91b1eb..e8ad7e96db51 100644 --- a/systems/plants/constraint/QuasiStaticConstraint.m +++ b/systems/plants/constraint/QuasiStaticConstraint.m @@ -211,7 +211,9 @@ function obj = updateRobot(obj,robot) obj.robot = robot; obj.nq = obj.robot.getNumPositions(); - obj.mex_ptr = updatePtrRigidBodyConstraintmex(obj.mex_ptr,'robot',obj.robot.getMexModelPtr); + if(robot.getMexModelPtr~=0 && exist('updatePtrRigidBodyConstraintmex','file')) + obj.mex_ptr = updatePtrRigidBodyConstraintmex(obj.mex_ptr,'robot',obj.robot.getMexModelPtr); + end end function cnstr = generateConstraint(obj,t) diff --git a/systems/plants/constraint/SingleTimeKinematicConstraint.m b/systems/plants/constraint/SingleTimeKinematicConstraint.m index 2ff77e4645e6..dc6f79aac338 100644 --- a/systems/plants/constraint/SingleTimeKinematicConstraint.m +++ b/systems/plants/constraint/SingleTimeKinematicConstraint.m @@ -37,7 +37,9 @@ function obj = updateRobot(obj,robot) obj.robot = robot; - obj.mex_ptr = updatePtrRigidBodyConstraintmex(obj.mex_ptr,'robot',robot.getMexModelPtr); + if(robot.getMexModelPtr~=0 && exist('updatePtrRigidBodyConstraintmex','file')) + obj.mex_ptr = updatePtrRigidBodyConstraintmex(obj.mex_ptr,'robot',robot.getMexModelPtr); + end end function [c,dc] = eval(obj,t,kinsol) diff --git a/systems/plants/constraint/WorldGazeDirConstraint.m b/systems/plants/constraint/WorldGazeDirConstraint.m index af8377f77695..e321ed234ee2 100644 --- a/systems/plants/constraint/WorldGazeDirConstraint.m +++ b/systems/plants/constraint/WorldGazeDirConstraint.m @@ -28,12 +28,15 @@ if(nargin == 5) tspan = [-inf inf]; end - ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.WorldGazeDirConstraintType,robot.getMexModelPtr,body,axis,dir,conethreshold,tspan); + obj = obj@GazeDirConstraint(robot,axis,dir,conethreshold,tspan); obj.body = obj.robot.parseBodyOrFrameID(body); obj.body_name = obj.robot.getBodyOrFrameName(obj.body); obj.type = RigidBodyConstraint.WorldGazeDirConstraintType; - obj.mex_ptr = ptr; + if(robot.getMexModelPtr~=0 && exist('constructPtrRigidBodyConstraintmex','file')) + ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.WorldGazeDirConstraintType,robot.getMexModelPtr,body,axis,dir,conethreshold,tspan); + obj.mex_ptr = ptr; + end end function name_str = name(obj,t) diff --git a/systems/plants/constraint/WorldGazeTargetConstraint.m b/systems/plants/constraint/WorldGazeTargetConstraint.m index b482871960c2..35d322189408 100644 --- a/systems/plants/constraint/WorldGazeTargetConstraint.m +++ b/systems/plants/constraint/WorldGazeTargetConstraint.m @@ -35,12 +35,14 @@ if(nargin == 6) tspan = [-inf inf]; end - ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.WorldGazeTargetConstraintType,robot.getMexModelPtr,body,axis,target,gaze_origin,conethreshold,tspan); obj = obj@GazeTargetConstraint(robot,axis,target,gaze_origin,conethreshold,tspan); obj.body = obj.robot.parseBodyOrFrameID(body); obj.body_name = obj.robot.getBodyOrFrameName(obj.body); obj.type = RigidBodyConstraint.WorldGazeTargetConstraintType; - obj.mex_ptr = ptr; + if(robot.getMexModelPtr~=0 && exist('constructPtrRigidBodyConstraintmex','file')) + ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.WorldGazeTargetConstraintType,robot.getMexModelPtr,body,axis,target,gaze_origin,conethreshold,tspan); + obj.mex_ptr = ptr; + end end function name_str = name(obj,t) diff --git a/systems/plants/constraint/WorldPositionInFrameConstraint.m b/systems/plants/constraint/WorldPositionInFrameConstraint.m index 917b4d9d6467..6ba8b8e5d78b 100644 --- a/systems/plants/constraint/WorldPositionInFrameConstraint.m +++ b/systems/plants/constraint/WorldPositionInFrameConstraint.m @@ -42,12 +42,14 @@ if(nargin < 7) tspan = [-inf,inf]; end - ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.WorldPositionInFrameConstraintType,robot.getMexModelPtr,body,pts,o_T_f,lb,ub,tspan); obj = obj@WorldPositionConstraint(robot,body,pts,lb,ub,tspan); obj.o_T_f = o_T_f; obj.f_T_o = invHT(o_T_f); obj.type = RigidBodyConstraint.WorldPositionInFrameConstraintType; - obj.mex_ptr = ptr; + if robot.getMexModelPtr~=0 && exist('constructPtrRigidBodyConstraintmex','file') + ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint.WorldPositionInFrameConstraintType,robot.getMexModelPtr,body,pts,o_T_f,lb,ub,tspan); + obj.mex_ptr = ptr; + end end From 5f191d32be0e6ecc4faeeda4277dfba0b36baba8 Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Wed, 1 Oct 2014 11:54:18 -0400 Subject: [PATCH 072/271] Avoiding singularity in testFloatingBaseDynamics. --- systems/plants/test/testFloatingBaseDynamics.m | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/systems/plants/test/testFloatingBaseDynamics.m b/systems/plants/test/testFloatingBaseDynamics.m index 303aeced590c..01faefd85d34 100644 --- a/systems/plants/test/testFloatingBaseDynamics.m +++ b/systems/plants/test/testFloatingBaseDynamics.m @@ -35,7 +35,12 @@ w = warning('off','Drake:RigidBodyManipulator:collisionDetect:doKinematicsMex'); for i=1:100 - q = .1*randn(nq,1); qd = randn(nq,1); u = randn(getNumInputs(m_rpy),1); + q = []; + while isempty(q) || abs(abs(q(5)) - pi / 2) < 0.15 % avoid singularity + q = randn(nq,1); + end + + qd = randn(nq,1); u = randn(getNumInputs(m_rpy),1); kinsol = doKinematics(m_rpy,q,true,false,qd); [pt,J,Jdot] = terrainContactPositions(m_rpy,kinsol,true); From fe130ca4799ac4e207649a2864ee8eb9b1c1d76f Mon Sep 17 00:00:00 2001 From: Hongkai Dai Date: Wed, 1 Oct 2014 12:01:29 -0400 Subject: [PATCH 073/271] inverseKin and inverseKinPointwise now uses ikoptions from the user in MATLAB --- systems/plants/@RigidBodyManipulator/inverseKin.m | 2 +- systems/plants/@RigidBodyManipulator/inverseKinPointwise.m | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/inverseKin.m b/systems/plants/@RigidBodyManipulator/inverseKin.m index 0ee133b07389..0cc9d2d6fa7b 100644 --- a/systems/plants/@RigidBodyManipulator/inverseKin.m +++ b/systems/plants/@RigidBodyManipulator/inverseKin.m @@ -66,6 +66,6 @@ if (use_mex || ikoptions.use_mex) && exist('inverseKinmex','file') [q,info,infeasible_constraint] = inverseKinmex(obj.getMexModelPtr,q_seed,q_nom,constraint_mex{:},ikoptions_mex); else - [q,info,infeasible_constraint]= inverseKinBackend(obj,1,[],q_seed,q_nom,varargin{:}); + [q,info,infeasible_constraint]= inverseKinBackend(obj,1,[],q_seed,q_nom,varargin{:},ikoptions); end end diff --git a/systems/plants/@RigidBodyManipulator/inverseKinPointwise.m b/systems/plants/@RigidBodyManipulator/inverseKinPointwise.m index 8e933b100c9f..a779a7d7f10c 100644 --- a/systems/plants/@RigidBodyManipulator/inverseKinPointwise.m +++ b/systems/plants/@RigidBodyManipulator/inverseKinPointwise.m @@ -66,6 +66,6 @@ if (use_mex || ikoptions.use_mex) && exist('inverseKinPointwisemex','file') [q,info,infeasible_constraint] = inverseKinPointwisemex(obj.getMexModelPtr,t,q_seed,q_nom,constraint_mex{:},ikoptions_mex); else - [q,info,infeasible_constraint] = inverseKinBackend(obj,1,t,q_seed,q_nom,varargin{:}); + [q,info,infeasible_constraint] = inverseKinBackend(obj,1,t,q_seed,q_nom,varargin{:},ikoptions); end end From fdfbea92876e0016081ba479a9e42d9b4f86e302 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Wed, 1 Oct 2014 15:15:31 -0400 Subject: [PATCH 074/271] Fix testActiveCollisionOptions ... again. --- .../collision/test/testActiveCollisionOptions.m | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/systems/plants/collision/test/testActiveCollisionOptions.m b/systems/plants/collision/test/testActiveCollisionOptions.m index f0642527ea0b..a5c29f50ddbc 100644 --- a/systems/plants/collision/test/testActiveCollisionOptions.m +++ b/systems/plants/collision/test/testActiveCollisionOptions.m @@ -14,7 +14,7 @@ function testActiveCollisionOptions() kinsol = doKinematics(r,x0(1:r.getNumPositions())); - if checkDependency('bullet') + if r.mex_model_ptr ~= 0 phi = r.collisionDetect(kinsol,false); valuecheck(phi,[1.5;0.5]); end @@ -25,7 +25,7 @@ function testActiveCollisionOptions() clear active_collision_options active_collision_options.collision_groups = {'default','terrain'}; - if checkDependency('bullet') + if r.mex_model_ptr ~= 0 phi = r.collisionDetect(kinsol,false,active_collision_options); valuecheck(phi,1.5); end @@ -36,18 +36,18 @@ function testActiveCollisionOptions() clear active_collision_options active_collision_options.collision_groups = {'default','groupA'}; - if checkDependency('bullet') + if r.mex_model_ptr ~= 0 phi = r.collisionDetect(kinsol,false,active_collision_options); valuecheck(phi,0.5); end active_collision_options.terrain_only = true; phi = r.collisionDetect(kinsol,false,active_collision_options); - sizecheck(phi,0); + valuecheck(phi,[2.5;2.5;1.5;1.5;1.5;1.5;2.5;2.5]); clear active_collision_options - active_collision_options.collision_groups = {'terrain','groupA'}; - if checkDependency('bullet') + active_collision_options.collision_groups = {'groupA'}; + if r.mex_model_ptr ~= 0 phi = r.collisionDetect(kinsol,false,active_collision_options); sizecheck(phi,0); end From 51f30570474183148e7758ae9286a8f071127b54 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Thu, 2 Oct 2014 13:02:23 -0400 Subject: [PATCH 075/271] ported old lecture examples --- examples/dev/cubic_example.m | 63 ++++++++++++++++++++++++++++++ examples/dev/global_lyap_example.m | 22 +++++++++++ examples/dev/stability.m | 25 ++++++++++++ 3 files changed, 110 insertions(+) create mode 100644 examples/dev/cubic_example.m create mode 100644 examples/dev/global_lyap_example.m create mode 100644 examples/dev/stability.m diff --git a/examples/dev/cubic_example.m b/examples/dev/cubic_example.m new file mode 100644 index 000000000000..ff89ee001bc0 --- /dev/null +++ b/examples/dev/cubic_example.m @@ -0,0 +1,63 @@ + +% Define a new symbolic variable +x=msspoly('x'); + +% Define the dynamics and Lyapunov function +f = -x + x^3; +V = x^2; +Vdot = diff(V,x)*f; + +% construct a SOS program +prog=mssprog; + +% construct the decision variables +[prog,c] = new(prog,length(m),'free'); +[prog,slack] = new(prog,1,'free'); + +% construct the langrange multiplier +m=monomials(x,0:4); +lambda = c'*m; + +% add the SOS constraints +prog.sos=-(Vdot+lambda*(1-V))-slack*x^2; +prog.sos=lambda; + +% solve the problem using -slack as the objective +prog.sedumi=-slack; + +% display the results +slack=double(prog(slack)) +c = double(prog(c)) + + + +% Everything after this is just plotting... + + + +%c = [0 0 1.6375 0 .3625]'; +xs=-1.2:.05:1.2; +clear lambda vl; +for i=1:length(xs) + lambda(i)=double(subs(c'*m,x,xs(i))); + vl(i)=double(subs(-2*x^2+2*x^4+(c'*m)*(1-x^2),x,xs(i))); +end + +clf; +hold on; +plot(xs,-xs+xs.^3,'k','linewidth',2); +legend('xdot'); +axis tight +pause; + +plot(xs,-2*xs.^2+2*xs.^4,'r','linewidth',2); +legend('xdot','Vdot'); +pause; + +plot(xs,lambda,'g','linewidth',2); +legend('xdot','Vdot','lambda'); +pause; + +plot(xs,vl,'b','linewidth',2); +legend('xdot','Vdot','lambda','Vdot+lambda*(1-V)'); + diff --git a/examples/dev/global_lyap_example.m b/examples/dev/global_lyap_example.m new file mode 100644 index 000000000000..8a0c2a2d481b --- /dev/null +++ b/examples/dev/global_lyap_example.m @@ -0,0 +1,22 @@ + + +x=msspoly('x',3); +xdot = [ -x(1)^3 - x(2)*x(3) - x(1) - x(1)*x(3)^2; ... + -x(1)*x(3) + 2*x(1)^3 - x(2); ... + -x(3) + 2*x(1)^2 ] +V = .5*x'*x + +Vdot = diff(V,x)*xdot + + +prog=mssprog; +slack=msspoly('s'); +prog.free=slack; +prog.sos=-Vdot-slack*x'*x; + +prog.sedumi=-slack; + +slack=double(prog(slack)) +c = double(prog(c)) + + diff --git a/examples/dev/stability.m b/examples/dev/stability.m new file mode 100644 index 000000000000..be471cd2fd11 --- /dev/null +++ b/examples/dev/stability.m @@ -0,0 +1,25 @@ +n = 4; +k = 2; + +% generate random stable matrices +for i=1:k + d = -rand(n,1); + v = randn(n); + A{i} = v*diag(d)/v; +end + +% example from lecture notes: +%a = randn; ab = 2*rand - 1; b=ab/a; +%A{i} = [-1 a; b -1]; +%A{1} = [-1 .5; -3 -1]; +%A{2} = [-1 .1; -10 -1]; + +cvx_begin + variable P(n,n) symmetric; + %find P; + minimize (trace(P)); + for i=1:k, - A{i}'*P - P*A{i} == semidefinite(n); end + P - 0.01*eye(n) == semidefinite(n); +cvx_end + +P \ No newline at end of file From 850d2ae77a4f6a1828d4b99c4551cbc91c6f339c Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Thu, 2 Oct 2014 13:07:57 -0400 Subject: [PATCH 076/271] clean up examples for quadrotor mixed-integer sos trajectories --- examples/Quadrotor/MISOSTrajectoryProblem.m | 250 ++++++++++++++++++ examples/Quadrotor/drawLCMPolytope.m | 27 -- examples/Quadrotor/findSOSTrajectory.m | 190 ------------- .../Quadrotor/runMixedIntegerEnvironment.m | 86 +++--- examples/Quadrotor/runMixedIntegerForest.m | 8 +- examples/Quadrotor/runMixedIntegerOffice.m | 8 +- .../Quadrotor/runMixedIntegerSimpleForest.m | 21 ++ examples/Quadrotor/test/testMISOSTrajectory.m | 137 ++++++++++ util/checkDependency.m | 36 +++ 9 files changed, 504 insertions(+), 259 deletions(-) create mode 100644 examples/Quadrotor/MISOSTrajectoryProblem.m delete mode 100644 examples/Quadrotor/drawLCMPolytope.m delete mode 100644 examples/Quadrotor/findSOSTrajectory.m create mode 100644 examples/Quadrotor/runMixedIntegerSimpleForest.m create mode 100644 examples/Quadrotor/test/testMISOSTrajectory.m diff --git a/examples/Quadrotor/MISOSTrajectoryProblem.m b/examples/Quadrotor/MISOSTrajectoryProblem.m new file mode 100644 index 000000000000..13342ff5f056 --- /dev/null +++ b/examples/Quadrotor/MISOSTrajectoryProblem.m @@ -0,0 +1,250 @@ +classdef MISOSTrajectoryProblem +% Compute a smooth polynomial trajectory through an n-dimensional space while remaining within convex safe regions. +% We build a piecewise polynomial trajectory of the specified degree from the start pose to the goal pose, while +% ensuring that each polynomial is fully contained within one convex region from each set of safe regions. +% This function implements a general form of the algorithm presented in: +% Robin Deits and Russ Tedrake. "Efficient Mixed-Integer Planning for UAVs in Cluttered Environments." Submitted to: +% ICRA 2015, Seattle, WA. + properties + traj_degree = 3; % option: degree of the polynomials used + num_traj_segments = 6; % option: number of polynomial pieces in the trajectory + bot_radius = 0; % option: if nonzero, then treat the robot as a sphere with the given radius (and thus require that it lie + % at least this distance within the polytopes defined by the safe regions). + basis = 'legendre'; % option: 'monomials' or 'legendre'. The polynomial basis to use. + dt = 0.5; % Duration of each trajectory piece (seconds) + end + + methods + function [ytraj, diagnostics, objective] = solveTrajectory(obj, start, goal, safe_region_sets) + % @param start [n x m1]: starting state. The first column of start is the initial position in n-dimensional space. + % The remaining columns are (optional) constraints on the derivatives at the initial time. For example, + % to constrain only the initial position in 2D, set start = [0;0]. To constrain position and velocity, + % set start = [0 0; 0 0]. To constrain position, velocity, and acceleration, set start = [0 0 0; 0 0 0]; + % @param goal [n x m2]: final state. Same format as start, but can have a different number of columns if, for example, + % you want to constrain initial position and velocity but only the final position. + % @param safe_region_sets struct array with fields 'A', and 'b'; or cell array of struct arrays. The safe regions are + % the convex areas of obstacle-free space in which the trajectories must be contained. If + % a struct array, then each trajectory piece P(t) must satisfy: + % safe_region_sets(j).A P(t) <= safe_region_sets(j).b for all 0 <= t <= 1 + % If safe_region_sets is a cell array of struct arrays, then for every i there must be a j + % such that: + % safe_region_sets{i}(j).A P(t) <= safe_region_sets{i}(j).b for all 0 <= t <= 1 + % @retval ytraj a PPTrajectory + + checkDependency('yalmip'); + + if size(start, 2) > obj.traj_degree + 1 + warning('For a degree d polynomial, we can only constrain at most the first d derivatives. Additional derivatives ignored.'); + start = start(:,1:(obj.traj_degree+1)); + end + if size(goal, 2) > obj.traj_degree + 1 + warning('For a degree d polynomial, we can only constrain at most the first d derivatives. Additional derivatives ignored.'); + goal = goal(:,1:(obj.traj_degree+1)); + end + + if ~iscell(safe_region_sets) + safe_region_sets = {safe_region_sets}; + end + + dim = size(start, 1); + sizecheck(goal, [dim, nan]); + + + C_BOUND = 10; + SIGMA_BOUND = 1000; + + t = sdpvar(1,1); + + if strcmp(obj.basis, 'monomials') + basis = monolist(t,obj.obj.traj_degree); + elseif strcmp(obj.basis, 'legendre') + shifted_legendre = [1; + 2*t - 1; + 6*t^2 - 6*t + 1; + 20*t^3 - 30*t^2 + 12*t - 1; + 70*t^4 - 140*t^3 + 90*t^2 - 20*t + 1; + 252*t^5 - 630*t^4 + 560*t^3 - 210*t^2 + 30*t - 1; + 924*t^6 - 2772*t^5 + 3150*t^4 - 1680*t^3 + 420*t^2 - 42*t + 1; + 3432*t^7 - 12012*t^6 + 16632*t^5 - 11550*t^4 + 4200*t^3 - 756*t^2 + 56*t - 1; + ]; + basis = shifted_legendre(1:obj.traj_degree+1); + else + error('Invalid basis name: %s', obj.basis); + end + + assign(t, 0); + basis_t0 = value(basis); + assign(t, 1); + basis_t1 = value(basis); + + % s = sdpvar(1); + % sbasis = monolist(s, obj.obj.traj_degree) .* flip(monolist(1+s, obj.obj.traj_degree)); + + C = {}; + for j = 1:obj.num_traj_segments + C{j} = sdpvar(obj.traj_degree+1,dim,'full'); + X{j} = C{j}'*basis; + Xd{j} = {jacobian(X{j}, t)}; + Cd{j} = {[coefficients(Xd{j}{1}(1), t); 0]}; + for d = 2:dim + Cd{j}{1}(:,d) = [coefficients(Xd{j}{1}(d), t); 0]; + end + for k = 2:obj.traj_degree + Xd{j}{k} = jacobian(Xd{j}{k-1}, t); + Cd{j}{k} = [coefficients(Xd{j}{k}(1), t); zeros(k,1)]; + for d = 2:dim + Cd{j}{k}(:,d) = [coefficients(Xd{j}{k}(d), t); zeros(k,1)]; + end + end + end + + x0 = start(:,1); + xf = goal(:,1); + + constraints = []; + + % Constrain the initial position and derivatives, as requested + for j = 1:size(start, 2) + if j == 1 + constraints = [constraints, C{1}' * basis_t0 == start(:,j)]; + else + constraints = [constraints, Cd{1}{j-1}' * [1; zeros(obj.traj_degree, 1)] == start(:,j)]; + end + end + + % Constrain the final position and derivatives, as requested + for j = 1:size(goal, 2) + if j == 1 + constraints = [constraints, C{obj.num_traj_segments}' * basis_t1 == goal(:,j)]; + else + constraints = [constraints, Cd{obj.num_traj_segments}{j-1}' * [1; ones(obj.traj_degree, 1)] == goal(:,j)]; + end + end + + region = {}; + for j = 1:length(safe_region_sets) + if length(safe_region_sets{j}) > 1 + region{j} = binvar(length(safe_region_sets{j}), obj.num_traj_segments, 'full'); + constraints = [constraints, sum(region{j}, 1) == 1]; + else + region{j} = true; + end + end + + for j = 1:obj.num_traj_segments-1 + constraints = [constraints,... + C{j}' * basis_t1 == C{j+1}' * basis_t0,... + ]; + for d = 1:obj.traj_degree-1; + constraints = [constraints,... + Cd{j}{d}' * [1; ones(obj.traj_degree, 1)] == Cd{j+1}{d}' * [1; zeros(obj.traj_degree, 1)],... + ]; + end + end + + objective = 0; + + sigma = {}; + for j = 1:obj.num_traj_segments + sigma{j} = {}; + constraints = [constraints, ... + -C_BOUND <= C{j} <= C_BOUND,... + ]; + if obj.traj_degree <= 3 + for d = 1:dim + objective = objective + Cd{j}{obj.traj_degree}(:,d)' * Cd{j}{obj.traj_degree}(:,d); + end + else + snap_coeffs = Cd{j}{4}; + objective = objective + sum(sum(snap_coeffs' .* snap_coeffs', 1) ./ (1:obj.traj_degree+1)); + end + + for rs = 1:length(region) + sigma{j}{rs} = {}; + nr = size(region{rs},1); + for r = 1:nr + sigma{j}{rs}{r} = {}; + A = safe_region_sets{rs}(r).A; + b = safe_region_sets{rs}(r).b; + for k = 1:size(A,1) + ai = A(k,:); + bi = b(k); + n = norm(ai); + ai = ai / n; + bi = bi / n; + [coeff, ~] = coefficients(bi - obj.bot_radius - (ai*(C{j}') * basis), t, monolist(t, obj.traj_degree)); + sigma{j}{rs}{r}{k} = {sdpvar(1, obj.traj_degree), sdpvar(1, obj.traj_degree)}; + % objective = objective + 0.01 * (sum(abs(sigma{j}{rs}{r}{k}{1})) + sum(abs(sigma{j}{rs}{r}{k}{2}))); + sigma1 = sigma{j}{rs}{r}{k}{1}*monolist(t, obj.traj_degree-1); + sigma2 = sigma{j}{rs}{r}{k}{2}*monolist(t, obj.traj_degree-1); + Q1 = sdpvar((obj.traj_degree-1)/2 + 1); + Q2 = sdpvar((obj.traj_degree-1)/2 + 1); + m = monolist(t, (obj.traj_degree-1)/2); + if nr > 1 + constraints = [constraints,... + implies(region{rs}(r,j), coeff == coefficients((sigma1)*(t) + (sigma2)*(1-t), t)),... + -SIGMA_BOUND <= sigma{j}{rs}{r}{k}{1} <= SIGMA_BOUND,... + -SIGMA_BOUND <= sigma{j}{rs}{r}{k}{2} <= SIGMA_BOUND,... + ]; + else + constraints = [constraints,... + coeff == coefficients((sigma1)*(t) + (sigma2)*(1-t), t)]; + end + if obj.traj_degree == 1 + constraints = [constraints, sigma1 >= 0, sigma2 >= 0]; + elseif obj.traj_degree == 3 + constraints = [constraints, ... + rcone(sigma{j}{rs}{r}{k}{1}(2), 2*sigma{j}{rs}{r}{k}{1}(1), sigma{j}{rs}{r}{k}{1}(3)),... + rcone(sigma{j}{rs}{r}{k}{2}(2), 2*sigma{j}{rs}{r}{k}{2}(1), sigma{j}{rs}{r}{k}{2}(3)),... + ]; + else + constraints = [constraints,... + coefficients(sigma1, t) == coefficients(m'*Q1*m, t),... + coefficients(sigma2, t) == coefficients(m'*Q2*m, t),... + Q1 >= 0,... + Q2 >= 0,... + ]; + end + end + end + end + end + + t0 = tic; + if obj.traj_degree > 3 + diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 0, 'debug', true)); + else + if checkDependency('mosek'); + warning('Mosek not found. Will fall back to gurobi'); + diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2, 'mosek.MSK_DPAR_MIO_MAX_TIME', 600, 'verbose', 0)); + else + checkDependency('gurobi'); + diagnostics = optimize(constraints, objective, sdpsettings('solver', 'gurobi', 'gurobi.MIPGap', 1e-2)); + end + end + toc(t0); + + breaks = 0:obj.dt:(obj.num_traj_segments*obj.dt); + coeffs = zeros([dim, length(breaks)-1, obj.traj_degree+1]); + + if diagnostics.problem == 0 + for k = 1:length(breaks)-1 + c = value(C{k}); + for i = 1:dim + [ct, ~] = coefficients(c(:,i)' * basis, t, monolist(t, obj.traj_degree)); + if length(ct) < obj.traj_degree + 1 + ct = [ct; 1e-6]; % stupid yalmip bug when polynomial is constant + end + lambda = t / obj.dt; + z = ct'* monolist(lambda, obj.traj_degree); + [cz, ~] = coefficients(z, t, monolist(t, obj.traj_degree)); + coeffs(i,k,:) = flip(cz'); + end + end + end + ytraj = PPTrajectory(mkpp(breaks, coeffs, dim)); + + objective = double(objective); + end + end +end \ No newline at end of file diff --git a/examples/Quadrotor/drawLCMPolytope.m b/examples/Quadrotor/drawLCMPolytope.m deleted file mode 100644 index edd8866dab14..000000000000 --- a/examples/Quadrotor/drawLCMPolytope.m +++ /dev/null @@ -1,27 +0,0 @@ -function drawLCMPolytope(A, b, id, highlight, lc) -if nargin < 5 - lc = lcm.lcm.LCM.getSingleton(); -end -if nargin < 4 - highlight = false; -end -if nargin < 3 - id = 1; -end -if highlight - id = -id; -end - -msg = drc.lin_con_t(); -msg.m = size(A, 2); -msg.b = repmat(id, msg.m, 1); - -if id ~= 0 - V = iris.thirdParty.polytopes.lcon2vert(A,b)'; - msg.n = size(V, 2); - msg.m_times_n = msg.m * msg.n; - msg.A = reshape(V, [], 1); -end -lc.publish('DRAW_POLYTOPE', msg); - -end \ No newline at end of file diff --git a/examples/Quadrotor/findSOSTrajectory.m b/examples/Quadrotor/findSOSTrajectory.m deleted file mode 100644 index d0fde2eb5b54..000000000000 --- a/examples/Quadrotor/findSOSTrajectory.m +++ /dev/null @@ -1,190 +0,0 @@ -function [ytraj, diagnostics, objective] = findSOSTrajectory(start, goal, safe_region_sets, traj_degree, num_traj_segments, bot_radius) - -if nargin < 6 - bot_radius = 0; -end - -dim = length(start); -assert(length(goal) == dim); -nt = num_traj_segments; -C_BOUND = 10; -V_BOUND = 1000; -dt = .5; - -t = sdpvar(1,1); -shifted_legendre = [1; - 2*t - 1; - 6*t^2 - 6*t + 1; - 20*t^3 - 30*t^2 + 12*t - 1; - 70*t^4 - 140*t^3 + 90*t^2 - 20*t + 1; - 252*t^5 - 630*t^4 + 560*t^3 - 210*t^2 + 30*t - 1; - 924*t^6 - 2772*t^5 + 3150*t^4 - 1680*t^3 + 420*t^2 - 42*t + 1; - 3432*t^7 - 12012*t^6 + 16632*t^5 - 11550*t^4 + 4200*t^3 - 756*t^2 + 56*t - 1; - ]; - -% basis = monolist(t,traj_degree); -basis = shifted_legendre(1:traj_degree+1); -assign(t, 0); -basis_t0 = value(basis); -assign(t, 1); -basis_t1 = value(basis); - -% s = sdpvar(1); -% sbasis = monolist(s, traj_degree) .* flip(monolist(1+s, traj_degree)); - -C = {}; -for j = 1:nt - C{j} = sdpvar(traj_degree+1,dim,'full'); - X{j} = C{j}'*basis; - Xd{j} = {jacobian(X{j}, t)}; - Cd{j} = {[coefficients(Xd{j}{1}(1), t); 0]}; - for d = 2:dim - Cd{j}{1}(:,d) = [coefficients(Xd{j}{1}(d), t); 0]; - end - for k = 2:traj_degree - Xd{j}{k} = jacobian(Xd{j}{k-1}, t); - Cd{j}{k} = [coefficients(Xd{j}{k}(1), t); zeros(k,1)]; - for d = 2:dim - Cd{j}{k}(:,d) = [coefficients(Xd{j}{k}(d), t); zeros(k,1)]; - end - end -end - -x0 = start; -xf = goal; - -constraints = [... - C{1}' * basis_t0 == x0,... - Cd{1}{1}' * [1; zeros(traj_degree,1)] == zeros(dim, 1),... - Cd{nt}{1}' * [1; ones(traj_degree,1)] == zeros(dim, 1),... - C{nt}' * basis_t1 == xf,... - ]; -if traj_degree > 1 - constraints = [constraints,... - Cd{1}{2}' * [1; zeros(traj_degree,1)] == zeros(dim, 1),... - Cd{nt}{2}' * [1; ones(traj_degree,1)] == zeros(dim, 1),... - ]; - end - -region = {}; -for j = 1:length(safe_region_sets) - if length(safe_region_sets{j}) > 1 - region{j} = binvar(length(safe_region_sets{j}), nt, 'full'); - constraints = [constraints, sum(region{j}, 1) == 1]; - else - region{j} = true; - end -end - -for j = 1:nt-1 - constraints = [constraints,... - C{j}' * basis_t1 == C{j+1}' * basis_t0,... - ]; - for d = 1:traj_degree-1; - constraints = [constraints,... - Cd{j}{d}' * [1; ones(traj_degree, 1)] == Cd{j+1}{d}' * [1; zeros(traj_degree, 1)],... - ]; - end -end - -objective = 0; - -V = {}; -for j = 1:nt - V{j} = {}; - constraints = [constraints, ... - -C_BOUND <= C{j} <= C_BOUND,... - ]; - if traj_degree <= 3 - for d = 1:dim - objective = objective + Cd{j}{traj_degree}(:,d)' * Cd{j}{traj_degree}(:,d); - end - else - snap_coeffs = Cd{j}{4}; - objective = objective + sum(sum(snap_coeffs' .* snap_coeffs', 1) ./ (1:traj_degree+1)); - end - - for rs = 1:length(region) - V{j}{rs} = {}; - nr = size(region{rs},1); - for r = 1:nr - V{j}{rs}{r} = {}; - A = safe_region_sets{rs}(r).A; - b = safe_region_sets{rs}(r).b; - for k = 1:size(A,1) - ai = A(k,:); - bi = b(k); - n = norm(ai); - ai = ai / n; - bi = bi / n; - [coeff, ~] = coefficients(bi - bot_radius - (ai*(C{j}') * basis), t, monolist(t, traj_degree)); - V{j}{rs}{r}{k} = {sdpvar(1, traj_degree), sdpvar(1, traj_degree)}; - % objective = objective + 0.01 * (sum(abs(V{j}{rs}{r}{k}{1})) + sum(abs(V{j}{rs}{r}{k}{2}))); - sigma1 = V{j}{rs}{r}{k}{1}*monolist(t, traj_degree-1); - sigma2 = V{j}{rs}{r}{k}{2}*monolist(t, traj_degree-1); - Q1 = sdpvar((traj_degree-1)/2 + 1); - Q2 = sdpvar((traj_degree-1)/2 + 1); - m = monolist(t, (traj_degree-1)/2); - if nr > 1 - constraints = [constraints,... - implies(region{rs}(r,j), coeff == coefficients((sigma1)*(t) + (sigma2)*(1-t), t)),... - -V_BOUND <= V{j}{rs}{r}{k}{1} <= V_BOUND,... - -V_BOUND <= V{j}{rs}{r}{k}{2} <= V_BOUND,... - ]; - else - constraints = [constraints,... - coeff == coefficients((sigma1)*(t) + (sigma2)*(1-t), t)]; - end - if traj_degree == 1 - constraints = [constraints, sigma1 >= 0, sigma2 >= 0]; - elseif traj_degree == 3 - constraints = [constraints, ... - rcone(V{j}{rs}{r}{k}{1}(2), 2*V{j}{rs}{r}{k}{1}(1), V{j}{rs}{r}{k}{1}(3)),... - rcone(V{j}{rs}{r}{k}{2}(2), 2*V{j}{rs}{r}{k}{2}(1), V{j}{rs}{r}{k}{2}(3)),... - ]; - else - constraints = [constraints,... - coefficients(sigma1, t) == coefficients(m'*Q1*m, t),... - coefficients(sigma2, t) == coefficients(m'*Q2*m, t),... - Q1 >= 0,... - Q2 >= 0,... - ]; - end - end - end - end -end - -t0 = tic; -if traj_degree > 3 - diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 0, 'debug', true)) -else - % diagnostics = optimize(constraints, objective, sdpsettings('solver', 'gurobi', 'gurobi.MIPGap', 1e-2)) - diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2, 'mosek.MSK_DPAR_MIO_MAX_TIME', 600, 'verbose', 0)) -end -toc(t0); - -breaks = 0:dt:(num_traj_segments*dt); -coeffs = zeros([dim+1, length(breaks)-1, traj_degree+1]); -for k = 1:length(breaks)-1 - c = value(C{k}); - for i = 1:dim - [ct, ~] = coefficients(c(:,i)' * basis, t, monolist(t, traj_degree)); - if length(ct) < traj_degree + 1 - ct = [ct; 1e-6]; % stupid yalmip bug - end - lambda = t / dt; - z = ct'* monolist(lambda, traj_degree); - [cz, ~] = coefficients(z, t, monolist(t, traj_degree)); - coeffs(i,k,:) = flip(cz'); - end -end -ytraj = PPTrajectory(mkpp(breaks, coeffs, dim+1)); - -objective = double(objective); - -% keyboard() - -axis equal - -% end \ No newline at end of file diff --git a/examples/Quadrotor/runMixedIntegerEnvironment.m b/examples/Quadrotor/runMixedIntegerEnvironment.m index 7475f1155454..9ecfa3a61031 100644 --- a/examples/Quadrotor/runMixedIntegerEnvironment.m +++ b/examples/Quadrotor/runMixedIntegerEnvironment.m @@ -1,14 +1,31 @@ -function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments, n_regions) +function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, traj_degree, num_traj_segments, n_regions) +% NOTEST +% Run the mixed-integer SOS trajectory planner on a simulated 3D environment, using IRIS to seed +% convex regions of safe space. For example usage, see runMixedIntegerForest and runMixedIntegerOffice. +% @param r the Quadrotor, with obstacle geometry added +% @param start 3x1 the initial pose +% @param goal 3x1 the final pose +% @param lb 3x1 the lower bound of the bounding box for the trajectory and safe regions +% @param ub 3x1 the upper bound +% @param seeds 3xm seeds for the IRIS algorithm. Can be empty. +% @param traj_degree degree of the trajectory pieces +% @param num_traj_segments number of polynomial pieces +% @param n_regions number of IRIS regions + +checkDependency('lcmgl'); +checkDependency('iris'); bot_radius = 0.3; +can_draw_lcm_polytopes = logical(exist('drawLCMPolytope', 'file')); + lc = lcm.lcm.LCM.getSingleton(); lcmgl = LCMGLClient('quad_goal'); -lcmgl.glColor3f(.2,.8,.2); +lcmgl.glColor3f(.8,.2,.2); lcmgl.sphere(goal, .1, 20, 20); lcmgl.switchBuffers(); -v = constructVisualizer(r);%,struct('use_contact_shapes',true)); +v = constructVisualizer(r); x0 = double(Point(getStateFrame(r))); % initial conditions: all-zeros x0(1:3) = start; v.draw(0,double(x0)); @@ -18,49 +35,61 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_seg for j = 1:length(b.getContactShapes()) obstacles{j} = b.getContactShapes{j}.getPoints(); end -figure(1); -clf -hold on - -% Clear the displayed polytopes -drawLCMPolytope(0, 0, 0, 0, lc); -% pause +if can_draw_lcm_polytopes + % Clear the displayed polytopes + drawLCMPolytope(0, 0, 0, 0, lc); + % pause +end -% Draw the bounding box dim = length(lb); A_bounds = [eye(dim);-eye(dim)]; b_bounds = [ub; -lb]; -drawLCMPolytope(A_bounds, b_bounds, 100, true, lc); -% pause -% Clear the displayed polytopes -drawLCMPolytope(0, 0, 0, 0, lc); +if can_draw_lcm_polytopes + % Draw the bounding box + drawLCMPolytope(A_bounds, b_bounds, 100, true, lc); + % pause + + % Clear the displayed polytopes + drawLCMPolytope(0, 0, 0, 0, lc); +end region_idx = 1; function done = drawRegion(r, seed) - drawLCMPolytope(r.A, r.b, region_idx, false, lc); - region_idx = region_idx + 1; - lcmgl.glColor3f(.8,.8,.2); - lcmgl.sphere(seed, 0.06, 20, 20); - lcmgl.switchBuffers(); - done = false; + if can_draw_lcm_polytopes + drawLCMPolytope(r.A, r.b, region_idx, false, lc); + region_idx = region_idx + 1; + lcmgl.glColor3f(.8,.8,.2); + lcmgl.sphere(seed, 0.06, 20, 20); + lcmgl.switchBuffers(); + done = false; + end end +% Automatically generate IRIS regions as necessary num_steps = 10; safe_regions = iris.util.auto_seed_regions(obstacles, lb, ub, seeds, n_regions, num_steps, @drawRegion); -drawnow(); +% Set up and solve the problem +prob = MISOSTrajectoryProblem(); +prob.num_traj_segments = num_traj_segments; +prob.traj_degree = traj_degree; +prob.bot_radius = bot_radius; + +start = [start, [0;0;0], [0;0;0]]; +goal = [goal, [0;0;0], [0;0;0]]; +ytraj = prob.solveTrajectory(start, goal, safe_regions); + +% Add an all-zeros yaw trajectory +ytraj = ytraj.vertcat(ConstantTrajectory(0)); -ytraj = findSOSTrajectory(start, goal, {safe_regions}, degree, n_segments, bot_radius); -folder_name = ['~/locomotion/papers/icra-2015-uav-miqp/data/', datestr(now,'yyyy-mm-dd_HH.MM.SS')]; -system(sprintf('mkdir -p %s', folder_name)); -% load('ytraj.mat', 'ytraj'); +% Invert differentially flat outputs to find the state traj ytraj = ytraj.setOutputFrame(DifferentiallyFlatOutputFrame); xtraj = invertFlatOutputs(r,ytraj); -save([folder_name, '/results.mat'], 'ytraj', 'r', 'v', 'xtraj'); v.playback(xtraj, struct('slider', true)); +% Draw the result lc = lcm.lcm.LCM.getSingleton(); lcmgl = drake.util.BotLCMGLClient(lc, 'quad_trajectory'); lcmgl.glBegin(lcmgl.LCMGL_LINES); @@ -69,9 +98,6 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_seg breaks = ytraj.getBreaks(); ts = linspace(breaks(1), breaks(end)); Y = ytraj.eval(ts); -Ybreaks = ytraj.eval(breaks); -plot3(Y(1,:), Y(2,:), Y(3,:), 'b-'); -plot3(Ybreaks(1,:), Ybreaks(2,:), Ybreaks(3,:), 'bo') for i = 1:size(Y, 2)-1 lcmgl.glVertex3f(Y(1,i), Y(2,i), Y(3,i)); lcmgl.glVertex3f(Y(1,i+1), Y(2,i+1), Y(3,i+1)); diff --git a/examples/Quadrotor/runMixedIntegerForest.m b/examples/Quadrotor/runMixedIntegerForest.m index 0a0f6716799d..11e2a3733cd8 100644 --- a/examples/Quadrotor/runMixedIntegerForest.m +++ b/examples/Quadrotor/runMixedIntegerForest.m @@ -1,21 +1,17 @@ function runMixedIntegerForest - -checkDependency('lcmgl'); +% NOTEST +% Run the mixed-integer SOS trajectory planner in the forest environment. r = Quadrotor(); -% The important trees to create swerving path r = addTree(r, [.8,.45,1.25], [.20;2.5], pi/4); r = addTree(r, [.5,.35,1.65], [-.25;5], -pi/6); r = addTree(r, [.55,.65,1.5], [.25;7.5], pi/4); r = addTree(r, [.55,.85,1.6], [-1.35;8.5], pi/3.7); r = addTree(r, [.85,.95,1.65], [-1.85;5.2], -pi/3.7); r = addTree(r, [.75,.9,1.75], [2;4.4], -pi/5); -% Random trees to make forest bigger and more dense -% r = addTrees(r, 25); start = [0;-1.5;.5]; goal = [1; 10; 0.5]; -% goal = [0;-.5;.5]; seeds = [... start'; goal'; diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m index ed810bc31efd..a90529f58469 100644 --- a/examples/Quadrotor/runMixedIntegerOffice.m +++ b/examples/Quadrotor/runMixedIntegerOffice.m @@ -1,6 +1,7 @@ function [r, xtraj, utraj, prog] = runMixedIntegerOffice +% NOTEST +% Run the mixed-integer SOS trajectory planner in the office environment -checkDependency('lcmgl'); r = Quadrotor(); degree = 3; @@ -50,11 +51,6 @@ [2.5, .75, 1]; [3, 0, 1]; start'; - % goal'; - % [1, 0, .5]; - % [2, 0, .5]; - % [0, 0, 2]; - % [-2, 0, 1]; ]'; n_regions = 7; diff --git a/examples/Quadrotor/runMixedIntegerSimpleForest.m b/examples/Quadrotor/runMixedIntegerSimpleForest.m new file mode 100644 index 000000000000..a2a298185dd8 --- /dev/null +++ b/examples/Quadrotor/runMixedIntegerSimpleForest.m @@ -0,0 +1,21 @@ +function runMixedIntegerSimpleForest() +% Run the mixed-integer SOS trajectory planner in a very simple forest. + +r = Quadrotor(); +r = addTree(r, [.8,.45,1.25], [.20;2.5], pi/4); + +start = [0;-1.5;.5]; +goal = [1; 4; 0.5]; +seeds = [... + start'; + goal'; + ]'; + + +lb = [-3;-2;0]; +ub = [3;5;2]; +degree = 3; +n_segments = 4; +n_regions = 3; + +runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments, n_regions); diff --git a/examples/Quadrotor/test/testMISOSTrajectory.m b/examples/Quadrotor/test/testMISOSTrajectory.m new file mode 100644 index 000000000000..887cb6df4648 --- /dev/null +++ b/examples/Quadrotor/test/testMISOSTrajectory.m @@ -0,0 +1,137 @@ +function testMISOSTrajectory() + +path_handle = addpathTemporary(fullfile(getDrakePath,'examples','Quadrotor')); +checkDependency('yalmip'); + +x0 = [.5; .1]; +xf = [.1; .5]; +lb = [0;0]; +ub = [1;1]; +dim = length(lb); +traj_degree = 3; +num_segments = 4; +num_iris_regions = 2; + +for h = [1,2] + figure(h) + clf + hold on +end + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% Generate obtsacles +obstacles = {[.2,.8,.8,.2; .2,.2,.8,.8]}; + +for h = [1,2] + figure(h) + for j = 1:length(obstacles) + obs = obstacles{j}; + patch(obs(1,:), obs(2,:), [.2,.2,.2]); + end + for j = 1:length(obstacles) + obs = obstacles{j}; + plot(obs(1,[1:end,1]), obs(2,[1:end,1]), 'k', 'LineWidth', 2); + end +end + +figure(1) +if checkDependency('iris') + % Generate safe regions with IRIS + iris_regions = iris.util.auto_seed_regions(obstacles, lb, ub, [x0,xf], num_iris_regions, 10, []); + for j = 1:length(iris_regions) + V = iris.thirdParty.polytopes.lcon2vert(iris_regions(j).A, iris_regions(j).b)'; + k = convhull(V(1,:), V(2,:), 'simplify', true); + patch(V(1,k), V(2,k), [1,1,150/255], 'LineWidth', 3) + end +else + % Create safe regions manually (without IRIS) + iris_regions = struct('A', {}, 'b', {}); + V = [0,.2,.2,0; 0, 0, 1, 1]; + [A, b] = poly2lincon(V(1,:), V(2,:)); + patch(V(1,:), V(2,:), [1,1,150/255], 'LineWidth', 3) + iris_regions(end+1) = struct('A', A, 'b', b); + + V = [0,1,1,0; 0,0,.2,.2]; + [A, b] = poly2lincon(V(1,:), V(2,:)); + patch(V(1,:), V(2,:), [1,1,150/255], 'LineWidth', 3) + iris_regions(end+1) = struct('A', A, 'b', b); +end + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% Generate safe regions from obstacle faces +non_iris_regions = {}; +figure(2) +for j = 1:length(obstacles) + obs = obstacles{j}; + non_iris_regions{j} = struct('A', {}, 'b', {}); + for k = 1:size(obs, 2) + if k < size(obs,2) + kn = k+1; + else + kn = 1; + end + ai = [0, -1; 1, 0] * [obs(1,kn)-obs(1,k); obs(2,kn) - obs(2,k)]; + ai = ai / norm(ai); + bi = ai' * obs(:,k); + non_iris_regions{j}(end+1) = struct('A', ai', 'b', bi); + R = [0,-1;1,0]; + edge = [obs(:,k) - 2*R*ai, obs(:,k) + 2*R*ai]; + plot(edge(1,:), edge(2,:), 'k:', 'LineWidth', 2) + end +end +A_bounds = [eye(dim); -eye(dim)]; +b_bounds = [ub; -lb]; +non_iris_regions{end+1} = struct('A', A_bounds, 'b', b_bounds); + +for h = [1,2] + figure(h) + plot(x0(1), x0(2), 'ko', 'MarkerSize', 10, 'MarkerFaceColor', 'g'); + plot(xf(1), xf(2), 'ko', 'MarkerSize', 10, 'MarkerFaceColor', 'r'); +end + +drawnow(); + +prob = MISOSTrajectoryProblem(); +prob.traj_degree = traj_degree; +prob.num_traj_segments = num_segments; +start = [x0, [0;0]]; +goal = [xf, [0;0]]; + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% Solve with IRIS regions +ytraj_iris = prob.solveTrajectory(start, goal, iris_regions); + +figure(1) +breaks = ytraj_iris.getBreaks(); +ts = linspace(breaks(1), breaks(end)); +Y = ytraj_iris.eval(ts); +Ybreaks = ytraj_iris.eval(breaks); +plot(Y(1,:), Y(2,:), 'b-', 'LineWidth', 3); +plot(Ybreaks(1,:), Ybreaks(2,:), 'bo', 'MarkerSize', 7, 'MarkerFaceColor', 'b') +axis equal +xlim([lb(1),ub(1)]); +ylim([lb(2),ub(2)]); +set(gca, 'XTick', []); +set(gca, 'YTick', []); +box on +drawnow(); + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% Solve without IRIS +ytraj_non_iris = prob.solveTrajectory(start, goal, non_iris_regions); + +figure(2) +breaks = ytraj_non_iris.getBreaks(); +ts = linspace(breaks(1), breaks(end)); +Y = ytraj_non_iris.eval(ts); +Ybreaks = ytraj_non_iris.eval(breaks); +plot(Y(1,:), Y(2,:), 'b-', 'LineWidth', 3); +plot(Ybreaks(1,:), Ybreaks(2,:), 'bo', 'MarkerSize', 7, 'MarkerFaceColor', 'b') +axis equal +xlim([lb(1),ub(1)]); +ylim([lb(2),ub(2)]); +set(gca, 'XTick', []); +set(gca, 'YTick', []); +box on +drawnow(); diff --git a/util/checkDependency.m b/util/checkDependency.m index 8659c5eafc0c..209594416c1b 100644 --- a/util/checkDependency.m +++ b/util/checkDependency.m @@ -333,6 +333,42 @@ end end + case 'iris' + conf.iris_enabled = logical(exist('+iris/inflate_region.m','file')); + if (~conf.iris_enabled) + conf.iris_enabled = pod_pkg_config('iris'); + end + if ~conf.iris_enabled && nargout<1 + disp(' '); + disp(' iris (Iterative Regional Inflation by SDP) is disabled. To enable it, install the IRIS matlab package from here: https://github.com/rdeits/iris-distro and re-run addpath_drake.'); + disp(' '); + end + + case 'mosek' + conf.mosek_enabled = logical(exist('mosekopt', 'file')); + if (~conf.mosek_enabled) + conf.mosek_enabled = pod_pkg_config('mosek'); + end + + if (conf.mosek_enabled) + % Check for license issues + try + mosekopt(); + catch ex; + conf.mosek_enabled = false; + disp(getReport(ex,'extended')); + end + end + + if ~conf.mosek_enabled && nargout<1 + disp(' '); + disp(' Mosek not found or not working. Mosek support will be disabled.'); + disp(' Note that Mosek does provide free academic licenses') + disp(' To enable, install Mosek and a license from'); + disp(' http://mosek.com/ .'); + disp(' '); + end + otherwise % todo: call ver(dep) here? From 1611f2c284cf0f41d40418035429c941460c691a Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Thu, 2 Oct 2014 13:13:28 -0400 Subject: [PATCH 077/271] comments --- examples/Quadrotor/MISOSTrajectoryProblem.m | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/examples/Quadrotor/MISOSTrajectoryProblem.m b/examples/Quadrotor/MISOSTrajectoryProblem.m index 13342ff5f056..075d11076cf0 100644 --- a/examples/Quadrotor/MISOSTrajectoryProblem.m +++ b/examples/Quadrotor/MISOSTrajectoryProblem.m @@ -77,9 +77,10 @@ assign(t, 1); basis_t1 = value(basis); - % s = sdpvar(1); - % sbasis = monolist(s, obj.obj.traj_degree) .* flip(monolist(1+s, obj.obj.traj_degree)); + % Set up our array of coefficients C and our array of derivative coefficients Cd + % Each element of C, C{j} is the vector of coefficients of polynomial piece j. + % Each element of Cd, Cd{j}{k} is the vector of coefficients of the kth derivative of the jth polynomial piece. C = {}; for j = 1:obj.num_traj_segments C{j} = sdpvar(obj.traj_degree+1,dim,'full'); @@ -121,6 +122,8 @@ end end + % Region is a cell array. Each element region{l} is a matrix of binary variables denoting the assignment + % of each trajectory piece to a convex safe region. region = {}; for j = 1:length(safe_region_sets) if length(safe_region_sets{j}) > 1 @@ -131,6 +134,7 @@ end end + % Enforce continuity of the derivatives for j = 1:obj.num_traj_segments-1 constraints = [constraints,... C{j}' * basis_t1 == C{j+1}' * basis_t0,... @@ -159,6 +163,7 @@ objective = objective + sum(sum(snap_coeffs' .* snap_coeffs', 1) ./ (1:obj.traj_degree+1)); end + % Set up the SOS constraints to keep each polynomial in its assigned region for rs = 1:length(region) sigma{j}{rs} = {}; nr = size(region{rs},1); @@ -228,6 +233,7 @@ coeffs = zeros([dim, length(breaks)-1, obj.traj_degree+1]); if diagnostics.problem == 0 + % Build the output trajectory for k = 1:length(breaks)-1 c = value(C{k}); for i = 1:dim @@ -242,6 +248,7 @@ end end end + ytraj = PPTrajectory(mkpp(breaks, coeffs, dim)); objective = double(objective); From a9f90c02a45911650d79f5d0b1effe14c29b3602 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Thu, 2 Oct 2014 13:18:17 -0400 Subject: [PATCH 078/271] comments --- examples/Quadrotor/test/testMISOSTrajectory.m | 2 ++ 1 file changed, 2 insertions(+) diff --git a/examples/Quadrotor/test/testMISOSTrajectory.m b/examples/Quadrotor/test/testMISOSTrajectory.m index 887cb6df4648..a15065cdedc5 100644 --- a/examples/Quadrotor/test/testMISOSTrajectory.m +++ b/examples/Quadrotor/test/testMISOSTrajectory.m @@ -1,4 +1,6 @@ function testMISOSTrajectory() +% Test the Mixed-integer trajectory planner described in MISOSTrajectoryProblem.m on a very simple environment. +% Uses IRIS to find safe regions if it's available, or just computes them by hand if it's not available. path_handle = addpathTemporary(fullfile(getDrakePath,'examples','Quadrotor')); checkDependency('yalmip'); From 824eab2cdc871b6cdfde2fda789d3c5fe328886c Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Thu, 2 Oct 2014 13:18:22 -0400 Subject: [PATCH 079/271] remove a data file --- examples/Quadrotor/ytraj.mat | Bin 2700 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 examples/Quadrotor/ytraj.mat diff --git a/examples/Quadrotor/ytraj.mat b/examples/Quadrotor/ytraj.mat deleted file mode 100644 index df0a27209c26fac212904ae737824750a43ab445..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2700 zcmV;73Ul>MK~zjZLLfCRFd$7qR4ry{Y-KDUP;6mzW^ZzBIv__(PFO)UG%O%Pa%Ew3 zWn>_4ZaN@MZ*Cw{WpE%eG9WQCIy5snH8vnJFflYBARr(hARr(hARr(hARr(hARr(h zARr(hARr(hARr(hARr(hARr*$00000000000ZB~{000120001Zoa19)V3+{JY(UHb z#DWYEzzD>wKwMc;l$ZtPvoQEN`v-%>d4M<|AOt9pnp~1!R0&eg2gDvo=I}zzVTJP9 zpk^{c#X)=t2=guzk{lyc4glY93WW~<005;4004NL)LDB_RM#0lyX-CxWnDxg#s?T4 zGMR+80!rlKJ5~e)gQhj>W%t6~uzUA+u7{_TkXhX)awVkF=jH1>~6U}JI6ce~j z>(s_r(Wa(x#zPSjok0`x}oxF+=j{&n0ZKa z;M^VrK)=?@mlDqd8&hTEodPh^P8t+jXn`@WhU9vhGg}#8W~_{pS!?2e)4|gmFtawm zxok!^aIt1s6Bv`zSk5qJr$w;4DlEowD_sFryE)p%nrLgW+u>wvNe-vrGC5sPwXtd# zljV39)FIF|25{2DXrUbzV6xi(NqbJ8rw2o6x{1?OXIVPT0t zKM#lBF1S5YQf2ZMW^dtnx;)PpO%6DHSO_Y1AqQQ^A*Gj277jhj!Es<|&N;$lvNo5M zrv9l15RFP}CnKXt*W7V+wwpq8>k@C127h>S$kt0^k0Sk{Y+E741Q|P1&v? zcx2Mz9OTCjjUV}7%+o5`LvU7(St!OxX$Ba+-=%)&Fdc+3Dy&b6Gg{yq3nUwcX(T%h z(@1tYrcwNwh3T0v&&KpZnCD{}&D#P@$6+3#(OgAiI+5^8@?C@VOY@`0bQsY`MF7v+U37pOkPDkKEv7Mo*J=a@y z;PP`^_TchvF0#`TG_svpe(Z=)zAt9ZK>fUQ>KEZDuYl&2;?cT-mc+h1QL-&_32h1~C_QPmBj2vi?K$+W7m2 zE5*K!zJI;LJR@#D-*}_rRHn@D+50N zsE#=m{Kr$YZ6L*0G%*;f1R9I9k>OZxe0gUpBN@Mi|56_$?=tSVdq z%acWRwpE_rq5WMC+lwB{M&zXC4SU0)$99S%cg#s-uPwLhIr~^ zyCwXKr0zC}|4aQ|d-#8{#Dnuw|MAkV6UE2g{~%-E!3DDadk<&-xrt2?ZwK#NxM7b< zymhi=-Ah6=;opI{M(sM}kG8?O9QxOO;qJFvW&ey`et5VXGYOLX^S{*lV7i<9EN%Kc}lH71`@f#Rhb!I- zyyOiv!INmDj~b&tWSmF+F#u)q#^b3Rmq763xcGZt%>?B8%3Duan!Y46YiV|NO8U|z zX_;xMOTB#M`!7^Ix<6`6DRIhvNQvx+gd5BM2!;QsPX2^EjsD{ZeSwYVo>a>4K_0>< z5_si*GEm^h`d(1V8wlJ~tY_)pU@FG382zzMdK|%_d!-NGI7u_mdt+ zFvs1H`2Th)WL;moeG6FMV(Ic;Y@kiXM$0J(R3R z`kt4XLMWyFkxFE@a16W3^$;W5&G+cfNzTbbWpwgJPgxkdC2w+i|6l%&u6HW-J!(fW zbgcEH^wR)a+%Qd*A4q8BiW01bBVIz-wutJ}5-}+lm01RDEO8lNN@XGZloy(%q zcm3ki7wEpIo#4KZ&Vh4a_T0|-;w=Y94YtX$3k;W5`NWaN=6!>@B*!xUrHxT(i z=R=&}d`N2@owIxA09{!D&!rXcTw4LpRTaS3SCSoS6#qv5&hn-4^i!#4yg23jJ#4ti z#)rw`YbSUvABXGx@F89Pj+XG<;@C3gamb7=g6}Mcr~d%}0RR8(kg*PeFcd`#5hIJA zVjSId(1AFxxHSzFXr#qJG2j>Y*|sTYA*4v6aq%WE?JM{6_5r|4tfa68W=YR2D2$$v zw=&%&LNnnLH&W#_!65sxi;5W{8pirG8y-Ojn#x3<}P&@v_L3@<20R1LHgwGlNJwP;o;r|B)Nq}=Ab)t~=8zt(uyHuJXFSp!@@ zx0RmzjrUH;{RH>U{~4Oo9+}etvraGhyPiA1pE|j!2iC!B`TfLvr|ISDZI6C?kJJNB Gy-GjUTTx8_ From 92b4b6186a04599a3e0784f23563fdec8a0587d4 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Thu, 2 Oct 2014 13:35:06 -0400 Subject: [PATCH 080/271] fix spelling and add a unit test for scaleTime in pptraj --- systems/trajectories/PPTrajectory.m | 2 +- systems/trajectories/test/ppmathtest.m | 13 +++++++++++++ 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/systems/trajectories/PPTrajectory.m b/systems/trajectories/PPTrajectory.m index c6f70305bc8b..72e0ba85d463 100644 --- a/systems/trajectories/PPTrajectory.m +++ b/systems/trajectories/PPTrajectory.m @@ -108,7 +108,7 @@ coefs(i,:) = coefs(i,:) .* bsxfun(@power, (1/scale), (size(coefs, 2)-1):-1:0); end else - % Even though they give us l, k, d in that order, coefs should actuall be an d-by-l-by-k array. + % Even though they give us l, k, d in that order, coefs should actually be a d-by-l-by-k array. coefs = reshape(flat_coefs, [d, l, k]); for j = 1:d for i = 1:size(coefs, 2) diff --git a/systems/trajectories/test/ppmathtest.m b/systems/trajectories/test/ppmathtest.m index 621814546e8a..593d6ad23355 100644 --- a/systems/trajectories/test/ppmathtest.m +++ b/systems/trajectories/test/ppmathtest.m @@ -63,3 +63,16 @@ V = QuadraticLyapunovFunction(fr1,[4,0; 2,3],[1;1],.5); valuecheck(getLevelSetVolume(V),getLevelSetVolume(V.inFrame(fr2))); +scale = rand(1) + 1; +a = PPTrajectory(spline([0 1 2 3], randn(3,4))); +b = a.scaleTime(scale); +for t = .25:.25:2.75 + valuecheck(a.eval(t), b.eval(scale*t)); +end + +scale = rand(1) + 1; +a = PPTrajectory(spline([0 1 2,3], randn(1,4))); +b = a.scaleTime(scale); +for t= .25:.25:2.75 + valuecheck(a.eval(t), b.eval(scale*t)); +end \ No newline at end of file From 9162c7d4961afa5907f484e94ac8fe5e9615f2f9 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Thu, 2 Oct 2014 15:03:31 -0400 Subject: [PATCH 081/271] notest --- examples/Quadrotor/invertFlatOutputs.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Quadrotor/invertFlatOutputs.m b/examples/Quadrotor/invertFlatOutputs.m index 587d6c76b4b8..1c55c89c68d8 100644 --- a/examples/Quadrotor/invertFlatOutputs.m +++ b/examples/Quadrotor/invertFlatOutputs.m @@ -1,5 +1,5 @@ function [xtraj,utraj] = invertFlatOutputs(plant,ytraj,options) - +% NOTEST % @param plant a quadrotor plant (either Quadrotor or QuadPlantPenn should % work) % @param ytraj a PPTrajectory in the DifferentiallyFlatOutputFrame From 1456a6f50c8189ffdb1be03c51e8ef0a53009723 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Thu, 2 Oct 2014 16:28:31 -0400 Subject: [PATCH 082/271] update to spotsosprog --- examples/dev/common_lyap_linear_sys.m | 43 +++++++++++++++++++++++++++ examples/dev/cubic_example.m | 26 +++++++++------- examples/dev/stability.m | 25 ---------------- 3 files changed, 58 insertions(+), 36 deletions(-) create mode 100644 examples/dev/common_lyap_linear_sys.m delete mode 100644 examples/dev/stability.m diff --git a/examples/dev/common_lyap_linear_sys.m b/examples/dev/common_lyap_linear_sys.m new file mode 100644 index 000000000000..0ab508d84ab5 --- /dev/null +++ b/examples/dev/common_lyap_linear_sys.m @@ -0,0 +1,43 @@ +% Simple example of common lyapunov functions +% for robust stability of linear systems + +checkDependency('mosek'); + +n = 4; +k = 2; + +% generate random stable matrices +for i=1:k + d = -rand(n,1); + v = randn(n); + A{i} = v*diag(d)/v; +end + +% create the optimization program +prog = spotsosprog; + +% construct an n-by-n positive semi-definite matrix as the decision +% variables +[prog,P] = prog.newSym(n); +prog = prog.withPSD(P-.01*eye(n)); + +% add the common Lyapunov conditions +for i=1:k + prog = prog.withPSD(- A{i}'*P - P*A{i}); +end + +% run the optimization +sol = prog.minimize(trace(P),@spot_mosek); + +% display the results +P = double(sol.eval(P)) +%isPositiveDefinite(P) +eig(P) + + +% another example from the lecture notes: +%a = randn; ab = 2*rand - 1; b=ab/a; +%A{i} = [-1 a; b -1]; +%A{1} = [-1 .5; -3 -1]; +%A{2} = [-1 .1; -10 -1]; + diff --git a/examples/dev/cubic_example.m b/examples/dev/cubic_example.m index ff89ee001bc0..a2378955b658 100644 --- a/examples/dev/cubic_example.m +++ b/examples/dev/cubic_example.m @@ -8,27 +8,31 @@ Vdot = diff(V,x)*f; % construct a SOS program -prog=mssprog; - -% construct the decision variables -[prog,c] = new(prog,length(m),'free'); -[prog,slack] = new(prog,1,'free'); +prog=spotsosprog; +prog = prog.withIndeterminate(x); % construct the langrange multiplier m=monomials(x,0:4); +[prog,c] = prog.newFree(length(m)); lambda = c'*m; +prog = prog.withSOS(lambda); +% note: this could all be done with a single line: +% [prog,lambda] = prog.newSOSPoly(monomials(x,0:4)); + +% construct the slack variables (which must be positive) +[prog,slack] = prog.newPos(1); % add the SOS constraints -prog.sos=-(Vdot+lambda*(1-V))-slack*x^2; -prog.sos=lambda; +prog = prog.withSOS(-(Vdot+lambda*(1-V))-slack*x^2); % solve the problem using -slack as the objective -prog.sedumi=-slack; +options = spot_sdp_default_options(); +options.verbose = 0; +sol = prog.minimize(-slack,@spot_mosek,options); % display the results -slack=double(prog(slack)) -c = double(prog(c)) - +slack = double(sol.eval(slack)) +c = double(sol.eval(c)) % Everything after this is just plotting... diff --git a/examples/dev/stability.m b/examples/dev/stability.m deleted file mode 100644 index be471cd2fd11..000000000000 --- a/examples/dev/stability.m +++ /dev/null @@ -1,25 +0,0 @@ -n = 4; -k = 2; - -% generate random stable matrices -for i=1:k - d = -rand(n,1); - v = randn(n); - A{i} = v*diag(d)/v; -end - -% example from lecture notes: -%a = randn; ab = 2*rand - 1; b=ab/a; -%A{i} = [-1 a; b -1]; -%A{1} = [-1 .5; -3 -1]; -%A{2} = [-1 .1; -10 -1]; - -cvx_begin - variable P(n,n) symmetric; - %find P; - minimize (trace(P)); - for i=1:k, - A{i}'*P - P*A{i} == semidefinite(n); end - P - 0.01*eye(n) == semidefinite(n); -cvx_end - -P \ No newline at end of file From c3921a72367fb43d4f09c08dc71c2e23632615d2 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Thu, 2 Oct 2014 21:40:31 -0400 Subject: [PATCH 083/271] re-process 3D demo as a 5th degree polynomial --- examples/Quadrotor/MISOSTrajectoryProblem.m | 46 ++++++++++++++----- .../Quadrotor/runMixedIntegerEnvironment.m | 18 +++++++- 2 files changed, 51 insertions(+), 13 deletions(-) diff --git a/examples/Quadrotor/MISOSTrajectoryProblem.m b/examples/Quadrotor/MISOSTrajectoryProblem.m index 075d11076cf0..2860f0015189 100644 --- a/examples/Quadrotor/MISOSTrajectoryProblem.m +++ b/examples/Quadrotor/MISOSTrajectoryProblem.m @@ -15,7 +15,7 @@ end methods - function [ytraj, diagnostics, objective] = solveTrajectory(obj, start, goal, safe_region_sets) + function [ytraj, diagnostics, objective, safe_region_assignments] = solveTrajectory(obj, start, goal, safe_region_sets, safe_region_assignments) % @param start [n x m1]: starting state. The first column of start is the initial position in n-dimensional space. % The remaining columns are (optional) constraints on the derivatives at the initial time. For example, % to constrain only the initial position in 2D, set start = [0;0]. To constrain position and velocity, @@ -29,9 +29,15 @@ % If safe_region_sets is a cell array of struct arrays, then for every i there must be a j % such that: % safe_region_sets{i}(j).A P(t) <= safe_region_sets{i}(j).b for all 0 <= t <= 1 + % @option safe_region_assignments logical array or cell array of logicals. If you would like to fix the assignment + % of trajectories to safe regions from a previous run, then you can pass in the + % safe_region_assignments directly from the prior output. % @retval ytraj a PPTrajectory checkDependency('yalmip'); + if nargin < 5 + safe_region_assignments = []; + end if size(start, 2) > obj.traj_degree + 1 warning('For a degree d polynomial, we can only constrain at most the first d derivatives. Additional derivatives ignored.'); @@ -45,6 +51,9 @@ if ~iscell(safe_region_sets) safe_region_sets = {safe_region_sets}; end + if ~iscell(safe_region_assignments) + safe_region_assignments = {safe_region_assignments}; + end dim = size(start, 1); sizecheck(goal, [dim, nan]); @@ -127,8 +136,12 @@ region = {}; for j = 1:length(safe_region_sets) if length(safe_region_sets{j}) > 1 - region{j} = binvar(length(safe_region_sets{j}), obj.num_traj_segments, 'full'); - constraints = [constraints, sum(region{j}, 1) == 1]; + if isempty(safe_region_assignments) + region{j} = binvar(length(safe_region_sets{j}), obj.num_traj_segments, 'full'); + constraints = [constraints, sum(region{j}, 1) == 1]; + else + region{j} = safe_region_assignments{j}; + end else region{j} = true; end @@ -151,9 +164,11 @@ sigma = {}; for j = 1:obj.num_traj_segments sigma{j} = {}; - constraints = [constraints, ... - -C_BOUND <= C{j} <= C_BOUND,... - ]; + if isempty(safe_region_assignments) + constraints = [constraints, ... + -C_BOUND <= C{j} <= C_BOUND,... + ]; + end if obj.traj_degree <= 3 for d = 1:dim objective = objective + Cd{j}{obj.traj_degree}(:,d)' * Cd{j}{obj.traj_degree}(:,d); @@ -185,13 +200,13 @@ Q1 = sdpvar((obj.traj_degree-1)/2 + 1); Q2 = sdpvar((obj.traj_degree-1)/2 + 1); m = monolist(t, (obj.traj_degree-1)/2); - if nr > 1 + if isa(region{rs}(r,j), 'sdpvar') constraints = [constraints,... implies(region{rs}(r,j), coeff == coefficients((sigma1)*(t) + (sigma2)*(1-t), t)),... -SIGMA_BOUND <= sigma{j}{rs}{r}{k}{1} <= SIGMA_BOUND,... -SIGMA_BOUND <= sigma{j}{rs}{r}{k}{2} <= SIGMA_BOUND,... ]; - else + elseif region{rs}(r,j) constraints = [constraints,... coeff == coefficients((sigma1)*(t) + (sigma2)*(1-t), t)]; end @@ -209,6 +224,7 @@ Q1 >= 0,... Q2 >= 0,... ]; + objective = objective + trace(Q1) + trace(Q2); end end end @@ -216,13 +232,13 @@ end t0 = tic; - if obj.traj_degree > 3 + if obj.traj_degree > 3 && isempty(safe_region_assignments) diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 0, 'debug', true)); else if checkDependency('mosek'); - warning('Mosek not found. Will fall back to gurobi'); - diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2, 'mosek.MSK_DPAR_MIO_MAX_TIME', 600, 'verbose', 0)); + diagnostics = optimize(constraints, objective, sdpsettings('solver', 'mosek', 'mosek.MSK_DPAR_MIO_TOL_REL_GAP', 1e-2, 'mosek.MSK_DPAR_MIO_MAX_TIME', 600, 'verbose', 3)); else + warning('Mosek not found. Will fall back to gurobi'); checkDependency('gurobi'); diagnostics = optimize(constraints, objective, sdpsettings('solver', 'gurobi', 'gurobi.MIPGap', 1e-2)); end @@ -252,6 +268,14 @@ ytraj = PPTrajectory(mkpp(breaks, coeffs, dim)); objective = double(objective); + + if isempty(safe_region_assignments) + safe_region_assignments = cell(1, length(region)); + for j = 1:length(region) + safe_region_assignments{j} = logical(round(double(region{j}))); + end + end + end end end \ No newline at end of file diff --git a/examples/Quadrotor/runMixedIntegerEnvironment.m b/examples/Quadrotor/runMixedIntegerEnvironment.m index 9ecfa3a61031..cdb70e3251f3 100644 --- a/examples/Quadrotor/runMixedIntegerEnvironment.m +++ b/examples/Quadrotor/runMixedIntegerEnvironment.m @@ -63,8 +63,8 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, traj_degree, lcmgl.glColor3f(.8,.8,.2); lcmgl.sphere(seed, 0.06, 20, 20); lcmgl.switchBuffers(); - done = false; end + done = false; end % Automatically generate IRIS regions as necessary @@ -79,7 +79,13 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, traj_degree, start = [start, [0;0;0], [0;0;0]]; goal = [goal, [0;0;0], [0;0;0]]; -ytraj = prob.solveTrajectory(start, goal, safe_regions); +[ytraj, ~, ~, safe_region_assignments] = prob.solveTrajectory(start, goal, safe_regions); + +% Run the program again with the region assignments fixed, for a 5-th-degree polynomial +prob.traj_degree = 5; +[ytraj, diagnostics, ~, ~] = prob.solveTrajectory(start, goal, safe_regions, safe_region_assignments); +diagnostics + % Add an all-zeros yaw trajectory ytraj = ytraj.vertcat(ConstantTrajectory(0)); @@ -105,5 +111,13 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, traj_degree, lcmgl.glEnd(); lcmgl.switchBuffers(); + + +figure(1) +for j = 1:5 + subplot(5, 1, j); + fnplt(fnder(ytraj(1), j)); +end +keyboard(); end From e14063d0693232b2fc23083fddda724ef0d0aea5 Mon Sep 17 00:00:00 2001 From: anirudha Date: Fri, 3 Oct 2014 17:44:54 -0400 Subject: [PATCH 084/271] Modifying binary search function in roa code to use mosek if installed. --- systems/@PolynomialSystem/regionOfAttraction.m | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/systems/@PolynomialSystem/regionOfAttraction.m b/systems/@PolynomialSystem/regionOfAttraction.m index bf010878317b..b547dc033f92 100644 --- a/systems/@PolynomialSystem/regionOfAttraction.m +++ b/systems/@PolynomialSystem/regionOfAttraction.m @@ -49,7 +49,7 @@ ok_mosek = checkDependency('mosek'); if ~ok_sedumi && ~ok_mosek - error('You need either MOSEK or SeDuMi installed to use this function.'); + error('Drake:MissingDependency:SDPSolver','You need either MOSEK or SeDuMi installed to use this function.'); end %% get Lyapunov candidate @@ -402,13 +402,13 @@ %% bracket the solution rhomin=0; rhomax=1; - while ( checkRho(rhomax, x,V,Vdot,prog,L1) > 0 ) + while ( checkRho(rhomax, x,V,Vdot,prog,L1,options) > 0 ) rhomin = rhomax; rhomax = 1.2*rhomax; end %% now do binary search (mark's version might be better here) - rho = fzero(@(rho) checkRho(rho, x,V,Vdot,prog,L1),[rhomin rhomax]) + rho = fzero(@(rho) checkRho(rho, x,V,Vdot,prog,L1,options),[rhomin rhomax]) V = V/rho; @@ -463,18 +463,19 @@ [prog,L1] = prog.newSOSPoly(Lmonom); - [slack,info] = checkRho(1, x, V, Vdot, prog, L1) + [slack,info] = checkRho(1, x, V, Vdot, prog, L1, options) end -function [slack,info] = checkRho(rho,x,V,Vdot,prog,L) +function [slack,info] = checkRho(rho,x,V,Vdot,prog,L,options) [prog,slack] = prog.newFree(1); prog = prog.withSOS(-Vdot + L*(V - rho) - slack*V); + solver = options.solver; options = spot_sdp_default_options(); - sol = prog.minimize(-slack,@spot_sedumi,options); + sol = prog.minimize(-slack,solver,options); if ~sol.isPrimalFeasible error('Problem looks primal infeasible'); @@ -573,5 +574,4 @@ function y=doubleSafe(x) y=double(x); if (~isa(y,'double')) error('double failed'); end -end - +end \ No newline at end of file From 4c79dd3662cffc5440b23eabd94417b7d623fbfa Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Fri, 3 Oct 2014 21:58:29 -0400 Subject: [PATCH 085/271] found a documented replacement for the undocumented matlab call that broke on 2014b --- cmake | 2 +- systems/visualizers/Visualizer.m | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cmake b/cmake index bcd54b675bee..9be5eb93709c 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit bcd54b675bee2b7bd7d1dfa2aaa2f49660088655 +Subproject commit 9be5eb93709cc6ff03e21df04a00652b52b86976 diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m index a6fd4e746efd..a69fed4b6790 100644 --- a/systems/visualizers/Visualizer.m +++ b/systems/visualizers/Visualizer.m @@ -107,8 +107,8 @@ function playback(obj,xtraj,options) time_display = uicontrol('Style', 'text', 'Position', [10, 10, 120, 20],... 'String', sprintf(time_format, tspan(1))); - % use a little undocumented matlab to get continuous slider feedback: - time_slider_listener = handle.listener(time_slider,'ActionEvent',@update_time_display); + % set up continuous slider feedback: + time_slider_listener = addlistener(time_slider,'ContinuousValueChange',@update_time_display); function update_speed(source, eventdata) obj.playback_speed = 10 ^ (get(speed_slider, 'Value')); From 78ec4eeb210615a559ee876b5b4a40493cbd7f82 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Fri, 3 Oct 2014 22:02:50 -0400 Subject: [PATCH 086/271] had to update megaclear. it looks like h(2:end) returns 1x0 empty Root array, which it returned just an empty matrix before --- CMakeLists.txt | 4 ++-- util/megaclear.m | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 799308a76b48..d4e58dd72992 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -37,7 +37,7 @@ elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") endif() elseif (MSVC) # set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /arch:SSE2 /openmp") -# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2 /openmp") +# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2 /openmp") endif() # set up matlab build @@ -159,5 +159,5 @@ endif() add_test(NAME "RigidBodyManipulatorMemoryTest" WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}/examples/Acrobot" COMMAND "matlab" #"${CMAKE_SOURCE_DIR}/cmake/matlab_clean.pl" - "-nosplash" "-nodisplay" "-r" "addpath('${CMAKE_INSTALL_PREFIX}/matlab'); addpath_${POD_NAME}; try, r = RigidBodyManipulator('Acrobot.urdf'); megaclear; catch ex, disp(getReport(ex,'extended')); disp(''); knownIssue('$testname',ex); force_close_system; exit(1); end; force_close_system; exit(0)") + "-nosplash" "-nodisplay" "-r" "addpath('${CMAKE_INSTALL_PREFIX}/matlab'); addpath_${POD_NAME}; try, r = RigidBodyManipulator('Acrobot.urdf'); megaclear; catch ex, disp(getReport(ex,'extended')); disp(''); force_close_system; exit(1); end; force_close_system; exit(0)") set_tests_properties(RigidBodyManipulatorMemoryTest PROPERTIES TIMEOUT 60) diff --git a/util/megaclear.m b/util/megaclear.m index f6109e97e4ea..145a7edf9f33 100644 --- a/util/megaclear.m +++ b/util/megaclear.m @@ -10,7 +10,7 @@ function megaclear() % while ~isempty(vrgcf), close(vrgcf); end if usejava('awt'), vrclear; end - evalin('base', 'h=findobj; delete(h(2:end));'); % delete dangling handles first + evalin('base', 'h=findobj; if numel(h)>1, delete(h(2:end)); end'); % delete dangling handles first evalin('base', 'clear all classes java imports'); % now clear everything else evalin('base', 'clear mex'); From f1074818ecd3e9b66ae369e648fac1293d1af5d5 Mon Sep 17 00:00:00 2001 From: Benoit Landry Date: Fri, 3 Oct 2014 23:32:49 -0400 Subject: [PATCH 087/271] differential flatness u extraction --- examples/Quadrotor/invertFlatOutputs.m | 109 +++++++++++++++---------- 1 file changed, 66 insertions(+), 43 deletions(-) diff --git a/examples/Quadrotor/invertFlatOutputs.m b/examples/Quadrotor/invertFlatOutputs.m index 1c55c89c68d8..77a20fb9e2cc 100644 --- a/examples/Quadrotor/invertFlatOutputs.m +++ b/examples/Quadrotor/invertFlatOutputs.m @@ -1,11 +1,11 @@ function [xtraj,utraj] = invertFlatOutputs(plant,ytraj,options) -% NOTEST -% @param plant a quadrotor plant (either Quadrotor or QuadPlantPenn should -% work) +% @param plant a quadrotor plant (either Quadrotor or QuadPlantPenn) % @param ytraj a PPTrajectory in the DifferentiallyFlatOutputFrame % @option zero_acceleration_tol threshold on the magnitude of the % acceleration vector below which the quad is % considered stationary. @default 1e-8 +% @option traj_freq frequency of the generated xtraj and utraj in Hz. +% @default 200 % % implementation based on % Minimum Snap Trajectory Generation and Control for Quadrotors @@ -14,66 +14,89 @@ typecheck(plant,{'Quadrotor','QuadPlantPenn'}); typecheck(ytraj,'PPTrajectory'); -assert(ytraj.getOutputFrame == DifferentiallyFlatOutputFrame); +assert(ytraj.getOutputFrame==DifferentiallyFlatOutputFrame); if nargin<3, options=struct(); end if ~isfield(options,'zero_acceleration_tol'), options.zero_acceleration_tol = 1e-8; end +if ~isfield(options,'traj_freq'), options.traj_freq = 200; end -breaks = getBreaks(ytraj); ydtraj = fnder(ytraj); yddtraj = fnder(ydtraj); ydddtraj = fnder(yddtraj); -g = plant.getGravity; -zW = g/norm(g); -m = plant.getMass; -I = plant.getInertia; +yddddtraj = fnder(ydddtraj); +t0 = ytraj.tspan(1); +tf = ytraj.tspan(2); +tt = linspace(t0,tf,ceil((tf-t0)*options.traj_freq)); +xx = zeros(12,numel(tt)); +uu = zeros(4,numel(tt)); +for i=1:numel(tt) + [xx(:,i),uu(:,i)] = extractStateAndInput(plant,tt(i),ytraj,ydtraj,yddtraj,ydddtraj,yddddtraj,options); +end +xtraj = PPTrajectory(spline(tt,xx)); +xtraj = setOutputFrame(xtraj,getStateFrame(plant)); +utraj = PPTrajectory(spline(tt,uu)); +utraj = setOutputFrame(utraj,getInputFrame(plant)); +end - function x_or_u = extractStateOrInput(t,tf_output_state) +function [x,u] = extractStateAndInput(plant,t,ytraj,ydtraj,yddtraj,ydddtraj,yddddtraj,options) + g = plant.getGravity; + zW = g/norm(g); + m = plant.getMass; + I = plant.getInertia; y = ytraj.eval(t); yd = ydtraj.eval(t); ydd = yddtraj.eval(t); - zB = ydd(1:3)-g; - zBmag = norm(zB); - if zBmag1 - warning('inputs are set to zero for now. coming soon.'); - w = warning('off','Drake:FunctionHandleTrajectory'); - utraj = FunctionHandleTrajectory(@(t)extractStateOrInput(t,false),4,breaks); - warning(w); - utraj = setOutputFrame(utraj,getInputFrame(plant)); -end - + omega_squared = [kF; 0, kF(2)*L(2), 0, -kF(4)*L(4); -kF(1)*L(1), 0, kF(3)*L(3), 0; kM(1), -kM(2), kM(3), -kM(4)]\mellinger_u; + u = kF'.*omega_squared; end From e9dc59019f82ae849e8c579e3e59c02c3959a8e2 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 4 Oct 2014 06:14:20 -0400 Subject: [PATCH 088/271] axis annotation is more strict about it's inputs. another simple fix --- examples/BouncingBall/BallVisualizer2D.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/BouncingBall/BallVisualizer2D.m b/examples/BouncingBall/BallVisualizer2D.m index 255566b3cb9a..bb961fecda0f 100644 --- a/examples/BouncingBall/BallVisualizer2D.m +++ b/examples/BouncingBall/BallVisualizer2D.m @@ -10,7 +10,7 @@ function draw(obj,t,y) hFig=sfigure(25); % select figure 25 without forcing it to the front clf; axisAnnotation('ellipse',... % draw circle - [y(1); y(2); 0; 0] + obj.r*[-1;-1;2;2],... % [x y w h] + [y(1), y(2), 0, 0] + obj.r*[-1,-1,2,2],... % [x y w h] 'FaceColor','r'); % make it red line([-5,5]*obj.r,[0,0],'Color','k','LineWidth',1.5); axis equal; From ac7979db86a5cac4036f0eb60998db911a2950e0 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 4 Oct 2014 09:51:43 -0400 Subject: [PATCH 089/271] needed to update the inspector, too (not hit by a unit test). and found that it was being called twice for most events, so just won a 2x speedup. :) --- systems/plants/RigidBodyVisualizer.m | 3 ++- systems/visualizers/Visualizer.m | 9 +++++++-- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/systems/plants/RigidBodyVisualizer.m b/systems/plants/RigidBodyVisualizer.m index 787ed152d876..7d20bf806f8e 100644 --- a/systems/plants/RigidBodyVisualizer.m +++ b/systems/plants/RigidBodyVisualizer.m @@ -86,12 +86,13 @@ function kinematicInspector(obj,body_or_frame_id,pt,q0,minrange,maxrange) 'Callback',{@update_display}); % use a little undocumented matlab to get continuous slider feedback: - slider_listener{i} = handle.listener(slider{i},'ActionEvent',@update_display); + slider_listener{i} = addlistener(slider{i},'ContinuousValueChange',@update_display); y = y - 30; end function update_display(source, eventdata) + if nargin>1 && isempty(eventdata), return; end % was running twice for most events x = x0; for i=1:rows diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m index a69fed4b6790..76c045492c97 100644 --- a/systems/visualizers/Visualizer.m +++ b/systems/visualizers/Visualizer.m @@ -231,7 +231,7 @@ function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system) 'BackgroundColor',[.8 .8 .8],'HorizontalAlignment','left'); % use a little undocumented matlab to get continuous slider feedback: - slider_listener{i} = handle.listener(slider{i},'ActionEvent',@update_display); + slider_listener{i} = addlistener(slider{i},'ContinuousValueChange',@update_display); end set(f, 'Position', [560 400 560 20 + 30*rows]); @@ -251,6 +251,8 @@ function resize_gui(source, eventdata) end function update_display(source, eventdata) + if nargin>1 && isempty(eventdata), return; end % was running twice for most events + t = 0; x = x0; for i=1:numel(state_dims) x(state_dims(i)) = get(slider{i}, 'Value'); @@ -272,7 +274,10 @@ function update_display(source, eventdata) objective = QuadraticConstraint(0,inf,Q,b); this_prog = addCost(this_prog,objective,remaining_state_dims); end - x = solve(this_prog,x); + [x,objval,exitflag,infeasible_constraint_name] = solve(this_prog,x); + if (exitflag ~= 1) + infeasible_constraint_name + end % .5*(x0(remaining_state_dims) - x(remaining_state_dims))^2 % fval = objective.eval(x(remaining_state_dims)) for i=1:numel(state_dims) From 83256d4b77a36ac6571b481e53f6a3dd9aabf9f9 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 4 Oct 2014 11:18:27 -0400 Subject: [PATCH 090/271] visualizer passes slider constraints to resolve constraints --- systems/@DynamicalSystem/DynamicalSystem.m | 8 +++++++- systems/visualizers/Visualizer.m | 7 +++++-- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/systems/@DynamicalSystem/DynamicalSystem.m b/systems/@DynamicalSystem/DynamicalSystem.m index c1086e1efa46..dc172becedbc 100644 --- a/systems/@DynamicalSystem/DynamicalSystem.m +++ b/systems/@DynamicalSystem/DynamicalSystem.m @@ -294,13 +294,15 @@ newsys.simulink_params = sys.simulink_params; end - function [x,success,prog] = resolveConstraints(obj,x0,v) + function [x,success,prog] = resolveConstraints(obj,x0,v,constraints) % attempts to find a x which satisfies the constraints, % using x0 as the initial guess. % % @param x0 initial guess for state satisfying constraints % @param v (optional) a visualizer that should be called while the % solver is doing it's thing + % @param constraints (optional) additional constraints to pass to the + % solver if nargin<3, v=[]; end if isa(x0,'Point') @@ -312,6 +314,10 @@ prog = addStateConstraintsToProgram(obj,prog,1:nx); + if nargin>3, + prog = addConstraint(prog,constraints); + end + if ~isempty(v) prog = addDisplayFunction(prog,@(x)v.draw(0,x)); end diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m index 76c045492c97..43f719104014 100644 --- a/systems/visualizers/Visualizer.m +++ b/systems/visualizers/Visualizer.m @@ -215,7 +215,10 @@ function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system) x0(state_dims) = max(min(x0(state_dims),maxrange),minrange); if ~isempty(visualized_system), - [x0,~,prog] = resolveConstraints(visualized_system,x0); + bb_min = -inf(size(x0)); bb_min(state_dims) = minrange; + bb_max = inf(size(x0)); bb_max(state_dims) = maxrange; + bbcon = BoundingBoxConstraint(bb_min,bb_max); + [x0,~,prog] = resolveConstraints(visualized_system,x0,[],bbcon); end rows = ceil(length(state_dims)/2); @@ -275,7 +278,7 @@ function update_display(source, eventdata) this_prog = addCost(this_prog,objective,remaining_state_dims); end [x,objval,exitflag,infeasible_constraint_name] = solve(this_prog,x); - if (exitflag ~= 1) + if ~isempty(infeasible_constraint_name) infeasible_constraint_name end % .5*(x0(remaining_state_dims) - x(remaining_state_dims))^2 From 06983349a9fa58f5a272ebc14bdf6f31df1406a0 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 4 Oct 2014 14:41:14 -0400 Subject: [PATCH 091/271] check for symmetry was firing if inertias had parameters in them --- systems/plants/RigidBody.m | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/systems/plants/RigidBody.m b/systems/plants/RigidBody.m index bac849546f80..8083d6eaa43e 100644 --- a/systems/plants/RigidBody.m +++ b/systems/plants/RigidBody.m @@ -375,9 +375,7 @@ function contact_pts(body) end body.I = body.Imass+body.Iaddedmass; - try - valuecheck(body.I'-body.I,zeros(6)); %Check symmetry of matrix - catch + if isnumeric(body.I) && ~valuecheck(body.I'-body.I,zeros(6)); %Check symmetry of matrix warning('Spatial mass matrix is not symmetric, this is non-physical'); end end From a6ccc8d46bbd9404abb597298e571fef2bf080d2 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 4 Oct 2014 18:33:47 -0400 Subject: [PATCH 092/271] fix background colors --- systems/plants/RigidBodyVisualizer.m | 2 +- systems/visualizers/Visualizer.m | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/systems/plants/RigidBodyVisualizer.m b/systems/plants/RigidBodyVisualizer.m index 7d20bf806f8e..794ffb99b805 100644 --- a/systems/plants/RigidBodyVisualizer.m +++ b/systems/plants/RigidBodyVisualizer.m @@ -80,7 +80,7 @@ function kinematicInspector(obj,body_or_frame_id,pt,q0,minrange,maxrange) y=30*rows-10; for i=1:rows label{i} = uicontrol('Style','text','String',varnames{i}, ... - 'Position',[10+280*(i>rows), y+30*rows*(i>rows), 90, 20],'BackgroundColor',[.8 .8 .8]); + 'Position',[10+280*(i>rows), y+30*rows*(i>rows), 90, 20]); slider{i} = uicontrol('Style', 'slider', 'Min', minrange(i), 'Max', maxrange(i), ... 'Value', desired_pt(i), 'Position', [100+280*(i>rows), y+30*rows*(i>rows), 170, 20],... 'Callback',{@update_display}); diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m index 43f719104014..b08fcff42493 100644 --- a/systems/visualizers/Visualizer.m +++ b/systems/visualizers/Visualizer.m @@ -227,11 +227,11 @@ function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system) for i=1:numel(state_dims) label{i} = uicontrol('Style','text','String',getCoordinateName(fr,state_dims(i)), ... - 'BackgroundColor',[.8 .8 .8],'HorizontalAlignment','right'); + 'HorizontalAlignment','right'); slider{i} = uicontrol('Style', 'slider', 'Min', minrange(i), 'Max', maxrange(i), ... 'Value', x0(i), 'Callback',{@update_display},'UserData',state_dims(i)); value{i} = uicontrol('Style','text','String',num2str(x0(i)), ... - 'BackgroundColor',[.8 .8 .8],'HorizontalAlignment','left'); + 'HorizontalAlignment','left'); % use a little undocumented matlab to get continuous slider feedback: slider_listener{i} = addlistener(slider{i},'ContinuousValueChange',@update_display); From ed6e54759eca4eb8a5c626d1edf751635fc943e1 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Sun, 5 Oct 2014 00:23:31 -0400 Subject: [PATCH 093/271] fix bug in safe region check --- examples/Quadrotor/MISOSTrajectoryProblem.m | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/Quadrotor/MISOSTrajectoryProblem.m b/examples/Quadrotor/MISOSTrajectoryProblem.m index 2860f0015189..446de9a4c19a 100644 --- a/examples/Quadrotor/MISOSTrajectoryProblem.m +++ b/examples/Quadrotor/MISOSTrajectoryProblem.m @@ -136,7 +136,7 @@ region = {}; for j = 1:length(safe_region_sets) if length(safe_region_sets{j}) > 1 - if isempty(safe_region_assignments) + if isempty(cell2mat(safe_region_assignments)) region{j} = binvar(length(safe_region_sets{j}), obj.num_traj_segments, 'full'); constraints = [constraints, sum(region{j}, 1) == 1]; else @@ -164,7 +164,7 @@ sigma = {}; for j = 1:obj.num_traj_segments sigma{j} = {}; - if isempty(safe_region_assignments) + if isempty(cell2mat(safe_region_assignments)) constraints = [constraints, ... -C_BOUND <= C{j} <= C_BOUND,... ]; @@ -232,7 +232,7 @@ end t0 = tic; - if obj.traj_degree > 3 && isempty(safe_region_assignments) + if obj.traj_degree > 3 && isempty(cell2mat(safe_region_assignments)) diagnostics = optimize(constraints, objective, sdpsettings('solver', 'bnb', 'bnb.maxiter', 5000, 'verbose', 0, 'debug', true)); else if checkDependency('mosek'); @@ -269,7 +269,7 @@ objective = double(objective); - if isempty(safe_region_assignments) + if isempty(cell2mat(safe_region_assignments)) safe_region_assignments = cell(1, length(region)); for j = 1:length(region) safe_region_assignments{j} = logical(round(double(region{j}))); From f89e8f3b7eee138d82a31f241105a4d7899c865e Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Sun, 5 Oct 2014 00:23:56 -0400 Subject: [PATCH 094/271] prettier colors --- examples/Quadrotor/Quadrotor.m | 5 +++-- examples/Quadrotor/runMixedIntegerForest.m | 2 +- examples/Quadrotor/runMixedIntegerOffice.m | 4 ++-- systems/plants/RigidBodyFlatTerrain.m | 3 ++- 4 files changed, 8 insertions(+), 6 deletions(-) diff --git a/examples/Quadrotor/Quadrotor.m b/examples/Quadrotor/Quadrotor.m index 6505272617ed..4b5a6f3ed869 100644 --- a/examples/Quadrotor/Quadrotor.m +++ b/examples/Quadrotor/Quadrotor.m @@ -92,8 +92,9 @@ height = lwh(1,3); width_param = lwh(1,1:2); treeTrunk = RigidBodyBox([.2+.8*width_param height],... - [xy;height/2],[0;0;yaw]); - treeTrunk.c = [83,53,10]/255; % brown + [xy;height/2+0.005],[0;0;yaw]); + % treeTrunk.c = [83,53,10]/255; % brown + treeTrunk.c = [191,120,21]/255; % brown obj = addShapeToBody(obj,'world',treeTrunk); obj = addContactShapeToBody(obj,'world',treeTrunk); obj = compile(obj); diff --git a/examples/Quadrotor/runMixedIntegerForest.m b/examples/Quadrotor/runMixedIntegerForest.m index 11e2a3733cd8..329f6477a01b 100644 --- a/examples/Quadrotor/runMixedIntegerForest.m +++ b/examples/Quadrotor/runMixedIntegerForest.m @@ -18,7 +18,7 @@ ]'; -lb = [-3;-2;0]; +lb = [-3;-2;0.01]; ub = [3;13;2]; degree = 3; n_segments = 7; diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m index a90529f58469..37cfc858442f 100644 --- a/examples/Quadrotor/runMixedIntegerOffice.m +++ b/examples/Quadrotor/runMixedIntegerOffice.m @@ -28,7 +28,7 @@ %room window r = addBox(r, [.1,4.0,wall_height], [4.0;1.5],0); r = addBox(r, [.1,1.75,wall_height], [4.0;-2.5],0); -r = addFloatingBox(r, [.28,1.5,wall_height-2], [4.0,-.95,2.5], 0, [83,53,10]/255); +r = addFloatingBox(r, [.28,1.5,wall_height-2], [4.0,-.95,2.5], 0, [191,120,21]/255); %roof %r = addBox(r, [10,8,2.0], [0;0],0); @@ -44,7 +44,7 @@ lb = [-5;-3.5;0.01]; -ub = [6;3.5;3]; +ub = [6;3.5;3.01]; seeds = [... [4, -1, 1.5]; diff --git a/systems/plants/RigidBodyFlatTerrain.m b/systems/plants/RigidBodyFlatTerrain.m index 8a4c91c4afd7..6905b4402aa8 100644 --- a/systems/plants/RigidBodyFlatTerrain.m +++ b/systems/plants/RigidBodyFlatTerrain.m @@ -14,7 +14,8 @@ box_depth = 10; geom = RigidBodyBox([box_width;box_width;box_depth]); geom.T(3,4) = -box_depth/2; - geom.c = hex2dec({'ee','cb','ad'})'/256; % something a little brighter (peach puff 2 from http://www.tayloredmktg.com/rgb/) + geom.c = [0, 170, 255]'/256; % something a little brighter (peach puff 2 from http://www.tayloredmktg.com/rgb/) + % geom.c = hex2dec({'ee','cb','ad'})'/256; % something a little brighter (peach puff 2 from http://www.tayloredmktg.com/rgb/) geom.name = 'terrain'; % geom.c = hex2dec({'cd','af','95'})'/256; end From 6b1b9b2611b90c528d2710b9be988591fa7f1a87 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 04:33:06 -0400 Subject: [PATCH 095/271] add a helper function for QP cost to nonlinear prog. --- solvers/NonlinearProgram.m | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/solvers/NonlinearProgram.m b/solvers/NonlinearProgram.m index ab310a18f3ec..cd712ba6e3cd 100644 --- a/solvers/NonlinearProgram.m +++ b/solvers/NonlinearProgram.m @@ -393,6 +393,9 @@ obj.bbcon = [obj.bbcon,{cnstr}]; obj.x_lb(xind) = max([cnstr.lb obj.x_lb(xind)],[],2); obj.x_ub(xind) = min([cnstr.ub obj.x_ub(xind)],[],2); + if (any(obj.x_lb(xind)>obj.x_ub(xind))) + error('Drake:NonlinearProgram:InvalidConstraint','adding this bounding box constraint resulted in some lb>ub'); + end obj.bbcon_xind{end+1} = xind; cnstr_id = obj.next_bbcon_id; @@ -451,6 +454,18 @@ end end + function obj = addQuadraticCost(obj,Q,x_desired,xind) + % helper function for the very common case of adding the objective + % g(x) = (x-xd)'*Q*(x-xd), Q = Q' >= 0 + % @param Q a symmetric PSD cost matrix + % @param x_desired column vector of desired values + % @param xind optional subset of x to apply cost to + + if nargin<3, xind = 1:obj.num_vars; end + + obj = obj.addCost(QuadraticSumConstraint(0,inf,Q,x_desired),xind); + end + function args = getArgumentArray(obj,x,xind) % Retrieves the elements from the vector x related to xind and returns % them as a cell array where: From 092535fa086b74026131b775c1ca0180a286e854 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 23 Aug 2014 13:02:05 -0400 Subject: [PATCH 096/271] working on replacing dynamical system constraint methods with the new constraint classes --- util/.BotLCMGLClient.java.swp | Bin 16384 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 util/.BotLCMGLClient.java.swp diff --git a/util/.BotLCMGLClient.java.swp b/util/.BotLCMGLClient.java.swp deleted file mode 100644 index c8574a4bc858e522047bf6d2cf78b0c11c717931..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 16384 zcmeI3U2Ggz6~~7(^aC0iQK<5O$ZaB_jpL8qwUf}gepv6W?QPe)oAt)|k~fEl=479NJyjzR3H+xYWd%f z*$>CNd)=yiKr_zIvvcn~bM8I&%$;+OH_P$G+&nolI-%g$ttcX_9{xv zb*g7Ii`Mi#3{Q_I4)<-sDldu~jv1bI)*LY`Kk!_BF}4<1_Sm!=7oF5LqCyzTOU@GUxKfIWiSf<`yoa7IrtKI6bylzcPYwG!BgNA_!M~kPDS}K_#&u)z2L8R zD9ZQ2uh3ig0M?8I2XbHD~?!GmB3>;WGG_kzD5 zx$z=+9$W@>V1hX?0(ODBz@6Y_BwDV3Z-Psp3Usgx_Jcj(4a~)>fX>NPIxm9`!VcA4 z3;fY_&kD>L+tq?t^T4FiqpGo0)pRp3WBRIbV3IJoz-yB8^kdz#&S`;3{HCMVJlC-{ zOoNT_Cy^=(Sj`m~H50J+NGdH1s;! 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If not specified, it is an empty string + xdim % The size of the input to the constraint num_cnstr % An int scalar. The number of constraints name % cell array of constraint names ceq_idx % The row index of the equality constraint diff --git a/solvers/FixedPointProgram.m b/solvers/FixedPointProgram.m index fa03f3c8f6ce..76e7f0a780a4 100644 --- a/solvers/FixedPointProgram.m +++ b/solvers/FixedPointProgram.m @@ -21,23 +21,8 @@ obj.sys = sys; obj = addDynamicConstraints(obj,x_dimensions_to_ignore); - function [c,dc] = state_constraints(x) - [c,dc] = geval(@sys.stateConstraints,x); - end - - if (sys.getNumStateConstraints>0) - num_xcon = sys.getNumStateConstraints(); - obj = addConstraint(obj,FunctionHandleConstraint(zeros(num_xcon,1),zeros(num_xcon,1),num_x,@state_constraints),1:num_x); - end - - function [c,dc] = unilateral_constraints(x) - [c,dc] = geval(@sys.unilateralConstraints,x); - end - - if (sys.getNumUnilateralConstraints > 0) - nc = sys.getNumUnilateralConstraints; - obj = addConstraint(obj,FunctionHandleConstraint(zeros(nc,1),inf(nc,1),num_x,@unilateral_constraints),1:sys.num_x); - end + obj = sys.addStateConstraintsToProgram(obj,1:num_x); + obj = sys.addInputConstraintsToProgram(obj,num_x+(1:num_u)); end function obj = addDynamicConstraints(obj,x_dimensions_to_ignore) diff --git a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m index e4e47ba9fcc0..20ce84865a34 100644 --- a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m @@ -91,10 +91,6 @@ obj = obj.addConstraint(control_limit,obj.u_inds(:)); end - % add state limits as bounding box constraints - [state_lb,state_ub] = plant.getStateLimits(); - state_limit = BoundingBoxConstraint(repmat(state_lb,N,1),repmat(state_ub,N,1)); - obj = obj.addConstraint(state_limit,obj.x_inds(:)); end function obj = addInputConstraint(obj,constraint,time_index) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 86be4e36ae78..a9c9c62f2c1a 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -44,7 +44,7 @@ % small random vector as an initial seed. x0 = .01*randn(obj.num_xd+obj.num_xc,1); - if getNumStateConstraints(obj)+getNumUnilateralConstraints(obj)>0 + if ~isempty(obj.state_constraints) attempts=0; success=false; while (~success) @@ -344,13 +344,64 @@ obj.num_zcs = num_zcs; end function n = getNumStateConstraints(obj) - % Returns the number of zero crossings + % @retval the total number state *equality* constraints in the program n = obj.num_xcon; end - function obj = setNumStateConstraints(obj,num_xcon) - % Guards the number of zero crossings to make sure it's valid. - if (num_xcon<0), error('num_xcon must be >=0'); end - obj.num_xcon = num_xcon; + + function obj = addStateConstraint(obj,con) + % @param con is a constraint object which takes the state of this + % system as input + + typecheck(con,'Constraint'); + assert(con.xdim == obj.num_x,'DrakeSystem:InvalidStateConstraint','State constraints must take a vector that is the same size as the state vector of this system as an input'); + + obj.state_constraints{end+1} = con; + obj.num_xcon = obj.num_xcon + sum(con.lb == con.ub); + end + end + + methods (Sealed) + function prog = addStateConstraintsToProgram(obj,prog,indices) + % adds state constraints and unilateral constraints to the + % program on the specified indices. + + prog = prog.addConstraint(obj.state_constraints,indices); + end + function prog = addInputConstraintsToProgram(obj,prog,indices) + % add bounding box constraint + % todo: consider whether it makes sense to a list of constraints + % objects instead of just input limits. for now, this is sealed just + % to keep things clean. + + con = BoundingBoxConstraint(umin,umax); + con = setName(con,'Input Limits'); + + prog = prog.addBoundingBoxConstraint(prog,con,indices); + end + function varargout = stateConstraints(obj,x) + % Provides the old interface of a single constraint function which + % evaluates all of the *equality* constraints on the state + % (which should be == 0) + % + % @retval the evaluated *equality* constraints, and potentially their + % derivatives. + + % Note: if you're tempted to overload this, you should be adding using the + % addStateConstraint method instead + + varargout = cell(1,nargout); + for i=1:length(obj.state_constraints) + equality_constraint_indices = find(obj.state_constraints{i}.lb == obj.state_constraints{i}.ub); + if ~isempty(equality_constraint_indices) + % then evaluate this constraint to the requested derivative level + v = cell(1,nargout); + [v{:}] = obj.state_constraints{i}.eval(x); + v{1} = v{1} - obj.state_constraints{i}.lb; % center it around 0 + for j=1:length(nargout) + varargout{j} = vertcat(varargout{j},v{j}(equality_constraint_indices,:)); + end + end + end end end @@ -505,6 +556,7 @@ p_output = output(obj,t,x,u); if (obj.num_xcon>0) + % todo: extract polynomial constraints p_state_constraints = stateConstraints(obj,x); end catch ex @@ -535,12 +587,6 @@ sys = extractLinearSystem(extractAffineSystem(obj)); end - function [lb,ub] = getStateLimits(obj) - % Get the lower and upper bounds on the state, currently implemented - % to just return inf/-inf - lb = -inf(obj.num_x,1); - ub = inf(obj.num_x,1); - end end methods % deprecated (due to refactoring) @@ -587,9 +633,8 @@ function systemGradTest(obj,t,x,u,options) uid; % unique identifier for simulink models of this block instance direct_feedthrough_flag=true; % true/false: does the output depend on u? set false if you can! ts=[]; % default sample times of the model - end - properties (SetAccess=protected, GetAccess=protected) - num_xcon = 0; % number of state constraints. @default: 0 + num_xcon = 0; % number of state *equality* constraints + state_constraints={}; % a cell array of constraint objects which depend on the state vector x end properties (SetAccess=private, GetAccess=public) umin=[]; % constrains u>=umin (default umin=-inf) diff --git a/systems/@DynamicalSystem/DynamicalSystem.m b/systems/@DynamicalSystem/DynamicalSystem.m index c1086e1efa46..a273d16232f1 100644 --- a/systems/@DynamicalSystem/DynamicalSystem.m +++ b/systems/@DynamicalSystem/DynamicalSystem.m @@ -325,33 +325,27 @@ end function prog = addStateConstraintsToProgram(obj,prog,indices) - % adds state constraints and unilateral constriants to the + % adds state constraints and unilateral constraints to the % program on the specified indices. derived classes can overload - % this method to add additional constraints. + % this method to their additional constraints. % % @param prog a NonlinearProgram class % @param indices the indices of the state variables in the program % @default 1:nX - typecheck(prog,'NonlinearProgram'); - nx = getNumStates(obj); - if nargin<3, indices=1:nx; end - - % add state constraints - nc = getNumStateConstraints(obj); - if nc>0 - con = FunctionHandleConstraint(zeros(nc,1),zeros(nc,1),nx,@obj.stateConstraints); - con.grad_method = 'user_then_taylorvar'; - prog = addConstraint(prog,con,indices); - end + return; % intentionally do nothing + end + + function prog = addInputConstraintsToProgram(obj,prog,indices) + % adds input constraints and unilateral constriants to the + % program on the specified indices. derived classes can overload + % this method to add additional constraints. + % + % @param prog a NonlinearProgram class + % @param indices the indices of the input variables in the program + % @default 1:nX - % add unilateral constraints - nc = getNumUnilateralConstraints(obj); - if nc>0 - con = FunctionHandleConstraint(zeros(nc,1),inf(nc,1),nx,@obj.unilateralConstraints); - con.grad_method = 'user_then_taylorvar'; - prog = addConstraint(prog,con,indices); - end + return; % intentionally do nothing... no input constraints are registered at the DynamicalSystem class level end end @@ -452,26 +446,6 @@ obj.output_frame=fr; end - function n = getNumStateConstraints(obj); - % Returns the scalar number of state constraints (of the form phi(x)=0) - n = 0; % default behavior is n=0 - end - - function con = stateConstraints(obj,x) - % defines state equality constraints in the form phi(x)=0 - error('Drake:DynamicalSystem:AbstractMethod','systems with state constraints must implement the constraints method'); - end - - function con = unilateralConstraints(obj,x) - % defines state unilateral constraints in the form phi(x)>=0 - error('Drake:DynamicalSystem:AbstractMethod','systems with unilateral constraints must implement the constraints method'); - end - - function n = getNumUnilateralConstraints(obj) - % Returns the scalar number of state constraints (of the form phi(x)>=0) - n = 0; % default behavior is n=0 - end - function obj = setSimulinkParam(obj,varargin) % Sets parameters of the simulink model % Syntax diff --git a/systems/@PolynomialSystem/PolynomialSystem.m b/systems/@PolynomialSystem/PolynomialSystem.m index f43d768db9b6..51341b8a76d9 100644 --- a/systems/@PolynomialSystem/PolynomialSystem.m +++ b/systems/@PolynomialSystem/PolynomialSystem.m @@ -164,7 +164,7 @@ function sys = inStateFrame(sys,frame) if (sys.getStateFrame == frame) return; end - if (~isCT(sys) || isRational(sys) || getNumStateConstraints(sys)>0 || getNumUnilateralConstraints(sys)>0), error('not implemented yet'); end % though some of them would be easy to implement + if (~isCT(sys) || isRational(sys) || ~isempty(sys.state_constraints)), error('not implemented yet'); end % though some of them would be easy to implement ctf = findTransform(getStateFrame(sys),frame,struct('throw_error_if_fail',true)); dtf = findTransform(frame,getStateFrame(sys),struct('throw_error_if_fail',true)); diff --git a/systems/SpotPolynomialSystem.m b/systems/SpotPolynomialSystem.m index 5ebce59a141e..14310be4636f 100644 --- a/systems/SpotPolynomialSystem.m +++ b/systems/SpotPolynomialSystem.m @@ -28,7 +28,7 @@ obj = setPolyDynamics(obj,p_dynamics_rhs,p_dynamics_lhs); obj = setPolyUpdate(obj,p_update); obj = setPolyOutput(obj,p_output); - if (nargin>7) + if (nargin>7 && ~isempty(p_state_constraints)) obj = setPolyStateConstraints(obj,p_state_constraints); end end @@ -74,14 +74,6 @@ end end - function [phi,dphi] = stateConstraints(obj,x) - p_x=obj.getStateFrame.getPoly; - phi = double(subs(obj.p_state_constraints,p_x,x)); - if (nargout>1) - dphi = double(subs(diff(obj.p_state_constraints,p_x),p_x,x)); - end - end - function obj = setInputFrame(obj,frame) if frame.dim>0 if obj.getNumStates()>0 && any(match(obj.getStateFrame.getPoly,frame.getPoly)~=0) @@ -224,6 +216,7 @@ end obj = setNumStateConstraints(obj,length(p_state_constraints)); obj.p_state_constraints = p_state_constraints; + error('todo: need to reset the drake.state_constraints with this new constraint'); end function p_state_constraints = getPolyStateConstraints(obj) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index ef3bb29efd06..cb911a2026f2 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -4,7 +4,7 @@ methods function obj = Manipulator(num_q, num_u, num_v) if nargin<3, num_v = num_q; end - + obj = obj@DrakeSystem(num_q+num_v,0,num_u,num_q+num_v,false,true); obj.num_positions = num_q; obj.num_velocities = num_v; @@ -12,13 +12,13 @@ obj.joint_limit_max = inf(num_q,1); end end - + methods (Abstract=true) % H(q)vdot + C(q,v,f_ext) = Bu [H,C,B] = manipulatorDynamics(obj,q,v); end - methods + methods function [H,C_times_v,G,B] = manipulatorEquations(obj,q,v) % extract the alternative form of the manipulator equations: % H(q)vdot + C(q,v)v + G(q) = B(q)u @@ -41,34 +41,34 @@ q = x(1:obj.num_positions); v = x(obj.num_positions+1:end); - + if (nargout>1) if (obj.num_xcon>0) % by naming this 'MATLAB:TooManyOutputs', geval will catch the % error and use TaylorVarInstead error('MATLAB:TooManyOutputs','User gradients for constrained dynamics not implemented yet.'); end - + % Note: the next line assumes that user gradients are implemented. % If it fails, then it will raise the same exception that I would % want to raise for this method, stating that not all outputs were % assigned. (since I can't write dxdot anymore) [H,C,B,dH,dC,dB] = obj.manipulatorDynamics(q,v); Hinv = inv(H); - - if (obj.num_u>0) - vdot = Hinv*(B*u-C); + + if (obj.num_u>0) + vdot = Hinv*(B*u-C); dtau = matGradMult(dB,u) - dC; dvdot = [zeros(obj.num_positions,1),... -Hinv*matGradMult(dH(:,1:obj.num_positions),vdot) + Hinv*dtau(:,1:obj.num_positions),... +Hinv*dtau(:,1+obj.num_positions:end), Hinv*B]; else - vdot = -Hinv*C; + vdot = -Hinv*C; dvdot = [zeros(obj.num_velocities,1),... Hinv*(-matGradMult(dH(:,1:obj.num_positions),vdot) - dC(:,1:obj.num_positions)),... Hinv*(-dC(:,obj.num_positions+1:end))]; end - + [VqInv,dVqInv] = vToqdot(obj,q); xdot = [VqInv*v;vdot]; dxdot = [... @@ -79,17 +79,17 @@ Hinv = inv(H); if (obj.num_u>0) tau=B*u - C; else tau=-C; end tau = tau + computeConstraintForce(obj,q,v,H,tau,Hinv); - + vdot = Hinv*tau; % note that I used to do this (instead of calling inv(H)): % vdot = H\tau % but I already have and use Hinv, so use it again here - + xdot = [vToqdot(obj,q)*v; vdot]; - end - + end + end - + function [Vq,dVq] = qdotTov(obj, q) % defines the linear map v = Vq * qdot % default relationship is that v = qdot @@ -97,7 +97,7 @@ Vq = eye(length(q)); dVq = zeros(numel(Vq), obj.num_positions); end - + function [VqInv,dVqInv] = vToqdot(obj, q) % defines the linear map qdot = Vqinv * v % default relationship is that v = qdot @@ -105,22 +105,22 @@ VqInv = eye(length(q)); dVqInv = zeros(numel(VqInv), obj.num_positions); end - + function y = output(obj,t,x,u) % default output is the full state y = x; end - + end - + methods (Access=private) function constraint_force = computeConstraintForce(obj,q,v,H,tau,Hinv) - % Helper function to compute the internal forces required to enforce + % Helper function to compute the internal forces required to enforce % equality constraints - + alpha = 10; % 1/time constant of position constraint satisfaction (see my latex rigid body notes) beta = 0; % 1/time constant of velocity constraint satisfaction - + phi=[]; psi=[]; qd = vToqdot(obj, q) * v; if (obj.num_position_constraints>0 && obj.num_velocity_constraints>0) @@ -130,10 +130,10 @@ [psi,dpsi] = geval(@obj.velocityConstraints,q,qd); dpsidq = dpsi(:,1:obj.num_positions); dpsidqd = dpsi(:,obj.num_positions+1:end); - + term1=Hinv*[J;dpsidqd]'; term2=Hinv*tau; - + constraint_force = -[J;dpsidqd]'*pinv([J*term1;dpsidqd*term1])*[J*term2 + Jdotqd + alpha*J*qd; dpsidqd*term2 + dpsidq*qd + beta*psi]; elseif (obj.num_position_constraints>0) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... [phi,J,dJ] = geval(@obj.positionConstraints,q); @@ -144,41 +144,30 @@ [psi,J] = geval(@obj.velocityConstraints,q,qd); dpsidq = J(:,1:obj.num_positions); dpsidqd = J(:,obj.num_positions+1:end); - + constraint_force = -dpsidqd'*pinv(dpsidqd*Hinv*dpsidqd')*(dpsidq*qd + dpsidqd*Hinv*tau+beta*psi); else constraint_force = 0*q; end end end - + methods - function obj = setNumPositionConstraints(obj,num) - % Set the number of bilateral constraints - if (~isscalar(num) || num <0) - error('num_bilateral_constraints must be a non-negative scalar'); - end - obj.num_position_constraints=num; - obj.num_xcon=2*obj.num_position_constraints+obj.num_velocity_constraints; + function obj = addPositionConstraint(obj,con) + obj = end - function obj = setNumVelocityConstraints(obj,num) - % Set the number of bilateral constraints - if (~isscalar(num) || num <0) - error('num_bilateral_constraints must be a non-negative scalar'); - end - obj.num_velocity_constraints=num; - obj.num_xcon=2*obj.num_position_constraints+obj.num_velocity_constraints; + function obj = addVelocityConstraint(obj,con) end end - + methods (Sealed = true) - function obj = setNumStateConstraints(obj,num) + function obj = addStateConstraint(obj,con) % Not a valid method. Enforce that it is not called directly. error('you must set position constraints and velocity constraints explicitly. cannot set general constraints for manipulator plants'); end end - + methods function obj = setNumDOF(obj,num) warnOnce(obj.warning_manager,'Drake:Manipulator:setNumDOFDeprecated','setNumDOF will soon be deprecated. In order to fully support quaternion floating base dynamics, we had to change the interface to allow a different number position and velocity elements in the state vector. Use setNumPositions() and setNumVelocities() instead.'); @@ -191,41 +180,41 @@ n = obj.getNumPositions(); % error('getNumDOF is deprecated. In order to fully support quaternion floating base dynamics, we had to change the interface to allow a different number position and velocity elements in the state vector. Use getNumPositions() and getNumVelocities() instead.'); end - + function obj = setNumPositions(obj,num_q) - % Guards the num_positions variable to make sure it stays consistent + % Guards the num_positions variable to make sure it stays consistent % with num_x. obj.num_positions = num_q; obj = setNumContStates(obj,num_q+obj.num_velocities); end - + function n = getNumPositions(obj) n = obj.num_positions; end - + function obj = setNumVelocities(obj,num_v) - % Guards the num_velocities variable to make sure it stays consistent + % Guards the num_velocities variable to make sure it stays consistent % with num_x. obj.num_velocities = num_v; obj = setNumContStates(obj,num_v+obj.num_positions); end - + function n = getNumVelocities(obj); n = obj.num_velocities; end - + function phi = positionConstraints(obj,q) % Implements position constraints of the form phi(q) = 0 error('manipulators with position constraints must overload this function'); end - + function psi = velocityConstraints(obj,q,v) % Implements velocity constraints of the form psi(q,qdot) = 0 - % Note: dphidqdot must not be zero. constraints which depend + % Note: dphidqdot must not be zero. constraints which depend % only on q should be implemented instead as positionConstraints. - error('manipulators with velocity constraints must overload this function'); + error('manipulators with velocity constraints must overload this function'); end - + function [con,dcon] = stateConstraints(obj,x) % wraps up the position and velocity constraints into the general constriant % method. note that each position constraint (phi=0) also imposes an implicit @@ -251,63 +240,49 @@ else psi=[]; dpsi=zeros(0,obj.num_x); end - + con = [phi; J*qd; psi]; % phi=0, phidot=0, psi=0 if (nargout>1) dcon = [J,0*J; matGradMult(reshape(dJ,size(dJ,1)*obj.num_positions,obj.num_positions),qd), J; dpsi]; end end - - function n = getNumJointLimitConstraints(obj) - % returns number of constraints imposed by finite joint limits - n = sum(obj.joint_limit_min ~= -inf) + sum(obj.joint_limit_max ~= inf); - end - - function [phi,J,dJ] = jointLimitConstraints(obj,q) - % constraint function (with derivatives) to implement unilateral - % constraints imposed by joint limits - phi = [q-obj.joint_limit_min; obj.joint_limit_max-q]; phi=phi(~isinf(phi)); - J = [eye(obj.num_positions); -eye(obj.num_positions)]; - J([obj.joint_limit_min==-inf;obj.joint_limit_max==inf],:)=[]; - if (nargout>2) - dJ = sparse(length(phi),obj.num_positions^2); - end - end - + function num_contacts(obj) error('num_contacts parameter is no longer supported, in anticipation of alowing multiple contacts per body pair. Use getNumContactPairs for cases where the number of contacts is fixed'); end - + function n = getNumContacts(obj) error('getNumContacts is no longer supported, in anticipation of alowing multiple contacts per body pair. Use getNumContactPairs for cases where the number of contacts is fixed'); end - + function prog = addStateConstraintsToProgram(obj,prog,indices) - % adds state constraints and unilateral constriants to the - % program on the specified indices. derived classes can overload + % adds state constraints and unilateral constriants to the + % program on the specified indices. derived classes can overload % this method to add additional constraints. - % + % % @param prog a NonlinearProgramWConstraintObjects class % @param indices the indices of the state variables in the program % @default 1:nX if nargin<3, indices=1:obj.num_x; end - prog = addStateConstraintsToProgram@DynamicalSystem(obj,prog,indices); - + prog = addStateConstraintsToProgram@DrakeSystem(obj,prog,indices); + % add joint limit constraints - prog = addConstraint(prog,BoundingBoxConstraint(obj.joint_limit_min,obj.joint_limit_max),1:obj.num_positions); + con = BoundingBoxConstraint(obj.joint_limit_min,obj.joint_limit_max); + con = setName(con,'Joint Limits'); + prog = addConstraint(prog,con,1:obj.num_positions); end - + function sys = feedback(sys1,sys2) % Attempt to produce a new manipulator system if possible - + if (isa(sys2,'Manipulator')) % todo: implement this (or decide that it doesn't ever make sense) warning('feedback combinations of manipulators not handled explicitly yet. kicking out to a combination of DrakeSystems'); end sys = feedback@DrakeSystem(sys1,sys2); end - + function sys = cascade(sys1,sys2) % Attempt to produce a new manipulator system if possible @@ -317,13 +292,13 @@ function num_contacts(obj) end sys = cascade@DrakeSystem(sys1,sys2); end - + function polysys = extractTrigPolySystem(obj,options) % Creates a (rational) polynomial system representation of the % dynamics - + if (obj.num_xcon>0) error('not implemented yet. may not be possible.'); end - + function rhs = dynamics_rhs(obj,t,x,u) q=x(1:obj.num_positions); v=x((obj.num_positions+1):end); [~,C,B] = manipulatorDynamics(obj,q,v); @@ -334,11 +309,11 @@ function num_contacts(obj) q=x(1:obj.num_positions); v=x((obj.num_positions+1):end); H = manipulatorDynamics(obj,q,v); % just get H lhs = blkdiag(eye(obj.num_positions),H); - end - + end + options.rational_dynamics_numerator=@(t,x,u)dynamics_rhs(obj,t,x,u); options.rational_dynamics_denominator=@(x)dynamics_lhs(obj,x); - + polysys = extractTrigPolySystem@DrakeSystem(obj,options); end @@ -347,8 +322,8 @@ function num_contacts(obj) % illustrated by % q_d --->[ Kp ]-->(+)----->[ sys ]----------> yout % | - | - % -------[ Kp,Kd ]<---- - % + % -------[ Kp,Kd ]<---- + % % when invoked with a single output argument: % newsys = pdcontrol(sys,...) % then it returns a new system which contains the new closed loop @@ -365,16 +340,16 @@ function num_contacts(obj) % @param index a num_u dimensional vector specifying the mapping from q to u. % index(i) = j indicates that u(i) actuates q(j). @default: 1:num_u % - % For example, the a 2D floating base (with adds 3 passive joints in - % positions 1:3)model with four actuated joints in a serial chain might have + % For example, the a 2D floating base (with adds 3 passive joints in + % positions 1:3)model with four actuated joints in a serial chain might have % Kp = diag([10,10,10,10]) % Kd = diag([1, 1, 1, 1]) % and the default index would automatically be index = 4:7 - + % todo: consider adding an option that would give [q_d;qd_d] as in % input. would be trivial to type in, but doesn't add any richness % to the control input (and increases the dimensionality) - + % todo: consider allowing the user to specify less than num_u gains % (e.g., PD control just part of the system). And pass the original % input through on the other inputs. @@ -388,17 +363,17 @@ function num_contacts(obj) qt=TrigPoly(q,s,c); qd=msspoly('v',sys.num_positions); - try + try [~,~,B] = manipulatorDynamics(sys,qt,qd); B = double(B.getmsspoly); if ~isa(B,'double') error('B isn''t a constant'); end if ~all(sum(B~=0,2)==1) || ~all(sum(B~=0,1)==1) error('B isn''t simple. Needs a single input to touch a single DOF.'); end - + [I,J] = find(B); index(J)=I; - + % try to alert if it looks like there are any obvious sign errors if all(diag(diag(Kp))==Kp) d = diag(Kp); @@ -412,25 +387,25 @@ function num_contacts(obj) warning('Drake:Manipulator:PDControlSignWarning','You might have a sign flipped? The sign of Kd does not match the sign of the associated B'); end end - + catch % because trigpolys aren't guaranteed to work for all manipulators - warning('Drake:Manipulator:PDControlDefaultIndex','Couldn''t extract default index from the B matrix. resorting to default behavior.'); + warning('Drake:Manipulator:PDControlDefaultIndex','Couldn''t extract default index from the B matrix. resorting to default behavior.'); warning(lasterr); index=[]; end end - + varargout=cell(1,nargout); - + sizecheck(Kp,[sys.num_u,sys.num_u]); sizecheck(Kd,[sys.num_u,sys.num_u]); - + if nargin<4 || isempty(index) index = 1:sys.num_u; end sizecheck(index,sys.num_u); rangecheck(index,0,sys.num_positions); - + % pdfb = prop-derivative control feedback term: % tau = -Kp*theta - Kd*thetadot D = zeros(sys.num_u,sys.num_x); @@ -439,7 +414,7 @@ function num_contacts(obj) pdfb = LinearSystem([],[],[],[],[],D); pdfb = setOutputFrame(pdfb,sys.getInputFrame); pdfb = setInputFrame(pdfb,sys.getStateFrame); % note: assume full-state feedback for now - + % pdff = prop-derivative control feedforward term: % tau = Kp*thetadesired pdff = LinearSystem([],[],[],[],[],Kp*eye(sys.num_u)); @@ -454,22 +429,15 @@ function num_contacts(obj) varargout{1} = cascade(pdff,feedback(sys,pdfb)); end end - + function [jl_min, jl_max] = getJointLimits(obj) % Returns lower and upper joint limit vectors jl_min = obj.joint_limit_min; jl_max = obj.joint_limit_max; end - - function [lb,ub] = getStateLimits(obj) - % Returns lower and upper state vectors. Uses joint limits for - % positions and +/-inf for velocities - [jl_min, jl_max] = getJointLimits(obj); - lb = [jl_min; -inf(obj.getNumVelocities,1)]; - ub = [jl_max; inf(obj.getNumVelocities,1)]; - end + end - + properties (SetAccess = protected, GetAccess = public) num_positions=0; num_velocities=0; diff --git a/systems/plants/RigidBody.m b/systems/plants/RigidBody.m index bac849546f80..bfcfccee9a19 100644 --- a/systems/plants/RigidBody.m +++ b/systems/plants/RigidBody.m @@ -96,6 +96,10 @@ function contact_pts(body) error('contact points have been replaced by contact shapes'); end + function dofnum(obj) + error('the dofnum parameter is no longer supported, use position_num and velocity_num instead'); + end + function shapes = getContactShapes(body,collision_group,collision_ind) % @param collision_group (optional) return structures for only the % contact_shapes in that group. can be an integer index or a string. diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index 9b0bd536b2e7..b4d0ac4aa652 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -570,20 +570,20 @@ function checkDirty(obj) function varargout = pdcontrol(sys,Kp,Kd,index) if nargin<4, index=[]; end - [pdff,pdfb] = pdcontrol(sys.manip,Kp,Kd,index); + [pdff,pdfb] = pdcontrol(sys.manip,Kp,Kd,index); pdfb = setInputFrame(pdfb,sys.manip.getStateFrame()); - pdfb = setOutputFrame(pdfb,sys.getInputFrame()); - pdff = setOutputFrame(pdff,sys.getInputFrame()); - if nargout>1 - varargout{1} = pdff; - varargout{2} = pdfb; - else - % note: design the PD controller with the (non time-stepping - % manipulator), but build the closed loop system with the - % time-stepping manipulator: - varargout{1} = cascade(pdff,feedback(sys,pdfb)); + pdfb = setOutputFrame(pdfb,sys.getInputFrame()); + pdff = setOutputFrame(pdff,sys.getInputFrame()); + if nargout>1 + varargout{1} = pdff; + varargout{2} = pdfb; + else + % note: design the PD controller with the (non time-stepping + % manipulator), but build the closed loop system with the + % time-stepping manipulator: + varargout{1} = cascade(pdff,feedback(sys,pdfb)); + end end - end end From 5662ad5771ab1d34593723537b4049724c867ee2 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 23 Aug 2014 19:49:59 -0400 Subject: [PATCH 098/271] acrobot lqr example works again --- systems/@DrakeSystem/DrakeSystem.m | 22 ++-- systems/FeedbackSystem.m | 28 +---- systems/plants/@Manipulator/Manipulator.m | 136 +++++++++++----------- 3 files changed, 85 insertions(+), 101 deletions(-) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index a9c9c62f2c1a..bad939a66388 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -247,8 +247,8 @@ add_line(mdl,'DrakeSys/1','out/1'); end - if (obj.num_xcon>0) - warning('Drake:DrakeSystem:ConstraintsNotEnforced','system has constraints, but they aren''t enforced in the simulink model yet.'); + if ~isempty(obj.state_constraints) + obj.warning_manager.warnOnce('Drake:DrakeSystem:ConstraintsNotEnforced','system has constraints, but they aren''t enforced in the simulink model yet.'); end end @@ -345,9 +345,12 @@ end function n = getNumStateConstraints(obj) % @retval the total number state *equality* constraints in the program - n = obj.num_xcon; + n = obj.num_xcon_eq; end - + function n = getNumUnilateralConstraints(obj) + n = obj.num_xcon_ineq; + end + function obj = addStateConstraint(obj,con) % @param con is a constraint object which takes the state of this % system as input @@ -356,7 +359,8 @@ assert(con.xdim == obj.num_x,'DrakeSystem:InvalidStateConstraint','State constraints must take a vector that is the same size as the state vector of this system as an input'); obj.state_constraints{end+1} = con; - obj.num_xcon = obj.num_xcon + sum(con.lb == con.ub); + obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); + obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); end end @@ -391,14 +395,13 @@ varargout = cell(1,nargout); for i=1:length(obj.state_constraints) - equality_constraint_indices = find(obj.state_constraints{i}.lb == obj.state_constraints{i}.ub); - if ~isempty(equality_constraint_indices) + if ~isempty(obj.state_constraints{i}.ceq_idx) % then evaluate this constraint to the requested derivative level v = cell(1,nargout); [v{:}] = obj.state_constraints{i}.eval(x); v{1} = v{1} - obj.state_constraints{i}.lb; % center it around 0 for j=1:length(nargout) - varargout{j} = vertcat(varargout{j},v{j}(equality_constraint_indices,:)); + varargout{j} = vertcat(varargout{j},v{j}(obj.state_constraints{i}.ceq_idx,:)); end end end @@ -633,7 +636,8 @@ function systemGradTest(obj,t,x,u,options) uid; % unique identifier for simulink models of this block instance direct_feedthrough_flag=true; % true/false: does the output depend on u? set false if you can! ts=[]; % default sample times of the model - num_xcon = 0; % number of state *equality* constraints + num_xcon_eq = 0; % number of state *equality* constraints + num_xcon_ineq = 0; % number of state *inequality* constraints state_constraints={}; % a cell array of constraint objects which depend on the state vector x end properties (SetAccess=private, GetAccess=public) diff --git a/systems/FeedbackSystem.m b/systems/FeedbackSystem.m index 7bddc590ad39..573739cc0bb2 100644 --- a/systems/FeedbackSystem.m +++ b/systems/FeedbackSystem.m @@ -33,7 +33,6 @@ obj = setSampleTime(obj,[sys1.getSampleTime(),sys2.getSampleTime()]); obj = setNumZeroCrossings(obj,sys1.getNumZeroCrossings()+sys2.getNumZeroCrossings()+sum(~isinf([sys1.umin;sys1.umax;sys2.umin;sys2.umax]))); - obj = setNumStateConstraints(obj,sys1.getNumStateConstraints()+sys2.getNumStateConstraints()); % unilateral constraints handled in get method below obj = setInputFrame(obj,sys1.getInputFrame()); @@ -47,6 +46,10 @@ 2*ones(getNumDiscStates(sys2),1) ], ... true) ); % zap empty frames + if ~isempty(sys1.state_constraints) || ~isempty(sys2.state_constraints) + obj.warning_manager.warnOnce('Drake:FeedbackSystem:Todo','todo: still need to add state constriants for the feedback system'); + end + obj.sys1=sys1; obj.sys2=sys2; end @@ -117,29 +120,6 @@ if (~isempty(ind)) zcs=[zcs;obj.sys2.umax(ind) - y1(ind)]; end end - function con = stateConstraints(obj,x) - [x1,x2]=decodeX(obj,x); - if (getNumStateConstraints(obj.sys1)>0) - con=stateConstraints(obj.sys1,x1); - else - con=[]; - end - if (getNumStateConstraints(obj.sys2)>0) - con=[con;stateConstraints(obj.sys2,x2)]; - end - end - - function con = unilateralConstraints(obj,x) - [x1,x2]=decodeX(obj,x); - if (getNumUnilateralConstraints(obj.sys1)>0) - con=unilateralConstraints(obj.sys1,x1); - else - con=[]; - end - if (getNumUnilateralConstraints(obj.sys2)>0) - con=[con;unilateralConstraints(obj.sys2,x2)]; - end - end end methods (Access=private) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index cb911a2026f2..cde16c977103 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -123,7 +123,7 @@ phi=[]; psi=[]; qd = vToqdot(obj, q) * v; - if (obj.num_position_constraints>0 && obj.num_velocity_constraints>0) + if ~isempty(obj.position_constraints) && ~isempty(obj.velocity_constraints) [phi,J,dJ] = geval(@obj.positionConstraints,q); Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); @@ -135,12 +135,12 @@ term2=Hinv*tau; constraint_force = -[J;dpsidqd]'*pinv([J*term1;dpsidqd*term1])*[J*term2 + Jdotqd + alpha*J*qd; dpsidqd*term2 + dpsidq*qd + beta*psi]; - elseif (obj.num_position_constraints>0) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... + elseif ~isempty(obj.position_constraints) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... [phi,J,dJ] = geval(@obj.positionConstraints,q); Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); constraint_force = -J'*pinv(J*Hinv*J')*(J*Hinv*tau + Jdotqd + alpha*J*qd); - elseif (obj.num_velocity_constraints>0) + elseif ~isempty(obj.velocity_constraints) [psi,J] = geval(@obj.velocityConstraints,q,qd); dpsidq = J(:,1:obj.num_positions); dpsidqd = J(:,obj.num_positions+1:end); @@ -153,18 +153,34 @@ end methods - function obj = addPositionConstraint(obj,con) - obj = + function obj = addPositionEqualityConstraint(obj,con) + % Adds a position constraint of the form phi(q) = constant + % which can be enforced directly in the manipulator dynamics. + % This method will also register phi (and it's time derivative) + % as state constraints for the dynamical system. + + typecheck(con,'Constraint'); + assert(con.xdim == obj.num_positions,'DrakeSystem:InvalidPositionConstraint','Position constraints must take a vector that is the same size as the number of positions of this system as an input'); + assert(all(con.lb == con.ub)); + obj.position_constraints{end+1} = con; + + obj = addStateConstraint(obj,con); + + obj.warning_manager.warnOnce('Drake:Manipulator:Todo','still need to add time derivatives of position constraints'); end - function obj = addVelocityConstraint(obj,con) - end - end + function obj = addVelocityEqualityConstraint(obj,con) + % Adds a velocity constraint of the form psi(q,v) = constant + % (with dpsidv~=0) which can be enforced directly in the manipulator dynamics. + % This method will also register psi as a state constraint + % for the dynamical system. + + typecheck(con,'Constraint'); + assert(con.xdim == obj.num_velocities,'DrakeSystem:InvalidVelocityConstraint','Velocity constraints must take a vector that is the same size as the number of velocities of this system as an input'); + assert(all(con.lb == con.ub)); + obj.velocity_constraints{end+1} = con; - methods (Sealed = true) - function obj = addStateConstraint(obj,con) - % Not a valid method. Enforce that it is not called directly. - error('you must set position constraints and velocity constraints explicitly. cannot set general constraints for manipulator plants'); + obj = addStateConstraint(obj,con); end end @@ -203,47 +219,33 @@ n = obj.num_velocities; end - function phi = positionConstraints(obj,q) + function varargout = positionConstraints(obj,q) % Implements position constraints of the form phi(q) = 0 - error('manipulators with position constraints must overload this function'); + + varargout = cell(1,nargout); + for i=1:length(obj.position_constraints) + v = cell(1,nargout); + [v{:}] = obj.position_constraints{i}.eval(x); + v{1} = v{1} - obj.position_constraints{i}.lb; % center it around 0 + for j=1:length(nargout) + varargout{j} = vertcat(varargout{j},v{j}); + end + end end - function psi = velocityConstraints(obj,q,v) - % Implements velocity constraints of the form psi(q,qdot) = 0 - % Note: dphidqdot must not be zero. constraints which depend + function varargout = velocityConstraints(obj,q,v) + % Implements velocity constraints of the form psi(q,v) = 0 + % Note: dphidv must not be zero. constraints which depend % only on q should be implemented instead as positionConstraints. - error('manipulators with velocity constraints must overload this function'); - end - function [con,dcon] = stateConstraints(obj,x) - % wraps up the position and velocity constraints into the general constriant - % method. note that each position constraint (phi=0) also imposes an implicit - % velocity constraint on the system (phidot=0). - - q=x(1:obj.num_positions); v=x(obj.num_positions+1:end); - qd = vToqdot(obj, q) * v; - if (obj.num_position_constraints>0) - if (nargout>1) - [phi,J,dJ] = geval(@obj.positionConstraints,q); - else - [phi,J] = geval(@obj.positionConstraints,q); - end - else - phi=[]; J=zeros(0,obj.num_positions); dJ=zeros(0,obj.num_positions^2); - end - if (obj.num_velocity_constraints>0) - if (nargout>1) - [psi,dpsi] = obj.velocityConstraints(q,qd); - else - psi = obj.velocityConstraints(q,qd); + varargout = cell(1,nargout); + for i=1:length(obj.velocity_constraints) + v = cell(1,nargout); + [v{:}] = obj.velocity_constraints{i}.eval(x); + v{1} = v{1} - obj.velocity_constraints{i}.lb; % center it around 0 + for j=1:length(nargout) + varargout{j} = vertcat(varargout{j},v{j}); end - else - psi=[]; dpsi=zeros(0,obj.num_x); - end - - con = [phi; J*qd; psi]; % phi=0, phidot=0, psi=0 - if (nargout>1) - dcon = [J,0*J; matGradMult(reshape(dJ,size(dJ,1)*obj.num_positions,obj.num_positions),qd), J; dpsi]; end end @@ -255,24 +257,6 @@ function num_contacts(obj) error('getNumContacts is no longer supported, in anticipation of alowing multiple contacts per body pair. Use getNumContactPairs for cases where the number of contacts is fixed'); end - function prog = addStateConstraintsToProgram(obj,prog,indices) - % adds state constraints and unilateral constriants to the - % program on the specified indices. derived classes can overload - % this method to add additional constraints. - % - % @param prog a NonlinearProgramWConstraintObjects class - % @param indices the indices of the state variables in the program - % @default 1:nX - - if nargin<3, indices=1:obj.num_x; end - prog = addStateConstraintsToProgram@DrakeSystem(obj,prog,indices); - - % add joint limit constraints - con = BoundingBoxConstraint(obj.joint_limit_min,obj.joint_limit_max); - con = setName(con,'Joint Limits'); - prog = addConstraint(prog,con,1:obj.num_positions); - end - function sys = feedback(sys1,sys2) % Attempt to produce a new manipulator system if possible @@ -436,14 +420,30 @@ function num_contacts(obj) jl_max = obj.joint_limit_max; end + function obj = setJointLimits(obj,jl_min,jl_max) + sizecheck(jl_min,[obj.num_positions,1]); + sizecheck(jl_max,[obj.num_positions,1]); + assert(all(jl_max>=jl_min)); + obj.joint_limit_min = jl_min; + obj.joint_limit_max = jl_max; + + if isempty(obj.joint_limit_constraint_index) + obj.joint_limit_constriant_index = numel(obj.state_constraints)+1; + end + con = BoundingBoxConstraint([jl_min;-inf(obj.num_velocities,1)],[jl_max;-inf(obj.num_velocities,1)]); + con = setName(con,'JointLimits'); + obj.state_constraints{obj.joint_limit_constraint_index} = con; + end + end - properties (SetAccess = protected, GetAccess = public) + properties (SetAccess = private, GetAccess = public) num_positions=0; num_velocities=0; - num_position_constraints = 0 % the number of position constraints of the form phi(q)=0 - num_velocity_constraints = 0 % the number of velocity constraints of the form psi(q,qd)=0 + position_constraints = {}; % position equality constraints of the form phi(q)=const + velocity_constraints = {}; % velocity equality constraints of the form psi(q,qd)=const joint_limit_min = -inf; % vector of length num_q with lower limits joint_limit_max = inf; % vector of length num_q with upper limits + joint_limit_constraint_index = []; end end From 273d37dea3a70153b919d62b0fd92a2c391688e0 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 23 Aug 2014 20:27:08 -0400 Subject: [PATCH 099/271] zapped UnsupportedJointLimits warning --- examples/Atlas/runAtlasBalancing.m | 9 +- examples/Atlas/runAtlasRunning.m | 15 +- examples/Atlas/runAtlasWalking.m | 16 +- examples/Atlas/test/multiRobotTest.m | 3 +- examples/Atlas/test/runDoubleAtlas.m | 2 - .../test/singleJointParameterEstimation.m | 3 - examples/Atlas/test/testFindKinematicPath.m | 17 +- examples/Atlas/test/testRunningPlanner.m | 30 ++- .../KneedCompassGait/dev/testNewTrajOpt.m | 5 +- examples/PR2/runPassive.m | 4 +- examples/PR2/runSaggitalPassive.m | 4 +- examples/Wingeron/findTrim.m | 7 +- .../dev/aggregateMonkeybarData.m | 3 +- .../dev/compareMonkeybarLanding.m | 7 +- .../testComDynamicsFullKinematicsPlanner3.m | 5 +- solvers/trajectoryOptimization/dev/testJump.m | 5 +- .../dev/testMonkeyBar.m | 171 +++++++++--------- .../dev/testSalmonBar.m | 8 +- .../trajectoryOptimization/dev/testSquat.m | 1 - .../dev/visualizeMonkeyBar.m | 1 - .../RigidBodyManipulator.m | 22 +-- .../plants/TimeSteppingRigidBodyManipulator.m | 18 +- .../AllBodiesClosestDistanceConstraintTest.m | 1 - .../test/RelativeGazeTargetConstraintTest.m | 2 - .../test/RelativePositionConstraintTest.m | 1 - .../test/RelativeQuatConstraintTest.m | 1 - .../test/WorldPositionInFrameConstraintTest.m | 1 - systems/plants/constraint/test/testKinCnst.m | 1 - .../HybridRigidBodyMode.m | 43 +++-- systems/plants/test/collisionDetectGradTest.m | 1 - systems/plants/test/createAtlas.m | 3 +- systems/plants/test/fallingCapsulesTest.m | 5 +- systems/plants/test/testApproximateIK.m | 1 - systems/plants/test/testCOM.m | 3 +- systems/plants/test/testGetCMMdA.m | 3 +- systems/plants/test/testIK.m | 1 - systems/plants/test/testIKoptions.m | 1 - systems/plants/test/testIKtraj.m | 3 +- systems/plants/test/testURDFcollisionmex.m | 1 - .../test/testFootstepSolvers.m | 2 - systems/robotInterfaces/test/testMIQP.m | 1 - systems/robotInterfaces/test/testMISOCP.m | 1 - 42 files changed, 186 insertions(+), 246 deletions(-) diff --git a/examples/Atlas/runAtlasBalancing.m b/examples/Atlas/runAtlasBalancing.m index 3594d4e352c6..f0b50d3ffc74 100644 --- a/examples/Atlas/runAtlasBalancing.m +++ b/examples/Atlas/runAtlasBalancing.m @@ -17,7 +17,6 @@ function runAtlasBalancing(use_mex) % silence some warnings warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints') -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits') warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits') options.floating = true; @@ -41,7 +40,7 @@ function runAtlasBalancing(use_mex) com = getCOM(r,kinsol); -% build TI-ZMP controller +% build TI-ZMP controller footidx = [findLinkInd(r,'r_foot'), findLinkInd(r,'l_foot')]; foot_pos = terrainContactPositions(r,kinsol,footidx); comgoal = mean([mean(foot_pos(1:2,1:4)');mean(foot_pos(1:2,5:8)')])'; @@ -49,7 +48,7 @@ function runAtlasBalancing(use_mex) [~,V] = lqr(limp,comgoal); foot_support = RigidBodySupportState(r,find(~cellfun(@isempty,strfind(r.getLinkNames(),'foot')))); - + ctrl_data = QPControllerData(false,struct(... 'acceleration_input_frame',AtlasCoordinates(r),... @@ -80,7 +79,7 @@ function runAtlasBalancing(use_mex) options.Kp_ang = 1.0; % angular momentum proportunal feedback gain options.W_kdot = 1e-5*eye(3); % angular momentum weight else - options.W_kdot = zeros(3); + options.W_kdot = zeros(3); end qp = QPController(r,{},ctrl_data,options); @@ -105,7 +104,7 @@ function runAtlasBalancing(use_mex) sys = mimoFeedback(fc,sys,[],[],ins,outs); clear ins; -% feedback PD trajectory controller +% feedback PD trajectory controller options.use_ik = false; pd = IKPDBlock(r,ctrl_data,options); ins(1).system = 1; diff --git a/examples/Atlas/runAtlasRunning.m b/examples/Atlas/runAtlasRunning.m index c35200a6221e..b6c3a1e0e854 100644 --- a/examples/Atlas/runAtlasRunning.m +++ b/examples/Atlas/runAtlasRunning.m @@ -13,7 +13,6 @@ function runAtlasRunning(use_mex,use_angular_momentum) % silence some warnings warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints') -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits') warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits') options.floating = true; @@ -67,13 +66,13 @@ function runAtlasRunning(use_mex,use_angular_momentum) comddot = sol.comddot; ts = sol.t; for i=1:5 % three strides - comi = sol.com; + comi = sol.com; comdoti = sol.comdot; comddoti = sol.comddot; if mod(i,2) - comi(2,:) = -comi(2,:); - comdoti(2,:) = -comdoti(2,:); - comddoti(2,:) = -comddoti(2,:); + comi(2,:) = -comi(2,:); + comdoti(2,:) = -comdoti(2,:); + comddoti(2,:) = -comddoti(2,:); end comi(1,:) = comi(1,:) + com(1,end); com = [com,comi]; @@ -162,7 +161,7 @@ function runAtlasRunning(use_mex,use_angular_momentum) options.Kp_ang = 1.0; % angular momentum proportunal feedback gain options.W_kdot = 1e-5*eye(3); % angular momentum weight else - options.W_kdot = zeros(3); + options.W_kdot = zeros(3); end boptions.Kp =250*ones(6,1); @@ -224,8 +223,8 @@ function runAtlasRunning(use_mex,use_angular_momentum) ins(7).system = 2; ins(7).input = 8; sys = mimoFeedback(fc,sys,[],[],ins,outs); -clear ins; - +clear ins; + % feedback PD block options.use_ik = false; pd = IKPDBlock(r,ctrl_data,options); diff --git a/examples/Atlas/runAtlasWalking.m b/examples/Atlas/runAtlasWalking.m index 6be607141b34..10bbe4e93df4 100644 --- a/examples/Atlas/runAtlasWalking.m +++ b/examples/Atlas/runAtlasWalking.m @@ -22,7 +22,6 @@ function runAtlasWalking(use_mex,use_bullet,use_angular_momentum,navgoal) % silence some warnings warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints') -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits') warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits') % construct robot model @@ -47,12 +46,12 @@ function runAtlasWalking(use_mex,use_bullet,use_angular_momentum,navgoal) % Find the initial positions of the feet R=rotz(navgoal(6)); - -rfoot_navgoal = navgoal; + +rfoot_navgoal = navgoal; lfoot_navgoal = navgoal; -rfoot_navgoal(1:3) = rfoot_navgoal(1:3) + R*[0;-0.13;0]; -lfoot_navgoal(1:3) = lfoot_navgoal(1:3) + R*[0;0.13;0]; +rfoot_navgoal(1:3) = rfoot_navgoal(1:3) + R*[0;-0.13;0]; +lfoot_navgoal(1:3) = lfoot_navgoal(1:3) + R*[0;0.13;0]; % Plan footsteps to the goal goal_pos = struct('right', rfoot_navgoal, 'left', lfoot_navgoal); @@ -66,7 +65,7 @@ function runAtlasWalking(use_mex,use_bullet,use_angular_momentum,navgoal) % if plot_comtraj % % plot walking traj in drake viewer % lcmgl = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(),'walking-plan'); -% +% % for i=1:length(ts) % lcmgl.glColor3f(0, 0, 1); % lcmgl.sphere([walking_plan_data.comtraj.eval(ts(i));0], 0.01, 20, 20); @@ -111,7 +110,7 @@ function runAtlasWalking(use_mex,use_bullet,use_angular_momentum,navgoal) options.Kp_ang = 1.0; % angular momentum proportunal feedback gain options.W_kdot = 1e-5*eye(3); % angular momentum weight else - options.W_kdot = zeros(3); + options.W_kdot = zeros(3); end lfoot_motion = BodyMotionControlBlock(r,'l_foot',ctrl_data,options); @@ -153,7 +152,7 @@ function runAtlasWalking(use_mex,use_bullet,use_angular_momentum,navgoal) outs(1).system = 2; outs(1).output = 1; sys = mimoFeedback(fc,sys,[],[],ins,outs); -clear ins outs; +clear ins outs; % feedback PD block options.use_ik = false; @@ -366,4 +365,3 @@ function runAtlasWalking(use_mex,use_bullet,use_angular_momentum,navgoal) end % TIMEOUT 1500 - diff --git a/examples/Atlas/test/multiRobotTest.m b/examples/Atlas/test/multiRobotTest.m index cda61b4e666b..abe0f3261c2c 100644 --- a/examples/Atlas/test/multiRobotTest.m +++ b/examples/Atlas/test/multiRobotTest.m @@ -4,8 +4,7 @@ options.view = 'right'; r = PlanarRigidBodyManipulator('',options); -w = warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); -warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); +w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); r = addRobotFromURDF(r,urdf,[-1;2]); r = addRobotFromURDF(r,urdf,[1;2]); warning(w); diff --git a/examples/Atlas/test/runDoubleAtlas.m b/examples/Atlas/test/runDoubleAtlas.m index ace76c2fe826..c1ed8581b014 100644 --- a/examples/Atlas/test/runDoubleAtlas.m +++ b/examples/Atlas/test/runDoubleAtlas.m @@ -11,14 +11,12 @@ options.floating = true; %s = 'urdf/simple_atlas_minimal_contact.urdf'; s = '../urdf/atlas_minimal_contact.urdf'; -w = warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); r = addRobotFromURDF(r,s,[0;0;0],[0;0;0],options); options.namesuffix = 'rotated'; r = addRobotFromURDF(r,s,[1;0;0],[0;0;0],options); r = r.removeCollisionGroupsExcept({'toe','heel'}); r = compile(r); -warning(w); %options.viewer = 'BotVisualizer'; v = r.constructVisualizer(options); diff --git a/examples/Atlas/test/singleJointParameterEstimation.m b/examples/Atlas/test/singleJointParameterEstimation.m index d9108a866b41..f02e8a5bff96 100644 --- a/examples/Atlas/test/singleJointParameterEstimation.m +++ b/examples/Atlas/test/singleJointParameterEstimation.m @@ -1,6 +1,5 @@ function singleJointParameterEstimation -w = warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); r = RigidBodyManipulator('../urdf/atlas_minimal_contact.urdf'); shoulder = findJointInd(r,'l_arm_usy'); @@ -11,5 +10,3 @@ end r = compile(r); -warning(w); - diff --git a/examples/Atlas/test/testFindKinematicPath.m b/examples/Atlas/test/testFindKinematicPath.m index 30454f3dcf37..0ec447a2d43d 100644 --- a/examples/Atlas/test/testFindKinematicPath.m +++ b/examples/Atlas/test/testFindKinematicPath.m @@ -1,9 +1,7 @@ function testFindKinematicPath() options.floating = true; -w = warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); robot = RigidBodyManipulator(fullfile('../urdf/atlas_minimal_contact.urdf'),options); -warning(w); num_bodies = robot.getNumBodies(); @@ -22,22 +20,22 @@ function testFindKinematicPath() valuecheck(robot.findKinematicPath(i, parent), [i; parent]); valuecheck(robot.findKinematicPath(parent, i), [parent; i]); end - + for j = 1 : num_bodies path = robot.findKinematicPath(i, j); - + % verify that no paths have repeated entries valuecheck(length(unique(path)), length(path)); - + % verify that all paths are connected assert(isLinkPathConnected(path, robot)); - + % verify that all paths have at most one direction change assert(getDirectionChanges(path) < 2) - + if (getDirectionChanges(path) == 1) end - + % if (getDirectionChanges(path) > 1) % printBodyNames(path, robot); % robot.drawKinematicTree(); @@ -55,7 +53,7 @@ function testFindKinematicPath() if j <= path_length a = path(i); b = path(j); - + is_a_parent_of_b = robot.getBody(a).parent == b; is_b_parent_of_a = robot.getBody(b).parent == a; if ~(is_a_parent_of_b || is_b_parent_of_a) @@ -88,4 +86,3 @@ function printBodyNames(path, robot) disp(robot.getLinkName(path(i))) end end - diff --git a/examples/Atlas/test/testRunningPlanner.m b/examples/Atlas/test/testRunningPlanner.m index 063954082817..f4f1eea6e30c 100644 --- a/examples/Atlas/test/testRunningPlanner.m +++ b/examples/Atlas/test/testRunningPlanner.m @@ -4,17 +4,16 @@ if (nargin < 2 || isempty(stride_length)), stride_length = 2; end if (nargin < 3 || isempty(major_iteration_limit)), major_iteration_limit = 200; end if (nargin < 4 || isempty(suffix)), suffix = 'testRunning'; end - if (nargin < 5 || isempty(options)) - options = defaultOptionsStruct(); + if (nargin < 5 || isempty(options)) + options = defaultOptionsStruct(); else - options = parseOptionsStruct(options); + options = parseOptionsStruct(options); end % Construct RigidBodyManipulator w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); - warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); options.floating = true; options.terrain = RigidBodyFlatTerrain; @@ -64,7 +63,7 @@ v.draw(0,qstar); q0 = qstar; q0(neck_idx) = 0; - if options.start_from_standing + if options.start_from_standing assert(~isempty(options.stride_filename)); S = load(options.stride_filename); options.q_apex = S.sol.q(:,end); @@ -243,7 +242,7 @@ fb_v_max = 5; cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-fb_v_max*ones(3,N),fb_v_max*ones(3,N)),cdfkp.v_inds(1:3,:)); end - + % Add initial contition constraints if options.start_from_standing cdfkp = cdfkp.addConstraint(ConstantConstraint([0;0]), ... @@ -393,7 +392,7 @@ end end end - + % TODO: Set up seed if isempty(seed) x_seed = zeros(cdfkp.num_vars,1); @@ -415,7 +414,7 @@ else x_seed = seed.x_sol; end - + % Set up solver options cdfkp = cdfkp.setSolverOptions('snopt','iterationslimit',1e6); cdfkp = cdfkp.setSolverOptions('snopt','majoriterationslimit',major_iteration_limit); @@ -424,14 +423,14 @@ cdfkp = cdfkp.setSolverOptions('snopt','superbasicslimit',2000); cdfkp = cdfkp.setSolverOptions('snopt','linesearchtolerance',0.9); cdfkp = cdfkp.setSolverOptions('snopt','print',sprintf('snopt_%s.out',suffix)); - + % Solve trajectory optimization tic %profile on; [x_sol,~,~] = cdfkp.solve(x_seed); %profile off; toc - + % Parse trajectory optimization output sol.x_sol = x_sol; sol.q = reshape(x_sol(cdfkp.q_inds(:)),nq,N); @@ -571,19 +570,19 @@ function displayCallback(in_stance,N,x) x_data = [zeros(2,numel(ts));q;0*q]; utime = now() * 24 * 60 * 60; snopt_info_vector = ones(1, size(x_data,2)); - sfigure(7); + sfigure(7); subplot(2,1,1); - plot(ts,com_z,'bo-'); + plot(ts,com_z,'bo-'); hold on - plot(ts(in_stance),com_z(in_stance),'ro-'); + plot(ts(in_stance),com_z(in_stance),'ro-'); title('COM Height') xlabel('t (s)') ylabel('z (m)') hold off subplot(2,1,2); - plot(ts,comdot_x,'bo-'); + plot(ts,comdot_x,'bo-'); hold on - plot(ts(in_stance),comdot_x(in_stance),'ro-'); + plot(ts(in_stance),comdot_x(in_stance),'ro-'); title('COM velocity') xlabel('t (s)') ylabel('xdot (m/s)') @@ -635,4 +634,3 @@ function displayCallback(in_stance,N,x) end end end - diff --git a/examples/KneedCompassGait/dev/testNewTrajOpt.m b/examples/KneedCompassGait/dev/testNewTrajOpt.m index 304111a57a6e..270957cd4143 100644 --- a/examples/KneedCompassGait/dev/testNewTrajOpt.m +++ b/examples/KneedCompassGait/dev/testNewTrajOpt.m @@ -1,7 +1,6 @@ function [p,xtraj,utraj,ltraj,ljltraj,z,F,info,traj_opt] = testNewTrajOpt(xtraj,utraj,ltraj,ljltraj) warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); warning('off','Drake:RigidBodyManipulator:WeldedLinkInd'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); options.terrain = RigidBodyFlatTerrain(); options.floating = true; options.ignore_self_collisions = true; @@ -16,7 +15,7 @@ % periodic constraint R_periodic = zeros(p.getNumStates,2*p.getNumStates); -R_periodic(2,2) = 1; %z +R_periodic(2,2) = 1; %z R_periodic(3,3) = 1; %pitch-hip w/symmetry R_periodic(3,5) = 1; %pitch-hip w/symmetry R_periodic(4,6) = 1; %knee w/symmetry @@ -44,7 +43,7 @@ if nargin < 2 %Try to come up with a reasonable trajectory - x1 = [.3;1;pi/8-pi/16;pi/8;-pi/8;pi/8;zeros(6,1)]; + x1 = [.3;1;pi/8-pi/16;pi/8;-pi/8;pi/8;zeros(6,1)]; t_init = linspace(0,T0,N); % traj_init.x = PPTrajectory(foh(t_init,linspacevec(x0,xf,N))); traj_init.x = PPTrajectory(foh(t_init,[linspacevec(x0,x1,N2), linspacevec(x1,xf,N-N2)])); diff --git a/examples/PR2/runPassive.m b/examples/PR2/runPassive.m index 79e2cae798c8..f24853d36207 100644 --- a/examples/PR2/runPassive.m +++ b/examples/PR2/runPassive.m @@ -5,7 +5,6 @@ options.terrain = RigidBodyFlatTerrain(); w = warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:BodyHasZeroInertia'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); warning('off','Drake:RigidBodyGeometry:SimplifiedCollisionGeometry'); @@ -26,9 +25,8 @@ sys = cascade(r,v); warning(s); simulate(sys,[0 10],x0); -else +else % Run simulation, then play it back at realtime speed xtraj = simulate(r,[0 5],x0); v.playback(xtraj); end - diff --git a/examples/PR2/runSaggitalPassive.m b/examples/PR2/runSaggitalPassive.m index dfde4c49d3bb..81847ea70e26 100644 --- a/examples/PR2/runSaggitalPassive.m +++ b/examples/PR2/runSaggitalPassive.m @@ -6,7 +6,6 @@ options.terrain = RigidBodyFlatTerrain(); w = warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:BodyHasZeroInertia'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); warning('off','Drake:RigidBodyGeometry:SimplifiedCollisionGeometry'); @@ -27,10 +26,9 @@ s = warning('off','Drake:DrakeSystem:UnsupportedSampleTime'); % we are knowingly breaking out to a simulink model with the cascade on the following line. sys = cascade(r,v); warning(s); - simulate(sys,[0 10],x0); + simulate(sys,[0 10],x0); else % Run simulation, then play it back at realtime speed xtraj = simulate(r,[0 5],x0); v.playback(xtraj); end - diff --git a/examples/Wingeron/findTrim.m b/examples/Wingeron/findTrim.m index 21f95bc794a5..6b57010e2d26 100644 --- a/examples/Wingeron/findTrim.m +++ b/examples/Wingeron/findTrim.m @@ -13,7 +13,7 @@ % [14.4165 -0.0007 0] % [0 0 0] % [0 0 0 0] -% +% %Torques[LWing RWing Elev Rudder Thrust] % U = [-0.0187 -0.0169 0.0020 -0.0095 573.0327] % @@ -24,7 +24,6 @@ options.floating = true; w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); p = RigidBodyManipulator('Plane.URDF', options); warning(w); @@ -49,7 +48,7 @@ ub = [0 0 0 .1 1 .1 1 1 1 1 20 tol 0 0 0 0 0 0 0 0 2 2 2 2 700]'; % function x0, A,b, Aeq,beq,lb,ub,nlcon,options [sol,~,exitflag] = fmincon(@minfun, X0, A,b, [], [], lb, ub, [],options); - + function y = minfun(inX) x = inX(1:20); u = inX(21:25); @@ -60,4 +59,4 @@ end end -%visualizer bug \ No newline at end of file +%visualizer bug diff --git a/solvers/trajectoryOptimization/dev/aggregateMonkeybarData.m b/solvers/trajectoryOptimization/dev/aggregateMonkeybarData.m index ee7c748d1b53..226d21396b07 100644 --- a/solvers/trajectoryOptimization/dev/aggregateMonkeybarData.m +++ b/solvers/trajectoryOptimization/dev/aggregateMonkeybarData.m @@ -2,7 +2,6 @@ w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); robot = RigidBodyManipulator([getDrakePath,'/examples/Atlas/urdf/atlas_convex_hull.urdf'],struct('floating',true)); @@ -100,4 +99,4 @@ xtraj_all = PPTrajectory(foh(t_all,[q_all;v_all;])); save('test_monkeybar.mat','t_all','q_all','v_all','xtraj_all','wrench_all'); -end \ No newline at end of file +end diff --git a/solvers/trajectoryOptimization/dev/compareMonkeybarLanding.m b/solvers/trajectoryOptimization/dev/compareMonkeybarLanding.m index a4589c666a2b..3b310b803a29 100644 --- a/solvers/trajectoryOptimization/dev/compareMonkeybarLanding.m +++ b/solvers/trajectoryOptimization/dev/compareMonkeybarLanding.m @@ -3,7 +3,6 @@ w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); robot = RigidBodyManipulator([getDrakePath,'/examples/Atlas/urdf/atlas_minimal_contact.urdf'],struct('floating',true)); monkeybar_urdf = [getDrakePath,'/solvers/trajectoryOptimization/test/MonkeyBar.urdf']; @@ -52,7 +51,7 @@ inactive_j = (1:8)'; active_i = []; active_j = []; -for i = 1:6 +for i = 1:6 active_idx_i = find(contact_pt_active(:,i)); inactive_idx_i = find(~contact_pt_active(:,i)); inactive_i = [inactive_i;(i+8)*ones(length(inactive_idx_i),1)]; @@ -75,7 +74,7 @@ inactive_j = (1:8)'; active_i = []; active_j = []; -for i = 1:6 +for i = 1:6 active_idx_i = find(contact_pt_active_complementarity(:,i)); inactive_idx_i = find(~contact_pt_active_complementarity(:,i)); inactive_i = [inactive_i;(i+8)*ones(length(inactive_idx_i),1)]; @@ -91,4 +90,4 @@ set(gca,'XTick',8:14); xlabel('knot') title(sprintf('Contact sequence AFTER optimizing \n with complementarity constraints'),'Fontsize',28); -end \ No newline at end of file +end diff --git a/solvers/trajectoryOptimization/dev/testComDynamicsFullKinematicsPlanner3.m b/solvers/trajectoryOptimization/dev/testComDynamicsFullKinematicsPlanner3.m index 7a88d0629054..434103128a80 100644 --- a/solvers/trajectoryOptimization/dev/testComDynamicsFullKinematicsPlanner3.m +++ b/solvers/trajectoryOptimization/dev/testComDynamicsFullKinematicsPlanner3.m @@ -4,7 +4,6 @@ warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); urdf = [getDrakePath,'/examples/Atlas/urdf/atlas_minimal_contact.urdf']; options.floating = true; @@ -69,7 +68,7 @@ Q(1,1) = 0; Q(2,2) = 0; Q(6,6) = 0; -Qv = 0.1*eye(nv); +Qv = 0.1*eye(nv); Q_contact_force = 0*eye(3); cdfkp = ComDynamicsFullKinematicsPlanner(robot,nT,tf_range,Q_comddot,Qv,Q,q_nom,Q_contact_force,rb_wrench); cdfkp = cdfkp.addRigidBodyConstraint(WorldFixedBodyPoseConstraint(robot,l_foot),{2:nT-1}); @@ -113,4 +112,4 @@ pos2pt = pt_pos-bsxfun(@times,plane_pt,ones(1,num_pts)); c = sum(pos2pt.*bsxfun(@times,plane_normal,ones(1,num_pts)),1)'; dc = kron(speye(num_pts),plane_normal'); -end \ No newline at end of file +end diff --git a/solvers/trajectoryOptimization/dev/testJump.m b/solvers/trajectoryOptimization/dev/testJump.m index 8caa830b3da4..5564bbe46e09 100644 --- a/solvers/trajectoryOptimization/dev/testJump.m +++ b/solvers/trajectoryOptimization/dev/testJump.m @@ -5,7 +5,6 @@ function testJump(mode) warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); urdf = [getDrakePath,'/examples/Atlas/urdf/atlas_minimal_contact.urdf']; options.floating = true; @@ -113,7 +112,7 @@ function testJump(mode) % lfoot_heel_on_ground = WorldPositionConstraint(robot,l_foot,l_foot_heel,lfoot_heel_pos_star,lfoot_heel_pos_star); % % lfoot_heel_on_ground = lfoot_heel_on_ground.generateConstraint([]); % sdfkp = sdfkp.addRigidBodyConstraint(lfoot_heel_on_ground,num2cell(heel_land_idx:toe_land_idx-1)); -% +% % rfoot_heel_on_ground = WorldPositionConstraint(robot,r_foot,r_foot_heel,rfoot_heel_pos_star,rfoot_heel_pos_star); % % rfoot_heel_on_ground = rfoot_heel_on_ground.generateConstraint([]); % sdfkp = sdfkp.addRigidBodyConstraint(rfoot_heel_on_ground,num2cell(heel_land_idx:toe_land_idx-1)); @@ -138,7 +137,7 @@ function testJump(mode) cdfkp = cdfkp.addRigidBodyConstraint(rfoot_on_ground{1},num2cell([(2:heel_takeoff_idx) (heel_land_idx:nT-1)])); cdfkp = cdfkp.addRigidBodyConstraint(rfoot_on_ground{2},num2cell([(2:heel_takeoff_idx) (heel_land_idx:nT-1)])); -% +% % sdfkp = sdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(qstar(3)+0.3,inf),sdfkp.q_inds(3,apex_knot)); cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(qstar,qstar),cdfkp.q_inds(:,1)); diff --git a/solvers/trajectoryOptimization/dev/testMonkeyBar.m b/solvers/trajectoryOptimization/dev/testMonkeyBar.m index dd9c3e398ec7..9192c51edc8d 100644 --- a/solvers/trajectoryOptimization/dev/testMonkeyBar.m +++ b/solvers/trajectoryOptimization/dev/testMonkeyBar.m @@ -15,7 +15,6 @@ function testMonkeyBar(mode,ncp_tol) w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); robot = RigidBodyManipulator([getDrakePath,'/examples/Atlas/urdf/atlas_convex_hull.urdf'],struct('floating',true)); monkeybar_urdf1 = [getDrakePath,'/solvers/trajectoryOptimization/test/MonkeyBar1.urdf']; @@ -266,58 +265,58 @@ function testMonkeyBar(mode,ncp_tol) % % arm symmetry % arm_symmetry = armSymmetricConstraint(robot,2:grasp_idx1); % cdfkp = cdfkp.addLinearConstraint(arm_symmetry,reshape(cdfkp.q_inds(:,2:grasp_idx1),[],1)); -% +% % % leg symmetry % leg_symmetry = legSymmetricConstraint(robot,2:grasp_idx1); % % cdfkp = cdfkp.addLinearConstraint(leg_symmetry,reshape(cdfkp.q_inds(:,1:grasp_idx1),[],1)); -% +% % time bounds cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(0.08*ones(nT1-1,1),0.2*ones(nT1-1,1)),cdfkp.h_inds(:)); cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(0.1*ones(grasp_idx1-toe_takeoff_idx,1),0.2*ones(grasp_idx1-toe_takeoff_idx,1)),cdfkp.h_inds(toe_takeoff_idx:grasp_idx1-1)'); - + % comddot bounds cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(... reshape(bsxfun(@times,[-9.81;-9.81;-1.5*9.81],ones(1,nT1)),[],1),... reshape(bsxfun(@times,[9.81;9.81;1.5*9.81],ones(1,nT1)),[],1)),cdfkp.comddot_inds(:)); -% +% % % bound the pitch angle % cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.15*ones(toe_takeoff_idx,1),0.3*ones(toe_takeoff_idx,1)),cdfkp.q_inds(5,1:toe_takeoff_idx)'); -% +% % bound the position of the hand prior to grasping cdfkp = cdfkp.addRigidBodyConstraint(WorldPositionConstraint(robot,l_hand,l_hand_pt,nan(3,1),[monkeybar_pos1(1);nan(2,1)]),{grasp_idx1-1}); cdfkp = cdfkp.addRigidBodyConstraint(WorldPositionConstraint(robot,r_hand,r_hand_pt,nan(3,1),[monkeybar_pos1(1);nan(2,1)]),{grasp_idx1-1}); -% +% % % bound back_bkx (roll) % cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.15*ones(grasp_idx1,1),0.2*ones(grasp_idx1,1)),cdfkp.q_inds(back_bkx,1:grasp_idx1)'); -% +% % % bound back_bky (pitch) % cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.2*ones(toe_takeoff_idx) % bend the knee in taking off knee_bend_idx = ceil((1+heel_takeoff_idx)/2); cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(q_initial(l_leg_kny)+0.4,inf),cdfkp.q_inds(l_leg_kny,knee_bend_idx)); cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(q_initial(r_leg_kny)+0.4,inf),cdfkp.q_inds(r_leg_kny,knee_bend_idx)); - + % bound the torso direction. To be as straight as possible torso_straight_cnstr = WorldGazeDirConstraint(robot,utorso,[0;0;1],[0;0;1],0.15); cdfkp = cdfkp.addRigidBodyConstraint(torso_straight_cnstr,num2cell(1:grasp_idx1)); -% +% % bound back_bkz cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.05*ones(nT1,1),0.05*ones(nT1,1)),cdfkp.q_inds(back_bkz,:)'); - + % bound the velocity of back_bkz cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.1*ones(nT1,1),0.1*ones(nT1,1)),cdfkp.v_inds(back_bkz,:)'); - + % bound the yaw cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.1*ones(nT1,1),0.1*ones(nT1,1)),cdfkp.q_inds(6,:)'); - + % bound roll cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.05*ones(nT1,1),0.05*ones(nT1,1)),cdfkp.q_inds(4,:)'); cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.1*ones(nT1,1),0.1*ones(nT1,1)),cdfkp.v_inds(4,:)'); -% +% % bound leg_hpx cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.07*ones(nT1,1),0.1*ones(nT1,1)),cdfkp.q_inds(l_leg_hpx,:)'); cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(-0.07*ones(nT1,1),0.1*ones(nT1,1)),cdfkp.q_inds(r_leg_hpx,:)'); - + x_seed = zeros(cdfkp.num_vars,1); x_seed(cdfkp.q_inds(:,1:toe_takeoff_idx)) = reshape(bsxfun(@times,q_initial,ones(1,toe_takeoff_idx)),[],1); x_seed(cdfkp.com_inds(:,1:toe_takeoff_idx)) = reshape(bsxfun(@times,com_initial,ones(1,toe_takeoff_idx)),[],1); @@ -347,27 +346,27 @@ function testMonkeyBar(mode,ncp_tol) keyboard; end %% -% add monkeybar +% add monkeybar if(mode == 2) % l_hand_ungrasp_idx1 = 3; % l_hand_grasp_idx2 = 6; % r_hand_ungrasp_idx1 = 9; % r_hand_grasp_idx2 = 12; % nT_swing1 = 15; -% +% % lhand_bar1_grasp_wrench = generateBarGraspingWrench(robot,l_hand,l_hand_pt,monkeybar_pos1); % rhand_bar1_grasp_wrench = generateBarGraspingWrench(robot,r_hand,r_hand_pt,monkeybar_pos1); % lhand_bar2_grasp_wrench = generateBarGraspingWrench(robot,l_hand,l_hand_pt,monkeybar_pos2); % rhand_bar2_grasp_wrench = generateBarGraspingWrench(robot,r_hand,r_hand_pt,monkeybar_pos2); -% -% +% +% % bar_contact_wrench_struct = struct('active_knot',[],'cw',[]); % bar_contact_wrench_struct(1) = struct('active_knot',1:l_hand_ungrasp_idx1,'cw',lhand_bar1_grasp_wrench); % bar_contact_wrench_struct(2) = struct('active_knot',l_hand_grasp_idx2:nT_swing1,'cw',lhand_bar2_grasp_wrench); % bar_contact_wrench_struct(3) = struct('active_knot',1:r_hand_ungrasp_idx1,'cw',rhand_bar1_grasp_wrench); % bar_contact_wrench_struct(4) = struct('active_knot',r_hand_grasp_idx2:nT_swing1,'cw',rhand_bar2_grasp_wrench); -% -% +% +% % tf_range = [0.5 2]; % q_nom = bsxfun(@times,q_fp,ones(1,nT_swing1)); % Q_comddot = eye(3); @@ -378,28 +377,28 @@ function testMonkeyBar(mode,ncp_tol) % % Q_contact_force = 20/(robot.getMass*9.81)^2*eye(3); % Q_contact_force = zeros(3); % cdfkp = ComDynamicsFullKinematicsPlanner(robot,nT_swing1,tf_range,Q_comddot,Qv,Q,q_nom,Q_contact_force,bar_contact_wrench_struct); -% -% +% +% % [~,lhand_bar1_grasp_dir_cnstr] = generateBarGraspConstraint(robot,l_hand,l_hand_pt,l_hand_grasp_axis,monkeybar_pos1,bar_length,bar_width); % lhand_bar1_grasp_pt_cnstr = WorldPositionConstraint(robot,l_hand,l_hand_pt,l_hand_pos_fp(1:3),l_hand_pos_fp(1:3)); % cdfkp = cdfkp.addRigidBodyConstraint(lhand_bar1_grasp_pt_cnstr,num2cell(2:l_hand_ungrasp_idx1)); % cdfkp = cdfkp.addRigidBodyConstraint(lhand_bar1_grasp_dir_cnstr,num2cell(2:l_hand_ungrasp_idx1)); -% +% % [~,rhand_bar1_grasp_dir_cnstr] = generateBarGraspConstraint(robot,r_hand,r_hand_pt,r_hand_grasp_axis,monkeybar_pos1,bar_length,bar_width); % rhand_bar1_grasp_pt_cnstr = WorldPositionConstraint(robot,r_hand,r_hand_pt,r_hand_pos_fp(1:3),r_hand_pos_fp(1:3)); % cdfkp = cdfkp.addRigidBodyConstraint(rhand_bar1_grasp_pt_cnstr,num2cell(2:r_hand_ungrasp_idx1)); % cdfkp = cdfkp.addRigidBodyConstraint(rhand_bar1_grasp_dir_cnstr,num2cell(2:r_hand_ungrasp_idx1)); -% +% % [lhand_bar2_grasp_pt_cnstr,lhand_bar2_grasp_dir_cnstr,lhand_bar2_fixed_pos_cnstr] = generateBarGraspConstraint(robot,l_hand,l_hand_pt,l_hand_grasp_axis,monkeybar_pos2,bar_length,bar_width); % cdfkp = cdfkp.addRigidBodyConstraint(lhand_bar2_grasp_pt_cnstr,{l_hand_grasp_idx2}); % cdfkp = cdfkp.addRigidBodyConstraint(lhand_bar2_grasp_dir_cnstr,num2cell(l_hand_grasp_idx2:nT_swing1-1)); % cdfkp = cdfkp.addRigidBodyConstraint(lhand_bar2_fixed_pos_cnstr,{l_hand_grasp_idx2:nT_swing1-1}); -% +% % [rhand_bar2_grasp_pt_cnstr,rhand_bar2_grasp_dir_cnstr,rhand_bar2_fixed_pos_cnstr] = generateBarGraspConstraint(robot,r_hand,r_hand_pt,r_hand_grasp_axis,monkeybar_pos2,bar_length,bar_width); % cdfkp = cdfkp.addRigidBodyConstraint(rhand_bar2_grasp_pt_cnstr,{r_hand_grasp_idx2}); % cdfkp = cdfkp.addRigidBodyConstraint(rhand_bar2_grasp_dir_cnstr,num2cell(r_hand_grasp_idx2:nT_swing1-1)); % cdfkp = cdfkp.addRigidBodyConstraint(rhand_bar2_fixed_pos_cnstr,{r_hand_grasp_idx2:nT_swing1-1}); -% +% % % fix initial and final state % cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(q_fp),cdfkp.q_inds(:,1)); % q_end_xyz = q_fp(1:3)+monkeybar_pos2(1:3)-monkeybar_pos1(1:3); @@ -407,13 +406,13 @@ function testMonkeyBar(mode,ncp_tol) % cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint([q_end_xyz;q_end_rpy;q_fp(7:end)]),cdfkp.q_inds(:,nT_swing1)); % cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(zeros(nv,1)),cdfkp.v_inds(:,1)); % cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(zeros(nv,1)),cdfkp.v_inds(:,nT_swing1)); -% +% % % add h bounds % cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(0.02*ones(nT_swing1-1,1),0.2*ones(nT_swing1-1,1)),cdfkp.h_inds(:)); -% +% % % add com height upper bound % cdfkp = cdfkp.addCoMBounds(1:nT_swing1,-inf(3,nT_swing1),[inf(2,nT_swing1);(monkeybar_pos1(3)-0.3)*ones(1,nT_swing1)]); -% +% % cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(... % reshape(bsxfun(@times,[-9.81/2;-9.81/2;-9.81],ones(1,nT_swing1)),[],1),... % reshape(bsxfun(@times,[9.81/2;9.81/2;9.81],ones(1,nT_swing1)),[],1)),cdfkp.comddot_inds(:)); @@ -470,7 +469,7 @@ function testMonkeyBar(mode,ncp_tol) land_contact_wrench_struct(4) = struct('active_knot',heel_land_idx:land_static_idx,'cw',LinearFrictionConeWrench(robot,r_foot,r_foot_heel,FC_edge)); land_contact_wrench_struct(5) = struct('active_knot',toe_land_idx:land_static_idx,'cw',LinearFrictionConeWrench(robot,l_foot,l_foot_toe,FC_edge)); land_contact_wrench_struct(6) = struct('active_knot',toe_land_idx:land_static_idx,'cw',LinearFrictionConeWrench(robot,r_foot,r_foot_toe,FC_edge)); - + nT3 = land_static_idx-land_start_idx+1; tf_range = [1 3]; q_nom = bsxfun(@times,qstar,ones(1,nT3)); @@ -479,7 +478,7 @@ function testMonkeyBar(mode,ncp_tol) Qv = 0.1*eye(nv); Q_contact_force = 0/(robot_mass*g)^2*eye(3); cdfkp = ComDynamicsFullKinematicsPlanner(robot,nT3,tf_range,Q_comddot,Qv,Q,q_nom,Q_contact_force,land_contact_wrench_struct); - + % add initial and final state constraint q_start = q_fp; q_start(1:3) = q_start(1:3)+monkeybar_pos5(1:3)-monkeybar_pos1(1:3); @@ -487,14 +486,14 @@ function testMonkeyBar(mode,ncp_tol) l_hand_pos_start = l_hand_pos_start(1:3)+monkeybar_pos5(1:3)-monkeybar_pos1(1:3); r_hand_pos_start = r_hand_pos_fp; r_hand_pos_start = r_hand_pos_start(1:3)+monkeybar_pos5(1:3)-monkeybar_pos1(1:3); - + cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(q_start),cdfkp.q_inds(:,land_start_idx)); cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(zeros(nv,1)),cdfkp.v_inds(:,land_start_idx)); cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(zeros(nv,1)),cdfkp.v_inds(:,land_static_idx)); - + % add time constraint cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(0.05*ones(nT3-1,1),0.2*ones(nT3-1,1)),cdfkp.h_inds(:)); - + % add grasping kinematic constraint [~,lhand_grasp_dir_cnstr1] = generateBarGraspConstraint(robot,l_hand,l_hand_pt,l_hand_grasp_axis,monkeybar_pos5,bar_length,bar_width); cdfkp = cdfkp.addRigidBodyConstraint(WorldPositionConstraint(robot,l_hand,l_hand_pt,l_hand_pos_start(1:3),l_hand_pos_start(1:3)),num2cell(land_start_idx+1:land_ungrasp_idx)); @@ -502,7 +501,7 @@ function testMonkeyBar(mode,ncp_tol) [~,rhand_grasp_dir_cnstr] = generateBarGraspConstraint(robot,r_hand,r_hand_pt,r_hand_grasp_axis,monkeybar_pos5,bar_length,bar_width); cdfkp = cdfkp.addRigidBodyConstraint(WorldPositionConstraint(robot,r_hand,r_hand_pt,r_hand_pos_start(1:3),r_hand_pos_start(1:3)),num2cell(land_start_idx+1:land_ungrasp_idx)); cdfkp = cdfkp.addRigidBodyConstraint(rhand_grasp_dir_cnstr,num2cell(land_start_idx+1:land_ungrasp_idx)); - + % add landing kinematic constraint % T_stage2_to_world = [rpy2rotmat(stage_pos2(4:6)) stage_pos2(1:3);0 0 0 1]; stage2_corner1 = stage_pos2(1:3)+[-0.95;-0.95;0.05]; @@ -519,7 +518,7 @@ function testMonkeyBar(mode,ncp_tol) cdfkp = cdfkp.addRigidBodyConstraint(lfoot_toe_above_ground_cnstr,num2cell(land_start_idx+1:toe_land_idx-1)); rfoot_toe_above_ground_cnstr = WorldPositionConstraint(robot,r_foot,r_foot_toe,repmat([-inf;-inf;stage_pos2(3)+0.06],1,2),inf(3,2)); cdfkp = cdfkp.addRigidBodyConstraint(rfoot_toe_above_ground_cnstr,num2cell(land_start_idx+1:toe_land_idx-1)); - + lfoot_heel_pos_cnstr1 = WorldPositionConstraint(robot,l_foot,l_foot_heel,repmat([stage2_corner1(1:2);nan],1,2),repmat([stage2_corner2(1:2);nan],1,2)); cdfkp = cdfkp.addRigidBodyConstraint(lfoot_heel_pos_cnstr1,{heel_land_idx}); lfoot_heel_pos_cnstr2 = WorldPositionConstraint(robot,l_foot,l_foot_heel(:,1),[nan;nan;stage_pos2(3)+0.05],[nan;nan;stage_pos2(3)+0.05]); @@ -532,18 +531,18 @@ function testMonkeyBar(mode,ncp_tol) cdfkp = cdfkp.addRigidBodyConstraint(lfoot_heel_above_ground_cnstr,num2cell(land_start_idx+1:heel_land_idx-1)); rfoot_heel_above_ground_cnstr = WorldPositionConstraint(robot,r_foot,r_foot_heel,repmat([-inf;-inf;stage_pos2(3)+0.06],1,2),inf(3,2)); cdfkp = cdfkp.addRigidBodyConstraint(rfoot_heel_above_ground_cnstr,num2cell(land_start_idx+1:heel_land_idx-1)); - + lfoot_fixed_cnstr = WorldFixedBodyPoseConstraint(robot,l_foot); cdfkp = cdfkp.addRigidBodyConstraint(lfoot_fixed_cnstr,{heel_land_idx:land_static_idx}); rfoot_fixed_cnstr = WorldFixedBodyPoseConstraint(robot,r_foot); cdfkp = cdfkp.addRigidBodyConstraint(rfoot_fixed_cnstr,{heel_land_idx:land_static_idx}); - - + + % add comddot bounds cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(... reshape(bsxfun(@times,[-9.81;-9.81;-1.5*9.81],ones(1,nT3)),[],1),... reshape(bsxfun(@times,[9.81;9.81;1.5*9.81],ones(1,nT3)),[],1)),cdfkp.comddot_inds(:)); - + % arm and leg symmetry arm_symmetry = armSymmetricConstraint(robot,land_ungrasp_idx+1:land_static_idx); cdfkp = cdfkp.addLinearConstraint(arm_symmetry,reshape(cdfkp.q_inds(:,land_ungrasp_idx+1:land_static_idx),[],1)); @@ -551,18 +550,18 @@ function testMonkeyBar(mode,ncp_tol) % leg symmetry leg_symmetry = legSymmetricConstraint(robot,land_ungrasp_idx+1:land_static_idx); cdfkp = cdfkp.addLinearConstraint(leg_symmetry,reshape(cdfkp.q_inds(:,land_ungrasp_idx+1:land_static_idx),[],1)); - + % add a torso direction constraint torso_dir_cnstr = WorldGazeDirConstraint(robot,utorso,[0;0;1],[0;0;1],0.05); cdfkp = cdfkp.addRigidBodyConstraint(torso_dir_cnstr,{land_static_idx}); - + % add a final posture cost Q = 10*eye(nq); Q(1,1) = 0; Q(2,2) = 0; Q(6,6) = 0; cdfkp = cdfkp.addCost(QuadraticConstraint(-inf,inf,Q,-Q*qstar),cdfkp.q_inds(:,land_static_idx)); - + % % add a linear constraint on leg_hpx to prevent crossing the leg % hpx_diff_max = 0.12; % leg_nocrossing_cnstr = LinearConstraint(-inf(cdfkp.N-1,1),hpx_diff_max*ones(cdfkp.N-1,1),sparse(reshape(bsxfun(@times,ones(2,1),1:cdfkp.N-1),[],1),(1:2*(cdfkp.N-1))',reshape([ones(1,cdfkp.N-1);-ones(1,cdfkp.N-1)],[],1),cdfkp.N-1,2*(cdfkp.N-1))); @@ -572,26 +571,26 @@ function testMonkeyBar(mode,ncp_tol) % end % leg_nocrossing_cnstr = leg_nocrossing_cnstr.setName(leg_nocrossing_name); % cdfkp = cdfkp.addLinearConstraint(leg_nocrossing_cnstr,reshape(cdfkp.q_inds([r_leg_hpx;l_leg_hpx],2:cdfkp.N),[],1)); - + % % add a minimum distance between feet % active_collision_options.body_idx = [l_foot,r_foot]; % active_collision_options.collision_groups = {'default'}; % feet_min_distance_cnstr = MinDistanceConstraint(robot,0.001,[-inf,inf],active_collision_options); % cdfkp = cdfkp.addRigidBodyConstraint(feet_min_distance_cnstr,num2cell(land_start_idx:heel_land_idx-1)); - + % This is a hack, but I try to prevent the two feet to collide lfoot_nocollide_cnstr = WorldPositionConstraint(robot,l_foot,l_foot_bottom,[nan(1,4);zeros(1,4);nan(1,4)],nan(3,4)); cdfkp = cdfkp.addRigidBodyConstraint(lfoot_nocollide_cnstr,num2cell(land_start_idx+1:toe_land_idx-1)); rfoot_nocollide_cnstr = WorldPositionConstraint(robot,r_foot,r_foot_bottom,nan(3,4),[nan(1,4);zeros(1,4);nan(1,4)]); cdfkp = cdfkp.addRigidBodyConstraint(rfoot_nocollide_cnstr,num2cell(land_start_idx+1:toe_land_idx-1)); - + % bend the knee at landing knee_bend_idx = heel_land_idx+1; % cdfkp= cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint([0.5;0.5],[inf;inf]),cdfkp.q_inds([l_leg_kny;r_leg_kny],knee_bend_idx)); - + % Do not bend ankle too much % cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint([-0.35;-0.35],[inf;inf]),cdfkp.q_inds([l_leg_aky;r_leg_aky],land_static_idx)); - + x_seed = zeros(cdfkp.num_vars,1); q_land_start = q_fp; q_final_guess = qstar; @@ -603,7 +602,7 @@ function testMonkeyBar(mode,ncp_tol) x_seed(cdfkp.lambda_inds{2}(:,:,1:land_ungrasp_idx)) = reshape(bsxfun(@times,[0;0;1/2;0;0;0],ones(1,land_ungrasp_idx-land_start_idx+1)),[],1); x_seed(cdfkp.lambda_inds{3}(:,:,toe_land_idx:land_static_idx)) = reshape(bsxfun(@times,0.5/(num_edges*4)*ones(num_edges,4,1),ones(1,1,land_static_idx-toe_land_idx+1)),[],1); x_seed(cdfkp.lambda_inds{4}(:,:,toe_land_idx:land_static_idx)) = reshape(bsxfun(@times,0.5/(num_edges*4)*ones(num_edges,4,1),ones(1,1,land_static_idx-toe_land_idx+1)),[],1); - + cdfkp = cdfkp.setSolverOptions('snopt','iterationslimit',1e6); cdfkp = cdfkp.setSolverOptions('snopt','majoriterationslimit',3000); cdfkp = cdfkp.setSolverOptions('snopt','majorfeasibilitytolerance',1e-6); @@ -671,7 +670,7 @@ function testMonkeyBar(mode,ncp_tol) kinsol_start = robot.doKinematics(q_start); com_start = robot.getCOM(kinsol_start); cdfkp = planBarSwing(robot,l_hand,r_hand,l_hand_pt,r_hand_pt,l_hand_grasp_axis,r_hand_grasp_axis,bar_length,bar_width,monkeybar_pos3,monkeybar_pos4,q_start); - + nT_swing1 = cdfkp.N; x_seed = zeros(cdfkp.num_vars,1); x_seed(cdfkp.h_inds) = 0.1; @@ -687,7 +686,7 @@ function testMonkeyBar(mode,ncp_tol) cdfkp = cdfkp.setSolverOptions('snopt','superbasicslimit',2000); cdfkp = cdfkp.setSolverOptions('snopt','print','test_monkeybar_swing3.out'); % cdfkp = cdfkp.setSolverOptions('snopt','scaleoption',2); - + seed_sol = load('test_monkeybar_swing32','-mat','x_sol'); % seed_sol.x_sol(cdfkp.lambda_inds{1}(1:3,:,:)) = seed_sol.x_sol(cdfkp.lambda_inds{1}(1:3,:,:))/(robot_mass*9.81); % seed_sol.x_sol(cdfkp.lambda_inds{1}(4:6,:,:)) = seed_sol.x_sol(cdfkp.lambda_inds{1}(4:6,:,:))/(robot_mass*9.81/100); @@ -724,7 +723,7 @@ function testMonkeyBar(mode,ncp_tol) % land_contact_wrench_struct(4) = struct('active_knot',foot_contact_idx:land_static_idx-1,'cw',LinearFrictionConeWrench(robot,r_foot,r_foot_bottom,FC_edge)); land_contact_wrench_struct(5) = struct('active_knot',land_static_idx,'cw',LinearFrictionConeWrench(robot,l_foot,l_foot_bottom,FC_edge)); land_contact_wrench_struct(6) = struct('active_knot',land_static_idx,'cw',LinearFrictionConeWrench(robot,r_foot,r_foot_bottom,FC_edge)); - + nT3 = land_static_idx-land_start_idx+1; tf_range = [1 3]; q_nom = bsxfun(@times,qstar,ones(1,nT3)); @@ -733,23 +732,23 @@ function testMonkeyBar(mode,ncp_tol) Qv = 0.1*eye(nv); Q_contact_force = 0/(robot_mass*g)^2*eye(3); cdfkp = ComDynamicsFullKinematicsPlanner(robot,nT3,tf_range,Q_comddot,Qv,Q,q_nom,Q_contact_force,land_contact_wrench_struct,struct('ncp_tol',ncp_tol)); - + q_start = q_fp; q_start(1:3) = q_start(1:3)+monkeybar_pos5(1:3)-monkeybar_pos1(1:3); l_hand_pos_start = l_hand_pos_fp; l_hand_pos_start = l_hand_pos_start(1:3)+monkeybar_pos5(1:3)-monkeybar_pos1(1:3); r_hand_pos_start = r_hand_pos_fp; r_hand_pos_start = r_hand_pos_start(1:3)+monkeybar_pos5(1:3)-monkeybar_pos1(1:3); - + % add initial and final state constraint cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(q_start),cdfkp.q_inds(:,land_start_idx)); cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(zeros(nv,1)),cdfkp.v_inds(:,land_start_idx)); cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(zeros(nv,1)),cdfkp.v_inds(:,land_static_idx)); - + % add time constraint cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(0.05*ones(foot_contact_idx-land_start_idx,1),0.2*ones(foot_contact_idx-land_start_idx,1)),cdfkp.h_inds(1:foot_contact_idx-land_start_idx)); cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(0.0001*ones(land_static_idx-foot_contact_idx,1),0.2*ones(land_static_idx-foot_contact_idx,1)),cdfkp.h_inds(foot_contact_idx:land_static_idx-1)); - + % add grasping kinematic constraint [~,lhand_grasp_dir_cnstr1] = generateBarGraspConstraint(robot,l_hand,l_hand_pt,l_hand_grasp_axis,monkeybar_pos5,bar_length,bar_width); cdfkp = cdfkp.addRigidBodyConstraint(WorldPositionConstraint(robot,l_hand,l_hand_pt,l_hand_pos_start(1:3),l_hand_pos_start(1:3)),num2cell(land_start_idx+1:land_ungrasp_idx)); @@ -757,7 +756,7 @@ function testMonkeyBar(mode,ncp_tol) [~,rhand_grasp_dir_cnstr] = generateBarGraspConstraint(robot,r_hand,r_hand_pt,r_hand_grasp_axis,monkeybar_pos5,bar_length,bar_width); cdfkp = cdfkp.addRigidBodyConstraint(WorldPositionConstraint(robot,r_hand,r_hand_pt,r_hand_pos_start(1:3),r_hand_pos_start(1:3)),num2cell(land_start_idx+1:land_ungrasp_idx)); cdfkp = cdfkp.addRigidBodyConstraint(rhand_grasp_dir_cnstr,num2cell(land_start_idx+1:land_ungrasp_idx)); - + % add landing kinematic constraint % T_stage2_to_world = [rpy2rotmat(stage_pos2(4:6)) stage_pos2(1:3);0 0 0 1]; stage2_corner1 = stage_pos2(1:3)+[-0.95;-0.95;0.05]; @@ -766,12 +765,12 @@ function testMonkeyBar(mode,ncp_tol) cdfkp = cdfkp.addRigidBodyConstraint(lfoot_bottom_pos_cnstr,num2cell(foot_contact_idx:land_static_idx-1)); rfoot_bottom_pos_cnstr = WorldPositionConstraint(robot,r_foot,r_foot_bottom,repmat([stage2_corner1(1:2);stage_pos2(3)+0.05],1,4),repmat([stage2_corner2(1:2);nan],1,4)); cdfkp = cdfkp.addRigidBodyConstraint(rfoot_bottom_pos_cnstr,num2cell(foot_contact_idx:land_static_idx-1)); - + lfoot_bottom_above_ground_cnstr = WorldPositionConstraint(robot,l_foot,l_foot_bottom,repmat([-inf;-inf;stage_pos2(3)+0.05],1,4),inf(3,4)); cdfkp = cdfkp.addRigidBodyConstraint(lfoot_bottom_above_ground_cnstr,num2cell(land_start_idx+1:foot_contact_idx-1)); rfoot_bottom_above_ground_cnstr = WorldPositionConstraint(robot,r_foot,r_foot_bottom,repmat([-inf;-inf;stage_pos2(3)+0.05],1,4),inf(3,4)); cdfkp = cdfkp.addRigidBodyConstraint(rfoot_bottom_above_ground_cnstr,num2cell(land_start_idx+1:foot_contact_idx-1)); - + lfoot_bottom_on_ground_cnstr1 = WorldPositionConstraint(robot,l_foot,l_foot_bottom,repmat([stage2_corner1(1:2);nan],1,4),repmat([stage2_corner2(1:2);nan],1,4)); cdfkp = cdfkp.addRigidBodyConstraint(lfoot_bottom_on_ground_cnstr1,{land_static_idx}); lfoot_bottom_on_ground_cnstr2 = WorldPositionConstraint(robot,l_foot,l_foot_bottom(:,1:3),repmat([nan;nan;stage_pos2(3)+0.05],1,3),repmat([nan;nan;stage_pos2(3)+0.05],1,3)); @@ -780,12 +779,12 @@ function testMonkeyBar(mode,ncp_tol) cdfkp = cdfkp.addRigidBodyConstraint(rfoot_bottom_on_ground_cnstr1,{land_static_idx}); rfoot_bottom_on_ground_cnstr2 = WorldPositionConstraint(robot,r_foot,r_foot_bottom(:,1:3),repmat([nan;nan;stage_pos2(3)+0.05],1,3),repmat([nan;nan;stage_pos2(3)+0.05],1,3)); cdfkp = cdfkp.addRigidBodyConstraint(rfoot_bottom_on_ground_cnstr2,{land_static_idx}); - + % add comddot bounds cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(... reshape(bsxfun(@times,[-9.81;-9.81;-1.5*9.81],ones(1,nT3)),[],1),... reshape(bsxfun(@times,[9.81;9.81;1.5*9.81],ones(1,nT3)),[],1)),cdfkp.comddot_inds(:)); - + % arm and leg symmetry % arm_symmetry = armSymmetricConstraint(robot,land_ungrasp_idx+1:land_static_idx); % cdfkp = cdfkp.addLinearConstraint(arm_symmetry,reshape(cdfkp.q_inds(:,land_ungrasp_idx+1:land_static_idx),[],1)); @@ -800,11 +799,11 @@ function testMonkeyBar(mode,ncp_tol) Q(2,2) = 0; Q(6,6) = 0; cdfkp = cdfkp.addCost(QuadraticConstraint(-inf,inf,Q,-Q*qstar),cdfkp.q_inds(:,land_static_idx)); - + % add a torso direction constraint torso_dir_cnstr = WorldGazeDirConstraint(robot,utorso,[0;0;1],[0;0;1],0.25); cdfkp = cdfkp.addRigidBodyConstraint(torso_dir_cnstr,{land_static_idx}); - + x_seed = zeros(cdfkp.num_vars,1); q_land_start = q_fp; q_final_guess = qstar; @@ -816,7 +815,7 @@ function testMonkeyBar(mode,ncp_tol) x_seed(cdfkp.lambda_inds{2}(:,:,1:land_ungrasp_idx)) = reshape(bsxfun(@times,[r_hand_force_fp;0;0;0],ones(1,land_ungrasp_idx-land_start_idx+1)),[],1); x_seed(cdfkp.lambda_inds{3}(:,:,foot_contact_idx:land_static_idx)) = reshape(bsxfun(@times,0.5/(num_edges*4)*ones(num_edges,4,1),ones(1,1,land_static_idx-foot_contact_idx+1)),[],1); x_seed(cdfkp.lambda_inds{4}(:,:,foot_contact_idx:land_static_idx)) = reshape(bsxfun(@times,0.5/(num_edges*4)*ones(num_edges,4,1),ones(1,1,land_static_idx-foot_contact_idx+1)),[],1); - + cdfkp = cdfkp.setSolverOptions('snopt','iterationslimit',1e6); cdfkp = cdfkp.setSolverOptions('snopt','majoriterationslimit',3000); cdfkp = cdfkp.setSolverOptions('snopt','majorfeasibilitytolerance',1e-6); @@ -845,7 +844,7 @@ function testMonkeyBar(mode,ncp_tol) % seed_x_sol(cdfkp.lambda_inds{2}(:)) = seed_sol.lambda_sol{2}(:); % seed_x_sol(cdfkp.lambda_inds{3}(:)) = seed_sol.lambda_sol{3}(:); % seed_x_sol(cdfkp.lambda_inds{4}(:)) = seed_sol.lambda_sol{4}(:); - + % cdfkp_initial_gamma = cdfkp; % cdfkp_initial_gamma = cdfkp_initial_gamma.addBoundingBoxConstraint(ConstantConstraint(seed_sol.h_sol),cdfkp_initial_gamma.h_inds(:)); @@ -860,7 +859,7 @@ function testMonkeyBar(mode,ncp_tol) % cdfkp_initial_gamma = cdfkp_initial_gamma.addBoundingBoxConstraint(ConstantConstraint(seed_sol.lambda_sol{2}(:)),cdfkp_initial_gamma.lambda_inds{2}(:)); % cdfkp_initial_gamma = cdfkp_initial_gamma.addBoundingBoxConstraint(ConstantConstraint(seed_sol.lambda_sol{3}(:)),cdfkp_initial_gamma.lambda_inds{3}(:)); % cdfkp_initial_gamma = cdfkp_initial_gamma.addBoundingBoxConstraint(ConstantConstraint(seed_sol.lambda_sol{4}(:)),cdfkp_initial_gamma.lambda_inds{4}(:)); -% +% % cdfkp_initial_gamma = cdfkp_initial_gamma.setSolverOptions('snopt','print','test_monkeybar_land_seed.out'); % cdfkp_initial_gamma = cdfkp_initial_gamma.setSolverOptions('snopt','majorfeasibilitytolerance',1e-5); % tic @@ -882,7 +881,7 @@ function testMonkeyBar(mode,ncp_tol) kinsol_start = robot.doKinematics(q_start); com_start = robot.getCOM(kinsol_start); cdfkp = planBarSwing(robot,l_hand,r_hand,l_hand_pt,r_hand_pt,l_hand_grasp_axis,r_hand_grasp_axis,bar_length,bar_width,monkeybar_pos4,monkeybar_pos5,q_start); - + nT_swing1 = cdfkp.N; x_seed = zeros(cdfkp.num_vars,1); x_seed(cdfkp.h_inds) = 0.1; @@ -898,7 +897,7 @@ function testMonkeyBar(mode,ncp_tol) cdfkp = cdfkp.setSolverOptions('snopt','superbasicslimit',2000); cdfkp = cdfkp.setSolverOptions('snopt','print','test_monkeybar_swing4.out'); % cdfkp = cdfkp.setSolverOptions('snopt','scaleoption',2); - + seed_sol = load('test_monkeybar_swing4','-mat','x_sol'); % % seed_sol.x_sol(cdfkp.q_inds(1:3,:)) = reshape(reshape(seed_sol.x_sol(cdfkp.q_inds(1:3,:)),3,[])+bsxfun(@times,monkeybar_pos4(1:3)-monkeybar_pos1(1:3),ones(1,nT_swing1)),[],1); % % seed_sol.x_sol(cdfkp.com_inds(:)) = reshape(reshape(seed_sol.x_sol(cdfkp.com_inds(:)),3,[])+bsxfun(@times,monkeybar_pos4(1:3)-monkeybar_pos1(1:3),ones(1,nT_swing1)),[],1); @@ -906,7 +905,7 @@ function testMonkeyBar(mode,ncp_tol) % seed_sol.x_sol(cdfkp.lambda_inds{1}(4:6,:,:)) = seed_sol.x_sol(cdfkp.lambda_inds{1}(4:6,:,:))/(robot_mass*9.81/100); % seed_sol.x_sol(cdfkp.lambda_inds{2}(1:3,:,:)) = seed_sol.x_sol(cdfkp.lambda_inds{2}(1:3,:,:))/(robot_mass*9.81); % seed_sol.x_sol(cdfkp.lambda_inds{2}(4:6,:,:)) = seed_sol.x_sol(cdfkp.lambda_inds{2}(4:6,:,:))/(robot_mass*9.81/100); - + tic [x_sol,F,info] = cdfkp.solve(seed_sol.x_sol); toc @@ -922,7 +921,7 @@ function testMonkeyBar(mode,ncp_tol) lhand_grasp_idx1 = 6; static_idx1 = 9; nT_swing1 = static_idx1; - + lhand_bar1_grasp_wrench = generateBarGraspingWrench(robot,l_hand,l_hand_pt,monkeybar_pos1); rhand_bar1_grasp_wrench = generateBarGraspingWrench(robot,r_hand,r_hand_pt,monkeybar_pos1); lhand_bar2_grasp_wrench = generateBarGraspingWrench(robot,l_hand,l_hand_pt,monkeybar_pos2); @@ -936,7 +935,7 @@ function testMonkeyBar(mode,ncp_tol) q_start = q_fp; com_start = com_fp; - + tf_range = [0.5 2]; q_nom = bsxfun(@times,q_start,ones(1,static_idx1)); Q_comddot = eye(3); @@ -947,42 +946,42 @@ function testMonkeyBar(mode,ncp_tol) % Q_contact_force = 20/(robot.getMass*9.81)^2*eye(3); Q_contact_force = zeros(3); cdfkp = ComDynamicsFullKinematicsPlanner(robot,nT_swing1,tf_range,Q_comddot,Qv,Q,q_nom,Q_contact_force,bar_contact_wrench_struct); - + % add initial and final state constraint - + cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(q_start),cdfkp.q_inds(:,1)); cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(zeros(nv,1)),cdfkp.v_inds(:,1)); cdfkp = cdfkp.addBoundingBoxConstraint(ConstantConstraint(zeros(nv,1)),cdfkp.v_inds(:,static_idx1)); - + % add grasp kinematic constraint [~,rhand_grasp_dir_cnstr] = generateBarGraspConstraint(robot,r_hand,r_hand_pt,r_hand_grasp_axis,monkeybar_pos1,bar_length,bar_width); cdfkp = cdfkp.addRigidBodyConstraint(WorldPositionConstraint(robot,r_hand,r_hand_pt,r_hand_pos_fp(1:3),r_hand_pos_fp(1:3)),num2cell(2:static_idx1)); cdfkp = cdfkp.addRigidBodyConstraint(rhand_grasp_dir_cnstr,num2cell(2:static_idx1)); - + [~,lhand_grasp_dir_cnstr1] = generateBarGraspConstraint(robot,l_hand,l_hand_pt,l_hand_grasp_axis,monkeybar_pos1,bar_length,bar_width); cdfkp = cdfkp.addRigidBodyConstraint(WorldPositionConstraint(robot,l_hand,l_hand_pt,l_hand_pos_fp(1:3),l_hand_pos_fp(1:3)),num2cell(2:lhand_ungrasp_idx1)); cdfkp = cdfkp.addRigidBodyConstraint(lhand_grasp_dir_cnstr1,num2cell(2:lhand_ungrasp_idx1)); - + [lhand_grasp_pt_cnstr2,lhand_grasp_dir_cnstr2,lhand_grasp_fixed_pos_cnstr2] = generateBarGraspConstraint(robot,l_hand,l_hand_pt,l_hand_grasp_axis,monkeybar_pos2,bar_length,bar_width); cdfkp = cdfkp.addRigidBodyConstraint(lhand_grasp_pt_cnstr2,num2cell(lhand_grasp_idx1:static_idx1)); cdfkp = cdfkp.addRigidBodyConstraint(lhand_grasp_dir_cnstr2,num2cell(lhand_grasp_idx1:static_idx1)); cdfkp = cdfkp.addRigidBodyConstraint(lhand_grasp_fixed_pos_cnstr2,{lhand_grasp_idx1:static_idx1}); - + % add h bounds cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(0.02*ones(nT_swing1-1,1),0.2*ones(nT_swing1-1,1)),cdfkp.h_inds(:)); - + % add comddot bounds cdfkp = cdfkp.addBoundingBoxConstraint(BoundingBoxConstraint(... reshape(bsxfun(@times,[-9.81/2;-9.81/2;-1.5*9.81],ones(1,nT_swing1)),[],1),... reshape(bsxfun(@times,[9.81/2;9.81/2;1.5*9.81],ones(1,nT_swing1)),[],1)),cdfkp.comddot_inds(:)); - + cdfkp = cdfkp.setSolverOptions('snopt','iterationslimit',1e6); cdfkp = cdfkp.setSolverOptions('snopt','majoriterationslimit',3000); cdfkp = cdfkp.setSolverOptions('snopt','majorfeasibilitytolerance',1e-6); cdfkp = cdfkp.setSolverOptions('snopt','majoroptimalitytolerance',1e-3); cdfkp = cdfkp.setSolverOptions('snopt','superbasicslimit',2000); cdfkp = cdfkp.setSolverOptions('snopt','print','test_monkeybar_swing_start.out'); - + % seed_sol = load('test_monkeybar_swing','-mat','h_sol','q_sol','v_sol','com_sol','comdot_sol','comddot_sol','H_sol','Hdot_sol','lambda_sol'); % seed_x_sol = zeros(cdfkp.num_vars,1); % seed_x_sol(cdfkp.h_inds(:)) = reshape(seed_sol.h_sol(:,1:static_idx1-1),[],1); @@ -993,7 +992,7 @@ function testMonkeyBar(mode,ncp_tol) % seed_x_sol(cdfkp.comddot_inds(:)) = reshape(seed_sol.comddot_sol(:,1:static_idx1),[],1); % seed_x_sol(cdfkp.lambda_inds{1}(:)) = reshape(seed_sol.lambda_sol{1}(:,:,1:static_idx1),[],1); % seed_x_sol(cdfkp.lambda_inds{2}(:)) = reshape(seed_sol.lambda_sol{2}(:,:,1:static_idx1),[],1); - + seed_x_sol = zeros(cdfkp.num_vars,1); seed_x_sol(cdfkp.h_inds) = 0.1*ones(static_idx1-1,1); seed_x_sol(cdfkp.q_inds(:)) = reshape(bsxfun(@times,ones(1,nT_swing1),q_start),[],1); @@ -1013,7 +1012,7 @@ function testMonkeyBar(mode,ncp_tol) if(mode == 9) previous_swing = load('test_monkeybar_swing_start','-mat','q_sol','v_sol'); cdfkp = planBarDoubleSwing(robot,l_hand,r_hand,l_hand_pt,r_hand_pt,l_hand_grasp_axis,r_hand_grasp_axis,bar_length,bar_width,monkeybar_pos1,monkeybar_pos2,monkeybar_pos3,previous_swing.q_sol(:,end),previous_swing.v_sol(:,end),'monkeybar2'); - + nT = cdfkp.N; kinsol_start = robot.doKinematics(previous_swing.q_sol(:,end)); com_start = robot.getCOM(kinsol_start); @@ -1023,14 +1022,14 @@ function testMonkeyBar(mode,ncp_tol) x_seed(cdfkp.com_inds(:)) = reshape(bsxfun(@times,com_start,ones(1,nT)),[],1); x_seed(cdfkp.lambda_inds{1}(:)) = reshape(bsxfun(@times,[0;0;1/2;0;0;0],ones(1,nT)),[],1); x_seed(cdfkp.lambda_inds{2}(:)) = reshape(bsxfun(@times,[0;0;1/2;0;0;0],ones(1,nT)),[],1); - + cdfkp = cdfkp.setSolverOptions('snopt','iterationslimit',1e6); cdfkp = cdfkp.setSolverOptions('snopt','majoriterationslimit',3000); cdfkp = cdfkp.setSolverOptions('snopt','majorfeasibilitytolerance',1e-6); cdfkp = cdfkp.setSolverOptions('snopt','majoroptimalitytolerance',1e-3); cdfkp = cdfkp.setSolverOptions('snopt','superbasicslimit',2000); cdfkp = cdfkp.setSolverOptions('snopt','print','test_monkeybar_doubleswing1.out'); - + seed_sol = load('test_monkeybar_doubleswing1','-mat','x_sol'); tic [x_sol,F,info] = cdfkp.solve(seed_sol.x_sol); @@ -1317,4 +1316,4 @@ function testMonkeyBar(mode,ncp_tol) c = pt(3,:)-stage_pos(3)-0.05; phi = c'; dphi = sparse((1:n_pt)',3*(1:n_pt)',ones(n_pt,1),n_pt,3*n_pt); -end \ No newline at end of file +end diff --git a/solvers/trajectoryOptimization/dev/testSalmonBar.m b/solvers/trajectoryOptimization/dev/testSalmonBar.m index 2bfe0eb0484f..ecf7a7364347 100644 --- a/solvers/trajectoryOptimization/dev/testSalmonBar.m +++ b/solvers/trajectoryOptimization/dev/testSalmonBar.m @@ -6,7 +6,6 @@ function testSalmonBar(mode) w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); robot = RigidBodyManipulator([getDrakePath,'/examples/Atlas/urdf/atlas_convex_hull.urdf'],struct('floating',true)); nq = robot.getNumPositions(); @@ -147,21 +146,21 @@ function testSalmonBar(mode) kinsol_start = robot.doKinematics(q_start); com_start = robot.getCOM(kinsol_start); cdfkp = climbOneStep(robot,l_hand,r_hand,l_hand_pt,r_hand_pt,l_hand_grasp_axis,r_hand_grasp_axis,l_rung_pos1,r_rung_pos1,l_rung_pos2,r_rung_pos2,l_pole_pos,r_pole_pos,bar_radius,q_start); - + cdfkp = cdfkp.setSolverOptions('snopt','iterationslimit',1e6); cdfkp = cdfkp.setSolverOptions('snopt','majoriterationslimit',1000); cdfkp = cdfkp.setSolverOptions('snopt','majorfeasibilitytolerance',2e-6); cdfkp = cdfkp.setSolverOptions('snopt','majoroptimalitytolerance',1e-3); cdfkp = cdfkp.setSolverOptions('snopt','superbasicslimit',2000); cdfkp = cdfkp.setSolverOptions('snopt','print','test_salmonbar_ladder1.out'); - + nT = cdfkp.N; x_seed = zeros(cdfkp.num_vars,1); x_seed(cdfkp.h_inds(:)) = 0.1; x_seed(cdfkp.q_inds(:)) = reshape(bsxfun(@times,q_start,ones(1,nT)),[],1); x_seed(cdfkp.com_inds(:)) = reshape(bsxfun(@times,com_start,ones(1,nT)),[],1); x_seed(cdfkp.lambda_inds{1}(:)) = 1/16; - + seed_sol = load('test_salmonbar_ladder1','-mat','x_sol'); tic [x_sol,F,info] = cdfkp.solve(seed_sol.x_sol); @@ -424,4 +423,3 @@ function testSalmonBar(mode) Q(2,2) = 0; cdfkp = cdfkp.addCost(QuadraticConstraint(-inf,inf,Q,zeros(nq,1)),cdfkp.q_inds(:,static_idx)); end - diff --git a/solvers/trajectoryOptimization/dev/testSquat.m b/solvers/trajectoryOptimization/dev/testSquat.m index 5af67a0dde45..af662aa331b8 100644 --- a/solvers/trajectoryOptimization/dev/testSquat.m +++ b/solvers/trajectoryOptimization/dev/testSquat.m @@ -3,7 +3,6 @@ warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); urdf = [getDrakePath,'/examples/Atlas/urdf/atlas_minimal_contact.urdf']; options.floating = true; diff --git a/solvers/trajectoryOptimization/dev/visualizeMonkeyBar.m b/solvers/trajectoryOptimization/dev/visualizeMonkeyBar.m index 1c8e7d5e634f..d6ec0905ccfc 100644 --- a/solvers/trajectoryOptimization/dev/visualizeMonkeyBar.m +++ b/solvers/trajectoryOptimization/dev/visualizeMonkeyBar.m @@ -3,7 +3,6 @@ w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); robot = RigidBodyManipulator([getDrakePath,'/examples/Atlas/urdf/atlas_minimal_contact.urdf'],struct('floating',true)); monkeybar_urdf = [getDrakePath,'/solvers/trajectoryOptimization/test/MonkeyBar.urdf']; diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 347c394602cb..9a903e1bd04d 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -190,7 +190,7 @@ if ~any(cellfun(@(shape) isequal(geom{i},shape),obj.body(1).contact_shapes)) obj = obj.addContactShapeToBody(1,geom{i},'terrain'); obj.dirty = true; - end + end end end geom = obj.terrain.getRigidBodyShapeGeometry(); @@ -199,12 +199,12 @@ for i=1:numel(geom) if ~any(cellfun(@(shape) isequal(geom{i},shape),obj.body(1).visual_shapes)) obj.body(1).visual_shapes{end+1} = geom{i}; - obj.dirty = true; - end - end + obj.dirty = true; end end end + end + end function obj = removeTerrainGeometries(obj) if ~isempty(obj.terrain) @@ -661,7 +661,7 @@ if getNumStates(model)>0 model = constructStateFrame(model); - end + end if any([model.body.has_position_sensor]) % add a rigid body joint sensor if necessary @@ -672,7 +672,7 @@ if isa(model.sensor{j},'RigidBodyJointSensor') && model.sensor{j}.robotnum==i already_has_sensor=true; break; - end + end end if ~already_has_sensor model = addSensor(model,RigidBodyJointSensor(model,i)); @@ -707,10 +707,6 @@ model.joint_limit_min = [model.body.joint_limit_min]'; model.joint_limit_max = [model.body.joint_limit_max]'; - if (any(model.joint_limit_min~=-inf) || any(model.joint_limit_max~=inf)) - warnOnce(model.warning_manager,'Drake:RigidBodyManipulator:UnsupportedJointLimits','Joint limits are not supported by the dynamics methods of this class. Consider using HybridPlanarRigidBodyManipulator'); - end - model = model.setInputLimits(u_limit(:,1),u_limit(:,2)); %% check basic assumption from kinematics: @@ -1741,7 +1737,7 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) function fr = getPositionFrame(obj,robotnum) if nargin<2, robotnum=1; end fr = obj.robot_position_frames{robotnum}; - end + end function fr = getVelocityFrame(obj,robotnum) if nargin<2, robotnum=1; end @@ -1804,11 +1800,11 @@ function checkDirty(obj) fr = CoordinateFrame([model.name{i},'Position'],length(positions),'q',positions); if numel(model.robot_position_frames)1) error('not implemented yet'); end - + obj = compile(obj); end - + function obj = compile(obj) obj = compile@RigidBodyManipulator(obj); - + if (obj.num_position_constraints || obj.num_velocity_constraints) error('still need to handle the case whether there are other constraints involved, too'); end - + obj = setNumPositionConstraints(obj,sum(obj.joint_limit_state~=0)+3*sum(obj.contact_state>0)); obj = setNumVelocityConstraints(obj,0*sum(obj.contact_state==1)); end - + function [phi,dphi,ddphi] = positionConstraints(obj,q) % phi = [phi_joint_limits;phi_contact_normal] % phi_contact_normal -- The distance between the active contact % points to the contact surface - + if(nargout == 1) phi_j = jointLimitConstraints(obj,q); pc_normal = contactNormalConstraints(obj,q); @@ -63,13 +62,13 @@ ddphi = [ddphi_j; ddpc_normal]; end end - + % function psi = velocityConstraints(obj,q,qd) % [~,Jt] = contactTangentialConstraints(obj,q); % psi = cellfun(@(J) J*qd,Jt(:),'UniformOutput',false); % psi = vertcat(psi{:}); % end - + function [phi_j,dphi_j,ddphi_j] = jointLimitConstraints(obj,q) % only the active joint limit joint_ind = (1:obj.num_positions)'; @@ -85,7 +84,7 @@ end end end - + function [pc_normal,dpc_normal,ddpc_normal] = contactNormalConstraints(obj,q) % only the normal of the active contact points if(nargout>2) @@ -138,13 +137,13 @@ end end end - + function [p,J,dJ] = activeContactPositions(obj,q) %@retval p(:,i) = [px;py;pz] is the position of the ith active %contact points contact_pts_ind = 1:obj.num_contacts; contact_pts_ind1 = contact_pts_ind(obj.contact_state == 1); - + kinsol = doKinematics(obj,q,nargout>2); contact_pos = zeros(3,length(contact_pts_ind1))*q(1); if nargout>1 @@ -181,7 +180,7 @@ end p = contact_pos; end - + function [c,dc] = frictionConeConstraints(obj,q,lambda_contact) % c>=0 means the friction force is in the friction cone contact_ind = (1:obj.num_contacts)'; @@ -216,17 +215,17 @@ dc = sparse(dc_row,dc_col,dc_val,contact_length1,obj.num_positions+numel(lambda_contact)); end end - + end - + function [x,success] = resolveConstraints(obj,x0,v) if (nargin<3) v=[]; end [x,success] = resolveConstraints@SecondOrderSystem(obj,x0,v); % the manipulator resolve constraints add inequality constraints for - % joint limits and contacts. this call skips over that method and + % joint limits and contacts. this call skips over that method and % goes right to the normal second order system method, since those % inequalities are irrelevant here. end - + end end diff --git a/systems/plants/test/collisionDetectGradTest.m b/systems/plants/test/collisionDetectGradTest.m index 026866053046..e03f1cf2d5b4 100644 --- a/systems/plants/test/collisionDetectGradTest.m +++ b/systems/plants/test/collisionDetectGradTest.m @@ -12,7 +12,6 @@ function collisionDetectGradTest(visualize,n_debris) options.floating = true; S = warning('OFF','Drake:RigidBodyManipulator:UnsupportedContactPoints'); warning('OFF','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); - warning('OFF','Drake:RigidBodyManipulator:UnsupportedJointLimits'); r = RigidBodyManipulator([getDrakePath(),'/examples/Atlas/urdf/atlas_convex_hull.urdf'],options); for i = 1:n_debris r = r.addRobotFromURDF('FallingBrick.urdf',3*(2*rand(3,1)-1),2*pi*rand(3,1)); diff --git a/systems/plants/test/createAtlas.m b/systems/plants/test/createAtlas.m index 5cdf9dc83391..8f0485ba8b58 100644 --- a/systems/plants/test/createAtlas.m +++ b/systems/plants/test/createAtlas.m @@ -3,7 +3,6 @@ options.floating = floatingJointType; w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); robot = RigidBodyManipulator(fullfile('../../../examples/Atlas/urdf/atlas_minimal_contact.urdf'),options); warning(w); -end \ No newline at end of file +end diff --git a/systems/plants/test/fallingCapsulesTest.m b/systems/plants/test/fallingCapsulesTest.m index f424d8fbeed0..ac56d4976fbf 100644 --- a/systems/plants/test/fallingCapsulesTest.m +++ b/systems/plants/test/fallingCapsulesTest.m @@ -32,7 +32,6 @@ % options.floating = true; % S = warning('OFF','Drake:RigidBodyManipulator:UnsupportedContactPoints'); % warning('OFF','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); -% warning('OFF','Drake:RigidBodyManipulator:UnsupportedJointLimits'); % r = RigidBodyManipulator('Cylinder.urdf',options); % for i = 1:n_debris % r = r.addRobotFromURDF('FallingBrick.urdf',3*(2*rand(3,1)-1),2*pi*rand(3,1)); @@ -41,11 +40,11 @@ % end % r = r.addRobotFromURDF('ground_plane.urdf'); % warning(S); -% +% % if visualize % v = r.constructVisualizer(); % end -% +% % x0 = r.getInitialState; % x0 = r.resolveConstraints(x0); % end diff --git a/systems/plants/test/testApproximateIK.m b/systems/plants/test/testApproximateIK.m index 4ed48e0e2ce8..9876592f5f47 100644 --- a/systems/plants/test/testApproximateIK.m +++ b/systems/plants/test/testApproximateIK.m @@ -4,7 +4,6 @@ function testApproximateIK() urdf = fullfile(getDrakePath,'examples','Atlas','urdf','atlas_minimal_contact.urdf'); w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); r = RigidBodyManipulator(urdf,options); warning(w); v = r.constructVisualizer(); diff --git a/systems/plants/test/testCOM.m b/systems/plants/test/testCOM.m index 0498111eb43b..d87b3d20d430 100644 --- a/systems/plants/test/testCOM.m +++ b/systems/plants/test/testCOM.m @@ -4,7 +4,6 @@ options.floating = true; w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); %warning('off','Drake:RigidBodyManipulator:ReplacedCylinder'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); r = RigidBodyManipulator(urdf,options); warning(w); nq = r.getNumPositions(); @@ -92,4 +91,4 @@ valuecheck(Jdot_mex2,Jdot2,1e-10); valuecheck(Jdot_mex12,Jdot12,1e-10); -end \ No newline at end of file +end diff --git a/systems/plants/test/testGetCMMdA.m b/systems/plants/test/testGetCMMdA.m index 474a7aaa9749..b8f3ca0edc26 100644 --- a/systems/plants/test/testGetCMMdA.m +++ b/systems/plants/test/testGetCMMdA.m @@ -8,8 +8,7 @@ function testGetCMMdA() for test_case = test_cases options.floating = test_case.floating; %options.floating = false; - w = warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); - warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); + w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); warning('off','Drake:RigidBodyManipulator:NonPSDInertia'); warning('off','Drake:RigidBodyManipulator:ReplacedCylinder'); r = RigidBodyManipulator(test_case.urdf,options); diff --git a/systems/plants/test/testIK.m b/systems/plants/test/testIK.m index 7f5b9024cea0..a919ddf97f64 100644 --- a/systems/plants/test/testIK.m +++ b/systems/plants/test/testIK.m @@ -3,7 +3,6 @@ warning('off','Drake:RigidBody:NonPositiveInertiaMatrix'); warning('off','Drake:RigidBodyManipulator:ReplacedCylinder'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); urdf = [getDrakePath,'/examples/Atlas/urdf/atlas_minimal_contact.urdf']; urdf_collision = [getDrakePath,'/examples/Atlas/urdf/atlas_convex_hull.urdf']; diff --git a/systems/plants/test/testIKoptions.m b/systems/plants/test/testIKoptions.m index 37eb9dd42f12..5312f93cb56e 100644 --- a/systems/plants/test/testIKoptions.m +++ b/systems/plants/test/testIKoptions.m @@ -1,7 +1,6 @@ function testIKoptions() % Check if the MATLAB and C++ IKoptions are consistent warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); urdf = [getDrakePath,'/examples/Atlas/urdf/atlas_minimal_contact.urdf']; w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); diff --git a/systems/plants/test/testIKtraj.m b/systems/plants/test/testIKtraj.m index 1afcd3457b02..2f33808ee091 100644 --- a/systems/plants/test/testIKtraj.m +++ b/systems/plants/test/testIKtraj.m @@ -4,7 +4,6 @@ function testIKtraj() r = RigidBodyManipulator(); w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); r = r.addRobotFromURDF('../../../examples/Atlas/urdf/atlas_minimal_contact.urdf',[],[],options); warning(w); @@ -373,4 +372,4 @@ function testConstraint(robot,t,q_sol,fix_initial_state,varargin) error('The constraint is not supported'); end end -end \ No newline at end of file +end diff --git a/systems/plants/test/testURDFcollisionmex.m b/systems/plants/test/testURDFcollisionmex.m index a6e793b41fa4..2b64d04eb936 100644 --- a/systems/plants/test/testURDFcollisionmex.m +++ b/systems/plants/test/testURDFcollisionmex.m @@ -18,7 +18,6 @@ urdffile = GetFullPath(urdf{1}); fprintf(1,'testing %s\n', urdffile); w = warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); - warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); r = RigidBodyManipulator(urdffile,struct('floating',true)); diff --git a/systems/robotInterfaces/test/testFootstepSolvers.m b/systems/robotInterfaces/test/testFootstepSolvers.m index 8df946ba24b6..79d87d199d3b 100644 --- a/systems/robotInterfaces/test/testFootstepSolvers.m +++ b/systems/robotInterfaces/test/testFootstepSolvers.m @@ -7,7 +7,6 @@ function testFootstepSolvers() options.dt = 0.001; warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints') -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits') warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits') options.visual = false; % loads faster r = Atlas(fullfile(getDrakePath(), 'examples', 'Atlas', 'urdf', 'atlas_minimal_contact.urdf'),options); @@ -97,4 +96,3 @@ function test_solver(solver) figure(3) test_solver(@footstepMISOCP); end - diff --git a/systems/robotInterfaces/test/testMIQP.m b/systems/robotInterfaces/test/testMIQP.m index 0e38cdda251e..dfdcc65bc52f 100644 --- a/systems/robotInterfaces/test/testMIQP.m +++ b/systems/robotInterfaces/test/testMIQP.m @@ -6,7 +6,6 @@ function testMIQP() options.dt = 0.001; warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints') -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits') warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits') options.visual = false; % loads faster r = Atlas(fullfile(getDrakePath(), 'examples', 'Atlas', 'urdf', 'atlas_minimal_contact.urdf'),options); diff --git a/systems/robotInterfaces/test/testMISOCP.m b/systems/robotInterfaces/test/testMISOCP.m index 2cb180f6fe56..a9b3421de9a7 100644 --- a/systems/robotInterfaces/test/testMISOCP.m +++ b/systems/robotInterfaces/test/testMISOCP.m @@ -6,7 +6,6 @@ function testMISOCP() options.dt = 0.001; warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints') -warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits') warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits') options.visual = false; % loads faster r = Atlas(fullfile(getDrakePath(), 'examples', 'Atlas', 'urdf', 'atlas_minimal_contact.urdf'),options); From 7bed339375ca22b483f9472d3215bdb78f48e1b4 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 04:30:09 -0400 Subject: [PATCH 100/271] urdf model with joint limits works again --- examples/Acrobot/runMaxROA.m | 2 +- examples/Acrobot/runPassiveURDF.m | 15 +++++---------- examples/Acrobot/runPassiveWRL.m | 9 --------- solvers/NonlinearProgram.m | 12 ++++++------ systems/@DrakeSystem/DrakeSystem.m | 18 +++++++++++++++++- systems/@DynamicalSystem/DynamicalSystem.m | 5 ++++- systems/plants/@Manipulator/Manipulator.m | 13 +++++++------ .../PlanarRigidBodyManipulator.m | 5 ----- .../RigidBodyManipulator.m | 14 ++++++++------ 9 files changed, 48 insertions(+), 45 deletions(-) delete mode 100644 examples/Acrobot/runPassiveWRL.m diff --git a/examples/Acrobot/runMaxROA.m b/examples/Acrobot/runMaxROA.m index 79b10103db36..87bcd5e076b5 100644 --- a/examples/Acrobot/runMaxROA.m +++ b/examples/Acrobot/runMaxROA.m @@ -46,7 +46,7 @@ % Create closed loop system with optimized controller sysCl = feedback(p,c); V0 = V.getPoly; -xinit = getLevelSet(decomp(V0),V0,[0;0;0;0]); +xinit = getLevelSet(decomp(V0),V0,struct('x0',[0;0;0;0])); v = AcrobotVisualizer(p); diff --git a/examples/Acrobot/runPassiveURDF.m b/examples/Acrobot/runPassiveURDF.m index a05eeb18cfd7..381b19deeff0 100644 --- a/examples/Acrobot/runPassiveURDF.m +++ b/examples/Acrobot/runPassiveURDF.m @@ -1,12 +1,7 @@ -function runPassiveURDF() -% Simulate the passive acrobot +function runPassiveWRL -w = warning('off','Drake:RigidBody:SimplifiedCollisionGeometry'); -d = PlanarRigidBodyManipulator('Acrobot.urdf'); -warning(w); -v = d.constructVisualizer(); +p = PlanarRigidBodyManipulator('Acrobot.urdf'); +v = p.constructVisualizer; -traj = simulate(d,[0 5],.5*randn(4,1)); -playback(v,traj); - -end +x = p.simulate([0 5],randn(4,1)); +v.playback(x); \ No newline at end of file diff --git a/examples/Acrobot/runPassiveWRL.m b/examples/Acrobot/runPassiveWRL.m deleted file mode 100644 index e5f8ed2534b5..000000000000 --- a/examples/Acrobot/runPassiveWRL.m +++ /dev/null @@ -1,9 +0,0 @@ -function runPassiveWRL - -% NOTEST (vrml doesn't work on build machine yet) - -p = PlanarRigidBodyManipulator('Acrobot.urdf'); -v = p.constructWRLVisualizer; - -x = p.simulate([0 5],randn(4,1)); -v.playback(x); \ No newline at end of file diff --git a/solvers/NonlinearProgram.m b/solvers/NonlinearProgram.m index ab310a18f3ec..b864f2f2964f 100644 --- a/solvers/NonlinearProgram.m +++ b/solvers/NonlinearProgram.m @@ -581,8 +581,8 @@ obj.x_name = [obj.x_name;var_name]; obj.x_lb = [obj.x_lb;-inf(num_new_vars,1)]; obj.x_ub = [obj.x_ub;inf(num_new_vars,1)]; - obj.Aeq = [obj.Aeq zeros(length(obj.beq),num_new_vars)]; - obj.Ain = [obj.Ain zeros(length(obj.bin),num_new_vars)]; + obj.Aeq = [obj.Aeq zeros(length(obj.beq),num_new_vars)]; + obj.Ain = [obj.Ain zeros(length(obj.bin),num_new_vars)]; if(~isempty(obj.bbcon)) obj.bbcon_lb(end+(1:num_new_vars),:) = -inf(num_new_vars,size(obj.bbcon_lb,2)); obj.bbcon_ub(end+(1:num_new_vars),:) = inf(num_new_vars,size(obj.bbcon_ub,2)); @@ -637,7 +637,7 @@ if isa(user_fun,'FunctionWrapper') obj.shared_data_functions{end+1} = user_fun; else - obj.shared_data_functions{end+1} = FunctionWrapper(user_fun); + obj.shared_data_functions{end+1} = FunctionWrapper(user_fun); end obj.shared_data_xind_cell{end+1} = xind; ind = obj.getNumSharedDataFunctions(); @@ -931,7 +931,7 @@ end if(isempty(solvers)) error('Drake:NonlinearProgram:NoNLPSolver','Cannot find any nonlinear program solvers, please ensure that either fmincon, snopt or ipopt is installed'); - end + end end fprintf(' solver objval exitflag execution time\n-------------------------------------------------------------\n') @@ -965,11 +965,11 @@ % ID=cnstr_id. Otherwise, cnstr_idx = []; if(~(numel(cnstr_id) == 1 && isnumeric(cnstr_id))) error('Drake:NonlinearProgram:isNonlinearConstraintID:InvalidInput','cnstr_id should be a scalar'); - end + end cnstr_idx = find(obj.nlcon_id==cnstr_id); flag = ~isempty(cnstr_idx); end - + function [flag,cnstr_idx] = isLinearConstraintID(obj,cnstr_id) % Given an ID, determine if any of the linear constraint obj.lcon has that ID % @retval flag True if the cnstr_id is a valid ID of the linear constraint diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index bad939a66388..89a7ae40b1d7 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -351,7 +351,7 @@ n = obj.num_xcon_ineq; end - function obj = addStateConstraint(obj,con) + function [obj,id] = addStateConstraint(obj,con) % @param con is a constraint object which takes the state of this % system as input @@ -361,6 +361,22 @@ obj.state_constraints{end+1} = con; obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); + id = numel(obj.state_constraints); + end + + function obj = updateStateConstraint(obj,id,con) + % @param id is the identifier returned from addStateConstraint + % @param con is a constraint object + + rangecheck(id,0,numel(obj.state_constraints)); + typecheck(con,'Constraint'); + assert(con.xdim == obj.num_x,'DrakeSystem:InvalidStateConstraint','State constraints must take a vector that is the same size as the state vector of this system as an input'); + + obj.num_xcon_eq = obj.num_xcon_eq - sum(obj.state_constraints{id}.lb == obj.state_constraints{id}.ub); + obj.num_xcon_ineq = obj.num_xcon_ineq - sum(obj.state_constraints{id}.lb ~= obj.state_constraints{id}.ub); + obj.state_constraints{id} = con; + obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); + obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); end end diff --git a/systems/@DynamicalSystem/DynamicalSystem.m b/systems/@DynamicalSystem/DynamicalSystem.m index a273d16232f1..99e4e32018be 100644 --- a/systems/@DynamicalSystem/DynamicalSystem.m +++ b/systems/@DynamicalSystem/DynamicalSystem.m @@ -316,9 +316,12 @@ prog = addDisplayFunction(prog,@(x)v.draw(0,x)); end - [x,~,exitflag] = solve(prog,x0); + [x,~,exitflag,infeasible_constraint_name] = solve(prog,x0); success=(exitflag==1); if (nargout<2 && ~success) + if ~isempty(infeasible_constraint_name) + infeasible_constraint_name + end error('Drake:DynamicalSystem:ResolveConstraintsFailed','failed to resolve constraints'); end x = Point(obj.getStateFrame,x); diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index cde16c977103..a0ff5afac08f 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -427,12 +427,13 @@ function num_contacts(obj) obj.joint_limit_min = jl_min; obj.joint_limit_max = jl_max; - if isempty(obj.joint_limit_constraint_index) - obj.joint_limit_constriant_index = numel(obj.state_constraints)+1; + con = BoundingBoxConstraint([jl_min;-inf(obj.num_velocities,1)],[jl_max;inf(obj.num_velocities,1)]); + con = setName(con,cellfun(@(a) [a,'Limit'],obj.getStateFrame.coordinates,'UniformOutput',false)); + if isempty(obj.joint_limit_constraint_id) + [obj,obj.joint_limit_constraint_id] = addStateConstraint(obj,con); + else + obj = updateStateConstraint(obj,obj.joint_limit_constraint_id,con); end - con = BoundingBoxConstraint([jl_min;-inf(obj.num_velocities,1)],[jl_max;-inf(obj.num_velocities,1)]); - con = setName(con,'JointLimits'); - obj.state_constraints{obj.joint_limit_constraint_index} = con; end end @@ -444,6 +445,6 @@ function num_contacts(obj) velocity_constraints = {}; % velocity equality constraints of the form psi(q,qd)=const joint_limit_min = -inf; % vector of length num_q with lower limits joint_limit_max = inf; % vector of length num_q with upper limits - joint_limit_constraint_index = []; + joint_limit_constraint_id = []; end end diff --git a/systems/plants/@PlanarRigidBodyManipulator/PlanarRigidBodyManipulator.m b/systems/plants/@PlanarRigidBodyManipulator/PlanarRigidBodyManipulator.m index 105c7b6a35ce..b174dcfd56f6 100644 --- a/systems/plants/@PlanarRigidBodyManipulator/PlanarRigidBodyManipulator.m +++ b/systems/plants/@PlanarRigidBodyManipulator/PlanarRigidBodyManipulator.m @@ -127,11 +127,6 @@ model = addFloatingBase@RigidBodyManipulator(model,parent,rootlink,xyz,rpy,'RPY'); end - function model = compile(model) - model = compile@RigidBodyManipulator(model); - model = model.setNumPositionConstraints(2*length(model.loop)); - end - function v=constructVisualizer(obj,options) checkDirty(obj); if nargin<2, options=struct(); end diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 9a903e1bd04d..25e2a0e82bb6 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -282,6 +282,11 @@ obj.dirty = true; end + function obj = setJointLimits(obj,jl_min,jl_max) + obj = setJointLimits@Manipulator(obj,jl_min,jl_max); + obj.dirty = true; + end + function g = getGravity(obj,grav) g = obj.gravity; end @@ -699,13 +704,10 @@ end if (length(model.loop)>0) - model = model.setNumPositionConstraints(3*length(model.loop)); % should be 5? for continous joints once they enforce the joint axis constraint. - else - model = model.setNumPositionConstraints(0); + error('todo: add loop joint state constraints'); end - - model.joint_limit_min = [model.body.joint_limit_min]'; - model.joint_limit_max = [model.body.joint_limit_max]'; + + model = model.setJointLimits([model.body.joint_limit_min]',[model.body.joint_limit_max]'); model = model.setInputLimits(u_limit(:,1),u_limit(:,2)); From 78f3c82bbeaaebc40852db75e9af2b33aca5255a Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 05:53:28 -0400 Subject: [PATCH 101/271] most acrobot tests work again --- solvers/QuadraticConstraint.m | 2 +- solvers/SpotPolynomialConstraint.m | 36 ++++++++++++++++ systems/@DrakeSystem/DrakeSystem.m | 4 +- systems/@DrakeSystem/extractTrigPolySystem.m | 4 +- systems/@PolynomialSystem/PolynomialSystem.m | 6 +-- .../@PolynomialSystem/regionOfAttraction.m | 4 +- systems/SpotPolynomialSystem.m | 13 +++++- systems/plants/@Manipulator/Manipulator.m | 10 ++--- util/checkDependency.m | 42 +++++++++---------- 9 files changed, 83 insertions(+), 38 deletions(-) create mode 100644 solvers/SpotPolynomialConstraint.m diff --git a/solvers/QuadraticConstraint.m b/solvers/QuadraticConstraint.m index b3341a41ab67..1f78b41403cd 100644 --- a/solvers/QuadraticConstraint.m +++ b/solvers/QuadraticConstraint.m @@ -12,7 +12,7 @@ sizecheck(lb,[1,1]); sizecheck(ub,[1,1]); nx = size(Q,1); - obj = obj@Constraint(lb,ub,nx,2); + obj = obj@Constraint(lb,ub,nx,inf); sizecheck(Q,[nx,nx]); sizecheck(b,[nx,1]); obj.Q = (Q + Q')/2; % ensure that Q is symmetric diff --git a/solvers/SpotPolynomialConstraint.m b/solvers/SpotPolynomialConstraint.m new file mode 100644 index 000000000000..26d6de9d307f --- /dev/null +++ b/solvers/SpotPolynomialConstraint.m @@ -0,0 +1,36 @@ +classdef SpotPolynomialConstraint < Constraint % todo: inherit from PolynomialConstraint (once it exists) + % a polynomial constraint of the form lb <= p(x) <= ub, where p is stored as an msspoly column vector + properties(SetAccess = protected) + p + dp + p_x + end + + methods + function obj = SpotPolynomialConstraint(lb,ub,p_x,p) + % @lb lower bound + % @ub upper bound + % @p_x simple msspoly representing the input variables + % @p the msspoly representing the polynomial constraint + typecheck(p,'msspoly'); + typecheck(p_x,'msspoly'); + assert(issimple(p_x)==1); + sizecheck(lb,size(p)); + sizecheck(ub,size(p)); + nx = size(p_x,1); + obj = obj@Constraint(lb,ub,nx,1); + obj.p = p; + obj.p_x = p_x; + obj.dp = diff(p,p_x); + end + end + + methods (Access = protected) + function [c,dc] = constraintEval(obj,x) + c = double(subs(obj.p,obj.p_x,x)); + if nargout>1 + dc = double(subs(obj.dp,obj.p_x,x)); + end + end + end +end diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 89a7ae40b1d7..83fb4a300562 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -394,7 +394,7 @@ % to keep things clean. con = BoundingBoxConstraint(umin,umax); - con = setName(con,'Input Limits'); + con = setName(con,cellfun(@(a) [a,'_limit'],obj.getInputFrame.coordinates,'UniformOutput',false)); prog = prog.addBoundingBoxConstraint(prog,con,indices); end @@ -416,7 +416,7 @@ v = cell(1,nargout); [v{:}] = obj.state_constraints{i}.eval(x); v{1} = v{1} - obj.state_constraints{i}.lb; % center it around 0 - for j=1:length(nargout) + for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}(obj.state_constraints{i}.ceq_idx,:)); end end diff --git a/systems/@DrakeSystem/extractTrigPolySystem.m b/systems/@DrakeSystem/extractTrigPolySystem.m index c2ca8fd049c4..732e00a06817 100644 --- a/systems/@DrakeSystem/extractTrigPolySystem.m +++ b/systems/@DrakeSystem/extractTrigPolySystem.m @@ -66,8 +66,8 @@ tp_output=[]; end -if (sys.num_xcon>0) - error('not implemented yet, but should be easy'); +if ~isempty(sys.state_constraints) + warning('state constraints not implemented yet, but some should be easy'); end all_methods=[tp_dynamics_lhs(:);tp_dynamics_rhs;tp_update;tp_output]; diff --git a/systems/@PolynomialSystem/PolynomialSystem.m b/systems/@PolynomialSystem/PolynomialSystem.m index 51341b8a76d9..637e099261e7 100644 --- a/systems/@PolynomialSystem/PolynomialSystem.m +++ b/systems/@PolynomialSystem/PolynomialSystem.m @@ -115,7 +115,7 @@ end end function p_state_constraints = getPolyStateConstraints(obj) - if (obj.num_xcon>0) + if (obj.num_xcon_eq>0) p_x=obj.getStateFrame.getPoly; obj.p_state_constraints=obj.stateConstraints(p_x); else @@ -210,7 +210,7 @@ sys2 = sys2.inInputFrame(sys1.getOutputFrame); sys2 = sys2.inOutputFrame(sys1.getInputFrame); - if ~isa(sys2,'PolynomialSystem') || ~isTI(sys1) || ~isTI(sys2) || any(~isinf([sys1.umin;sys1.umax;sys2.umin;sys2.umax])) + if ~isa(sys2,'PolynomialSystem') || ~isTI(sys1) || ~isTI(sys2) || any(~isinf([sys1.umin;sys1.umax;sys2.umin;sys2.umax])) || getNumUnilateralConstraints(sys1)>0 || getNumUnilateralConstraints(sys2)>0 sys = feedback@DrakeSystem(sys1,sys2); return; end @@ -319,7 +319,7 @@ sys2 = sys2.inInputFrame(sys1.getOutputFrame); - if ~isa(sys2,'PolynomialSystem') || ~isTI(sys1) || ~isTI(sys2) || any(~isinf([sys2.umin;sys2.umax])) + if ~isa(sys2,'PolynomialSystem') || ~isTI(sys1) || ~isTI(sys2) || any(~isinf([sys2.umin;sys2.umax])) || getNumUnilateralConstraints(sys1)>0 || getNumUnilateralConstraints(sys2)>0 sys = cascade@DrakeSystem(sys1,sys2); return; end diff --git a/systems/@PolynomialSystem/regionOfAttraction.m b/systems/@PolynomialSystem/regionOfAttraction.m index b547dc033f92..c808a5a3044d 100644 --- a/systems/@PolynomialSystem/regionOfAttraction.m +++ b/systems/@PolynomialSystem/regionOfAttraction.m @@ -41,7 +41,7 @@ if (~isCT(sys)) error('only handle CT case so far'); end -if (sys.num_xcon>0) error('state constraints not implemented yet'); end +if ~isempty(sys.state_constraints) error('state constraints not implemented yet'); end if (isRational(sys)) error('rational dynamics not supported yet'); end if (~isTI(sys)) error('only works for time-invariant systems (so far)'); end @@ -574,4 +574,4 @@ function y=doubleSafe(x) y=double(x); if (~isa(y,'double')) error('double failed'); end -end \ No newline at end of file +end diff --git a/systems/SpotPolynomialSystem.m b/systems/SpotPolynomialSystem.m index 14310be4636f..8ab76be5341e 100644 --- a/systems/SpotPolynomialSystem.m +++ b/systems/SpotPolynomialSystem.m @@ -7,6 +7,7 @@ p_output p_state_constraints p_t + p_state_constraint_id end methods @@ -213,10 +214,18 @@ if ~isempty(decomp(p_state_constraints)) && any(match(obj.getStateFrame.getPoly,decomp(p_state_constraints))==0) error('p_state_constraints depends on variables other than x (the current state frame)'); end + con = SpotPolynomialConstraint(zeros(size(p_state_constraints)),zeros(size(p_state_constraints)),obj.getStateFrame.poly,p_state_constraints); + if isempty(obj.p_state_constraint_id) + [obj,obj.p_state_constraint_id] = addStateConstraint(obj,con); + else + obj = updateStateConstraint(obj,obj.p_constraint_id,con); + end + else + if ~isempty(obj.p_state_constraint_id) + obj = updateStateConstraint(obj,obj.p_constraint_id,[]); + end end - obj = setNumStateConstraints(obj,length(p_state_constraints)); obj.p_state_constraints = p_state_constraints; - error('todo: need to reset the drake.state_constraints with this new constraint'); end function p_state_constraints = getPolyStateConstraints(obj) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index a0ff5afac08f..73a060bdd5bc 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -43,7 +43,7 @@ v = x(obj.num_positions+1:end); if (nargout>1) - if (obj.num_xcon>0) + if ~isempty(obj.position_constraints) || ~isempty(obj.velocity_constraints) % by naming this 'MATLAB:TooManyOutputs', geval will catch the % error and use TaylorVarInstead error('MATLAB:TooManyOutputs','User gradients for constrained dynamics not implemented yet.'); @@ -227,7 +227,7 @@ v = cell(1,nargout); [v{:}] = obj.position_constraints{i}.eval(x); v{1} = v{1} - obj.position_constraints{i}.lb; % center it around 0 - for j=1:length(nargout) + for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); end end @@ -243,7 +243,7 @@ v = cell(1,nargout); [v{:}] = obj.velocity_constraints{i}.eval(x); v{1} = v{1} - obj.velocity_constraints{i}.lb; % center it around 0 - for j=1:length(nargout) + for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); end end @@ -281,7 +281,7 @@ function num_contacts(obj) % Creates a (rational) polynomial system representation of the % dynamics - if (obj.num_xcon>0) error('not implemented yet. may not be possible.'); end + if getNumStateConstraints(obj)>0 || getNumUnilateralConstraints(obj)>0, error('not implemented yet. may not be possible.'); end function rhs = dynamics_rhs(obj,t,x,u) q=x(1:obj.num_positions); v=x((obj.num_positions+1):end); @@ -428,7 +428,7 @@ function num_contacts(obj) obj.joint_limit_max = jl_max; con = BoundingBoxConstraint([jl_min;-inf(obj.num_velocities,1)],[jl_max;inf(obj.num_velocities,1)]); - con = setName(con,cellfun(@(a) [a,'Limit'],obj.getStateFrame.coordinates,'UniformOutput',false)); + con = setName(con,cellfun(@(a) [a,'_limit'],obj.getStateFrame.coordinates,'UniformOutput',false)); if isempty(obj.joint_limit_constraint_id) [obj,obj.joint_limit_constraint_id] = addStateConstraint(obj,con); else diff --git a/util/checkDependency.m b/util/checkDependency.m index b0c78e94863b..3b9403c0d508 100644 --- a/util/checkDependency.m +++ b/util/checkDependency.m @@ -23,7 +23,7 @@ warning('Drake:SimulinkVersion','Most features of Drake require SIMULINK version 7.3 or above.'); % haven't actually tested with lower versions end - + case 'spotless' % require spotless conf.spotless_enabled = logical(exist('msspoly','class')); @@ -124,17 +124,17 @@ disp(' SNOPT can be obtained from https://tig.csail.mit.edu/software/ .'); disp(' studentSNOPT can be obtained from http://www.cam.ucsd.edu/~peg/Software.html .'); disp(' '); - end - + end + case 'ipopt' conf.ipopt_enabled = logical(exist(['ipopt.',mexext],'file')); - + if ~conf.ipopt_enabled && nargout<1 disp(' '); disp(' IPOPT not found. IPOPT support will be disabled.'); disp(' '); end - + case 'vrml' unsupported = false; if(exist('vrinstall','file')) @@ -168,21 +168,21 @@ end if (conf.sedumi_enabled) - % sedumiA=[10,2,3,4;5,7,6,4]; - % sedumib=[4;6]; - % sedumic=[0;1;0;1]; - % sedumiT=sedumi(sedumiA,sedumib,sedumic);%,struct('f',4),struct('fid',0)); - % if(~sedumiT) - % error('SeDuMi seems to have encountered a problem. Please verify that your SeDuMi install is working.'); - % end + % sedumiA=[10,2,3,4;5,7,6,4]; + % sedumib=[4;6]; + % sedumic=[0;1;0;1]; + % sedumiT=sedumi(sedumiA,sedumib,sedumic);%,struct('f',4),struct('fid',0)); + % if(~sedumiT) + % error('SeDuMi seems to have encountered a problem. Please verify that your SeDuMi install is working.'); + % end elseif nargout<1 - disp(' '); - disp(' SeDuMi not found. SeDuMi support will be disabled.'); - disp(' To re-enable, add SeDuMi to your matlab path and rerun addpath_drake.'); - disp(' SeDuMi can be downloaded for free from http://sedumi.ie.lehigh.edu/ '); - disp(' '); + disp(' '); + disp(' SeDuMi not found. SeDuMi support will be disabled.'); + disp(' To re-enable, add SeDuMi to your matlab path and rerun addpath_drake.'); + disp(' SeDuMi can be downloaded for free from http://sedumi.ie.lehigh.edu/ '); + disp(' '); end - + case 'mosek' conf.mosek_enabled = logical(exist('mosekopt','file')); if (~conf.mosek_enabled) @@ -246,12 +246,12 @@ case 'fastqp' conf.fastqp_enabled = logical(exist(['fastqpmex.',mexext],'file')); - + if ~conf.fastqp_enabled && nargout<1 disp(' '); disp(' fastqp not found. fastqp support will be disabled.'); end - + case 'bertini' conf.bertini_enabled = logical(exist('bertini','file')); if (~conf.bertini_enabled) @@ -357,7 +357,7 @@ disp(' '); disp(' quadprog support is disabled. To enable it, install MATLAB Optimization toolbox'); disp(' '); - end + end end case 'lsqlin' From 6c076b2cb7be646d744ce3c191e3b0b85b3c563d Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 06:27:50 -0400 Subject: [PATCH 102/271] all acrobot unit tests pass again --- solvers/NullConstraint.m | 13 ++++++++++ systems/SpotPolynomialSystem.m | 2 +- systems/plants/@Manipulator/Manipulator.m | 24 ++++++++++++++++++- .../plants/TimeSteppingRigidBodyManipulator.m | 14 ++++++++--- 4 files changed, 48 insertions(+), 5 deletions(-) create mode 100644 solvers/NullConstraint.m diff --git a/solvers/NullConstraint.m b/solvers/NullConstraint.m new file mode 100644 index 000000000000..76a70167f338 --- /dev/null +++ b/solvers/NullConstraint.m @@ -0,0 +1,13 @@ +classdef NullConstraint < Constraint +% this constraint does nothing, but having it is easier that handling the +% possibility of empty matrices in lists of constraints + + function obj = NullConstraint(xdim) + obj = obj@Constraint([],[],xdim,inf); + end + + function varargout = constraintEval(obj,x) + varargout = cell(1,nargout); + % outputs are intentionally left empty + end +end diff --git a/systems/SpotPolynomialSystem.m b/systems/SpotPolynomialSystem.m index 8ab76be5341e..75280926aebc 100644 --- a/systems/SpotPolynomialSystem.m +++ b/systems/SpotPolynomialSystem.m @@ -222,7 +222,7 @@ end else if ~isempty(obj.p_state_constraint_id) - obj = updateStateConstraint(obj,obj.p_constraint_id,[]); + obj = updateStateConstraint(obj,obj.p_constraint_id,NullConstraint(getNumStates(obj))); end end obj.p_state_constraints = p_state_constraints; diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 73a060bdd5bc..55df8affed42 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -166,6 +166,8 @@ obj = addStateConstraint(obj,con); + obj.num_position_constraints = obj.num_position_constraints+con.num_cnstr; + obj.warning_manager.warnOnce('Drake:Manipulator:Todo','still need to add time derivatives of position constraints'); end @@ -180,6 +182,8 @@ assert(all(con.lb == con.ub)); obj.velocity_constraints{end+1} = con; + obj.num_velocity_constraints = obj.num_velocity_constraints+con.num_cnstr; + obj = addStateConstraint(obj,con); end end @@ -218,7 +222,7 @@ function n = getNumVelocities(obj); n = obj.num_velocities; end - + function varargout = positionConstraints(obj,q) % Implements position constraints of the form phi(q) = 0 @@ -249,6 +253,22 @@ end end + function n = getNumJointLimitConstraints(obj) + % returns number of constraints imposed by finite joint limits + n = sum(obj.joint_limit_min ~= -inf) + sum(obj.joint_limit_max ~= inf); + end + + function [phi,J,dJ] = jointLimitConstraints(obj,q) + % constraint function (with derivatives) to implement unilateral + % constraints imposed by joint limits + phi = [q-obj.joint_limit_min; obj.joint_limit_max-q]; phi=phi(~isinf(phi)); + J = [eye(obj.num_positions); -eye(obj.num_positions)]; + J([obj.joint_limit_min==-inf;obj.joint_limit_max==inf],:)=[]; + if (nargout>2) + dJ = sparse(length(phi),obj.num_positions^2); + end + end + function num_contacts(obj) error('num_contacts parameter is no longer supported, in anticipation of alowing multiple contacts per body pair. Use getNumContactPairs for cases where the number of contacts is fixed'); end @@ -441,6 +461,8 @@ function num_contacts(obj) properties (SetAccess = private, GetAccess = public) num_positions=0; num_velocities=0; + num_position_constraints=0; + num_velocity_constraints=0; position_constraints = {}; % position equality constraints of the form phi(q)=const velocity_constraints = {}; % velocity equality constraints of the form psi(q,qd)=const joint_limit_min = -inf; % vector of length num_q with lower limits diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index 6bc5200477a9..f621fbfad3ce 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -708,9 +708,17 @@ function checkDirty(obj) [varargout{:}]=collisionDetectTerrain(obj.manip,varargin{:}); end - function varargout = stateConstraints(obj,varargin) - varargout = cell(1,nargout); - [varargout{:}] = stateConstraints(obj.manip,varargin{:}); + function [obj,id] = addStateConstraint(obj,con) + % keep two copies of the constraints around ... :( + % todo: re-evaluate whether that is really necessary + [obj,id] = addStateConstraint@DrakeSystem(obj,con); + [obj.manip,manip_id] = obj.manip.addStateConstraint(obj,con); + assert(id==manip_id); + end + + function obj = updateStateConstraint(obj,id,con) + obj = updateStateConstraint@DrakeSystem(obj,id,con); + obj.manip = updateStateConstraint(obj.manip,id,con); end function varargout = positionConstraints(obj,varargin) From 7e3e6273c4421d04d779af3668b8ad924196a744 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 07:15:15 -0400 Subject: [PATCH 103/271] working on loop joints --- .../RigidBodyManipulator.m | 51 ++--------------- .../@RigidBodyManipulator/addRobotFromURDF.m | 3 +- systems/plants/RigidBodyLoop.m | 56 ++++++++++++++++++- .../constraint/RelativePositionConstraint.m | 3 + 4 files changed, 66 insertions(+), 47 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 25e2a0e82bb6..dec107a96af3 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -286,7 +286,7 @@ obj = setJointLimits@Manipulator(obj,jl_min,jl_max); obj.dirty = true; end - + function g = getGravity(obj,grav) g = obj.gravity; end @@ -703,10 +703,6 @@ model = setDirectFeedthrough(model,false); end - if (length(model.loop)>0) - error('todo: add loop joint state constraints'); - end - model = model.setJointLimits([model.body.joint_limit_min]',[model.body.joint_limit_max]'); model = model.setInputLimits(u_limit(:,1),u_limit(:,2)); @@ -730,6 +726,11 @@ % so it should go after createMexPointer phi = model.collisionDetect(zeros(model.getNumPositions,1)); model.num_contact_pairs = length(phi); + + for j=1:length(model.loop) + model = updateConstraints(model.loop(j),model); + end + if (model.num_contact_pairs>0) warning('Drake:RigidBodyManipulator:UnsupportedContactPoints','Contact is not supported by the dynamics methods of this class. Consider using TimeSteppingRigidBodyManipulator or HybridPlanarRigidBodyManipulator'); end @@ -2427,46 +2428,6 @@ function checkDirty(obj) end - function model = parseLoopJoint(model,robotnum,node,options) - loop = RigidBodyLoop(); - loop.name = char(node.getAttribute('name')); - loop.name = regexprep(loop.name, '\.', '_', 'preservecase'); - - link1Node = node.getElementsByTagName('link1').item(0); - link1 = findLinkInd(model,char(link1Node.getAttribute('link')),robotnum); - loop.body1 = link1; - if link1Node.hasAttribute('xyz') - loop.pt1 = reshape(str2num(char(link1Node.getAttribute('xyz'))),3,1); - end - - link2Node = node.getElementsByTagName('link2').item(0); - link2 = findLinkInd(model,char(link2Node.getAttribute('link')),robotnum); - loop.body2 = link2; - if link2Node.hasAttribute('xyz') - loop.pt2 = reshape(str2num(char(link2Node.getAttribute('xyz'))),3,1); - end - - axis=[1;0;0]; % default according to URDF documentation - axisnode = node.getElementsByTagName('axis').item(0); - if ~isempty(axisnode) - if axisnode.hasAttribute('xyz') - axis = reshape(parseParamString(model,robotnum,char(axisnode.getAttribute('xyz'))),3,1); - axis = axis/(norm(axis)+eps); % normalize - end - end - loop.axis = axis; - - type = char(node.getAttribute('type')); - switch (lower(type)) - case {'continuous'} - warning('Drake:RigidBodyManipulator:ThreeDLoopJoints','3D loop joints do not properly enforce the joint axis constraint. (they perform more like a ball joint). See bug 1389'); - otherwise - error(['joint type ',type,' not supported (yet?)']); - end - - model.loop=[model.loop,loop]; - end - function model = parseForceElement(model,robotnum,node,options) fe = []; childNodes = node.getChildNodes(); diff --git a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m index 5280793a656a..a2cc3ab9cd72 100644 --- a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m +++ b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m @@ -109,7 +109,8 @@ loopjoints = node.getElementsByTagName('loop_joint'); for i=0:(loopjoints.getLength()-1) - model = parseLoopJoint(model,robotnum,loopjoints.item(i),options); + [model,loop] = RigidBodyLoop.parseURDFNode(model,robotnum,loopjoints.item(i),options); + model.loop=[model.loop,loop]; end forces = node.getElementsByTagName('force_element'); diff --git a/systems/plants/RigidBodyLoop.m b/systems/plants/RigidBodyLoop.m index 669273361af1..bcffe510d34e 100644 --- a/systems/plants/RigidBodyLoop.m +++ b/systems/plants/RigidBodyLoop.m @@ -7,9 +7,24 @@ body2 pt2=[0;0;0] axis=[1;0;0] + constraint_id end - methods + methods + function model = updateConstraints(obj,model) + con = RelativePositionConstraint(model,obj.pt1,obj.pt2,obj.pt2,obj.body1,obj.body2); + % todo: naming logic should go into the constraint classes + % todo: support 2D constraints for planar loops? + con = generateConstraint(con); + con = setName(con{1},{[obj.name,'_x'];[obj.name,'_y'];[obj.name,'_z']}); + + if isempty(obj.constraint_id) + [model,obj.constraint_id] = addStateConstraint(model,con); + else + model = updateStateConstraint(model,obj.constraint_id,con); + end + end + function obj = updateBodyIndices(obj,map_from_old_to_new) obj.body1 = map_from_old_to_new(obj.body1); obj.body2 = map_from_old_to_new(obj.body2); @@ -32,4 +47,43 @@ end + methods (Static) + function [model,loop] = parseURDFNode(model,robotnum,node,options) + loop = RigidBodyLoop(); + loop.name = char(node.getAttribute('name')); + loop.name = regexprep(loop.name, '\.', '_', 'preservecase'); + + link1Node = node.getElementsByTagName('link1').item(0); + link1 = findLinkInd(model,char(link1Node.getAttribute('link')),robotnum); + loop.body1 = link1; + if link1Node.hasAttribute('xyz') + loop.pt1 = reshape(str2num(char(link1Node.getAttribute('xyz'))),3,1); + end + + link2Node = node.getElementsByTagName('link2').item(0); + link2 = findLinkInd(model,char(link2Node.getAttribute('link')),robotnum); + loop.body2 = link2; + if link2Node.hasAttribute('xyz') + loop.pt2 = reshape(str2num(char(link2Node.getAttribute('xyz'))),3,1); + end + + axis=[1;0;0]; % default according to URDF documentation + axisnode = node.getElementsByTagName('axis').item(0); + if ~isempty(axisnode) + if axisnode.hasAttribute('xyz') + axis = reshape(parseParamString(model,robotnum,char(axisnode.getAttribute('xyz'))),3,1); + axis = axis/(norm(axis)+eps); % normalize + end + end + loop.axis = axis; + + type = char(node.getAttribute('type')); + if ~strcmpi(type,'continuous') + error(['joint type ',type,' not supported (yet?)']); + end + + % todo: add relativeQuatConstraint, too + warning('Drake:RigidBodyManipulator:ThreeDLoopJoints','3D loop joints do not properly enforce the joint axis constraint. (they perform more like a ball joint)'); + end + end end diff --git a/systems/plants/constraint/RelativePositionConstraint.m b/systems/plants/constraint/RelativePositionConstraint.m index b66252ad44b3..061dba1c0238 100644 --- a/systems/plants/constraint/RelativePositionConstraint.m +++ b/systems/plants/constraint/RelativePositionConstraint.m @@ -75,6 +75,9 @@ % origin of body B to B'. % bTbp_quaternion is the quaternion % representation of rotation. + if(nargin < 7) + bTbp = [0;0;0;1;0;0;0]; + end if(nargin < 8) tspan = [-inf,inf]; end From 191fee4fcc7ca16556979a90e65412128c5be99b Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 13:52:00 -0400 Subject: [PATCH 104/271] keep state constraint ids instead of duplicates of the constraints --- systems/plants/@Manipulator/Manipulator.m | 34 +++++++++++------------ 1 file changed, 16 insertions(+), 18 deletions(-) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 55df8affed42..24c864c66140 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -43,7 +43,7 @@ v = x(obj.num_positions+1:end); if (nargout>1) - if ~isempty(obj.position_constraints) || ~isempty(obj.velocity_constraints) + if ~isempty(obj.position_constraint_ids) || ~isempty(obj.velocity_constraint_ids) % by naming this 'MATLAB:TooManyOutputs', geval will catch the % error and use TaylorVarInstead error('MATLAB:TooManyOutputs','User gradients for constrained dynamics not implemented yet.'); @@ -123,7 +123,7 @@ phi=[]; psi=[]; qd = vToqdot(obj, q) * v; - if ~isempty(obj.position_constraints) && ~isempty(obj.velocity_constraints) + if ~isempty(obj.position_constraint_ids) && ~isempty(obj.velocity_constraint_ids) [phi,J,dJ] = geval(@obj.positionConstraints,q); Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); @@ -135,12 +135,12 @@ term2=Hinv*tau; constraint_force = -[J;dpsidqd]'*pinv([J*term1;dpsidqd*term1])*[J*term2 + Jdotqd + alpha*J*qd; dpsidqd*term2 + dpsidq*qd + beta*psi]; - elseif ~isempty(obj.position_constraints) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... + elseif ~isempty(obj.position_constraint_ids) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... [phi,J,dJ] = geval(@obj.positionConstraints,q); Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); constraint_force = -J'*pinv(J*Hinv*J')*(J*Hinv*tau + Jdotqd + alpha*J*qd); - elseif ~isempty(obj.velocity_constraints) + elseif ~isempty(obj.velocity_constraint_ids) [psi,J] = geval(@obj.velocityConstraints,q,qd); dpsidq = J(:,1:obj.num_positions); dpsidqd = J(:,obj.num_positions+1:end); @@ -162,10 +162,9 @@ typecheck(con,'Constraint'); assert(con.xdim == obj.num_positions,'DrakeSystem:InvalidPositionConstraint','Position constraints must take a vector that is the same size as the number of positions of this system as an input'); assert(all(con.lb == con.ub)); - obj.position_constraints{end+1} = con; - obj = addStateConstraint(obj,con); - + [obj,id] = addStateConstraint(obj,con); + obj.position_constraint_ids(end+1) = id; obj.num_position_constraints = obj.num_position_constraints+con.num_cnstr; obj.warning_manager.warnOnce('Drake:Manipulator:Todo','still need to add time derivatives of position constraints'); @@ -180,11 +179,10 @@ typecheck(con,'Constraint'); assert(con.xdim == obj.num_velocities,'DrakeSystem:InvalidVelocityConstraint','Velocity constraints must take a vector that is the same size as the number of velocities of this system as an input'); assert(all(con.lb == con.ub)); - obj.velocity_constraints{end+1} = con; + [obj,id] = addStateConstraint(obj,con); + obj.velocity_constraint_ids(end+1) = id; obj.num_velocity_constraints = obj.num_velocity_constraints+con.num_cnstr; - - obj = addStateConstraint(obj,con); end end @@ -227,10 +225,10 @@ % Implements position constraints of the form phi(q) = 0 varargout = cell(1,nargout); - for i=1:length(obj.position_constraints) + for i=1:length(obj.position_constraint_ids) v = cell(1,nargout); - [v{:}] = obj.position_constraints{i}.eval(x); - v{1} = v{1} - obj.position_constraints{i}.lb; % center it around 0 + [v{:}] = obj.state_constraints{obj.position_constraint_ids(i)}.eval(x); + v{1} = v{1} - obj.state_constraints{obj.position_constraint_ids(i)}.lb; % center it around 0 for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); end @@ -243,10 +241,10 @@ % only on q should be implemented instead as positionConstraints. varargout = cell(1,nargout); - for i=1:length(obj.velocity_constraints) + for i=1:length(obj.velocity_constraint_ids) v = cell(1,nargout); - [v{:}] = obj.velocity_constraints{i}.eval(x); - v{1} = v{1} - obj.velocity_constraints{i}.lb; % center it around 0 + [v{:}] = obj.state_constraints{obj.velocity_constraint_ids(i)}.eval(x); + v{1} = v{1} - obj.state_constraints{obj.velocity_constraint_ids(i)}.lb; % center it around 0 for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); end @@ -463,8 +461,8 @@ function num_contacts(obj) num_velocities=0; num_position_constraints=0; num_velocity_constraints=0; - position_constraints = {}; % position equality constraints of the form phi(q)=const - velocity_constraints = {}; % velocity equality constraints of the form psi(q,qd)=const + position_constraint_ids = []; % ids for the state_constriants of the form phi(q)=const enforced by the dynamics + velocity_constraint_ids = []; % ids for the state constriants of the form psi(q,qd)=const enforced by the dynamics joint_limit_min = -inf; % vector of length num_q with lower limits joint_limit_max = inf; % vector of length num_q with upper limits joint_limit_constraint_id = []; From 33ee9c9b6a6488562d7dcbd3467ff4a788f63550 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 15:25:27 -0400 Subject: [PATCH 105/271] adds position and velocity frames for each rigid body manipulator --- systems/frames/MultiCoordinateFrame.m | 102 +++++++++--------- .../RigidBodyManipulator.m | 10 +- 2 files changed, 56 insertions(+), 56 deletions(-) diff --git a/systems/frames/MultiCoordinateFrame.m b/systems/frames/MultiCoordinateFrame.m index 0d52a2c77dee..6259e0453a27 100644 --- a/systems/frames/MultiCoordinateFrame.m +++ b/systems/frames/MultiCoordinateFrame.m @@ -4,16 +4,16 @@ % and multi-output systems. % % Note that, although the coordinate names (and polynomial variables) are - % initialized to match the name of the sub coordinate frames, there is - % no contract guaranteeing that they will continue to match after + % initialized to match the name of the sub coordinate frames, there is + % no contract guaranteeing that they will continue to match after % subsequent coordinate renamings for the multi-frame or the sub-frames. - + properties (SetAccess=public,GetAccess=public) frame={}; % a list of CoordinateFrame objects - frame_id=[]; % for each coordinate, an integer index into the frame + frame_id=[]; % for each coordinate, an integer index into the frame % (from the list above) associated with that coordinate - coord_ids={}; % for each frame, a list of associate coordinates - + coord_ids={}; % for each frame, a list of associate coordinates + % speed optimization cell_vals={}; end @@ -21,17 +21,17 @@ methods function obj = MultiCoordinateFrame(coordinate_frames,frame_id) if (nargin<2) frame_id = []; end - + typecheck(coordinate_frames,'cell'); name=[]; dim=0; prefix=[]; coordinates={}; - + if (length(coordinate_frames)==1) error('you''ve only passed in a single frame. you should be calling MultiCoordinateFrame.constructFrame instead, to get the correct behavior'); end - + if isempty(frame_id) for i=1:length(coordinate_frames) frame_id = vertcat(frame_id,repmat(i,coordinate_frames{i}.dim,1)); @@ -39,7 +39,7 @@ else rangecheck(frame_id,1,length(coordinate_frames)); end - + for i=1:length(coordinate_frames) typecheck(coordinate_frames{i},'CoordinateFrame'); name = [name,'+',coordinate_frames{i}.name]; @@ -49,34 +49,34 @@ coord_ids{i} = find(frame_id==i); end name=name(2:end); % remove extra '+' - + sizecheck(frame_id,dim); obj = obj@CoordinateFrame(name,dim,prefix,coordinates); obj.frame = coordinate_frames; obj.frame_id = frame_id; obj.coord_ids = coord_ids; - + % preallocate obj.cell_vals = cell(1,length(obj.frame)); for i=1:length(obj.frame) obj.cell_vals{i} = zeros(numel(obj.coord_ids{i}),1); end end - + function disp(obj) fprintf(1,'Multi-Coordinate Frame: %s (%d elements)\n',obj.name,obj.dim); for i=1:length(obj.frame) disp(obj.frame{i}); end end - + function display(obj) fprintf(1,'Multi-Coordinate Frame: %s (%d elements)\n',obj.name,obj.dim); for i=1:length(obj.frame) fprintf(1,' %s (%d elements)\n',obj.frame{i}.name, obj.frame{i}.dim); end end - + function tf = isequal_modulo_transforms(a,b) tf = isequal_modulo_transforms@CoordinateFrame(a,b) && ... isequal(a.frame_id,b.frame_id) && ... @@ -86,7 +86,7 @@ function display(obj) tf = tf && isequal_modulo_transforms(a.frame{i},b.frame{i}); end end - + function [tf,options] = findTransform(obj,target,options) % There are three ways to get a transform from this multiframe to % another frame. One is if a transform exists directly from the @@ -108,8 +108,8 @@ function display(obj) % the target children % this could only happen if the target is also a multiframe - - % handle the simple case first, where the number of subframes is + + % handle the simple case first, where the number of subframes is % the same and obj frame i has a transform to target frame i. tf=[]; if getNumFrames(obj)==getNumFrames(target) @@ -128,7 +128,7 @@ function display(obj) end end end - + if isempty(tf) % see if there is a transform from any ONE of the children to % the entire target @@ -148,7 +148,7 @@ function display(obj) end options.throw_error_if_fail = throw_error_if_fail; end - + function [tf,fid] = findChildTransform(obj,target,options) % note: if target is one of the children, then this will return an % empty tf but an fid>0 @@ -177,7 +177,7 @@ function display(obj) end if (fid<1 && options.throw_error_if_fail) error('Couldn''t find a transform from any of my children to this target'); - end + end end function [tf,fid] = findChildReverseTransform(obj,origin,options) @@ -210,12 +210,12 @@ function display(obj) end if (fid<1 && options.throw_error_if_fail) error('Couldn''t find a transform from this origin to any of my children'); - end + end end - + function fr = subFrameByFrameID(obj,frame_ids) - % comparable to subFrame, but at the frame ID - + % comparable to subFrame, but at the frame ID + if ~isnumeric(frame_ids) || ~isvector(frame_ids) error('frame_ids must be a numeric vector'); end if (any(frame_ids>length(obj.frame) | frame_ids<1)) error(['frame_ids must be between 1 and ',length(obj.frame)]); end if (length(frame_ids)==1) @@ -224,7 +224,7 @@ function display(obj) fr = MultiCoordinateFrame({obj.frame{frame_ids}}); end end - + function ids = findSubFrameEquivalentModuloTransforms(obj,fr) ids=[]; for i=1:length(obj.frame) @@ -236,14 +236,14 @@ function display(obj) function varargout = splitCoordinates(obj,vector_vals) % Extract values of individual CoordinateFrames from a vector in the - % multi-frame. + % multi-frame. % @param vector_vals a vector in the multi-frame - % + % % Usage: cv = splitCoordinates(obj,vv); % a = cv{1}; b=cv{2}; - % or + % or % [a,b] = splitCoordinates(obj,vv) - + for i=1:length(obj.frame) obj.cell_vals{i} = vector_vals(obj.coord_ids{i}); end @@ -252,8 +252,8 @@ function display(obj) else varargout = obj.cell_vals; end - end - + end + function vector_vals = mergeCoordinates(obj,cell_vals) % sizecheck(cell_vals,length(obj.frame)); % commented out for speed vector_vals = cell_vals{1}(1)*zeros(obj.dim,1); @@ -261,7 +261,7 @@ function display(obj) vector_vals(obj.coord_ids{i}) = cell_vals{i}; end end - + function n = getNumFrames(obj) n = length(obj.frame); end @@ -278,7 +278,7 @@ function display(obj) end fr = obj.frame{id}; end - + function id = getFrameNum(obj,frame) id = find(cellfun(@(a)isequal(a,frame),obj.frame)); if length(id)>1 @@ -290,7 +290,7 @@ function display(obj) ind = obj.frame_id(i); str = getCoordinateName(obj.frame{ind},find(obj.coord_ids{ind}==i)); end - + function insys=setupMultiInput(obj,mdl,subsys) if ~valuecheck(obj.frame_id,sort(obj.frame_id)) % assume that the simple ordering is ok insys = [subsys,'inselector']; @@ -303,60 +303,60 @@ function display(obj) add_block('simulink3/Signals & Systems/Mux',[mdl,'/',insys],'Inputs',mat2str(cellfun(@(a) a.dim,obj.frame))); add_line(mdl,[insys,'/1'],[subsys,'/1']); end - + function outsys=setupMultiOutput(obj,mdl,subsys) if ~valuecheck(obj.frame_id,sort(obj.frame_id)) outsys = [subsys,'outselector']; add_block('simulink3/Signals & Systems/Selector',[mdl,'/',outsys],'InputPortWidth',num2str(obj.dim),'Indices',mat2str([obj.coord_ids{:}])); add_line(mdl,[subsys,'/1'],[outsys,'/1']); subsys = outsys; - end + end outsys = [subsys,'demux']; add_block('simulink3/Signals & Systems/Demux',[mdl,'/',outsys],'Outputs',mat2str(cellfun(@(a) a.dim,obj.frame))); add_line(mdl,[subsys,'/1'],[outsys,'/1']); end - + function setupLCMInputs(obj,mdl,subsys,subsys_portnum,options) typecheck(mdl,'char'); typecheck(subsys,'char'); uid = datestr(now,'MMSSFFF'); if (nargin<4) subsys_portnum=1; end - typecheck(subsys_portnum,'double'); + typecheck(subsys_portnum,'double'); if ~valuecheck(obj.frame_id,sort(obj.frame_id)) insys = [subsys,'inselector']; tmp = [obj.coord_ids{:}]; [~,ind] = sort(tmp); add_block('simulink3/Signals & Systems/Selector',[mdl,'/',insys],'InputPortWidth',num2str(obj.dim),'Indices',mat2str(ind)); add_line(mdl,[insys,'/1'],[subsys,'/',num2str(subsys_portnum)]); subsys = insys; subsys_portnum=1; - end + end add_block('simulink3/Signals & Systems/Mux',[mdl,'/mux',uid],'Inputs',num2str(length(obj.frame))); for i=1:length(obj.frame) setupLCMInputs(obj.frame{i},mdl,['mux',uid],i,options); end add_line(mdl,['mux',uid,'/1'],[subsys,'/',num2str(subsys_portnum)]); end - + function setupLCMOutputs(obj,mdl,subsys,subsys_portnum,options) typecheck(mdl,'char'); typecheck(subsys,'char'); uid = datestr(now,'MMSSFFF'); if (nargin<4) subsys_portnum=1; end - typecheck(subsys_portnum,'double'); - if ~valuecheck(obj.frame_id,sort(obj.frame_id)) + typecheck(subsys_portnum,'double'); + if ~valuecheck(obj.frame_id,sort(obj.frame_id)) outsys = [subsys,'outselector']; add_block('simulink3/Signals & Systems/Selector',[mdl,'/',outsys],'InputPortWidth',num2str(obj.dim),'Indices',mat2str([obj.coord_ids{:}])); add_line(mdl,[subsys,'/',subsys_portnum],[outsys,'/1']); subsys = outsys; subsys_portnum=1; - end + end add_block('simulink3/Signals & Systems/Demux',[mdl,'/demux',uid],'Outputs',mat2str([obj.frame{:}.dim])); for i=1:length(obj.frame) setupLCMOutputs(obj.frame{i},mdl,['demux',uid],i,options); end add_line(mdl,[subsys,'/',num2str(subsys_portnum)],['demux',uid,'/1']); - end - + end + end - + methods (Access=protected) function [A,fr] = extractFrameGraph(obj) [A,fr] = extractFrameGraph@CoordinateFrame(obj); @@ -369,16 +369,16 @@ function setupLCMOutputs(obj,mdl,subsys,subsys_portnum,options) end end end - + methods (Static=true) function obj = constructFrame(frames,frame_ids,zap_empty_frames) % if frames has only a single element, then return it, otherwise % construct the construct the mimo frame typecheck(frames,'cell'); - + if (nargin<2) frame_ids =[]; end if (nargin<3) zap_empty_frames = false; end - + if (nargin>1 && zap_empty_frames) i=1; while (i<=length(frames)) % zap empty frames @@ -391,7 +391,7 @@ function setupLCMOutputs(obj,mdl,subsys,subsys_portnum,options) end end end - + if length(frames)<1 obj = CoordinateFrame('EmptyFrame',0); elseif (length(frames)==1) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index dec107a96af3..8388d2fe23c0 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -666,7 +666,7 @@ if getNumStates(model)>0 model = constructStateFrame(model); - end + end if any([model.body.has_position_sensor]) % add a rigid body joint sensor if necessary @@ -726,7 +726,7 @@ % so it should go after createMexPointer phi = model.collisionDetect(zeros(model.getNumPositions,1)); model.num_contact_pairs = length(phi); - + for j=1:length(model.loop) model = updateConstraints(model.loop(j),model); end @@ -1740,7 +1740,7 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) function fr = getPositionFrame(obj,robotnum) if nargin<2, robotnum=1; end fr = obj.robot_position_frames{robotnum}; - end + end function fr = getVelocityFrame(obj,robotnum) if nargin<2, robotnum=1; end @@ -1803,11 +1803,11 @@ function checkDirty(obj) fr = CoordinateFrame([model.name{i},'Position'],length(positions),'q',positions); if numel(model.robot_position_frames) Date: Sat, 23 Aug 2014 13:02:13 -0400 Subject: [PATCH 106/271] working on replacing dynamical system constraint methods with the new constraint classes --- systems/@DrakeSystem/DrakeSystem.m | 4 +-- systems/SpotPolynomialSystem.m | 1 + systems/plants/@Manipulator/Manipulator.m | 15 +++++----- .../plants/TimeSteppingRigidBodyManipulator.m | 30 ++++++++----------- 4 files changed, 23 insertions(+), 27 deletions(-) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 83fb4a300562..d9df5116ae1d 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -362,8 +362,8 @@ obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); id = numel(obj.state_constraints); - end - + end + function obj = updateStateConstraint(obj,id,con) % @param id is the identifier returned from addStateConstraint % @param con is a constraint object diff --git a/systems/SpotPolynomialSystem.m b/systems/SpotPolynomialSystem.m index 75280926aebc..f8afd682e413 100644 --- a/systems/SpotPolynomialSystem.m +++ b/systems/SpotPolynomialSystem.m @@ -226,6 +226,7 @@ end end obj.p_state_constraints = p_state_constraints; + error('todo: need to reset the drake.state_constraints with this new constraint'); end function p_state_constraints = getPolyStateConstraints(obj) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 24c864c66140..53a1c9ebe889 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -158,7 +158,7 @@ % which can be enforced directly in the manipulator dynamics. % This method will also register phi (and it's time derivative) % as state constraints for the dynamical system. - + typecheck(con,'Constraint'); assert(con.xdim == obj.num_positions,'DrakeSystem:InvalidPositionConstraint','Position constraints must take a vector that is the same size as the number of positions of this system as an input'); assert(all(con.lb == con.ub)); @@ -169,7 +169,7 @@ obj.warning_manager.warnOnce('Drake:Manipulator:Todo','still need to add time derivatives of position constraints'); end - + function obj = addVelocityEqualityConstraint(obj,con) % Adds a velocity constraint of the form psi(q,v) = constant % (with dpsidv~=0) which can be enforced directly in the manipulator dynamics. @@ -220,7 +220,7 @@ function n = getNumVelocities(obj); n = obj.num_velocities; end - + function varargout = positionConstraints(obj,q) % Implements position constraints of the form phi(q) = 0 @@ -231,7 +231,7 @@ v{1} = v{1} - obj.state_constraints{obj.position_constraint_ids(i)}.lb; % center it around 0 for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); - end + end end end @@ -249,7 +249,7 @@ varargout{j} = vertcat(varargout{j},v{j}); end end - end + end function n = getNumJointLimitConstraints(obj) % returns number of constraints imposed by finite joint limits @@ -451,9 +451,8 @@ function num_contacts(obj) [obj,obj.joint_limit_constraint_id] = addStateConstraint(obj,con); else obj = updateStateConstraint(obj,obj.joint_limit_constraint_id,con); - end - end - + end + end properties (SetAccess = private, GetAccess = public) diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index f621fbfad3ce..454d2f521de0 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -568,20 +568,20 @@ function checkDirty(obj) function varargout = pdcontrol(sys,Kp,Kd,index) if nargin<4, index=[]; end - [pdff,pdfb] = pdcontrol(sys.manip,Kp,Kd,index); + [pdff,pdfb] = pdcontrol(sys.manip,Kp,Kd,index); pdfb = setInputFrame(pdfb,sys.manip.getStateFrame()); - pdfb = setOutputFrame(pdfb,sys.getInputFrame()); - pdff = setOutputFrame(pdff,sys.getInputFrame()); - if nargout>1 - varargout{1} = pdff; - varargout{2} = pdfb; - else - % note: design the PD controller with the (non time-stepping - % manipulator), but build the closed loop system with the - % time-stepping manipulator: - varargout{1} = cascade(pdff,feedback(sys,pdfb)); - end + pdfb = setOutputFrame(pdfb,sys.getInputFrame()); + pdff = setOutputFrame(pdff,sys.getInputFrame()); + if nargout>1 + varargout{1} = pdff; + varargout{2} = pdfb; + else + % note: design the PD controller with the (non time-stepping + % manipulator), but build the closed loop system with the + % time-stepping manipulator: + varargout{1} = cascade(pdff,feedback(sys,pdfb)); end + end end @@ -715,7 +715,7 @@ function checkDirty(obj) [obj.manip,manip_id] = obj.manip.addStateConstraint(obj,con); assert(id==manip_id); end - + function obj = updateStateConstraint(obj,id,con) obj = updateStateConstraint@DrakeSystem(obj,id,con); obj.manip = updateStateConstraint(obj.manip,id,con); @@ -944,10 +944,6 @@ function checkDirty(obj) model.manip = setParams(model.manip,p); end - function [lb,ub] = getStateLimits(obj) - [lb,ub] = obj.manip.getStateLimits(); - end - function terrain_contact_point_struct = getTerrainContactPoints(obj,varargin) terrain_contact_point_struct = getTerrainContactPoints(obj.manip,varargin{:}); end From 64c1b8915bb73ba9cfdd4c93b8228d1a056467b8 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 23 Aug 2014 19:49:59 -0400 Subject: [PATCH 107/271] acrobot lqr example works again --- systems/@DrakeSystem/DrakeSystem.m | 4 ++-- systems/plants/@Manipulator/Manipulator.m | 14 +++++++------- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index d9df5116ae1d..5394ad860669 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -362,7 +362,7 @@ obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); id = numel(obj.state_constraints); - end + end function obj = updateStateConstraint(obj,id,con) % @param id is the identifier returned from addStateConstraint @@ -377,7 +377,7 @@ obj.state_constraints{id} = con; obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); - end + end end methods (Sealed) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 53a1c9ebe889..f67f9981ff59 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -158,7 +158,7 @@ % which can be enforced directly in the manipulator dynamics. % This method will also register phi (and it's time derivative) % as state constraints for the dynamical system. - + typecheck(con,'Constraint'); assert(con.xdim == obj.num_positions,'DrakeSystem:InvalidPositionConstraint','Position constraints must take a vector that is the same size as the number of positions of this system as an input'); assert(all(con.lb == con.ub)); @@ -169,7 +169,7 @@ obj.warning_manager.warnOnce('Drake:Manipulator:Todo','still need to add time derivatives of position constraints'); end - + function obj = addVelocityEqualityConstraint(obj,con) % Adds a velocity constraint of the form psi(q,v) = constant % (with dpsidv~=0) which can be enforced directly in the manipulator dynamics. @@ -231,7 +231,7 @@ v{1} = v{1} - obj.state_constraints{obj.position_constraint_ids(i)}.lb; % center it around 0 for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); - end + end end end @@ -249,13 +249,13 @@ varargout{j} = vertcat(varargout{j},v{j}); end end - end + end function n = getNumJointLimitConstraints(obj) % returns number of constraints imposed by finite joint limits n = sum(obj.joint_limit_min ~= -inf) + sum(obj.joint_limit_max ~= inf); end - + function [phi,J,dJ] = jointLimitConstraints(obj,q) % constraint function (with derivatives) to implement unilateral % constraints imposed by joint limits @@ -451,8 +451,8 @@ function num_contacts(obj) [obj,obj.joint_limit_constraint_id] = addStateConstraint(obj,con); else obj = updateStateConstraint(obj,obj.joint_limit_constraint_id,con); - end - + end + end properties (SetAccess = private, GetAccess = public) From 4673a47e5495813b2e4ca329cb0e22acc9b9a4fd Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 23 Aug 2014 20:27:08 -0400 Subject: [PATCH 108/271] zapped UnsupportedJointLimits warning --- systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 8388d2fe23c0..c1a33d116f6a 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -1746,7 +1746,7 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) if nargin<2, robotnum=1; end fr = obj.robot_velocity_frames{robotnum}; end - + function fr = getStateFrame(obj,robotnum) if nargin<2, fr = getStateFrame@DrakeSystem(obj); From 831046c79a8cf50437e73d706c8195ecd800bc93 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 04:30:09 -0400 Subject: [PATCH 109/271] urdf model with joint limits works again --- systems/@DrakeSystem/DrakeSystem.m | 2 +- systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 5394ad860669..4c4064989bc8 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -377,7 +377,7 @@ obj.state_constraints{id} = con; obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); - end + end end methods (Sealed) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index c1a33d116f6a..33f0994884fb 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -704,7 +704,7 @@ end model = model.setJointLimits([model.body.joint_limit_min]',[model.body.joint_limit_max]'); - + model = model.setInputLimits(u_limit(:,1),u_limit(:,2)); %% check basic assumption from kinematics: @@ -726,7 +726,7 @@ % so it should go after createMexPointer phi = model.collisionDetect(zeros(model.getNumPositions,1)); model.num_contact_pairs = length(phi); - + for j=1:length(model.loop) model = updateConstraints(model.loop(j),model); end From 9022e937fad6cfa41d56f62c44353b83eb12dad7 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 06:27:50 -0400 Subject: [PATCH 110/271] all acrobot unit tests pass again --- systems/plants/@Manipulator/Manipulator.m | 2 +- systems/plants/TimeSteppingRigidBodyManipulator.m | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index f67f9981ff59..9fbc5c3463ef 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -220,7 +220,7 @@ function n = getNumVelocities(obj); n = obj.num_velocities; end - + function varargout = positionConstraints(obj,q) % Implements position constraints of the form phi(q) = 0 diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index 454d2f521de0..f292be3317c6 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -715,7 +715,7 @@ function checkDirty(obj) [obj.manip,manip_id] = obj.manip.addStateConstraint(obj,con); assert(id==manip_id); end - + function obj = updateStateConstraint(obj,id,con) obj = updateStateConstraint@DrakeSystem(obj,id,con); obj.manip = updateStateConstraint(obj.manip,id,con); From 33a3a0d2afc487306c419621b3ed04f1872b620f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 24 Aug 2014 07:15:15 -0400 Subject: [PATCH 111/271] working on loop joints --- systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 33f0994884fb..ec05e8a438e8 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -704,7 +704,7 @@ end model = model.setJointLimits([model.body.joint_limit_min]',[model.body.joint_limit_max]'); - + model = model.setInputLimits(u_limit(:,1),u_limit(:,2)); %% check basic assumption from kinematics: From 14e71a4a753c156f91abca2e51ec6c97f488911f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 25 Aug 2014 16:28:59 -0400 Subject: [PATCH 112/271] loop joints work again. now using DrakeFunctionConstraints --- systems/plants/@Manipulator/Manipulator.m | 82 +++++++++++++------ .../RigidBodyManipulator.m | 3 +- systems/plants/RigidBodyLoop.m | 13 +-- 3 files changed, 67 insertions(+), 31 deletions(-) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 9fbc5c3463ef..7d22e526380a 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -43,7 +43,7 @@ v = x(obj.num_positions+1:end); if (nargout>1) - if ~isempty(obj.position_constraint_ids) || ~isempty(obj.velocity_constraint_ids) + if ~isempty(obj.position_constraints) || ~isempty(obj.velocity_constraints) % by naming this 'MATLAB:TooManyOutputs', geval will catch the % error and use TaylorVarInstead error('MATLAB:TooManyOutputs','User gradients for constrained dynamics not implemented yet.'); @@ -123,7 +123,7 @@ phi=[]; psi=[]; qd = vToqdot(obj, q) * v; - if ~isempty(obj.position_constraint_ids) && ~isempty(obj.velocity_constraint_ids) + if ~isempty(obj.position_constraints) && ~isempty(obj.velocity_constraints) [phi,J,dJ] = geval(@obj.positionConstraints,q); Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); @@ -135,12 +135,12 @@ term2=Hinv*tau; constraint_force = -[J;dpsidqd]'*pinv([J*term1;dpsidqd*term1])*[J*term2 + Jdotqd + alpha*J*qd; dpsidqd*term2 + dpsidq*qd + beta*psi]; - elseif ~isempty(obj.position_constraint_ids) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... + elseif ~isempty(obj.position_constraints) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... [phi,J,dJ] = geval(@obj.positionConstraints,q); Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); constraint_force = -J'*pinv(J*Hinv*J')*(J*Hinv*tau + Jdotqd + alpha*J*qd); - elseif ~isempty(obj.velocity_constraint_ids) + elseif ~isempty(obj.velocity_constraints) [psi,J] = geval(@obj.velocityConstraints,q,qd); dpsidq = J(:,1:obj.num_positions); dpsidqd = J(:,obj.num_positions+1:end); @@ -153,36 +153,67 @@ end methods - function obj = addPositionEqualityConstraint(obj,con) + function [obj,id] = addPositionEqualityConstraint(obj,con) % Adds a position constraint of the form phi(q) = constant % which can be enforced directly in the manipulator dynamics. % This method will also register phi (and it's time derivative) % as state constraints for the dynamical system. - typecheck(con,'Constraint'); + id = numel(obj.position_constraints)+1; + obj = updatePositionEqualityConstraint(obj,id,con); + + end + + function obj = updatePositionEqualityConstraint(obj,id,con) + typecheck(con,'DrakeFunctionConstraint'); % for now assert(con.xdim == obj.num_positions,'DrakeSystem:InvalidPositionConstraint','Position constraints must take a vector that is the same size as the number of positions of this system as an input'); assert(all(con.lb == con.ub)); - - [obj,id] = addStateConstraint(obj,con); - obj.position_constraint_ids(end+1) = id; + + pos_fun = con.fcn; + state_fun = pos_fun.addInputFrame(obj.getVelocityFrame); + state_con = DrakeFunctionConstraint(con.lb,con.ub,state_fun); + + if id>=numel(obj.position_constraints) % then it's an existing constraint + [obj,obj.position_constraint_ids(1,id)] = addStateConstraint(obj,state_con); + else + obj.num_position_constraints = obj.num_position_constraints-obj.position_constraints{id}.num_cnstr; + obj = updateStateConstraint(obj,obj.position_constraint_ids(1,id),state_con); + end + obj.num_position_constraints = obj.num_position_constraints+con.num_cnstr; + obj.position_constraints{id} = con; obj.warning_manager.warnOnce('Drake:Manipulator:Todo','still need to add time derivatives of position constraints'); end - function obj = addVelocityEqualityConstraint(obj,con) + function [obj,id] = addVelocityEqualityConstraint(obj,con) % Adds a velocity constraint of the form psi(q,v) = constant % (with dpsidv~=0) which can be enforced directly in the manipulator dynamics. % This method will also register psi as a state constraint % for the dynamical system. - typecheck(con,'Constraint'); - assert(con.xdim == obj.num_velocities,'DrakeSystem:InvalidVelocityConstraint','Velocity constraints must take a vector that is the same size as the number of velocities of this system as an input'); + id = numel(obj.position_constraints)+1; + obj = updatePositionEqualityConstraint(obj,id,con); + + end + function obj = updateVelocityEqualityConstraint(obj,id,con) + typecheck(con,'DrakeFunctionConstraint'); % for now + assert(con.xdim == obj.num_velocities,'DrakeSystem:InvalidVelocityConstraint','Velocity constraints must take a vector that is the same size as the number of velocity s of this system as an input'); assert(all(con.lb == con.ub)); - - [obj,id] = addStateConstraint(obj,con); - obj.velocity_constraint_ids(end+1) = id; + + pos_fun = con.fcn; + state_fun = pos_fun.addInputFrame(obj.getPositionFrame,false); + state_con = DrakeFunctionConstraint(con.lb,con.ub,state_fun); + + if id>=numel(obj.velocity_constraints) % then it's an existing constraint + [obj,obj.velocity_constraint_ids(1,id)] = addStateConstraint(obj,state_con); + else + obj.num_velocity_constraints = obj.num_velocity_constraints-obj.velocity_constraints{id}.num_cnstr; + obj = updateStateConstraint(obj,obj.velocity_constraint_ids(1,id),state_con); + end + obj.num_velocity_constraints = obj.num_velocity_constraints+con.num_cnstr; + obj.velocity_constraints{id} = con; end end @@ -225,10 +256,10 @@ % Implements position constraints of the form phi(q) = 0 varargout = cell(1,nargout); - for i=1:length(obj.position_constraint_ids) + for i=1:length(obj.position_constraints) v = cell(1,nargout); - [v{:}] = obj.state_constraints{obj.position_constraint_ids(i)}.eval(x); - v{1} = v{1} - obj.state_constraints{obj.position_constraint_ids(i)}.lb; % center it around 0 + [v{:}] = obj.position_constraints{i}.eval(x); + v{1} = v{1} - obj.position_constraints{i}.lb; % center it around 0 for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); end @@ -241,10 +272,10 @@ % only on q should be implemented instead as positionConstraints. varargout = cell(1,nargout); - for i=1:length(obj.velocity_constraint_ids) + for i=1:length(obj.velocity_constraints) v = cell(1,nargout); - [v{:}] = obj.state_constraints{obj.velocity_constraint_ids(i)}.eval(x); - v{1} = v{1} - obj.state_constraints{obj.velocity_constraint_ids(i)}.lb; % center it around 0 + [v{:}] = obj.velocity_constraints{i}.eval(x); + v{1} = v{1} - obj.velocity_constraints{i}.lb; % center it around 0 for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); end @@ -255,7 +286,7 @@ % returns number of constraints imposed by finite joint limits n = sum(obj.joint_limit_min ~= -inf) + sum(obj.joint_limit_max ~= inf); end - + function [phi,J,dJ] = jointLimitConstraints(obj,q) % constraint function (with derivatives) to implement unilateral % constraints imposed by joint limits @@ -452,6 +483,7 @@ function num_contacts(obj) else obj = updateStateConstraint(obj,obj.joint_limit_constraint_id,con); end + end end @@ -460,8 +492,10 @@ function num_contacts(obj) num_velocities=0; num_position_constraints=0; num_velocity_constraints=0; - position_constraint_ids = []; % ids for the state_constriants of the form phi(q)=const enforced by the dynamics - velocity_constraint_ids = []; % ids for the state constriants of the form psi(q,qd)=const enforced by the dynamics + position_constraints = {}; % position equality constraints of the form phi(q)=const + position_constraint_ids = []; % also have to keep associate state constraints + velocity_constraints = {}; % velocity equality constraints of the form psi(q,qd)=const + velocity_constraint_ids = []; % also keep associated state constraints joint_limit_min = -inf; % vector of length num_q with lower limits joint_limit_max = inf; % vector of length num_q with upper limits joint_limit_constraint_id = []; diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index ec05e8a438e8..3305cbee5bf6 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -728,7 +728,8 @@ model.num_contact_pairs = length(phi); for j=1:length(model.loop) - model = updateConstraints(model.loop(j),model); + [loop,model] = updateConstraints(model.loop(j),model); + model.loop(j) = loop; end if (model.num_contact_pairs>0) diff --git a/systems/plants/RigidBodyLoop.m b/systems/plants/RigidBodyLoop.m index bcffe510d34e..7cae78c9aca7 100644 --- a/systems/plants/RigidBodyLoop.m +++ b/systems/plants/RigidBodyLoop.m @@ -11,17 +11,18 @@ end methods - function model = updateConstraints(obj,model) - con = RelativePositionConstraint(model,obj.pt1,obj.pt2,obj.pt2,obj.body1,obj.body2); + function [obj,model] = updateConstraints(obj,model) + relative_position_fun = drakeFunction.kinematic.RelativePosition(model,obj.body1,obj.body2,obj.pt1); +% relative_position_fun = relative_position_fun.addInputFrame(model.getVelocityFrame); + con = DrakeFunctionConstraint(obj.pt2,obj.pt2,relative_position_fun); % todo: naming logic should go into the constraint classes % todo: support 2D constraints for planar loops? - con = generateConstraint(con); - con = setName(con{1},{[obj.name,'_x'];[obj.name,'_y'];[obj.name,'_z']}); + con = setName(con,{[obj.name,'_x'];[obj.name,'_y'];[obj.name,'_z']}); if isempty(obj.constraint_id) - [model,obj.constraint_id] = addStateConstraint(model,con); + [model,obj.constraint_id] = addPositionEqualityConstraint(model,con); else - model = updateStateConstraint(model,obj.constraint_id,con); + model = updatePositionEqualityConstraint(model,obj.constraint_id,con); end end From d4aeca05baad66f4efd68f0e8fe6212e367ac2cb Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 25 Aug 2014 20:35:11 -0400 Subject: [PATCH 113/271] display infeasible constraints in inspector --- systems/@DynamicalSystem/DynamicalSystem.m | 6 +++--- systems/plants/@Manipulator/Manipulator.m | 2 ++ systems/visualizers/Visualizer.m | 5 ++++- 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/systems/@DynamicalSystem/DynamicalSystem.m b/systems/@DynamicalSystem/DynamicalSystem.m index 99e4e32018be..980d8c65efb9 100644 --- a/systems/@DynamicalSystem/DynamicalSystem.m +++ b/systems/@DynamicalSystem/DynamicalSystem.m @@ -318,10 +318,10 @@ [x,~,exitflag,infeasible_constraint_name] = solve(prog,x0); success=(exitflag==1); + if ~isempty(infeasible_constraint_name) + infeasible_constraint_name + end if (nargout<2 && ~success) - if ~isempty(infeasible_constraint_name) - infeasible_constraint_name - end error('Drake:DynamicalSystem:ResolveConstraintsFailed','failed to resolve constraints'); end x = Point(obj.getStateFrame,x); diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 7d22e526380a..212dc20a61dd 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -172,6 +172,7 @@ pos_fun = con.fcn; state_fun = pos_fun.addInputFrame(obj.getVelocityFrame); state_con = DrakeFunctionConstraint(con.lb,con.ub,state_fun); + state_con = state_con.setName(con.name); if id>=numel(obj.position_constraints) % then it's an existing constraint [obj,obj.position_constraint_ids(1,id)] = addStateConstraint(obj,state_con); @@ -204,6 +205,7 @@ pos_fun = con.fcn; state_fun = pos_fun.addInputFrame(obj.getPositionFrame,false); state_con = DrakeFunctionConstraint(con.lb,con.ub,state_fun); + state_con = state_con.setName(con.name); if id>=numel(obj.velocity_constraints) % then it's an existing constraint [obj,obj.velocity_constraint_ids(1,id)] = addStateConstraint(obj,state_con); diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m index a69fed4b6790..f5c27297d5b0 100644 --- a/systems/visualizers/Visualizer.m +++ b/systems/visualizers/Visualizer.m @@ -272,7 +272,10 @@ function update_display(source, eventdata) objective = QuadraticConstraint(0,inf,Q,b); this_prog = addCost(this_prog,objective,remaining_state_dims); end - x = solve(this_prog,x); + [x,~,~,infeasible_constraint_name] = solve(this_prog,x); + if ~isempty(infeasible_constraint_name) + infeasible_constraint_name + end % .5*(x0(remaining_state_dims) - x(remaining_state_dims))^2 % fval = objective.eval(x(remaining_state_dims)) for i=1:numel(state_dims) From 16b34b216ff2a626e3a2181a13043a10a2116212 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Tue, 26 Aug 2014 06:28:26 -0400 Subject: [PATCH 114/271] adds display method for constraint class --- solvers/Constraint.m | 7 +++++++ systems/@DrakeSystem/DrakeSystem.m | 6 ++++++ .../plants/@RigidBodyManipulator/RigidBodyManipulator.m | 4 ++-- 3 files changed, 15 insertions(+), 2 deletions(-) diff --git a/solvers/Constraint.m b/solvers/Constraint.m index b4d6ade65088..3de90efff4f9 100644 --- a/solvers/Constraint.m +++ b/solvers/Constraint.m @@ -97,6 +97,13 @@ function checkGradient(obj,tol,varargin) sizecheck(name,[obj.num_cnstr,1]); obj.name = name; end + + function disp(obj) + fprintf('%d constraints on %d variables:\n',obj.num_cnstr,obj.xdim); + for j=1:obj.num_cnstr + fprintf(' %f <= %s <= %f\n',obj.lb(j),obj.name{j},obj.ub(j)); + end + end function varargout = eval(obj,varargin) if obj.grad_level==-2 % no gradients available diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 4c4064989bc8..8cf01881107c 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -378,6 +378,12 @@ obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); end + + function displayStateConstraints(obj) + for i=1:length(obj.state_constraints) + disp(obj.state_constraints{i}); + end + end end methods (Sealed) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 3305cbee5bf6..c468ba3505d9 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -1562,10 +1562,10 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) ceq = [C-B*u]; GCeq = [dC(1:nq,1:nq),-B]'; end - if (obj.num_xcon>0) + if getNumStateConstraints(obj)>0 [phi,dphi] = geval(@obj.stateConstraints,[q;zeros(nv,1)]); ceq = [ceq; phi]; - GCeq = [GCeq, [dphi(:,1:nq),zeros(obj.num_xcon,nu+nz)]']; + GCeq = [GCeq, [dphi(:,1:nq),zeros(numel(phi),nu+nz)]']; end end end From befb1cfdd10ff9ef1bac52900d584e428c68d14d Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 06:50:56 -0400 Subject: [PATCH 115/271] forgot to add mesh writer --- util/writeMeshOBJ.m | 50 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 util/writeMeshOBJ.m diff --git a/util/writeMeshOBJ.m b/util/writeMeshOBJ.m new file mode 100644 index 000000000000..b5dbe04ce0e0 --- /dev/null +++ b/util/writeMeshOBJ.m @@ -0,0 +1,50 @@ +function writeMeshOBJ(filename,x,y,Z) + +% writes the mesh to an alias wavefront file (e.g. for the viewers to +% parse) +% adapted from http://www.aleph.se/Nada/Ray/saveobjmesh.m +% @param filename string indicating where to write the file +% @param x,y are *vectors* +% @param Z is a matrix of size [numel(y),numel(x)] +% (note the somewhat flipped order of y and x) +% which mirrors the syntax of mesh(x,y,Z); + +typecheck(filename,'char'); +assert(isvector(x)); +assert(isvector(y)); +assert(all(size(Z)==[numel(y),numel(x)])); +Z=Z'; % back to ndgrid vs meshgrid (for sanity + compatibility w/ barycentric code) + +[X,Y] = ndgrid(x,y); + +% compute normals +N = numel(X); +[indices,coefs,dcoefs] = barycentricInterpolation({x,y},[X(:)';Y(:)']); +fx = sum(Z(indices).*reshape(dcoefs(:,1),size(indices,1),N)); +fy = sum(Z(indices).*reshape(dcoefs(:,2),size(indices,1),N)); +%normals = [-fx;-fy;ones(1,N)]; +nx = reshape(-fx,size(X)); +ny = reshape(-fy,size(X)); +nz = ones(size(X)); +% end compute normals + +l=size(X,1); h=size(X,2); + +n=zeros(l,h); + +[path,name,ext] = fileparts(filename); +if isempty(ext), ext='.obj'; end +filename = fullfile(path,[name,ext]); + +fid=fopen(filename,'w'); + +n=reshape(1:(l*h),l,h); +[i,j]=ndgrid(linspace(0,1,l),linspace(0,1,h)); +fprintf(fid,'v %f %f %f\n',[X(:)';Y(:)';Z(:)']); +fprintf(fid,'vt %f %f\n',[i(:)';j(:)']); +fprintf(fid,'g mesh\n'); +fprintf(fid,'f %d/%d %d/%d %d/%d %d/%d\n',[reshape(n(1:end-1,1:end-1),1,[]);reshape(n(1:end-1,1:end-1),1,[]);reshape(n(2:end,1:end-1),1,[]);reshape(n(2:end,1:end-1),1,[]);reshape(n(2:end,2:end),1,[]);reshape(n(2:end,2:end),1,[]);reshape(n(1:end-1,2:end),1,[]);reshape(n(1:end-1,2:end),1,[])]); +fprintf(fid,'g\n\n'); +fclose(fid); + +end \ No newline at end of file From 4ea50e968c0f087531e694393963e3470bb12098 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 06:51:56 -0400 Subject: [PATCH 116/271] an attempt to fix the compilation issue that we had on one ubuntu machine (with seemingly all of the same compilers, etc) --- util/drakeGradientUtil.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util/drakeGradientUtil.cpp b/util/drakeGradientUtil.cpp index 23be143091ad..787374e458b6 100644 --- a/util/drakeGradientUtil.cpp +++ b/util/drakeGradientUtil.cpp @@ -189,7 +189,7 @@ MAKE_MATGRADMULTMAT_TRANSPOSE_B_EXPLICIT_INSTANTIATION(double, 4, 1, 4, 4, 4, 4) #undef MAKE_MATGRADMULTMAT_TRANSPOSE_B_EXPLICIT_INSTANTIATION #define MAKE_SETSUBMATRIXGRADIENT_EXPLICIT_INSTANTIATION(Type, QSubvectorSize, DMRows, DMCols, DMSubRows, DMSubCols, NRows, NCols) \ - template void setSubMatrixGradient(Eigen::MatrixBase< Eigen::Matrix >&, const Eigen::MatrixBase< Eigen::Matrix >&, const std::array&, const std::array&, int, int, int); + template void setSubMatrixGradient, Eigen::Matrix, NRows, NCols>(Eigen::MatrixBase< Eigen::Matrix >&, const Eigen::MatrixBase< Eigen::Matrix >&, const std::array&, const std::array&, int, int, int); //MAKE_SETSUBMATRIXGRADIENT_EXPLICIT_INSTANTIATION(double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 3, Eigen::Dynamic, 3, 1) MAKE_SETSUBMATRIXGRADIENT_EXPLICIT_INSTANTIATION(double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 3, Eigen::Dynamic, 3, 1) MAKE_SETSUBMATRIXGRADIENT_EXPLICIT_INSTANTIATION(double, Eigen::Dynamic, 16, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 3, 3) From 333e0a1b0c5cf41861444b68c41745d59e2c0800 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 07:18:13 -0400 Subject: [PATCH 117/271] disable state constraints in hybrid systems for the moment --- systems/@HybridDrakeSystem/HybridDrakeSystem.m | 16 ++-------------- 1 file changed, 2 insertions(+), 14 deletions(-) diff --git a/systems/@HybridDrakeSystem/HybridDrakeSystem.m b/systems/@HybridDrakeSystem/HybridDrakeSystem.m index 3b22b8ab66a8..fef33008650b 100644 --- a/systems/@HybridDrakeSystem/HybridDrakeSystem.m +++ b/systems/@HybridDrakeSystem/HybridDrakeSystem.m @@ -53,6 +53,7 @@ obj = setNumZeroCrossings(obj,max(getNumZeroCrossings(obj),getNumZeroCrossings(mode_sys))); end if (getNumStateConstraints(mode_sys)>0) + error('need to reimplement this'); % presumably by adding the state constraints augmented by the mode obj = setNumStateConstraints(obj,max(getNumStateConstraints(obj),getNumStateConstraints(mode_sys))); end if getNumUnilateralConstraints(mode_sys)>0 @@ -250,20 +251,7 @@ function drawModeGraph(obj) zcs(n+(1:n2))=zeroCrossings(obj.modes{m},t,xm,u); end end - - function con = stateConstraints(obj,x) - m = x(1); - % should I publish the constant mode constraint here? - - nX = getNumStates(obj.modes{m}); - ncon = getNumStateConstraints(obj.modes{m}); - con = zeros(getNumStateConstraints(obj),1); - if (nX>0 && ncon) - xm = x(1+(1:nX)); - con(1:ncon) = stateConstraints(obj.modes{m},xm); - end - end - + function [x,success] = resolveConstraints(obj,x,v) m = x(1); nX = getNumStates(obj.modes{m}); From 0e142b93f5c72f27169bf04a26122c269c6c4e4d Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 07:24:05 -0400 Subject: [PATCH 118/271] fix argument processing in simulateODE fallback --- systems/@DrakeSystem/DrakeSystem.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 86be4e36ae78..e84d7b0bc1fc 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -389,7 +389,7 @@ if checkDependency('simulink') && exist('DCSFunction','file') [varargout{:}] = simulate@DynamicalSystem(obj,varargin{:}); else - [varargout{:}] = simulateODE(obj,tspan,x0,options); + [varargout{:}] = simulateODE(obj,varargin{:}); end end From f4e9fdcce1fb7b062391374ffc7859c760f9c81f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 14:36:16 -0400 Subject: [PATCH 119/271] add non-penetration contact constraints to the list of state constraints --- solvers/QuadraticConstraint.m | 2 +- systems/@DrakeSystem/DrakeSystem.m | 23 ++++++++++---- systems/plants/@Manipulator/Manipulator.m | 8 ++--- .../RigidBodyManipulator.m | 30 ++++++++++++++++++- systems/plants/test/contactSensorTest.m | 6 ++-- 5 files changed, 55 insertions(+), 14 deletions(-) diff --git a/solvers/QuadraticConstraint.m b/solvers/QuadraticConstraint.m index 1f78b41403cd..b3341a41ab67 100644 --- a/solvers/QuadraticConstraint.m +++ b/solvers/QuadraticConstraint.m @@ -12,7 +12,7 @@ sizecheck(lb,[1,1]); sizecheck(ub,[1,1]); nx = size(Q,1); - obj = obj@Constraint(lb,ub,nx,inf); + obj = obj@Constraint(lb,ub,nx,2); sizecheck(Q,[nx,nx]); sizecheck(b,[nx,1]); obj.Q = (Q + Q')/2; % ensure that Q is symmetric diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 8cf01881107c..19033e34c774 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -351,30 +351,40 @@ n = obj.num_xcon_ineq; end - function [obj,id] = addStateConstraint(obj,con) + function [obj,id] = addStateConstraint(obj,con,xind) % @param con is a constraint object which takes the state of this % system as input + % @param xind (optional) subset of the state indices typecheck(con,'Constraint'); - assert(con.xdim == obj.num_x,'DrakeSystem:InvalidStateConstraint','State constraints must take a vector that is the same size as the state vector of this system as an input'); + if nargin<3, + xind = 1:obj.num_x; + else + assert(all(xind>=1) && all(xind<=obj.num_x)); + end + assert(con.xdim == length(xind),'DrakeSystem:InvalidStateConstraint','xdim mismatch'); obj.state_constraints{end+1} = con; + obj.state_constraint_xind{end+1} = xind; obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); id = numel(obj.state_constraints); end - function obj = updateStateConstraint(obj,id,con) + function obj = updateStateConstraint(obj,id,con,xind) % @param id is the identifier returned from addStateConstraint % @param con is a constraint object + % @param xind (optional) subset of the state indices rangecheck(id,0,numel(obj.state_constraints)); typecheck(con,'Constraint'); - assert(con.xdim == obj.num_x,'DrakeSystem:InvalidStateConstraint','State constraints must take a vector that is the same size as the state vector of this system as an input'); + if (nargin<4) xind = obj.state_constraint_xind{id}; end + assert(con.xdim == length(xind),'DrakeSystem:InvalidStateConstraint','xdim mismatch'); obj.num_xcon_eq = obj.num_xcon_eq - sum(obj.state_constraints{id}.lb == obj.state_constraints{id}.ub); obj.num_xcon_ineq = obj.num_xcon_ineq - sum(obj.state_constraints{id}.lb ~= obj.state_constraints{id}.ub); obj.state_constraints{id} = con; + obj.state_constraint_xind{id} = xind; obj.num_xcon_eq = obj.num_xcon_eq + sum(con.lb == con.ub); obj.num_xcon_ineq = obj.num_xcon_ineq + sum(con.lb ~= con.ub); end @@ -391,7 +401,9 @@ function displayStateConstraints(obj) % adds state constraints and unilateral constraints to the % program on the specified indices. - prog = prog.addConstraint(obj.state_constraints,indices); + for i=1:numel(obj.state_constraints) + prog = prog.addConstraint(obj.state_constraints{i},indices(obj.state_constraint_xind{i})); + end end function prog = addInputConstraintsToProgram(obj,prog,indices) % add bounding box constraint @@ -661,6 +673,7 @@ function systemGradTest(obj,t,x,u,options) num_xcon_eq = 0; % number of state *equality* constraints num_xcon_ineq = 0; % number of state *inequality* constraints state_constraints={}; % a cell array of constraint objects which depend on the state vector x + state_constraint_xind={}; % cell array of xindices (one for each state constraint) end properties (SetAccess=private, GetAccess=public) umin=[]; % constrains u>=umin (default umin=-inf) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 212dc20a61dd..e5a0740b4008 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -478,12 +478,12 @@ function num_contacts(obj) obj.joint_limit_min = jl_min; obj.joint_limit_max = jl_max; - con = BoundingBoxConstraint([jl_min;-inf(obj.num_velocities,1)],[jl_max;inf(obj.num_velocities,1)]); - con = setName(con,cellfun(@(a) [a,'_limit'],obj.getStateFrame.coordinates,'UniformOutput',false)); + con = BoundingBoxConstraint(jl_min,jl_max); + con = setName(con,cellfun(@(a) [a,'_limit'],obj.getPositionFrame.coordinates,'UniformOutput',false)); if isempty(obj.joint_limit_constraint_id) - [obj,obj.joint_limit_constraint_id] = addStateConstraint(obj,con); + [obj,obj.joint_limit_constraint_id] = addStateConstraint(obj,con,1:obj.getNumPositions); else - obj = updateStateConstraint(obj,obj.joint_limit_constraint_id,con); + obj = updateStateConstraint(obj,obj.joint_limit_constraint_id,con,1:obj.getNumPositions); end end diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index c468ba3505d9..0dc26883902a 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -20,6 +20,7 @@ terrain; num_contact_pairs; contact_options; % struct containing options for contact/collision handling + contact_constraint_id=[]; frame = []; % array of RigidBodyFrame objects robot_state_frames; @@ -724,9 +725,36 @@ % collisionDetect may require the mex version of the manipulator, % so it should go after createMexPointer - phi = model.collisionDetect(zeros(model.getNumPositions,1)); + [phi,~,~,~,idxA,idxB] = model.collisionDetect(zeros(model.getNumPositions,1)); model.num_contact_pairs = length(phi); + % can't really add the full complementarity constraints here, + % since the state constraints only take x as the input. so + % just adding the non-penetration constraints + function [phi,dphi,ddphi] = nonpenetrationConstraint(q) + kinsol = doKinematics(model,q); + if nargout>2 + [phi,~,~,~,~,~,~,~,dphi,~,ddphi] = contactConstraints(model,kinsol,false,model.contact_options); + elseif nargout>1 + [phi,~,~,~,~,~,~,~,dphi] = contactConstraints(model,kinsol,false,model.contact_options); + else + phi = contactConstraints(model,kinsol,false,model.contact_options); + end + end + + if (model.num_contact_pairs>0) + nonpenetration_constraint = FunctionHandleConstraint(zeros(model.num_contact_pairs,1),inf(model.num_contact_pairs,1),model.getNumPositions,@nonpenetrationConstraint,2); + nonpenetration_constraint = nonpenetration_constraint.setName(cellstr(num2str([idxA;idxB]','non-penetration: body %d <-> body %d'))); + else + nonpenetration_constraint = NullConstraint(model.getNumPositions); + end + if isempty(model.contact_constraint_id) + [model,id] = addStateConstraint(model,nonpenetration_constraint,1:model.getNumPositions); + model.contact_constraint_id = id; + else + model = updateStateConstraint(model,model.contact_constraint_id,nonpenetration_constraint,1:model.getNumPositions); + end + for j=1:length(model.loop) [loop,model] = updateConstraints(model.loop(j),model); model.loop(j) = loop; diff --git a/systems/plants/test/contactSensorTest.m b/systems/plants/test/contactSensorTest.m index 3d203fb185f4..ecdb3335a6b4 100644 --- a/systems/plants/test/contactSensorTest.m +++ b/systems/plants/test/contactSensorTest.m @@ -16,6 +16,9 @@ [ytraj,xtraj] = simulate(p,[0 T]); +v = p.constructVisualizer(); +v.playback(ytraj,struct('slider',true)); + % should find initial conditions for the brick which are resting on the % ground. yf = Point(p.getOutputFrame,eval(ytraj,T)); @@ -23,9 +26,6 @@ valuecheck(yf.force_z,getMass(p)*norm(getGravity(p)),1e-5); valuecheck(yf.torque,0,1e-5); -%v = p.constructVisualizer(); -%v.playback(ytraj); - options.twoD = false; p = TimeSteppingRigidBodyManipulator('FallingBrickContactPoints.urdf',.01,options); From 2d1668b66eb3630ebfd35f4b779a48d72d853b16 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 16:11:14 -0400 Subject: [PATCH 120/271] fixed bad commit. let's try again --- solvers/NullConstraint.m | 18 +++++++++++------- .../RigidBodyManipulator.m | 16 ++++++++-------- systems/plants/test/contactSensorTest.m | 4 ++-- 3 files changed, 21 insertions(+), 17 deletions(-) diff --git a/solvers/NullConstraint.m b/solvers/NullConstraint.m index 76a70167f338..669aaefc5599 100644 --- a/solvers/NullConstraint.m +++ b/solvers/NullConstraint.m @@ -2,12 +2,16 @@ % this constraint does nothing, but having it is easier that handling the % possibility of empty matrices in lists of constraints - function obj = NullConstraint(xdim) - obj = obj@Constraint([],[],xdim,inf); + methods + function obj = NullConstraint(xdim) + obj = obj@Constraint([],[],xdim,inf); + end end - - function varargout = constraintEval(obj,x) - varargout = cell(1,nargout); - % outputs are intentionally left empty + + methods (Access = protected) + function varargout = constraintEval(obj,varargin) + varargout = cell(1,nargout); + % outputs are intentionally left empty + end end -end +end \ No newline at end of file diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 0dc26883902a..228d271e629a 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -745,14 +745,14 @@ if (model.num_contact_pairs>0) nonpenetration_constraint = FunctionHandleConstraint(zeros(model.num_contact_pairs,1),inf(model.num_contact_pairs,1),model.getNumPositions,@nonpenetrationConstraint,2); nonpenetration_constraint = nonpenetration_constraint.setName(cellstr(num2str([idxA;idxB]','non-penetration: body %d <-> body %d'))); - else - nonpenetration_constraint = NullConstraint(model.getNumPositions); - end - if isempty(model.contact_constraint_id) - [model,id] = addStateConstraint(model,nonpenetration_constraint,1:model.getNumPositions); - model.contact_constraint_id = id; - else - model = updateStateConstraint(model,model.contact_constraint_id,nonpenetration_constraint,1:model.getNumPositions); + if isempty(model.contact_constraint_id) + [model,id] = addStateConstraint(model,nonpenetration_constraint,1:model.getNumPositions); + model.contact_constraint_id = id; + else + model = updateStateConstraint(model,model.contact_constraint_id,nonpenetration_constraint,1:model.getNumPositions); + end + elseif ~isempty(model.contact_constraint_id) + model = updateStateConstraint(model,model.contact_constraint_id,NullConstraint(model.getNumPositions),1:model.getNumPositions); end for j=1:length(model.loop) diff --git a/systems/plants/test/contactSensorTest.m b/systems/plants/test/contactSensorTest.m index ecdb3335a6b4..8ced2d7e4478 100644 --- a/systems/plants/test/contactSensorTest.m +++ b/systems/plants/test/contactSensorTest.m @@ -16,8 +16,8 @@ [ytraj,xtraj] = simulate(p,[0 T]); -v = p.constructVisualizer(); -v.playback(ytraj,struct('slider',true)); +%v = p.constructVisualizer(); +%v.playback(ytraj,struct('slider',true)); % should find initial conditions for the brick which are resting on the % ground. From cd7d676325ec9e3477eb40e8f8ae8dad9bb1dc1a Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 16:32:43 -0400 Subject: [PATCH 121/271] fix pos and vel frames for multi-robots --- systems/frames/MultiCoordinateFrame.m | 2 +- .../RigidBodyManipulator.m | 20 +++++++++++++++---- 2 files changed, 17 insertions(+), 5 deletions(-) diff --git a/systems/frames/MultiCoordinateFrame.m b/systems/frames/MultiCoordinateFrame.m index 6259e0453a27..517b282aa3c9 100644 --- a/systems/frames/MultiCoordinateFrame.m +++ b/systems/frames/MultiCoordinateFrame.m @@ -373,7 +373,7 @@ function setupLCMOutputs(obj,mdl,subsys,subsys_portnum,options) methods (Static=true) function obj = constructFrame(frames,frame_ids,zap_empty_frames) % if frames has only a single element, then return it, otherwise - % construct the construct the mimo frame + % construct the multi-frame typecheck(frames,'cell'); if (nargin<2) frame_ids =[]; end diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 228d271e629a..ab5002b9cf7e 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -1767,16 +1767,28 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) end function fr = getPositionFrame(obj,robotnum) - if nargin<2, robotnum=1; end - fr = obj.robot_position_frames{robotnum}; + % if robotnum is not specified, then it returns a position frame + % including all position variables (for all robots) + if nargin<2, + fr = MultiCoordinateFrame.constructFrame(obj.robot_position_frames); + else + fr = obj.robot_position_frames{robotnum}; + end end function fr = getVelocityFrame(obj,robotnum) - if nargin<2, robotnum=1; end - fr = obj.robot_velocity_frames{robotnum}; + % if robotnum is not specified, then it returns a velocity frame + % including all velocity variables (for all robots) + if nargin<2, + fr = MultiCoordinateFrame.constructFrame(obj.robot_velocity_frames); + else + fr = obj.robot_velocity_frames{robotnum}; + end end function fr = getStateFrame(obj,robotnum) + % if robotnum is not specified, then it returns a state frame + % including all state variables (for all robots) if nargin<2, fr = getStateFrame@DrakeSystem(obj); else From b9b79ef2fbbb5af4a269192f27bd7663665af5db Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 17:01:54 -0400 Subject: [PATCH 122/271] preserve the old interface for the more generic dynamical systems interfaces --- systems/@DynamicalSystem/DynamicalSystem.m | 52 ++++++++++++++++------ 1 file changed, 39 insertions(+), 13 deletions(-) diff --git a/systems/@DynamicalSystem/DynamicalSystem.m b/systems/@DynamicalSystem/DynamicalSystem.m index 980d8c65efb9..b4fc63d850d0 100644 --- a/systems/@DynamicalSystem/DynamicalSystem.m +++ b/systems/@DynamicalSystem/DynamicalSystem.m @@ -328,27 +328,33 @@ end function prog = addStateConstraintsToProgram(obj,prog,indices) - % adds state constraints and unilateral constraints to the + % adds state constraints and unilateral constriants to the % program on the specified indices. derived classes can overload - % this method to their additional constraints. + % this method to add additional constraints. % % @param prog a NonlinearProgram class % @param indices the indices of the state variables in the program % @default 1:nX - return; % intentionally do nothing + typecheck(prog,'NonlinearProgram'); + nx = getNumStates(obj); + if nargin<3, indices=1:nx; end + + % add state constraints + nc = getNumStateConstraints(obj); + if nc>0 + con = FunctionHandleConstraint(zeros(nc,1),zeros(nc,1),nx,@obj.stateConstraints); + con.grad_method = 'user_then_taylorvar'; + prog = addConstraint(prog,con,indices); end - function prog = addInputConstraintsToProgram(obj,prog,indices) - % adds input constraints and unilateral constriants to the - % program on the specified indices. derived classes can overload - % this method to add additional constraints. - % - % @param prog a NonlinearProgram class - % @param indices the indices of the input variables in the program - % @default 1:nX - - return; % intentionally do nothing... no input constraints are registered at the DynamicalSystem class level + % add unilateral constraints + nc = getNumUnilateralConstraints(obj); + if nc>0 + con = FunctionHandleConstraint(zeros(nc,1),inf(nc,1),nx,@obj.unilateralConstraints); + con.grad_method = 'user_then_taylorvar'; + prog = addConstraint(prog,con,indices); + end end end @@ -449,6 +455,26 @@ obj.output_frame=fr; end + function n = getNumStateConstraints(obj); + % Returns the scalar number of state constraints (of the form phi(x)=0) + n = 0; % default behavior is n=0 + end + + function con = stateConstraints(obj,x) + % defines state equality constraints in the form phi(x)=0 + error('Drake:DynamicalSystem:AbstractMethod','systems with state constraints must implement the constraints method'); + end + + function con = unilateralConstraints(obj,x) + % defines state unilateral constraints in the form phi(x)>=0 + error('Drake:DynamicalSystem:AbstractMethod','systems with unilateral constraints must implement the constraints method'); + end + + function n = getNumUnilateralConstraints(obj) + % Returns the scalar number of state constraints (of the form phi(x)>=0) + n = 0; % default behavior is n=0 + end + function obj = setSimulinkParam(obj,varargin) % Sets parameters of the simulink model % Syntax From 1cb80ab9c875a0134c0cdf42fa6bfcd55f22877d Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 17:09:08 -0400 Subject: [PATCH 123/271] handle state constraints for cascade and feedback systems --- systems/CascadeSystem.m | 37 ++++++++----------------------------- systems/FeedbackSystem.m | 12 +++++++----- 2 files changed, 15 insertions(+), 34 deletions(-) diff --git a/systems/CascadeSystem.m b/systems/CascadeSystem.m index a70cd81d3f70..a8b8dadc2973 100644 --- a/systems/CascadeSystem.m +++ b/systems/CascadeSystem.m @@ -29,8 +29,14 @@ [obj.sys1ind,obj.sys2ind] = stateIndicesForCombination(sys1,sys2); obj = setNumZeroCrossings(obj,sys1.getNumZeroCrossings()+sys2.getNumZeroCrossings()+sum(~isinf([sys2.umin;sys2.umax]))); - obj = setNumStateConstraints(obj,sys1.getNumStateConstraints()+sys2.getNumStateConstraints()); - + + for i=1:numel(sys1.state_constraints) + obj = addStateConstraint(obj,sys1.state_constraints{i},obj.sys1ind(sys1.state_constraint_xind{i})); + end + for i=1:numel(sys2.state_constraints) + obj = addStateConstraint(obj,sys2.state_constraints{i},obj.sys2ind(sys2.state_constraint_xind{i})); + end + obj = setSampleTime(obj,[sys1.getSampleTime(),sys2.getSampleTime()]); obj = setInputFrame(obj,sys1.getInputFrame()); @@ -105,33 +111,6 @@ ind=find(~isinf(obj.sys2.umax)); if (~isempty(ind)) zcs=[zcs;obj.sys2.umax(ind) - y1(ind)]; end end - - function con = stateConstraints(obj,x) - [x1,x2]=decodeX(obj,x); - if (getNumStateConstraints(obj.sys1)>0) - con=stateConstraints(obj.sys1,x1); - else - con=[]; - end - if (getNumStateConstraints(obj.sys2)>0) - con=[con;stateConstraints(obj.sys2,x2)]; - end - end - - function n = getNumUnilateralConstraints(obj) - n = obj.sys1.getNumUnilateralConstraints()+obj.sys2.getNumUnilateralConstraints(); - end - function con = unilateralConstraints(obj,x) - [x1,x2]=decodeX(obj,x); - if (getNumUnilateralConstraints(obj.sys1)>0) - con=unilateralConstraints(obj.sys1,x1); - else - con=[]; - end - if (getNumUnilateralConstraints(obj.sys2)>0) - con=[con;unilateralConstraints(obj.sys2,x2)]; - end - end % todo: implement cascade, and if sys1 or sys2 can be cascaded more % efficient (e.g. two affinesystems), then do it internally instead of diff --git a/systems/FeedbackSystem.m b/systems/FeedbackSystem.m index 573739cc0bb2..979f7a4fd684 100644 --- a/systems/FeedbackSystem.m +++ b/systems/FeedbackSystem.m @@ -33,7 +33,13 @@ obj = setSampleTime(obj,[sys1.getSampleTime(),sys2.getSampleTime()]); obj = setNumZeroCrossings(obj,sys1.getNumZeroCrossings()+sys2.getNumZeroCrossings()+sum(~isinf([sys1.umin;sys1.umax;sys2.umin;sys2.umax]))); - % unilateral constraints handled in get method below + + for i=1:numel(sys1.state_constraints) + obj = addStateConstraint(obj,sys1.state_constraints{i},obj.sys1ind(sys1.state_constraint_xind{i})); + end + for i=1:numel(sys2.state_constraints) + obj = addStateConstraint(obj,sys2.state_constraints{i},obj.sys2ind(sys2.state_constraint_xind{i})); + end obj = setInputFrame(obj,sys1.getInputFrame()); obj = setOutputFrame(obj,sys1.getOutputFrame()); @@ -54,10 +60,6 @@ obj.sys2=sys2; end - function n = getNumUnilateralConstraints(obj) - n = obj.sys1.getNumUnilateralConstraints()+obj.sys2.getNumUnilateralConstraints(); - end - function xdn = update(obj,t,x,u) [x1,x2]=decodeX(obj,x); [y1,y2]=getOutputs(obj,t,x,u); From a2e7c0a0ddee4187b7fe919ec187002f10721e73 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 17:12:14 -0400 Subject: [PATCH 124/271] handle state constraints in spot poly sys --- systems/SpotPolynomialSystem.m | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/systems/SpotPolynomialSystem.m b/systems/SpotPolynomialSystem.m index f8afd682e413..ba1b466e0e34 100644 --- a/systems/SpotPolynomialSystem.m +++ b/systems/SpotPolynomialSystem.m @@ -214,7 +214,7 @@ if ~isempty(decomp(p_state_constraints)) && any(match(obj.getStateFrame.getPoly,decomp(p_state_constraints))==0) error('p_state_constraints depends on variables other than x (the current state frame)'); end - con = SpotPolynomialConstraint(zeros(size(p_state_constraints)),zeros(size(p_state_constraints)),obj.getStateFrame.poly,p_state_constraints); + con = SpotPolynomialConstraint(zeros(size(p_state_constraints)),zeros(size(p_state_constraints)),obj.getStateFrame.getPoly,p_state_constraints); if isempty(obj.p_state_constraint_id) [obj,obj.p_state_constraint_id] = addStateConstraint(obj,con); else @@ -226,7 +226,6 @@ end end obj.p_state_constraints = p_state_constraints; - error('todo: need to reset the drake.state_constraints with this new constraint'); end function p_state_constraints = getPolyStateConstraints(obj) From 7eefc27de24892e4d24d93a05c3cff67bdb893b6 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 19:30:03 -0400 Subject: [PATCH 125/271] add documentation from hongkai code review --- systems/@DrakeSystem/DrakeSystem.m | 3 +++ 1 file changed, 3 insertions(+) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 19033e34c774..9e978cd1e9cf 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -400,6 +400,9 @@ function displayStateConstraints(obj) function prog = addStateConstraintsToProgram(obj,prog,indices) % adds state constraints and unilateral constraints to the % program on the specified indices. + % @param prog a NonlinearProgram object + % @indices index into N decision variables in the program upon which + % we are adding the constraints, where N is the number of state dimensions of this system for i=1:numel(obj.state_constraints) prog = prog.addConstraint(obj.state_constraints{i},indices(obj.state_constraint_xind{i})); From 1739c7b337c837014530cb1ecc0cea44056b192c Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 5 Oct 2014 20:09:55 -0400 Subject: [PATCH 126/271] resolves final failing unit tests --- examples/SimpleFourBar/runPassiveLCP.m | 4 ++- systems/@DrakeSystem/DrakeSystem.m | 4 +-- systems/plants/@Manipulator/Manipulator.m | 6 ++-- .../PlanarRigidBodyManipulator.m | 15 -------- .../RigidBodyManipulator.m | 34 ------------------- systems/plants/RigidBodyLoop.m | 4 +++ 6 files changed, 12 insertions(+), 55 deletions(-) diff --git a/examples/SimpleFourBar/runPassiveLCP.m b/examples/SimpleFourBar/runPassiveLCP.m index 559b7bec82bf..e479973ea292 100644 --- a/examples/SimpleFourBar/runPassiveLCP.m +++ b/examples/SimpleFourBar/runPassiveLCP.m @@ -12,8 +12,10 @@ x = xtraj.eval(xtraj.getBreaks); nq = getNumPositions(p); for i=1:size(x,2) - valuecheck(positionConstraints(p,x(1:nq,i)),zeros(2,1),1e-2); + valuecheck(positionConstraints(p,x(1:nq,i)),zeros(3,1),1e-2); % high tolerance is due to (relatively) large dt and linearization of phi + % change zeros(3,1) to zeros(2,1) when we (re-)implement planar loop + % constraints end v.playback(xtraj); diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index 9e978cd1e9cf..535bd45384c7 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -414,10 +414,10 @@ function displayStateConstraints(obj) % objects instead of just input limits. for now, this is sealed just % to keep things clean. - con = BoundingBoxConstraint(umin,umax); + con = BoundingBoxConstraint(obj.umin,obj.umax); con = setName(con,cellfun(@(a) [a,'_limit'],obj.getInputFrame.coordinates,'UniformOutput',false)); - prog = prog.addBoundingBoxConstraint(prog,con,indices); + prog = prog.addBoundingBoxConstraint(con,indices); end function varargout = stateConstraints(obj,x) % Provides the old interface of a single constraint function which diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index e5a0740b4008..cff76f53d0f3 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -174,7 +174,7 @@ state_con = DrakeFunctionConstraint(con.lb,con.ub,state_fun); state_con = state_con.setName(con.name); - if id>=numel(obj.position_constraints) % then it's an existing constraint + if id>numel(obj.position_constraints) % then it's a new constraint [obj,obj.position_constraint_ids(1,id)] = addStateConstraint(obj,state_con); else obj.num_position_constraints = obj.num_position_constraints-obj.position_constraints{id}.num_cnstr; @@ -207,7 +207,7 @@ state_con = DrakeFunctionConstraint(con.lb,con.ub,state_fun); state_con = state_con.setName(con.name); - if id>=numel(obj.velocity_constraints) % then it's an existing constraint + if id>numel(obj.velocity_constraints) % then it's a new constraint [obj,obj.velocity_constraint_ids(1,id)] = addStateConstraint(obj,state_con); else obj.num_velocity_constraints = obj.num_velocity_constraints-obj.velocity_constraints{id}.num_cnstr; @@ -260,7 +260,7 @@ varargout = cell(1,nargout); for i=1:length(obj.position_constraints) v = cell(1,nargout); - [v{:}] = obj.position_constraints{i}.eval(x); + [v{:}] = obj.position_constraints{i}.eval(q); v{1} = v{1} - obj.position_constraints{i}.lb; % center it around 0 for j=1:nargout varargout{j} = vertcat(varargout{j},v{j}); diff --git a/systems/plants/@PlanarRigidBodyManipulator/PlanarRigidBodyManipulator.m b/systems/plants/@PlanarRigidBodyManipulator/PlanarRigidBodyManipulator.m index b174dcfd56f6..1c8197a9bd3c 100644 --- a/systems/plants/@PlanarRigidBodyManipulator/PlanarRigidBodyManipulator.m +++ b/systems/plants/@PlanarRigidBodyManipulator/PlanarRigidBodyManipulator.m @@ -173,21 +173,6 @@ end methods (Access=protected) - function [phi,dphi,ddphi] = loopConstraints(obj,q) - % handle kinematic loops - if nargout>2 - [phi,dphi,ddphi] = loopConstraints@RigidBodyManipulator(obj,q); - dphi = obj.T_2D_to_3D'*dphi; - ddphi = obj.T_2D_to_3D'*ddphi; - elseif nargout>1 - [phi,dphi] = loopConstraints@RigidBodyManipulator(obj,q); - dphi = obj.T_2D_to_3D'*dphi; - else - phi = loopConstraints@RigidBodyManipulator(obj,q); - end - phi = obj.T_2D_to_3D'*phi; - end - function model = parseLoopJoint(model,robotnum,node,options) w = warning('off','Drake:RigidBodyManipulator:ThreeDLoopJoints'); model = parseLoopJoint@RigidBodyManipulator(model,robotnum,node,options); diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index ab5002b9cf7e..39b4670b3e28 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -1480,12 +1480,6 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) [varargout{:}] = pdcontrol@Manipulator(sys,Kp,Kd,index); end - function [phi,dphi,ddphi] = positionConstraints(obj,q) - checkDirty(obj); - % so far, only loop constraints are implemented - [phi,dphi,ddphi]=loopConstraints(obj,q); - end - function [xstar,ustar,success] = findFixedPoint(obj,x0,u0,options) if (nargin<2 || isempty(x0)) x0 = Point(obj.getStateFrame()); @@ -2101,34 +2095,6 @@ function checkDirty(obj) end end - function [phi,dphi,ddphi] = loopConstraints(obj,q) - % handle kinematic loops - - phi=[];dphi=[];ddphi=[]; - - kinsol = doKinematics(obj,q,nargout>2); - - for i=1:length(obj.loop) - % for each loop, add the constraints that the pt1 on body1 is in - % the same location as pt2 on body2 - - if (nargout>2) - [pt1,J1,dJ1] = obj.forwardKin(kinsol,obj.loop(i).body1,obj.loop(i).pt1); - [pt2,J2,dJ2] = obj.forwardKin(kinsol,obj.loop(i).body2,obj.loop(i).pt2); - ddphi = [ddphi; dJ1-dJ2]; - dphi = [dphi; J1-J2]; - elseif nargout>1 - [pt1,J1] = obj.forwardKin(kinsol,obj.loop(i).body1,obj.loop(i).pt1); - [pt2,J2] = obj.forwardKin(kinsol,obj.loop(i).body2,obj.loop(i).pt2); - dphi = [dphi; J1-J2]; - else - pt1 = obj.forwardKin(kinsol,obj.loop(i).body1,obj.loop(i).pt1); - pt2 = obj.forwardKin(kinsol,obj.loop(i).body2,obj.loop(i).pt2); - end - phi = [phi; pt1-pt2]; - end - end - function model=parseLink(model,robotnum,node,options) ignore = char(node.getAttribute('drakeIgnore')); diff --git a/systems/plants/RigidBodyLoop.m b/systems/plants/RigidBodyLoop.m index 7cae78c9aca7..aab96babc3a6 100644 --- a/systems/plants/RigidBodyLoop.m +++ b/systems/plants/RigidBodyLoop.m @@ -12,6 +12,10 @@ methods function [obj,model] = updateConstraints(obj,model) + + % todo: support planar kinematics here (should output only 2 + % constraints instead of 3) + relative_position_fun = drakeFunction.kinematic.RelativePosition(model,obj.body1,obj.body2,obj.pt1); % relative_position_fun = relative_position_fun.addInputFrame(model.getVelocityFrame); con = DrakeFunctionConstraint(obj.pt2,obj.pt2,relative_position_fun); From 169bac5a803b2221cfd9a752c4c51f958f65b360 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 6 Oct 2014 06:13:13 -0400 Subject: [PATCH 127/271] add comment. randn->rand for initial conditions in floating base test --- systems/plants/@Manipulator/Manipulator.m | 2 ++ systems/plants/test/testFloatingBaseDynamics.m | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index ef3bb29efd06..b386157ad4c3 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -137,6 +137,8 @@ constraint_force = -[J;dpsidqd]'*pinv([J*term1;dpsidqd*term1])*[J*term2 + Jdotqd + alpha*J*qd; dpsidqd*term2 + dpsidq*qd + beta*psi]; elseif (obj.num_position_constraints>0) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... [phi,J,dJ] = geval(@obj.positionConstraints,q); + % todo: find a way to use Jdot*qd directly (ala Twan's code) + % instead of computing dJ Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); constraint_force = -J'*pinv(J*Hinv*J')*(J*Hinv*tau + Jdotqd + alpha*J*qd); diff --git a/systems/plants/test/testFloatingBaseDynamics.m b/systems/plants/test/testFloatingBaseDynamics.m index 01faefd85d34..e776ebf062fa 100644 --- a/systems/plants/test/testFloatingBaseDynamics.m +++ b/systems/plants/test/testFloatingBaseDynamics.m @@ -40,7 +40,7 @@ q = randn(nq,1); end - qd = randn(nq,1); u = randn(getNumInputs(m_rpy),1); + qd = rand(nq,1)-.5; u = rand(getNumInputs(m_rpy),1)-.5; kinsol = doKinematics(m_rpy,q,true,false,qd); [pt,J,Jdot] = terrainContactPositions(m_rpy,kinsol,true); From 2b6b1a70386abfc035149b07a6057b165c6d2d4b Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 6 Oct 2014 09:08:49 -0400 Subject: [PATCH 128/271] checkDependency('lcm') would fail if it was not called from the drake root directory. --- util/checkDependency.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util/checkDependency.m b/util/checkDependency.m index 3b9403c0d508..330804641fb1 100644 --- a/util/checkDependency.m +++ b/util/checkDependency.m @@ -56,7 +56,7 @@ if (conf.lcm_enabled) javaaddpathProtectGlobals(fullfile(pods_get_base_path,'share','java','lcmtypes_drake.jar')); - [retval,info] = systemWCMakeEnv('util/check_multicast_is_loopback.sh'); + [retval,info] = systemWCMakeEnv([getDrakePath,'/util/check_multicast_is_loopback.sh']); if (retval) info = strrep(info,'ERROR: ',''); info = strrep(info,'./',[getDrakePath,'/util/']); From b26d5034bbb500f1069a05c28cdda3e2da827773 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 6 Oct 2014 14:07:16 -0400 Subject: [PATCH 129/271] fix acrobotROA problem for class --- systems/@DrakeSystem/taylorApprox.m | 2 +- systems/plants/@Manipulator/Manipulator.m | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/systems/@DrakeSystem/taylorApprox.m b/systems/@DrakeSystem/taylorApprox.m index 02136a4906d2..24fecdb101df 100644 --- a/systems/@DrakeSystem/taylorApprox.m +++ b/systems/@DrakeSystem/taylorApprox.m @@ -15,7 +15,7 @@ num_y=sys.getNumOutputs(); if (sys.getNumStateConstraints()>0 || sys.getNumUnilateralConstraints()>0) - error('cannot taylorApprox systems with state constraints'); % should I consider allowing it, but simply dropping the constraint? + warning('Drake:DrakeSystem:TaylorApprox:UnsupportedStateConstraints','This system has state constraints that are being passed to the taylor approximated version (yet)'); end if (num_x), p_x = sys.getStateFrame.getPoly; else p_x=[]; end diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 6c25662e1eaa..2f3271d45465 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -483,7 +483,8 @@ function num_contacts(obj) con = BoundingBoxConstraint(jl_min,jl_max); con = setName(con,cellfun(@(a) [a,'_limit'],obj.getPositionFrame.coordinates,'UniformOutput',false)); if isempty(obj.joint_limit_constraint_id) - [obj,obj.joint_limit_constraint_id] = addStateConstraint(obj,con,1:obj.getNumPositions); + [obj,id] = addStateConstraint(obj,con,1:obj.getNumPositions); + obj.joint_limit_constraint_id = id; else obj = updateStateConstraint(obj,obj.joint_limit_constraint_id,con,1:obj.getNumPositions); end From 3ef3307b01d563dd8df5ef81dadf53906e204501 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 8 Oct 2014 04:48:43 -0400 Subject: [PATCH 130/271] checkDependency was failing quietly if it was called twice. so if the first error was caught, then the second would not trip --- util/checkDependency.m | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/util/checkDependency.m b/util/checkDependency.m index 330804641fb1..654167d811f2 100644 --- a/util/checkDependency.m +++ b/util/checkDependency.m @@ -379,9 +379,10 @@ end ok = conf.(conf_var); - if (nargout<1 && ~ok) - error(['Drake:MissingDependency:',dep],['Cannot find required dependency: ',dep]); - end +end + +if (nargout<1 && ~ok) + error(['Drake:MissingDependency:',dep],['Cannot find required dependency: ',dep]); end end From 5d7f51cefb751242842f030c5ecf2a709aca83e1 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 8 Oct 2014 04:49:22 -0400 Subject: [PATCH 131/271] resolves #471 - test was failing on minimal build --- examples/Atlas/test/testIndividualCentersOfPressure.m | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/examples/Atlas/test/testIndividualCentersOfPressure.m b/examples/Atlas/test/testIndividualCentersOfPressure.m index 9cdec3fc6fdb..3aba62e88580 100644 --- a/examples/Atlas/test/testIndividualCentersOfPressure.m +++ b/examples/Atlas/test/testIndividualCentersOfPressure.m @@ -58,6 +58,11 @@ function testTangentialTorque(r) end function testMex(r) + +if ~exist('individualCentersOfPressuremex','file') + return; +end + nq = r.getNumPositions(); ntests = 100; From b7577482f6aece89ff51f1d347fcd2d30637b77d Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 8 Oct 2014 04:51:43 -0400 Subject: [PATCH 132/271] randn -> rand in quadrotor test, and silenced warning --- examples/Quadrotor/test/quadrotorDynamics.m | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/Quadrotor/test/quadrotorDynamics.m b/examples/Quadrotor/test/quadrotorDynamics.m index 08a258ec5567..9725c2df6466 100644 --- a/examples/Quadrotor/test/quadrotorDynamics.m +++ b/examples/Quadrotor/test/quadrotorDynamics.m @@ -2,17 +2,17 @@ w = warning('off','Drake:RigidBodyManipulator:ReplacedCylinder'); warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); -warning(w); % URDF model and hand-written model from Penn addpath(fullfile(pwd,'..')); p1 = RigidBodyManipulator('../quadrotor.urdf',struct('floating',true)); p2 = QuadPlantPenn(); +warning(w); % Compare dynamics for k = 1:100 - x0 = randn(12,1); - u0 = randn(4,1).^2; + x0 = rand(12,1); + u0 = rand(4,1); xdot1 = p1.dynamics(0,x0,u0); xdot2 = p2.dynamics(0,x0,u0); From d6e809e40064dc437d8349537335f7a9d6924cf5 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 8 Oct 2014 05:14:23 -0400 Subject: [PATCH 133/271] removes affordance classes. resolves #448 --- systems/plants/affordance/ContactAffordance.m | 67 ----------- .../affordance/ContactShapeAffordance.m | 57 ---------- .../affordance/CylindricalContactAffordance.m | 83 -------------- .../affordance/PlanarContactAffordance.m | 48 -------- .../affordance/PolygonalContactAffordance.m | 107 ------------------ 5 files changed, 362 deletions(-) delete mode 100644 systems/plants/affordance/ContactAffordance.m delete mode 100644 systems/plants/affordance/ContactShapeAffordance.m delete mode 100644 systems/plants/affordance/CylindricalContactAffordance.m delete mode 100644 systems/plants/affordance/PlanarContactAffordance.m delete mode 100644 systems/plants/affordance/PolygonalContactAffordance.m diff --git a/systems/plants/affordance/ContactAffordance.m b/systems/plants/affordance/ContactAffordance.m deleted file mode 100644 index b978d3873bc3..000000000000 --- a/systems/plants/affordance/ContactAffordance.m +++ /dev/null @@ -1,67 +0,0 @@ -classdef ContactAffordance - properties - name; % we use 'name' as the unique identifier for each contact affordance - robot; - body_ind; - is_fixed = true; - mu; % friction coefficient - end - methods - function obj = ContactAffordance(robot,body_ind,name,is_fixed,mu) - if nargin == 0 - return; - end - - obj.robot = robot; - - sizecheck(body_ind,1); - if(isa(body_ind,'RigidBody')) - body_ind = robot.findLinkInd(body_ind.linkname); - end - obj.body_ind = body_ind; - - if (nargin>2) - typecheck(name,'char'); - obj.name = name; - end - - if (nargin>3) - typecheck(is_fixed,'logical'); - obj.is_fixed = is_fixed; -% assert(is_fixed, ... -% 'Only fixed contact affordances are supported at this time'); - end - - if (nargin>4) - if(mu<0) - error('Static friction coefficient should be nonnegative') - end - obj.mu = mu; - else - obj.mu = 1; - end - end - function [res, dRes] = residualsPts2Aff(obj,q,pts) - % res = [dist;add_res]. dist is the signed normal distance to the - % affordance. add_res is used when the affordance has finite area. - % For example, for polygon affordance, add_res is all positive if - % the projection of the pts are all within the polygon - [dist, dDist] = distancePts2Aff(obj,q,pts); - [add_res, dAdd_res] = additionalResPts2Aff(obj,q,pts); - res = [dist; add_res]; - dRes = [dDist; dAdd_res]; - end - function [dist, dDist] = distancePts2Aff(obj,q,pts) - dist = -1; - dDist = 0; - end - function [res, dRes] = additionalResPts2Aff(obj,q,pts) - res = []; - dRes = []; - end - - function mu = getFrictionCoef(obj) - mu = obj.mu; - end - end -end diff --git a/systems/plants/affordance/ContactShapeAffordance.m b/systems/plants/affordance/ContactShapeAffordance.m deleted file mode 100644 index 5c631755b450..000000000000 --- a/systems/plants/affordance/ContactShapeAffordance.m +++ /dev/null @@ -1,57 +0,0 @@ -classdef ContactShapeAffordance < ContactAffordance - properties - group_ind; % Index of the collision group in - % obj.robot.body(obj.body_ind).collision_group_name - collision_ind = 1; % Index of the collision geometry within the collision group - T_geom_to_link; - end - methods - function obj = ContactShapeAffordance(robot,body_ind,groupname,collision_ind,is_fixed) - parent_args = {}; - if nargin > 0 - parent_args = {robot,body_ind}; - end - if nargin < 3 - groupname = 'default'; - end - if nargin > 4 - parent_args = {parent_args,is_fixed}; - end - obj = obj@ContactAffordance(parent_args{:}); - if nargin > 3 - obj.collision_ind = collision_ind; - end - obj.group_ind = find(strcmp(groupname,obj.robot.body(obj.body_ind).collision_group_name)); - obj.T_geom_to_link = ... - obj.robot.body(obj.body_ind).getContactShapes(obj.group_ind, ... - obj.collision_ind).T; - end - - function [T_geom_to_world,T_link_to_world,dT_g2wdq] = getTransform(obj) - % Returns the transform from collision geometry frame to world frame. - T_link_to_world = obj.robot.body(obj.body_ind).T; - T_geom_to_link = T_link_to_world*obj.T_geom_to_link; - dTg2w_dq = obj.robot.body(obj.body_ind).dTdq*obj.T_geom_to_link; - end - - function [pts_geom, J_geom] = inGeomFrame(obj,r_world,J_world) - % Returns the vector r expressed in the collision geometry frame, where - % pts_world is the same vector r expressed in the world frame. - npts = size(r_world,2); - nq = obj.robot.getNumPositions(); - if nargout < 2 - [T_geom_to_world] = getTransform(obj); - else - [T_geom_to_world,T_link_to_world,dTg2w_dq] = getTransform(obj); - end - pts_geom = T_geom_to_world\[r_world;1+0*r_world(1,:)]; - if nargout > 1 - assert(nargin==3, 'Cannot generate J_geom without knowing J_world'); - J_world_full = reshape([reshape(J_world',3*nq,npts);zeros(nq,npts)],nq,4*npts)'; - J_geom_full = inv(T_geom_to_world)*(J_world - reshape(dTg2w_dq*pts_geom,nq,[])'); - J_geom = J_geom_full(mod(1:4*npts,4)~=0); - end - pts_geom = bsxfun(@rdivide,y(1:end-1,:),y(end,:)); % this is faster than repmat - end - end -end diff --git a/systems/plants/affordance/CylindricalContactAffordance.m b/systems/plants/affordance/CylindricalContactAffordance.m deleted file mode 100644 index 56396541d7d5..000000000000 --- a/systems/plants/affordance/CylindricalContactAffordance.m +++ /dev/null @@ -1,83 +0,0 @@ -classdef CylindricalContactAffordance < ContactAffordance - properties - % when is_fixed = false, all quantities are in the local frame - % otherwise, all quantities are in the world frame - poles - radius - height - center - end - methods - function obj = CylindricalContactAffordance(robot,body_ind,name,poles,radius,is_fixed,mu) - sizecheck(poles,[3,2]); - sizecheck(radius,[1,1]); - if(nargin<7) - mu = 1; - end - obj = obj@ContactAffordance(robot,body_ind,name,is_fixed,mu); - obj.poles = poles; - obj.radius = radius; - obj.height = norm(obj.poles(:,2)-obj.poles(:,1)); - obj.center = (obj.poles(:,1)+obj.poles(:,2))/2; - end - - function [dist,dDist] = distancePts2Aff(obj,q,pts) - n_pts = size(pts,2); - nq = obj.robot.getNumPositions(); - sizecheck(q,[nq,1]); - if(obj.is_fixed) - poles_abs = obj.poles; - dpoles_absdq = zeros(6,nq); - else - kinsol = doKinematics(obj.robot,q); - [poles_abs,dpoles_absdq] = forwardKin(obj.robot,kinsol,obj.body_ind,obj.poles,0); - end - axis = poles_abs(:,2)-poles_abs(:,1); - axis_norm = norm(axis); - daxis_unitdq = dpoles_absdq(4:6,:)-dpoles_absdq(1:3,:); - hypotenuse = pts-bsxfun(@times,poles_abs(:,1),ones(1,n_pts)); - hypo_norm = sqrt(sum(hypotenuse.*hypotenuse,1)); - % let a = hypotenuse, b = axis_unit, then the distance is - % |a-a'*b/(b'*b)*b| - dist = sqrt((hypo_norm').^2*axis_norm^2-(hypotenuse'*axis).^2)./axis_norm; - dDistdhypo = (hypotenuse'-hypotenuse'*axis*axis'/axis_norm^2)./bsxfun(@times,dist,ones(1,3)); % This is arranged as [dDist(1)/dhypo(:,1);dDist(2)/dhypo(:,2);...] - dDistdaxis = (-(bsxfun(@times,hypotenuse'*axis,ones(1,3)).*hypotenuse'-(hypotenuse'*axis).^2*axis')/axis_norm^2)./bsxfun(@times,dist,ones(1,3)); - dDistdq = dDistdhypo*(-dpoles_absdq(1:3,:))+dDistdaxis*daxis_unitdq; - dDistdpts = sparse(reshape(bsxfun(@times,(1:n_pts),ones(3,1)),[],1),... - (1:3*n_pts)',reshape(dDistdhypo',[],1)); - dist = dist-obj.radius; - dDist = [dDistdq dDistdpts]; - end - - function [res,dRes] = additionalResPts2Aff(obj,q,pts) - % This function determines if the projection of pts to the axis - % is within the cylinder. The projection is in the cylinder if - % -obj.height/2<=res<=obj.height/2 - n_pts = size(pts,2); - nq = obj.robot.getNumPositions(); - sizecheck(q,[nq,1]); - if(obj.is_fixed) - center_abs = obj.center; - poles_abs = obj.poles; - dpoles_absdq = zeros(6,nq); - dcenter_absdq = zeros(3,nq); - else - kinsol = doKinematics(obj.robot,q); - [poles_abs,dpoles_absdq] = forwardKin(obj.robot,kinsol,obj.body_ind,obj.poles,0); - center_abs = (poles_abs(:,1)+poles_abs(:,2))/2; - dcenter_absdq = (dpoles_absdq(1:3,:)+dpoles_absdq(4:6,:))/2; - end - axis = poles_abs(:,2)-poles_abs(:,1); - daxisdq = dpoles_absdq(4:6,:)-dpoles_absdq(1:3,:); - axis_norm = norm(axis); - hypotenuse = pts-bsxfun(@times,center_abs,ones(1,n_pts)); - res = hypotenuse'*axis/axis_norm; - dresdhypo = bsxfun(@times,axis'/axis_norm,ones(n_pts,1)); - dresdaxis = (hypotenuse'*axis_norm-hypotenuse'*axis*axis'/axis_norm)/axis_norm^2; - dresdq = dresdhypo*(-dcenter_absdq)+dresdaxis*daxisdq; - dresdpts = sparse(reshape(bsxfun(@times,(1:n_pts),ones(3,1)),[],1),... - (1:3*n_pts)',reshape(dresdhypo',[],1)); - dRes = [dresdq dresdpts]; - end - end -end \ No newline at end of file diff --git a/systems/plants/affordance/PlanarContactAffordance.m b/systems/plants/affordance/PlanarContactAffordance.m deleted file mode 100644 index 3b8b6ff0bad5..000000000000 --- a/systems/plants/affordance/PlanarContactAffordance.m +++ /dev/null @@ -1,48 +0,0 @@ -classdef PlanarContactAffordance < ContactAffordance - properties - % normal and pt are in the world coordinate if the plane is fixed, - % otherwise it is in the plane coordinate. - normal % The normal vector - pt % A random point on the plane - end - - methods - function obj = PlanarContactAffordance(robot,body_ind,name,pt,normal,is_fixed,mu) - sizecheck(normal,[3,1]); - sizecheck(pt,[3,1]); - if(nargin<7) - mu = 1; - end - obj = obj@ContactAffordance(robot,body_ind,name,is_fixed,mu); - obj.normal = normal; - obj.pt = pt; - end - - function [dist,dDist] = distancePts2Aff(obj,q,pts) - sizecheck(pts,[3,nan]); - n_pts = size(pts,2); - nq = obj.robot.getNumPositions(); - sizecheck(q,[nq,1]); - if(obj.is_fixed) - normal_abs = obj.normal; - pt_abs = obj.pt; - dnormal_absdq = zeros(3,nq); - dpt_absdq = zeros(3,nq); - else - kinsol = doKinematics(obj.robot,q); - [pts_abs,dpts_absdq] = forwardKin(obj.robot,kinsol,obj.body_ind,[obj.normal,obj.pt,zeros(3,1)],0); - normal_abs = pts_abs(:,1)-pts_abs(:,3); - dnormal_absdq = dpts_absdq(1:3,:)-dpts_absdq(7:9,:); - pt_abs = pts_abs(2,:); - dpt_absdq = dpts_absdq(4:6,:); - end - dist = (pts-bsxfun(@times,pt_abs,ones(1,n_pts)))'*normal_abs; - if(nargout>1) - dDistdq = repmat(normal_abs'*(-dpt_absdq),n_pts,1)+(pts-bsxfun(@times,pt_abs,ones(1,n_pts)))'*dnormal_absdq; - dDistdpts = sparse(reshape(bsxfun(@times,[1;1;1],(1:n_pts)),[],1),... - (1:n_pts*3)',reshape(bsxfun(@times,normal_abs,ones(1,n_pts)),[],1)); - dDist = [dDistdq dDistdpts]; - end - end - end -end \ No newline at end of file diff --git a/systems/plants/affordance/PolygonalContactAffordance.m b/systems/plants/affordance/PolygonalContactAffordance.m deleted file mode 100644 index 1cde9ae563a4..000000000000 --- a/systems/plants/affordance/PolygonalContactAffordance.m +++ /dev/null @@ -1,107 +0,0 @@ -classdef PolygonalContactAffordance < ContactAffordance - properties - % when is_fixed = false, the vertices, edges, normal and edge_normals - % are all in the body frame. - % when is_fixed = true, the vertices, edges, normal and edge_normals - % are all in the world frame - vertices % [3 x n_vert] position of surface vertices: - n_vert - edges % The edges, normal, and edge_normals are all in the body frame. - normal - edge_normals - end - methods - function obj = PolygonalContactAffordance(robot,body_ind,name,vertices,is_fixed,mu) - if(nargin<6) - mu = 1; - end - obj = obj@ContactAffordance(robot,body_ind,name,is_fixed,mu); - obj = setVertices(obj,vertices); - end - - function obj = setVertices(obj,vertices) - % we rearrange the vertices so that it is in counter-clockwise - % order, and a convex hull. - obj.vertices = vertices; - if(length(unique(obj.vertices(1:2)','rows'))>2) - k = convhull(obj.vertices(1:2,:)','simplify',true); - else - k = convhull(obj.vertices(2:3,:)','simplify',true); - end - obj.vertices = obj.vertices(:,k(1:end-1)); - obj.n_vert = size(obj.vertices,2); - obj.edges = circshift(obj.vertices,[0 -1]) - obj.vertices; - obj.normal = cross(obj.edges(:,1),obj.edges(:,2)); - obj.normal = obj.normal/norm(obj.normal); - obj.edge_normals = zeros(3,obj.n_vert); - for i = 1:obj.n_vert - m = cross(obj.normal,obj.edges(:,i)); - obj.edge_normals(:,i) = m/norm(m); - end - end - - function [dist, dDist] = distancePts2Aff(obj,q,pts) -% [n_pts,n_q] = size(dPts,2); - n_pts = size(pts,2); - nq = obj.robot.getNumPositions(); - sizecheck(q,[nq,1]); - if(obj.is_fixed) - normal_abs = obj.normal; - vert_abs = obj.vertices(:,1); - dnormal_absdq = zeros(3,nq); - dvert_absdq = zeros(3,nq); - else - kinsol = doKinematics(obj.robot,q); - [pts_abs,dpts_absdq] = forwardKin(obj.robot,kinsol,obj.body_ind,[obj.vertices(:,1) obj.normal zeros(3,1)],0); - normal_abs = pts_abs(:,2)-pts_abs(:,3); - dnormal_absdq = dpts_absdq(4:6,:)-dpts_absdq(7:9,:); - vert_abs = pts_abs(:,1); - dvert_absdq = dpts_absdq(1:3,:); - end - dist = (pts-bsxfun(@times,vert_abs,ones(1,n_pts)))'*normal_abs; - if(nargout>1) - dDistdq = repmat(normal_abs'*(-dvert_absdq),n_pts,1)+(pts-bsxfun(@times,vert_abs,ones(1,n_pts)))'*dnormal_absdq; - dDistdpts = sparse(reshape(bsxfun(@times,[1;1;1],(1:n_pts)),[],1),... - (1:n_pts*3)',reshape(bsxfun(@times,normal_abs,ones(1,n_pts)),[],1)); - dDist = [dDistdq dDistdpts]; - end - - end - - function [res, dRes] = additionalResPts2Aff(obj,q,pts) - % res = - % [pts(:,1)'*edge_normal(:,1);pts(:,1)'*edge_normal(:,2);...pts(:,1)'*edge_normal(:,N);...] - % res >= 0 means that the projection of the pts are within the - % polygon - n_pts = size(pts,2); - nq = obj.robot.getNumPositions(); - sizecheck(q,[nq,1]); - if(obj.is_fixed) - vert_abs = obj.vertices; - edge_normals_abs = obj.edge_normals; - dvert_abs = zeros(3*obj.n_vert,nq); - dedge_normals_abs = zeros(3*obj.n_vert,nq); - else - kinsol = doKinematics(obj.robot,q); - [pts_abs,dpts_absdq] = forwardKin(obj.robot,kinsol,obj.body_ind,[obj.vertices obj.edge_normals zeros(3,1)],0); - vert_abs = pts_abs(:,1:obj.n_vert); - dvert_abs = dpts_absdq(1:3*obj.n_vert,:); - edge_normals_abs = pts_abs(:,obj.n_vert+(1:obj.n_vert))-bsxfun(@times,pts_abs(:,end),ones(1,obj.n_vert)); - dedge_normals_abs = dpts_absdq(3*obj.n_vert+(1:3*obj.n_vert),:)-repmat(dpts_absdq(end-2:end,:),obj.n_vert,1); - end - % res = [(p1-v1)*e1;(p1-v2)*e2;...;(p1-vn)*en;(p2-v1)*e1;...]; - res = sum((reshape(repmat(pts,obj.n_vert,1),3,[])-repmat(vert_abs,1,n_pts)).*repmat(edge_normals_abs,1,n_pts),1)'; - if(nargout>1) - dResdq = sparse(reshape(bsxfun(@times,ones(3,1),(1:obj.n_vert*n_pts)),[],1),... - (1:3*obj.n_vert*n_pts)',reshape((reshape(repmat(pts,obj.n_vert,1),3,[])-repmat(vert_abs,1,n_pts)),[],1))*... - repmat(dedge_normals_abs,n_pts,1)+... - repmat(sparse(reshape(bsxfun(@times,ones(3,1),(1:obj.n_vert)),[],1),... - (1:3*obj.n_vert),-edge_normals_abs(:))*dvert_abs,n_pts,1); - dResdpts = sparse(reshape(bsxfun(@plus,[(1:obj.n_vert)';(1:obj.n_vert)';(1:obj.n_vert)'],(0:n_pts-1)*obj.n_vert),[],1),... - reshape(bsxfun(@times,(1:3*n_pts),ones(obj.n_vert,1)),[],1),... - reshape(bsxfun(@times,reshape(edge_normals_abs',[],1),ones(1,n_pts)),[],1)); - dRes = [dResdq dResdpts]; - end - end - end -end From e7802292766109ba6f6a3ab9a70a79b8b24b4edc Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 8 Oct 2014 05:20:11 -0400 Subject: [PATCH 134/271] resolves #446 --- util/valuecheck.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util/valuecheck.m b/util/valuecheck.m index e303a8487653..d32130af62d6 100644 --- a/util/valuecheck.m +++ b/util/valuecheck.m @@ -8,7 +8,7 @@ tf = true; errstr = ''; -if isscalar(desired_val) +if isscalar(desired_val) && ~isempty(val) desired_val = repmat(desired_val,size(val)); end From 22e343b2829593f00721aaac9840430f67af1325 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 8 Oct 2014 06:02:48 -0400 Subject: [PATCH 135/271] resolves #471 by adding a checkDependency for bullet in the MinDistanceConstraint. closestDistance returns empty when bullet is not installed, which violates the constract of num_constraint=1 --- systems/plants/constraint/MinDistanceConstraint.m | 1 + 1 file changed, 1 insertion(+) diff --git a/systems/plants/constraint/MinDistanceConstraint.m b/systems/plants/constraint/MinDistanceConstraint.m index 91d07fc1ed73..493ae2e8d948 100644 --- a/systems/plants/constraint/MinDistanceConstraint.m +++ b/systems/plants/constraint/MinDistanceConstraint.m @@ -38,6 +38,7 @@ if nargin < 3, active_collision_options = struct(); end; sizecheck(min_distance,[1,1]); assert(min_distance>0); + checkDependency('bullet'); obj = obj@SingleTimeKinematicConstraint(robot,tspan); obj.type = RigidBodyConstraint.MinDistanceConstraintType; obj.min_distance = min_distance; From 04593b1b59c2513f3b49c9f551549a67dbb7c67d Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Wed, 8 Oct 2014 10:48:26 -0400 Subject: [PATCH 136/271] fix scaleTime for vertcat trajectories --- systems/trajectories/PPTrajectory.m | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/systems/trajectories/PPTrajectory.m b/systems/trajectories/PPTrajectory.m index 72e0ba85d463..f9d0b9e75de0 100644 --- a/systems/trajectories/PPTrajectory.m +++ b/systems/trajectories/PPTrajectory.m @@ -99,8 +99,7 @@ % the duration of each segment multiplied by [scale]. The coefficients are % also scaled in order to preserve the shape of the trajectory. [breaks, flat_coefs, l, k, d] = unmkpp(obj.pp); - - + breaks = breaks * scale; if d == 1 coefs = flat_coefs; @@ -109,12 +108,13 @@ end else % Even though they give us l, k, d in that order, coefs should actually be a d-by-l-by-k array. - coefs = reshape(flat_coefs, [d, l, k]); - for j = 1:d + coefs = reshape(flat_coefs, [prod(d), l, k]); + for j = 1:(prod(d)) for i = 1:size(coefs, 2) coefs(j,i,:) = coefs(j,i,:) .* reshape(bsxfun(@power, (1/scale), (size(coefs, 3)-1):-1:0), 1, 1, []); end end + coefs = reshape(coefs, [d, l, k]); end if d == 1 nobj = PPTrajectory(mkpp(breaks, coefs)); From eb7f14bc375337a9e050e30c0de5e219111556c6 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Wed, 8 Oct 2014 10:50:27 -0400 Subject: [PATCH 137/271] revert color change in flat terrain --- systems/plants/RigidBodyFlatTerrain.m | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/systems/plants/RigidBodyFlatTerrain.m b/systems/plants/RigidBodyFlatTerrain.m index 6905b4402aa8..8a4c91c4afd7 100644 --- a/systems/plants/RigidBodyFlatTerrain.m +++ b/systems/plants/RigidBodyFlatTerrain.m @@ -14,8 +14,7 @@ box_depth = 10; geom = RigidBodyBox([box_width;box_width;box_depth]); geom.T(3,4) = -box_depth/2; - geom.c = [0, 170, 255]'/256; % something a little brighter (peach puff 2 from http://www.tayloredmktg.com/rgb/) - % geom.c = hex2dec({'ee','cb','ad'})'/256; % something a little brighter (peach puff 2 from http://www.tayloredmktg.com/rgb/) + geom.c = hex2dec({'ee','cb','ad'})'/256; % something a little brighter (peach puff 2 from http://www.tayloredmktg.com/rgb/) geom.name = 'terrain'; % geom.c = hex2dec({'cd','af','95'})'/256; end From 7e26a464e5eba84843ae5876ba7df9295f2a9c04 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Wed, 8 Oct 2014 10:51:35 -0400 Subject: [PATCH 138/271] notest --- examples/Quadrotor/invertFlatOutputs.m | 1 + 1 file changed, 1 insertion(+) diff --git a/examples/Quadrotor/invertFlatOutputs.m b/examples/Quadrotor/invertFlatOutputs.m index 77a20fb9e2cc..607c5779c367 100644 --- a/examples/Quadrotor/invertFlatOutputs.m +++ b/examples/Quadrotor/invertFlatOutputs.m @@ -1,4 +1,5 @@ function [xtraj,utraj] = invertFlatOutputs(plant,ytraj,options) +% NOTEST % @param plant a quadrotor plant (either Quadrotor or QuadPlantPenn) % @param ytraj a PPTrajectory in the DifferentiallyFlatOutputFrame % @option zero_acceleration_tol threshold on the magnitude of the From b882f3e16237afacb6505c436f2c1a07d531d056 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Wed, 8 Oct 2014 10:55:57 -0400 Subject: [PATCH 139/271] test vertcat trajectory fix --- systems/trajectories/test/ppmathtest.m | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/systems/trajectories/test/ppmathtest.m b/systems/trajectories/test/ppmathtest.m index 593d6ad23355..945da263a9a3 100644 --- a/systems/trajectories/test/ppmathtest.m +++ b/systems/trajectories/test/ppmathtest.m @@ -63,16 +63,27 @@ V = QuadraticLyapunovFunction(fr1,[4,0; 2,3],[1;1],.5); valuecheck(getLevelSetVolume(V),getLevelSetVolume(V.inFrame(fr2))); -scale = rand(1) + 1; +% Test time scaling +scale = rand(1) + 1.01; a = PPTrajectory(spline([0 1 2 3], randn(3,4))); b = a.scaleTime(scale); for t = .25:.25:2.75 valuecheck(a.eval(t), b.eval(scale*t)); end -scale = rand(1) + 1; +scale = rand(1) + 1.01; a = PPTrajectory(spline([0 1 2,3], randn(1,4))); b = a.scaleTime(scale); for t= .25:.25:2.75 valuecheck(a.eval(t), b.eval(scale*t)); -end \ No newline at end of file +end + +% Test time scaling with concatenated trajectories +a = PPTrajectory(spline([0 1 2 3], randn(1,4))); +b = PPTrajectory(spline([0 1 2 3], randn(1,4))); +c = a.vertcat(b); +scale = rand(1) + 1.01; +d = c.scaleTime(scale); +for t= .25:.25:2.75 + valuecheck(c.eval(t), d.eval(scale*t)); +end From e892b72d2be30a07a4c23bb5f7c3f2c39e069393 Mon Sep 17 00:00:00 2001 From: Scott Kuindersma Date: Wed, 8 Oct 2014 13:39:19 -0400 Subject: [PATCH 140/271] add deriv function to pptrajectory (don't have to construct pptrajectory object to evaluate derivative at a point) --- systems/trajectories/PPTrajectory.m | 14 +++++++++++++- systems/trajectories/test/ppdertest.m | 5 +++++ 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/systems/trajectories/PPTrajectory.m b/systems/trajectories/PPTrajectory.m index 18cdf653b297..8dba3acf6ff6 100644 --- a/systems/trajectories/PPTrajectory.m +++ b/systems/trajectories/PPTrajectory.m @@ -69,7 +69,19 @@ end end - % todo: implement deriv and dderiv here + function df = deriv(obj,t) + [b,c,~,k,d] = unmkpp(obj.pp); + if (k==1) % handle the case of too-high order + ppform = mkpp(b,0*c(:,1),d); + else + for i=1:k-1 + cnew(:,i) = (k-i)*c(:,i); + end + ppform = mkpp(b,cnew,d); + end + df = ppval(ppform,t); + end + % todo: implement dderiv here function mobj = inFrame(obj,frame) if (obj.getOutputFrame == frame) diff --git a/systems/trajectories/test/ppdertest.m b/systems/trajectories/test/ppdertest.m index baf5a0d47712..a03bd0d847ec 100644 --- a/systems/trajectories/test/ppdertest.m +++ b/systems/trajectories/test/ppdertest.m @@ -9,3 +9,8 @@ ts = 0:.1:3; valuecheck(b.eval(ts),ppval(bpp,ts)); end + +for t=linspace(0,3,10) + fd = fnder(a,1); + valuecheck(fd.eval(t),deriv(a,t)); +end \ No newline at end of file From 3741fe4b5f92a42cdd499074dda5c49a79886c4c Mon Sep 17 00:00:00 2001 From: Scott Kuindersma Date: Wed, 8 Oct 2014 13:48:19 -0400 Subject: [PATCH 141/271] remove matrix inverse from pchip coefficient computation (becomes prohibitively expensive for large n) --- util/pchipDeriv.m | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/util/pchipDeriv.m b/util/pchipDeriv.m index ccf5236baf8b..852514d8f3e0 100644 --- a/util/pchipDeriv.m +++ b/util/pchipDeriv.m @@ -28,6 +28,7 @@ dt = diff(t); +coefficients = zeros(n,4); for i=1:(length(t)-1) % solve the following vector equations: % y(:,i) = c4 @@ -38,11 +39,17 @@ % [ 0 0 0 I ] [ c1; c2; c3; c4 ] = y(:,i) , etc... a=dt(i); b=a^2; c=a^3; - coefs(:,i,:) = reshape(([zeros(n,3*n),eye(n); ... - c*eye(n),b*eye(n),a*eye(n),eye(n); ... - zeros(n,2*n),eye(n),zeros(n); ... - 3*b*eye(n),2*a*eye(n),eye(n),zeros(n)]) \ ... - [y(:,i);y(:,i+1);ydot_plus(:,i);ydot_minus(:,i)],n,4); + c4 = y(:,i); + c3 = ydot_plus(:,i); + c1 = 1/b*(ydot_minus(:,i) - c3 - 2/a*(y(:,i+1) - c4 - a*c3)); + c2 = 1/b*(y(:,i+1) - c4 - a*c3 - c*c1); + + coefficients(:,1) = c1; + coefficients(:,2) = c2; + coefficients(:,3) = c3; + coefficients(:,4) = c4; + + coefs(:,i,:) = coefficients; end pp = mkpp(t,coefs,dim); From 8dff7ffc159860250856f4e7ac70387911819196 Mon Sep 17 00:00:00 2001 From: Scott Kuindersma Date: Wed, 8 Oct 2014 13:48:47 -0400 Subject: [PATCH 142/271] remove unnecessary semicolon --- systems/frames/CoordinateFrame.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/frames/CoordinateFrame.m b/systems/frames/CoordinateFrame.m index 662dd8a58c1d..76799a7a203f 100644 --- a/systems/frames/CoordinateFrame.m +++ b/systems/frames/CoordinateFrame.m @@ -65,7 +65,7 @@ obj.prefix = prefix; ind=1; - function str=coordinateName(~); + function str=coordinateName(~) str=[prefix(ind),sprintf('%d',sum(prefix(1:ind)==prefix(ind)))]; ind=ind+1; end From f014bb65bb3ce710728234255367f0df6288e32f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 8 Oct 2014 14:11:03 -0400 Subject: [PATCH 143/271] disable autosave in simulink (again) --- addpath_drake.m | 27 +++++++++++++++------------ 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/addpath_drake.m b/addpath_drake.m index 09916c0f7cca..ac4c05aee744 100644 --- a/addpath_drake.m +++ b/addpath_drake.m @@ -29,21 +29,9 @@ % because I rely on the new matlab classes with classdef end -% turn off autosave for simulink models (seems evil, but generating -% boatloads of autosaves is clearly worse) -if (com.mathworks.services.Prefs.getBooleanPref('SaveOnModelUpdate')) - a = input('You currently have autosave enabled for simulink blocks.\nThis is fine, but will generate a lot of *.mdl.autosave files\nin your directory. If you aren''t a regular Simulink user,\nthen I can disable that feature now.\n Disable Simulink Autosave (y/n)? ', 's'); - if (lower(a(1))=='y') - com.mathworks.services.Prefs.setBooleanPref('SaveOnModelUpdate',false); - end -end -% todo: try setting this before simulating, then resetting it after the -% simulate? - % add package directories to the matlab path addpath(fullfile(root,'systems')); addpath(fullfile(root,'systems','plants')); -addpath(fullfile(root,'systems','plants','affordance')); addpath(fullfile(root,'systems','plants','collision')); addpath(fullfile(root,'systems','plants','constraint')); addpath(fullfile(root,'systems','controllers')); @@ -79,4 +67,19 @@ % from here: http://pages.cs.wisc.edu/~ferris/path.html setenv('PATH_LICENSE_STRING', '2096056969&Russ_Tedrake&Massachusetts_Institute_of_Technology&&USR&75042&18_4_2014&1000&PATH&GEN&0_0_0&0_0_0&5000&0_0'); +% turn off autosave for simulink models (seems evil, but generating +% boatloads of autosaves is clearly worse) +if checkDependency('simulink') + autosave_options = get_param(0,'AutoSaveOptions'); + if autosave_options.SaveOnModelUpdate + warning('Disabling autosave for simulink blocks (to avoid generating a lot of *.mdl.autosave files in your directory. If you aren''t a regular Simulink user and don''t want this disabled, comment out this section in addpath_drake'); + autosave_options.SaveOnModelUpdate = false; + set_param(0,'AutoSaveOptions',autosave_options); + end +end +% todo: try setting this before simulating, then resetting it after the +% simulate? + + + end From 790f4e276e40aa8ecbdf15235687dc6457467f06 Mon Sep 17 00:00:00 2001 From: Scott Kuindersma Date: Wed, 8 Oct 2014 14:54:45 -0400 Subject: [PATCH 144/271] use smooth instead of smoothts --- examples/Atlas/runAtlasWalking.m | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/examples/Atlas/runAtlasWalking.m b/examples/Atlas/runAtlasWalking.m index 10bbe4e93df4..e896a0efcea7 100644 --- a/examples/Atlas/runAtlasWalking.m +++ b/examples/Atlas/runAtlasWalking.m @@ -213,9 +213,14 @@ function runAtlasWalking(use_mex,use_bullet,use_angular_momentum,navgoal) if plot_comtraj dt = 0.001; + nx = r.getNumStates(); tts = traj.getBreaks(); - xtraj_smooth=smoothts(traj.eval(tts),'e',150); - dtraj = fnder(PPTrajectory(spline(tts,xtraj_smooth))); + x_smooth=zeros(nx,length(tts)); + x_breaks = traj.eval(tts); + for i=1:nx + x_smooth(i,:) = smooth(x_breaks(i,:),15,'lowess'); + end + dtraj = fnder(PPTrajectory(spline(tts,x_smooth))); qddtraj = dtraj(nq+(1:nq)); lfoot = findLinkInd(r,'l_foot'); From 2e328a8d73ef54905cc73fc09330e09db00cec3b Mon Sep 17 00:00:00 2001 From: hongkai Date: Wed, 8 Oct 2014 20:36:02 -0400 Subject: [PATCH 145/271] remove 'ignore-joint-limit' feature in PostureConstraint and IK --- .../@RigidBodyManipulator/inverseKinBackend.m | 11 ++---- systems/plants/IKoptions.cpp | 11 ------ systems/plants/IKoptions.h | 3 -- systems/plants/IKoptions.m | 12 ------ systems/plants/IKoptionsmex.cpp | 9 ----- systems/plants/constraint/PostureConstraint.m | 38 ++++++------------- .../plants/constraint/RigidBodyConstraint.cpp | 29 ++++++-------- .../plants/constraint/RigidBodyConstraint.h | 4 +- .../constructPtrRigidBodyConstraintmex.cpp | 15 ++------ .../constraint/test/testPostureConstraint.m | 27 ------------- systems/plants/inverseKinBackend.cpp | 20 ++-------- systems/plants/test/testIK.m | 35 +++-------------- systems/plants/test/testIKoptions.m | 13 +------ systems/plants/testIKoptionsmex.cpp | 6 +-- 14 files changed, 40 insertions(+), 193 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/inverseKinBackend.m b/systems/plants/@RigidBodyManipulator/inverseKinBackend.m index 7903ddd3531e..9cea353925c5 100644 --- a/systems/plants/@RigidBodyManipulator/inverseKinBackend.m +++ b/systems/plants/@RigidBodyManipulator/inverseKinBackend.m @@ -47,14 +47,9 @@ % qsc = QuasiStaticConstraint(obj); qsc = QuasiStaticConstraint(obj,[-inf,inf],1); qsc = qsc.setActive(false); -if(ikoptions.use_rbm_joint_bnd) - [joint_min,joint_max] = obj.getJointLimits(); - joint_min = bsxfun(@times,joint_min,ones(1,nT)); - joint_max = bsxfun(@times,joint_max,ones(1,nT)); -else - joint_min = -inf(nq,nT); - joint_max = inf(nq,nT); -end +[joint_min,joint_max] = obj.getJointLimits(); +joint_min = bsxfun(@times,joint_min,ones(1,nT)); +joint_max = bsxfun(@times,joint_max,ones(1,nT)); for i = 1:nT if(isempty(t)) ti = []; diff --git a/systems/plants/IKoptions.cpp b/systems/plants/IKoptions.cpp index cebdcfa70b09..fa030b36e6b6 100644 --- a/systems/plants/IKoptions.cpp +++ b/systems/plants/IKoptions.cpp @@ -31,7 +31,6 @@ IKoptions::IKoptions(const IKoptions &rhs) this->qd0_ub = rhs.qd0_ub; this->qdf_lb = rhs.qdf_lb; this->qdf_ub = rhs.qdf_ub; - this->use_rbm_joint_bnd = rhs.use_rbm_joint_bnd; } IKoptions::~IKoptions() { @@ -59,7 +58,6 @@ void IKoptions::setDefaultParams(RigidBodyManipulator* robot) this->qd0_lb = VectorXd::Zero(this->nq); this->qdf_ub = VectorXd::Zero(this->nq); this->qdf_lb = VectorXd::Zero(this->nq); - this->use_rbm_joint_bnd = true; } RigidBodyManipulator* IKoptions::getRobotPtr() const @@ -341,12 +339,3 @@ void IKoptions::updateRobot(RigidBodyManipulator* new_robot) } } -void IKoptions::setUseRBMJointBnd(bool flag) -{ - this->use_rbm_joint_bnd = flag; -} - -bool IKoptions::getUseRBMJointBnd() const -{ - return this->use_rbm_joint_bnd; -} diff --git a/systems/plants/IKoptions.h b/systems/plants/IKoptions.h index 2fe6f1fc00da..56d54936f377 100644 --- a/systems/plants/IKoptions.h +++ b/systems/plants/IKoptions.h @@ -39,7 +39,6 @@ class DLLEXPORT IKoptions VectorXd qd0_ub; VectorXd qdf_lb; VectorXd qdf_ub; - bool use_rbm_joint_bnd; protected: void setDefaultParams(RigidBodyManipulator* robot); public: @@ -79,8 +78,6 @@ class DLLEXPORT IKoptions void getqd0(VectorXd &lb, VectorXd &ub) const; void getqdf(VectorXd &lb, VectorXd &ub) const; void updateRobot(RigidBodyManipulator* new_robot); - void setUseRBMJointBnd(bool flag); - bool getUseRBMJointBnd() const; }; #endif diff --git a/systems/plants/IKoptions.m b/systems/plants/IKoptions.m index acfe2d2a4a14..f776f4d9272e 100644 --- a/systems/plants/IKoptions.m +++ b/systems/plants/IKoptions.m @@ -26,8 +26,6 @@ % @param qd0_lb -- The lowerbound of the initial velocity % @param qdf_ub -- The upper bound of the final velocity % @param qdf_lb -- The lower bound of the final velocity -% @param use_rbm_joint_bnd -- A boolean variable. True if the robot uses the -% RigidBodyManipulator's joint limits by default. @default is true properties(SetAccess=protected) robot nq @@ -51,7 +49,6 @@ qdf_ub qdf_lb mex_ptr = 0; - use_rbm_joint_bnd = true; end methods(Access = protected) @@ -315,14 +312,5 @@ obj = setDefaultParams(obj,robot); end end - - function obj = setUseRBMJointBnd(obj,flag) - if obj.mex_ptr ~= 0 - obj.mex_ptr = IKoptionsmex(3,obj.mex_ptr,'use_rbm_joint_bnd',flag); - end - typecheck(flag,'logical'); - sizecheck(flag,[1,1]); - obj.use_rbm_joint_bnd = flag; - end end end diff --git a/systems/plants/IKoptionsmex.cpp b/systems/plants/IKoptionsmex.cpp index a0d4651ed4dc..7001563aa935 100644 --- a/systems/plants/IKoptionsmex.cpp +++ b/systems/plants/IKoptionsmex.cpp @@ -226,15 +226,6 @@ void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) RigidBodyManipulator* new_robot = (RigidBodyManipulator*) getDrakeMexPointer(prhs[3]); ikoptions_new->updateRobot(new_robot); } - else if(field_str == "use_rbm_joint_bnd") - { - if(!mxIsLogicalScalar(prhs[3])) - { - mexErrMsgIdAndTxt("Drake:IKoptionsmex:BadInputs","use_rbm_joint_bnd should be a logical scalar"); - } - bool flag = *mxGetLogicals(prhs[3]); - ikoptions_new->setUseRBMJointBnd(flag); - } else { mexErrMsgIdAndTxt("Drake:updatePtrIKoptionsmex:BadInputs","Unsupported field"); diff --git a/systems/plants/constraint/PostureConstraint.m b/systems/plants/constraint/PostureConstraint.m index 2e02007b8ffb..663a73022447 100644 --- a/systems/plants/constraint/PostureConstraint.m +++ b/systems/plants/constraint/PostureConstraint.m @@ -1,44 +1,25 @@ classdef PostureConstraint &robotnumset) this->m_robotnumset = robotnumset; } -PostureConstraint::PostureConstraint(RigidBodyManipulator* robot, const Eigen::Vector2d &tspan, bool use_rbm_joint_bnd):RigidBodyConstraint(RigidBodyConstraint::PostureConstraintCategory,robot,tspan) +PostureConstraint::PostureConstraint(RigidBodyManipulator* robot, const Eigen::Vector2d &tspan):RigidBodyConstraint(RigidBodyConstraint::PostureConstraintCategory,robot,tspan) { - this->use_rbm_joint_bnd = use_rbm_joint_bnd; - if(this->use_rbm_joint_bnd) - { - this->joint_limit_min0 = this->robot->joint_limit_min; - this->joint_limit_max0 = this->robot->joint_limit_max; - } - else - { - int nq = this->robot->num_dof; - this->joint_limit_min0 = VectorXd::Constant(nq,-std::numeric_limits::infinity()); - this->joint_limit_max0 = VectorXd::Constant(nq,std::numeric_limits::infinity()); - } + this->joint_limit_min0 = this->robot->joint_limit_min; + this->joint_limit_max0 = this->robot->joint_limit_max; this->lb = this->joint_limit_min0; this->ub = this->joint_limit_max0; this->type = RigidBodyConstraint::PostureConstraintType; @@ -294,7 +284,6 @@ PostureConstraint::PostureConstraint(const PostureConstraint& rhs):RigidBodyCons int nq = this->robot->num_dof; this->lb.resize(nq); this->ub.resize(nq); - this->use_rbm_joint_bnd = rhs.use_rbm_joint_bnd; this->joint_limit_min0 = rhs.joint_limit_min0; this->joint_limit_max0 = rhs.joint_limit_max0; for(int i = 0;ilb[joint_idx[i]] = (this->joint_limit_min0(joint_idx[i])joint_limit_min0(joint_idx[i])); - this->ub[joint_idx[i]] = (this->joint_limit_max0(joint_idx[i])>ub[i]? ub[i]:this->joint_limit_max0(joint_idx[i])); - if(this->lb[joint_idx[i]]>this->ub[joint_idx[i]]) + if(lb[i]>this->robot->joint_limit_max[joint_idx[i]]) + { + std::cerr<<"joint lb is greater than the robot default joint maximum"<robot->joint_limit_min[joint_idx[i]]) { - std::cerr<<"joint "<lb[joint_idx[i]] = (this->robot->joint_limit_min[joint_idx[i]]robot->joint_limit_min[joint_idx[i]]); + this->ub[joint_idx[i]] = (this->robot->joint_limit_max[joint_idx[i]]>ub[i]?ub[i]:this->robot->joint_limit_max[joint_idx[i]]); } } diff --git a/systems/plants/constraint/RigidBodyConstraint.h b/systems/plants/constraint/RigidBodyConstraint.h index 00e5cd69a386..bd4445d86e30 100644 --- a/systems/plants/constraint/RigidBodyConstraint.h +++ b/systems/plants/constraint/RigidBodyConstraint.h @@ -143,7 +143,6 @@ class DLLEXPORT QuasiStaticConstraint: public RigidBodyConstraint * @param tspan -- The time span of the constraint being valid * @param lb -- The lower bound of the joints * @param ub -- The upper bound of the joints - * @param use_rbm_joint_bnd -- A boolean, true if the posture bounds will be truncated to the RigidBodyManipulator's joint limits. @default is true * * @function setJointLimits set the limit of some joints * @param num_idx The number of joints whose limits are going to be set @@ -158,9 +157,8 @@ class DLLEXPORT PostureConstraint: public RigidBodyConstraint Eigen::VectorXd ub; Eigen::VectorXd joint_limit_min0; Eigen::VectorXd joint_limit_max0; - bool use_rbm_joint_bnd; public: - PostureConstraint(RigidBodyManipulator *model, const Eigen::Vector2d &tspan = DrakeRigidBodyConstraint::default_tspan, bool use_rbm_joint_bnd=true); + PostureConstraint(RigidBodyManipulator *model, const Eigen::Vector2d &tspan = DrakeRigidBodyConstraint::default_tspan); PostureConstraint(const PostureConstraint& rhs); bool isTimeValid(const double* t) const; void setJointLimits(int num_idx, const int* joint_idx, const Eigen::VectorXd& lb, const Eigen::VectorXd& ub); diff --git a/systems/plants/constraint/constructPtrRigidBodyConstraintmex.cpp b/systems/plants/constraint/constructPtrRigidBodyConstraintmex.cpp index 487c88e2352c..5694ab899b61 100644 --- a/systems/plants/constraint/constructPtrRigidBodyConstraintmex.cpp +++ b/systems/plants/constraint/constructPtrRigidBodyConstraintmex.cpp @@ -75,9 +75,9 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) // PostureConstraint case RigidBodyConstraint::PostureConstraintType: { - if(nrhs != 2 && nrhs != 3 && nrhs != 4) + if(nrhs != 2 && nrhs != 3) { - mexErrMsgIdAndTxt("Drake:constructPtrRigidBodyConstraintmex:BadInputs","Usage ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint::PostureConstraintType,robot.mex_model_ptr,tspan,use_rbm_joint_bnd)"); + mexErrMsgIdAndTxt("Drake:constructPtrRigidBodyConstraintmex:BadInputs","Usage ptr = constructPtrRigidBodyConstraintmex(RigidBodyConstraint::PostureConstraintType,robot.mex_model_ptr,tspan)"); } Vector2d tspan; if(nrhs < 3) @@ -88,17 +88,8 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { rigidBodyConstraintParseTspan(prhs[2],tspan); } - bool use_rbm_joint_bnd; - if(nrhs < 4) - { - use_rbm_joint_bnd = true; - } - else - { - use_rbm_joint_bnd = *mxGetLogicals(prhs[3]); - } RigidBodyManipulator* robot = (RigidBodyManipulator*) getDrakeMexPointer(prhs[1]); - PostureConstraint* cnst = new PostureConstraint(robot,tspan,use_rbm_joint_bnd); + PostureConstraint* cnst = new PostureConstraint(robot,tspan); plhs[0] = createDrakeConstraintMexPointer((void*)cnst,"PostureConstraint"); } break; diff --git a/systems/plants/constraint/test/testPostureConstraint.m b/systems/plants/constraint/test/testPostureConstraint.m index a7db4c67b42c..5415d9aca911 100644 --- a/systems/plants/constraint/test/testPostureConstraint.m +++ b/systems/plants/constraint/test/testPostureConstraint.m @@ -54,31 +54,4 @@ pc_bbcnstr = pc2.generateConstraint(t); valuecheck(pc_bbcnstr{1}.lb,lb2); valuecheck(pc_bbcnstr{1}.ub,ub2); - -display('Check the constraint when use_rbm_joint_bnd = false'); -pc3 = PostureConstraint(r,[-inf,inf],true); -[joint_lb,joint_ub] = r.getJointLimits(); -valuecheck(joint_lb,pc3.lb); -valuecheck(joint_ub,pc3.ub); -[lb_mex,ub_mex] = testPostureConstraintmex(pc3.mex_ptr,t); -valuecheck(joint_lb,lb_mex); -valuecheck(joint_ub,ub_mex); -pc3 = PostureConstraint(r,[-inf,inf],false); -valuecheck(pc3.lb,-inf(nq,1)); -valuecheck(pc3.ub,inf(nq,1)); -[lb_mex,ub_mex] = testPostureConstraintmex(pc3.mex_ptr,t); -valuecheck(lb_mex,-inf(nq,1)); -valuecheck(ub_mex,inf(nq,1)); -pc3 = pc3.setJointLimits([l_leg_kny;r_leg_kny],[0.2;0.2],[0.4;0.4]); -inf_joint_idx = true(nq,1); -inf_joint_idx([l_leg_kny;r_leg_kny]) = false; -valuecheck(pc3.lb(inf_joint_idx),-inf(nq-2,1)); -valuecheck(pc3.ub(inf_joint_idx),inf(nq-2,1)); -valuecheck(pc3.lb([l_leg_kny;r_leg_kny]),[0.2;0.2]); -valuecheck(pc3.ub([l_leg_kny;r_leg_kny]),[0.4;0.4]); -[lb_mex,ub_mex] = testPostureConstraintmex(pc3.mex_ptr,t); -valuecheck(lb_mex(inf_joint_idx),-inf(nq-2,1)); -valuecheck(ub_mex(inf_joint_idx),inf(nq-2,1)); -valuecheck(lb_mex([l_leg_kny;r_leg_kny]),[0.2;0.2]); -valuecheck(ub_mex([l_leg_kny;r_leg_kny]),[0.4;0.4]); end diff --git a/systems/plants/inverseKinBackend.cpp b/systems/plants/inverseKinBackend.cpp index 2512eb324138..4a2aeed93163 100644 --- a/systems/plants/inverseKinBackend.cpp +++ b/systems/plants/inverseKinBackend.cpp @@ -439,24 +439,10 @@ void inverseKinBackend(RigidBodyManipulator* model_input, const int mode, const qsc_ptr = nullptr; MatrixXd joint_limit_min(nq,nT); MatrixXd joint_limit_max(nq,nT); - if(ikoptions.getUseRBMJointBnd()) + for(int i = 0;ijoint_limit_min; - joint_limit_max.col(i) = model->joint_limit_max; - } - } - else - { - for(int j = 0;j::infinity(); - joint_limit_max(j,i) = numeric_limits::infinity(); - } - } + joint_limit_min.col(i) = model->joint_limit_min; + joint_limit_max.col(i) = model->joint_limit_max; } for(int i = 0;iq_ub) || any(q_sol(ikoptions->getRobotPtr()); @@ -37,7 +37,6 @@ void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) ikoptions->getq0(q0_lb,q0_ub); ikoptions->getqd0(qd0_lb,qd0_ub); ikoptions->getqdf(qdf_lb,qdf_ub); - bool use_rbm_joint_bnd = ikoptions->getUseRBMJointBnd(); plhs[0] = mxCreateDoubleScalar((double) robot_address); plhs[1] = mxCreateDoubleMatrix(nq,nq,mxREAL); memcpy(mxGetPr(plhs[1]),Q.data(),sizeof(double)*nq*nq); @@ -74,5 +73,4 @@ void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) memcpy(mxGetPr(plhs[17]),qdf_lb.data(),sizeof(double)*nq); plhs[18] = mxCreateDoubleMatrix(nq,1,mxREAL); memcpy(mxGetPr(plhs[18]),qdf_ub.data(),sizeof(double)*nq); - plhs[19] = mxCreateLogicalScalar(use_rbm_joint_bnd); } From bbee90d70dd2dc941b6bcf40fced82f3485af59a Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Thu, 9 Oct 2014 16:44:08 -0400 Subject: [PATCH 146/271] fixed missing mex file check in testIndividualCentersOfPressure --- examples/Atlas/test/testIndividualCentersOfPressure.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/Atlas/test/testIndividualCentersOfPressure.m b/examples/Atlas/test/testIndividualCentersOfPressure.m index 3aba62e88580..eedcc74aa2b5 100644 --- a/examples/Atlas/test/testIndividualCentersOfPressure.m +++ b/examples/Atlas/test/testIndividualCentersOfPressure.m @@ -59,8 +59,8 @@ function testTangentialTorque(r) function testMex(r) -if ~exist('individualCentersOfPressuremex','file') - return; +if exist('individualCentersOfPressuremex','file')~=3 + error('Drake:MissingDependency', 'Cannot find individualCentersOfPressuremex. It may not have been compiled due to a missing dependency.'); end nq = r.getNumPositions(); From e20ad48bf88c292794b0dfe2227091e315be1903 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Fri, 10 Oct 2014 05:29:45 -0400 Subject: [PATCH 147/271] fix inspector error --- systems/visualizers/Visualizer.m | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m index b08fcff42493..af57e5f382c8 100644 --- a/systems/visualizers/Visualizer.m +++ b/systems/visualizers/Visualizer.m @@ -198,7 +198,7 @@ function timer_draw(timerobj,event) function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system) % brings up a simple slider gui that displays the robot % in the specified state when possible. - % + % % @param x0 the initial state to display the robot in % @param state_dims are the indices of the states to show on the % slider. Including velocity states will display the forces and torques. @@ -236,7 +236,7 @@ function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system) % use a little undocumented matlab to get continuous slider feedback: slider_listener{i} = addlistener(slider{i},'ContinuousValueChange',@update_display); end - + set(f, 'Position', [560 400 560 20 + 30*rows]); resize_gui(); update_display(slider{1}); @@ -255,13 +255,13 @@ function resize_gui(source, eventdata) function update_display(source, eventdata) if nargin>1 && isempty(eventdata), return; end % was running twice for most events - + t = 0; x = x0; for i=1:numel(state_dims) x(state_dims(i)) = get(slider{i}, 'Value'); set(value{i},'String',num2str(x(state_dims(i)),'%4.3f')); end - + if (~isempty(visualized_system) && getNumStateConstraints(visualized_system)+getNumUnilateralConstraints(visualized_system)>0) % constrain the current slider to be exactly the specified value current_slider_statedim = get(source,'UserData'); @@ -289,15 +289,15 @@ function update_display(source, eventdata) end x0 = x; obj.drawWrapper(t,x); - - if (max(state_dims)>getNumPositions(visualized_system)&&isa(obj,'RigidBodyVisualizer')) + + if (~isempty(visualized_system) && max(state_dims)>getNumPositions(visualized_system) && isa(obj,'RigidBodyVisualizer')) % was asked to show velocties on a RigidBodyManipulator, draw forces and torques q = x0(1:getNumPositions(visualized_system)); qd = x0(getNumPositions(visualized_system)+1:getNumPositions(visualized_system)+getNumVelocities(visualized_system)); visualized_system.drawLCMGLGravity(q,obj.gravity_visual_magnitude); visualized_system.drawLCMGLForces(q,qd,obj.gravity_visual_magnitude); end - + end end From 768a0ededd0aaa6d9d58e2c99dbfe689000ccbb0 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Fri, 10 Oct 2014 09:57:25 -0400 Subject: [PATCH 148/271] more robust bbox --- util/SWFWriter.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util/SWFWriter.m b/util/SWFWriter.m index 5eae803ba014..fe2552500b00 100644 --- a/util/SWFWriter.m +++ b/util/SWFWriter.m @@ -55,7 +55,7 @@ end % grab the bounding boxes from all eps files - system(['more ', obj.dirname, '/*.eps | grep BoundingBox | sed -e "s/.*://g" > ',obj.dirname,'/bbox.txt']); + system(['more ', obj.dirname, '/*.eps | grep BoundingBox | sed -e "s/.*://g" | grep -v "(atend)" > ',obj.dirname,'/bbox.txt']); bbox = dlmread([obj.dirname,'/bbox.txt']); obj.bbox=[min(bbox(:,1:2)),max(bbox(:,3:4))]; From 6a59e1af6c0668ab1da72c4e44c044f5c27eabfb Mon Sep 17 00:00:00 2001 From: Gregory Izatt Date: Thu, 9 Oct 2014 17:20:56 -0400 Subject: [PATCH 149/271] Subtracts off margin for raycasts onto box/mesh. Thanks Andres! Depth sensors in drake should now be a lot more accurate. --- systems/plants/collision/BulletModel.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/systems/plants/collision/BulletModel.cpp b/systems/plants/collision/BulletModel.cpp index c8a14740e6ad..cb605acc5773 100644 --- a/systems/plants/collision/BulletModel.cpp +++ b/systems/plants/collision/BulletModel.cpp @@ -307,12 +307,17 @@ namespace DrakeCollision // compute distance to hit btVector3 end = ray_callback.m_hitPointWorld; + + // correct for margin + auto element_data = static_cast< ElementData* >(ray_callback.m_collisionObject->getUserPointer()); + if (element_data->shape == MESH || element_data->shape == BOX) { + end = end - ray_callback.m_hitNormalWorld*ray_callback.m_collisionObject->getCollisionShape()->getMargin(); + } Vector3d end_eigen(end.getX(), end.getY(), end.getZ()); distances(i) = (end_eigen - origins.col(i)).norm(); - - + } else { distances(i) = -1; } From 3890e930f485b703f756bb1bb6c7cd80d093b1b8 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 11 Oct 2014 04:52:24 -0400 Subject: [PATCH 150/271] cmake updates (for 2014 on windows) --- cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake b/cmake index 9be5eb93709c..19e3b583538e 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit 9be5eb93709cc6ff03e21df04a00652b52b86976 +Subproject commit 19e3b583538e01e5171474c3f169317809ba318f From 53b426c20eee9844f627a9c17d26a7c33481cf2d Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 11 Oct 2014 11:38:55 -0400 Subject: [PATCH 151/271] adds comments, minor functionality, and an example --- addpath_drake.m | 2 +- examples/DoubleIntegrator.m | 35 +++++++++++++++++++ solvers/NonlinearProgram.m | 2 +- .../DirectTrajectoryOptimization.m | 9 +++++ .../DirtranTrajectoryOptimization.m | 3 +- util/geval.m | 2 +- 6 files changed, 49 insertions(+), 4 deletions(-) diff --git a/addpath_drake.m b/addpath_drake.m index ac4c05aee744..f769f8223cad 100644 --- a/addpath_drake.m +++ b/addpath_drake.m @@ -72,7 +72,7 @@ if checkDependency('simulink') autosave_options = get_param(0,'AutoSaveOptions'); if autosave_options.SaveOnModelUpdate - warning('Disabling autosave for simulink blocks (to avoid generating a lot of *.mdl.autosave files in your directory. If you aren''t a regular Simulink user and don''t want this disabled, comment out this section in addpath_drake'); + warning('Drake:DisablingSimulinkAutosave','Disabling autosave for simulink blocks (to avoid generating a lot of *.mdl.autosave files in your directory. If you aren''t a regular Simulink user and don''t want this disabled, comment out this section in addpath_drake'); autosave_options.SaveOnModelUpdate = false; set_param(0,'AutoSaveOptions',autosave_options); end diff --git a/examples/DoubleIntegrator.m b/examples/DoubleIntegrator.m index 74f2f0c25acd..7ada3a56e23e 100644 --- a/examples/DoubleIntegrator.m +++ b/examples/DoubleIntegrator.m @@ -77,6 +77,41 @@ function drawfun(J,PI) subplot(2,1,2); colorbar; end + function runDirtran + % Simple example of Direct Transcription trajectory optimization + + % create the system + plant = DoubleIntegrator; + + % set up a direct transcription problem with N knot points and bounds on + % the duration + N = 20; + prog = DirtranTrajectoryOptimization(plant,N,[0.1 10]); + + % add the initial value constraint + x0 = [-2; -2]; + prog = addStateConstraint(prog,BoundingBoxConstraint(x0,x0),1); + + % add the final value constraint + xf = [0;0]; + prog = addStateConstraint(prog,BoundingBoxConstraint(xf,xf),N); + + % add the cost function g(dt,x,u) = 1*dt + prog = addRunningCost(prog,@(dt,x,u) dt); + + % add a display function to draw the trajectory on every iteration + function displayStateTrajectory(t,x,u) + plot(x(1,:),x(2,:),'b.-','MarkerSize',10); + axis([-5,1,-2.5,2.5]); axis equal; + drawnow; + end + prog = addTrajectoryDisplayFunction(prog,@displayStateTrajectory); + + % solve the optimization problem. + breakpoints = linspace(0,2,N); % initial breakpoints t=0,...,2 seconds + prog.solveTraj(breakpoints); + end + end end \ No newline at end of file diff --git a/solvers/NonlinearProgram.m b/solvers/NonlinearProgram.m index 21e2bbe47c37..59ffa06408be 100644 --- a/solvers/NonlinearProgram.m +++ b/solvers/NonlinearProgram.m @@ -676,7 +676,7 @@ function obj = addDisplayFunction(obj,display_fun,indices) % add a dispay function that gets called on every iteration of the % algorithm - % @param displayFun a function handle of the form displayFun(x(indices)) + % @param display_fun a function handle of the form displayFun(x(indices)) % @param indices optionally specify a subset of the decision % variables to be passed to the displayFun @default 1:obj.num_vars diff --git a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m index 20ce84865a34..aba78735bd5e 100644 --- a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m @@ -151,6 +151,15 @@ end end + function obj = addTrajectoryDisplayFunction(obj,display_fun) + % add a dispay function that gets called on every iteration of the + % algorithm + % @param display_fun a function handle of the form displayFun(t,x,u) + % where t is a 1-by-N, x is n-by-N and u is m-by-N + + obj = addDisplayFunction(obj,@(z) display_fun(z(obj.h_inds),z(obj.x_inds),z(obj.u_inds))); + end + function [xtraj,utraj,z,F,info] = solveTraj(obj,t_init,traj_init) % Solve the nonlinear program and return resulting trajectory % @param t_init initial timespan for solution. can be a vector of diff --git a/solvers/trajectoryOptimization/DirtranTrajectoryOptimization.m b/solvers/trajectoryOptimization/DirtranTrajectoryOptimization.m index 1e401f781e28..9b139bad91dd 100644 --- a/solvers/trajectoryOptimization/DirtranTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DirtranTrajectoryOptimization.m @@ -75,6 +75,7 @@ % numerical implementation specific (thus abstract) % this cost is assumed to be time-invariant % @param running_cost_function a function handle + % of the form running_cost_function(dt,x,u) nX = obj.plant.getNumStates(); nU = obj.plant.getNumInputs(); @@ -125,7 +126,7 @@ function [f,df] = midpoint_running_fun(obj,running_handle,h,x0,x1,u0,u1) nX = obj.plant.getNumStates(); nU = obj.plant.getNumInputs(); - [f,dg] = running_handle(h,.5*(x0+x1),.5*(u0+u1)); + [f,dg] = geval(running_handle,h,.5*(x0+x1),.5*(u0+u1)); df = [dg(:,1) .5*dg(:,2:1+nX) .5*dg(:,2:1+nX) .5*dg(:,2+nX:1+nX+nU) .5*dg(:,2+nX:1+nX+nU)]; end diff --git a/util/geval.m b/util/geval.m index b0ee1a7ac547..8f609ff43d71 100644 --- a/util/geval.m +++ b/util/geval.m @@ -125,7 +125,7 @@ [varargout{:}]=feval(fun,varargin{:}); return; % if i get here, then it passed and I'm done catch exception - if (strcmp(exception.identifier,'MATLAB:maxlhs') || strcmp(exception.identifier,'MATLAB:TooManyOutputs')) + if (strcmp(exception.identifier,'MATLAB:maxlhs') || strcmp(exception.identifier,'MATLAB:TooManyOutputs') || strcmp(exception.identifier,'MATLAB:unassignedOutputs')) n=p; % it failed, assume it only has the nominal outputs else % it was some different error rethrow(exception); From 11b897de03163bdb860b589c541d70c874808cb2 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 11 Oct 2014 17:24:12 -0400 Subject: [PATCH 152/271] dircol example --- examples/DoubleIntegrator.m | 36 ++++++++++++++++++- .../DircolTrajectoryOptimization.m | 4 +-- 2 files changed, 37 insertions(+), 3 deletions(-) diff --git a/examples/DoubleIntegrator.m b/examples/DoubleIntegrator.m index 7ada3a56e23e..c25bfbfb88c7 100644 --- a/examples/DoubleIntegrator.m +++ b/examples/DoubleIntegrator.m @@ -111,7 +111,41 @@ function displayStateTrajectory(t,x,u) breakpoints = linspace(0,2,N); % initial breakpoints t=0,...,2 seconds prog.solveTraj(breakpoints); end - + + function runDircol + % Simple example of Direct Transcription trajectory optimization + + % create the system + plant = DoubleIntegrator; + + % set up a direct transcription problem with N knot points and bounds on + % the duration + N = 20; + prog = DircolTrajectoryOptimization(plant,N,[0.1 10]); + + % add the initial value constraint + x0 = [-2; -2]; + prog = addStateConstraint(prog,BoundingBoxConstraint(x0,x0),1); + + % add the final value constraint + xf = [0;0]; + prog = addStateConstraint(prog,BoundingBoxConstraint(xf,xf),N); + + % add the cost function g(dt,x,u) = 1*dt + prog = addRunningCost(prog,@(dt,x,u) dt); + + % add a display function to draw the trajectory on every iteration + function displayStateTrajectory(t,x,u) + plot(x(1,:),x(2,:),'b.-','MarkerSize',10); + axis([-5,1,-2.5,2.5]); axis equal; + drawnow; + end + prog = addTrajectoryDisplayFunction(prog,@displayStateTrajectory); + + % solve the optimization problem. + breakpoints = linspace(0,2,N); % initial breakpoints t=0,...,2 seconds + prog.solveTraj(breakpoints); + end end end \ No newline at end of file diff --git a/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m b/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m index aed107ef4d47..8eafb4ea021e 100644 --- a/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m @@ -134,13 +134,13 @@ methods (Access = protected) function [f,df] = running_fun_end(obj,running_handle,h,x,u) - [f,dg] = running_handle(.5*h,x,u); + [f,dg] = geval(running_handle,.5*h,x,u); df = [.5*dg(:,1) dg(:,2:end)]; end function [f,df] = running_fun_mid(obj,running_handle,h0,h1,x,u) - [f,dg] = running_handle(.5*(h0+h1),x,u); + [f,dg] = geval(running_handle,.5*(h0+h1),x,u); df = [.5*dg(:,1) .5*dg(:,1) dg(:,2:end)]; end From acd7bc441edad8bee4132ee4e48b5090fc6d49c1 Mon Sep 17 00:00:00 2001 From: Gregory Izatt Date: Sat, 11 Oct 2014 20:31:09 -0400 Subject: [PATCH 153/271] Taking away margins entirely --- systems/plants/collision/BulletElement.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/systems/plants/collision/BulletElement.cpp b/systems/plants/collision/BulletElement.cpp index 4f35e63121e6..1c0843bce718 100644 --- a/systems/plants/collision/BulletElement.cpp +++ b/systems/plants/collision/BulletElement.cpp @@ -30,7 +30,7 @@ namespace DrakeCollision * a btConvexHullShape. */ bt_shape = new btConvexHullShape(); - bt_shape->setMargin(0.05); + bt_shape->setMargin(0.00); for (int i=0; i<8; ++i){ btVector3 vtx; bt_box.getVertex(i,vtx); @@ -74,7 +74,7 @@ namespace DrakeCollision //params.size()/3, //(int) 3*sizeof(double) ); bt_shape = new btConvexHullShape(); - bt_shape->setMargin(0.05); + bt_shape->setMargin(0.00); for (int i=0; i Date: Sat, 11 Oct 2014 22:27:14 -0400 Subject: [PATCH 154/271] moved obstacle field code from util to airplane2d directory, since that is the only example using it (and it's been trumped by the bullet objects) --- addpath_drake.m | 1 - .../Airplane2D}/@Obstacle/Obstacle.m | 0 .../Airplane2D}/@ObstacleField/ObstacleField.m | 15 ++++++--------- .../@PolygonalObstacle2D/PolygonalObstacle2D.m | 0 .../Airplane2D}/@PolygonalObstacle2D/polygeom.m | 0 .../@PolygonalObstacle2D/test_polygeom.m | 0 .../Airplane2D}/test/testObstacles.m | 0 .../test/testVerticalAndHorizontalObstacles.m | 0 rmpath_drake.m | 3 --- 9 files changed, 6 insertions(+), 13 deletions(-) rename {util/obstacles => examples/Airplane2D}/@Obstacle/Obstacle.m (100%) rename {util/obstacles => examples/Airplane2D}/@ObstacleField/ObstacleField.m (94%) rename {util/obstacles => examples/Airplane2D}/@PolygonalObstacle2D/PolygonalObstacle2D.m (100%) rename {util/obstacles => examples/Airplane2D}/@PolygonalObstacle2D/polygeom.m (100%) rename {util/obstacles => examples/Airplane2D}/@PolygonalObstacle2D/test_polygeom.m (100%) rename {util/obstacles => examples/Airplane2D}/test/testObstacles.m (100%) rename {util/obstacles => examples/Airplane2D}/test/testVerticalAndHorizontalObstacles.m (100%) diff --git a/addpath_drake.m b/addpath_drake.m index f769f8223cad..a32483d78819 100644 --- a/addpath_drake.m +++ b/addpath_drake.m @@ -44,7 +44,6 @@ addpath(fullfile(root,'solvers')); addpath(fullfile(root,'solvers','trajectoryOptimization')); addpath(fullfile(root,'util')); -addpath(fullfile(root,'util','obstacles')); addpath(fullfile(root,'thirdParty')); addpath(fullfile(root,'thirdParty','path')); addpath(fullfile(root,'thirdParty','spatial')); diff --git a/util/obstacles/@Obstacle/Obstacle.m b/examples/Airplane2D/@Obstacle/Obstacle.m similarity index 100% rename from util/obstacles/@Obstacle/Obstacle.m rename to examples/Airplane2D/@Obstacle/Obstacle.m diff --git a/util/obstacles/@ObstacleField/ObstacleField.m b/examples/Airplane2D/@ObstacleField/ObstacleField.m similarity index 94% rename from util/obstacles/@ObstacleField/ObstacleField.m rename to examples/Airplane2D/@ObstacleField/ObstacleField.m index 90a46975af19..c41fbc4d4c57 100644 --- a/util/obstacles/@ObstacleField/ObstacleField.m +++ b/examples/Airplane2D/@ObstacleField/ObstacleField.m @@ -166,17 +166,14 @@ function draw(obj) end end - function con = AddConstraints(obj, con) - % Adds the con.x.c constraint for the ObstacleField to the given - % constraint object. - % - % @param con input constraint object. Must be a structure. - % Other than that, we'll just overwrite con.x.c, so anything - % else will be returned unchanged. + function prog = AddConstraints(obj, prog) + % Adds the non-convex constraints for the ObstacleField to the + % given NonlinearProgram % - % @retval con Constraint structure with modified con.x.c value. + % @param prog a NonlinearProgram + % @retval prog the updated NonlinearProgram - con.x.c = @(x)obj.obstacleConstraint(x); + prog = prog.addStateConstraint(FunctionHandleConstraint(-inf(obj.number_of_obstacles,1),zeros(obj.number_of_obstacles,1),2,@(x)obj.obstacleConstraint(x)),1:prog.N,1:2); end diff --git a/util/obstacles/@PolygonalObstacle2D/PolygonalObstacle2D.m b/examples/Airplane2D/@PolygonalObstacle2D/PolygonalObstacle2D.m similarity index 100% rename from util/obstacles/@PolygonalObstacle2D/PolygonalObstacle2D.m rename to examples/Airplane2D/@PolygonalObstacle2D/PolygonalObstacle2D.m diff --git a/util/obstacles/@PolygonalObstacle2D/polygeom.m b/examples/Airplane2D/@PolygonalObstacle2D/polygeom.m similarity index 100% rename from util/obstacles/@PolygonalObstacle2D/polygeom.m rename to examples/Airplane2D/@PolygonalObstacle2D/polygeom.m diff --git a/util/obstacles/@PolygonalObstacle2D/test_polygeom.m b/examples/Airplane2D/@PolygonalObstacle2D/test_polygeom.m similarity index 100% rename from util/obstacles/@PolygonalObstacle2D/test_polygeom.m rename to examples/Airplane2D/@PolygonalObstacle2D/test_polygeom.m diff --git a/util/obstacles/test/testObstacles.m b/examples/Airplane2D/test/testObstacles.m similarity index 100% rename from util/obstacles/test/testObstacles.m rename to examples/Airplane2D/test/testObstacles.m diff --git a/util/obstacles/test/testVerticalAndHorizontalObstacles.m b/examples/Airplane2D/test/testVerticalAndHorizontalObstacles.m similarity index 100% rename from util/obstacles/test/testVerticalAndHorizontalObstacles.m rename to examples/Airplane2D/test/testVerticalAndHorizontalObstacles.m diff --git a/rmpath_drake.m b/rmpath_drake.m index a2402f589052..667cb5db605a 100644 --- a/rmpath_drake.m +++ b/rmpath_drake.m @@ -10,7 +10,6 @@ rmpath(fullfile(root,'systems')); rmpath(fullfile(root,'systems','plants')); -rmpath(fullfile(root,'systems','plants','affordance')); rmpath(fullfile(root,'systems','plants','collision')); rmpath(fullfile(root,'systems','plants','constraint')); rmpath(fullfile(root,'systems','controllers')); @@ -21,7 +20,6 @@ rmpath(fullfile(root,'systems','robotInterfaces')); rmpath(fullfile(root,'solvers')); rmpath(fullfile(root,'util')); -rmpath(fullfile(root,'util','obstacles')); rmpath(fullfile(root,'thirdParty')); rmpath(fullfile(root,'thirdParty','path')); rmpath(fullfile(root,'thirdParty','spatial')); @@ -30,4 +28,3 @@ javarmpath(fullfile(pods_get_base_path,'share','java','drake.jar')); javarmpath(fullfile(pods_get_base_path,'share','java','lcmtypes_drake.jar')); - From 208917c837e9a85c6fbc8d98db9e974eab95f8d6 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 11 Oct 2014 22:28:03 -0400 Subject: [PATCH 155/271] updates trajectory optimization examples (airplane2d now using new traj opt interface). --- examples/Airplane2D/runDircol.m | 34 +++++----- examples/Airplane2D/runDircolWithObs.m | 64 ++++++------------- examples/Airplane2D/runPassiveWithObstacles.m | 13 ---- examples/DoubleIntegrator.m | 12 ++-- 4 files changed, 43 insertions(+), 80 deletions(-) delete mode 100644 examples/Airplane2D/runPassiveWithObstacles.m diff --git a/examples/Airplane2D/runDircol.m b/examples/Airplane2D/runDircol.m index c656bee36f61..d7fcaea8c0d5 100644 --- a/examples/Airplane2D/runDircol.m +++ b/examples/Airplane2D/runDircol.m @@ -14,27 +14,26 @@ x0 = double(x0); xf = double(xf); -con.u.lb = p.umin; -con.u.ub = p.umax; -con.x0.lb = x0; -con.x0.ub = x0; -con.xf.lb = xf; -con.xf.ub = xf; -con.T.lb = 0.1; -con.T.ub = 1; +N = 11; +prog = DircolTrajectoryOptimization(p,N,[0.1 1]); -options.method='dircol'; -options.MajorOptimalityTolerance=1e-2; -options.trajectory_cost_fun=@(t,x,u)plotDircolTraj(t,x,u,[1 2]); % for debugging -%options.grad_test = true; +prog = addStateConstraint(prog,BoundingBoxConstraint(x0,x0),1); +prog = addStateConstraint(prog,BoundingBoxConstraint(xf,xf),N); +prog = addRunningCost(prog,@cost); +prog = addFinalCost(prog,@finalCost); + +prog = addTrajectoryDisplayFunction(prog,@(dt,x,u)plotDircolTraj(dt,x,u,[1 2])); +%options.MajorOptimalityTolerance=1e-2; + +t_init = linspace(0,tf0,N); info = 0; while (info~=1) % generate a random trajectory - utraj0 = PPTrajectory(foh(linspace(0,tf0,11),randn(1,11))); - + traj_init.u = setOutputFrame(PPTrajectory(foh(t_init,randn(1,N))),getInputFrame(p)); + tic - [utraj,xtraj,info] = trajectoryOptimization(p,@cost,@finalcost,x0,utraj0,con,options); + [xtraj,utraj,~,~,info]=solveTraj(prog,t_init,traj_init); toc end @@ -45,7 +44,7 @@ end - function [g,dg] = cost(t,x,u) + function [g,dg] = cost(dt,x,u) R = 0; g = u'*R*u; %g = sum((R*u).*u,1); @@ -53,7 +52,7 @@ dg = zeros(1, 1 + size(x,1) + size(u,1)); end - function [h,dh] = finalcost(t,x) + function [h,dh] = finalCost(t,x) h = t; dh = [1,zeros(1,size(x,1))]; end @@ -61,6 +60,7 @@ function [J,dJ]=plotDircolTraj(t,x,u,plotdims) figure(25); h=plot(x(plotdims(1),:),x(plotdims(2),:),'r.-'); + axis([-2 2 -1 10]); axis equal; drawnow; delete(h); J=0; diff --git a/examples/Airplane2D/runDircolWithObs.m b/examples/Airplane2D/runDircolWithObs.m index e68207a04cab..f33f25f938c5 100644 --- a/examples/Airplane2D/runDircolWithObs.m +++ b/examples/Airplane2D/runDircolWithObs.m @@ -4,68 +4,43 @@ p = PlanePlant(); end -x0 = [3.9; 0; 0; 0]; -tf0 = .7; +x0 = [3.9; 0; 0; 0]; xf = [5; 9; 0; 0]; +tf0 = .7; -utraj0 = PPTrajectory(foh(linspace(0,tf0,11),0*randn(1,11))); -utraj0 = setOutputFrame(utraj0,p.getInputFrame); - -%con.u.lb = p.umin; -%con.u.ub = p.umax; -con.x0.lb = x0; -con.x0.ub = x0; -con.xf.lb = xf; %[xf(1:2);-inf(2,1)]; -con.xf.ub = xf; %[xf(1:2);inf(2,1)]; -con.T.lb = .2; -con.T.ub = 3; +N = 21; +prog = DircolTrajectoryOptimization(p,N,[0.2 3]); +prog = addStateConstraint(prog,BoundingBoxConstraint(x0,x0),1); +prog = addStateConstraint(prog,BoundingBoxConstraint(xf,xf),N); % add obstacles disp('Adding obstacles...'); field = ObstacleField(); field = field.GenerateRandomObstacles(); -con = field.AddConstraints(con); +prog = field.AddConstraints(prog); + +prog = addRunningCost(prog,@(dt,x,u)cost(dt,x,u,field)); +prog = addFinalCost(prog,@finalCost); + +prog = addTrajectoryDisplayFunction(prog,@(dt,x,u)plotDircolTraj(dt,x,u,[1 2])); + figure(25); clf; hold on; v = PlaneVisualizer(p,field); v.draw(0,x0); drawnow -disp('Running trajectory optimization...'); - -options.method='dircol'; -options.MajorOptimalityTolerance=1e-2; -options.trajectory_cost_fun=@(t,x,u)plotDircolTraj(t,x,u,[1 2]); % for debugging -%options.grad_method={'user','taylorvar'}; +prog = setSolverOptions(prog,'snopt','MajorOptimalityTolerance',1e-2); +initial_guess.x = PPTrajectory(foh([0,tf0],[x0,xf])); tic -%options.grad_test = true; -[utraj,xtraj,info] = trajectoryOptimization(p,@(t,x,u)cost(t,x,u,field),@finalcost,x0,utraj0,con,options); -if (info~=1) error(['Airplane2D:SNOPT:INFO',num2str(info)],'failed to find a trajectory'); end +[xtraj,utraj,~,~,info]=solveTraj(prog,tf0,initial_guess); toc -% upsample -ts = linspace(utraj.tspan(1),utraj.tspan(2),41); -options.xtape0='simulate'; -utraj0 = PPTrajectory(foh(ts,utraj.eval(ts))); utraj0 = setOutputFrame(utraj0,utraj.getOutputFrame); -[utraj,xtraj,info] = trajectoryOptimization(p,@(t,x,u)cost(t,x,u,field),@finalcost,x0,utraj0,con,options); -if (info~=1) error(['Airplane2D:SNOPT:INFO',num2str(info)],'failed to improve the trajectory'); end - -hold off; - -if (nargout>0) - return; +if (nargout<1) + v.playback(xtraj); end -%disp('Stabilizing trajectory...'); -c = tvlqr(p,xtraj,utraj,eye(4),1,eye(4)); - -disp('Visualizing trajectory...'); -v.playback(xtraj); -%v.display_dt=0;v.playback_speed=.5; v.playbackAVI(xtraj,'PlaneWithObs'); - -disp('Done.'); - end function [g,dg] = cost(t,x,u,field) @@ -83,7 +58,7 @@ %dg = zeros(1, 1 + size(x,1) + size(u,1)); end - function [h,dh] = finalcost(t,x) + function [h,dh] = finalCost(t,x) h = t; dh = [1,zeros(1,size(x,1))]; end @@ -91,6 +66,7 @@ function [J,dJ]=plotDircolTraj(t,x,u,plotdims) figure(25); h=plot(x(plotdims(1),:),x(plotdims(2),:),'r.-'); + axis([-2 2 -1 10]); axis equal; drawnow; delete(h); J=0; diff --git a/examples/Airplane2D/runPassiveWithObstacles.m b/examples/Airplane2D/runPassiveWithObstacles.m deleted file mode 100644 index 886ae352baa8..000000000000 --- a/examples/Airplane2D/runPassiveWithObstacles.m +++ /dev/null @@ -1,13 +0,0 @@ -function runPassiveWithObstacles - -pp = PlanePlant(); -pv = PlaneVisualizer(pp); - -% generate obstacles -field = ObstacleField(); -field.GenerateRandomObstacles(); - -traj = simulate(pp,[0 .5]); -field.draw(); -playback(pv,traj); -field.draw(); diff --git a/examples/DoubleIntegrator.m b/examples/DoubleIntegrator.m index c25bfbfb88c7..1c590fb73b69 100644 --- a/examples/DoubleIntegrator.m +++ b/examples/DoubleIntegrator.m @@ -107,9 +107,9 @@ function displayStateTrajectory(t,x,u) end prog = addTrajectoryDisplayFunction(prog,@displayStateTrajectory); - % solve the optimization problem. - breakpoints = linspace(0,2,N); % initial breakpoints t=0,...,2 seconds - prog.solveTraj(breakpoints); + % solve the optimization problem (with 2 sec as the initial guess for + % the duration) + prog.solveTraj(2); end function runDircol @@ -142,9 +142,9 @@ function displayStateTrajectory(t,x,u) end prog = addTrajectoryDisplayFunction(prog,@displayStateTrajectory); - % solve the optimization problem. - breakpoints = linspace(0,2,N); % initial breakpoints t=0,...,2 seconds - prog.solveTraj(breakpoints); + % solve the optimization problem (with 2 sec as the initial guess for + % the duration) + prog.solveTraj(2); end end From d30142d52d8b9f5fe0bc7e95af86d3fe7edaa20b Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 12 Oct 2014 06:55:35 -0400 Subject: [PATCH 156/271] changed solveTraj in DircolTrajectoryOptimization to output utraj before xtraj. (sorry for the change, but it's definitely the right order since you might want utraj without xtraj but not vice versa) --- examples/Acrobot/AcrobotPlant.m | 14 ++++---- examples/Acrobot/test/testTrajOpt.m | 2 +- examples/Airplane2D/runDircol.m | 6 ++-- examples/Airplane2D/runDircolWithObs.m | 6 ++-- examples/Airplane2D/test/testObstacles.m | 2 +- .../test/testVerticalAndHorizontalObstacles.m | 2 ++ examples/CartPole/CartPolePlant.m | 34 +++++++++---------- examples/CompassGait/runDircolCycle.m | 2 +- .../KneedCompassGait/dev/testNewTrajOpt.m | 2 +- examples/Pendulum/PendulumPlant.m | 2 +- examples/Quadrotor/runDircol.m | 2 +- examples/Quadrotor/runDircolWObs.m | 2 +- solvers/Constraint.m | 4 ++- .../ContactImplicitTrajectoryOptimization.m | 4 +-- .../DircolTrajectoryOptimization.m | 3 +- .../DirectTrajectoryOptimization.m | 6 ++-- .../HybridTrajectoryOptimization.m | 2 +- .../test/contactImplicitBrick.m | 2 +- 18 files changed, 50 insertions(+), 47 deletions(-) diff --git a/examples/Acrobot/AcrobotPlant.m b/examples/Acrobot/AcrobotPlant.m index d0e34bde1984..1d4cb1827548 100644 --- a/examples/Acrobot/AcrobotPlant.m +++ b/examples/Acrobot/AcrobotPlant.m @@ -100,22 +100,22 @@ tf0 = 4; N = 21; - traj_opt = DircolTrajectoryOptimization(obj,N,[2 6]); - traj_opt = traj_opt.addStateConstraint(ConstantConstraint(x0),1); - traj_opt = traj_opt.addStateConstraint(ConstantConstraint(xf),N); - traj_opt = traj_opt.addRunningCost(@cost); - traj_opt = traj_opt.addFinalCost(@finalCost); + prog = DircolTrajectoryOptimization(obj,N,[2 6]); + prog = prog.addStateConstraint(ConstantConstraint(x0),1); + prog = prog.addStateConstraint(ConstantConstraint(xf),N); + prog = prog.addRunningCost(@cost); + prog = prog.addFinalCost(@finalCost); traj_init.x = PPTrajectory(foh([0,tf0],[double(x0),double(xf)])); info=0; while (info~=1) tic - [xtraj,utraj,z,F,info] = traj_opt.solveTraj(tf0,traj_init); + [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc end - function [g,dg] = cost(t,x,u); + function [g,dg] = cost(dt,x,u) R = 1; g = sum((R*u).*u,1); dg = [zeros(1,1+size(x,1)),2*u'*R]; diff --git a/examples/Acrobot/test/testTrajOpt.m b/examples/Acrobot/test/testTrajOpt.m index fa5eb535d179..d497b3bb7de6 100644 --- a/examples/Acrobot/test/testTrajOpt.m +++ b/examples/Acrobot/test/testTrajOpt.m @@ -40,7 +40,7 @@ % traj_opt = traj_opt.addLinearStateConstraint(LinearConstraint(xf,xf,eye(4)),N); tic -[xtraj,utraj,z,F,info] = traj_opt.solveTraj(t_init,traj_init); +[utraj,xtraj,z,F,info] = traj_opt.solveTraj(t_init,traj_init); toc v = p.constructVisualizer(); diff --git a/examples/Airplane2D/runDircol.m b/examples/Airplane2D/runDircol.m index d7fcaea8c0d5..7d82b9edbc56 100644 --- a/examples/Airplane2D/runDircol.m +++ b/examples/Airplane2D/runDircol.m @@ -17,8 +17,8 @@ N = 11; prog = DircolTrajectoryOptimization(p,N,[0.1 1]); -prog = addStateConstraint(prog,BoundingBoxConstraint(x0,x0),1); -prog = addStateConstraint(prog,BoundingBoxConstraint(xf,xf),N); +prog = addStateConstraint(prog,ConstantConstraint(x0),1); +prog = addStateConstraint(prog,ConstantConstraint(xf),N); prog = addRunningCost(prog,@cost); prog = addFinalCost(prog,@finalCost); @@ -33,7 +33,7 @@ traj_init.u = setOutputFrame(PPTrajectory(foh(t_init,randn(1,N))),getInputFrame(p)); tic - [xtraj,utraj,~,~,info]=solveTraj(prog,t_init,traj_init); + [utraj,xtraj,~,~,info]=solveTraj(prog,t_init,traj_init); toc end diff --git a/examples/Airplane2D/runDircolWithObs.m b/examples/Airplane2D/runDircolWithObs.m index f33f25f938c5..24ab30515b3e 100644 --- a/examples/Airplane2D/runDircolWithObs.m +++ b/examples/Airplane2D/runDircolWithObs.m @@ -11,8 +11,8 @@ N = 21; prog = DircolTrajectoryOptimization(p,N,[0.2 3]); -prog = addStateConstraint(prog,BoundingBoxConstraint(x0,x0),1); -prog = addStateConstraint(prog,BoundingBoxConstraint(xf,xf),N); +prog = addStateConstraint(prog,ConstantConstraint(x0),1); +prog = addStateConstraint(prog,ConstantConstraint(xf),N); % add obstacles disp('Adding obstacles...'); @@ -34,7 +34,7 @@ prog = setSolverOptions(prog,'snopt','MajorOptimalityTolerance',1e-2); initial_guess.x = PPTrajectory(foh([0,tf0],[x0,xf])); tic -[xtraj,utraj,~,~,info]=solveTraj(prog,tf0,initial_guess); +[utraj,xtraj,~,~,info]=solveTraj(prog,tf0,initial_guess); toc if (nargout<1) diff --git a/examples/Airplane2D/test/testObstacles.m b/examples/Airplane2D/test/testObstacles.m index 0a85965c1807..a0be57d428ad 100644 --- a/examples/Airplane2D/test/testObstacles.m +++ b/examples/Airplane2D/test/testObstacles.m @@ -1,6 +1,6 @@ function testObstacles -close all +tmp = addpathTemporary(fullfile(pwd,'..')); f = ObstacleField f = f.GenerateRandomObstacles(); diff --git a/examples/Airplane2D/test/testVerticalAndHorizontalObstacles.m b/examples/Airplane2D/test/testVerticalAndHorizontalObstacles.m index 5ad6e08796c3..1671dcc5fd54 100644 --- a/examples/Airplane2D/test/testVerticalAndHorizontalObstacles.m +++ b/examples/Airplane2D/test/testVerticalAndHorizontalObstacles.m @@ -1,5 +1,7 @@ function testVerticalAndHorizontalObstacles +tmp = addpathTemporary(fullfile(pwd,'..')); + %% Test edge cases for vertical and horizontal obstacle borders obs = PolygonalObstacle2D([0,0,1,1], [0,1,1,0]); diff --git a/examples/CartPole/CartPolePlant.m b/examples/CartPole/CartPolePlant.m index 8927cf171776..30a4233851df 100644 --- a/examples/CartPole/CartPolePlant.m +++ b/examples/CartPole/CartPolePlant.m @@ -83,37 +83,35 @@ function [utraj,xtraj]=swingUpTrajectory(obj) x0 = zeros(4,1); tf0 = 4; xf = double(obj.xG); - - %con.u.lb = p.umin; - %con.u.ub = p.umax; - con.x0.lb = x0; - con.x0.ub = x0; - con.xf.lb = xf; - con.xf.ub = xf; - con.T.lb = 2; - con.T.ub = 6; - - options.method='dircol'; + N = 21; - function [g,dg] = cost(t,x,u); + obj = setInputLimits(obj,-inf,inf); + prog = DircolTrajectoryOptimization(obj,N,[2 6]); + prog = prog.addStateConstraint(ConstantConstraint(x0),1); + prog = prog.addStateConstraint(ConstantConstraint(xf),N); + prog = prog.addRunningCost(@cost); + prog = prog.addFinalCost(@finalCost); + + function [g,dg] = cost(dt,x,u) R = 1; g = sum((R*u).*u,1); dg = [zeros(1,1+size(x,1)),2*u'*R]; end - function [h,dh] = finalcost(t,x) + function [h,dh] = finalCost(t,x) h = t; dh = [1,zeros(1,size(x,1))]; end + traj_init.x = PPTrajectory(foh([0,tf0],[x0,xf])); info=0; - while (info~=1) - utraj0 = PPTrajectory(foh(linspace(0,tf0,31),randn(1,31))); + traj_init.u = PPTrajectory(foh(linspace(0,tf0,N),randn(1,N))); +% while (info~=1) tic - %options.grad_test = true; - [utraj,xtraj,info] = trajectoryOptimization(obj,@cost,@finalcost,x0,utraj0,con,options); + [utraj,xtraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0,traj_init); + if (info~=1) infeasible_constraint_name, end toc - end +% end end function c=trajectorySwingUpAndBalance(obj) diff --git a/examples/CompassGait/runDircolCycle.m b/examples/CompassGait/runDircolCycle.m index 6e5a02fd726a..96f00ef55838 100644 --- a/examples/CompassGait/runDircolCycle.m +++ b/examples/CompassGait/runDircolCycle.m @@ -37,7 +37,7 @@ % traj_opt = traj_opt.setCheckGrad(true); % snprint('snopt.out'); tic -[xtraj,utraj,z,F,info] = solveTraj(traj_opt,t_init,traj_init); +[utraj,xtraj,z,F,info] = solveTraj(traj_opt,t_init,traj_init); toc if (nargout<1) v = CompassGaitVisualizer(p); diff --git a/examples/KneedCompassGait/dev/testNewTrajOpt.m b/examples/KneedCompassGait/dev/testNewTrajOpt.m index 270957cd4143..60ac0eded337 100644 --- a/examples/KneedCompassGait/dev/testNewTrajOpt.m +++ b/examples/KneedCompassGait/dev/testNewTrajOpt.m @@ -83,7 +83,7 @@ traj_opt = traj_opt.setSolverOptions('snopt','MajorIterationsLimit',100); traj_opt = traj_opt.setSolverOptions('snopt','MinorIterationsLimit',200000); traj_opt = traj_opt.setSolverOptions('snopt','IterationsLimit',200000); -[xtraj,utraj,ltraj,ljltraj,z,F,info] = traj_opt.solveTraj(t_init,traj_init); +[utraj,xtraj,ltraj,ljltraj,z,F,info] = traj_opt.solveTraj(t_init,traj_init); function [f,df] = running_cost_fun(h,x,u) f = h*u'*u; diff --git a/examples/Pendulum/PendulumPlant.m b/examples/Pendulum/PendulumPlant.m index 8e239ac23275..425e9b56d652 100644 --- a/examples/Pendulum/PendulumPlant.m +++ b/examples/Pendulum/PendulumPlant.m @@ -100,7 +100,7 @@ info=0; while (info~=1) tic - [xtraj,utraj,z,F,info] = traj_opt.solveTraj(tf0,traj_init); + [utraj,xtraj,z,F,info] = traj_opt.solveTraj(tf0,traj_init); toc end end diff --git a/examples/Quadrotor/runDircol.m b/examples/Quadrotor/runDircol.m index 9a98d3dca904..856dfc41d468 100644 --- a/examples/Quadrotor/runDircol.m +++ b/examples/Quadrotor/runDircol.m @@ -32,7 +32,7 @@ info=0; while (info~=1) tic - [xtraj,utraj,z,F,info] = prog.solveTraj(tf0,traj_init); + [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc end diff --git a/examples/Quadrotor/runDircolWObs.m b/examples/Quadrotor/runDircolWObs.m index b49075ad424f..e4b413110d42 100644 --- a/examples/Quadrotor/runDircolWObs.m +++ b/examples/Quadrotor/runDircolWObs.m @@ -56,7 +56,7 @@ prog = prog.setSolverOptions('snopt','majorfeasibilitytolerance',1e-2); tic -[xtraj,utraj,z,F,info] = prog.solveTraj(tf0,traj_init); +[utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc %if (nargout<1) diff --git a/solvers/Constraint.m b/solvers/Constraint.m index 3de90efff4f9..5e05664c6f1f 100644 --- a/solvers/Constraint.m +++ b/solvers/Constraint.m @@ -91,8 +91,10 @@ function checkGradient(obj,tol,varargin) function obj = setName(obj,name) % @param name -- A cell array, name{i} is the name string of i'th constraint + % if name is a string, then the variables will be + % named name1, name2, name3, etc. if(~iscellstr(name)) - error('Drake:Constraint:name should be a cell array of string'); + name=cellfun(@(a) [name,num2str(a)],num2cell(1:obj.num_cnstr),'UniformOutput',false)'; end sizecheck(name,[obj.num_cnstr,1]); obj.name = name; diff --git a/solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m b/solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m index c9c7f0ffeced..a5498c3463bf 100644 --- a/solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m @@ -265,8 +265,8 @@ df = [dfq;dfv]; end - function [xtraj,utraj,ltraj,ljltraj,z,F,info] = solveTraj(obj,t_init,traj_init) - [xtraj,utraj,z,F,info] = solveTraj@DirectTrajectoryOptimization(obj,t_init,traj_init); + function [utraj,xtraj,ltraj,ljltraj,z,F,info] = solveTraj(obj,t_init,traj_init) + [utraj,xtraj,z,F,info] = solveTraj@DirectTrajectoryOptimization(obj,t_init,traj_init); t = [0; cumsum(z(obj.h_inds))]; if obj.nC>0 ltraj = PPTrajectory(foh(t,reshape(z(obj.l_inds),[],obj.N))); diff --git a/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m b/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m index 8eafb4ea021e..8b294ee719e9 100644 --- a/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m @@ -30,7 +30,8 @@ n_vars = 2*nX + 2*nU + 1; cnstr = FunctionHandleConstraint(zeros(nX,1),zeros(nX,1),n_vars,@obj.constraint_fun); - + cnstr = setName(cnstr,'collocation'); + % create shared data functions to calculate dynamics at the knot % points shared_data_index = obj.getNumSharedDataFunctions; diff --git a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m index aba78735bd5e..3ac3151a786e 100644 --- a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m @@ -160,7 +160,7 @@ obj = addDisplayFunction(obj,@(z) display_fun(z(obj.h_inds),z(obj.x_inds),z(obj.u_inds))); end - function [xtraj,utraj,z,F,info] = solveTraj(obj,t_init,traj_init) + function [utraj,xtraj,z,F,info,infeasible_constraint_name] = solveTraj(obj,t_init,traj_init) % Solve the nonlinear program and return resulting trajectory % @param t_init initial timespan for solution. can be a vector of % length obj.N specifying the times of each segment, or a scalar @@ -173,9 +173,9 @@ if nargin<3, traj_init = struct(); end z0 = obj.getInitialVars(t_init,traj_init); - [z,F,info] = obj.solve(z0); + [z,F,info,infeasible_constraint_name] = obj.solve(z0); utraj = reconstructInputTrajectory(obj,z); - if nargin>1, xtraj = reconstructStateTrajectory(obj,z); end + if nargout>1, xtraj = reconstructStateTrajectory(obj,z); end end function z0 = getInitialVars(obj,t_init,traj_init) diff --git a/solvers/trajectoryOptimization/HybridTrajectoryOptimization.m b/solvers/trajectoryOptimization/HybridTrajectoryOptimization.m index 09efff1b2a38..3dcad1dad702 100644 --- a/solvers/trajectoryOptimization/HybridTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/HybridTrajectoryOptimization.m @@ -288,7 +288,7 @@ z0 = cell2mat(z0); end - function [xtraj,utraj,z,F,info] = solveTraj(obj,t_init,traj_init) + function [utraj,xtraj,z,F,info] = solveTraj(obj,t_init,traj_init) % Solve the nonlinear program and return resulting trajectory % @param t_init initial timespan for solution. can be a vector of % length obj.N specifying the times of each segment, or a scalar diff --git a/solvers/trajectoryOptimization/test/contactImplicitBrick.m b/solvers/trajectoryOptimization/test/contactImplicitBrick.m index 97d499fa765f..063485d2369d 100644 --- a/solvers/trajectoryOptimization/test/contactImplicitBrick.m +++ b/solvers/trajectoryOptimization/test/contactImplicitBrick.m @@ -54,7 +54,7 @@ function contactImplicitBrick(visualize,position_tol,velocity_tol) traj_init.x = xtraj; traj_init.l = ltraj; end - [xtraj,utraj,ltraj,~,z,F,info] = solveTraj(prog,tf,traj_init); + [utraj,xtraj,ltraj,~,z,F,info] = solveTraj(prog,tf,traj_init); end if visualize From 5fa7c81c309690c56fcc2b5cb2212031e9fee781 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 12 Oct 2014 07:32:19 -0400 Subject: [PATCH 157/271] updated glider and dubins to new trajectory optimization interface. (runDircolPerchingURDF was essentially a non-test since the number of break points was 2, and it didn't work for me on first try with more, so i've moved it to dev) --- examples/DubinsCar/DubinsPlant.m | 27 ++--- examples/Glider/GliderPlant.m | 2 +- .../Glider/{ => dev}/runDircolPerchingURDF.m | 55 +++++----- examples/Glider/runDircolPerching.m | 101 +++++++----------- util/gradTest.m | 4 +- 5 files changed, 80 insertions(+), 109 deletions(-) rename examples/Glider/{ => dev}/runDircolPerchingURDF.m (57%) diff --git a/examples/DubinsCar/DubinsPlant.m b/examples/DubinsCar/DubinsPlant.m index d63ee7bebafe..e6fd2cbaf3d3 100644 --- a/examples/DubinsCar/DubinsPlant.m +++ b/examples/DubinsCar/DubinsPlant.m @@ -31,18 +31,14 @@ function [utraj,xtraj]=runDircol(p,x0,xf,tf0) - con.u.lb = 0.5*p.umin; % Input saturations - con.u.ub = 0.5*p.umax; - con.x0.lb = x0; % Initial state - con.x0.ub = x0; - con.xf.lb = xf; % Final desired state - con.xf.ub = xf; - con.T.lb = 0.1; % Lower limit on how much time the trajectory should last for - con.T.ub = 1; % Upper limit on how long the trajectory should last for + N = 21; + prog = DircolTrajectoryOptimization(p,N,[.1 1]); + prog = prog.addInputConstraint(BoundingBoxConstraint(.5*p.umin,.5*p.umax),1:N); + prog = prog.addStateConstraint(ConstantConstraint(x0),1); + prog = prog.addStateConstraint(ConstantConstraint(xf),N); + prog = prog.addRunningCost(@cost); + prog = prog.addFinalCost(@finalCost); - options.method='dircol'; - %options.grad_test = true; - function [g,dg] = cost(t,x,u) R = 0; g = u'*R*u; @@ -51,19 +47,16 @@ dg = zeros(1, 1 + size(x,1) + size(u,1)); end - function [h,dh] = finalcost(t,x) + function [h,dh] = finalCost(t,x) h = t; dh = [1,zeros(1,size(x,1))]; end - + traj_init.x = PPTrajectory(foh([0,tf0],[x0,xf])); info = 0; while (info~=1) - % generate a random trajectory - utraj0 = PPTrajectory(foh(linspace(0,tf0,11),0*randn(1,11))); - tic - [utraj,xtraj,info] = trajectoryOptimization(p,@cost,@finalcost,x0,utraj0,con,options); + [utraj,xtraj,z,F,info] = prog.solveTraj(tf0); toc end diff --git a/examples/Glider/GliderPlant.m b/examples/Glider/GliderPlant.m index c3534f691f3a..87682a3d4c50 100644 --- a/examples/Glider/GliderPlant.m +++ b/examples/Glider/GliderPlant.m @@ -31,7 +31,7 @@ methods function obj = GliderPlant() - obj = obj@DrakeSystem(7,0,1,7); + obj = obj@DrakeSystem(7,0,1,7,false,true); obj = setDirectFeedthrough(obj,0); ulimit = 13; % max servo velocity obj = setInputLimits(obj,-ulimit,ulimit); diff --git a/examples/Glider/runDircolPerchingURDF.m b/examples/Glider/dev/runDircolPerchingURDF.m similarity index 57% rename from examples/Glider/runDircolPerchingURDF.m rename to examples/Glider/dev/runDircolPerchingURDF.m index 42954a7d8219..5eb31019fdf2 100644 --- a/examples/Glider/runDircolPerchingURDF.m +++ b/examples/Glider/dev/runDircolPerchingURDF.m @@ -1,14 +1,12 @@ function [utraj,xtraj, v, p]=runDircolPerchingURDF(p, utraj0) tf0 = 1; -N=4; %=21; +N=41; if (nargin<1) options.floating = true; p = RigidBodyManipulator('GliderBalanced.urdf', options); end -if (nargin<2) - utraj0 = PPTrajectory(foh(linspace(0,tf0,N),0*randn(1,N))); -end + %for the URDF, a negative pitch is pitched up. % [X Y Z Roll Pitch Yaw El x0 = [-3.3 0 .4 0 0 0 0 7 0 0 0 0 0 0]'; @@ -16,29 +14,32 @@ el_lo_limit = -.9473; el_up_limit = .4463; -con.u.lb = p.umin; -con.u.ub = p.umax; -con.x.lb = [-inf,-inf,-inf,-inf,-pi/2,-inf,el_lo_limit, -inf,-inf,-inf,-inf,-inf,-inf,-inf]'; -con.x.ub = [inf,inf,inf,inf,pi/2,inf,el_up_limit, inf,inf,inf,inf,inf,inf,inf]'; -con.x0.lb = x0; -con.x0.ub = x0; -con.xf.lb = xf-[0.03,0.03,0.03,inf,pi/2,inf,inf, inf,inf,inf,inf,inf,inf,inf]'; -con.xf.ub = xf+[0.03,0.03,0.03,inf,pi/2,inf,inf, inf,inf,inf,inf,inf,inf,inf]'; -con.T.lb = .45; -con.T.ub = 1.5; +prog = DircolTrajectoryOptimization(p,N,[.45 1.5]); + +prog = prog.addStateConstraint(BoundingBoxConstraint([-inf,-inf,-inf,-inf,-pi/2,-inf,el_lo_limit, -inf,-inf,-inf,-inf,-inf,-inf,-inf]',[inf,inf,inf,inf,pi/2,inf,el_up_limit, inf,inf,inf,inf,inf,inf,inf]'),1:N); +prog = prog.addStateConstraint(ConstantConstraint(x0),1); +prog = prog.addStateConstraint(BoundingBoxConstraint(xf-[0.03,0.03,0.03,inf,pi/2,inf,inf, inf,inf,inf,inf,inf,inf,inf]',xf+[0.03,0.03,0.03,inf,pi/2,inf,inf, inf,inf,inf,inf,inf,inf,inf]'),N); + +prog = prog.addRunningCost(@cost); +prog = prog.addFinalCost(@(t,x)finalCost(t,x,xf)); + +prog = prog.addTrajectoryDisplayFunction(@plotDircolTraj); -options.MajorOptimalityTolerance=.03; -options.MinorOptimalityTolerance=.03; -options.method='dircol'; -options.grad_method={'user'}; -options.trajectory_cost_fun=@(t,x,u)plotDircolTraj(t,x,u); % for debugging +%options.MajorOptimalityTolerance=.03; +%options.MinorOptimalityTolerance=.03; + +if nargin>1 + traj_init.u = utraj0; +else + traj_init = struct(); +end tic -%options.grad_test = true; -disp('Starting optimization'); -[utraj,xtraj,info] = trajectoryOptimization(p,@cost,@(t,x)finalcost(t,x,xf),x0,utraj0,con,options); -if (info~=1) error('failed to find a trajectory'); end +[utraj,xtraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0,traj_init); +if (info~=1) infeasible_constraint_name, error('failed to find a trajectory'); end toc + + v = p.constructVisualizer(); v.axis= [-4 .5 -.5 1]; v.playback_speed = .2; @@ -46,7 +47,7 @@ end - function [g,dg] = cost(t,x,u) + function [g,dg] = cost(dt,x,u) Q = zeros(14,14); Q(14,14) = .1; g = x'*Q*x; if (nargout>1) @@ -54,7 +55,7 @@ end end - function [h,dh] = finalcost(t,x,xd) + function [h,dh] = finalCost(t,x,xd) xerr = x-xd; Qf = diag([10 10 10 0 20 0 0 1 1 1 0 1 0 0]); @@ -65,7 +66,7 @@ end end - function [J,dJ]=plotDircolTraj(t,x,u) + function plotDircolTraj(t,x,u) %{ figure(25); clf; @@ -85,6 +86,4 @@ hold off; delete(h); %} - J=0; - dJ=[0*t(:);0*x(:);0*u(:)]'; end diff --git a/examples/Glider/runDircolPerching.m b/examples/Glider/runDircolPerching.m index e4d816af7089..fd7f69fe6aba 100644 --- a/examples/Glider/runDircolPerching.m +++ b/examples/Glider/runDircolPerching.m @@ -1,9 +1,6 @@ function [utraj,xtraj]=runDircolPerching(p) - if (nargin<1) - close all - megaclear; p = GliderPlant(); end @@ -12,51 +9,44 @@ tf0 = 1.0; xf = p.xd; N=41; -utraj0 = PPTrajectory(foh(linspace(0,tf0,N),0*randn(1,N))); - -con.u.lb = p.umin; -con.u.ub = p.umax; -con.x.lb = [-4,-1,-pi/2,p.phi_lo_limit,-inf,-inf,-inf]'; -con.x.ub = [1,1,pi/2,p.phi_up_limit,inf,inf,inf]'; -con.x0.lb = x0; -con.x0.ub = x0; -con.xf.lb = [ 0, 0, pi/6 -inf, -2, -2, -inf]'; -con.xf.ub = [ 0, 0, 1, inf, 2, 2, inf]'; -con.T.lb = 0; -con.T.ub = 2; - -options.method='dircol'; -options.grad_method={'user'};%,'taylorvar'}; -%options.xtape0='simulate'; -options.trajectory_cost_fun=@(t,x,u)plotDircolTraj(t,x,u,options); -tic -%options.grad_test = true; -[utraj,xtraj,info] = trajectoryOptimization(p,@cost,@(t,x)finalcost(t,x,xf),x0,utraj0,con,options); -if (info~=1) error('failed to find a trajectory'); end -toc - -if (nargout>0) - return; -end -figure(1) -fnplt(xtraj) +prog = DircolTrajectoryOptimization(p,N,[0 2]); +%prog = prog.setCheckGrad(true); -figure(2) -fnplt(utraj) +prog = prog.addStateConstraint(BoundingBoxConstraint([-4,-1,-pi/2,p.phi_lo_limit,-inf,-inf,-inf]',[1,1,pi/2,p.phi_up_limit,inf,inf,inf]'),1:N); +prog = prog.addStateConstraint(ConstantConstraint(x0),1); +prog = prog.addStateConstraint(BoundingBoxConstraint([ 0, 0, pi/6 -inf, -2, -2, -inf]',[ 0, 0, 1, inf, 2, 2, inf]'),N); -fnplt(xtraj,4) +prog = prog.addRunningCost(@cost); +prog = prog.addFinalCost(@(t,x)finalCost(t,x,xf)); -fnplt(xtraj,3) +prog = prog.addTrajectoryDisplayFunction(@plotDircolTraj); -save('glider_trajs','xtraj','utraj'); +tic +[utraj,xtraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0); +if (info~=1) infeasible_constraint_name, error('failed to find a trajectory'); end +toc -v = GliderVisualizer(p); -v.playback(xtraj); +if (nargout<1) + figure(1) + fnplt(xtraj) + + figure(2) + fnplt(utraj) + + fnplt(xtraj,4) + + fnplt(xtraj,3) + +% save('glider_trajs','xtraj','utraj'); + + v = GliderVisualizer(p); + v.playback(xtraj); +end end - function [g,dg] = cost(t,x,u); + function [g,dg] = cost(dt,x,u) R = 100; g = u'*R*u; if (nargout>1) @@ -64,7 +54,7 @@ end end - function [h,dh] = finalcost(t,x,xd) + function [h,dh] = finalCost(t,x,xd) xerr = x-xd; Qf = diag([10 10 1 10 1 1 1]); @@ -75,24 +65,13 @@ end end - function [J,dJ]=plotDircolTraj(t,x,u,options) - -%plotdims=options.plotdims; - - figure(1) - clf; - hold on - plot(x(1,:),x(2,:),'.-'); - if(isfield(options,'xtraj0')) - N=length(options.xtraj0); - for k=1:N - fnplt(options.xtraj0{k}); - end - end - hold off - axis([-4 1 -1 1]); - drawnow; - %delete(h); - J=0; - dJ=[0*t(:);0*x(:);0*u(:)]'; -end + function plotDircolTraj(t,x,u) + figure(1) + clf; + hold on + plot(x(1,:),x(2,:),'.-'); + hold off + axis([-4 1 -1 1]); + drawnow; + %delete(h); + end diff --git a/util/gradTest.m b/util/gradTest.m index 3efb66b03e2d..a8ec50a974b7 100644 --- a/util/gradTest.m +++ b/util/gradTest.m @@ -81,10 +81,10 @@ function gradTest(FUN,varargin) f = reshape(f,[],1); if (~iscell(df)) a{1} = df; df=a; clear a; end -for b=1:19, fprintf(1,' '); end input_ind = 0; for v=1:length(varargin) + for b=1:19, fprintf(1,' '); end x = varargin{v}; if ~isnumeric(x), continue; end @@ -148,8 +148,8 @@ function gradTest(FUN,varargin) clear y; end input_ind = input_ind + length(x); + fprintf(1,'\n'); end -fprintf(1,'\n'); end \ No newline at end of file From 3f3563887eccfab51ccf7d045bcddb61c0718615 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 12 Oct 2014 07:57:49 -0400 Subject: [PATCH 158/271] converted remaining code to new trajectory optimization interface. note: did not test lqr tree code (since it's only called from dev examples) --- examples/Acrobot/AcrobotPlant.m | 4 +-- examples/CartPole/CartPolePlant.m | 10 +++--- .../UnderwaterAcrobotPlant.m | 35 +++++++++---------- systems/controllers/LQRTree.m | 17 ++++----- .../plants/test/testMassSpringDamperTrajOpt.m | 33 ++++++++--------- 5 files changed, 42 insertions(+), 57 deletions(-) diff --git a/examples/Acrobot/AcrobotPlant.m b/examples/Acrobot/AcrobotPlant.m index 1d4cb1827548..9d1786e262e1 100644 --- a/examples/Acrobot/AcrobotPlant.m +++ b/examples/Acrobot/AcrobotPlant.m @@ -108,11 +108,11 @@ traj_init.x = PPTrajectory(foh([0,tf0],[double(x0),double(xf)])); - info=0; - while (info~=1) + for attempts=1:10 tic [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc + if info==1, break; end end function [g,dg] = cost(dt,x,u) diff --git a/examples/CartPole/CartPolePlant.m b/examples/CartPole/CartPolePlant.m index 30a4233851df..42bad04f8a96 100644 --- a/examples/CartPole/CartPolePlant.m +++ b/examples/CartPole/CartPolePlant.m @@ -104,14 +104,12 @@ end traj_init.x = PPTrajectory(foh([0,tf0],[x0,xf])); - info=0; - traj_init.u = PPTrajectory(foh(linspace(0,tf0,N),randn(1,N))); -% while (info~=1) + for attempts=1:10 tic - [utraj,xtraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0,traj_init); - if (info~=1) infeasible_constraint_name, end + [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc -% end + if info==1, break; end + end end function c=trajectorySwingUpAndBalance(obj) diff --git a/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m b/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m index 73bfa92ee06e..9fca26a8b908 100644 --- a/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m +++ b/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m @@ -171,25 +171,22 @@ function [utraj,xtraj]=swingUpTrajectory(obj) [x0,~]=eqPoints(obj); tf0 = 4; xf = double(obj.xG); - con.u.lb = obj.umin; - con.u.ub = obj.umax; - con.x0.lb = x0; - con.x0.ub = x0; - con.xf.lb = xf; - con.xf.ub = xf; - con.T.lb = 2; - con.T.ub = 6; - - options.method='dircol'; - - %options.grad_test = true; - info=0; - while (info~=1) - utraj0 = PPTrajectory(foh(linspace(0,tf0,21),randn(1,21))); - tic - [utraj,xtraj,info] = trajectoryOptimization(obj,@cost,@finalcost,x0,utraj0,con,options); - toc + N = 21; + prog = DircolTrajectoryOptimization(obj,N,[2 6]); + prog = prog.addStateConstraint(ConstantConstraint(x0),1); + prog = prog.addStateConstraint(ConstantConstraint(xf),N); + prog = prog.addRunningCost(@cost); + prog = prog.addFinalCost(@finalCost); + + traj_init.x = PPTrajectory(foh([0,tf0],[double(x0),double(xf)])); + + for attempts=1:10 + tic + [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); + toc + if info==1, break; end end + function [g,dg] = cost(t,x,u) R = 1; @@ -197,7 +194,7 @@ dg = [zeros(1,1+size(x,1)),2*u'*R]; end - function [h,dh] = finalcost(t,x) + function [h,dh] = finalCost(t,x) h = t; dh = [1,zeros(1,size(x,1))]; end diff --git a/systems/controllers/LQRTree.m b/systems/controllers/LQRTree.m index 8793b16d09fd..9484274a7dfb 100644 --- a/systems/controllers/LQRTree.m +++ b/systems/controllers/LQRTree.m @@ -390,17 +390,12 @@ end % try to find a trajectory - utraj0 = PPTrajectory(foh(linspace(0,tf0,nbreaks),randn(nU,nbreaks))); - con.x0.lb=xs; - con.x0.ub=xs; - con.u.lb = p.umin; - con.u.ub = p.umax; -% con.xf.lb=xG; % just grow to the goal for now -% con.xf.ub=xG; -% con.uf.lb=uG; -% con.uf.ub=uG; - con.xf.ceq=@c.onTreeConstraint; - [utraj,xtraj,info] = trajectoryOptimization(p,@(t,x,u)trajCost(t,x,u,.01),@trajFinalCost,xs,utraj0,con,options); + prog = DircolTrajectoryOptimization(p,nbreaks,[options.Tslb,options.Tsub]); + prog = prog.addStateConstraint(ConstantConstraint(xs),1); + prog = prog.addStateConstraint(FunctionHandleConstraint(0,0,nX,@c.onTreeConstraint),nbreaks); + prog = prog.addRunningCost(@(t,x,u)trajCost(t,x,u,.01)); + prog = prog.addFinalCost(@trajFinalCost); + [utraj,xtraj,~,~,info] = prog.solveTraj(tf0); if (info~=1) % failed to find a trajectory if (all(info~=[3,13,32])) [str,cat] = snoptInfo(info); diff --git a/systems/plants/test/testMassSpringDamperTrajOpt.m b/systems/plants/test/testMassSpringDamperTrajOpt.m index 8f5311056e2f..88b5b21d2178 100644 --- a/systems/plants/test/testMassSpringDamperTrajOpt.m +++ b/systems/plants/test/testMassSpringDamperTrajOpt.m @@ -6,21 +6,23 @@ p = RigidBodyManipulator('MassSpringDamper.urdf'); -con.x0.lb = x0; -con.x0.ub = x0; -con.xf.lb = xf; -con.xf.ub = xf; +N = 11; +prog = DircolTrajectoryOptimization(p,N,tf0); -options.method='dircol'; -options.grad_method = 'user'; -options.trajectory_cost_fun=@(t,x,u)plotDircolTraj(t,x,u,[1 2]); +prog = prog.addStateConstraint(ConstantConstraint(x0),1); +prog = prog.addStateConstraint(ConstantConstraint(xf),N); + +prog = prog.addRunningCost(@cost); +prog = prog.addFinalCost(@finalCost); + +prog = prog.addTrajectoryDisplayFunction(@(t,x,u)plotDircolTraj(t,x,u,[1 2])); info = 0; -while (info~=1) - utraj0 = PPTrajectory(foh(linspace(0,tf0,11),randn(1,11))); +for attempts=1:10, tic - [utraj,xtraj,info] = trajectoryOptimization(p,@cost,@finalcost,x0,utraj0,con,options); + [utraj,xtraj,~,~,info] = prog.solveTraj(tf0); toc + if info==1, break; end end % if (nargout<1) @@ -28,11 +30,6 @@ % v.playback(xtraj, struct('slider',true)); % end -if info~=1 - path(oldpath); - error('SNOPT did not find a solution!'); -end - end function [g,dg] = cost(t,x,u) @@ -41,16 +38,14 @@ dg = [zeros(1, 1 + size(x,1)),2*u(:)']; end -function [h,dh] = finalcost(t,x) +function [h,dh] = finalCost(t,x) h = t; dh = [1,zeros(1,size(x,1))]; end -function [J,dJ]=plotDircolTraj(t,x,u,plotdims) +function plotDircolTraj(t,x,u,plotdims) figure(25); h=plot(x(plotdims(1),:),x(plotdims(2),:),'r.-'); drawnow; delete(h); - J=0; - dJ=[0*t(:);0*x(:);0*u(:)]'; end \ No newline at end of file From bb8db34f7b9071c2e32fccdb6848b762291b6482 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 12 Oct 2014 08:02:16 -0400 Subject: [PATCH 159/271] zaps old trajectoryOptimization interface. resolves #321. --- .../dev/dirtranSNOPTtranscription.m | 342 ------- systems/@DrakeSystem/rtrlSNOPTtranscription.m | 276 ------ .../dircolSNOPTtranscription.m | 450 --------- .../@DynamicalSystem/trajectoryOptimization.m | 181 ---- .../dircolSNOPTtranscription.m | 272 ------ .../implicitDirtranSNOPTtranscription.m | 895 ------------------ 6 files changed, 2416 deletions(-) delete mode 100644 systems/@DrakeSystem/dev/dirtranSNOPTtranscription.m delete mode 100644 systems/@DrakeSystem/rtrlSNOPTtranscription.m delete mode 100644 systems/@DynamicalSystem/dircolSNOPTtranscription.m delete mode 100644 systems/@DynamicalSystem/trajectoryOptimization.m delete mode 100644 systems/@HybridDrakeSystem/dircolSNOPTtranscription.m delete mode 100644 systems/plants/@PlanarRigidBodyManipulator/implicitDirtranSNOPTtranscription.m diff --git a/systems/@DrakeSystem/dev/dirtranSNOPTtranscription.m b/systems/@DrakeSystem/dev/dirtranSNOPTtranscription.m deleted file mode 100644 index f86ad7811bed..000000000000 --- a/systems/@DrakeSystem/dev/dirtranSNOPTtranscription.m +++ /dev/null @@ -1,342 +0,0 @@ -function [utraj,xtraj,info] = dirtranSNOPTtranscription(sys,costFun,finalCostFun,x0,utraj0,con,options) - -% Open-loop trajectory optimization using the direct transcription method via -% SNOPT. Roughly following the implementation described in Betts01, section 4.5. -% -% Inputs are: -% sys - a class which implements the DrakeSystem interface -% [g,dg] = costFun(t,x,u) - the cost function, including gradients -% [h,dh] = finalCostFun(t,x) - the final time cost, including gradients -% x0 - initial conditions -% utape0 - an initial guess for the open-loop control -% con - constraint structure -% options - options struct populated by the fields below -% - -error('need to update this interface to be a transcription, instead of a complete trajectoryOptimization method'); - -checkDependency('snopt'); - -if (nargin<6) options = struct(); end -breaks = utraj0.getBreaks(); -if (~isa(utraj0,'PPTrajectory') || (utraj0.pp.order>1) || (std(diff(breaks))>eps)) - warning('utraj0 will be treated as if it was a zero-order hold of the values at evenly spaced knot points'); - % note: i could consider updating the implementation to do better than this -end -tspan = linspace(breaks(1),breaks(end),length(breaks)); -if (abs(tspan(1))>eps) warning('tspan starts at non-zero time, but the current code optimizes a trajectory from 0 to tspan(end)-tspan(1). if your system has real time dependences, then you can complain about this!'); end -utape0 = utraj0.eval(tspan); -xtape0 = []; -[nU,nT] = size(utape0); -nX = length(x0); - - -%% implement options -if (~isfield(options,'transcription')) options.transcription = 'runge-kutta'; end -if (~isfield(options,'Tmin')) options.Tmin = 0; end -if (~isfield(options,'Tmax')) options.Tmax = inf; end -if (~isfield(options,'Xmin')) options.Xmin = repmat(-inf,nX,1); end -if (~isfield(options,'Xmax')) options.Xmax = repmat(inf,nX,1); end -if (length(plant.umin)~=nU) error('umin is the wrong size'); end -if (length(plant.umax)~=nU) error('umax is the wrong size'); end -if (~isfield(options,'Umin')) options.Umin = plant.umin; end -if (~isfield(options,'Umax')) options.Umax = plant.umax; end -if (~isfield(options,'bWarning')) options.bWarning = true; end -if (~isfield(options,'bGradTest')) options.bGradTest = false; end -if (~isfield(options,'user_constraint_fun')) options.user_constraint_fun = {}; end -if (~iscell(options.user_constraint_fun)) options.user_constraint_fun = {options.user_constraint_fun}; end -if (isfield(options,'snopt_options')) error('snopt options handling not implemented yet'); end -if (~isfield(options,'bx0free')) options.bx0free = false; end -if (~isfield(options,'xf')) options.xf = []; -else typecheck(options.xf,{'double','Trajectory','TrajectoryLibrary'}); end -if (~isfield(options,'maxDT')) options.maxDT = 0.1; end - -if (~isfield(options,'xtraj0')) - if (~isempty(options.xf) && isa(options.xf,'double')) - for i=1:nX, xtape0(i,:) = linspace(x0(i),options.xf(i),nT); end - else - options.xtraj0 = plant.simulate(OpenloopControl(utraj0),tspan,x0); - end -end -if (isempty(xtape0)) - xtape0 = options.xtraj0.eval(tspan); - if any(abs(xtape0(:,1)-x0)>eps) error('xtraj(tspan(1)) doesn''t match x0'); end -end - -%% basic error checking. (should do a lot more) -if (exist('snopt')==0) - error('dirtran needs the matlab wrapper for SNOPT to be in the matlab path. if you don''t have it, you can download a student version here: http://www.scicomp.ucsd.edu/~peg/Software.html'); -end - -if (options.bx0free) - error('not implemented yet.'); -end - -%% Set up snopt inputs -w0 = [tspan(end); xtape0(:); utape0(:) ]; -xhigh = [options.Tmax; repmat(options.Xmax,nT,1); repmat(options.Umax,nT,1)]; -xlow = [options.Tmin; repmat(options.Xmin,nT,1); repmat(options.Umin,nT,1)]; -N = length(w0); - -global SNOPT_USERFUN; -SNOPT_USERFUN = @(w) userfun(w,plant,COSTFUN,FINALCOSTFUN,x0,nT,nX,nU,options); - -[nf,iGfun,jGvar,Fhigh,Flow] = userfun_grad_ind(nT,nX,nU,options); - -%% very useful for debugging: -if (options.bGradTest) - % print out the debugging key: - iname = {'tf'}; - for i=1:nT, for j=1:nX, iname= {iname{:},['x',num2str(j),'(',num2str(i),')']}; end, end - for i=1:nT, for j=1:nU, iname= {iname{:},['u',num2str(j),'(',num2str(i),')']}; end, end - - [nf,iGfun,jGvar,Fhigh,Flow,oname] = userfun_grad_ind(nT,nX,nU,options); - - gradTest(@(w)gradTestFun(w,iGfun,jGvar),w0,struct('input_name',{{iname}},'output_name',{oname},'tol',.01)); -end - -%% Run SNOPT -[w,F,info] = snopt(w0,xlow,xhigh,Flow,Fhigh,'snopt_userfun',0,1,[],[],[],iGfun,jGvar); - -if (info~=1 && options.bWarning) - warning(['SNOPT exited w/ info = ',num2str(info),'. Check p19 of Gill06 for more information.']); -end - -% sometimes useful to look here, too: -%snopt_gradtest(w,'snopt_userfun',iGfun,jGvar); return; - - tf = w(1); - tspan=linspace(0,tf,nT); - xtape = reshape(w(1 + (1:nX*nT)),nX,nT); - utape = reshape(w(1+nX*nT+(1:nU*nT)),nU,nT); - - for i=1:nT - xdot(:,i) = plant.dynamics(tspan(i),xtape(:,i),utape(:,i)); - end - xtraj = PPTrajectory(piecewiseCubicPoly(tspan,xtape,xdot(:,1:(end-1)),xdot(:,2:end))); - xtraj = setOutputFrame(xtraj,sys.getStateFrame); - utraj = PPTrajectory(zoh(tspan,utape)); - utraj = setOutputFrame(utraj,sys.getInputFrame); - - - if (info==1 && tf/N > options.maxDT) % then add more elements to the tape and call dircol again - if (options.bWarning) - warning('dt > maxDT, upsampling and rerunning dircol'); - end - tspan = reshape([tspan;tspan+diff(tspan)/2],1,[]); - utape0 = reshape(repmat(utape,2,1),nU,[]); - utraj = PPTrajectory(zoh(tspan(1:end-1),utape0(:,1:end-1))); - options.xtraj = xtraj; - [xtraj,utraj,info] = dirtran(plant,COSTFUN,FINALCOSTFUN,xtraj.eval(tspan(1)),utraj,options); - end - -end - - -function [f,G] = userfun(w,plant,COSTFUN,FINALCOSTFUN,x0,nT,nX,nU,options) - tf = w(1); - xtape = reshape(w(1 + (1:nX*nT)),nX,nT); - utape = reshape(w(1+nX*nT+(1:nU*nT)),nU,nT); - dt = tf/(nT-1); - ddtdT = 1/(nT-1); - -% figure(1); h=plot(xtape(1,:),xtape(2,:)); drawnow; delete(h); - - % cost function - f=0; G=zeros(size(w)); - for i=1:nT - t=dt*(i-1); - dtdT = ddtdT*(i-1); - - [g,dg] = geval(COSTFUN,t,xtape(:,i),utape(:,i)); - f = f+dt*g; - G(1) = G(1) + ddtdT*g; - dg{1}(1) = dg{1}(1)*dtdT; - ind = [1,1+(i-1)*nX+(1:nX),1+nX*nT+(i-1)*nU+(1:nU)]; - G(ind) = G(ind)+dt*dg{1}'; % dJ/d[T;xi;ui] - end - [h,dh] = geval(FINALCOSTFUN,tf,xtape(:,end)); - f = f+h; - ind = [1,1+(nT-1)*nX+(1:nX)]; - G(ind) = G(ind)+dh{1}'; - - if (~options.bx0free) - f = [f; xtape(:,1)-x0]; - G = [G; ones(nX,1)]; - end - - if (~isempty(options.xf)) - if (isa(options.xf,'double')) - f = [f; xtape(:,end)-options.xf]; - G = [G; reshape(eye(nX),nX*nX,1)]; - elseif (isa(options.xf,'Trajectory')||isa(options.xf,'TrajectoryLibrary')) - [v,dvdx] = options.xf.vector_to(xtape(:,end)); - f = [f; v]; - G = [G; reshape(dvdx,nX*nX,1)]; - end - end - - % constraints (make sure that xtape is a trajectory of the system) - switch (options.transcription) - case 'euler' - for i=1:(nT-1) - t=dt*(i-1); - - [xdot,dxdot] = geval(@plant.dynamics,t,xtape(:,i),utape(:,i)); - f = [f; xtape(:,i+1) - xtape(:,i) - dt*xdot]; - % df = df/d[T;xi;ui] - df = -dt*dxdot; - df(:,1) = df(:,1) - ddtdT*xdot; - df(:,1+(1:nX)) = df(:,1+(1:nX)) - eye(nX); - - G = [G; ... - reshape(df,nX*(1+nX+nU),1); % df/d[T;xi;ui] - ones(nX,1)]; % diag(df(j)dx(j,i+1)) - end - - case 'runge-kutta' - % going to need one extra control for this - utape(:,end+1) = utape(:,end); - - for i=1:(nT-1) - t=dt*(i-1); - dtdT = ddtdT*(i-1); - % NOTE: this code currently assumes a zero-order hold on actions - - [xdot,df] = geval(@plant.dynamics,t,xtape(:,i),utape(:,i)); - k1 = dt*xdot; - % dk1 = dk1/d[T;xi;ui] - dk1 = dt*df; - dk1(:,1) = dk1(:,1) + ddtdT*xdot; - - [xdot,df] = geval(@plant.dynamics,t+dt/2,xtape(:,i)+k1/2,utape(:,i)); - k2 = dt*xdot; - dk2 = dt*df*[dtdT + ddtdT/2,zeros(1,nX+nU); dk1/2+[zeros(nX,1),eye(nX),zeros(nX,nU)]; zeros(nU,1+nX), eye(nU)]; - dk2(:,1) = dk2(:,1) + ddtdT*xdot; - - [xdot,df] = geval(@plant.dynamics,t+dt/2,xtape(:,i)+k2/2,utape(:,i)); - k3 = dt*xdot; - dk3 = dt*df*[dtdT + ddtdT/2,zeros(1,nX+nU); dk2/2+[zeros(nX,1),eye(nX),zeros(nX,nU)]; zeros(nU,1+nX), eye(nU)]; - dk3(:,1) = dk3(:,1) + ddtdT*xdot; - - [xdot,df] = geval(@plant.dynamics,t+dt,xtape(:,i)+k3,utape(:,i+1)); - k4 = dt*xdot; - dk4 = dt*df*[dtdT + ddtdT,zeros(1,nX+nU); dk3+[zeros(nX,1),eye(nX),zeros(nX,nU)]; zeros(nU,1+nX), zeros(nU)]; - dk4(:,1) = dk4(:,1) + ddtdT*xdot; - - f = [f; xtape(:,i+1) - xtape(:,i) - 1/6*(k1+2*k2+2*k3+k4)]; - % collect df/d[T;xi;ui] - dnf = -[zeros(nX,1),eye(nX),zeros(nX,nU)]-1/6*(dk1 + 2*dk2 + 2*dk3 + dk4); - - G = [G; ... - reshape(dnf,nX*(1+nX+nU),1); ... % df/d[T;xi;ui] - reshape(-1/6*dt*df{1}(:,(end-nU+1):end),nX*nU,1); ... % df/du(:,i+1) - ones(nX,1)]; % df(j)/dx(j,i+1) - end - - - otherwise - error(['transcription ',options.transcription,' not implemented yet']); - end - - for i=1:length(options.user_constraint_fun) - [uf,uG]=options.user_constraint_fun{i}(nT,nX,nU,w); - f = [f;uf]; - G = [G; uG]; - end -end - -function [nf, iGfun, jGvar, Fhigh, Flow, oname] = userfun_grad_ind(nT,nX,nU,options) - - N = 1 + nX*nT + nU*nT; - - iGfun = ones(N,1); % dJ/d[T;x;u] - jGvar = [1:N]'; % dJ/d[T,X,U] - - nf = 1; - if (nargout>5) oname = {'J'}; end - - if (~options.bx0free) - iGfun = [iGfun; nf+(1:nX)']; - jGvar = [jGvar; 1+(1:nX)']; - nf = nf+nX; - if (nargout>5) - for i=1:nX, oname= {oname{:},['x0_',num2str(i)]}; end - end - end - if (~isempty(options.xf)) - iGfun = [iGfun; repmat(nf+(1:nX)',nX,1)]; - jGvar = [jGvar; 1+(nT-1)*nX+reshape(repmat(1:nX,nX,1),nX*nX,1)]; - nf = nf+nX; - if (nargout>5) - for i=1:nX, oname= {oname{:},['xf_',num2str(i)]}; end - end - end - - switch (options.transcription) - case 'euler' - for i=1:(nT-1) - iGfun = [iGfun; ... - nf + repmat(1:nX,1,1+nX+nU+1)' ]; - - jGvar = [jGvar; ... - repmat(1,nX,1); ... % df/dT - 1 + (i-1)*nX + reshape(repmat(1:nX,nX,1),nX*nX,1); ... % df/dxi - 1 + nX*nT + (i-1)*nU + reshape(repmat(1:nU,nX,1),nU*nX,1); ... % df/dui - 1 + i*nX + (1:nX)' ]; % df(j)/dx(j,i+1) - - nf = nf + nX; - if (nargout>5) - for j=1:nX, oname= {oname{:},['x',num2str(j),'(',num2str(i+1),')']}; end - end - end - - case 'runge-kutta' - for i=1:(nT-1) - iGfun = [iGfun; ... - nf + repmat(1:nX,1,1+nX+2*nU+1)' ]; - - jGvar = [jGvar; ... - repmat(1,nX,1); ... % df/dT - 1 + (i-1)*nX + reshape(repmat(1:nX,nX,1),nX*nX,1); ... % df/dxi - 1 + nX*nT + (i-1)*nU + reshape(repmat(1:nU,nX,1),nU*nX,1); ... % df/dui - 1 + nX*nT + i*nU + reshape(repmat(1:nU,nX,1),nU*nX,1); ... % df/du(i+1) - 1 + i*nX + (1:nX)' ]; % df(j)/dx(j,i+1) - - nf = nf + nX; - if (nargout>5) - for j=1:nX, oname= {oname{:},['x',num2str(j),'(',num2str(i+1),')']}; end - end - end - - otherwise - error(['transcription ',options.transcription,' not implemented yet']); - end - - Fhigh = [inf;zeros(nf-1,1)]; - Flow = [-inf;zeros(nf-1,1)]; - - if length(options.user_constraint_fun)>0 - warning('i updated the arrangement of the alpha vector. you''ll need to update user constraint funs. sorry..'); - end - - for i=1:length(options.user_constraint_fun) - [unf,uiGfun,ujGvar,uFhigh,uFlow]=options.user_constraint_fun{i}(nT,nX,nU,[]); - iGfun = [iGfun; uiGfun+nf]; - jGvar = [jGvar; ujGvar]; - Fhigh = [Fhigh; uFhigh]; - Flow = [Flow; uFlow]; - nf = nf + unf; - if (nargout>5) - for j=1:unf, oname= {oname{:},['user',num2str(j)]}; end - end - end -end - - -function [f,df] = gradTestFun(w,iGfun,jGvar) - [f,G] = snopt_userfun(w); - df = sparse(iGfun,jGvar,G); -end - - diff --git a/systems/@DrakeSystem/rtrlSNOPTtranscription.m b/systems/@DrakeSystem/rtrlSNOPTtranscription.m deleted file mode 100644 index 6da6d3a5d422..000000000000 --- a/systems/@DrakeSystem/rtrlSNOPTtranscription.m +++ /dev/null @@ -1,276 +0,0 @@ -function [w0,wlow,whigh,Flow,Fhigh,A,iAfun,jAvar,iGfun,jGvar,userfun,wrapupfun,iname,oname]=... - rtrlSNOPTtranscription(sys,costFun,finalCostFun,x0,uTraj0,con,options) - -%The options are left vacant. To-do: to implement the gradient test. -nU=sys.getNumInputs(); -nXc=sys.getNumContStates(); -t=uTraj0.getBreaks(); -tspan=t(end)-t(1); -u=uTraj0.eval(t); -nT = length(t); -t0=t(1); -if(~isfield(con,'u')) - con.u.ub=sys.umax; - con.u.lb=sys.umin; -else -if(~isfield(con.u,'ub')) - con.u.ub=sys.umax; -end -if(~isfield(con.u,'lb')) - con.u.lb=sys.umin; -end -end -if(sys.getNumDiscStates()>0) - error('not implemented yet (but should be very straightforward)'); -end - -ts = sys.getSampleTime(); -if (size(ts,2)>1 || any(ts~=0)) - error('not implemented yet (but should be very straightforward)'); -end - -if(~isfield(con,'nKnotsInSubTraj')) - con.nKnotsInSubTraj=10; -end - -if(~isfield(con,'tf')) - con.tf.ub=tspan; - con.tf.lb=tspan; -end - -if(~isfield(con,'x')) - con.x.ub=inf(nXc,1); - con.x.lb=-inf(nXc,1); -end -nSubTraj=ceil((nT-1)/con.nKnotsInSubTraj); -nKnotsInSubTraj=zeros(1,nSubTraj); -tSubTrajStart=t(mod((1:(length(t)-1)),con.nKnotsInSubTraj)==1); -sys_input=cascade(uTraj0,sys); -xTraj0=simulate(sys_input,t,x0); -xSubTrajStart=xTraj0.eval(tSubTrajStart); -w0=[tspan;xSubTrajStart(:);u(:)]; -whigh=[con.tf.ub;x0;repmat(con.x.ub,nSubTraj-1,1);repmat(con.u.ub,nT,1)]; -wlow=[con.tf.lb;x0;repmat(con.x.lb,nSubTraj-1,1);repmat(con.u.lb,nT,1)]; - -iGfun=ones(1+nSubTraj*nXc+nU*nT,1); -jGvar=(1:(1+nSubTraj*nXc+nU*nT))'; -Fhigh=inf; -Flow=-inf; -for i=1:nSubTraj-1 - nKnotsInSubTraj(i)=con.nKnotsInSubTraj; - iGfun=[iGfun;max(iGfun)+(1:nXc)'; max(iGfun)+reshape((1:nXc)'*ones(1,nXc),[],1);max(iGfun)+(1:nXc)';max(iGfun)+reshape((1:nXc)'*ones(1,nU*(nKnotsInSubTraj(i)+1)),[],1)]; - jGvar=[jGvar;ones(nXc,1);1+(i-1)*nXc+reshape(ones(nXc,1)*(1:nXc),[],1);1+i*nXc+(1:nXc)';1+nSubTraj*nXc+sum(nKnotsInSubTraj(1:i))-nKnotsInSubTraj(i)+reshape(ones(nXc,1)*(1:nU*(nKnotsInSubTraj(i)+1)),[],1)]; - Fhigh=[Fhigh;zeros(nXc,1)]; - Flow=[Flow;zeros(nXc,1)]; -end -nKnotsInSubTraj(end)=nT-sum(nKnotsInSubTraj); -if(isfield(con,'xf')) - if(isfield(con.xf,'ub')||isfield(con.xf,'lb')) - iGfun=[iGfun;max(iGfun)+(1:nXc)';max(iGfun)+reshape((1:nXc)'*ones(1,nXc),[],1);max(iGfun)+reshape((1:nXc)'*ones(1,nU*nKnotsInSubTraj(end)),[],1)]; - jGvar=[jGvar;ones(nXc,1);1+(nSubTraj-1)*nXc+reshape(ones(nXc,1)*(1:nXc),[],1);1+nSubTraj*nXc+sum(nKnotsInSubTraj(1:(nSubTraj-1)))+reshape(ones(nXc,1)*(1:nU*nKnotsInSubTraj(nSubTraj)),[],1)]; - Fhigh=[Fhigh;con.xf.ub]; - Flow=[Flow;con.xf.lb]; - end - if(isfield(con.xf,'ceq')) - c=feval(con.xf.ceq,xTraj0.eval(xTraj0.tspan(end))); - nC=length(c); - iGfun=[iGfun;max(iGfun)+(1:nC)';max(iGfun)+reshape((1:nC)'*ones(1,nXc),[],1);max(iGfun)+reshape((1:nC)'*ones(1,nU*nKnotsInSubTraj(end)),[],1)]; - jGvar=[jGvar;ones(nC,1);1+(nSubTraj-1)*nXc+reshape(ones(nC,1)*(1:nXc),[],1);1+nSubTraj*nXc+sum(nKnotsInSubTraj(1:(nSubTraj-1)))+reshape(ones(nC,1)*(1:nU*nKnotsInSubTraj(nSubTraj)),[],1)]; - Fhigh=[Fhigh;zeros(nC,1)]; - Flow=[Flow;zeros(nC,1)]; - end -end -iname={}; -oname={}; -A=[];iAfun=[];jAvar=[]; - -userfun=@(w) rtrl_userfun(sys,w,costFun,finalCostFun,nT,nXc,nU,nSubTraj,nKnotsInSubTraj,t0,con,options); -%keyboard -wrapupfun=@(w) rtrl_wrapup(sys,w,nT,nXc,nU,nSubTraj,nKnotsInSubTraj,t0); -end - - -function [f,G]=rtrl_userfun(sys,w,costFun,finalCostFun,nT,nXc,nU,nSubTraj,nKnotsInSubTraj,t0,con,options) -f=zeros(1+nXc*(nSubTraj-1),1); -G=zeros(1+nXc*nSubTraj+nU*nT+nXc*(1+1+nXc)*(nSubTraj-1)+nXc*nU*(nT-nKnotsInSubTraj(end)+nSubTraj-1),1); -tspan=w(1); -xSubTrajStart=reshape(w(1+(1:nXc*nSubTraj)),nXc,nSubTraj); -u=reshape(w((1+nXc*nSubTraj+1):end),nU,[]); -%uSubTraj=cell(1,nSubTraj); -PsubTraj=cell(1,nSubTraj); -dJdalphaSubTraj=cell(1,nSubTraj); -dJdalpha=zeros(1,1+nXc*nSubTraj+nU*nT); -dt=tspan/(nT-1); -ddtdtf=1/(nT-1); -t=t0:dt:(t0+dt*(nT-1)); -J=0; -for i=1:(nSubTraj-1) - %in each sub trajectory, alpha=[tf;x0;u(in sub trajectory+1)] - %uSubTraj{i}=u(:,(sum(nKnotsInSubTraj(1:i))-nKnotsInSubTraj(i)+1):sum(nKnotsInSubTraj(1:i))); - PsubTraj{i}=zeros(nXc,1+nXc+nU*(nKnotsInSubTraj(i)+1)); - PsubTraj{i}(:,1+(1:nXc))=eye(nXc); - dJdalphaSubTraj{i}=zeros(1,1+nXc+nU*(nKnotsInSubTraj(i)+1)); - xSubTraj=zeros(nXc,nKnotsInSubTraj(i)+1); - xSubTraj(:,1)=xSubTrajStart(:,i); - knotsSubTrajStart=sum(nKnotsInSubTraj(1:i))-nKnotsInSubTraj(i); - for j=1:nKnotsInSubTraj(i)-1 - [xSubTraj(:,j+1),dxndt,dxndx,dxndu1,dxndu2,dxnddt]=... - rungeKuttaDynamics(sys,t(knotsSubTrajStart+j),xSubTraj(:,j),u(:,knotsSubTrajStart+j),u(:,knotsSubTrajStart+j+1),dt); - du1dalphaSubTraj=zeros(nU,1+nXc+nU*(nKnotsInSubTraj(i)+1)); - du2dalphaSubTraj=zeros(nU,1+nXc+nU*(nKnotsInSubTraj(i)+1)); - ddtdalphaSubTraj=zeros(1,1+nXc+nU*(nKnotsInSubTraj(i)+1)); - du1dalphaSubTraj(:,1+nXc+(j-1)*nU+(1:nU))=eye(nU); - du2dalphaSubTraj(:,1+nXc+j*nU+(1:nU))=eye(nU); - ddtdalphaSubTraj(1)=ddtdtf; - PsubTraj{i}=dxndx*PsubTraj{i}+dxndu1*du1dalphaSubTraj+dxndu2*du2dalphaSubTraj+dxnddt*ddtdalphaSubTraj; - [g,dg]=costFun(t(knotsSubTrajStart+j+1),xSubTraj(:,j+1),u(:,knotsSubTrajStart+j+1)); - J=J+g*dt; - dgdx=dg(:,1+(1:nXc)); - dgdu=dg(:,1+nXc+(1:nU)); - dJdalphaSubTraj{i}=dJdalphaSubTraj{i}+dgdx*PsubTraj{i}*dt+dgdu*du2dalphaSubTraj*dt+g*ddtdalphaSubTraj; - end - [xSubTraj(:,nKnotsInSubTraj(i)+1),dxndt,dxndx,dxndu1,dxndu2,dxnddt]=... - rungeKuttaDynamics(sys,t(knotsSubTrajStart+nKnotsInSubTraj(i)+1),xSubTraj(:,nKnotsInSubTraj(i)),u(:,knotsSubTrajStart+nKnotsInSubTraj(i)),u(:,knotsSubTrajStart+nKnotsInSubTraj(i)+1),dt); - du1dalphaSubTraj=zeros(nU,1+nXc+nU*(nKnotsInSubTraj(i)+1)); - du2dalphaSubTraj=zeros(nU,1+nXc+nU*(nKnotsInSubTraj(i)+1)); - ddtdalphaSubTraj=zeros(1,1+nXc+nU*(nKnotsInSubTraj(i)+1)); - du1dalphaSubTraj(:,1+nXc+nU*(nKnotsInSubTraj(i)-1)+(1:nU))=eye(nU); - du2dalphaSubTraj(:,1+nXc+nU*nKnotsInSubTraj(i)+(1:nU))=eye(nU); - ddtdalphaSubTraj(1)=ddtdtf; - PsubTraj{i}=dxndx*PsubTraj{i}+dxndu1*du1dalphaSubTraj+dxndu2*du2dalphaSubTraj+dxnddt*ddtdalphaSubTraj; - [g,dg]=costFun(t(knotsSubTrajStart+nKnotsInSubTraj(i)),xSubTraj(:,nKnotsInSubTraj(i)+1),u(:,knotsSubTrajStart+nKnotsInSubTraj(i)+1)); - J=J+g*dt; - dgdx=dg(:,1+(1:nXc)); - dgdu=dg(:,1+nXc+(1:nU)); - dJdalphaSubTraj{i}=dJdalphaSubTraj{i}+dgdx*PsubTraj{i}*dt+dgdu*du2dalphaSubTraj*dt+g*ddtdalphaSubTraj; - f(1+(i-1)*nXc+(1:nXc))=xSubTraj(:,nKnotsInSubTraj(i)+1)-xSubTrajStart(:,i+1); - dJdalpha(1)=dJdalphaSubTraj{i}(1)+dJdalpha(1); - dJdalpha(1+(i-1)*nXc+(1:nXc))=dJdalphaSubTraj{i}(1+(1:nXc))+dJdalpha(1+(i-1)*nXc+(1:nXc)); - dJdalpha(1+nXc*nSubTraj+nU*knotsSubTrajStart+(1:nU*(nKnotsInSubTraj(i)+1)))=dJdalpha(1+nXc*nSubTraj+nU*knotsSubTrajStart+(1:nU*(nKnotsInSubTraj(i)+1)))... - +dJdalphaSubTraj{i}(1+nXc+(1:nU*(nKnotsInSubTraj(i)+1))); - G(1+nXc*nSubTraj+nT*nU+(i-1)*nXc*(1+1+nXc)+nXc*nU*(knotsSubTrajStart+i-1)+(1:nXc))=PsubTraj{i}(:,1);%dxndtf part - G(1+nXc*nSubTraj+nT*nU+(i-1)*nXc*(1+1+nXc)+nXc*nU*(knotsSubTrajStart+i-1)+nXc+(1:nXc^2))=reshape(PsubTraj{i}(:,1+(1:nXc)),[],1); - G(1+nXc*nSubTraj+nT*nU+(i-1)*nXc*(1+1+nXc)+nXc*nU*(knotsSubTrajStart+i-1)+nXc+nXc^2+(1:nXc))=-ones(nXc,1); - G(1+nXc*nSubTraj+nT*nU+(i-1)*nXc*(1+1+nXc)+nXc*nU*(knotsSubTrajStart+i-1)+nXc+nXc^2+nXc+(1:nXc*nU*(nKnotsInSubTraj(i)+1)))=reshape(PsubTraj{i}(:,1+nXc+(1:nU*(nKnotsInSubTraj(i)+1))),[],1); -end -%The last sub trajectory -PsubTraj{nSubTraj}=zeros(nXc,1+nXc+nU*nKnotsInSubTraj(nSubTraj)); -PsubTraj{nSubTraj}(:,1+(1:nXc))=eye(nXc); -dJdalphaSubTraj{nSubTraj}=zeros(1,1+nXc+nU*nKnotsInSubTraj(nSubTraj)); -xSubTraj=zeros(nXc,nKnotsInSubTraj(nSubTraj)); -xSubTraj(:,1)=xSubTrajStart(:,nSubTraj); -knotsSubTrajStart=sum(nKnotsInSubTraj(1:nSubTraj))-nKnotsInSubTraj(nSubTraj); -for j=1:nKnotsInSubTraj(nSubTraj)-1 - [xSubTraj(:,j+1),dxndt,dxndx,dxndu1,dxndu2,dxnddt]=... - rungeKuttaDynamics(sys,t(knotsSubTrajStart+j),xSubTraj(:,j),u(:,knotsSubTrajStart+j),u(:,knotsSubTrajStart+j+1),dt); - du1dalphaSubTraj=zeros(nU,1+nXc+nU*(nKnotsInSubTraj(nSubTraj))); - du2dalphaSubTraj=zeros(nU,1+nXc+nU*(nKnotsInSubTraj(nSubTraj))); - ddtdalphaSubTraj=zeros(1,1+nXc+nU*(nKnotsInSubTraj(nSubTraj))); - du1dalphaSubTraj(:,1+nXc+(j-1)*nU+(1:nU))=eye(nU); - du2dalphaSubTraj(:,1+nXc+j*nU+(1:nU))=eye(nU); - ddtdalphaSubTraj(1)=ddtdtf; - PsubTraj{nSubTraj}=dxndx*PsubTraj{nSubTraj}+dxndu1*du1dalphaSubTraj+dxndu2*du2dalphaSubTraj+dxnddt*ddtdalphaSubTraj; - [g,dg]=costFun(t(knotsSubTrajStart+j+1),xSubTraj(:,j+1),u(:,knotsSubTrajStart+j+1)); - J=J+g*dt; - dgdx=dg(:,1+(1:nXc)); - dgdu=dg(:,1+nXc+(1:nU)); - dJdalphaSubTraj{nSubTraj}=dJdalphaSubTraj{nSubTraj}+dgdx*PsubTraj{nSubTraj}*dt+dgdu*du2dalphaSubTraj*dt+g*ddtdalphaSubTraj; -end -[h,dh]=finalCostFun(t(nT),xSubTraj(:,end)); -J=J+h; -dhdt=dh(:,1); -dhdx=dh(:,1+(1:nXc)); -dJdalphaSubTraj{nSubTraj}=dJdalphaSubTraj{nSubTraj}+dhdx*PsubTraj{nSubTraj}; -dJdalpha(1)=dJdalphaSubTraj{nSubTraj}(1)+dJdalpha(1)+dhdt; -dJdalpha(1+(nSubTraj-1)*nXc+(1:nXc))=dJdalphaSubTraj{nSubTraj}(1+(1:nXc))+dJdalpha(1+(nSubTraj-1)*nXc+(1:nXc)); -dJdalpha(1+nXc*nSubTraj+nU*knotsSubTrajStart+(1:nU*(nKnotsInSubTraj(nSubTraj))))=dJdalpha(1+nXc*nSubTraj+nU*knotsSubTrajStart+(1:nU*(nKnotsInSubTraj(nSubTraj))))... - +dJdalphaSubTraj{nSubTraj}(1+nXc+(1:nU*(nKnotsInSubTraj(nSubTraj)))); -G(1:(1+nXc*nSubTraj+nT*nU))=dJdalpha'; -f(1)=J; -if(isfield(con,'xf')) - if(isfield(con.xf,'lb')||isfield(con.xf,'ub')) - f=[f;xSubTraj(:,nKnotsInSubTraj(nSubTraj))]; - G=[G;reshape(PsubTraj{nSubTraj},[],1)]; - end - if(isfield(con.xf,'ceq')) - [c,dc]=geval(con.xf.ceq,xSubTraj(:,nKnotsInSubTraj(nSubTraj))); - f=[f;c]; - G=[G;reshape(dc*PsubTraj{nSubTraj},[],1)]; - end -end -end - -function [xNew,dxndt,dxndx,dxndu1,dxndu2,dxnddt]=rungeKuttaDynamics(sys,t,x,u1,u2,dt) -%Assumes the control tape is first order hold -nU=sys.getNumInputs(); -nXc=sys.getNumContStates(); -[f1,df1]=geval(@sys.dynamics,t,x,u1); -df1dt=df1(:,1); -df1dx=df1(:,1+(1:nXc)); -df1du=df1(:,1+nXc+(1:nU)); -k1=f1*dt; -dk1dt=df1dt*dt; -dk1dx=df1dx*dt; -dk1du1=df1du*dt; -dk1du2=zeros(size(df1du)); -dk1ddt=f1; -[f2,df2]=geval(@sys.dynamics,t+0.5*dt,x+0.5*k1,(u1+u2)/2); -df2dt=df2(:,1); -df2dx=df2(:,1+(1:nXc)); -df2du=df2(:,1+nXc+(1:nU)); -k2=f2*dt; -dk2dt=(df2dt+df2dx*(0.5*dk1dt))*dt; -dk2dx=df2dx*(eye(nXc)+0.5*dk1dx)*dt; -dk2du1=(df2dx*(0.5*dk1du1)+0.5*df2du)*dt; -dk2du2=(df2dx*(0.5*dk1du2)+0.5*df2du)*dt; -dk2ddt=f2+(df2dt*0.5+df2dx*0.5*dk1ddt)*dt; -[f3,df3]=geval(@sys.dynamics,t+0.5*dt,x+0.5*k2,(u1+u2)/2); -df3dt=df3(:,1); -df3dx=df3(:,1+(1:nXc)); -df3du=df3(:,1+nXc+(1:nU)); -k3=f3*dt; -dk3dt=(df3dt+df3dx*0.5*dk2dt)*dt; -dk3dx=(df3dx*(eye(nXc)+0.5*dk2dx))*dt; -dk3du1=(df3dx*0.5*dk2du1+df3du*0.5)*dt; -dk3du2=(df3dx*0.5*dk2du2+df3du*0.5)*dt; -dk3ddt=f3+(df3dt*0.5+df3dx*0.5*dk2ddt)*dt; -[f4,df4]=geval(@sys.dynamics,t+dt,x+k3,u2); -df4dt=df4(:,1); -df4dx=df4(:,1+(1:nXc)); -df4du=df4(:,1+nXc+(1:nU)); -k4=f4*dt; -dk4dt=(df4dt+df4dx*dk3dt)*dt; -dk4dx=(df4dx*(eye(nXc)+dk3dx))*dt; -dk4du1=(df4dx*dk3du1)*dt; -dk4du2=(df4dx*dk3du2+df4du)*dt; -dk4ddt=f4+(df4dt+df4dx*dk3ddt)*dt; -xNew=x+1/6*(k1+2*k2+2*k3+k4); -dxndt=1/6*(dk1dt+2*dk2dt+2*dk3dt+dk4dt); -dxndx=eye(nXc)+1/6*(dk1dx+2*dk2dx+2*dk3dx+dk4dx); -dxndu1=1/6*(dk1du1+2*dk2du1+2*dk3du1+dk4du1); -dxndu2=1/6*(dk1du2+2*dk2du2+2*dk3du2+dk4du2); -dxnddt=1/6*(dk1ddt+2*dk2ddt+2*dk3ddt+dk4ddt); -end - -function [utraj,xtraj]=rtrl_wrapup(sys,w,nT,nXc,nU,nSubTraj,nKnotsInSubTraj,t0) -tspan=w(1); -dt=tspan/(nT-1); -xSubTrajStart=reshape(w(1+(1:nXc*nSubTraj)),nXc,nSubTraj); -u=reshape(w(1+nXc*nSubTraj+(1:nU*nT)),nU,nT); -x=zeros(nXc,nT); -xdot=zeros(nXc,nT); -t=t0:dt:(t0+dt*(nT-1)); -for i=1:nSubTraj - knotSubTrajStart=sum(nKnotsInSubTraj(1:i))-nKnotsInSubTraj(i); - x(:,knotSubTrajStart+1)=xSubTrajStart(:,i); - for j=1:nKnotsInSubTraj(i)-1 - x(:,knotSubTrajStart+j+1)=rungeKuttaDynamics(sys,t(knotSubTrajStart+j),x(:,knotSubTrajStart+j),u(:,knotSubTrajStart+j),u(:,knotSubTrajStart+j+1),dt); - xdot(:,knotSubTrajStart+j)=sys.dynamics(t(knotSubTrajStart+j),x(:,knotSubTrajStart+j),u(:,knotSubTrajStart+j)); - end -end -xdot(:,nT)=sys.dynamics(t(nT),x(:,nT),u(:,nT)); -xtraj=PPTrajectory(pchipDeriv(t,x,xdot)); -xtraj=setOutputFrame(xtraj,sys.getStateFrame); -utraj=PPTrajectory(foh(t,u)); -utraj=setOutputFrame(utraj,sys.getInputFrame); -end diff --git a/systems/@DynamicalSystem/dircolSNOPTtranscription.m b/systems/@DynamicalSystem/dircolSNOPTtranscription.m deleted file mode 100644 index 933a1f392f10..000000000000 --- a/systems/@DynamicalSystem/dircolSNOPTtranscription.m +++ /dev/null @@ -1,450 +0,0 @@ -function [w0,wlow,whigh,Flow,Fhigh,A,iAfun,jAvar,iGfun,jGvar,userfun,wrapupfun,iname,oname] = dircolSNOPTtranscription(sys,costFun,finalCostFun,x0,utraj0,con,options) -% Direct collocation method. -% This function should not be called directly. Use the -% trajectoryOptimization interface. -% -% I use the algorithm as described in Enright91 and Hargraves86 -% Basic algorithm: -% u(t) is represented as a first-order spline -% xc(t) is represented as a cubic spline -% xd(t) is represented as a zero-order spline (zoh) -% At every knot point, add a constraint enforcing the derivatives and -% updates to match the spline derivatives, etc. -% -% Since I don't know many details about the model (e.g. hybrid events -% can be hidden), this implementation assumes things are smooth and tries -% to power through unknown difficulties. -% - -if (~isfield(options,'xtape0')), options.xtape0='free'; end - -nU = sys.getNumInputs(); -nX = sys.getNumContStates(); -nXd = sys.getNumDiscStates(); -if (nXd>0) - error('not implemented yet (but should be very straightforward)'); -end - -ts = sys.getSampleTime(); -if (size(ts,2)>1 || any(ts~=0)) - warning('found non-continuous sample times. i''ll proceed assuming everything is continuous'); -% error('not implemented yet (but should be very straightforward)'); -end - -t = utraj0.getBreaks(); t=t(:); -tscale = 1; % stretch time by this amount -u = utraj0.eval(t); -if (strcmp(options.xtape0,'simulate')) - drivensys = cascade(utraj0,sys); - xtraj = simulate(drivensys,[t(1),t(end)],x0); - x = xtraj.eval(t); -else % options.xtape0='rand' or 'free' - x = repmat(x0,1,length(t));%+.1*randn(length(x0),length(t)); x(:,1) = x0; -end - -nT = length(t); - -%% Set up snopt inputs -w0 = [tscale; x(:); u(:)]; -whigh = [ tscale; repmat(inf,prod(size(x)),1); repmat(inf,prod(size(u)),1)]; -wlow = [ tscale; repmat(-inf,prod(size(x)),1); repmat(-inf,prod(size(u)),1)]; -A=[]; -iAfun=[]; -jAvar=[]; - -% handle constraints - function conwarn(f1,f2) - if (iscell(f1)) f1 = f1{1}; end - if (nargin>1) - if (iscell(f2)) f2 = f2{1}; end - warning([f1,'.',f2,' constraint is not supported by dircol (at least not yet)']); - else - warning([f1,' constraint is not supported by dircol (at least not yet)']); - end - end - -for f1 = fieldnames(con)' - switch(f1{1}) - case 'x' - xind=1+(1:prod(size(x))); - for f2 = fieldnames(con.x)' - switch(f2{1}) - case 'lb' - c = repmat(con.x.lb,nT,1); - wlow(xind) = max(wlow(xind),c); - case 'ub' - c = repmat(con.x.ub,nT,1); - whigh(xind) = min(whigh(xind),c); - case 'c' - % intentionally pass through... these get handled in the userfun - otherwise - conwarn(f1,f2); - end - end - case 'x0' - for f2 = fieldnames(con.x0)' - switch(f2{1}) - case 'lb' - wlow(1 + (1:nX)) = max(wlow(1 + (1:nX)),con.x0.lb); - case 'ub' - whigh(1 + (1:nX)) = min(whigh(1 + (1:nX)),con.x0.ub); - case {'c','ceq'} - % intentionally pass through.. these get handled in the userfun - otherwise - conwarn(f1,f2); - end - end - case 'xf' - xfind = 1 + nX*(nT-1) + (1:nX); - for f2 = fieldnames(con.xf)' - switch(f2{1}) - case 'lb' - wlow(xfind) = max(wlow(xfind),con.xf.lb); - case 'ub' - whigh(xfind) = min(whigh(xfind),con.xf.ub); - case {'c','ceq'} - % intentionally pass through... these get handled in the userfun - otherwise - conwarn(f1,f2); - end - end - if strcmp(options.xtape0,'free') && all(wlow(xfind)==whigh(xfind)) % final value constraint - for i=1:nX - x(i,:) = linspace(x0(i),wlow(xfind(i)),nT); - end - w0(1+(1:(nT*nX))) = x(:); - end - case 'u' - for f2 = fieldnames(con.u)' - uind = 1 + nX*nT + 1 : length(wlow); - switch(f2{1}) - case 'lb' - wlow(uind) = max(wlow(uind),repmat(con.u.lb,nT,1)); - case 'ub' - whigh(uind) = min(whigh(uind),repmat(con.u.ub,nT,1)); - otherwise - conwarn(f1,f2); - end - end - case 'u0' - for f2 = fieldnames(con.u0)' - uind = 1 + nX*nT + (1 : nU); - switch(f2{1}) - case 'lb' - wlow(uind) = max(wlow(uind),con.u0.lb); - case 'ub' - whigh(uind) = min(whigh(uind),con.u0.ub); - otherwise - conwarn(f1,f2); - end - end - case 'uf' - for f2 = fieldnames(con.uf)' - uind = 1 + nX*nT + nU*(nT-1) + (1 : nU); - switch(f2{1}) - case 'lb' - wlow(uind) = max(wlow(uind),con.uf.lb); - case 'ub' - whigh(uind) = min(whigh(uind),con.uf.ub); - otherwise - conwarn(f1,f2); - end - end - - case 'T' - for f2 = fieldnames(con.T)' - switch(f2{1}) - case 'lb' - wlow(1) = con.T.lb/(t(end)-t(1)); - case 'ub' - whigh(1) = con.T.ub/(t(end)-t(1)); - otherwise - conwarn(f1,f2); - end - end - - case 'periodic' - % intentionally pass through. this is implemented in userfun_ind - - otherwise - conwarn(f1); - end -end - -userfun = @(w) dircol_userfun(sys,w,costFun,finalCostFun,t,nX,nU,con,options); -wrapupfun = @(w) dircol_wrapup(sys,w,t,nX,nU); - -if (options.grad_test) - % print out the debugging key: - iname = {'tscale'}; - for i=1:nT, for j=1:nX, iname= {iname{:},['x_',num2str(j),'(',num2str(i),')']}; end, end - for i=1:nT, for j=1:nU, iname= {iname{:},['u_',num2str(j),'(',num2str(i),')']}; end, end - - [nf,A,iAfun,jAvar,iGfun,jGvar,Fhigh,Flow,oname] = userfun_grad_ind(nT,nX,nU,con,x,options); -else - [nf,A,iAfun,jAvar,iGfun,jGvar,Fhigh,Flow] = userfun_grad_ind(length(t),nX,nU,con,x,options); - iname={}; - oname={}; -end - -end - -function [f,G] = dircol_userfun(sys,w,costFun,finalCostFun,tOrig,nX,nU,con,options) - nT = length(tOrig); - t = w(1)*tOrig; dtdw1 = tOrig; - dt = w(1)*diff(tOrig); ddtdw1 = diff(tOrig); - x = reshape(w(1+[1:(nT*nX)]),nX,nT); - u = reshape(w((2+nT*nX):end),nU,nT); - - tcol = t(1:end-1)+dt/2; dtcoldw1 = dtdw1(1:end-1)+ddtdw1/2; - ucol = .5*(u(:,1:end-1)+u(:,2:end)); - -% figure(1); clf; plot(x(1,:),x(2,:)); drawnow; - - - %% todo: vectorize this when possible - - % preallocate vars - g = zeros(1,nT); - dg = zeros(1,1+nX+nU,nT); - xdot = zeros(nX,nT); - dxdot = zeros(nX,1+nX+nU,nT); - d = zeros(nX,nT-1); - dd = zeros(nX,1+2*nX+2*nU,nT-1); - J=0; - dJ = zeros(1,1+nX*nT+nU*nT); - - bxc = isfield(con,'x') && isfield(con.x,'c'); % eval boolean once (not repititively inside the loop) - fxc = []; Gxc=[]; - - % iterate through time - [xdot(:,1),dxdot(:,:,1)] = geval(@sys.dynamics,t(1),x(:,1),u(:,1),options); - dxdot(:,1,1) = dxdot(:,1,1)*dtdw1(1); % d/d[tscale; x(:,1); u(:,1)] - [g(1),dg(1,:,1)] = geval(costFun,t(1),x(:,1),u(:,1),options); dg(1,1,1)=dg(1,1,1)*dtdw1(1); % d/d[tscale; x(:,1); u(:,1)] - for i=1:(nT-1) % compute dynamics and cost - [g(i+1),dg(1,:,i+1)] = geval(costFun,t(i+1),x(:,i+1),u(:,i+1),options); dg(1,1,i+1)=dg(1,1,i+1)*dtdw1(i+1); % d/d[tscale; x(:,i+1); u(:,i+1)] - [xdot(:,i+1),dxdot(:,:,i+1)] = geval(@sys.dynamics,t(i+1),x(:,i+1),u(:,i+1),options); - dxdot(:,1,1)=dxdot(:,1,1)*dtdw1(i+1); % d/d[tscale; x(:,i+1); u(:,i+1)] - xcol = .5*(x(:,i)+x(:,i+1)) + dt(i)/8*(xdot(:,i)-xdot(:,i+1)); - dxcol = .5*[zeros(nX,1),eye(nX),zeros(nX,nU),eye(nX),zeros(nX,nU)] + ... - [ddtdw1(i)/8*(xdot(:,i)-xdot(:,i+1)), zeros(nX,nX+nU+nX+nU)] + ... - dt(i)/8*[dxdot(:,:,i),zeros(nX,nX+nU)] + ... - -dt(i)/8*[dxdot(:,1,i+1),zeros(nX,nX+nU),dxdot(:,2:end,i+1)]; % d/d[tscale;x(:,i);u(:,i);x(:,i+1);u(:,i+1)] - xdotcol = -1.5*(x(:,i)-x(:,i+1))/dt(i) - .25*(xdot(:,i)+xdot(:,i+1)); - dxdotcol = -1.5*[-(x(:,i)-x(:,i+1))*ddtdw1(i)/(dt(i)^2), eye(nX)/dt(i), zeros(nX,nU), -eye(nX)/dt(i), zeros(nX,nU)] + ... - -.25*[dxdot(:,:,i),zeros(nX,nX+nU)] + ... - -.25*[dxdot(:,1,i+1),zeros(nX,nX+nU),dxdot(:,2:end,i+1)]; % d/d[tscale;x(:,i);u(:,i);x(:,i+1);u(:,i+1)] - % collocation constraint: - [d(:,i),df]= geval(@sys.dynamics,tcol(i),xcol,ucol(:,i),options); - d(:,i) = d(:,i) - xdotcol; - dd(:,:,i) = df*[dtcoldw1(i),zeros(1,2*nX+2*nU); dxcol; zeros(nU,1+nX), .5*eye(nU), zeros(nU,nX), .5*eye(nU)] - dxdotcol; % d/d[tscale;x(:,i);u(:,i);x(:,i+1);u(:,i+1)] - - if (bxc) - [c,dc] = geval(con.x.c,x(:,i),options); - fxc = [fxc; c(:)]; Gxc = [Gxc; dc(:)]; - end - - J = J + dt(i)*(g(i)+g(i+1))/2; % trapezoidal rule - dJ(1) = dJ(1) + ddtdw1(i)*(g(i)+g(i+1))/2 + dt(i)*(dg(1,1,i)+dg(1,1,i+1))/2; - xi_inds=1+(i-1)*nX+(1:nX); - dJ(xi_inds) = dJ(xi_inds) + dt(i)*dg(1,1+(1:nX),i)/2; - xip_inds = xi_inds+nX; - dJ(xip_inds) = dt(i)*dg(1,1+(1:nX),i+1)/2; - ui_inds = 1+nT*nX+(i-1)*nU+(1:nU); - dJ(ui_inds) = dJ(ui_inds) + dt(i)*dg(1,1+nX+(1:nU),i)/2; - uip_inds = ui_inds+nU; - dJ(uip_inds) = dt(i)*dg(1,1+nX+(1:nU),i+1)/2; - - % for debugging -% d(:,i)=xdotcol; -% dd(:,:,i)=dxdotcol; - end - [h,dh] = geval(finalCostFun,t(end),x(:,end),options); dh(1)=dh(1)*dtdw1(end); - - J = J + h; - dJ(1) = dJ(1)+dh(1); - xf_inds = 1+(nT-1)*nX+(1:nX); - dJ(xf_inds) = dJ(xf_inds) + dh(2:end); - - if (isfield(options,'trajectory_cost_fun') && ~isempty(options.trajectory_cost_fun)) - [Jtraj,dJtraj]=geval(options.trajectory_cost_fun,t,x,u,options); - J = J+Jtraj; - dJ(1) = dJ(1)+dJtraj(1:nT)*dtdw1; - dJ(2:end) = dJ(2:end)+dJtraj(nT+1:end); - end - if isfield(options,'plan_publisher') - options.plan_publisher.publish(t,x); % todo: also publish u - end - - f = [J; d(:)]; - G = [dJ(:); dd(:)]; - - if (bxc) - % add xf - [c,dc] = geval(con.x.c,x(:,end),options); - fxc = [fxc; c(:)]; Gxc = [Gxc; dc(:)]; - - % put everything into the main f and G - f = [f; fxc]; - G = [G; Gxc]; - end - - if (isfield(con,'xf')) - if (isfield(con.xf,'c')) - [c,dc] = geval(con.xf.c,x(:,end),options); - f = [f; c(:)]; G = [G; dc(:)]; - end - if (isfield(con.xf,'ceq')) - [c,dc] = geval(con.xf.ceq,x(:,end),options); - f = [f; c(:)]; G = [G; dc(:)]; - end - end - - if (isfield(con,'x0')) - if (isfield(con,'c')) - [c,dc] = geval(con.x0.c,x(:,1),options); - f = [f; c(:)]; G = [G; dc(:)]; - end - if (isfield(con.x0,'ceq')) - [c,dc] = geval(con.x0.ceq,x(:,1),options); - f = [f; c(:)]; G = [G; dc(:)]; - end - end - - if (isfield(con,'periodic') && con.periodic) - f = [f;zeros(nX+nU,1)]; % implemented as linear constraint below - end - -end - -function [nf, A, iAfun, jAvar, iGfun, jGvar, Fhigh, Flow, oname] = userfun_grad_ind(nT,nX,nU,con,x,options) - - % dJ: - nf = 1; - A = []; iAfun = []; jAvar = []; - iGfun = repmat(1,1+nX*nT+nU*nT,1); - jGvar = (1:(1+nX*nT+nU*nT))'; - oname{1} = 'J'; - - Fhigh = inf; Flow = -inf; - - % collocation constraints: - for i=1:(nT-1) - iGfun = [iGfun; nf+reshape(repmat(1:nX,(1+2*nX+2*nU),1)',[],1)]; - jGvar = [jGvar; reshape(repmat([1,1+nX*(i-1)+(1:nX),1+nX*nT+nU*(i-1)+(1:nU),1+nX*i+(1:nX),1+nX*nT+nU*i+(1:nU)],nX,1),[],1)]; - nf = nf+nX; - if (nargout>5) - for j=1:nX, oname= {oname{:},['d_',num2str(j),'(',num2str(i),')']}; end - end - end - - Fhigh = [Fhigh;zeros(nf-1,1)]; - Flow = [Flow;zeros(nf-1,1)]; - - if (isfield(con,'x')) - if (isfield(con.x,'c')) - c = feval(con.x.c,x(:,end)); - n=length(c); - for i=1:nT - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; 1+nX*(i-1)+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh;zeros(n,1)]; - Flow = [Flow;repmat(-inf,n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.x(',num2str(i),').c_',num2str(j)]}; end - end - nf = nf+n; - end - end - end - - if (isfield(con,'xf')) - if (isfield(con.xf,'c')) - c = feval(con.xf.c,x(:,end)); - n=length(c); - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; 1+nX*(nT-1)+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh;zeros(n,1)]; - Flow = [Flow;repmat(-inf,n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.xf.c_',num2str(j)]}; end - end - nf = nf+n; - end - if (isfield(con.xf,'ceq')) - c = feval(con.xf.ceq,x(:,end)); - n=length(c); - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; 1+nX*(nT-1)+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh;zeros(n,1)]; - Flow = [Flow;zeros(n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.xf.ceq_',num2str(j)]}; end - end - nf = nf+n; - end - end - - if (isfield(con,'x0')) - if (isfield(con.x0,'c')) - c = feval(con.x0.c,x(:,1)); - n=length(c); - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; 1+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh,zeros(n,1)]; - Flow = [Flow,repmat(-inf,n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.x0.c_',num2str(j)]}; end - end - nf = nf+n; - end - if (isfield(con.x0,'ceq')) - c = feval(con.x0.ceq,x(:,1)); - n=length(c); - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; 1+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh;zeros(n,1)]; - Flow = [Flow;zeros(n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.x0.ceq_',num2str(j)]}; end - end - nf = nf+n; - end - end - - if (isfield(con,'periodic') && con.periodic) - % then add linear constraints x0[i]=xf[i] and u0[i]=uf[i] - A = [A; repmat([1;-1],nX+nU,1)]; - iAfun = [iAfun; nf+reshape(repmat(1:(nX+nU),2,1),[],1)]; - x0ind = 1+(1:nX); xfind = 1+nX*(nT-1) + (1:nX); - u0ind = 1+nX*nT+(1:nU); ufind = 1+nX*nT+nU*(nT-1) + (1:nU); - jAvar = [jAvar; reshape([x0ind,u0ind; xfind,ufind],[],1)]; - Fhigh = [Fhigh; zeros(nX+nU,1)]; - Flow = [Flow; zeros(nX+nU,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.periodic_x',num2str(j)]}; end - for j=1:nU, oname= {oname{:},['con.periodic_u',num2str(j)]}; end - end - nf = nf + nX+nU; - end -end - - -function [utraj,xtraj] = dircol_wrapup(sys,w,t,nX,nU) - -t = t*w(1); -nT = length(t); - -x = reshape(w(1 + (1:nT*nX)),nX,nT); -u = reshape(w((1 + nT*nX + 1):end),nU,nT); - -utraj = PPTrajectory(foh(t,u)); -utraj = setOutputFrame(utraj,sys.getInputFrame); - -for i=1:nT - xdot(:,i) = sys.dynamics(t(i),x(:,i),u(:,i)); -end -xtraj = PPTrajectory(pchipDeriv(t,x,xdot)); -xtraj = setOutputFrame(xtraj,sys.getStateFrame); - -end diff --git a/systems/@DynamicalSystem/trajectoryOptimization.m b/systems/@DynamicalSystem/trajectoryOptimization.m deleted file mode 100644 index 02a92d87e818..000000000000 --- a/systems/@DynamicalSystem/trajectoryOptimization.m +++ /dev/null @@ -1,181 +0,0 @@ -function [utraj,xtraj,info,trans_info] = trajectoryOptimization(sys,costFun,finalCostFun,x0,utraj0,con,options) -% trajectoryOptimization -% -% This file describes the interface used by all of the trajectory -% optimization tools in drake. -% -% @param costFun handle to scalar function g(t,x(t),u(t)). total cost is -% integral of g over the trajectory + h -% @param finalCostFun handle to a scalar function h(tf,x(tf)). -% @param x0 a double vector which describes the initial condition -% @param utraj0 a Trajectory object which the initial u(t) -% @param con a structure describing the constraints (details below) -% @param options a structure describing the options (details below) -% -% All of the trajectory design algorithms support all of -% these constraints (or produce a warning if they do not). -% -% Assuming that the constraint structure is name 'con', valid -% constraints specified in the structure are: -% -%
-% State constraints: 
-%  con.x.lb        forall t, lb <= x(t) <= ub
-%  con.x.ub 
-%  con.x.A         forall t, A x(t) <= b
-%  con.x.b
-%  con.x.Aeq       forall t, Aeq x(t) = beq
-%  con.x.beq
-%  con.x.c         forall t, c(x(t)) <= 0
-%  con.x.ceq       forall t, ceq(x(t)) == 0
-%      to provide gradients of the constraint, these functions should
-%      output  [f,dfdx] = c(x) , where size(dfdx) = [len(f),len(x)]
-%
-% Initial state Constraints:
-%  con.x0.*  
-% can take any of the fields described for con.x , but applies only for t = t0.
-%
-% Final state Constraints:
-%  con.xf.*  
-% can take any of the fields described for con.x , but applies only for t = tf.
-%
-%
-% Input constraints:
-%  con.u.lb        forall t, lb <= u(t) <= ub
-%  con.u.ub 
-%
-% Initial input constraints:
-%  con.u0.*
-% Final input constraints:
-%  con.uf.*
-%
-% Time Constraints:
-%  con.T.lb     lb <= tf - t0 <= ub
-%  con.T.ub 
-%
-% Hybrid Mode Constraints
-% For hybrid systems, all of the constraints above can exist inside a
-% mode cell array, e.g.
-%  con.mode{i}.mode_num    
-%  con.mode{i}.u    input (for this mode) constraint structure defined above
-%  con.mode{i}.u0
-%  con.mode{i}.uf
-%  con.mode{i}.x    state (for this mode) constraint structure defined above
-%  con.mode{i}.x0   initial (for this mode) state constraint structure defined above
-%  con.mode{i}.xf   final (for this mode) state constraint structure defined above
-%  con.mode{i}.T    time (for this mode) constraint structure defined above
-% Note that the mode indices enforce a total ordering of the modes in the solution 
-% You can also impose the following inter-mode constraints:
-%  con.u_const_across_transitions = true
-%
-% Periodicity Constraints
-%  con.periodic = true       x(t0)=x(tf) and u(t0)=u(tf)
-% 
-% -% The following options are supported by one or more of the trajectory -% design algorithms: -% -% @options ode_solver name of a Simulink ode solver -% @options optimizer 'fmincon','snopt', ... -% @options grad_method 'numerical', 'bptt', 'rtrl', ... -% @options grad_test true or false -% @options xtape0 'rand', 'simulate', 'x0toxf', ... -% @options trajectory_cost_fun function handle to a one-shot cost function Jtraj(T,X,U), -% with T=[t0,t1,...tN],X=[x0,x1,...,xN],U=[u0,u1,...,uN], which is -% added to the original cost. e.g., -% J = Jtraj(T,X,U) + h(tf,x(tf)) + int_t0^tf g(t,x,u)dt -% @options plan_publisher handle to an object that publishes the plan (in -% progress with plan_publisher.publish(t,x,u); - - -% More things to implement / think about: -% - do i ever need to handle c(x,u) type constraints? -% - will users want to call c and ceq at the same time, e.g. to save -% computation time? it's important at the trajectory level, but probably -% not at the individual x level, right?======= -% todo: do i ever need to handle c(t,x,u) type constraints? - - - - - -global SNOPT_USERFUN; - -checkDependency('snopt'); - -if (nargin<6) con = struct(); end -if (nargin<7) options = struct(); end -if (~isfield(options,'grad_test')) options.grad_test = false; end -if (~isfield(options,'warning')) options.warning = true; end -if (~isfield(options,'method')) options.method = 'dircol'; end - - -switch (options.method) - case 'dircol' - transcriptionFun=@dircolSNOPTtranscription; - case 'implicitdirtran' - transcriptionFun=@implicitDirtranSNOPTtranscription; - case 'rtrl' - transcriptionFun=@rtrlSNOPTtranscription; - otherwise - error(['method ', options.method,' unknown, or not implemented yet']); -end - -[w0,wlow,whigh,Flow,Fhigh,A,iAfun,jAvar,iGfun,jGvar,SNOPT_USERFUN,wrapupfun,iname,oname] = transcriptionFun(sys,costFun,finalCostFun,x0,utraj0,con,options); - -if (options.grad_test) - gradTest(@(w)gradTestFun(w,A,iAfun,jAvar,iGfun,jGvar),w0,struct('input_name',{{iname}},'output_name',{oname},'tol',.01)); -end - -%% set up snopt params -% note: use options.param = val to set, where param is the string below -% with all whitespaces removed! -setSNOPTParam(options,'Major Iterations Limit',1000); -setSNOPTParam(options,'Minor Iterations Limit',500); -setSNOPTParam(options,'Major Optimality Tolerance',1e-6); -setSNOPTParam(options,'Major Feasibility Tolerance',1e-6); -setSNOPTParam(options,'Minor Feasibility Tolerance',1e-6); -setSNOPTParam(options,'Superbasics Limit',200); -setSNOPTParam(options,'Derivative Option',0); -setSNOPTParam(options,'Verify Level',0); -setSNOPTParam(options,'Iterations Limit',10000); - - -%% Run SNOPT -[w,F,info] = snopt(w0,wlow,whigh,Flow,Fhigh,'snoptUserfun',0,1,A,iAfun,jAvar,iGfun,jGvar); - -if (info~=1 && options.warning) - [str,cat] = snoptInfo(info); - warning('SNOPT:InfoNotOne',['SNOPT exited w/ info = ',num2str(info),'.\n',cat,': ',str,'\n Check p19 of Gill06 for more information.']); - -% if (floor(info/10)==4) % in the 40's... gradients are suspicious -% disp('since the gradients are suspicious, i''ll run gradtest:'); -% options.grad_test=true; -% [w0,wlow,whigh,Flow,Fhigh,A,iAfun,jAvar,iGfun,jGvar,SNOPT_USERFUN,wrapupfun,iname,oname] = transcriptionFun(sys,costFun,finalCostFun,x0,utraj0,con,options); -% gradTest(@(x)gradTestFun(x,A,iAfun,jAvar,iGfun,jGvar),w,struct('input_name',{{iname}},'output_name',{oname},'tol',.01)); -% end -end - -try - [utraj,xtraj,trans_info] = wrapupfun(w); -catch - [utraj,xtraj] = wrapupfun(w); -end - -end - - -function [f,df] = gradTestFun(w,A,iAfun,jAvar,iGfun,jGvar) - [f,G] = snoptUserfun(w); - f = sparse(iAfun,jAvar,A,length(f),length(w))*w + f; - df = sparse(iAfun,jAvar,A,length(f),length(w)) + sparse(iGfun,jGvar,G,length(f),length(w)); -end - -function setSNOPTParam(options,paramstring,default) - str=paramstring(~isspace(paramstring)); - if (isfield(options,str)) - snset([paramstring,'=',num2str(getfield(options,str))]); - else - snset([paramstring,'=',num2str(default)]); - end -end diff --git a/systems/@HybridDrakeSystem/dircolSNOPTtranscription.m b/systems/@HybridDrakeSystem/dircolSNOPTtranscription.m deleted file mode 100644 index 01a86b31da49..000000000000 --- a/systems/@HybridDrakeSystem/dircolSNOPTtranscription.m +++ /dev/null @@ -1,272 +0,0 @@ -function [w0,wlow,whigh,Flow,Fhigh,A,iAfun,jAvar,iGfun,jGvar,userfun,wrapupfun,iname,oname] = dircolSNOPTtranscription(sys,costFun,finalCostFun,x0,utraj0,con,options) - - hybrid_options=options; % keep a backup - if (~isfield(con,'mode')) error('con.mode must be defined for HybridDrakeSystems'); end - for i=1:length(x0) - if (length(x0{i})~=sys.modes{con.mode{i}.mode_num}.getNumContStates()), error('x0 should NOT have the mode variable as the first element.'); end - end - for m=1:length(con.mode) - % todo: check here that utraj0{m} starts at t=0? - if (isfield(hybrid_options,'trajectory_cost_fun')) - options.trajectory_cost_fun = hybrid_options.trajectory_cost_fun{m}; - end - [w0{m},wlow{m},whigh{m},Flow{m},Fhigh{m},A{m},iAfun{m},jAvar{m},iGfun{m},jGvar{m},mode_userfun{m},mode_wrapup{m},mode_iname{m},mode_oname{m}] = dircolSNOPTtranscription(sys.modes{con.mode{m}.mode_num},costFun{m},finalCostFun{m},x0{m},utraj0{m},rmfield(con.mode{m},'mode_num'),options); - tOrig{m} = utraj0{m}.getBreaks(); - N(m) = length(w0{m}); - nT(m) = length(tOrig{m}); - nf(m) = length(Flow{m}); - if (m>1) - nf(m)=nf(m)-1; % don't duplicate cost function - Flow{1}(1)=Flow{1}(1)+Flow{m}(1); Flow{m} = Flow{m}(2:end); - Fhigh{1}(1)=Fhigh{1}(1)+Fhigh{m}(1); Fhigh{m} = Fhigh{m}(2:end); - njind = (iAfun{m}~=1); - iAfun{m}(njind) = iAfun{m}(njind)+sum(nf(1:m-1))-1; %subtract 1 to remove J ind - jAvar{m} = jAvar{m}+sum(N(1:m-1)); - njind = (iGfun{m}~=1); - iGfun{m}(njind) = iGfun{m}(njind)+sum(nf(1:m-1))-1; %subtract 1 to remove J ind - jGvar{m} = jGvar{m}+sum(N(1:m-1)); - mode_oname{m}=mode_oname{m}(2:end); - end - end - m=m+1; - [nf(m), A{m} ,iAfun{m} ,jAvar{m}, iGfun{m}, jGvar{m}, Fhigh{m}, Flow{m}, fsm_oname] = fsmObjFun_ind(sys,N,nT,con,options); - iAfun{m} = iAfun{m}+sum(nf(1:m-1)); - iGfun{m} = iGfun{m}+sum(nf(1:m-1)); - w0=cell2mat(w0'); wlow=cell2mat(wlow'); whigh=cell2mat(whigh'); Flow=cell2mat(Flow'); Fhigh=cell2mat(Fhigh'); A=cell2mat(A'); iAfun=cell2mat(iAfun'); jAvar=cell2mat(jAvar'); iGfun=cell2mat(iGfun'); jGvar=cell2mat(jGvar'); - - % handle additional constraints - for f=fieldnames(con)' - switch(f{1}) - case 'mode' - continue %handled above - case 'periodic' - continue %handled in fsmObjFun_ind - case 'u_const_across_transitions' - continue %handled in fsmObjFun_ind - otherwise - warning([f{1},' constraint not handled by hybrid dircol (at least not yet)']); - end - end - - userfun = @(w) dircol_userfun(sys,w,mode_userfun,tOrig,N,con,options); - wrapupfun = @(w) dircol_wrapup(sys,w,mode_wrapup,tOrig,N,con,options); - - if (options.grad_test) - iname = {}; oname = {}; - for i=1:length(con.mode), - for j=1:length(mode_iname{i}), - iname = {iname{:},['mode ',num2str(i),', ',mode_iname{i}{j}]}; - end - for j=1:length(mode_oname{i}), - oname = {oname{:},['mode ',num2str(i),', ',mode_oname{i}{j}]}; - end - end - oname = {oname{:},fsm_oname{:}}; - else - iname={}; - oname={}; - end - - - -end - -function [f,G] = dircol_userfun(sys,w,userfun,tOrig,N,con,options) - - ind = 0; - f=0; - G=[]; - for m=1:length(N) - [cf,cG] = userfun{m}(w(ind+(1:N(m)))); - ind = ind+N(m); - f(1) = f(1)+cf(1); % add costs - f = [f; cf(2:end)]; % tally up constraints - G = [G; cG]; - end - -% figure(1); clf; hold on; - - nX = sys.getNumContStates(); - nU = sys.getNumInputs(); - %% additional fsm constraints: - for m=1:length(N)-1 - from_mode = con.mode{m}.mode_num; - to_mode = con.mode{m+1}.mode_num; - nXm=sys.modes{from_mode}.getNumContStates();%This is the number of states in the prior mode,m for "minus" - nUm=sys.modes{from_mode}.getNumInputs();%Number of inputs in the prior mode - nXp=sys.modes{to_mode}.getNumContStates();%This is the number of states in the posterior mode, p for "plus" - nUp=sys.modes{to_mode}.getNumInputs();%This is the number of inputs in the posterior mode. - if (m>1) from_ind = sum(N(1:m-1)); else from_ind = 0; end - nT = length(tOrig{m}); - - % plot trajectory (this is just a debugging hack for the compass gait): -% x=reshape(w(from_ind+1+(1:nX*nT)),nX,nT); -% plot(x(1,:),x(3,:),'r'); -% plot(x(2,:),x(4,:),'b'); - - % final value for each mode (except the last) needs to have or(relevant zcs=0). not - % just any zc, but a zc that transitions me to the correct next node. - tscale = w(from_ind+1); - tc = tscale*tOrig{m}(end); - xc=w(from_ind+1+(nT-1)*nXm+(1:nXm));uc=w(from_ind+1+nT*nXm+(nT-1)*nUm+(1:nUm)); - zc = 1; dzc = zeros(1,1+nXm+nUm); % d/d[tscale,xc,uc] - min_g = inf; min_g_ind = 0; - for i=find(sys.target_mode{from_mode}==to_mode | sys.target_mode{from_mode}==0) - [g,dg] = geval(sys.guard{from_mode}{i},sys,tc,xc,uc,options); - dg(1) = dg(1)*tOrig{m}(end); - if (g1) from_ind = sum(N(1:m-1)); else from_ind = 0; end - iGfun = [iGfun; nf + ones(1+nXm+nUm,1)]; - jGvar = [jGvar; from_ind + [1,1+(nT(m)-1)*nXm+(1:nXm),1+nT(m)*nXm+(nT(m)-1)*nUm+(1:nUm)]']; - nf = nf + 1; - - % for debugging -% oname = {oname{:}, ['mode(',num2str(m),').xf zc']}; continue; - - % initial value for each mode (except the first) needs to equal final - % value of the previous after the transition update. - to_ind = from_ind+N(m); - iGfun = [iGfun; nf + reshape(repmat(1:nXp,1+nXm+nUm,1)',[],1); nf + (1:nXp)']; - jGvar = [jGvar; from_ind + reshape(repmat([1,1+(nT(m)-1)*nXm+(1:nXm),1+nT(m)*nXm+(nT(m)-1)*nUm+(1:nUm)],nXp,1),[],1); to_ind+1+(1:nXp)']; - nf = nf + nXp; - - if (options.grad_test) - oname = {oname{:}, ['mode ',num2str(m),', x(tf) zc']}; - for j=1:nX, - oname = {oname{:}, ['transition(mode ',num2str(m),', x_',num2str(j),'(tf)) - mode ',num2str(m+1),', x_',num2str(j),'(t0)']}; - end - end - end - Fhigh = zeros(nf,1); - Flow = Fhigh; - - if (isfield(con,'periodic') && con.periodic) - % then add linear constraints x0[i]=xf[i] and u0[i]=uf[i] - A = [A; repmat([1;-1],nX+nU,1)]; - iAfun = [iAfun; nf+reshape(repmat(1:(nX+nU),2,1),[],1)]; - x0ind = 1+(1:nX); xfind = sum(N)-nU*nT(end)-nX + (1:nX); - u0ind = 1+nX*nT(1)+(1:nU); ufind = sum(N)-nU + (1:nU); - jAvar = [jAvar; reshape([x0ind,u0ind; xfind,ufind],[],1)]; - Fhigh = [Fhigh; zeros(nX+nU,1)]; - Flow = [Flow; zeros(nX+nU,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.periodic_x',num2str(j)]}; end - for j=1:nU, oname= {oname{:},['con.periodic_u',num2str(j)]}; end - end - nf = nf + nX+nU; - end - - if (isfield(con,'u_const_across_transitions') && con.u_const_across_transitions) - for i=1:length(N)-1 - from_mode = con.mode{i}.mode_num; - to_mode = con.mode{i+1}.mode_num; - nXm=sys.modes{from_mode}.getNumContStates();%This is the number of states in the prior mode,m for "minus" - nUm=sys.modes{from_mode}.getNumInputs();%Number of inputs in the prior mode - nXp=sys.modes{to_mode}.getNumContStates();%This is the number of states in the posterior mode, p for "plus" - nUp=sys.modes{to_mode}.getNumInputs();%This is the number of inputs in the posterior mode. - A = [A; repmat([1;-1],nUm,1)]; - iAfun = [iAfun;nf+reshape(repmat(1:nUm,2,1),[],1)]; - u0ind = sum(N(1:i))+1+nXp*nT(i+1)+(1:nUp); - ufind = sum(N(1:(i-1)))+1+nXm*nT(i)+nUm*(nT(i)-1)+(1:nUm); - jAvar = [jAvar; reshape([u0ind'; ufind'],[],1)]; - Fhigh = [Fhigh; zeros(nUm,1)]; - Flow = [Flow; zeros(nUm,1)]; - if (nargout>5) - for j=1:nUm, oname= {oname{:},['(mode',num2str(i+1),'.uf - mode',num2str(i),'.u0)_',num2str(j)]}; end - end - nf = nf + nUm; - end - end - -end - -function [utraj,xtraj] = dircol_wrapup(sys,w,mode_wrapupfun,tOrig,N,con,options) - - t=0; - ind=0; - for m=1:length(N) - [utraj{m},mode_xtraj] = mode_wrapupfun{m}(w(ind +(1:N(m)))); - utraj{m} = shiftTime(utraj{m},t); - mode_xtraj = shiftTime(mode_xtraj,t); - - tnext=t+w(ind+1)*tOrig{m}(end); - ind = ind+N(m); - - mtraj=PPTrajectory(zoh([t tnext],repmat(con.mode{m}.mode_num,1,2))); - mode_numxc = sys.modes{con.mode{m}.mode_num}.getNumContStates(); - numxc = sys.getNumContStates(); - if (mode_numxc0) - error('not implemented yet (but should be very straightforward)'); -end - -ts = sys.getSampleTime(); -if (size(ts,2)>1 || any(ts~=0)) - warning('found non-continuous sample times. i''ll proceed assuming everything is continuous'); -% error('not implemented yet (but should be very straightforward)'); -end - -if isfield(options,'time') - t = options.time; -else - t = utraj0.getBreaks(); -end - -if ~isfield(options,'trimgrad') - options.trimgrad = 1; -end - -t=t(:); -nT = length(t); -tscale = ones(nT-1,1); % stretch time by this amount -u = utraj0.eval(t); - - -lambda = zeros(nL,length(t)); -cLambda = zeros(nC*2,length(t)); -clutch = zeros(nClutch,length(t)); - -if (strcmp(options.xtape0,'simulate')) - drivensys = cascade(utraj0,sys); - xtraj = simulate(drivensys,[t(1),t(end)],x0); - x = xtraj.eval(t); -elseif (strcmp(options.xtape0,'tape')) - if ~isfield(options,'xtrajOffset') - options.xtrajOffset = 0; - end - x = options.traj0.x.eval(t + options.xtrajOffset); - if (nClutch + nC + nL > 0) - fullLambda = options.traj0.lambda.eval(t + options.xtrajOffset); - lambda = fullLambda(1:nL,:); - cLambda = fullLambda(nL+1:nL+2*nC,:); - clutch = fullLambda(nL+2*nC+(1:nClutch),:); - end -else % options.xtape0='rand' or 'free' - x = repmat(x0,1,length(t));%+.1*randn(length(x0),length(t)); x(:,1) = x0; -end - -nJointLimitConst = sys.getNumJointLimitConstraints; - -%% Set up snopt inputs -w0 = [tscale; x(:); u(:); lambda(:); cLambda(:); clutch(:)]; -whigh = [ inf(size(tscale)); repmat(inf,prod(size(x)),1); repmat(inf,prod(size(u)),1); repmat(inf,prod(size(lambda)),1); repmat(inf,prod(size(cLambda)),1); repmat(1,prod(size(clutch)),1)]; -wlow = [ zeros(size(tscale)); repmat(-inf,prod(size(x)),1); repmat(-inf,prod(size(u)),1); repmat([zeros(nJointLimitConst,1);-inf(nL-nJointLimitConst,1)],nT,1); repmat([-inf;0],nC*length(t),1); repmat(0,prod(size(clutch)),1)]; -A=[]; -iAfun=[]; -jAvar=[]; - -% handle constraints - function conwarn(f1,f2) - if (iscell(f1)) f1 = f1{1}; end - if (nargin>1) - if (iscell(f2)) f2 = f2{1}; end - warning([f1,'.',f2,' constraint is not supported by dirtran (at least not yet)']); - else - warning([f1,' constraint is not supported by dirtran (at least not yet)']); - end - end - -for f1 = fieldnames(con)' - switch(f1{1}) - case 'x' - xind=nT-1+(1:prod(size(x))); - for f2 = fieldnames(con.x)' - switch(f2{1}) - case 'lb' - c = repmat(con.x.lb,nT,1); - wlow(xind) = max(wlow(xind),c); - case 'ub' - c = repmat(con.x.ub,nT,1); - whigh(xind) = min(whigh(xind),c); - case 'c' - % intentionally pass through... these get handled in the userfun - otherwise - conwarn(f1,f2); - end - end - case 'clambdai' - clind = nT-1+ nT*(nX + nU + nL) + 1 : nT-1+ nT*(nX + nU + nL + 2*nC); - - for f2 = fieldnames(con.clambdai)' - switch(f2{1}) - case 'ub' - indices = con.clambdai.ub.i; - windices = kron((indices(:)-1)*2*nC,ones(2*nC,1))+repmat((1:2*nC)',length(indices),1); - whigh(clind(windices)) = min(whigh(clind(windices)),con.clambdai.ub.clambdai(:)); - case 'lb' - indices = con.clambdai.lb.i; - windices = kron((indices(:)-1)*2*nC,ones(2*nC,1))+repmat((1:2*nC)',length(indices),1); - wlow(clind(windices)) = max(wlow(clind(windices)),con.clambdai.lb.clambdai(:)); - otherwise - conwarn(f1,f2); - end - end - case 'clutchi' - clutchind = nT-1+ nT*(nX + nU + nL + 2*nC) + 1 : nT-1+ nT*(nX + nU + nL + 2*nC + nClutch); - - for f2 = fieldnames(con.clutchi)' - switch(f2{1}) - case 'ub' - indices = con.clutchi.ub.i; - windices = kron((indices(:)-1)*nClutch,ones(nClutch,1))+repmat((1:nClutch)',length(indices),1); - whigh(clutchind(windices)) = min(whigh(clutchind(windices)),con.clutchi.ub.clutchi(:)); - otherwise - conwarn(f1,f2); - end - end - case 'x0' - for f2 = fieldnames(con.x0)' - switch(f2{1}) - case 'lb' - wlow(nT-1+ (1:nX)) = max(wlow(nT-1+ (1:nX)),con.x0.lb); - case 'ub' - whigh(nT-1+ (1:nX)) = min(whigh(nT-1+ (1:nX)),con.x0.ub); - case {'c','ceq'} - % intentionally pass through.. these get handled in the userfun - otherwise - conwarn(f1,f2); - end - end - case 'xf' - xfind = nT-1+ nX*(nT-1) + (1:nX); - for f2 = fieldnames(con.xf)' - switch(f2{1}) - case 'lb' - wlow(xfind) = max(wlow(xfind),con.xf.lb); - case 'ub' - whigh(xfind) = min(whigh(xfind),con.xf.ub); - case {'c','ceq'} - % intentionally pass through... these get handled in the userfun - otherwise - conwarn(f1,f2); - end - end - if strcmp(options.xtape0,'free') && all(wlow(xfind)==whigh(xfind)) % final value constraint - for i=1:nX - x(i,:) = linspace(x0(i),wlow(xfind(i)),nT); - end - w0(nT-1+(1:(nT*nX))) = x(:); - end - case 'u' - for f2 = fieldnames(con.u)' - uind = nT-1+ nX*nT + 1 : nT-1+ nX*nT + nU*nT; - switch(f2{1}) - case 'lb' - wlow(uind) = max(wlow(uind),repmat(con.u.lb,nT,1)); - case 'ub' - whigh(uind) = min(whigh(uind),repmat(con.u.ub,nT,1)); - otherwise - conwarn(f1,f2); - end - end - case 'u0' - for f2 = fieldnames(con.u0)' - uind = nT-1+ nX*nT + (1 : nU); - switch(f2{1}) - case 'lb' - wlow(uind) = max(wlow(uind),con.u0.lb); - case 'ub' - whigh(uind) = min(whigh(uind),con.u0.ub); - otherwise - conwarn(f1,f2); - end - end - case 'uf' - for f2 = fieldnames(con.uf)' - uind = nT-1+ nX*nT + nU*(nT-1) + (1 : nU); - switch(f2{1}) - case 'lb' - wlow(uind) = max(wlow(uind),con.uf.lb); - case 'ub' - whigh(uind) = min(whigh(uind),con.uf.ub); - otherwise - conwarn(f1,f2); - end - end - - case 'T' - case 'periodic' - case 'linperiodic' - case 'linperiodic_min' - case 'linperiodic_max' - case 'fixtime' - case 'noflight' - case 'betamult' - case 'alphamult' - % intentionally pass through. this is implemented in userfun_ind - otherwise - conwarn(f1); - end -end - -if (options.grad_test) - % print out the debugging key: - iname = {'tscale'}; - for i=1:nT, for j=1:nX, iname= {iname{:},['x_',num2str(j),'(',num2str(i),')']}; end, end - for i=1:nT, for j=1:nU, iname= {iname{:},['u_',num2str(j),'(',num2str(i),')']}; end, end - - [nf,A,iAfun,jAvar,iGfun,jGvar,Fhigh,Flow,oname] = userfun_grad_ind(sys,nT,nX,nU,nL,nC,nClutch,con,x,t,options); -else - [nf,A,iAfun,jAvar,iGfun,jGvar,Fhigh,Flow] = userfun_grad_ind(sys,length(t),nX,nU,nL,nC,nClutch,con,x,t,options); - iname={}; - oname={}; -end - -if options.trimgrad - if ~isfield(options,'grad_I') || ~isfield(options,'grad_skip') - options.grad_I = 1:length(iGfun); - options.grad_skip = []; - userfun = @(w) dirtran_userfun(sys,w,costFun,finalCostFun,t,nX,nU,nL,nC,nClutch,con,options); - % Lets try to remove some of these indices - GG = zeros(length(iGfun),100); - for i=1:100, - [~,GG(:,i)] = userfun(1e6*randn(size(w0))); - end - grad_I = find(sum(GG.^2,2) ~= 0); - grad_skip = find(sum(GG.^2,2) == 0); - - options.grad_I = grad_I; - options.grad_skip = grad_skip; - - userfun = @(w) dirtran_userfun(sys,w,costFun,finalCostFun,t,nX,nU,nL,nC,nClutch,con,options); - - fprintf('Checked and removed %d out of %d total sparse gradient elements\n',length(grad_skip),length(jGvar)); - else - fprintf('Removed %d out of %d total sparse gradient elements\n',length(options.grad_skip),length(jGvar)); - end - userfun = @(w) dirtran_userfun(sys,w,costFun,finalCostFun,t,nX,nU,nL,nC,nClutch,con,options); - jGvar = jGvar(options.grad_I); - iGfun = iGfun(options.grad_I); -else - options.grad_I = 1:length(iGfun); - options.grad_skip = []; - userfun = @(w) dirtran_userfun(sys,w,costFun,finalCostFun,t,nX,nU,nL,nC,nClutch,con,options); -end - -wrapupfun = @(w) dirtran_wrapup(sys,w,t,nX,nU,nL,nC,nClutch,options); -end - -function [f,G] = dirtran_userfun(sys,w,costFun,finalCostFun,tOrig,nX,nU,nL,nC,nClutch,con,options) - nT = length(tOrig); - t = [tOrig(1);zeros(nT-1,1)]; - for i=1:nT-1 - t(i+1) = t(i) + (tOrig(i+1) - tOrig(i))*w(i); - end - -% dtdw1 = tOrig; - dt = w(1:nT-1).*diff(tOrig); - ddtdw1 = diff(tOrig); - - x = reshape(w(nT-1+[1:(nT*nX)]),nX,nT); - u = reshape(w((nT+nT*nX):(nT-1+nT*nX+nT*nU)),nU,nT); - lambda = reshape(w((nT+nT*(nX+nU)):(nT-1+nT*(nX+nU+nL))),nL,nT); - cLambda = reshape(w((nT+nT*(nX+nU+nL)):(nT-1+nT*(nX+nU+nL+2*nC))),2*nC,nT); - clutch = reshape(w((nT+nT*(nX+nU+nL+2*nC)):(nT-1+nT*(nX+nU+nL+2*nC+nClutch))),nClutch,nT); - -% tcol = t(1:end-1)+dt/2; dtcoldw1 = dtdw1(1:end-1)+ddtdw1/2; -% ucol = .5*(u(:,1:end-1)+u(:,2:end)); -% -% figure(1); clf; plot(x(1,:),x(2,:)); drawnow; - - num_q = sys.num_positions; - %% todo: vectorize this when possible - - % preallocate vars - g = zeros(size(dt)); %cost over time - dg = zeros(1,1+nX+nU,nT-1); %cost gradient g(1,i,j) = dg(j)/dx(i) - d = zeros(nX+2*nL+5*nC,nT-1); %time derivative dy/dt at collocation point - dd = zeros(nX+2*nL+5*nC,1+2*nX+2*nU+2*nL+4*nC+2*nClutch,nT-1);%gradient of d at collocation point - - bxc = isfield(con,'x') && isfield(con.x,'c'); % eval boolean once (not repititively inside the loop) - fxc = []; Gxc=[]; - - % iterate through time - for i=1:(nT-1) % compute dynamics and cost - d_i = zeros(nX+2*nL+5*nC,1); - dd_i = zeros(nX+2*nL+5*nC,1+2*nX+2*nU+2*nL+4*nC+2*nClutch,1); -% dg_i = zeros(1+nX+nU,1); - - %Scale gradient dg(i)/dtscale by the original time (why?) -% dg(1,1,i)=dg(1,1,i)*dtdw1(i); % d/d[tscale; x(:,i); u(:,i)] - -% dg(1,:,i) = [g(i)*ddtdw1(i),zeros(1,nX+nU)]+dt(i)*dg(1,:,i); g(i) = g(i)*dt(i); - - cLMult = 100; - cMult = 1; - -% [H,dH] = sys.getH(x(1:num_q,i+1)); - % Backwards euler integration - k = 50; - clutch_var = clutch(:,i+1); - % clutch_var = 1./(1+exp(-2*k*(clutch(:,i+1)-.5))); %use step fun approximation - - % hack for fastrunner only -% if nClutch == 2 -% clutch_var(1) = (1-exp(-100*(cLambda(2)+cLambda(4)+cLambda(6)))); -% clutch_var(2) = (1-exp(-100*(cLambda(8)+cLambda(10)+cLambda(12)))); -% end - - [Hqddot, dHqddot, phi, psi, dPhi, dPsi, H, dH] = sys.implicitDynamics(t(i+1),x(:,i+1),u(:,i+1),lambda(:,i+1)*cMult,cLambda(:,i+1)*cLMult); - - dHqddot(:,(2+nX+nU):(1+nX+nU+nL)) = dHqddot(:,(2+nX+nU):(1+nX+nU+nL))*cMult; - dHqddot(:,(2+nX+nU+nL):(1+nX+nU+nL+2*nC)) = dHqddot(:,(2+nX+nU+nL):(1+nX+nU+nL+2*nC))*cLMult; - - -% dHqddot(:,(2+nX+nU+nL+2*nC):(1+nX+nU+nL+2*nC+nClutch)) = dHqddot(:,(2+nX+nU+nL+2*nC):(1+nX+nU+nL+2*nC+nClutch))*diag((2*k*exp(-2*k*(clutch(:,i+1)-.5)).*clutch_var.^2)); -% dHqddot(:,(2+nX+nU+nL+2*nC):(1+nX+nU+nL+2*nC+nClutch)) = dHqddot(:,(2+nX+nU+nL+2*nC):(1+nX+nU+nL+2*nC+nClutch))*0; - dqdot = x(num_q+1:end,i+1) - x(num_q+1:end,i); - % - d_i(1:num_q) = x(1:num_q,i) - x(1:num_q,i+1) + dt(i)*x(num_q+1:end,i+1); - dd_i(1:num_q,:) = [ddtdw1(i)*x(num_q+1:end,i+1) eye(num_q) ... - zeros(num_q,num_q+ nU+nL+2*nC+nClutch) -eye(num_q) dt(i)*eye(num_q) ... - zeros(num_q,nU+nL+2*nC+nClutch)]; - - -% d_i(1:num_q) = (x(1:num_q,i) - x(1:num_q,i+1))/dt(i) + x(num_q+1:end,i+1); -% dd_i(1:num_q,:) = [-ddtdw1(i)/(dt(i)^2)*(x(1:num_q,i) - x(1:num_q,i+1)) eye(num_q)/dt(i)... -% zeros(num_q,num_q+ nU+nL+2*nC+nClutch) -eye(num_q)/dt(i) eye(num_q) ... -% zeros(num_q,nU+nL+2*nC+nClutch)]; - - d_i(num_q+1:nX) = H*dqdot - dt(i)*Hqddot; - dd_i(num_q+1:num_q*2,:) = [-ddtdw1(i)*Hqddot zeros(num_q) -H zeros(num_q,nU+nL+2*nC+nClutch)... - matGradMult(dH(:,1:num_q),dqdot) H zeros(num_q,nU + nL+2*nC+nClutch)] - [zeros(num_q,1+nX+nU+nL+2*nC+nClutch) dt(i)*dHqddot(:,2:end)]; - - %trying a 1e3 scaling on dynamic constraint -% d_i(num_q+1:nX) = d_i(num_q+1:nX)*1e3; -% dd_i(num_q+1:num_q*2,:) = dd_i(num_q+1:num_q*2,:)*1e3; - -% d_i(num_q+1:nX) = 1/dt(i)*H*dqdot - Hqddot; -% dd_i(num_q+1:num_q*2,:) = [-ddtdw1(i)/(dt(i)^2)*H*dqdot zeros(num_q) -H/dt(i) zeros(num_q,nU+nL+2*nC+nClutch)... -% 1/dt(i)*matGradMult(dH,dqdot) H/dt(i) zeros(num_q,nU + nL+2*nC+nClutch)] - [zeros(num_q,1+nX+nU+nL+2*nC+nClutch) dHqddot(:,2:end)]; - - %position constraints - % if nL > 0 - % [phi,J] = geval(@sys.positionConstraints,x(1:num_q,i)); - % d(nX+1:nX+nL,i) = phi; - % dd(nX+1:nX+nL,:,i) = [zeros(nL,1) J zeros(nL,num_q+nU*2+nL*2+nX)]; - % end - - %contact constraints, currently assuming the ground normal is up and - %the ground is flat - if nC >0 -% [phi, psi, dPhi, dPsi] = sys.contactPositionsAndVelocities(x(1:num_q,i+1),x(num_q+1:end,i+1)); - for j=1:nC, - contactMult = 1;%1e-4; - %2 equality constraints first - % z-force(i) * z-height(i+1) = 0 (force only non-zero when height is zero) - d_i(nX+2*nL+1+(j-1)*5) = cLambda(2*j,i+1) * phi(2*j)*contactMult; - dd_i(nX+2*nL+1+(j-1)*5,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j) = phi(2*j)*contactMult; - dd_i(nX+2*nL+1+(j-1)*5,(1:num_q) + 1+nX+nU+nL+2*nC+nClutch) = cLambda(2*j,i+1) * dPhi(2*j,:)*contactMult; -% - % use (a - s(a-b,epsilon))^2 instead of complementarity where - % s(x,epsilon)=epsilon*log(1+exp(x/epsilon)) -% epsilon= .001; -% exponent = (cLambda(2*j,i+1)-phi(2*j))/epsilon; -% if exponent < 100 -% d_i(nX+2*nL+1+(j-1)*4) = (cLambda(2*j,i+1) - epsilon*log(1+exp((cLambda(2*j,i+1)-phi(2*j))/epsilon)))^2; -% dd_i(nX+2*nL+1+(j-1)*4,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j) = (2*(cLambda(2*j,i+1) - epsilon*log(exp((cLambda(2*j,i+1) - phi(2*j))/epsilon) + 1)))/(exp((cLambda(2*j,i+1) - phi(2*j))/epsilon) + 1); -% dd_i(nX+2*nL+1+(j-1)*4,(1:num_q) + 1+nX+nU+nL+2*nC+nClutch) = dPhi(2*j,:)*(2*exp((cLambda(2*j,i+1) - phi(2*j))/epsilon)*(cLambda(2*j,i+1) - epsilon*log(exp((cLambda(2*j,i+1) - phi(2*j))/epsilon) + 1)))/(exp((cLambda(2*j,i+1) - phi(2*j))/epsilon) + 1); -% else -% d_i(nX+2*nL+1+(j-1)*4) = phi(2*j)^2; -% dd_i(nX+2*nL+1+(j-1)*4,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j) = 0; -% dd_i(nX+2*nL+1+(j-1)*4,(1:num_q) + 1+nX+nU+nL+2*nC+nClutch) = 2*phi(2*j)*dPhi(2*j,:); -% end - - % use a + b - sqrt(a^2 + b^2) instead of complimentarity - % This does not seem great, essentially asymptotic behavior near - % alpha - % This function is also called the Fischer-Burmeister function -% d_i(nX+2*nL+1+(j-1)*4) = (cLambda(2*j,i+1) + phi(2*j) - sqrt(cLambda(2*j,i+1)^2 + phi(2*j)^2))*contactMult; -% dd_i(nX+2*nL+1+(j-1)*4,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j) = (1 - cLambda(2*j,i+1)/sqrt(cLambda(2*j,i+1)^2 + phi(2*j)^2))*contactMult; -% dd_i(nX+2*nL+1+(j-1)*4,(1:num_q) + 1+nX+nU+nL+2*nC+nClutch) = (dPhi(2*j,:) * (1 - phi(2*j)/sqrt(cLambda(2*j,i+1)^2 + phi(2*j)^2)))*contactMult; - - mu = 1; - % (xforce-mu*zforce)*(xforce+mu*zforce)*z-force*x-velocity = 0 - % x-vel must be zero if z-force is non-zero and the x-force is - % not at friction limits - % This equation needs to be updated for friction limits - - % this is going to be psi*(mu^2 lambda_z^2 - lambda_x^2) = 0 - d_i(nX+2*nL+2+(j-1)*5) = contactMult * psi(j) * (mu^2*cLambda(2*j,i+1)^2 - cLambda(2*j-1,i+1)^2); - dd_i(nX+2*nL+2+(j-1)*5,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j) = contactMult * psi(j) * 2*mu^2*cLambda(2*j,i+1); - dd_i(nX+2*nL+2+(j-1)*5,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j-1) = -2 * contactMult * psi(j) *cLambda(2*j-1,i+1); - dd_i(nX+2*nL+2+(j-1)*5,1+nX+nU+nL+2*nC+nClutch+(1:nX)) = contactMult * dPsi(j,:) * (mu^2*cLambda(2*j,i+1)^2 - cLambda(2*j-1,i+1)^2); - - %2 inequality constraints 0 <= d <= inf - d_i(nX+2*nL+3+(j-1)*5) = phi(2*j); %zheight >= 0 - dd_i(nX+2*nL+3+(j-1)*5,(1:num_q) + 1+nX+nU+nL+2*nC+nClutch) = dPhi(2*j,:); - - -% account for sliding friction possibility? - d_i(nX+2*nL+4+(j-1)*5) = mu^2*cLambda(2*j,i+1)^2 - cLambda(2*j-1,i+1)^2; %friction limit - dd_i(nX+2*nL+4+(j-1)*5,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j) = 2*mu^2*cLambda(2*j,i+1); - dd_i(nX+2*nL+4+(j-1)*5,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j-1) = -2*cLambda(2*j-1,i+1); - - %one more inequality, psi*lambdax <= 0 - d_i(nX+2*nL+5+(j-1)*5) = -cLambda(2*j-1,i+1) * psi(j); - dd_i(nX+2*nL+5+(j-1)*5,1+2*nX+2*nU+2*nL+2*nC+nClutch+2*j-1) = -psi(j); - dd_i(nX+2*nL+5+(j-1)*5,1+nX+nU+nL+2*nC+nClutch+(1:nX)) = -cLambda(2*j-1,i+1) * dPsi(j,:); - end - end - - %Unilateral position constraints - if nL > 0 - nJointLimitConst = sys.getNumJointLimitConstraints; - jointLimitMult = 10; - % Handle Joint Limit constraints first - if (nJointLimitConst > 0) - [phi,J] = sys.jointLimitConstraints(x(1:num_q,i+1)); - for j=1:nJointLimitConst, - d_i(nX+1+(j-1)*2) = lambda(j,i+1) * phi(j) * jointLimitMult; - dd_i(nX+1+(j-1)*2,1+2*nX+2*nU+nL+2*nC+nClutch+j) = phi(j) * jointLimitMult; - dd_i(nX+1+(j-1)*2,(1:num_q)+1+nX+nU+nL+2*nC+nClutch) = lambda(j,i+1) * J(j,:) * jointLimitMult; - - d_i(nX+2+(j-1)*2) = phi(j); - dd_i(nX+2+(j-1)*2,(1:num_q)+1+nX+nU+nL+2*nC+nClutch) = J(j,:); - end - end - - if (nL - nJointLimitConst) > 0 - % Handle position equality constraints - eqMult = 1; - [phi,J] = sys.positionConstraints(x(1:num_q,i+1)); - d_i(nX+nJointLimitConst*2+(1:nL-nJointLimitConst)) = phi*eqMult; - dd_i(nX+nJointLimitConst*2+(1:nL-nJointLimitConst),(1:num_q)+1+nX+nU+nL+2*nC+nClutch) = J*eqMult; - end - end - - if (bxc) - [c,dc] = geval(con.x.c,x(:,i),options); - fxc = [fxc; c(:)]; Gxc = [Gxc; dc(:)]; - end - - %Evaluate the cost function at the knot point i and gradient -% [g(i),dg_i] = geval(costFun,dt(i),x(:,i),u(:,i+1),options); - [g(i),dg_i] = costFun(dt(i),x(:,i),u(:,i+1),sys); - dg_i(1,1) = dg_i(1,1)*ddtdw1(i); - dg(1,:,i) = dg_i; - - d(:,i) = d_i; - dd(:,:,i) = dd_i; - end - - %endpoint position constraint - d_end = zeros(2*nL,1); - dd_end = zeros(2*nL,1+nX+nU+nL+2*nC); - - %Initial position constraints -% doKinematicsAndVelocities(sys.model,x(1:num_q,1),x(num_q+1:2*num_q)); - -% kinsol = doKinematics(sys,x(1:num_q,1)); - - %Unilateral position constraints - if nL > 0 - nJointLimitConst = sys.getNumJointLimitConstraints; - % Handle Joint Limit constraints first - if (nJointLimitConst > 0) - [phi,J] = sys.jointLimitConstraints(x(1:num_q,1)); - for j=1:nJointLimitConst, - d_end(1+(j-1)*2) = lambda(j,1) * phi(j); - dd_end(1+(j-1)*2,1+nX+nU+j) = phi(j); - dd_end(1+(j-1)*2,(1:num_q)+1) = lambda(j,1) * J(j,:); - - d_end(2+(j-1)*2) = phi(j); - dd_end(2+(j-1)*2,(1:num_q)+1) = J(j,:); - end - end - - if (nL - nJointLimitConst) > 0 - % Handle position equality constraints - [phi,J] = sys.positionConstraints(x(1:num_q,1)); - d_end(nJointLimitConst*2+(1:nL-nJointLimitConst)) = phi; - dd_end(nJointLimitConst*2+(1:nL-nJointLimitConst),(1:num_q)+1) = J; - end - end - -% if nL > 0 -% [phi,J] = geval(@sys.positionConstraints,x(1:num_q,nT)); -% d_end = phi; -% dd_end = [zeros(nL,1) J zeros(nL,num_q+nU+nL)]; -% elseif nC > 0 -% d_end = [zeros(4*nC,1)]; -% dd_end = [zeros(4*nC,1+nX+nU+nL+2*nC)]; -% else -% d_end = []; -% dd_end = []; -% end - [h,dh] = geval(finalCostFun,t(end),x(:,end),options); - - J = h + sum(g); - dJ = [dh(1)*ddtdw1'+reshape(dg(1,1,:),1,[]), reshape(dg(1,1+(1:nX),:),1,[]), dh(1,2:end),zeros(1,nU),reshape(dg(1,1+nX+(1:nU),:),1,[])]; - - % Add cost to tscale fvariance - tscale = w(1:nT-1); - mean_tscale = mean(tscale); - R_tscale = 100; - variance = sum((tscale - mean_tscale).^2); - g_var= R_tscale*variance/(mean_tscale^2); - dg_var = R_tscale*2*(tscale - mean_tscale)/(mean_tscale^2) + ... - -(2/(nT-1))*R_tscale*variance/(mean_tscale^3); - - J = J + g_var; - dJ(1:nT-1) = dJ(1:nT-1) + dg_var'; - - if (isfield(options,'trajectory_cost_fun') && ~isempty(options.trajectory_cost_fun)) - [Jtraj,dJtraj]=geval(options.trajectory_cost_fun,t,x,u,options); - J = J+Jtraj; - dJ(1) = dJ(1)+dJtraj(1:nT)*dtdw1; - dJ(2:end) = dJ(2:end)+dJtraj(nT-1+1:end); - end - -% d_time = t(end)-t(1); -% dd_time = ddtdw1; -% f = [J; d_time(:); d(:); d_end(:)]; -% G = [dJ(:); dd_time(:); dd(:); dd_end(:)]; -% replaced time with a linear constraint below -f = [J; 0; d(:); d_end(:)]; -G = [dJ(:); dd(:); dd_end(:)]; - - if (bxc) - % add xf - [c,dc] = geval(con.x.c,x(:,end),options); - fxc = [fxc; c(:)]; Gxc = [Gxc; dc(:)]; - - % put everything into the main f and G - f = [f; fxc]; - G = [G; Gxc]; - end - - if (isfield(con,'xf')) - if (isfield(con,'c')) - [c,dc] = geval(con.xf.c,x(:,end),options); - f = [f; c(:)]; G = [G; dc(:)]; - end - if (isfield(con.xf,'ceq')) - [c,dc] = geval(con.xf.ceq,x(:,end),options); - f = [f; c(:)]; G = [G; dc(:)]; - end - end - - if (isfield(con,'x0')) - if (isfield(con,'c')) - [c,dc] = geval(con.x0.c,x(:,1),options); - f = [f; c(:)]; G = [G; dc(:)]; - end - if (isfield(con.x0,'ceq')) - [c,dc] = geval(con.x0.ceq,x(:,1),options); - f = [f; c(:)]; G = [G; dc(:)]; - end - end - - if (isfield(con,'periodic') && con.periodic) - f = [f;zeros(nX+nU,1)]; % implemented as linear constraint below - end - - if (isfield(con,'fixtime') && con.fixtime == 1) - f = [f;zeros(nT-2,1)]; % implemented as linear constraint below - elseif (isfield(con,'fixtime') && con.fixtime == 2) - f = [f;zeros(floor((nT-1)/2)-1,1)]; % implemented as linear constraint below - end - - if (isfield(con,'noflight') && con.noflight) - f = [f;zeros(nT,1)]; % implemented as linear constraint below - end - - if (isfield(con,'linperiodic')) - f = [f;zeros(sum(sum(abs(con.linperiodic),2) > 0),1)]; % implemented as linear constraint below - end - - if any(G(options.grad_skip) ~= 0) - error('Whoops, somehow tried to skip a non-zero gradient element') - end - - G = G(options.grad_I); - -% pause(0); -end - -function [nf, A, iAfun, jAvar, iGfun, jGvar, Fhigh, Flow, oname] = userfun_grad_ind(sys,nT,nX,nU,nL,nC,nClutch,con,x,t,options) - % dJ: - nf = 1; - A = []; iAfun = []; jAvar = []; - iGfun = repmat(1,nT-1+nX*nT+nU*nT,1); - jGvar = (1:(nT-1+nX*nT+nU*nT))'; - oname{1} = 'J'; - - Fhigh = inf; Flow = -inf; - - %Time constraint - A = [A; reshape(diff(t),nT-1,1)]; - iAfun = [iAfun; repmat(2,nT-1,1)]; - jAvar = [jAvar;(1:nT-1)']; -% iGfun = [iGfun;repmat(2,nT-1,1)]; -% jGvar = [jGvar;(1:(nT-1))']; - Fhigh = [Fhigh; con.T.ub - t(1)];%/(t(end)-t(1))]; - Flow = [Flow; con.T.lb - t(1)];%/(t(end)-t(1))]; - - nf = nf + 1; - - % transcription constraints: - for i=1:(nT-1) - iGfun = [iGfun; nf+reshape(repmat(1:(nX+2*nL+5*nC),(1+2*nX+2*nU+2*nL+4*nC+2*nClutch),1)',[],1)]; - jGvar = [jGvar; reshape(repmat([... - i,... - nT-1+nX*(i-1)+(1:nX),... - nT-1+nX*nT+nU*(i-1)+(1:nU),... - nT-1+nX*nT+nU*nT+nL*(i-1)+(1:nL),... - nT-1+nX*nT+nU*nT+nL*nT+2*nC*(i-1)+(1:2*nC),... - nT-1+nX*nT+nU*nT+nL*nT+2*nC*nT+nClutch*(i-1)+(1:nClutch),... - nT-1+nX*i+(1:nX),... - nT-1+nX*nT+nU*i+(1:nU),... - nT-1+nX*nT+nU*nT+nL*i+(1:nL),... - nT-1+nX*nT+nU*nT+nL*nT+2*nC*i+(1:2*nC),... - nT-1+nX*nT+nU*nT+nL*nT+2*nC*nT+nClutch*i+(1:nClutch)],... - nX+2*nL+5*nC,1),[],1)]; - nf = nf+nX+2*nL+5*nC; - - if (nargout>8) - error('Second collocation constraint not updated for oname'); - for j=1:nX, oname= {oname{:},['d_',num2str(j),'(',num2str(i),')']}; end - end - end - alpha = .1*con.alphamult; - beta = .01*con.betamult; - %when switching to real friction limits, 0,0,inf,inf - %[alpha,inf] for joint limits - nJointLimitConst = sys.getNumJointLimitConstraints; - Fhigh = [Fhigh; repmat([zeros(nX,1);repmat([alpha;inf],nJointLimitConst,1);repmat([0;0],nL-nJointLimitConst,1);repmat([alpha;beta;inf;inf;inf],nC,1)],nT-1,1)]; - Flow = [Flow; repmat([zeros(nX,1);repmat([0;0],nL,1);repmat([0;-beta;0;0;0],nC,1)],nT-1,1)]; - - %Add initial state position constraints - iGfun = [iGfun; nf+reshape(repmat(1:(2*nL),(1+nX+nU+nL+2*nC),1)',[],1)]; - jGvar = [jGvar; reshape(repmat([1,nT-1+(1:nX),nT-1+nX*nT+(1:nU),... - nT-1+nX*nT+nU*nT+(1:nL),nT-1+nX*nT+nU*nT+nL*nT+(1:2*nC)],2*nL,1),[],1)]; - nf = nf + 2*nL; - Fhigh = [Fhigh; repmat([alpha;inf],nJointLimitConst,1); repmat([0;0],nL-nJointLimitConst,1)]; - Flow = [Flow; repmat([0;0],nL,1)]; - - %Add endpoint position and contact constraints -% i=nT; -% iGfun = [iGfun; nf+reshape(repmat(1:(2*nL+2*nC),(1+nX+nU+nL+2*nC),1)',[],1)]; -% jGvar = [jGvar; reshape(repmat([nT-1,nT-1+nX*(i-1)+(1:nX),nT-1+nX*nT+nU*(i-1)+(1:nU),... -% nT-1+nX*nT+nU*nT+nL*(i-1)+(1:nL),nT-1+nX*nT+nU*nT+nL*nT+2*nC*(i-1)+(1:2*nC)],nL+4*nC,1),[],1)]; -% nf = nf+2*nL+4*nC; -% -% Fhigh = [Fhigh;zeros(nL,1);repmat([alpha;beta;inf;inf],nC,1)]; -% Flow = [Flow;zeros(nL,1);repmat([0;-beta;0;0],nC,1)]; - - if (isfield(con,'x')) - if (isfield(con.x,'c')) - c = feval(con.x.c,x(:,end)); - n=length(c); - for i=1:nT - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; nT-1+nX*(i-1)+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh;zeros(n,1)]; - Flow = [Flow;repmat(-inf,n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.x(',num2str(i),').c_',num2str(j)]}; end - end - nf = nf+n; - end - end - end - - if (isfield(con,'xf')) - if (isfield(con.xf,'c')) - c = feval(con.xf.c,x(:,end)); - n=length(c); - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; nT-1+nX*(nT-1)+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh;zeros(n,1)]; - Flow = [Flow;repmat(-inf,n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.xf.c_',num2str(j)]}; end - end - nf = nf+n; - end - if (isfield(con.xf,'ceq')) - c = feval(con.xf.ceq,x(:,end)); - n=length(c); - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; nT-1+nX*(nT-1)+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh;zeros(n,1)]; - Flow = [Flow;zeros(n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.xf.ceq_',num2str(j)]}; end - end - nf = nf+n; - end - end - - if (isfield(con,'x0')) - if (isfield(con.x0,'c')) - c = feval(con.x0.c,x(:,1)); - n=length(c); - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; nT-1+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh,zeros(n,1)]; - Flow = [Flow,repmat(-inf,n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.x0.c_',num2str(j)]}; end - end - nf = nf+n; - end - if (isfield(con.x0,'ceq')) - c = feval(con.x0.ceq,x(:,1)); - n=length(c); - iGfun = [iGfun; nf+reshape(repmat((1:n)',1,nX),[],1)]; - jGvar = [jGvar; nT-1+reshape(repmat(1:nX,n,1),[],1)]; - Fhigh = [Fhigh;zeros(n,1)]; - Flow = [Flow;zeros(n,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.x0.ceq_',num2str(j)]}; end - end - nf = nf+n; - end - end - - if (isfield(con,'periodic') && con.periodic) - % then add linear constraints x0[i]=xf[i] and u0[i]=uf[i] - A = [A; repmat([1;-1],nX+nU,1)]; - iAfun = [iAfun; nf+reshape(repmat(1:(nX+nU),2,1),[],1)]; - x0ind = nT-1+(1:nX); xfind = nT-1+nX*(nT-1) + (1:nX); - u0ind = nT-1+nX*nT-1+(1:nU); ufind = nT-1+nX*nT+nU*(nT-1) + (1:nU); - jAvar = [jAvar; reshape([x0ind,u0ind; xfind,ufind],[],1)]; - Fhigh = [Fhigh; zeros(nX+nU,1)]; - Flow = [Flow; zeros(nX+nU,1)]; - if (nargout>5) - for j=1:nX, oname= {oname{:},['con.periodic_x',num2str(j)]}; end - for j=1:nU, oname= {oname{:},['con.periodic_u',num2str(j)]}; end - end - nf = nf + nX+nU; - end - - - %add constraints to fix dt(i) = dt(j) - if (isfield(con,'fixtime') && con.fixtime == 1) - for i=1:nT-2, - A = [A; 1; -1]; - iAfun = [iAfun; nf + 1; nf + 1]; - jAvar = [jAvar; i; i + 1]; - nf = nf + 1; - end - Fhigh = [Fhigh; zeros(nT-2,1)]; - Flow = [Flow; zeros(nT-2,1)]; - elseif (isfield(con,'fixtime') && con.fixtime == 2) - ndtPairs = floor((nT-1)/2); - for i=1:ndtPairs-1, - A = [A; 1; 1; -1; -1]; - iAfun = [iAfun; repmat(nf + 1,4,1)]; - jAvar = [jAvar; 2*i - 1; 2*i;2*i + 1; 2*i+2]; - nf = nf + 1; - end - Fhigh = [Fhigh; zeros(ndtPairs-1,1)]; - Flow = [Flow; zeros(ndtPairs-1,1)]; - end - - if (isfield(con,'noflight') && con.noflight) - for i=1:nT, - A = [A; ones(nC,1)]; - iAfun = [iAfun; (nf+1)*ones(nC,1)]; - jAvar = [jAvar; nT-1+nX*nT+nU*nT+nL*nT+2*nC*(i-1)+(2:2:2*nC)']; - nf = nf + 1; - end - Fhigh = [Fhigh; inf(nT,1)]; - Flow = [Flow; .1*ones(nT,1)]; - end - - if isfield(con,'linperiodic') - x0ind = nT-1+(1:nX); xfind = nT-1+nX*(nT-1) + (1:nX); - u0ind = nT-1+nX*nT+(1:nU); ufind = nT-1+nX*nT+nU*(nT-1) + (1:nU); - for i=1:size(con.linperiodic,1), - if sum(abs(con.linperiodic(i,:))) > 0 - A = [A; -1]; - iAfun = [iAfun; nf + 1]; - if i > nX - jAvar = [jAvar; u0ind(i-nX)]; - else - jAvar = [jAvar; x0ind(i)]; - end - for j=1:size(con.linperiodic,2), - if (con.linperiodic(i,j) ~= 0) - A = [A; con.linperiodic(i,j)]; - iAfun = [iAfun; nf + 1]; - if j > nX - jAvar = [jAvar; ufind(j-nX)]; - else - jAvar = [jAvar; xfind(j)]; - end - end - end - nf = nf + 1; - if isfield(con,'linperiodic_min') - Flow = [Flow; con.linperiodic_min(i)]; - else - Flow = [Flow; 0]; - end - if isfield(con,'linperiodic_max') - Fhigh = [Fhigh; con.linperiodic_max(i)]; - else - Fhigh = [Fhigh; 0]; - end - end - end - end - - if (isfield(con,'periodic') && con.periodic) - A = [A; repmat([-1; 1],nT-2,1)]; - iAfun = [iAfun; reshape(repmat(nf+1:nf+nT-2,2,1),[],1)]; - jAvar = [jAvar; reshape([1:nT-2;2:nT-1],[],1)]; - nf = nf + nT-2; - Fhigh = [Fhigh; zeros(nT-2,1)]; - Flow = [Flow; zeros(nT-2,1)]; - end -end - - -function [utraj,traj,trans_info] = dirtran_wrapup(sys,w,t,nX,nU,nL,nC,nClutch,options) -tOrig = t; -nT = length(t); -t = tOrig(1); -I = 1; -j = 1; -for i=1:nT-1 - if w(i) > 0 - t(j+1) = t(j) + (tOrig(j+1) - tOrig(j))*w(i); - I = [I;i+1]; - j = j+1; - end -end - - -x = reshape(w(nT-1+ (1:nT*nX)),nX,nT); -u = reshape(w((nT-1+ nT*nX + 1):(nT-1+nT*nX+nT*nU)),nU,nT); -lambda = reshape(w((nT-1+nT*(nX+nU)+1):(nT-1+nT*(nX+nU+nL))),nL,nT); -cLambda = reshape(w((nT-1+nT*(nX+nU+nL)+1):(nT-1+nT*(nX+nU+nL+2*nC))),2*nC,nT); -clutch = reshape(w((nT+nT*(nX+nU+nL+2*nC)):(nT-1+nT*(nX+nU+nL+2*nC+nClutch))),nClutch,nT); -lambda = [lambda;cLambda;clutch]; - -x = reshape(w(nT-1+[1:(nT*nX)]),nX,nT); -u = reshape(w((nT+nT*nX):(nT-1+nT*nX+nT*nU)),nU,nT); - -x = x(:,I); -u = u(:,I); -lambda = lambda(:,I); -if nU > 0 - utraj = PPTrajectory(foh(t,[u(:,2) u(:,2:end)])); -% utraj = PPTrajectory(foh(t,u)); - utraj = utraj.setOutputFrame(sys.getInputFrame); -else - utraj = []; -end -if (nC + nL == 0) - ltraj = []; -else - ltraj = PPTrajectory(foh(t,lambda)); -end -xtraj = PPTrajectory(foh(t,x)); -xtraj = xtraj.setOutputFrame(sys.getStateFrame); -% for i=1:nT -% xdot(:,i) = sys.dynamics(t(i),x(:,i),u(:,i)); -% end -% xtraj = PPTrajectory(pchipDeriv(t,x,xdot)); -traj.xtraj = xtraj; -traj.ltraj = ltraj; - -trans_info.grad_I = options.grad_I; -trans_info.grad_skip = options.grad_skip; - -end From e6a8cc6cc2bf8f08c25ddb0dc3b2b2ac2955735f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 12 Oct 2014 16:00:48 -0400 Subject: [PATCH 160/271] edits based on Hongkai's code review --- examples/Acrobot/AcrobotPlant.m | 4 ++-- examples/Airplane2D/@ObstacleField/ObstacleField.m | 2 +- examples/Airplane2D/runDircolWithObs.m | 2 +- examples/DoubleIntegrator.m | 4 ++-- examples/DubinsCar/DubinsPlant.m | 2 +- examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m | 2 +- solvers/Constraint.m | 5 ++++- systems/plants/test/testMassSpringDamperTrajOpt.m | 2 +- 8 files changed, 13 insertions(+), 10 deletions(-) diff --git a/examples/Acrobot/AcrobotPlant.m b/examples/Acrobot/AcrobotPlant.m index 9d1786e262e1..bc5afa9a2f47 100644 --- a/examples/Acrobot/AcrobotPlant.m +++ b/examples/Acrobot/AcrobotPlant.m @@ -130,10 +130,10 @@ g = sum((Q*xerr).*xerr + (R*u).*u,1); if (nargout>1) - dgdt = 0; + dgddt = 0; dgdx = 2*xerr'*Q; dgdu = 2*u'*R; - dg = [dgdt,dgdx,dgdu]; + dg = [dgddt,dgdx,dgdu]; end end diff --git a/examples/Airplane2D/@ObstacleField/ObstacleField.m b/examples/Airplane2D/@ObstacleField/ObstacleField.m index c41fbc4d4c57..fedd1d85c3e5 100644 --- a/examples/Airplane2D/@ObstacleField/ObstacleField.m +++ b/examples/Airplane2D/@ObstacleField/ObstacleField.m @@ -170,7 +170,7 @@ function draw(obj) % Adds the non-convex constraints for the ObstacleField to the % given NonlinearProgram % - % @param prog a NonlinearProgram + % @param prog a DirectTrajectoryOptimization % @retval prog the updated NonlinearProgram prog = prog.addStateConstraint(FunctionHandleConstraint(-inf(obj.number_of_obstacles,1),zeros(obj.number_of_obstacles,1),2,@(x)obj.obstacleConstraint(x)),1:prog.N,1:2); diff --git a/examples/Airplane2D/runDircolWithObs.m b/examples/Airplane2D/runDircolWithObs.m index 24ab30515b3e..43e2fe05e455 100644 --- a/examples/Airplane2D/runDircolWithObs.m +++ b/examples/Airplane2D/runDircolWithObs.m @@ -43,7 +43,7 @@ end - function [g,dg] = cost(t,x,u,field) + function [g,dg] = cost(dt,x,u,field) R = 0.0001; % minimize the max obstacle constraint diff --git a/examples/DoubleIntegrator.m b/examples/DoubleIntegrator.m index 1c590fb73b69..c729b2e656ab 100644 --- a/examples/DoubleIntegrator.m +++ b/examples/DoubleIntegrator.m @@ -90,11 +90,11 @@ function drawfun(J,PI) % add the initial value constraint x0 = [-2; -2]; - prog = addStateConstraint(prog,BoundingBoxConstraint(x0,x0),1); + prog = addStateConstraint(prog,ConstantConstraint(x0),1); % add the final value constraint xf = [0;0]; - prog = addStateConstraint(prog,BoundingBoxConstraint(xf,xf),N); + prog = addStateConstraint(prog,ConstantConstraint(xf),N); % add the cost function g(dt,x,u) = 1*dt prog = addRunningCost(prog,@(dt,x,u) dt); diff --git a/examples/DubinsCar/DubinsPlant.m b/examples/DubinsCar/DubinsPlant.m index e6fd2cbaf3d3..9e83ccecd1b2 100644 --- a/examples/DubinsCar/DubinsPlant.m +++ b/examples/DubinsCar/DubinsPlant.m @@ -39,7 +39,7 @@ prog = prog.addRunningCost(@cost); prog = prog.addFinalCost(@finalCost); - function [g,dg] = cost(t,x,u) + function [g,dg] = cost(dt,x,u) R = 0; g = u'*R*u; %g = sum((R*u).*u,1); diff --git a/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m b/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m index 9fca26a8b908..5b2bd0f592a0 100644 --- a/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m +++ b/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m @@ -188,7 +188,7 @@ end - function [g,dg] = cost(t,x,u) + function [g,dg] = cost(dt,x,u) R = 1; g = sum((R*u).*u,1); dg = [zeros(1,1+size(x,1)),2*u'*R]; diff --git a/solvers/Constraint.m b/solvers/Constraint.m index 5e05664c6f1f..9d9d8023d6f2 100644 --- a/solvers/Constraint.m +++ b/solvers/Constraint.m @@ -93,9 +93,12 @@ function checkGradient(obj,tol,varargin) % @param name -- A cell array, name{i} is the name string of i'th constraint % if name is a string, then the variables will be % named name1, name2, name3, etc. - if(~iscellstr(name)) + if(ischar(name)) name=cellfun(@(a) [name,num2str(a)],num2cell(1:obj.num_cnstr),'UniformOutput',false)'; end + if(~iscellstr(name)) + error('Drake:Constraint:name should be a cell array of string'); + end sizecheck(name,[obj.num_cnstr,1]); obj.name = name; end diff --git a/systems/plants/test/testMassSpringDamperTrajOpt.m b/systems/plants/test/testMassSpringDamperTrajOpt.m index 88b5b21d2178..f1a1432bf55e 100644 --- a/systems/plants/test/testMassSpringDamperTrajOpt.m +++ b/systems/plants/test/testMassSpringDamperTrajOpt.m @@ -32,7 +32,7 @@ end -function [g,dg] = cost(t,x,u) +function [g,dg] = cost(dt,x,u) R = eye(size(u,1)); g = u'*R*u; dg = [zeros(1, 1 + size(x,1)),2*u(:)']; From b86486bb2b170f30670338a982bfbf28bc41c5d0 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 12 Oct 2014 17:20:42 -0400 Subject: [PATCH 161/271] edits based on Andres' code review --- examples/DoubleIntegrator.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/DoubleIntegrator.m b/examples/DoubleIntegrator.m index c729b2e656ab..efefee2ee307 100644 --- a/examples/DoubleIntegrator.m +++ b/examples/DoubleIntegrator.m @@ -113,7 +113,7 @@ function displayStateTrajectory(t,x,u) end function runDircol - % Simple example of Direct Transcription trajectory optimization + % Simple example of Direct Collocation trajectory optimization % create the system plant = DoubleIntegrator; From 1dda5f0e3292256e7489babee679641db110ab06 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 13 Oct 2014 06:39:46 -0400 Subject: [PATCH 162/271] revert output argument order change in solveTraj --- examples/Acrobot/AcrobotPlant.m | 2 +- examples/Acrobot/test/testTrajOpt.m | 2 +- examples/Airplane2D/runDircol.m | 2 +- examples/Airplane2D/runDircolWithObs.m | 2 +- examples/CartPole/CartPolePlant.m | 2 +- examples/CompassGait/runDircolCycle.m | 2 +- examples/DubinsCar/DubinsPlant.m | 2 +- examples/Glider/dev/runDircolPerchingURDF.m | 2 +- examples/Glider/runDircolPerching.m | 2 +- examples/KneedCompassGait/dev/testNewTrajOpt.m | 2 +- examples/Pendulum/PendulumPlant.m | 2 +- examples/Quadrotor/runDircol.m | 2 +- examples/Quadrotor/runDircolWObs.m | 2 +- examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m | 2 +- .../ContactImplicitTrajectoryOptimization.m | 4 ++-- .../trajectoryOptimization/DirectTrajectoryOptimization.m | 6 +++--- .../trajectoryOptimization/HybridTrajectoryOptimization.m | 2 +- solvers/trajectoryOptimization/test/contactImplicitBrick.m | 2 +- systems/controllers/LQRTree.m | 2 +- systems/plants/test/testMassSpringDamperTrajOpt.m | 2 +- 20 files changed, 23 insertions(+), 23 deletions(-) diff --git a/examples/Acrobot/AcrobotPlant.m b/examples/Acrobot/AcrobotPlant.m index bc5afa9a2f47..022b27e9a8f3 100644 --- a/examples/Acrobot/AcrobotPlant.m +++ b/examples/Acrobot/AcrobotPlant.m @@ -110,7 +110,7 @@ for attempts=1:10 tic - [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); + [xtraj,utraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc if info==1, break; end end diff --git a/examples/Acrobot/test/testTrajOpt.m b/examples/Acrobot/test/testTrajOpt.m index d497b3bb7de6..fa5eb535d179 100644 --- a/examples/Acrobot/test/testTrajOpt.m +++ b/examples/Acrobot/test/testTrajOpt.m @@ -40,7 +40,7 @@ % traj_opt = traj_opt.addLinearStateConstraint(LinearConstraint(xf,xf,eye(4)),N); tic -[utraj,xtraj,z,F,info] = traj_opt.solveTraj(t_init,traj_init); +[xtraj,utraj,z,F,info] = traj_opt.solveTraj(t_init,traj_init); toc v = p.constructVisualizer(); diff --git a/examples/Airplane2D/runDircol.m b/examples/Airplane2D/runDircol.m index 7d82b9edbc56..6f29c3c44d37 100644 --- a/examples/Airplane2D/runDircol.m +++ b/examples/Airplane2D/runDircol.m @@ -33,7 +33,7 @@ traj_init.u = setOutputFrame(PPTrajectory(foh(t_init,randn(1,N))),getInputFrame(p)); tic - [utraj,xtraj,~,~,info]=solveTraj(prog,t_init,traj_init); + [xtraj,utraj,~,~,info]=solveTraj(prog,t_init,traj_init); toc end diff --git a/examples/Airplane2D/runDircolWithObs.m b/examples/Airplane2D/runDircolWithObs.m index 43e2fe05e455..86ab210d5bf7 100644 --- a/examples/Airplane2D/runDircolWithObs.m +++ b/examples/Airplane2D/runDircolWithObs.m @@ -34,7 +34,7 @@ prog = setSolverOptions(prog,'snopt','MajorOptimalityTolerance',1e-2); initial_guess.x = PPTrajectory(foh([0,tf0],[x0,xf])); tic -[utraj,xtraj,~,~,info]=solveTraj(prog,tf0,initial_guess); +[xtraj,utraj,~,~,info]=solveTraj(prog,tf0,initial_guess); toc if (nargout<1) diff --git a/examples/CartPole/CartPolePlant.m b/examples/CartPole/CartPolePlant.m index 42bad04f8a96..e33ce4d68403 100644 --- a/examples/CartPole/CartPolePlant.m +++ b/examples/CartPole/CartPolePlant.m @@ -106,7 +106,7 @@ traj_init.x = PPTrajectory(foh([0,tf0],[x0,xf])); for attempts=1:10 tic - [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); + [xtraj,utraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc if info==1, break; end end diff --git a/examples/CompassGait/runDircolCycle.m b/examples/CompassGait/runDircolCycle.m index 96f00ef55838..6e5a02fd726a 100644 --- a/examples/CompassGait/runDircolCycle.m +++ b/examples/CompassGait/runDircolCycle.m @@ -37,7 +37,7 @@ % traj_opt = traj_opt.setCheckGrad(true); % snprint('snopt.out'); tic -[utraj,xtraj,z,F,info] = solveTraj(traj_opt,t_init,traj_init); +[xtraj,utraj,z,F,info] = solveTraj(traj_opt,t_init,traj_init); toc if (nargout<1) v = CompassGaitVisualizer(p); diff --git a/examples/DubinsCar/DubinsPlant.m b/examples/DubinsCar/DubinsPlant.m index 9e83ccecd1b2..7a2f7321d6cc 100644 --- a/examples/DubinsCar/DubinsPlant.m +++ b/examples/DubinsCar/DubinsPlant.m @@ -56,7 +56,7 @@ info = 0; while (info~=1) tic - [utraj,xtraj,z,F,info] = prog.solveTraj(tf0); + [xtraj,utraj,z,F,info] = prog.solveTraj(tf0); toc end diff --git a/examples/Glider/dev/runDircolPerchingURDF.m b/examples/Glider/dev/runDircolPerchingURDF.m index 5eb31019fdf2..10bdf2271240 100644 --- a/examples/Glider/dev/runDircolPerchingURDF.m +++ b/examples/Glider/dev/runDircolPerchingURDF.m @@ -34,7 +34,7 @@ traj_init = struct(); end tic -[utraj,xtraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0,traj_init); +[xtraj,utraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0,traj_init); if (info~=1) infeasible_constraint_name, error('failed to find a trajectory'); end toc diff --git a/examples/Glider/runDircolPerching.m b/examples/Glider/runDircolPerching.m index fd7f69fe6aba..2394dd836428 100644 --- a/examples/Glider/runDircolPerching.m +++ b/examples/Glider/runDircolPerching.m @@ -23,7 +23,7 @@ prog = prog.addTrajectoryDisplayFunction(@plotDircolTraj); tic -[utraj,xtraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0); +[xtraj,utraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0); if (info~=1) infeasible_constraint_name, error('failed to find a trajectory'); end toc diff --git a/examples/KneedCompassGait/dev/testNewTrajOpt.m b/examples/KneedCompassGait/dev/testNewTrajOpt.m index 60ac0eded337..270957cd4143 100644 --- a/examples/KneedCompassGait/dev/testNewTrajOpt.m +++ b/examples/KneedCompassGait/dev/testNewTrajOpt.m @@ -83,7 +83,7 @@ traj_opt = traj_opt.setSolverOptions('snopt','MajorIterationsLimit',100); traj_opt = traj_opt.setSolverOptions('snopt','MinorIterationsLimit',200000); traj_opt = traj_opt.setSolverOptions('snopt','IterationsLimit',200000); -[utraj,xtraj,ltraj,ljltraj,z,F,info] = traj_opt.solveTraj(t_init,traj_init); +[xtraj,utraj,ltraj,ljltraj,z,F,info] = traj_opt.solveTraj(t_init,traj_init); function [f,df] = running_cost_fun(h,x,u) f = h*u'*u; diff --git a/examples/Pendulum/PendulumPlant.m b/examples/Pendulum/PendulumPlant.m index 425e9b56d652..8e239ac23275 100644 --- a/examples/Pendulum/PendulumPlant.m +++ b/examples/Pendulum/PendulumPlant.m @@ -100,7 +100,7 @@ info=0; while (info~=1) tic - [utraj,xtraj,z,F,info] = traj_opt.solveTraj(tf0,traj_init); + [xtraj,utraj,z,F,info] = traj_opt.solveTraj(tf0,traj_init); toc end end diff --git a/examples/Quadrotor/runDircol.m b/examples/Quadrotor/runDircol.m index 856dfc41d468..9a98d3dca904 100644 --- a/examples/Quadrotor/runDircol.m +++ b/examples/Quadrotor/runDircol.m @@ -32,7 +32,7 @@ info=0; while (info~=1) tic - [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); + [xtraj,utraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc end diff --git a/examples/Quadrotor/runDircolWObs.m b/examples/Quadrotor/runDircolWObs.m index e4b413110d42..b49075ad424f 100644 --- a/examples/Quadrotor/runDircolWObs.m +++ b/examples/Quadrotor/runDircolWObs.m @@ -56,7 +56,7 @@ prog = prog.setSolverOptions('snopt','majorfeasibilitytolerance',1e-2); tic -[utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); +[xtraj,utraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc %if (nargout<1) diff --git a/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m b/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m index 5b2bd0f592a0..1eea173de3c1 100644 --- a/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m +++ b/examples/UnderwaterAcrobot/UnderwaterAcrobotPlant.m @@ -182,7 +182,7 @@ for attempts=1:10 tic - [utraj,xtraj,z,F,info] = prog.solveTraj(tf0,traj_init); + [xtraj,utraj,z,F,info] = prog.solveTraj(tf0,traj_init); toc if info==1, break; end end diff --git a/solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m b/solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m index a5498c3463bf..c9c7f0ffeced 100644 --- a/solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/ContactImplicitTrajectoryOptimization.m @@ -265,8 +265,8 @@ df = [dfq;dfv]; end - function [utraj,xtraj,ltraj,ljltraj,z,F,info] = solveTraj(obj,t_init,traj_init) - [utraj,xtraj,z,F,info] = solveTraj@DirectTrajectoryOptimization(obj,t_init,traj_init); + function [xtraj,utraj,ltraj,ljltraj,z,F,info] = solveTraj(obj,t_init,traj_init) + [xtraj,utraj,z,F,info] = solveTraj@DirectTrajectoryOptimization(obj,t_init,traj_init); t = [0; cumsum(z(obj.h_inds))]; if obj.nC>0 ltraj = PPTrajectory(foh(t,reshape(z(obj.l_inds),[],obj.N))); diff --git a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m index 3ac3151a786e..0a74b86d7782 100644 --- a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m @@ -160,7 +160,7 @@ obj = addDisplayFunction(obj,@(z) display_fun(z(obj.h_inds),z(obj.x_inds),z(obj.u_inds))); end - function [utraj,xtraj,z,F,info,infeasible_constraint_name] = solveTraj(obj,t_init,traj_init) + function [xtraj,utraj,z,F,info,infeasible_constraint_name] = solveTraj(obj,t_init,traj_init) % Solve the nonlinear program and return resulting trajectory % @param t_init initial timespan for solution. can be a vector of % length obj.N specifying the times of each segment, or a scalar @@ -174,8 +174,8 @@ z0 = obj.getInitialVars(t_init,traj_init); [z,F,info,infeasible_constraint_name] = obj.solve(z0); - utraj = reconstructInputTrajectory(obj,z); - if nargout>1, xtraj = reconstructStateTrajectory(obj,z); end + xtraj = reconstructStateTrajectory(obj,z); + if nargout>1, utraj = reconstructInputTrajectory(obj,z); end end function z0 = getInitialVars(obj,t_init,traj_init) diff --git a/solvers/trajectoryOptimization/HybridTrajectoryOptimization.m b/solvers/trajectoryOptimization/HybridTrajectoryOptimization.m index 3dcad1dad702..09efff1b2a38 100644 --- a/solvers/trajectoryOptimization/HybridTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/HybridTrajectoryOptimization.m @@ -288,7 +288,7 @@ z0 = cell2mat(z0); end - function [utraj,xtraj,z,F,info] = solveTraj(obj,t_init,traj_init) + function [xtraj,utraj,z,F,info] = solveTraj(obj,t_init,traj_init) % Solve the nonlinear program and return resulting trajectory % @param t_init initial timespan for solution. can be a vector of % length obj.N specifying the times of each segment, or a scalar diff --git a/solvers/trajectoryOptimization/test/contactImplicitBrick.m b/solvers/trajectoryOptimization/test/contactImplicitBrick.m index 063485d2369d..97d499fa765f 100644 --- a/solvers/trajectoryOptimization/test/contactImplicitBrick.m +++ b/solvers/trajectoryOptimization/test/contactImplicitBrick.m @@ -54,7 +54,7 @@ function contactImplicitBrick(visualize,position_tol,velocity_tol) traj_init.x = xtraj; traj_init.l = ltraj; end - [utraj,xtraj,ltraj,~,z,F,info] = solveTraj(prog,tf,traj_init); + [xtraj,utraj,ltraj,~,z,F,info] = solveTraj(prog,tf,traj_init); end if visualize diff --git a/systems/controllers/LQRTree.m b/systems/controllers/LQRTree.m index 9484274a7dfb..61dad08ccf16 100644 --- a/systems/controllers/LQRTree.m +++ b/systems/controllers/LQRTree.m @@ -395,7 +395,7 @@ prog = prog.addStateConstraint(FunctionHandleConstraint(0,0,nX,@c.onTreeConstraint),nbreaks); prog = prog.addRunningCost(@(t,x,u)trajCost(t,x,u,.01)); prog = prog.addFinalCost(@trajFinalCost); - [utraj,xtraj,~,~,info] = prog.solveTraj(tf0); + [xtraj,utraj,~,~,info] = prog.solveTraj(tf0); if (info~=1) % failed to find a trajectory if (all(info~=[3,13,32])) [str,cat] = snoptInfo(info); diff --git a/systems/plants/test/testMassSpringDamperTrajOpt.m b/systems/plants/test/testMassSpringDamperTrajOpt.m index f1a1432bf55e..ff1573b1e902 100644 --- a/systems/plants/test/testMassSpringDamperTrajOpt.m +++ b/systems/plants/test/testMassSpringDamperTrajOpt.m @@ -20,7 +20,7 @@ info = 0; for attempts=1:10, tic - [utraj,xtraj,~,~,info] = prog.solveTraj(tf0); + [xtraj,utraj,~,~,info] = prog.solveTraj(tf0); toc if info==1, break; end end From 2b5d4abadffa5b7db846ea2810c9a208f5617d18 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 13 Oct 2014 06:51:44 -0400 Subject: [PATCH 163/271] take geval back out of direct traj opt methods --- examples/DoubleIntegrator.m | 10 ++++++++-- .../DircolTrajectoryOptimization.m | 4 ++-- .../DirtranTrajectoryOptimization.m | 2 +- 3 files changed, 11 insertions(+), 5 deletions(-) diff --git a/examples/DoubleIntegrator.m b/examples/DoubleIntegrator.m index efefee2ee307..0abb13aeb2f2 100644 --- a/examples/DoubleIntegrator.m +++ b/examples/DoubleIntegrator.m @@ -97,7 +97,10 @@ function drawfun(J,PI) prog = addStateConstraint(prog,ConstantConstraint(xf),N); % add the cost function g(dt,x,u) = 1*dt - prog = addRunningCost(prog,@(dt,x,u) dt); + function [g,dg] = cost(dt,x,u) + g = dt; dg = [1,0*x',0*u']; % see geval.m for our gradient format + end + prog = addRunningCost(prog,@cost); % add a display function to draw the trajectory on every iteration function displayStateTrajectory(t,x,u) @@ -132,7 +135,10 @@ function displayStateTrajectory(t,x,u) prog = addStateConstraint(prog,BoundingBoxConstraint(xf,xf),N); % add the cost function g(dt,x,u) = 1*dt - prog = addRunningCost(prog,@(dt,x,u) dt); + function [g,dg] = cost(dt,x,u) + g = dt; dg = [1,0*x',0*u']; % see geval.m for our gradient format + end + prog = addRunningCost(prog,@cost); % add a display function to draw the trajectory on every iteration function displayStateTrajectory(t,x,u) diff --git a/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m b/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m index 8b294ee719e9..bcc21e137a2a 100644 --- a/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DircolTrajectoryOptimization.m @@ -135,13 +135,13 @@ methods (Access = protected) function [f,df] = running_fun_end(obj,running_handle,h,x,u) - [f,dg] = geval(running_handle,.5*h,x,u); + [f,dg] = running_handle(.5*h,x,u); df = [.5*dg(:,1) dg(:,2:end)]; end function [f,df] = running_fun_mid(obj,running_handle,h0,h1,x,u) - [f,dg] = geval(running_handle,.5*(h0+h1),x,u); + [f,dg] = running_handle(.5*(h0+h1),x,u); df = [.5*dg(:,1) .5*dg(:,1) dg(:,2:end)]; end diff --git a/solvers/trajectoryOptimization/DirtranTrajectoryOptimization.m b/solvers/trajectoryOptimization/DirtranTrajectoryOptimization.m index 9b139bad91dd..0d2d22aab570 100644 --- a/solvers/trajectoryOptimization/DirtranTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DirtranTrajectoryOptimization.m @@ -126,7 +126,7 @@ function [f,df] = midpoint_running_fun(obj,running_handle,h,x0,x1,u0,u1) nX = obj.plant.getNumStates(); nU = obj.plant.getNumInputs(); - [f,dg] = geval(running_handle,h,.5*(x0+x1),.5*(u0+u1)); + [f,dg] = running_handle(h,.5*(x0+x1),.5*(u0+u1)); df = [dg(:,1) .5*dg(:,2:1+nX) .5*dg(:,2:1+nX) .5*dg(:,2+nX:1+nX+nU) .5*dg(:,2+nX:1+nX+nU)]; end From c4a67dabb3088812a861a76d90d74759cdc2b279 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 13 Oct 2014 11:39:20 -0400 Subject: [PATCH 164/271] avoid singular rpys in geom conversion test --- util/test/testGeometryConversionFunctionsComparison.m | 2 +- util/uniformlyRandomNonsingularRPY.m | 9 +++++++++ 2 files changed, 10 insertions(+), 1 deletion(-) create mode 100644 util/uniformlyRandomNonsingularRPY.m diff --git a/util/test/testGeometryConversionFunctionsComparison.m b/util/test/testGeometryConversionFunctionsComparison.m index 8567efbc9e49..4f69d7408feb 100644 --- a/util/test/testGeometryConversionFunctionsComparison.m +++ b/util/test/testGeometryConversionFunctionsComparison.m @@ -7,7 +7,7 @@ function testGeometryConversionFunctionsComparison() nq = 15; for i = 1 : 100 - q = uniformlyRandomQuat(); + q = rpy2quat(uniformlyRandomNonsingularRPY()); dq = randn(numel(q), nq); [omega2qd, domega2qd, omega2rpyd, domega2rpyd, ddomega2rpyd, rpyd2omega, qd2omega, dqd2omega, dq2R, drpydR, dqdR] = testGeometryConversionFunctionsmex(q, dq); diff --git a/util/uniformlyRandomNonsingularRPY.m b/util/uniformlyRandomNonsingularRPY.m new file mode 100644 index 000000000000..3ebbaaccd7c2 --- /dev/null +++ b/util/uniformlyRandomNonsingularRPY.m @@ -0,0 +1,9 @@ +function rpy = uniformlyRandomNonsingularRPY() +% via rejection sampling + +rpy = uniformlyRandomRPY(); +while abs(abs(rpy(2)) - pi / 2) < 0.15 % then i'm close to the singularity + rpy = uniformlyRandomRPY(); +end + +end \ No newline at end of file From eaa225c2dddc00d073e2df7b4556ee4871074491 Mon Sep 17 00:00:00 2001 From: Hongkai Dai Date: Tue, 14 Oct 2014 10:18:43 -0400 Subject: [PATCH 165/271] change testIK tolerance on gaze constraint. delete testIKGaze --- examples/Atlas/test/testIKGaze.m | 114 ------------------------------- systems/plants/test/testIK.m | 12 ++-- 2 files changed, 6 insertions(+), 120 deletions(-) delete mode 100644 examples/Atlas/test/testIKGaze.m diff --git a/examples/Atlas/test/testIKGaze.m b/examples/Atlas/test/testIKGaze.m deleted file mode 100644 index 42cd9ddebce9..000000000000 --- a/examples/Atlas/test/testIKGaze.m +++ /dev/null @@ -1,114 +0,0 @@ -function testIKGaze - -path_handle = addpathTemporary(fullfile(getDrakePath,'examples','Atlas')); - -options.floating = true; -options.dt = 0.001; -r = RigidBodyManipulator('../urdf/atlas_minimal_contact.urdf',options); -v = r.constructVisualizer(); - -cost = Point(r.getStateFrame,1); -cost.base_x = 0; -cost.base_y = 0; -cost.base_z = 0; -cost.base_roll = 1000; -cost.base_pitch = 1000; -cost.base_yaw = 1000; -cost.back_bky = 100; -cost.back_bkx = 100; -options = struct(); -cost = double(cost); -options.Q = diag(cost(1:r.getNumPositions)) + 10*eye(34); - -options.use_mex = false; - -% set initial state to fixed point -load('../data/atlas_fp.mat'); - -q0 = xstar(1:r.getNumPositions); - -% q = inverseKin(r,q0,options); -% qmex = inverseKin(r,q0,mexoptions); -% valuecheck(qmex,q,1e-5); -% v.draw(0,[q;0*q]); drawnow; - -for i=1:1, -%DEFAULT CHECK - -r_foot = r.findLinkInd('r_foot'); -head = r.findLinkInd('head'); -head_con.type = 'gaze'; -head_con.gaze_axis = [1;0;0]; -head_con.gaze_orientation = rpy2quat([randn/10;randn/10;randn/2]*0); -head_con.gaze_orientation = rpy2quat([0;0;pi/2]); -[q_seed,q_nom,constraint,ikoptions] = inverseKinWrapup(r,q0,0,[0;0;.95],r_foot,[0;0;0],[0;-.1;.2],head,[],head_con,options); -[q,info] = inverseKin(r,q_seed,q_nom,constraint{:},ikoptions); -kinsol = r.doKinematics(q); -xhead = r.forwardKin(kinsol,head,zeros(3,1),2); -Rhead = quat2rotmat(quatDiff(head_con.gaze_orientation,xhead(4:7))); - -head_err = head_con.gaze_axis'*Rhead*head_con.gaze_axis; -valuecheck(head_err,1,1e-5); -v.draw(1,[q;0*q]); drawnow; - -% CHECK GAZE AXIS -head_con5.type = 'gaze'; -head_con5.gaze_axis = [1;0;0]; -head_con5.gaze_dir = [randn;randn;0]; -[q_seed,q_nom,constraint,ikoptions] = inverseKinWrapup(r,q0,0,[0;0;.95],r_foot,[0;0;0],[0;-.1;.2],head,[],head_con5,options); -[q,info] = inverseKin(r,q_seed,q_nom,constraint{:},ikoptions); -v.draw(1,[q;0*q]); drawnow; - - -% CHECK GAZING OFF IN SPACE -head_con4.type = 'gaze'; -head_con4.gaze_axis = [1;0;0]; -head_con4.gaze_target = [2*randn;2*randn;0]; %look at the ground -[q_seed,q_nom,constraint,ikoptions] = inverseKinWrapup(r,q0,0,[0;0;.95],r_foot,[0;0;0],[0;-.1;.2],head,[],head_con4,options); -[q,info] = inverseKin(r,q_seed,q_nom,constraint{:},ikoptions); -v.draw(1,[q;0*q]); drawnow; - -kinsol = r.doKinematics(q); -xhead = r.forwardKin(kinsol,head,zeros(3,1),2); -% Rhead = quat2rotmat(quatDiff(head_con4.gaze_orientation,xhead(4:7))); - -% CHECK WITH CONE CONSTRAINT -head_con2 = head_con; -head_con2.gaze_conethreshold = .2; -[q_seed,q_nom,constraint,ikoptions] = inverseKinWrapup(r,q0,0,[0;0;.95],r_foot,[0;0;0],[0;-.1;.2],head,[],head_con2,options); -[q,info] = inverseKin(r,q_seed,q_nom,constraint{:},ikoptions); - -kinsol = r.doKinematics(q); -xhead = r.forwardKin(kinsol,head,zeros(3,1),2); -Rhead = quat2rotmat(quatDiff(head_con2.gaze_orientation,xhead(4:7))); - -head_err = head_con2.gaze_axis'*Rhead*head_con2.gaze_axis; -rangecheck(head_err,cos(head_con2.gaze_conethreshold) - 1e5,1 + 1e5); -v.draw(1,[q;0*q]); drawnow; - -% CHECK WITH THRESHOLD -% Some desired gaze orientations are infeasible, so loop till we get a -% feasible one. It doesn't make sense to check solver error if the -% solver tells you it couldn't find a solution -info = Inf; -while info > 10 - head_con3 = head_con; - head_con3.gaze_orientation = rpy2quat([randn/10;randn/10;randn]); - disp(head_con3.gaze_orientation); - head_con3.gaze_threshold = .5; - [q_seed,q_nom,constraint,ikoptions] = inverseKinWrapup(r,q0,0,[0;0;.95],r_foot,[0;0;0],[0;-.1;.2],head,[],head_con3,options); - [q,info] = inverseKin(r,q_seed,q_nom,constraint{:},ikoptions); -end - -kinsol = r.doKinematics(q); -xhead = r.forwardKin(kinsol,head,zeros(3,1),2); -qdiff = quatDiff(head_con3.gaze_orientation,xhead(4:7)); -Rhead = quat2rotmat(qdiff); - -head_err = head_con3.gaze_axis'*Rhead*head_con3.gaze_axis; -valuecheck(head_err,1,1e-4); - -rangecheck(qdiff(1),cos(head_con3.gaze_threshold/2) - 1e5, 1 + 1e5); -v.draw(1,[q;0*q]); drawnow; - -end diff --git a/systems/plants/test/testIK.m b/systems/plants/test/testIK.m index d096ee2c0895..7699aea2c87c 100644 --- a/systems/plants/test/testIK.m +++ b/systems/plants/test/testIK.m @@ -234,7 +234,7 @@ rhand_pos = forwardKin(robot,kinsol,r_hand,[0 1;0 0;0 0],0); rhand_gaze_vec = rhand_pos(:,2)-rhand_pos(:,1); rhand_gaze_des = quat2rotmat([0.5;0.5;-0.5;0.5])*[1;0;0]; -if(acos(rhand_gaze_vec'*rhand_gaze_des)>0.1*pi+1e-5) +if(acos(rhand_gaze_vec'*rhand_gaze_des)>0.1*pi+1e-4) error('Gaze conethreshold does not satisfy'); end display('Check IK pointwise with gaze orientation'); @@ -245,7 +245,7 @@ rhand_pos = forwardKin(robot,kinsol,r_hand,[0 1;0 0;0 0],0); rhand_gaze_vec = rhand_pos(:,2)-rhand_pos(:,1); rhand_gaze_des = quat2rotmat([0.5;0.5;-0.5;0.5])*[1;0;0]; - if(acos(rhand_gaze_vec'*rhand_gaze_des)>0.1*pi+1e-5) + if(acos(rhand_gaze_vec'*rhand_gaze_des)>0.1*pi+1e-4) error('Gaze conethreshold does not satisfy'); end end @@ -257,7 +257,7 @@ kinsol = doKinematics(robot,q); lhand_pos = forwardKin(robot,kinsol,l_hand,[0 1;0 0;0 0],0); lhand_gaze_vec = lhand_pos(:,2)-lhand_pos(:,1); -if(acos(lhand_gaze_vec'*[1;0;0])>0.4*pi+1e-5) +if(acos(lhand_gaze_vec'*[1;0;0])>0.4*pi+1e-4) error('Gaze conethreshold does not satisfy'); end display('Check IK pointwise with gaze direction Constraint'); @@ -267,7 +267,7 @@ kinsol = doKinematics(robot,q(:,i)); lhand_pos = forwardKin(robot,kinsol,l_hand,[0 1;0 0;0 0],0); lhand_gaze_vec = lhand_pos(:,2)-lhand_pos(:,1); - if(acos(lhand_gaze_vec'*[1;0;0])>0.4*pi+1e-5) + if(acos(lhand_gaze_vec'*[1;0;0])>0.4*pi+1e-4) error('Gaze conethreshold does not satisfy'); end end @@ -284,7 +284,7 @@ head_gaze_vec = head_pos(:,2)-head_pos(:,1); head_gaze_des = gaze_target-head_pos(:,1); head_gaze_des = head_gaze_des/norm(head_gaze_des); -if(acos(head_gaze_vec'*head_gaze_des)>0.1*pi+1e-5) +if(acos(head_gaze_vec'*head_gaze_des)>0.1*pi+1e-4) error('Does not satisfy conethreshold constraint'); end display('Check IK pointwise with gaze target constraint'); @@ -296,7 +296,7 @@ head_gaze_vec = head_pos(:,2)-head_pos(:,1); head_gaze_des = gaze_target-head_pos(:,1); head_gaze_des = head_gaze_des/norm(head_gaze_des); - if(acos(head_gaze_vec'*head_gaze_des)>0.1*pi+1e-5) + if(acos(head_gaze_vec'*head_gaze_des)>0.1*pi+1e-4) error('Does not satisfy conethreshold constraint'); end end From b017d80b7b35d631df08b6818d9bb3b7a61b03b7 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Tue, 14 Oct 2014 21:16:24 -0400 Subject: [PATCH 166/271] more robust double pend visualizer --- examples/SimpleDoublePendulum/DoublePendVisualizer.m | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/examples/SimpleDoublePendulum/DoublePendVisualizer.m b/examples/SimpleDoublePendulum/DoublePendVisualizer.m index 0116edf13b81..c24623644e19 100644 --- a/examples/SimpleDoublePendulum/DoublePendVisualizer.m +++ b/examples/SimpleDoublePendulum/DoublePendVisualizer.m @@ -15,19 +15,9 @@ end function draw(obj,t,x) - persistent hFig l1=obj.l1; l2=obj.l2; m1=obj.m1; m2=obj.m2; scale=0.1; - if (isempty(hFig)) - hFig = sfigure(32); - set(hFig,'DoubleBuffer','on'); - end - - sfigure(hFig); - clf; - hold on; - x1 = l1*[sin(x(1)); -cos(x(1))]; x2 = x1 + l2*[sin(x(1)+x(2)); -cos(x(1)+x(2))]; @@ -41,10 +31,8 @@ function draw(obj,t,x) l = 1.2*(l1+l2); axis equal; axis([-l l -l l]) - hold off; title(['t = ', num2str(t,'%0.2f')]); - drawnow; end end From 7176e7e10429f30b2e76b6b0e78dce5b0e00c4d4 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 15 Oct 2014 05:02:25 -0400 Subject: [PATCH 167/271] minor tweaks from lecture 11 --- examples/Glider/runDircolPerching.m | 12 +- examples/RimlessWheel/RimlessWheelPlant.m | 15 +- examples/VanDerPol.m | 2 +- examples/dev/kneedCompassGait.m | 319 ++++++++++++++++++++++ 4 files changed, 340 insertions(+), 8 deletions(-) create mode 100644 examples/dev/kneedCompassGait.m diff --git a/examples/Glider/runDircolPerching.m b/examples/Glider/runDircolPerching.m index 2394dd836428..d3548976861a 100644 --- a/examples/Glider/runDircolPerching.m +++ b/examples/Glider/runDircolPerching.m @@ -22,10 +22,14 @@ prog = prog.addTrajectoryDisplayFunction(@plotDircolTraj); -tic -[xtraj,utraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0); -if (info~=1) infeasible_constraint_name, error('failed to find a trajectory'); end -toc +for i=1:5 + tic + [xtraj,utraj,z,F,info,infeasible_constraint_name] = prog.solveTraj(tf0); + toc + if info==1, break; end +end +if info~=1, error('Failed to find a trajectory'); end + if (nargout<1) figure(1) diff --git a/examples/RimlessWheel/RimlessWheelPlant.m b/examples/RimlessWheel/RimlessWheelPlant.m index 5f5fb5a07e3c..22cabf9b8a65 100644 --- a/examples/RimlessWheel/RimlessWheelPlant.m +++ b/examples/RimlessWheel/RimlessWheelPlant.m @@ -52,12 +52,21 @@ end methods (Static) - function run() + function run(w0) + % @param w0 optional initial condition (with theta = gamma-alpha) + % Nice values to try: + % w0 = 5,10,.95,-5, or -4.8 + r = RimlessWheelPlant(); v = RimlessWheelVisualizer(r); -% v.axis = [0 10 -1 2]; - xtraj = simulate(r,[0 10]); + if nargin<1, w0 = 20*randn(); end + x0 = [1; r.gamma - r.alpha; w0; 0]; + + v.axis = [-5 10 -1 3]; + w = warning('off','Drake:DynamicalSystem:SuccessiveZeroCrossings'); + xtraj = simulate(r,[0 10],x0); + warning(w); playback(v,xtraj); end end diff --git a/examples/VanDerPol.m b/examples/VanDerPol.m index 529d7c3e7f2e..f6128938932b 100644 --- a/examples/VanDerPol.m +++ b/examples/VanDerPol.m @@ -62,7 +62,7 @@ function phasePortrait() h=fnplt(x); set(h,'Color',MITred); xa = x.eval(tf-.02); xb=x.eval(tf); - axisAnnotation('arrow',[xa(1),xb(1)],[xa(2),xb(2)],'Color',MITred,'HeadWidth',50,'HeadLength',50); + axisAnnotation('arrow',[xa(1),xb(1)],[xa(2),xb(2)],'Color',MITred,'HeadWidth',200,'HeadLength',150); drawnow; end axis([-2.5,2.5,-3,3]); diff --git a/examples/dev/kneedCompassGait.m b/examples/dev/kneedCompassGait.m new file mode 100644 index 000000000000..39abd29063ab --- /dev/null +++ b/examples/dev/kneedCompassGait.m @@ -0,0 +1,319 @@ +function kneedCompassGait(X0) + +% KneedCompassGait +% This function simulates the passive 5-link compass gait model +% described in Hsu07 +% +% This code was written by Russ Tedrake . Please +% acknowlege that fact if you find this code useful. Feel free to +% email me with questions or comments. + + global g mh ml ms lt ls l a1 a2 b1 b2 gamma; + + g = 9.8; + lt = .5; + ls = .5; + l = ls + lt; + gamma = asin(7.25/144); + + linkR = [.4;.7]; + massR = [.5;10]; + mt = .5; +mh = 2*massR(1)*mt; +ms = mt/massR(2); + +bRightStance = false; +bLocked = 0; + +if (nargin < 2) bDraw = true; end + + +% mR = .5;10 +% fP = [0.1877;-0.2884;-0.2884;-1.33;-3.29;-3.29]; +% mR = .5;4 +% fP = [0.189123463312659;0.289860497120154;-0.289860497120154;-1.114780229929899;-0.257668352979864;-0.257668352979864;]; + +if (nargin < 1) +% a = -30*pi/180; +% q1 = -a/2-gamma; +% q2 = -gamma+a/2; +% x0 = [q1;q2;q2;-1.4;-.6;-.6]; + % interleg angle of 0.476137246414833 rad, 27.28065468855042 deg + x0 = [0.187700106303669;-0.288437140111164;-0.288437140111164;-1.101439041094875;-0.039885255927632;-0.039885255927632;]; +end + +Q(:,1) = [x0; bRightStance]; +LC = x0; +FC = x0; + +% Percentage of the link that is below the center of mass (a's) +rt = linkR(1); +rs = linkR(2); + +a1 = rs*ls; +b1 = (1-rs)*ls; +a2 = rt*lt; +b2 = (1-rt)*lt; + + +dt = 1e-3; +displaydt = 0.02; +T = 5; + +lastt = 0; +if (bDraw) + draw(Q(:,1),0); +end +[KE, PE] = mechEnergy(Q(1:6,1),bLocked); +n = 0; % number of steps; +elapsedT = 0; +t = 0; + +while (elapsedTQ(2,t+1)) + Qadd = []; + t = collisionSearch(Q(1:6,t),dt,t,0); + Q = [Q Qadd]; + a = (Q(1,t+1) - Q(2,t+1)); + b = (Q(1,t+1) - Q(3,t+1)); + c = (Q(2,t+1) - Q(3,t+1)); + Qm11 = (ms*a1^2+mt*a2^2+(-mt*l*b2-ms*l*lt)*cos(a)+mh*l^2+ms*l^2-ms*b1*l*cos(b)+2*mt*a2*ls+mt*l^2+mt*ls^2); + Qm12 = ((-mt*l*b2-ms*l*lt)*cos(a)+mt*b2^2+ms*b1*lt*cos(c)+ms*lt^2); + Qm13 = (-ms*b1*l*cos(b)+ms*b1^2+ms*b1*lt*cos(c)); + Qm21 = ((-mt*l*b2-ms*l*lt)*cos(a)-ms*b1*l*cos(b)); + Qm22 = (ms*b1*lt*cos(c)+ms*lt^2+mt*b2^2); + Qm23 = (ms*b1*lt*cos(c)+ms*b1^2); + Qminus = [Qm11 Qm12 Qm13; Qm21 Qm22 Qm23]; + Qp11 = (-ms*l*lt-mt*l*b2-ms*b1*l)*cos(a)+ms*a1^2+ms*l^2+2*mt*a2*ls+mt*a2^2+mt*ls^2+mt*l^2+mh*l^2; + Qp12 = (-ms*l*lt-mt*l*b2-ms*b1*l)*cos(a)+ms*lt^2+2*ms*b1*lt+ms*b1^2+mt*b2^2; + Qp21 = (-ms*l*lt-mt*l*b2-ms*b1*l)*cos(a); + Qp22 = ms*b1^2+2*ms*b1*lt+ms*lt^2+mt*b2^2; + Qplus = [Qp11 Qp12 ; Qp21 Qp22]; + Q(4:5,t+1) = inv(Qplus)*(Qminus*Q(4:6,t+1)); + Q(6,t+1) = Q(5,t+1); + Q(3,t+1) = Q(2,t+1); + bLocked = 1; + end + + % heelstrike + if ((Q(3,t)==Q(2,t)) && ((Q(2,t+1)-Q(1,t+1))>0) && ((Q(1,t+1)+Q(2,t+1)) <= -2*gamma)) + Qadd = []; + t = collisionSearch(Q(1:6,t),dt,t,1); + Q = [Q Qadd(:,1:end-1)]; % get rid of the last point + t = t-1; % get rid of the last point + n = n+1; + bRightStance = ~bRightStance; + bLocked = 0; + a = (Q(2,t+1) - Q(1,t+1)); + Qminus = [(-(ms*a1*(lt+b1)+mt*b2*(ls+a2)) + cos(a)*l*(mh*l + (2*(mt*(a2+ls) + ms*a1)))) (-(ms*a1*(lt+b1)+mt*b2*(ls+a2))); + -(ms*a1*(b1+lt)+mt*b2*(ls+a2)) 0]; + Qplus = [((-l*(ms*(b1+lt)+mt*b2)*cos(a))+l^2*(ms+mt+mh)+ms*a1^2+mt*(a2+ls)^2) ((-l*(ms*(b1+lt)+mt*b2)*cos(a))+ms*(b1+lt)^2+mt*b2^2); + (-l*(ms*(b1+lt)+mt*b2)*cos(a)) (mt*b2^2+ms*(b1+lt)^2)]; + Q(4:5,t+1) = inv(Qplus)*Qminus*Q(4:5,t+1); + Q(6,t+1) = Q(5,t+1); + % switch stance and swing legs: + Q(1:3,t+1) = [0 1 ; 1 0 ; 1 0]*Q(1:2,t+1); + Q(7,t+1) = bRightStance; + LC = FC; + FC = Q(1:6,t+1); + xn = [FC(1)-FC(2);FC(4);FC(5)]; + xn1 = [LC(1)-LC(2);LC(4);LC(5)]; + E = 0.5*(xn1-xn)'*(xn1-xn); + if (((E<1e-5) && (elapsedT > 10)) || (n>200)) + stable = 1; + break; + end + end + + swing_foot = l*[-sin(Q(1,t+1));cos(Q(1,t+1))] - lt*[-sin(Q(2,t+1));cos(Q(2,t+1))] - ls*[-sin(Q(3,t+1));cos(Q(3,t+1))]; + ramp_y = -swing_foot(1)*tan(gamma); + + % if fall or heel strikes before kneestrike + if ((cos(Q(1,t+1)) < -gamma*sin(Q(1,t+1))) || ... + (~(Q(3,t+1)==Q(2,t+1)) && (Q(4,t+1)<0) && (Q(5,t+1)<0) && ((Q(2,t+1)-Q(1,t+1))>0) &&((Q(1,t+1)+Q(2,t+1)) <= -2*gamma)) || ... + (swing_foot(2) < ramp_y - 0.01)) + break; + end + + if ((t - lastt > displaydt/dt) && (bDraw)) + figure(10); + hold on; + draw(Q(:,t),elapsedT); + lastt = t; + end + +end + +if (bDraw) + draw(Q(:,end),elapsedT); +end + +if 0 + qr = (1-Q(7,:)).*Q(1,:)+Q(7,:).*Q(2,:); + qrdot = (1-Q(7,:)).*Q(4,:)+Q(7,:).*Q(5,:); + ql = Q(7,:).*Q(1,:)+(1-Q(7,:)).*Q(2,:); + qldot = Q(7,:).*Q(4,:)+(1-Q(7,:)).*Q(5,:); + + figure(1); clf; + plot(qr,qrdot,'b',qr(1),qrdot(1),'k.'); + title('Right Leg'); xlabel('\theta'); ylabel('d\theta/dt'); + + figure(2); clf; + hold on; + plot(PE,'g'); + plot(KE,'c'); + plot(PE+KE); + title('Mechanical Energy of the System'); xlabel('time step'); + legend('PE wrt stance foot','KE of system','Total ME'); + hold off; +end + + + function t = collisionSearch(q,dt,t,heelstrike) + dt1 = dt/2; + if (heelstrike==1) + qnew = q(1:6) + dt1*[q(4:5);q(5);lockedDynamics(q(1:3),q(4:6))]; + test = ((qnew(1)+qnew(2)) > -2*gamma); + else %kneestrike + qnew = q(1:6) + dt1*[q(4:6);unlockedDynamics(q(1:3),q(4:6))]; + test = (qnew(3)<=qnew(2)); + end + % [KE(t+1),PE(t+1)] = mechEnergy(Q(1:6,t+1)); + qnew(7) = bRightStance; + + if (dt>1e-20) %precision for collision detection + if (test) %then collision is in second half, so advance dt/2 in time + t = t+1; + elapsedT = elapsedT + dt1; + Qadd = [Qadd qnew]; + q = qnew; + end + t = collisionSearch(q,dt1,t,heelstrike); + end + end + + function [KE, PE] = mechEnergy(q,locked) + yh = l*cos(q(1)); + y1 = a1*cos(q(1)); + y2 = (ls+a2)*cos(q(1)); + y3 = l*cos(q(1))-b2*cos(q(2)); + y4 = l*cos(q(1))-lt*cos(q(2))-b1*cos(q(3)); + H1 = ms*[(a1^2) 0 0 ; 0 0 0 ; 0 0 0]; + H2 = mt*[((ls+a2)^2) 0 0 ; 0 0 0 ; 0 0 0]; + Hh = mh*[(l^2) 0 0 ; 0 0 0 ; 0 0 0 ]; + H3 = mt*[(l^2) (-l*b2*cos(q(2)-q(1))) 0 ; + (-l*b2*cos(q(2)-q(1))) (b2^2) 0 ; 0 0 0 ]; + H4 = ms*[(l^2) (-l*lt*cos(q(2)-q(1))) (-l*b1*cos(q(3)-q(1))) ; + (-l*lt*cos(q(2)-q(1))) (lt^2) (lt*b1*cos(q(3)-q(2))) ; + (-l*b1*cos(q(3)-q(1))) (lt*b1*cos(q(3)-q(2))) (b1^2)]; + H = H1+H2+H3+H4+Hh; + KE = .5*q(4:6)'*H*q(4:6); + PE = g*(ms*(y1+y4)+mt*(y2+y3)+mh*yh); + end + + % 2-link configuration + function qddot = lockedDynamics(q,qdot) + q1 = q(1); q2 = q(2); + + H11 = (mt+ms+mh)*l^2+ms*a1^2+mt*(a2+ls)^2; + H12 = (-ms*l*lt+l*(-mt*b2-ms*b1))*cos(q1-q2); + H21 = H12; + H22 = mt*b2^2+ms*lt^2+2*ms*lt*b1+ms*b1^2; + H = [H11 H12; H21 H22]; + + h = -l*sin(q1-q2)*(mt*b2+ms*lt+ms*b1); + C = [0 h ; -h 0] ; + G = [-g*sin(q1)*(mh*l+ms*a1+ms*l+mt*a2+mt*ls+mt*l); + g*sin(q2)*(mt*b2+ms*lt+ms*b1)]; + qddot = inv(H)*(-C*qdot(1:2).^2-G); + qddot = [qddot ; qddot(2)]; + end + + % 3-link configuration + function qddot = unlockedDynamics(q,qdot) + q1 = q(1); q2 = q(2); q3 = q(3); + H(1,1)=(ms*a1^2+mt*(a2+ls)^2+mt*l^2+ms*l^2+mh*l^2); + H(2,2)= mt*b2^2+ms*lt^2; + H(3,3)= ms*b1^2; + H(1,2)= -mt*l*b2*cos(q1-q2)-ms*l*lt*cos(q1-q2); + H(2,1)= -mt*l*b2*cos(q1-q2)-ms*l*lt*cos(q1-q2); + H(1,3)= -ms*l*b1*cos(q1-q3); + H(3,1)= -ms*l*b1*cos(q1-q3); + H(2,3)= ms*lt*b1*cos(q2-q3); + H(3,2)= ms*lt*b1*cos(q2-q3); + + h12 = -mt*l*b2*sin(q1-q2)-ms*l*lt*sin(q1-q2); + h13 = -ms*l*b1*sin(q1-q3); + h21 = -h12; + h23 = ms*lt*b1*sin(q2-q3); + h31 = -h13; + h32 = -h23; + C = [0 h12 h13; h21 0 h23; h31 h32 0]; + + G = [ -g*((mh+ms+mt)*l+ms*a1+mt*(a2+ls))*sin(q1); + g*(ms*lt+mt*b2)*sin(q2); + g*ms*b1*sin(q3)]; + qddot = inv(H)*(-C*qdot.^2-G); + end + + function draw(q,t) + % draw four link walker with 5 point masses + h = figure(10); + set(h,'DoubleBuffer','on'); + clf; + hold on; + + hip = l*[-sin(q(1));cos(q(1))]; + stk = ls*[-sin(q(1));cos(q(1))]; + swk = hip - lt*[-sin(q(2));cos(q(2))]; + swf = swk - ls*[-sin(q(3));cos(q(3))]; + + ss = a1*[-sin(q(1));cos(q(1))]; + ts = (ls+a2)*[-sin(q(1));cos(q(1))]; + tns = hip - b2*[-sin(q(2));cos(q(2))]; + sns = swk - b1*[-sin(q(3));cos(q(3))]; + + mtd = 0.04; + mr_sh = (ms/mt)^(1/3); + mr_h = (mh/mt)^(1/3); + + x = hip(1) + [-1,1]; + + line(x, -tan(gamma)*x,'Color',[0 1 0]); + + % keyboard; + line([0, hip(1)], [0, hip(2)],'LineWidth',2.0,'Color',[(1-q(7)) 0 q(7)]); + line([hip(1), swk(1)], [hip(2), swk(2)],'LineWidth',2.0,'Color',[q(7) 0 1-q(7)]); + line([swk(1), swf(1)], [swk(2), swf(2)],'LineWidth',2.0,'Color',[q(7) 0 1-q(7)]); + + x = 0:0.1:2*pi; + % masses + fill(hip(1) + mr_h*mtd*sin(x), hip(2) + mr_h*mtd*cos(x),[0 1 0]); + fill(ss(1) + mr_sh*mtd*sin(x), ss(2) + mr_sh*mtd*cos(x),[1-q(7) 0 q(7)]); + fill(ts(1) + mtd*sin(x), ts(2) + mtd*cos(x),[1-q(7) 0 q(7)]); + fill(tns(1) + mtd*sin(x), tns(2) + mtd*cos(x),[q(7) 0 1-q(7)]); + fill(sns(1) + mr_sh*mtd*sin(x), sns(2) + mr_sh*mtd*cos(x),[q(7) 0 1-q(7)]); + + fill(swk(1) + mr_sh/2*mtd*sin(x), swk(2) + mr_sh/2*mtd*cos(x),[q(7) 0 1-q(7)]); + fill(stk(1) + mr_sh/2*mtd*sin(x), stk(2) + mr_sh/2*mtd*cos(x),[1-q(7) 0 q(7)]); + axis equal; +% axis off; + hold off; + title(['t = ', num2str(t)]); + drawnow; + end + +end \ No newline at end of file From 8b968821c91187e6cfe4d0f56e5f2edf325893be Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 15 Oct 2014 08:19:30 -0400 Subject: [PATCH 168/271] add note to recommend disabling startup warning --- addpath_drake.m | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/addpath_drake.m b/addpath_drake.m index a32483d78819..7b92f9151d36 100644 --- a/addpath_drake.m +++ b/addpath_drake.m @@ -71,7 +71,7 @@ if checkDependency('simulink') autosave_options = get_param(0,'AutoSaveOptions'); if autosave_options.SaveOnModelUpdate - warning('Drake:DisablingSimulinkAutosave','Disabling autosave for simulink blocks (to avoid generating a lot of *.mdl.autosave files in your directory. If you aren''t a regular Simulink user and don''t want this disabled, comment out this section in addpath_drake'); + warning('Drake:DisablingSimulinkAutosave','Disabling autosave for simulink blocks (to avoid generating a lot of *.mdl.autosave files in your directory. If you aren''t a regular Simulink user and don''t want this disabled, comment out this section in addpath_drake.\nTo disable this warning in the future, add\n warning(''off'',''Drake:DisablingSimulinkAutosave'')\nto your matlab startup.m'); autosave_options.SaveOnModelUpdate = false; set_param(0,'AutoSaveOptions',autosave_options); end @@ -79,6 +79,4 @@ % todo: try setting this before simulating, then resetting it after the % simulate? - - end From 5317f05216cc10c881f768b983578f9d0e9cc610 Mon Sep 17 00:00:00 2001 From: rbeverly Date: Thu, 16 Oct 2014 22:36:37 -0400 Subject: [PATCH 169/271] Curly braces Minor edit: more portable syntax for aggregate initialization. Omitting curly braces prevents compiling on (some/many?) Mac OSX systems with standard xcode tools and recommended prerequisites. 'error: cannot omit braces around initialization of subobject when using direct list-initialization'. I believe omitting the braces is possible (not mandatory) in C++14 but not possible in standard C++11 or earlier. --- util/drakeGeometryUtil.cpp | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/util/drakeGeometryUtil.cpp b/util/drakeGeometryUtil.cpp index 8712abb84c21..e7fe8bf8bd76 100644 --- a/util/drakeGeometryUtil.cpp +++ b/util/drakeGeometryUtil.cpp @@ -697,9 +697,9 @@ Eigen::Matrix const auto& R = T.linear(); const auto& p = T.translation(); - std::array rows {0, 1, 2}; - std::array R_cols {0, 1, 2}; - std::array p_cols {3}; + std::array rows{ {0, 1, 2} }; + std::array R_cols{ {0, 1, 2} }; + std::array p_cols{ {3} }; auto dR = getSubMatrixGradient(dT, rows, R_cols, T.Rows); auto dp = getSubMatrixGradient(dT, rows, p_cols, T.Rows); @@ -733,23 +733,23 @@ typename Gradient::type dTransformAdj const auto& R = T.linear(); const auto& p = T.translation(); - std::array rows {0, 1, 2}; - std::array R_cols {0, 1, 2}; - std::array p_cols {3}; + std::array rows{ {0, 1, 2} }; + std::array R_cols{ {0, 1, 2} }; + std::array p_cols{ {3} }; auto dR = getSubMatrixGradient(dT, rows, R_cols, T.Rows); auto dp = getSubMatrixGradient(dT, rows, p_cols, T.Rows); typename Gradient::type ret(X.size(), nq); - std::array Xomega_rows {0, 1, 2}; - std::array Xv_rows {3, 4, 5}; + std::array Xomega_rows{ {0, 1, 2} }; + std::array Xv_rows{ {3, 4, 5} }; for (int col = 0; col < X.cols(); col++) { auto Xomega_col = X.template block<3, 1>(0, col); auto Xv_col = X.template block<3, 1>(3, col); auto RXomega_col = (R * Xomega_col).eval(); - std::array col_array {col}; + std::array col_array{ {col} }; auto dXomega_col = getSubMatrixGradient(dX, Xomega_rows, col_array, X.rows()); auto dXv_col = getSubMatrixGradient(dX, Xv_rows, col_array, X.rows()); @@ -777,9 +777,9 @@ typename Gradient::type dTransformAdjoin const auto& R = T.linear(); const auto& p = T.translation(); - std::array rows {0, 1, 2}; - std::array R_cols {0, 1, 2}; - std::array p_cols {3}; + std::array rows{ {0, 1, 2} }; + std::array R_cols{ {0, 1, 2} }; + std::array p_cols{ {3} }; auto dR = getSubMatrixGradient(dT, rows, R_cols, T.Rows); auto dp = getSubMatrixGradient(dT, rows, p_cols, T.Rows); @@ -788,13 +788,13 @@ typename Gradient::type dTransformAdjoin auto dRtranspose = transposeGrad(dR, R.rows()); typename Gradient::type ret(X.size(), nq); - std::array Xomega_rows {0, 1, 2}; - std::array Xv_rows {3, 4, 5}; + std::array Xomega_rows{ {0, 1, 2} }; + std::array Xv_rows{ {3, 4, 5} }; for (int col = 0; col < X.cols(); col++) { auto Xomega_col = X.template block<3, 1>(0, col); auto Xv_col = X.template block<3, 1>(3, col); - std::array col_array {col}; + std::array col_array{ {col} }; auto dXomega_col = getSubMatrixGradient(dX, Xomega_rows, col_array, X.rows()); auto dXv_col = getSubMatrixGradient(dX, Xv_rows, col_array, X.rows()); From a000a2327d5bf5a86b7cc05291aa19f380147099 Mon Sep 17 00:00:00 2001 From: rbeverly Date: Thu, 16 Oct 2014 22:40:21 -0400 Subject: [PATCH 170/271] More curly braces Minor edit: more portable syntax for aggregate initialization. Omitting curly braces prevents compiling on (some/many?) Mac OSX systems with standard xcode tools and recommended prerequisites. 'error: cannot omit braces around initialization of subobject when using direct list-initialization'. I believe omitting the braces is possible (not mandatory) in C++14 but not possible in standard C++11 or earlier. --- util/test/testDrakeGradientUtil.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/util/test/testDrakeGradientUtil.cpp b/util/test/testDrakeGradientUtil.cpp index 9cd975601654..c037ce30d79c 100644 --- a/util/test/testDrakeGradientUtil.cpp +++ b/util/test/testDrakeGradientUtil.cpp @@ -114,11 +114,11 @@ void testGetSubMatrixGradient(int ntests) { const int A_cols = 4; const int nq = 34; - std::array rows {0, 1, 2}; - std::array cols {0, 1, 2}; + std::array rows{ {0, 1, 2} }; + std::array cols{ {0, 1, 2} }; -// std::array rows {0, 1, 2}; -// std::array cols {0, 1, 2}; +// std::array rows{ {0, 1, 2} }; +// std::array cols{ {0, 1, 2} }; for (int testnr = 0; testnr < ntests; testnr++) { auto dA = Matrix::Random(A_rows * A_cols, nq).eval(); @@ -136,8 +136,8 @@ void testSetSubMatrixGradient(int ntests, bool check) { const int A_cols = 4; const int nq = 34; - std::array rows {0, 1, 2}; - std::array cols {0, 1, 2}; + std::array rows{ {0, 1, 2} }; + std::array cols{ {0, 1, 2} }; int q_start = 2; const int q_subvector_size = 3; From 124f0aaf3ce91dd1f623ad01836b505398f7db48 Mon Sep 17 00:00:00 2001 From: Gregory Izatt Date: Fri, 17 Oct 2014 14:57:34 -0400 Subject: [PATCH 171/271] Ability for rigid mody manip to toggle margins in collision detects Rigid Mody Manipulator now maintains two bullet collision models, one with margins on meshes and boxes, and one without. Boolean flags on collision-relevant methods (which currently default to true, i.e. with margins like previously) allow control on per-call basis. --- .../@RigidBodyManipulator/collisionRaycast.m | 12 +- systems/plants/RigidBodyManipulator.cpp | 111 ++++++++++++++---- systems/plants/RigidBodyManipulator.h | 27 +++-- .../plants/TimeSteppingRigidBodyManipulator.m | 7 +- systems/plants/collision/Body.h | 7 +- systems/plants/collision/BulletElement.cpp | 13 +- systems/plants/collision/BulletElement.h | 3 +- systems/plants/collision/BulletModel.cpp | 11 +- systems/plants/collision/BulletModel.h | 3 +- systems/plants/collision/DrakeCollision.h | 8 +- systems/plants/collisionRaycastmex.cpp | 4 +- 11 files changed, 145 insertions(+), 61 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/collisionRaycast.m b/systems/plants/@RigidBodyManipulator/collisionRaycast.m index 5b09081483f6..d02b8c384f7a 100644 --- a/systems/plants/@RigidBodyManipulator/collisionRaycast.m +++ b/systems/plants/@RigidBodyManipulator/collisionRaycast.m @@ -1,4 +1,5 @@ -function distance = collisionRaycast(obj, kinsol, origins, ray_endpoints) +function distance = collisionRaycast(obj, kinsol, origins, ray_endpoints, ... + use_margins) % function distance = collisionRaycast(obj,kinsol, origin, point_on_ray) % % Uses bullet to perform a raycast, returning the distance or -1 on no hit. @@ -12,10 +13,17 @@ % @param ray_endpoint vector of size 3 indicating the end point of the ray, % specifying the direction and maximum length of the raycast. % Size is 3 x N. +% @param use_margins boolean indicating whether or not to use a collision +% model whose boxes and meshes are padded with a margin to improve +% numerical stability of contact gradient. Default true. % % @retval distance distance to the nearest hit on the ray, or -1 on no % collision. +if (nargin < 5) + use_margins = true; +end + checkDependency('bullet'); if (obj.mex_model_ptr == 0) @@ -33,4 +41,4 @@ 'Call doKinematics using mex before proceeding (got kinsol.mex ~= true).'); end -distance = collisionRaycastmex(obj.mex_model_ptr, origins, ray_endpoints); \ No newline at end of file +distance = collisionRaycastmex(obj.mex_model_ptr, origins, ray_endpoints, use_margins); \ No newline at end of file diff --git a/systems/plants/RigidBodyManipulator.cpp b/systems/plants/RigidBodyManipulator.cpp index 613fa5fe3651..81888525b96b 100644 --- a/systems/plants/RigidBodyManipulator.cpp +++ b/systems/plants/RigidBodyManipulator.cpp @@ -263,7 +263,7 @@ void rotz(double theta, Matrix3d &M, Matrix3d &dM, Matrix3d &ddM) RigidBodyManipulator::RigidBodyManipulator(int ndof, int num_featherstone_bodies, int num_rigid_body_objects, int num_rigid_body_frames) - : collision_model(DrakeCollision::newModel()) + : collision_model(DrakeCollision::newModel()), collision_model_no_margins(DrakeCollision::newModel()) { num_dof=0; NB=0; num_bodies=0; num_frames=0; a_grav = VectorXd::Zero(6); @@ -338,6 +338,7 @@ void RigidBodyManipulator::resize(int ndof, int num_featherstone_bodies, int num } collision_model->resize(num_bodies); + collision_model_no_margins->resize(num_bodies); num_frames = num_rigid_body_frames; frames.resize(num_frames); @@ -422,12 +423,14 @@ void RigidBodyManipulator::compile(void) void RigidBodyManipulator::addCollisionElement(const int body_ind, const Matrix4d & T_elem_to_lnk, DrakeCollision::Shape shape, vector params, string group_name) { bool is_static = (bodies[body_ind]->parent==0); - collision_model->addElement(body_ind,bodies[body_ind]->parent,T_elem_to_lnk,shape,params,group_name,is_static); + collision_model->addElement(body_ind,bodies[body_ind]->parent,T_elem_to_lnk,shape,params,group_name,is_static, true); + collision_model_no_margins->addElement(body_ind,bodies[body_ind]->parent,T_elem_to_lnk,shape,params,group_name,is_static, false); } void RigidBodyManipulator::updateCollisionElements(const int body_ind) { collision_model->updateElementsForBody(body_ind, bodies[body_ind]->T); + collision_model_no_margins->updateElementsForBody(body_ind, bodies[body_ind]->T); }; bool RigidBodyManipulator::setCollisionFilter(const int body_ind, @@ -438,12 +441,19 @@ bool RigidBodyManipulator::setCollisionFilter(const int body_ind, //cout << "RigidBodyManipulator::setCollisionFilter: Group: " << group << endl; //cout << "RigidBodyManipulator::setCollisionFilter: Mask: " << mask << endl; //END_DEBUG - return collision_model->setCollisionFilter(body_ind,group,mask); + bool status_one = collision_model->setCollisionFilter(body_ind,group,mask); + bool status_two = collision_model_no_margins->setCollisionFilter(body_ind, group, mask); + assert(status_one == status_two); + return status_one && status_two; } -bool RigidBodyManipulator::getPairwiseCollision(const int body_indA, const int body_indB, MatrixXd &ptsA, MatrixXd &ptsB, MatrixXd &normals) +bool RigidBodyManipulator::getPairwiseCollision(const int body_indA, const int body_indB, + MatrixXd &ptsA, MatrixXd &ptsB, MatrixXd &normals, bool use_margins) { - return collision_model->getPairwiseCollision(body_indA,body_indB,ptsA,ptsB,normals); + if (use_margins) + return collision_model->getPairwiseCollision(body_indA,body_indB,ptsA,ptsB,normals); + else + return collision_model_no_margins->getPairwiseCollision(body_indA,body_indB,ptsA,ptsB,normals); }; bool RigidBodyManipulator::getPairwisePointCollision(const int body_indA, @@ -451,11 +461,17 @@ bool RigidBodyManipulator::getPairwisePointCollision(const int body_indA, const int body_collision_indA, Vector3d &ptA, Vector3d &ptB, - Vector3d &normal) + Vector3d &normal, + bool use_margins) { - if (collision_model->getPairwisePointCollision(body_indA, body_indB, + if ( (use_margins && collision_model->getPairwisePointCollision(body_indA, body_indB, + body_collision_indA, + ptA,ptB,normal)) + || + (~use_margins && collision_model_no_margins->getPairwisePointCollision(body_indA, body_indB, body_collision_indA, - ptA,ptB,normal)) { + ptA,ptB,normal)) + ) { return true; } else { ptA << 1,1,1; @@ -468,10 +484,17 @@ bool RigidBodyManipulator::getPairwisePointCollision(const int body_indA, bool RigidBodyManipulator::getPointCollision(const int body_ind, const int body_collision_ind, Vector3d &ptA, Vector3d &ptB, - Vector3d &normal) + Vector3d &normal, + bool use_margins) { - if (collision_model->getPointCollision(body_ind, body_collision_ind, ptA,ptB, - normal)) { + if ( (use_margins && + collision_model->getPointCollision(body_ind, body_collision_ind, ptA,ptB, + normal)) + || + (~use_margins && + collision_model_no_margins->getPointCollision(body_ind, body_collision_ind, ptA,ptB, + normal)) + ){ return true; } else { ptA << 1,1,1; @@ -481,14 +504,28 @@ bool RigidBodyManipulator::getPointCollision(const int body_ind, } }; -bool RigidBodyManipulator::getPairwiseClosestPoint(const int body_indA, const int body_indB, Vector3d &ptA, Vector3d &ptB, Vector3d &normal, double &distance) +bool RigidBodyManipulator::getPairwiseClosestPoint(const int body_indA, + const int body_indB, + Vector3d &ptA, Vector3d &ptB, + Vector3d &normal, + double &distance, + bool use_margins) { - return collision_model->getClosestPoints(body_indA,body_indB,ptA,ptB,normal,distance); + if (use_margins) + return collision_model->getClosestPoints(body_indA,body_indB,ptA,ptB,normal,distance); + else + return collision_model_no_margins->getClosestPoints(body_indA,body_indB,ptA,ptB,normal,distance); }; -bool RigidBodyManipulator::collisionRaycast(const Matrix3Xd &origins, const Matrix3Xd &ray_endpoints, VectorXd &distances) +bool RigidBodyManipulator::collisionRaycast(const Matrix3Xd &origins, + const Matrix3Xd &ray_endpoints, + VectorXd &distances, + bool use_margins ) { - return collision_model->collisionRaycast(origins, ray_endpoints, distances); + if (use_margins) + return collision_model->collisionRaycast(origins, ray_endpoints, distances); + else + return collision_model_no_margins->collisionRaycast(origins, ray_endpoints, distances); } bool RigidBodyManipulator::collisionDetect( VectorXd& phi, @@ -498,9 +535,14 @@ bool RigidBodyManipulator::collisionDetect( VectorXd& phi, vector& bodyA_idx, vector& bodyB_idx, const vector& bodies_idx, - const set& active_element_groups) + const set& active_element_groups, + bool use_margins) { - return collision_model->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, + if (use_margins) + return collision_model->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, + normal,phi,bodies_idx,active_element_groups); + else + return collision_model_no_margins->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, normal,phi,bodies_idx,active_element_groups); } @@ -510,9 +552,14 @@ bool RigidBodyManipulator::collisionDetect( VectorXd& phi, MatrixXd& xB, vector& bodyA_idx, vector& bodyB_idx, - const vector& bodies_idx) + const vector& bodies_idx, + bool use_margins) { - return collision_model->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, + if (use_margins) + return collision_model->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, + normal,phi,bodies_idx); + else + return collision_model_no_margins->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, normal,phi,bodies_idx); } @@ -522,9 +569,14 @@ bool RigidBodyManipulator::collisionDetect( VectorXd& phi, MatrixXd& xB, vector& bodyA_idx, vector& bodyB_idx, - const set& active_element_groups) + const set& active_element_groups, + bool use_margins) { - return collision_model->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, + if (use_margins) + return collision_model->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, + normal,phi,active_element_groups); + else + return collision_model_no_margins->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB, normal,phi,active_element_groups); } @@ -533,16 +585,24 @@ bool RigidBodyManipulator::collisionDetect( VectorXd& phi, MatrixXd& xA, MatrixXd& xB, vector& bodyA_idx, - vector& bodyB_idx) + vector& bodyB_idx, + bool use_margins) { - return collision_model->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB,normal,phi); + if (use_margins) + return collision_model->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB,normal,phi); + else + return collision_model_no_margins->closestPointsAllBodies(bodyA_idx,bodyB_idx,xA,xB,normal,phi); } bool RigidBodyManipulator::allCollisions(vector& bodyA_idx, vector& bodyB_idx, - MatrixXd& ptsA, MatrixXd& ptsB) + MatrixXd& ptsA, MatrixXd& ptsB, + bool use_margins) { - return collision_model->allCollisions(bodyA_idx, bodyB_idx, ptsA, ptsB); + if (use_margins) + return collision_model->allCollisions(bodyA_idx, bodyB_idx, ptsA, ptsB); + else + return collision_model_no_margins->allCollisions(bodyA_idx, bodyB_idx, ptsA, ptsB); } @@ -793,6 +853,7 @@ void RigidBodyManipulator::doKinematics(double* q, bool b_compute_second_derivat //cout << "RigidBodyManipulator::doKinematics: updating body " << i << " ..." << endl; //END_DEBUG collision_model->updateElementsForBody(i,bodies[i]->T); + collision_model_no_margins->updateElementsForBody(i,bodies[i]->T); //DEBUG //cout << "RigidBodyManipulator::doKinematics: done updating body " << i << endl; //END_DEBUG diff --git a/systems/plants/RigidBodyManipulator.h b/systems/plants/RigidBodyManipulator.h index ae4dd1aebb46..83c30f1be3c3 100644 --- a/systems/plants/RigidBodyManipulator.h +++ b/systems/plants/RigidBodyManipulator.h @@ -90,15 +90,15 @@ class DLLEXPORT RigidBodyManipulator bool setCollisionFilter(const int body_ind, const uint16_t group, const uint16_t mask); - bool getPairwiseCollision(const int body_indA, const int body_indB, MatrixXd &ptsA, MatrixXd &ptsB, MatrixXd &normals); + bool getPairwiseCollision(const int body_indA, const int body_indB, MatrixXd &ptsA, MatrixXd &ptsB, MatrixXd &normals, bool use_margins=true); - bool getPairwisePointCollision(const int body_indA, const int body_indB, const int body_collision_indA, Vector3d &ptA, Vector3d &ptB, Vector3d &normal); + bool getPairwisePointCollision(const int body_indA, const int body_indB, const int body_collision_indA, Vector3d &ptA, Vector3d &ptB, Vector3d &normal, bool use_margins=true); - bool getPointCollision(const int body_ind, const int body_collision_ind, Vector3d &ptA, Vector3d &ptB, Vector3d &normal); + bool getPointCollision(const int body_ind, const int body_collision_ind, Vector3d &ptA, Vector3d &ptB, Vector3d &normal, bool use_margins=true); - bool getPairwiseClosestPoint(const int body_indA, const int body_indB, Vector3d &ptA, Vector3d &ptB, Vector3d &normal, double &distance); + bool getPairwiseClosestPoint(const int body_indA, const int body_indB, Vector3d &ptA, Vector3d &ptB, Vector3d &normal, double &distance, bool use_margins=true); - bool collisionRaycast(const Matrix3Xd &origins, const Matrix3Xd &ray_endpoints, VectorXd &distances); + bool collisionRaycast(const Matrix3Xd &origins, const Matrix3Xd &ray_endpoints, VectorXd &distances, bool use_margins=true); //bool closestPointsAllBodies( MatrixXd& ptsA, MatrixXd& ptsB, //MatrixXd& normal, VectorXd& distance, @@ -110,28 +110,33 @@ class DLLEXPORT RigidBodyManipulator std::vector& bodyA_idx, std::vector& bodyB_idx, const std::vector& bodies_idx, - const std::set& active_element_groups); + const std::set& active_element_groups, + bool use_margins = true); bool collisionDetect( VectorXd& phi, MatrixXd& normal, MatrixXd& xA, MatrixXd& xB, std::vector& bodyA_idx, std::vector& bodyB_idx, - const std::vector& bodies_idx); + const std::vector& bodies_idx, + bool use_margins = true); bool collisionDetect( VectorXd& phi, MatrixXd& normal, MatrixXd& xA, MatrixXd& xB, std::vector& bodyA_idx, std::vector& bodyB_idx, - const std::set& active_element_groups); + const std::set& active_element_groups, + bool use_margins = true); bool collisionDetect( VectorXd& phi, MatrixXd& normal, MatrixXd& xA, MatrixXd& xB, std::vector& bodyA_idx, - std::vector& bodyB_idx); + std::vector& bodyB_idx, + bool use_margins = true); bool allCollisions(std::vector& bodyA_idx, std::vector& bodyB_idx, - MatrixXd& ptsA, MatrixXd& ptsB); + MatrixXd& ptsA, MatrixXd& ptsB, + bool use_margins = true); //bool closestDistanceAllBodies(VectorXd& distance, MatrixXd& Jd); @@ -222,7 +227,7 @@ class DLLEXPORT RigidBodyManipulator int secondDerivativesCached; std::shared_ptr< DrakeCollision::Model > collision_model; - + std::shared_ptr< DrakeCollision::Model > collision_model_no_margins; public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index f292be3317c6..30b7c0b94950 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -953,8 +953,11 @@ function checkDirty(obj) [varargout{:}] = terrainContactPositions(obj.manip,varargin{:}); end - function distance = collisionRaycast(obj, kinsol, origin, point_on_ray) - distance = collisionRaycast(obj.manip, kinsol, origin, point_on_ray); + function distance = collisionRaycast(obj, kinsol, origin, point_on_ray, use_margins) + if nargin < 5 + use_margins = true; + end + distance = collisionRaycast(obj.manip, kinsol, origin, point_on_ray, use_margins); end diff --git a/systems/plants/collision/Body.h b/systems/plants/collision/Body.h index 65ffe11c76d8..60254d8b23f6 100644 --- a/systems/plants/collision/Body.h +++ b/systems/plants/collision/Body.h @@ -11,7 +11,8 @@ namespace DrakeCollision void addElement(const int body_idx, const int parent_idx, const Eigen::Matrix4d& T_elem_to_link, Shape shape, const std::vector& params, - const std::string& group_name) + const std::string& group_name, + bool use_margins = true) { //DEBUG //std::cout << "Body::addElement: START" << std::endl; @@ -20,7 +21,7 @@ namespace DrakeCollision //DEBUG //std::cout << "Body::addElement: Add new element" << std::endl; //END_DEBUG - elements.emplace_back(T_elem_to_link, shape, params, group_name); + elements.emplace_back(T_elem_to_link, shape, params, group_name, use_margins); } else { //DEBUG //std::cout << "Body::addElement: Indices don't match" << std::endl; @@ -31,7 +32,7 @@ namespace DrakeCollision //END_DEBUG this->body_idx = body_idx; this->parent_idx = parent_idx; - elements.emplace_back(T_elem_to_link, shape, params, group_name); + elements.emplace_back(T_elem_to_link, shape, params, group_name, use_margins); //DEBUG //std::cout << "body_idx = " << body_idx << std::endl; //std::cout << "this->body_idx = " << this->body_idx << std::endl; diff --git a/systems/plants/collision/BulletElement.cpp b/systems/plants/collision/BulletElement.cpp index 1c0843bce718..38ebc23f8a45 100644 --- a/systems/plants/collision/BulletElement.cpp +++ b/systems/plants/collision/BulletElement.cpp @@ -10,7 +10,8 @@ namespace DrakeCollision { BulletElement::BulletElement(const Matrix4d& T_elem_to_link, Shape shape, const vector& params, - const string& group_name) + const string& group_name, + bool use_margins) : T_elem_to_link(T_elem_to_link),shape(shape) { setGroupName(group_name); @@ -30,7 +31,10 @@ namespace DrakeCollision * a btConvexHullShape. */ bt_shape = new btConvexHullShape(); - bt_shape->setMargin(0.00); + if (use_margins) + bt_shape->setMargin(0.05); + else + bt_shape->setMargin(0.0); for (int i=0; i<8; ++i){ btVector3 vtx; bt_box.getVertex(i,vtx); @@ -74,7 +78,10 @@ namespace DrakeCollision //params.size()/3, //(int) 3*sizeof(double) ); bt_shape = new btConvexHullShape(); - bt_shape->setMargin(0.00); + if (use_margins) + bt_shape->setMargin(0.05); + else + bt_shape->setMargin(0.0); for (int i=0; i& params, - const std::string& group_name); + const std::string& group_name, + bool use_margins = true); void updateWorldTransform(const Eigen::Matrix4d& T_link_to_world); diff --git a/systems/plants/collision/BulletModel.cpp b/systems/plants/collision/BulletModel.cpp index cb605acc5773..ce271ebf6c48 100644 --- a/systems/plants/collision/BulletModel.cpp +++ b/systems/plants/collision/BulletModel.cpp @@ -53,13 +53,14 @@ namespace DrakeCollision void BulletModel::addElement(const int body_idx, const int parent_idx, const Matrix4d& T_element_to_link, Shape shape, const vector& params, - const string& group_name, bool is_static) + const string& group_name, bool is_static, + bool use_margins) { //DEBUG //cout << "BulletModel::addElement: START" << endl; //END_DEBUG try { - bodies[body_idx].addElement(body_idx, parent_idx, T_element_to_link, shape, params, group_name ); + bodies[body_idx].addElement(body_idx, parent_idx, T_element_to_link, shape, params, group_name, use_margins ); const BulletElement& elem = bodies.at(body_idx).back(); element_data.push_back(unique_ptr(new ElementData(body_idx,elem.getShape()))); @@ -307,12 +308,6 @@ namespace DrakeCollision // compute distance to hit btVector3 end = ray_callback.m_hitPointWorld; - - // correct for margin - auto element_data = static_cast< ElementData* >(ray_callback.m_collisionObject->getUserPointer()); - if (element_data->shape == MESH || element_data->shape == BOX) { - end = end - ray_callback.m_hitNormalWorld*ray_callback.m_collisionObject->getCollisionShape()->getMargin(); - } Vector3d end_eigen(end.getX(), end.getY(), end.getZ()); diff --git a/systems/plants/collision/BulletModel.h b/systems/plants/collision/BulletModel.h index b033d01cba35..fee5720a25dd 100644 --- a/systems/plants/collision/BulletModel.h +++ b/systems/plants/collision/BulletModel.h @@ -48,7 +48,8 @@ namespace DrakeCollision const Eigen::Matrix4d& T_elem_to_link, Shape shape, const std::vector& params, const std::string& group_name, - bool is_static); + bool is_static, + bool use_margins = true); virtual bool updateElementsForBody(const int body_idx, const Eigen::Matrix4d& T_link_to_world); diff --git a/systems/plants/collision/DrakeCollision.h b/systems/plants/collision/DrakeCollision.h index 537db98c0f72..b0a6866b0b6e 100644 --- a/systems/plants/collision/DrakeCollision.h +++ b/systems/plants/collision/DrakeCollision.h @@ -47,14 +47,16 @@ namespace DrakeCollision const Eigen::Matrix4d& T_element_to_link, Shape shape, const std::vector& params, const std::string& group_name, - bool is_static) {}; + bool is_static, + bool use_margins = true) {}; virtual void addElement(const int body_idx, const int parent_idx, const Eigen::Matrix4d& T_element_to_link, Shape shape, const std::vector& params, - bool is_static) + bool is_static, + bool use_margins = true) { - addElement(body_idx,parent_idx,T_element_to_link,shape,params,"default",is_static); + addElement(body_idx,parent_idx,T_element_to_link,shape,params,"default",is_static,use_margins); }; virtual bool updateElementsForBody(const int body_idx, diff --git a/systems/plants/collisionRaycastmex.cpp b/systems/plants/collisionRaycastmex.cpp index e151cbb4f519..25e02ec5058f 100644 --- a/systems/plants/collisionRaycastmex.cpp +++ b/systems/plants/collisionRaycastmex.cpp @@ -43,10 +43,10 @@ void mexFunction( int nlhs, mxArray *plhs[],int nrhs, const mxArray *prhs[] ) { memcpy(origins.data(), mxGetPr(prhs[1]), sizeof(double)*mxGetNumberOfElements(prhs[1])); memcpy(ray_endpoints.data(), mxGetPr(prhs[2]), sizeof(double)*mxGetNumberOfElements(prhs[2])); - + bool use_margins = (bool) mxGetScalar(prhs[3]); VectorXd distances; - model->collisionRaycast(origins, ray_endpoints, distances); + model->collisionRaycast(origins, ray_endpoints, distances, use_margins); if (nlhs>0) { plhs[0] = mxCreateDoubleMatrix(distances.size(),1,mxREAL); From 205ba285373ad01be502fa948507e18023453777 Mon Sep 17 00:00:00 2001 From: Gregory Izatt Date: Fri, 17 Oct 2014 17:35:44 -0400 Subject: [PATCH 172/271] Fixing function ambiguity that is causing model_test ot fail. As far as I can tell, given the new AddElement variants with an extra optional bool arg, the compiler was deciding that casting the (also optional, through multiple function declarations) group_name string could be cast to a bool to make the call work... resolved by changing the version of the call without the groupname supplied to have its own special name. (Hopefully this doesn't affect anyone outside of model_test? --- systems/plants/collision/DrakeCollision.h | 2 +- systems/plants/collision/test/ModelTest.cpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/systems/plants/collision/DrakeCollision.h b/systems/plants/collision/DrakeCollision.h index b0a6866b0b6e..5d9b366f35be 100644 --- a/systems/plants/collision/DrakeCollision.h +++ b/systems/plants/collision/DrakeCollision.h @@ -50,7 +50,7 @@ namespace DrakeCollision bool is_static, bool use_margins = true) {}; - virtual void addElement(const int body_idx, const int parent_idx, + virtual void addElementWithoutGroup(const int body_idx, const int parent_idx, const Eigen::Matrix4d& T_element_to_link, Shape shape, const std::vector& params, bool is_static, diff --git a/systems/plants/collision/test/ModelTest.cpp b/systems/plants/collision/test/ModelTest.cpp index 1af0edb2aaec..3935e9249657 100644 --- a/systems/plants/collision/test/ModelTest.cpp +++ b/systems/plants/collision/test/ModelTest.cpp @@ -43,9 +43,9 @@ BOOST_AUTO_TEST_CASE(filter_by_body) T_body3_to_world.topRightCorner(3,1) << 2,2,0; shared_ptr model = newModel(); - model->addElement(1,0,Matrix4d::Identity(),BOX,box_params,false); - model->addElement(2,0,Matrix4d::Identity(),SPHERE,sphere_params,false); - model->addElement(3,0,Matrix4d::Identity(),SPHERE,sphere_params,false); + model->addElementWithoutGroup(1,0,Matrix4d::Identity(),BOX,box_params,false); + model->addElementWithoutGroup(2,0,Matrix4d::Identity(),SPHERE,sphere_params,false); + model->addElementWithoutGroup(3,0,Matrix4d::Identity(),SPHERE,sphere_params,false); model->updateElementsForBody(1, T_body1_to_world); model->updateElementsForBody(2, T_body2_to_world); model->updateElementsForBody(3, T_body3_to_world); From c1b198a8872afc275cf3d224f8d2f93de5b5d3d2 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Fri, 17 Oct 2014 21:34:06 -0400 Subject: [PATCH 173/271] support zero inputs in direct trajectory optimization. add limit cycle examples for rimless wheel (works well), and van der pol (doesn't work yet) --- examples/CompassGait/runDircolCycle.m | 4 -- .../RimlessWheel/RimlessWheelStancePlant.m | 23 ++++---- examples/RimlessWheel/runDircol.m | 56 +++++++++++++++++++ examples/VanDerPol.m | 31 ++++++++++ .../DirectTrajectoryOptimization.m | 23 +++++--- 5 files changed, 114 insertions(+), 23 deletions(-) create mode 100644 examples/RimlessWheel/runDircol.m diff --git a/examples/CompassGait/runDircolCycle.m b/examples/CompassGait/runDircolCycle.m index 6e5a02fd726a..d3c2ee83e1ec 100644 --- a/examples/CompassGait/runDircolCycle.m +++ b/examples/CompassGait/runDircolCycle.m @@ -20,10 +20,6 @@ t_init{1} = linspace(0,t1,N(1)); t_init{2} = linspace(0,tf-t1,N(2)); -traj_init{1}.u = PPTrajectory(foh(t_init{1},0*randn(1,N(1)))); -traj_init{1}.u = traj_init{1}.u.setOutputFrame(p.getInputFrame); -traj_init{2}.u = PPTrajectory(foh(t_init{2},0*randn(1,N(2)))); -traj_init{2}.u = traj_init{2}.u.setOutputFrame(p.getInputFrame); traj_init{1}.x0 = x0; traj_init{2}.x0 = x1; diff --git a/examples/RimlessWheel/RimlessWheelStancePlant.m b/examples/RimlessWheel/RimlessWheelStancePlant.m index f12783864e7c..ed7e2bfd31e1 100644 --- a/examples/RimlessWheel/RimlessWheelStancePlant.m +++ b/examples/RimlessWheel/RimlessWheelStancePlant.m @@ -1,7 +1,7 @@ classdef RimlessWheelStancePlant < DrakeSystem properties (SetAccess=private) - m, l, g + m=1, l=1, g=9.81 end methods @@ -15,18 +15,21 @@ % obj = obj.setInputLimits(-3,3); end - function xdot = dynamics(obj,t,x,u) - xdot = [x(2,:); (obj.m*obj.g*obj.l*sin(x(1,:)))/(obj.m*obj.l^2); 0]; - end - - function df = dynamics_gradients(obj,t,x,u,order) - if (nargin<5) order=1; - elseif (order>1) error('not implemented yet'); end - df{1} = [zeros(3,1), [0, 1, 0; obj.g*cos(x(1))/obj.l, 0, 0; zeros(1,3)]]; + function [xdot,df] = dynamics(obj,t,x,u) + xdot = [x(2,:); obj.g*sin(x(1,:))/obj.l; 0*x(3,:)]; + if nargout>1, + df = [zeros(3,1), [0, 1, 0; obj.g*cos(x(1))/obj.l, 0, 0; zeros(1,3)]]; + end end - function y = output(obj,t,x,u) + function thetadot = orbit(obj,theta,E) + if nargin<3, E = obj.m*obj.g*obj.l; end % homoclinic + thetadot = sqrt(2*(E - obj.m*obj.g*obj.l*cos(theta))./(obj.m*obj.l^2)); + end + + function [y,dy] = output(obj,t,x,u) y = x; + dy = [zeros(3,1),eye(3)]; end function x0 = getInitialState(obj) diff --git a/examples/RimlessWheel/runDircol.m b/examples/RimlessWheel/runDircol.m new file mode 100644 index 000000000000..6bff3c325d8b --- /dev/null +++ b/examples/RimlessWheel/runDircol.m @@ -0,0 +1,56 @@ +function runDircol +% A simple example of using direct collocation to +% find a limit cycle + +N = 11; + +rw = RimlessWheelPlant; +prog = DircolTrajectoryOptimization(rw.getMode(1),N,[.5 2]); + +% theta(1) = gamma - alpha +prog = prog.addStateConstraint(ConstantConstraint(rw.gamma - rw.alpha),1,1); + +% theta(N) = gamma + alpha +prog = prog.addStateConstraint(ConstantConstraint(rw.gamma + rw.alpha),N,1); + +% thetadot(1) = cos(2*alpha)*thetadot(N) +prog = prog.addConstraint(LinearConstraint(0,0,[cos(2*rw.alpha),-1]),[prog.x_inds(2,N);prog.x_inds(2,1)]); + +% for i 2,...,N-1 gamma-alpha < theta(i) < gamma+alpha +prog = prog.addStateConstraint(BoundingBoxConstraint(rw.gamma-rw.alpha,rw.gamma+rw.alpha),2:N-1,1); + +% x position is zero +prog = prog.addStateConstraint(ConstantConstraint(0),1,3); + +% display homoclinic orbic +theta_samples = rw.gamma + 2*rw.alpha*[-1:.01:1]; +thetadot_homoclinic = orbit(rw.getMode(1),theta_samples,9.81); +thetadot_orbit2 = orbit(rw.getMode(1),theta_samples,9); +thetadot_orbit3 = orbit(rw.getMode(1),theta_samples,11); +% display vector field +[Theta,ThetaDot] = meshgrid(theta_samples(1:10:end),linspace(0,2,21)); +xdot = rw.getMode(1).dynamics(0,[Theta(:)';ThetaDot(:)';0*Theta(:)']); +ThetaDDot = reshape(xdot(2,:),size(Theta)); + + function draw(dt,x,u) + quiver(Theta,ThetaDot,ThetaDot,ThetaDDot,'r'); + hold on; + plot(x(1,:),x(2,:),'b.-','LineWidth',2); + plot(theta_samples,thetadot_homoclinic,'g',... + theta_samples,real(thetadot_orbit2),'g',... + theta_samples,thetadot_orbit3,'g','LineWidth',3); + line(rw.gamma-rw.alpha*[1,1],[0 2],'Color','k','LineWidth',2); + line(rw.gamma+rw.alpha*[1,1],[0 2],'Color','k','LineWidth',2); + line([x(1,1),x(1,N)],[x(2,1),x(2,N)],'Color','b','LineStyle','--','LineWidth',2); +% axis equal; + hold off; + axis([rw.gamma - 2*rw.alpha,rw.gamma+2*rw.alpha,0 2]); + drawnow; + pause; + end +prog = prog.addTrajectoryDisplayFunction(@draw); + +prog.solveTraj(1); + +end + diff --git a/examples/VanDerPol.m b/examples/VanDerPol.m index f6128938932b..28ce1ef1d2b9 100644 --- a/examples/VanDerPol.m +++ b/examples/VanDerPol.m @@ -68,5 +68,36 @@ function phasePortrait() axis([-2.5,2.5,-3,3]); % save vdp.mat x0; end + + function runDircol + vdp = VanDerPol(); + + N = 41; + prog = DircolTrajectoryOptimization(vdp,N,[1,10]); + + % q(1) = 0 + prog = prog.addStateConstraint(ConstantConstraint(0),1,1); + + % q(N) = 0 + prog = prog.addStateConstraint(ConstantConstraint(0),N,1); + + % qdot(1) = qdot(N) + prog = prog.addConstraint(LinearConstraint(0,0,[1,-1]),[prog.x_inds(2,N);prog.x_inds(2,1)]); + + % qdot(1)>0 + prog = prog.addStateConstraint(BoundingBoxConstraint(.5,inf),1,2); + + % add a display routine + function draw(t,x,~) + plot(x(1,:),x(2,:),'.-','LineWidth',2); + xlabel('$q$','interpreter','latex'); + ylabel('$\dot{q}$','interpreter','latex'); + axis([-2.5,2.5,-3,3]); + drawnow; + end + prog = prog.addTrajectoryDisplayFunction(@draw); + + prog.solveTraj(5); + end end end diff --git a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m index 0a74b86d7782..8cb663edcf7f 100644 --- a/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m +++ b/solvers/trajectoryOptimization/DirectTrajectoryOptimization.m @@ -192,25 +192,30 @@ if nargin<3, traj_init = struct(); end + nU = getNumInputs(obj.plant); if isfield(traj_init,'u') z0(obj.u_inds) = traj_init.u.eval(t_init); else - nU = getNumInputs(obj.plant); z0(obj.u_inds) = 0.01*randn(nU,obj.N); end if isfield(traj_init,'x') z0(obj.x_inds) = traj_init.x.eval(t_init); else - if ~isfield(traj_init,'u') - traj_init.u = setOutputFrame(PPTrajectory(foh(t_init,reshape(z0(obj.u_inds),nU,obj.N))),getInputFrame(obj.plant)); + if nU>0 + if ~isfield(traj_init,'u') + traj_init.u = setOutputFrame(PPTrajectory(foh(t_init,reshape(z0(obj.u_inds),nU,obj.N))),getInputFrame(obj.plant)); + end + + % todo: if x0 and xf are equality constrained, then initialize with + % a straight line from x0 to xf (this was the previous behavior) + + %simulate + sys_ol = cascade(traj_init.u,obj.plant); + else + sys_ol = obj.plant; end - - % todo: if x0 and xf are equality constrained, then initialize with - % a straight line from x0 to xf (this was the previous behavior) - - %simulate - sys_ol = cascade(traj_init.u,obj.plant); + if ~isfield(traj_init,'x0') [~,x_sim] = sys_ol.simulate([t_init(1) t_init(end)]); else From d0e7b2bc4d6a9b2271b82ae82562a8a8a564b1cf Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 18 Oct 2014 05:17:18 -0400 Subject: [PATCH 174/271] got van der pol example working --- examples/VanDerPol.m | 23 ++++++++++++++++------- 1 file changed, 16 insertions(+), 7 deletions(-) diff --git a/examples/VanDerPol.m b/examples/VanDerPol.m index 28ce1ef1d2b9..ca21630f7c1f 100644 --- a/examples/VanDerPol.m +++ b/examples/VanDerPol.m @@ -4,11 +4,13 @@ function obj = VanDerPol() obj = obj@PolynomialSystem(2,0,0,2,false,true,false); end - function xdot = dynamicsRHS(obj,t,x,u) + function [xdot,df] = dynamicsRHS(obj,t,x,~) xdot = [x(2); -x(1)-x(2)*(x(1)^2-1)]; + df = [zeros(2,1),[0 1; -1-2*x(1)*x(2), -(x(1)^2-1)]]; end - function y=output(obj,t,x,u) + function [y,dy]=output(obj,t,x,~) y=x; + dy=[zeros(2,1),eye(2)]; end end @@ -72,7 +74,7 @@ function phasePortrait() function runDircol vdp = VanDerPol(); - N = 41; + N = 61; prog = DircolTrajectoryOptimization(vdp,N,[1,10]); % q(1) = 0 @@ -84,12 +86,15 @@ function phasePortrait() % qdot(1) = qdot(N) prog = prog.addConstraint(LinearConstraint(0,0,[1,-1]),[prog.x_inds(2,N);prog.x_inds(2,1)]); - % qdot(1)>0 + % qdot(1)>0.5 prog = prog.addStateConstraint(BoundingBoxConstraint(.5,inf),1,2); % add a display routine - function draw(t,x,~) - plot(x(1,:),x(2,:),'.-','LineWidth',2); + function draw(dt,x,~) + clf; hold on; + plot(x(1,:),x(2,:),'.-','LineWidth',2,'MarkerSize',20); + plot(x(1,1),x(2,1),'r.','LineWidth',2,'MarkerSize',20); + plot(x(1,N),x(2,N),'r.','LineWidth',2,'MarkerSize',20); xlabel('$q$','interpreter','latex'); ylabel('$\dot{q}$','interpreter','latex'); axis([-2.5,2.5,-3,3]); @@ -97,7 +102,11 @@ function draw(t,x,~) end prog = prog.addTrajectoryDisplayFunction(@draw); - prog.solveTraj(5); + % use a circle in state space as the initial guess (seems to + % be needed to escape local minima) + ts = linspace(0,2*pi,10); + initial_guess.x = PPTrajectory(foh(ts,2*[sin(ts);cos(ts)])); + prog.solveTraj(2*pi,initial_guess); end end end From 6b1ca01aabe8d412f778b130da7ab146764b4f4e Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 18 Oct 2014 05:17:47 -0400 Subject: [PATCH 175/271] got van der pol example working --- examples/VanDerPol.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/VanDerPol.m b/examples/VanDerPol.m index ca21630f7c1f..686e797a707d 100644 --- a/examples/VanDerPol.m +++ b/examples/VanDerPol.m @@ -87,7 +87,7 @@ function phasePortrait() prog = prog.addConstraint(LinearConstraint(0,0,[1,-1]),[prog.x_inds(2,N);prog.x_inds(2,1)]); % qdot(1)>0.5 - prog = prog.addStateConstraint(BoundingBoxConstraint(.5,inf),1,2); + prog = prog.addStateConstraint(BoundingBoxConstraint(eps,inf),1,2); % add a display routine function draw(dt,x,~) From 39d917cef9e2587c41ec0e548afcc1de8577d30f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 20 Oct 2014 07:06:27 -0400 Subject: [PATCH 176/271] moved around lecture examples --- examples/XCubed.m | 67 +++++++++++++++++++ ...sys.m => commonLyapunovForLinearSystems.m} | 0 examples/dev/cubic_example.m | 67 ------------------- 3 files changed, 67 insertions(+), 67 deletions(-) rename examples/{dev/common_lyap_linear_sys.m => commonLyapunovForLinearSystems.m} (100%) delete mode 100644 examples/dev/cubic_example.m diff --git a/examples/XCubed.m b/examples/XCubed.m index 3178428b898c..cfd3be60a452 100644 --- a/examples/XCubed.m +++ b/examples/XCubed.m @@ -58,6 +58,73 @@ function run() display(V.getPoly); end + function sosExample() + + % Define a new symbolic variable + x=msspoly('x'); + + % Define the dynamics and Lyapunov function + f = -x + x^3; + V = x^2; + Vdot = diff(V,x)*f; + + % construct a SOS program + prog=spotsosprog; + prog = prog.withIndeterminate(x); + + % construct the langrange multiplier + m=monomials(x,0:4); + [prog,c] = prog.newFree(length(m)); + lambda = c'*m; + prog = prog.withSOS(lambda); + % note: this could all be done with a single line: + % [prog,lambda] = prog.newSOSPoly(monomials(x,0:4)); + + % construct the slack variables (which must be positive) + [prog,slack] = prog.newPos(1); + + % add the SOS constraints + prog = prog.withSOS(-(Vdot+lambda*(1-V))-slack*x^2); + + % solve the problem using -slack as the objective + options = spot_sdp_default_options(); + options.verbose = 0; + sol = prog.minimize(-slack,@spot_mosek,options); + + % display the results + slack = double(sol.eval(slack)) + c = double(sol.eval(c)) + + + %% Everything after this is just plotting... + + xs=-1.2:.05:1.2; + clear lambda vl; + for i=1:length(xs) + lambda(i)=double(subs(c'*m,x,xs(i))); + vl(i)=double(subs(-2*x^2+2*x^4+(c'*m)*(1-x^2),x,xs(i))); + end + + clf; + hold on; + plot(xs,-xs+xs.^3,'k','linewidth',2); + legend('xdot'); + axis tight + pause; + + plot(xs,-2*xs.^2+2*xs.^4,'r','linewidth',2); + legend('xdot','Vdot'); + pause; + + plot(xs,lambda,'g','linewidth',2); + legend('xdot','Vdot','lambda'); + pause; + + plot(xs,vl,'b','linewidth',2); + legend('xdot','Vdot','lambda','Vdot+lambda*(1-V)'); + + end + function animate() p=XCubed(); v=p.constructVisualizer(); diff --git a/examples/dev/common_lyap_linear_sys.m b/examples/commonLyapunovForLinearSystems.m similarity index 100% rename from examples/dev/common_lyap_linear_sys.m rename to examples/commonLyapunovForLinearSystems.m diff --git a/examples/dev/cubic_example.m b/examples/dev/cubic_example.m deleted file mode 100644 index a2378955b658..000000000000 --- a/examples/dev/cubic_example.m +++ /dev/null @@ -1,67 +0,0 @@ - -% Define a new symbolic variable -x=msspoly('x'); - -% Define the dynamics and Lyapunov function -f = -x + x^3; -V = x^2; -Vdot = diff(V,x)*f; - -% construct a SOS program -prog=spotsosprog; -prog = prog.withIndeterminate(x); - -% construct the langrange multiplier -m=monomials(x,0:4); -[prog,c] = prog.newFree(length(m)); -lambda = c'*m; -prog = prog.withSOS(lambda); -% note: this could all be done with a single line: -% [prog,lambda] = prog.newSOSPoly(monomials(x,0:4)); - -% construct the slack variables (which must be positive) -[prog,slack] = prog.newPos(1); - -% add the SOS constraints -prog = prog.withSOS(-(Vdot+lambda*(1-V))-slack*x^2); - -% solve the problem using -slack as the objective -options = spot_sdp_default_options(); -options.verbose = 0; -sol = prog.minimize(-slack,@spot_mosek,options); - -% display the results -slack = double(sol.eval(slack)) -c = double(sol.eval(c)) - - -% Everything after this is just plotting... - - - -%c = [0 0 1.6375 0 .3625]'; -xs=-1.2:.05:1.2; -clear lambda vl; -for i=1:length(xs) - lambda(i)=double(subs(c'*m,x,xs(i))); - vl(i)=double(subs(-2*x^2+2*x^4+(c'*m)*(1-x^2),x,xs(i))); -end - -clf; -hold on; -plot(xs,-xs+xs.^3,'k','linewidth',2); -legend('xdot'); -axis tight -pause; - -plot(xs,-2*xs.^2+2*xs.^4,'r','linewidth',2); -legend('xdot','Vdot'); -pause; - -plot(xs,lambda,'g','linewidth',2); -legend('xdot','Vdot','lambda'); -pause; - -plot(xs,vl,'b','linewidth',2); -legend('xdot','Vdot','lambda','Vdot+lambda*(1-V)'); - From a009dc4b2b30f1fabd6f7a573ece9d75e6b7bea5 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 20 Oct 2014 07:55:28 -0400 Subject: [PATCH 177/271] add dependency checks --- examples/XCubed.m | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/XCubed.m b/examples/XCubed.m index cfd3be60a452..9b4df3b140c1 100644 --- a/examples/XCubed.m +++ b/examples/XCubed.m @@ -59,7 +59,9 @@ function run() end function sosExample() - + checkDependency('spotless'); + checkDependency('mosek'); + % Define a new symbolic variable x=msspoly('x'); From 4506163783e27d85e892395e6d5e9d6ca6f9357d Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 20 Oct 2014 08:17:33 -0400 Subject: [PATCH 178/271] rename example --- examples/{XCubed.m => CubicPolynomialExample.m} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename examples/{XCubed.m => CubicPolynomialExample.m} (100%) diff --git a/examples/XCubed.m b/examples/CubicPolynomialExample.m similarity index 100% rename from examples/XCubed.m rename to examples/CubicPolynomialExample.m From 8c609746b9804cd68b84695f3d29d31ce8e50c2a Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 20 Oct 2014 08:18:34 -0400 Subject: [PATCH 179/271] rename example --- examples/CubicPolynomialExample.m | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/examples/CubicPolynomialExample.m b/examples/CubicPolynomialExample.m index 9b4df3b140c1..a35f8329522f 100644 --- a/examples/CubicPolynomialExample.m +++ b/examples/CubicPolynomialExample.m @@ -1,4 +1,4 @@ -classdef XCubed < PolynomialSystem +classdef CubicPolynomialExample < PolynomialSystem % Simple SOS region of attraction example. % % Consider the first-order, one-dimensional, dynamical system governed by @@ -16,7 +16,7 @@ % one-sub-level set {x : V(x)<1} of the this polynomial, or x=(-1,1) methods - function obj = XCubed() + function obj = CubicPolynomialExample() obj = obj@PolynomialSystem(1,0,0,1,false,true,false); end function xdot = dynamicsRHS(obj,t,x,u) @@ -49,8 +49,8 @@ function draw(t,x) methods (Static=true) function run() - % create a new xcubed object - p = XCubed(); + % create a new CubicPolynomialExample object + p = CubicPolynomialExample(); % compute region of attraction % the levelset V<1 is the region of attraction @@ -128,7 +128,7 @@ function sosExample() end function animate() - p=XCubed(); + p=CubicPolynomialExample(); v=p.constructVisualizer(); x1=p.simulate([0 5],.8); @@ -138,11 +138,11 @@ function animate() x3=x3.shiftTime(6.5); x=HybridTrajectory({x1,x2,x3}); v.playback(x); -% v.playbackSWF(x,'xcubed'); +% v.playbackSWF(x,'CubicPolynomialExample'); end function findFixedPointTest() - p=XCubed(); + p=CubicPolynomialExample(); xstar = findFixedPoint(p,.1*randn,[]); valuecheck(xstar,0,1e-4); From 4274a44956974904a84a62bda326497466e38f16 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 20 Oct 2014 08:33:31 -0400 Subject: [PATCH 180/271] added comment --- examples/CubicPolynomialExample.m | 2 ++ 1 file changed, 2 insertions(+) diff --git a/examples/CubicPolynomialExample.m b/examples/CubicPolynomialExample.m index a35f8329522f..7098be154d69 100644 --- a/examples/CubicPolynomialExample.m +++ b/examples/CubicPolynomialExample.m @@ -55,6 +55,8 @@ function run() % compute region of attraction % the levelset V<1 is the region of attraction V=regionOfAttraction(p,Point(p.getStateFrame,0)); + + % display the polynomial representation of V that results display(V.getPoly); end From e93fb41e453619491bf3f92721d949cfd04da235 Mon Sep 17 00:00:00 2001 From: Hongkai Dai Date: Mon, 20 Oct 2014 13:57:53 -0400 Subject: [PATCH 181/271] allow studentsnopt to be used in iktraj --- systems/plants/@RigidBodyManipulator/inverseKinBackend.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/plants/@RigidBodyManipulator/inverseKinBackend.m b/systems/plants/@RigidBodyManipulator/inverseKinBackend.m index 9cea353925c5..bb46dd68887d 100644 --- a/systems/plants/@RigidBodyManipulator/inverseKinBackend.m +++ b/systems/plants/@RigidBodyManipulator/inverseKinBackend.m @@ -29,7 +29,7 @@ % note: keeping typecheck/sizecheck to a minimum because this might have to % run inside a dynamical system (so should be fast) -if(~checkDependency('snopt')) +if(~checkDependency('snopt') && ~checkDependency('studentsnopt')) error('Drake:MissingDependency:SNOPT','inverseKinBackend requires SNOPT. Either try install SNOPT, or try using InverseKinematics (capital case) or InverseKinematicsTrajectory (capital case) and set solver to fmincon or ipopt'); end From 79f339d71318d0a66d4a9abd04713dacd5ba8cb0 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 20 Oct 2014 20:16:49 -0400 Subject: [PATCH 182/271] remove redundant mosek check dep --- util/checkDependency.m | 68 ++++++++++++++++-------------------------- 1 file changed, 25 insertions(+), 43 deletions(-) diff --git a/util/checkDependency.m b/util/checkDependency.m index 61308c8cbfd3..e0df441d3812 100644 --- a/util/checkDependency.m +++ b/util/checkDependency.m @@ -183,24 +183,31 @@ disp(' '); end - case 'mosek' - conf.mosek_enabled = logical(exist('mosekopt','file')); - if (~conf.mosek_enabled) - conf.mosek_enabled = pod_pkg_config('mosek') && logical(exist('mosekopt','file')); - end - - if (conf.mosek_enabled) - ok = mosekopt; - if (ok ~= 0) - error('MOSEK seems to have encountered a problem. Please verify that your MOSEK install is working.'); - end - elseif nargout<1 - disp(' '); - disp(' MOSEK not found. MOSEK support will be disabled.'); - disp(' MOSEK can be downloaded with a free academic license from http://www.mosek.com/resources/academic-license '); - disp(' '); - end - + case 'mosek' + conf.mosek_enabled = logical(exist('mosekopt','file')); + if (~conf.mosek_enabled) + conf.mosek_enabled = pod_pkg_config('mosek') && logical(exist('mosekopt','file')); + end + + if (conf.mosek_enabled) + % Check for license issues + try + mosekopt(); + catch ex; + conf.mosek_enabled = false; + disp(getReport(ex,'extended')); + end + end + + if ~conf.mosek_enabled && nargout<1 + disp(' '); + disp(' Mosek not found or not working. Mosek support will be disabled.'); + disp(' Note that Mosek does provide free academic licenses') + disp(' To enable, install Mosek and a license from'); + disp(' http://mosek.com/ .'); + disp(' '); + end + case 'gurobi' conf.gurobi_enabled = logical(exist('gurobi','file')); %&& ~isempty(getenv('GUROBI_HOME'))); if (~conf.gurobi_enabled) @@ -381,31 +388,6 @@ disp(' '); end - case 'mosek' - conf.mosek_enabled = logical(exist('mosekopt', 'file')); - if (~conf.mosek_enabled) - conf.mosek_enabled = pod_pkg_config('mosek'); - end - - if (conf.mosek_enabled) - % Check for license issues - try - mosekopt(); - catch ex; - conf.mosek_enabled = false; - disp(getReport(ex,'extended')); - end - end - - if ~conf.mosek_enabled && nargout<1 - disp(' '); - disp(' Mosek not found or not working. Mosek support will be disabled.'); - disp(' Note that Mosek does provide free academic licenses') - disp(' To enable, install Mosek and a license from'); - disp(' http://mosek.com/ .'); - disp(' '); - end - otherwise % todo: call ver(dep) here? From 74e52ff09db5470944d8b4d17cdac7bbdd04a355 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 21 Oct 2014 14:34:57 -0400 Subject: [PATCH 183/271] Starts refactoring of wing classes based on pull request feedback. --- systems/plants/@RigidBodyWing/RigidBodyWing.m | 933 ++++++++++++------ systems/plants/RigidBodyCompositeWing.m | 385 ++++++++ systems/plants/RigidBodySubWing.m | 676 ------------- ...ce.m => RigidBodyWingWithControlSurface.m} | 6 +- 4 files changed, 1001 insertions(+), 999 deletions(-) create mode 100644 systems/plants/RigidBodyCompositeWing.m delete mode 100644 systems/plants/RigidBodySubWing.m rename systems/plants/{RigidBodySubWingWithControlSurface.m => RigidBodyWingWithControlSurface.m} (98%) diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index d68edad4e30a..b9f60452f7ea 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -1,380 +1,673 @@ classdef RigidBodyWing < RigidBodyForceElement - % RigidBodyWing is a container class for one or more RigidBodySubWing's. - % This allows us to handle wings with control surfaces as multiple - % smaller parts of a wing. + % This class implements all of the details for RigidBodyWing. It is + % considered a sub-wing because all RigidBodyWings in Drake are + % containers for sub-wings, allowing one wing to be made up of multiple + % parts. % - % On initialization, we create the appropriate RigidBodySubWing objects. - + % Having multiple parts in one wing allows for simulation of a wing with + % control surface(s) by splitting up in the wing. + properties - - subwings = {}; % array of RigidBodySubWing's that make up this wing - - subwing_left_edges; % sorted array of points along the wing denoting the left edge of each subwing. Index is the same as obj.subwings. - - control_surfaces; % array of control surfaces on this wing, sorted by order appearing in the URDF - - kinframe; % frame_id for the wing (note: there are different ones for the subwings based on their actual position) - + kinframe; % index to RigidBodyFrame + fCl % PPTrajectories (splines) representing the *dimensional* coefficients + fCd % with fCl = 1/2 rho*S*Cl, etc. (S=area) + fCm + dfCl + dfCd + dfCm + area + %Air density for 20 degC dry air, at sea level + rho = 1.204; + has_control_surface = false; + span; + stall_angle; + chord; + profile; end - methods - function obj = RigidBodyWing(frame_id, profile, chord, span, stallAngle, velocity) - % This constructor supports no arguments or the arguments above. - % Given the parameters above, we create one RigidBodySubWing with the - % parameters described there. - - if nargin > 0 - - thisWing = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity); - - obj.subwings{length(obj.subwings) + 1} = this_subwing; - - obj.subwing_left_edges = 0; - - obj.kinframe = frame_id; - - else - % with no arguments, we were probably called by the URDF constructor - - % no op - - end - end - - - function [force, B_force_or_dforce, dforce ] = computeSpatialForce(obj,manip,q,qd) - % Calls the appropriate RigidBodySubWing.computeSpatialForce - % for all of the subwings, adds the results, and returns. + function obj = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity) + %calls AVL and XFOIL over different angles of attack at the + %given velocity, generates first order polynomials of the CL, + %CD, and pitch moments of the wing. The axes for use in DRAKE are: + % X = forward, in the usual direction of travel + % Y = out the left side of the wing + % Z = up + % Note: an sign inversion is needed for the moment coefficient, as a + % positive pitching moment from AVL/XFOIL represents a pitch up, but + % a positive y-axis rotation represents a pitch down. + % @param frame_id = RigidBodyFrame specifying the location (and + % orientation) of the quarter-chord of the airfoil and the body which + % is it mounted on. + % @param profile = Profile can either be a: + %
+      %         -NACA airfoil designation starting with 'NACA'
+      %         -File location of a .dat file generated by xfoil
+      %         -File location of a .mat file which contains the
+      %         variables 'CLSpline', 'CDSpline', 'CMSpline'
+      %         -the words 'flat plate'
+      %         
+ % @param chord = the chord of the wing (meters) + % @param span = the wing span (width) of the wing (meters) + % @param stallAngle = user-defined angle at which the wing + % stalls (degrees). The negative of the stall angle + % is used for AoA<0, even though airfoils do not stall + % at exactly the same abs(AoA). + % @param velocity = the approximate operating velocity of the wing. + % Needed to pass in the correct Reynolds and Mach numbers to the + % to the numerical solvers to generate appropriate CL and CD + % splines. % - % @param manip RigidBodyManipulator we are a part of - % @param q state vector - % @param qd time derivative of state vector + %TODO: + % Implement some values for post-stall CMs + % i.e. at 90 degrees aoa, the center of pressure should be + % at the half chord. + % use variables for path to xfoil and AVL % - % @retval force forces produced by the wing - % @retval B_force_or_dforce if we have a control surface anywhere, - % this is the B matrix that maps control input to force. - % Otherwise, this is the gradient of the forces. - % - % @retval dforce gradient of forces if we do have a control surface - % anywhere - - if length(obj.subwings) < 1 - error('computeSpatialForce called with no subwings.'); + % we need to be able to construct with no arguments per + % http://www.mathworks.com/help/matlab/matlab_oop/class-constructor-methods.html#btn2kiy + if (nargin == 0) + return; end + + typecheck(frame_id,'numeric'); + obj.kinframe = frame_id; + linux = isunix(); + obj.area = chord*span; + obj.chord = chord; + obj.span = span; + obj.stall_angle = stallAngle; + obj.profile = profile; + mach = velocity/341; % mach 1 at sea level is about 341 m/s + %Reynolds number calculation for 10 deg C and sea level + Re = velocity*chord/.0000144; + profile = deblank(profile); + disp('Constructing a new airfoil'); + setEnvVars(); + if strcmpi(profile(end-3:end), '.mat') + load(profile, 'CLSpline', 'CDSpline', 'CMSpline') + obj.fCl = CLSpline; + obj.fCd = CDSpline; + obj.fCm = CMSpline; + elseif strcmpi(profile, 'flat plate') + flatplate() + else % not flat plate. I.e. its either a NACA or .dat file + if strcmp(profile(1:4),'NACA') + profile = strtrim(profile(5:end)); + avlprofile = strcat('NACA', '\n', profile); + xfoilprofile = strcat('NACA ', profile); + elseif strcmpi(profile(end-3:end), '.dat') %Path to a .dat file + if ~exist(profile) + error('Cannot find wing input .dat file. Please check file path') + end + % xfoil cannot handle long filenames (see bug 1734), so + % copy the profile to the tmp directory and call that instead. + % yuck. + [~,filename,fileext] = fileparts(profile); + copyfile(which(profile),fullfile(tempdir,[filename,fileext])); + profile = fullfile(tempdir,[filename,fileext]); + + avlprofile = strcat('AFILE', '\n', profile); + xfoilprofile = strcat('LOAD', '\n', profile); + else + err = MException('InputType:NotSupported', 'Input profile not supported. (.dat, .m, NACA, flat plate)'); + throw(err); + end + %{ + Reads in template avl files defining the geometry of the wing and the run + profile (airspeed, AoA). Then replaces the appropriate fields in the + Template files with the correct numbers. + The .0001 additions are to avoid repeated angles. + %} + angles = -stallAngle:stallAngle/12:(stallAngle-.0001); + AoAs = []; + CLs = []; + CDs = []; + CMs = []; + runAvl(); + runXfoil(); + %at this point the laminar regime is done. Now a flat + %plate approximation is added on from -90 degrees to + %-stall, and then from stall to +90 degrees + disp('Laminar regime complete. Adding post-stall points') + addPostStallPoints(); + makeSplines(); + revertEnvVars(); + end % if not a flat plate - control_surface_flag = false; - for i = 1 : length(obj.subwings) + function runAvl() + checkDependency('avl'); + avlpath = deblank(getCMakeParam('avl')); + + avlfile = fileread(which('avlblank.avl')); + avlfile = regexprep(avlfile, '\$airfoil', avlprofile); + avlfile = regexprep(avlfile, '\$span', sprintf('%.1f',span)); + avlfile = regexprep(avlfile, '\$chord', sprintf('%.1f',chord)); + avlfile = regexprep(avlfile, '\$area', sprintf('%.1f',obj.area)); + avlfile = regexprep(avlfile, '\$mach', sprintf('%.4f',mach)); + avlfile = regexprep(avlfile, '\$yle', sprintf('%.2f',span/2)); + avlfile = regexprep(avlfile, '\$Xorig', sprintf('%.2f',0)); + avlfile = regexprep(avlfile, '\$Yorig', sprintf('%.2f',0)); + avlfile = regexprep(avlfile, '\$Zorig', sprintf('%.2f',0)); + filename = tempname; + avl_cleanup = onCleanup(@()delete([filename,'*'])); + avlfilepath = [filename,'.avl']; + avlid = fopen(avlfilepath, 'w'); + fprintf(avlid, avlfile); + fclose(avlid); - if (obj.subwings{i}.has_control_surface) - - if control_surface_flag - error('multiple control surfaces on one wing not supported.'); - end - - control_surface_flag = true; - - [this_force, B_force, this_dforce, dB_force ] = obj.subwings{i}.computeSpatialForce(manip,q,qd); - - if i == 1 - force = this_force; - dforce = this_dforce; - else - force = force + this_force; - dforce = dforce + this_dforce; - + %writes the case-specific files avl requires to run + runfilepath = [filename,'.run']; + runid = fopen(runfilepath, 'w'); + commandfilepath = [filename,'_command.txt']; + avlcommandfile = fopen(commandfilepath, 'w'); + avlresultsloc = [filename,'_results.txt']; + if ~linux %because windows file paths use backslashes. + avlresultsloc = regexprep(avlresultsloc, '\\', '\\\\'); + end + avlcommandstring = sprintf('OPER\nX\nW\n%s\n', avlresultsloc); + runfiletemplate = fileread(which('avlblank.run')); + for x = 1:length(angles) + runfile = regexprep(runfiletemplate, '\$casenum', sprintf('%d',x)); + runfile = regexprep(runfile, '\$alpha', sprintf('%.2f',angles(x))); + runfile = regexprep(runfile, '\$mach', sprintf('%.1f',mach)); + runfile = regexprep(runfile, '\$vel', sprintf('%.1f',velocity)); + runfile = regexprep(runfile, '\$span', sprintf('%.1f',span)); + fprintf(runid, runfile); + if x ~=1 % case 1 is already taken care of above. Need to do this way to get the output filename correct + avlcommandstring = [avlcommandstring, sprintf('%d\nX\nW\n\n', x)]; end - - - else + end + avlcommandstring = [avlcommandstring, sprintf('\nquit')]; + fprintf(avlcommandfile, avlcommandstring); + fclose(avlcommandfile); + fclose(runid); - [this_force, this_dforce] = obj.subwings{i}.computeSpatialForce(manip, q, qd); - if i == 1 - force = this_force; - dforce = this_dforce; - else - force = force + this_force; - dforce = dforce + this_dforce; + disp('Running AVL...'); + % runs AVL. This generates results.txt, which CL, Cm, and part of CD is + % extracted from. + try + commandstring = sprintf('%s %s %s < %s > %s', avlpath, avlfilepath, runfilepath, commandfilepath, [filename,'_screen_output.txt']); + result = systemWCMakeEnv(commandstring); + catch E + disp('Error running AVL. Switching to Flat Plate. Results likely inaccurate') + flatplate() + return + end + if result ~= 0 || ~ exist(avlresultsloc, 'file');%if AVL didn't execute properly + warning('Error running AVL. The system() call did not execute properly. Switching to Flat Plate. Results likely inaccurate') + flatplate() + return + end + % disp('Processing AVL output...') + avlresult = fileread(avlresultsloc); + AoAindices = strfind(avlresult, 'Alpha ='); + AoAindices = AoAindices + 8; + for x = 1:length(AoAindices) + AoAs = [AoAs str2double(avlresult(AoAindices(x):AoAindices(x)+6))]; + end + CLindices = strfind(avlresult, 'CLtot ='); + CLindices = CLindices + 8; + for x = 1:length(CLindices) + CLs = [CLs str2double(avlresult(CLindices(x):CLindices(x)+6))]; + end + CDindices = strfind(avlresult, 'CDtot ='); + CDindices = CDindices + 8; + for x = 1:length(CDindices) + CDs = [CDs str2double(avlresult(CDindices(x):CDindices(x)+6))]; + end + Cmindices = strfind(avlresult, 'Cmtot ='); + Cmindices = Cmindices + 8; + for x = 1:length(Cmindices) + CMs = [CMs str2double(avlresult(Cmindices(x):Cmindices(x)+6))]; + end + end %runAvl() + + + function runXfoil() + checkDependency('xfoil'); + xfoilpath = deblank(getCMakeParam('xfoil')); + + % Reads template Xfoil commands file and fills in appropriate values + xfoilfile = fileread(which('xfoilblank.txt')); + filename = tempname; + xfoil_cleanup = onCleanup(@()delete([filename,'*'])); + polarLoc = [tempname,'_polar.txt']; + if ~linux %because Windows. + polarLoc = regexprep(polarLoc, '\\', '\\\\\\\\'); + end + xfoilfile = regexprep(xfoilfile, '\$airfoil', xfoilprofile); + xfoilfile = regexprep(xfoilfile, '\$re', sprintf('%.2f',Re)); + xfoilfile = regexprep(xfoilfile, '\$mach', sprintf('%.4f',mach)); + xfoilfile = regexprep(xfoilfile, '\$negStallAngle', sprintf('%.1f',-stallAngle)); + xfoilfile = regexprep(xfoilfile, '\$stallAngle', sprintf('%.1f',stallAngle)); + xfoilfile = regexprep(xfoilfile, '\$polarLocation', polarLoc); + commandfile = [filename,'_commands.txt']; + xfoilid = fopen(commandfile, 'w'); + fprintf(xfoilid, xfoilfile); + fclose(xfoilid); + %runs Xfoil. + disp('Running XFOIL...') + try + commandstring = sprintf('%s < %s > %s', xfoilpath, commandfile, [filename,'_screen_output.txt']); + result = systemWCMakeEnv(commandstring); + % disp('Processing Xfoil output') + xfoilresult = fopen(polarLoc); + xfoillines = textscan(xfoilresult, '%[^\r\n]'); + fclose(xfoilresult); + %Strips down the output so its just a list of the alpha, + %CL, CD, CDp, CM numbers from xfoil. The while loop should run + %~6 times + xfoillines = xfoillines{1}(1:end); + while ~strcmp(xfoillines{1}(1:5), '-----') + xfoillines = xfoillines(2:end); end + xfoillines = xfoillines(2:end); + catch E + disp('Warning: Error in running XFOIL. Drag forces pre-stall are likely underestimated. Check the location of your wing data file?') + addPostStallPoints() + makeSplines() + return + end + if result ~= 0 %if XFOIL didn't execute properly + disp('Warning: Error in running XFOIL. Drag forces pre-stall are likely underestimated') + addPostStallPoints() + makeSplines() + return end - end - - if control_surface_flag - % we have a control surface - B_force_or_dforce = B_force; - else - B_force_or_dforce = dforce; - end - - end + Cds = []; + Cls = []; + alphas = []; + for x = 1:length(xfoillines) + currline = textscan(xfoillines{x}, '%f'); + currline = currline{1}; + alphas = [alphas currline(1)]; + Cls = [Cls currline(2)]; + Cds = [Cds currline(3)]; + end + %{ + xfoil runs from 0 to negstallangle, then resets and runs + from 0 to stallangle to promote convergence of solutions. + (If it started at negstallangle, it may not converge if + the wing is stalled, so it starts from 0 and works its way + outwards.) This creates improper ordering of the output + file, which these next four lines take care of. + reorders the matricies from -stallangle to stallangle + %} - function obj = setInputNum(obj, input_num) - % override RigidBodyForceElement.setInputNum to support subwings. + [~,pivot] = max(diff(alphas)); + %Xfoil on my lab machine would have two zero data points, which would + %break spline generation. If there are two zeros, then skip the + %second one. I'm not sure why this happens. Something in the + %Xfoil install? --Tim + if length(find(alphas==0))==2 + inc = 2; + else + inc = 1; + end + alphas = [fliplr(alphas(1:pivot)) alphas(pivot+inc:end)]; + Cls = [fliplr(Cls(1:pivot)) Cls(pivot+inc:end)]; + Cds = [fliplr(Cds(1:pivot)) Cds(pivot+inc:end)]; + [~, maxloc] = max(Cls); + if alphas(maxloc)+1 < stallAngle + disp('Warning: Wing stall detected earlier than the user-specified stall') + end + xfoilspline = spline(alphas, Cds); + %Add the xfoil Cd to the AVL Cd + try + for x = 1:length(AoAs) + CDs(x) = CDs(x) + ppval(xfoilspline, AoAs(x)); + end + catch E + disp('Warning: Error in matching up XFOIL Cds. Drag forces are likely underestimated') + end + + end %runXfoil() - obj.input_num = input_num; - for i = 1 : length(obj.subwings) - if obj.subwings{i}.has_control_surface - obj.subwings{i} = obj.subwings{i}.setInputNum(input_num); - end + function addPostStallPoints() + postStallAngles = stallAngle+2:2:180; + postStallCLs = 2*sind(postStallAngles).*cosd(postStallAngles); + postStallCDs = 2*sind(postStallAngles).^2; + postStallCMs = -2*postStallAngles./(90*4); + AoAs = [-fliplr(postStallAngles) AoAs postStallAngles]; + CLs = [-fliplr(postStallCLs) CLs postStallCLs]; + CDs = [fliplr(postStallCDs) CDs postStallCDs]; + CMs = [-fliplr(postStallCMs) CMs postStallCMs]; end - end - - - function drawWing(obj, manip, q, qd, fill_color) - % Draws the wing onto the current figure in the state - % given by q and qdot - % - % @param manip manipulator the wing is part of - % @param q state vector - % @param qd q-dot (state vector derivatives) - % @param fill_color @default 1 - if nargin < 5 - fill_color = 1; - end - for i = 1 : length(obj.subwings) - obj.subwings{i}.drawWing(manip, q, qd, fill_color); + function flatplate() + disp('Using a flat plate airfoil.') + laminarpts = 30; + angles = [-180:2:-(stallAngle+.0001) -stallAngle:2*stallAngle/laminarpts:(stallAngle-.0001) stallAngle:2:180]; + %CMangles is used to make the Moment coefficient zero when the wing + %is not stalled + CMangles = [-180:2:-(stallAngle+.0001) zeros(1,laminarpts) stallAngle:2:180]; + obj.fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*chord/4); + obj.fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); + obj.fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); end - end - - - function [CL, CD, CM, dCL, dCD, dCM] = coeffs(obj, aoa) - % Returns dimensionalized coefficient of lift, drag, and pitch - % moment for a given angle of attack - % - % @param aoa angle of attack to get coefficients at - % - % @retval CL coefficient of lift - % @retval CD coefficient of drag - % @retval CM pitch moment - % - % @retval dCL derivative of coefficient of lift - % @retval dCL derivative of coefficient of drag - % @retval dCL derivative of pitch moment - if length(obj.subwings) == 1 - - if (nargout > 3) - [CL, CD, CM, dCL, dCD, dCM] = obj.subwings{1}.coeffs(aoa); - else - [CL, CD, CM] = obj.subwings{1}.coeffs(aoa); - end - - else - error('Not supported for wings with more than one subwing.'); + + function makeSplines() + %Dimensionalized splines, such that you only need to + %multiply by vel^2. Lift = .5*Cl*rho*area*vel^2 + obj.fCl = spline(AoAs, .5*CLs*obj.rho*obj.area); + obj.fCd = spline(AoAs, .5*CDs*obj.rho*obj.area); + obj.fCm = spline(AoAs, .5*CMs*obj.rho*obj.area*chord); + disp('Aerodynamic Splines Finished') end + %These are needed in order to make avl and xfoil run correctly. Not + %entirely sure what the underlying problem is, but this was the + %workaround from mathworks.com. + function setEnvVars() + setenv('GFORTRAN_STDIN_UNIT', '5') + setenv('GFORTRAN_STDOUT_UNIT', '6') + setenv('GFORTRAN_STDERR_UNIT', '0') + end %setEnvVars() - end + + function revertEnvVars() + setenv('GFORTRAN_STDIN_UNIT', '-1') + setenv('GFORTRAN_STDOUT_UNIT', '-1') + setenv('GFORTRAN_STDERR_UNIT', '-1') + end %revertEnvVars() - end + % convert the splines to PPTrajectory, allowing + % for fasteval improving performance a lot + obj.fCm = PPTrajectory(obj.fCm); + obj.fCl = PPTrajectory(obj.fCl); + obj.fCd = PPTrajectory(obj.fCd); + obj.dfCm = obj.fCm.fnder(1); + obj.dfCl = obj.fCl.fnder(1); + obj.dfCd = obj.fCd.fnder(1); - methods (Static) - function [model,obj] = parseURDFNode(model,robotnum,node,options) - name = char(node.getAttribute('name')); - name = regexprep(name, '\.', '_', 'preservecase'); + end %constructor + - elNode = node.getElementsByTagName('parent').item(0); - parent = findLinkInd(model,char(elNode.getAttribute('link')),robotnum); + + - xyz=zeros(3,1); rpy=zeros(3,1); - elnode = node.getElementsByTagName('origin').item(0); - if ~isempty(elnode) - if elnode.hasAttribute('xyz') - xyz = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('xyz'))),3,1); - end - if elnode.hasAttribute('rpy') - rpy = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('rpy'))),3,1); - end - end - [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); - - % search for control surfaces - control_surface_nodes = node.getElementsByTagName('control_surface'); - - obj = RigidBodyWing(); + + function [force, dforce] = computeSpatialForce(obj,manip,q,qd) + nq = size(q,1); + frame = getFrame(manip,obj.kinframe); - obj.kinframe = this_frame_id; + kinsol = doKinematics(manip,q,true,true,qd); + + if (nargout > 1) + [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + else + [ wingvel_world_xz, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + end + - profile = char(node.getAttribute('profile')); - chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); - span = parseParamString(model,robotnum,char(node.getAttribute('span'))); - stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); - nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); + - left_edge_of_wing = xyz - [0; span/2; 0]; - if isempty(control_surface_nodes.item(0)) - % no control surfaces - - this_subwing = RigidBodySubWing(obj.kinframe, profile, chord, span, stall_angle, nominal_speed); - - obj.subwings{length(obj.subwings) + 1} = this_subwing; - obj.subwing_left_edges = 0; - + + if (nargout>1) + [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz, dwingvel_worlddq, dwingvel_worlddqd); else - % deal with control surfaces - - if ~strcmpi(profile, 'flat plate') - error('wings with control surfaces that are not flat plates is unimplemneted at the current time.'); - end - - % load control surface data - count = 0; + wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz); + end - this_surface = control_surface_nodes.item(count); - while ~isempty(this_surface) - - - surface_name = char(this_surface.getAttribute('name')); - surface_chord = parseParamString(model,robotnum,char(this_surface.getAttribute('chord'))); - surface_span = parseParamString(model,robotnum,char(this_surface.getAttribute('span'))); - surface_left_edge_position_along_wing = parseParamString(model,robotnum,char(this_surface.getAttribute('left_edge_position_along_wing'))); - surface_min_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('min_deflection'))); - surface_max_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('max_deflection'))); - - assert(surface_span > 0, ['Span must be > 0 on control surface "' surface_name '"']); - assert(surface_chord > 0, ['Chord must be > 0 on control surface "' surface_name '"']); - assert(surface_left_edge_position_along_wing >= 0, ['Left edge position must be >= 0 on control surface "' surface_name '"']); - - assert(surface_span + surface_left_edge_position_along_wing <= span, ['Control surface runs off the right end of the wing on surface "' surface_name '"']); - - for other_surface = obj.control_surfaces - if strcmp(other_surface.name, surface_name) - error(['Duplicate control surface name "' surface_name '"']); - end - end - - obj.control_surfaces = [ obj.control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing, surface_min_deflection, surface_max_deflection) ]; + + airspeed = norm(wingvel_world_xz); + if (nargout>1) + dairspeeddq = (wingvel_world_xz'*dwingvel_worlddq)/norm(wingvel_world_xz); + dairspeeddqd = (wingvel_world_xz'*dwingvel_worlddqd)/norm(wingvel_world_xz); + end - - count = count + 1; - this_surface = control_surface_nodes.item(count); - - end - - % now we split the wing up into multiple segments that either - % contain one of the control surfaces or don't - - % do some sanity checks to make sure that the control surfaces do - % not overlap - for surface = obj.control_surfaces - for surface2 = obj.control_surfaces - - if ~strcmp(surface.name, surface2.name) - - left1 = surface.left_edge_position_along_wing; - right1 = left1 + surface.span; - - left2 = surface2.left_edge_position_along_wing; - - if (left1 < left2 && right1 > left2) - error(['Control surfaces "' surface.name '" and "' surface2.name '" overlap.']); - end - - end - end - end % end sanity checks - - % split the wing up starting from the left edge - - remaining_surfaces = obj.control_surfaces; - point_along_wing = 0; - - while (span - point_along_wing > 1e-6) % not always exactly less than - - % find the minimum value of the control surface left edges - min_left_edge_value = inf; - min_left_edge_index = -1; - - for i = 1 : length(remaining_surfaces) - % need a loop heree because min() doesn't support two matricies - % with two output arguments - if (remaining_surfaces(i).left_edge_position_along_wing < min_left_edge_value) - min_left_edge_value = remaining_surfaces(i).left_edge_position_along_wing; - min_left_edge_index = i; - end - end + aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1)); + if (nargout>1) + daoadq = -(180/pi)*(wingvel_rel(1)*dwingvel_reldq(3,:)-wingvel_rel(3)*dwingvel_reldq(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); + daoadqd = -(180/pi)*(wingvel_rel(1)*dwingvel_reldqd(3,:)-wingvel_rel(3)*dwingvel_reldqd(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); + end - if (min_left_edge_value == point_along_wing) - % control surface starts at the left edge - - obj.direct_feedthrough_flag = true; + %lift and drag are the forces on the body in the world frame. + %cross(wingXZvelocity, wingYunit) rotates it by 90 degrees + if (nargout>1) + [CL, CD, CM, dCL, dCD, dCM] = obj.coeffs(aoa); + dCLdq = dCL*daoadq; + dCDdq = dCD*daoadq; + dCMdq = dCM*daoadq; + dCLdqd = dCL*daoadqd; + dCDdqd = dCD*daoadqd; + dCMdqd = dCM*daoadqd; + else + [CL, CD, CM] = obj.coeffs(aoa); + end - % span of this part of the wing is the span of the control - % surface + x_wingvel_world_wingYunit = cross(wingvel_world_xz, wingYunit); + if (nargout>1) + dx_wingvel_world_wingYunitdq = cross(dwingvel_worlddq, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world_xz,1,nq), dwingYunitdq, 1); + dx_wingvel_world_wingYunitdqd = cross(dwingvel_worlddqd, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world_xz,1,nq), dwingYunitdqd, 1); + end + lift_world = CL*airspeed*x_wingvel_world_wingYunit; % this is norm(airspeed)^2 because it equals CL*airspeed* norm(wingvel_world_xz) * norm(a unit_vector) * sin(90 deg) + drag_world = CD*airspeed*(-wingvel_world_xz); + torque_world = -CM*airspeed*airspeed*wingYunit; + if (nargout>1) + dlift_worlddq = x_wingvel_world_wingYunit*airspeed*dCLdq + x_wingvel_world_wingYunit*CL*dairspeeddq + CL*airspeed*dx_wingvel_world_wingYunitdq; + dlift_worlddqd = x_wingvel_world_wingYunit*airspeed*dCLdqd + x_wingvel_world_wingYunit*CL*dairspeeddqd + CL*airspeed*dx_wingvel_world_wingYunitdqd; + ddrag_worlddq = airspeed*-wingvel_world_xz*dCDdq + CD*(-wingvel_world_xz*dairspeeddq) + CD*airspeed*-dwingvel_worlddq; + ddrag_worlddqd = airspeed*-wingvel_world_xz*dCDdqd + CD*(-wingvel_world_xz*dairspeeddqd) + CD*airspeed*-dwingvel_worlddqd; + dtorque_worlddq = -airspeed*airspeed*wingYunit*dCMdq + -CM*2*airspeed*(wingYunit*dairspeeddq) + -CM*airspeed*airspeed*dwingYunitdq; + dtorque_worlddqd = -airspeed*airspeed*wingYunit*dCMdqd + -CM*2*airspeed*(wingYunit*dairspeeddqd); + end - this_surface = obj.control_surfaces(min_left_edge_index); - this_span = this_surface.span; - - - subwing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; + % convert torque to joint frame (featherstone dynamics algorithm never reasons in body coordinates) + if (nargout>1) + [torque_body, torque_bodyJ, torque_bodyP] = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); + torque_body = torque_body(:,1)-torque_body(:,2); + torque_bodyJ = torque_bodyJ(1:3,:)-torque_bodyJ(4:6,:); + torque_bodyP = torque_bodyP(1:3,:)-torque_bodyP(4:6,:); + dtorque_bodydq = torque_bodyJ+torque_bodyP(1:3,1:3)*dtorque_worlddq; + dtorque_bodydqd = torque_bodyP(1:3,1:3)*dtorque_worlddqd; + else + torque_body = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); + torque_body = torque_body(:,1)-torque_body(:,2); + end - - subwing_frame_xyz = left_edge_of_wing + obj.getSubWingFrameXYZ(subwing_center_body_frame, rpy); + torque_joint = manip.body(frame.body_ind).X_joint_to_body'*[torque_body;0;0;0]; + if (nargout>1) + dtorque_jointdq = manip.body(frame.body_ind).X_joint_to_body'*[dtorque_bodydq;zeros(3,nq)]; + dtorque_jointdqd = manip.body(frame.body_ind).X_joint_to_body'*[dtorque_bodydqd;zeros(3,nq)]; + end - [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,[this_surface.name '_subwing' num2str(length(obj.subwings)) '_of_' name '_frame'])); - - this_subwing = RigidBodySubWingWithControlSurface(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface); - - - obj.input_limits = [ obj.input_limits [ this_surface.min_deflection; this_surface.max_deflection] ]; - - % remove this surface from consideration - remaining_surfaces(min_left_edge_index) = []; - + %inputs of point (body coordinates), and force (world coordinates) + %returns [torque; xforce; yforce] in the body coordinates + %obj.body.position_num should have 6 elements for + %linkID = manip.findLinkInd(obj.body.linkname, 0); + if (nargout>1) + [f,fJ,fP] = cartesianForceToSpatialForce(manip, kinsol, frame.body_ind, frame.T(1:3,4),lift_world+drag_world); + dfdq = fJ+fP*(dlift_worlddq+ddrag_worlddq); + dfdqd = fP*(dlift_worlddqd+ddrag_worlddqd); + else + f = cartesianForceToSpatialForce(manip, kinsol, frame.body_ind, frame.T(1:3,4),lift_world+drag_world); + end - else - % make a non-control surfaced wing since the control surface - % does not start at the left edge + body_force = torque_joint + f; + if (nargout>1) + dbody_forcedq = dtorque_jointdq + dfdq; + dbody_forcedqd = dtorque_jointdqd + dfdqd; + end - if (min_left_edge_value == inf) - this_span = span - point_along_wing; - else - this_span = min_left_edge_value - point_along_wing; - end - - subwing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; - - subwing_frame_xyz = left_edge_of_wing + obj.getSubWingFrameXYZ(subwing_center_body_frame, rpy); - - [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,['subwing' num2str(length(obj.subwings)) '_of_' name '_frame'])); + force = sparse(6,getNumBodies(manip))*q(1); % q(1) is for taylorvar + force(:,frame.body_ind) = body_force; + if (nargout>1) + dforce = sparse(numel(force),2*nq)*q(1); % q(1) is for taylorvar + dforce((frame.body_ind-1)*6+1:frame.body_ind*6,:) = [dbody_forcedq,dbody_forcedqd]; + dforce = reshape(dforce,6,[]); + end - this_subwing = RigidBodySubWing(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed); - end - - - obj.subwings{length(obj.subwings) + 1} = this_subwing; - obj.subwing_left_edges = [ obj.subwing_left_edges point_along_wing ]; - - point_along_wing = point_along_wing + this_span; - - end - - - + end + + function [CL, CD, CM, dCL, dCD, dCM] = coeffs(obj, aoa) + %returns dimensionalized coefficient of lift, drag, and pitch moment for a + %given angle of attack + CL = obj.fCl.eval(aoa); + CD = obj.fCd.eval(aoa); + CM = obj.fCm.eval(aoa); + if (nargout>3) + dCL = obj.dfCl.eval(aoa); + dCD = obj.dfCd.eval(aoa); + dCM = obj.dfCm.eval(aoa); end - obj.name = name; end - function subwing_frame_xyz = getSubWingFrameXYZ(subwing_center_body_frame, rpy) - % figure out where the center of this subwing is, accounting - % for possible roll/pitch/yaw in the spec + function drawWing(obj, manip, q, qd, fill_color) + % Draws the subwing onto the current figure + % @param manip manipulator the wing is part of + % @param q state vector + % @param qd q-dot (state vector derivatives) + % @param fill_color @default 1 + + if ~strcmpi(obj.profile, 'flat plate') + warning('Drawing may not be right for non-flat plate wings.'); + end + + hold on + + kinsol = doKinematics(manip,q,false, false, qd); + + origin = forwardKin(manip, kinsol, obj.kinframe, zeros(3,1), 1); + + % draw a box around the origin in world frame + + height = 0.01; + + % get the corner points in 3d space + + p1 = [-obj.chord/2, -obj.span/2, 0]; + + p2 = [ obj.chord/2, -obj.span/2, 0]; + + p3 = [ obj.chord/2, obj.span/2, 0]; + + p4 = [-obj.chord/2, obj.span/2, 0]; + + pts = forwardKin(manip, kinsol, obj.kinframe, [p1; p2; p3; p4]'); + + fill3(pts(1,:), pts(2,:), pts(3,:), fill_color); + + xlabel('x'); + ylabel('y'); + zlabel('z'); + + axis equal + + end - rot_matrix = [ cos(rpy(3))*cos(rpy(2)), cos(rpy(3))*sin(rpy(2))*sin(rpy(1)) - sin(rpy(3))*cos(rpy(1)), cos(rpy(3))*sin(rpy(2))*cos(rpy(1)) + sin(rpy(3))*sin(rpy(1)); ... - sin(rpy(3))*cos(rpy(2)), sin(rpy(3))*sin(rpy(2))*sin(rpy(1)) + cos(rpy(3))*cos(rpy(1)), sin(rpy(3))*sin(rpy(2))*cos(rpy(1)) - cos(rpy(3))*sin(rpy(1)); ... - -sin(rpy(2)), cos(rpy(2))*sin(rpy(1)), cos(rpy(2))*cos(rpy(1)) ]; + end + methods (Static) + + function [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd, wingvel_world_xyz ] = computeWingVelocity(kinframe, manip, q, qd, kinsol) + % Computes the velcity of the wing in word coordinates + % + % @param kinframe frame id of the kinematic frame + % @param manip manipulator we are a part of + % @param q state vector + % @param qd q-dot (time derivative of state vector) + % @param kinsol solution from doKinematics + % + % @retval wingvel_world_xz velocity of the wing in world coodinates + % projected onto the wing's XZ plane. In other words, velocity with + % sideslip subtracted out. + % @retval wingYunit unit vector along the wing's Y axis in world + % coordinates + % @retval dwingvel_worlddq derivative of wing velocity with respect + % to q + % @retval dwingvel_worlddqd derivative of the wing velocity with + % respect to qdot + % @retval wingvel_world_xzy velocity of the wing in world coordinates + + if (nargout>2) + + [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1)); + Jdot = forwardJacDot(manip,kinsol,kinframe,zeros(3,1)); + wingvel_world_xyz = J*qd; % assume still air. Air flow over the wing + dwingvel_worlddq = Jdot; + dwingvel_worlddqd = J; + else + kinsol = doKinematics(manip,q); + [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1)); + wingvel_world_xyz = J*qd; % assume still air. Air flow over the wing + end + + % Implementation note: for homogenous transforms, I could do the following + % vector transforms more efficiently. forwardKin is adding a 1 on + % the end of every pt for the homogenous coordinates. it would be + % equivalent, cleaner, and more efficient, to just add a zero on the + % end instead of the 1... because for homogeneous transform matrix + % T we have: + % T * [x;1] - T * [0;1] = T * [x;0] + % but I made this change everywhere and decided it was more important + % to keep the interface to the forwardKin method clean instead of + % polluting it (and bodyKin, and the mex files, ...) with an extra + % input/option for "vectors_not_points". + %project this onto the XZ plane of the wing (ignores sideslip) + if (nargout>2) + [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]); + wingYunit = wingYunit(:,1)-wingYunit(:,2); % subtract out the origin + dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:); + dwingYunitdqd = zeros(3, size(q,1)); + else + wingYunit = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]); + wingYunit = wingYunit(:,1)-wingYunit(:,2); % subtract out the origin + end + + sideslip = wingvel_world_xyz'*wingYunit; + if (nargout>2) + dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world_xyz'*dwingYunitdq; + dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world_xyz'*dwingYunitdqd; + end - subwing_frame_xyz = rot_matrix * subwing_center_body_frame; + wingvel_world_xz = wingvel_world_xyz - sideslip*wingYunit; + if (nargout>2) + dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq; + dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd; + end + + end + + + function [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = computeWingVelocityRelative(kinframe, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd) + % Computes the relative wing velocity + % + % @param kinframe frame id (usually in obj.kinframe) + % @param manip manipulator we are a part of + % @param kinsol solution from doKinematics + % @param wingvel_world world velocity from computeWingVelocity + % @param dwingvel_worlddq from computeWingVelocity + % @param dwingvel_worlddqd from computeWingVelocity + % + % @retval wingvel_rel relative wing velocity + % @retval dwingvel_reldq derivative of relative wing velocity with + % respect to q + % @retval dwingvel_reldqd derivative of relative wing velocity with + % respect to q-dot + + if (nargout>1) + [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,kinframe,[wingvel_world,zeros(3,1)]); + wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); + wingvel_relJ = wingvel_relJ(1:3,:)-wingvel_relJ(4:6,:); + wingvel_relP = wingvel_relP(1:3,:)-wingvel_relP(4:6,:); + dwingvel_reldq = wingvel_relJ+wingvel_relP(:,1:3)*dwingvel_worlddq; + dwingvel_reldqd = wingvel_relP(:,1:3)*dwingvel_worlddqd; + else + wingvel_rel = bodyKin(manip,kinsol,kinframe,[wingvel_world,zeros(3,1)]); + wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); + end end diff --git a/systems/plants/RigidBodyCompositeWing.m b/systems/plants/RigidBodyCompositeWing.m new file mode 100644 index 000000000000..b719b121fd9e --- /dev/null +++ b/systems/plants/RigidBodyCompositeWing.m @@ -0,0 +1,385 @@ +classdef RigidBodyCompositeWing < RigidBodyForceElement + % RigidBodyCompositeWing is a container class for one or more + % RigidBodyWing or RigidBodyWingWithControlSurface's. + % This allows us to handle wings with control surfaces as multiple + % smaller parts of a wing. + % + % When reading a URDF, we automatically create the relevant objects + % based on if the wing has control surfaces or not. + + properties + + subwings = {}; % array of RigidBodySubWing's that make up this wing + + subwing_left_edges; % sorted array of points along the wing denoting the left edge of each subwing. Index is the same as obj.subwings. + + control_surfaces; % array of control surfaces on this wing, sorted by order appearing in the URDF + + kinframe; % frame_id for the wing (note: there are different ones for the subwings based on their actual position) + + end + + + methods + function obj = RigidBodyWing(frame_id, profile, chord, span, stallAngle, velocity) + % This constructor supports no arguments or the arguments above. + % Given the parameters above, we create one RigidBodySubWing with the + % parameters described there. + + if nargin > 0 + + thisWing = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity); + + obj.subwings{length(obj.subwings) + 1} = this_subwing; + + obj.subwing_left_edges = 0; + + obj.kinframe = frame_id; + + else + % with no arguments, we were probably called by the URDF constructor + + % no op + + end + end + + + function [force, B_force_or_dforce, dforce ] = computeSpatialForce(obj,manip,q,qd) + % Calls the appropriate RigidBodySubWing.computeSpatialForce + % for all of the subwings, adds the results, and returns. + % + % @param manip RigidBodyManipulator we are a part of + % @param q state vector + % @param qd time derivative of state vector + % + % @retval force forces produced by the wing + % @retval B_force_or_dforce if we have a control surface anywhere, + % this is the B matrix that maps control input to force. + % Otherwise, this is the gradient of the forces. + % + % @retval dforce gradient of forces if we do have a control surface + % anywhere + + + if length(obj.subwings) < 1 + error('computeSpatialForce called with no subwings.'); + end + + control_surface_flag = false; + + for i = 1 : length(obj.subwings) + + if (obj.subwings{i}.has_control_surface) + + if control_surface_flag + error('multiple control surfaces on one wing not supported.'); + end + + control_surface_flag = true; + + [this_force, B_force, this_dforce, dB_force ] = obj.subwings{i}.computeSpatialForce(manip,q,qd); + + if i == 1 + force = this_force; + dforce = this_dforce; + else + force = force + this_force; + dforce = dforce + this_dforce; + + end + + + else + + [this_force, this_dforce] = obj.subwings{i}.computeSpatialForce(manip, q, qd); + if i == 1 + force = this_force; + dforce = this_dforce; + else + force = force + this_force; + dforce = dforce + this_dforce; + + end + end + + end + + if control_surface_flag + % we have a control surface + B_force_or_dforce = B_force; + else + B_force_or_dforce = dforce; + end + + end + + function obj = setInputNum(obj, input_num) + % override RigidBodyForceElement.setInputNum to support subwings. + + obj.input_num = input_num; + + for i = 1 : length(obj.subwings) + if obj.subwings{i}.has_control_surface + obj.subwings{i} = obj.subwings{i}.setInputNum(input_num); + end + end + end + + + function drawWing(obj, manip, q, qd, fill_color) + % Draws the wing onto the current figure in the state + % given by q and qdot + % + % @param manip manipulator the wing is part of + % @param q state vector + % @param qd q-dot (state vector derivatives) + % @param fill_color @default 1 + + if nargin < 5 + fill_color = 1; + end + + for i = 1 : length(obj.subwings) + obj.subwings{i}.drawWing(manip, q, qd, fill_color); + end + end + + + function [CL, CD, CM, dCL, dCD, dCM] = coeffs(obj, aoa) + % Returns dimensionalized coefficient of lift, drag, and pitch + % moment for a given angle of attack + % + % @param aoa angle of attack to get coefficients at + % + % @retval CL coefficient of lift + % @retval CD coefficient of drag + % @retval CM pitch moment + % + % @retval dCL derivative of coefficient of lift + % @retval dCL derivative of coefficient of drag + % @retval dCL derivative of pitch moment + + if length(obj.subwings) == 1 + + if (nargout > 3) + [CL, CD, CM, dCL, dCD, dCM] = obj.subwings{1}.coeffs(aoa); + else + [CL, CD, CM] = obj.subwings{1}.coeffs(aoa); + end + + else + error('Not supported for wings with more than one subwing.'); + end + + + + end + + end + + methods (Static) + function [model,obj] = parseURDFNode(model,robotnum,node,options) + name = char(node.getAttribute('name')); + name = regexprep(name, '\.', '_', 'preservecase'); + + elNode = node.getElementsByTagName('parent').item(0); + parent = findLinkInd(model,char(elNode.getAttribute('link')),robotnum); + + xyz=zeros(3,1); rpy=zeros(3,1); + elnode = node.getElementsByTagName('origin').item(0); + if ~isempty(elnode) + if elnode.hasAttribute('xyz') + xyz = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('xyz'))),3,1); + end + if elnode.hasAttribute('rpy') + rpy = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('rpy'))),3,1); + end + end + [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); + + % search for control surfaces + control_surface_nodes = node.getElementsByTagName('control_surface'); + + obj = RigidBodyWing(); + + obj.kinframe = this_frame_id; + + profile = char(node.getAttribute('profile')); + chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); + span = parseParamString(model,robotnum,char(node.getAttribute('span'))); + stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); + nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); + + left_edge_of_wing = xyz - [0; span/2; 0]; + + if isempty(control_surface_nodes.item(0)) + % no control surfaces + + this_subwing = RigidBodySubWing(obj.kinframe, profile, chord, span, stall_angle, nominal_speed); + + obj.subwings{length(obj.subwings) + 1} = this_subwing; + obj.subwing_left_edges = 0; + + else + % deal with control surfaces + + if ~strcmpi(profile, 'flat plate') + error('wings with control surfaces that are not flat plates is unimplemneted at the current time.'); + end + + % load control surface data + count = 0; + + this_surface = control_surface_nodes.item(count); + while ~isempty(this_surface) + + + surface_name = char(this_surface.getAttribute('name')); + surface_chord = parseParamString(model,robotnum,char(this_surface.getAttribute('chord'))); + surface_span = parseParamString(model,robotnum,char(this_surface.getAttribute('span'))); + surface_left_edge_position_along_wing = parseParamString(model,robotnum,char(this_surface.getAttribute('left_edge_position_along_wing'))); + surface_min_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('min_deflection'))); + surface_max_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('max_deflection'))); + + assert(surface_span > 0, ['Span must be > 0 on control surface "' surface_name '"']); + assert(surface_chord > 0, ['Chord must be > 0 on control surface "' surface_name '"']); + assert(surface_left_edge_position_along_wing >= 0, ['Left edge position must be >= 0 on control surface "' surface_name '"']); + + assert(surface_span + surface_left_edge_position_along_wing <= span, ['Control surface runs off the right end of the wing on surface "' surface_name '"']); + + for other_surface = obj.control_surfaces + if strcmp(other_surface.name, surface_name) + error(['Duplicate control surface name "' surface_name '"']); + end + end + + obj.control_surfaces = [ obj.control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing, surface_min_deflection, surface_max_deflection) ]; + + + count = count + 1; + this_surface = control_surface_nodes.item(count); + + end + + % now we split the wing up into multiple segments that either + % contain one of the control surfaces or don't + + % do some sanity checks to make sure that the control surfaces do + % not overlap + for surface = obj.control_surfaces + for surface2 = obj.control_surfaces + + if ~strcmp(surface.name, surface2.name) + + left1 = surface.left_edge_position_along_wing; + right1 = left1 + surface.span; + + left2 = surface2.left_edge_position_along_wing; + + if (left1 < left2 && right1 > left2) + error(['Control surfaces "' surface.name '" and "' surface2.name '" overlap.']); + end + + end + end + end % end sanity checks + + % split the wing up starting from the left edge + + remaining_surfaces = obj.control_surfaces; + point_along_wing = 0; + + while (span - point_along_wing > 1e-6) % not always exactly less than + + % find the minimum value of the control surface left edges + min_left_edge_value = inf; + min_left_edge_index = -1; + + for i = 1 : length(remaining_surfaces) + % need a loop heree because min() doesn't support two matricies + % with two output arguments + if (remaining_surfaces(i).left_edge_position_along_wing < min_left_edge_value) + min_left_edge_value = remaining_surfaces(i).left_edge_position_along_wing; + min_left_edge_index = i; + end + end + + if (min_left_edge_value == point_along_wing) + % control surface starts at the left edge + + obj.direct_feedthrough_flag = true; + + % span of this part of the wing is the span of the control + % surface + + this_surface = obj.control_surfaces(min_left_edge_index); + this_span = this_surface.span; + + + subwing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; + + + subwing_frame_xyz = left_edge_of_wing + obj.getSubWingFrameXYZ(subwing_center_body_frame, rpy); + + [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,[this_surface.name '_subwing' num2str(length(obj.subwings)) '_of_' name '_frame'])); + + this_subwing = RigidBodySubWingWithControlSurface(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface); + + + obj.input_limits = [ obj.input_limits [ this_surface.min_deflection; this_surface.max_deflection] ]; + + % remove this surface from consideration + remaining_surfaces(min_left_edge_index) = []; + + + else + % make a non-control surfaced wing since the control surface + % does not start at the left edge + + if (min_left_edge_value == inf) + this_span = span - point_along_wing; + else + this_span = min_left_edge_value - point_along_wing; + end + + subwing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; + + subwing_frame_xyz = left_edge_of_wing + obj.getSubWingFrameXYZ(subwing_center_body_frame, rpy); + + [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,['subwing' num2str(length(obj.subwings)) '_of_' name '_frame'])); + + this_subwing = RigidBodySubWing(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed); + end + + + obj.subwings{length(obj.subwings) + 1} = this_subwing; + obj.subwing_left_edges = [ obj.subwing_left_edges point_along_wing ]; + + point_along_wing = point_along_wing + this_span; + + end + + + + end + obj.name = name; + end + + function subwing_frame_xyz = getSubWingFrameXYZ(subwing_center_body_frame, rpy) + % figure out where the center of this subwing is, accounting + % for possible roll/pitch/yaw in the spec + + rot_matrix = [ cos(rpy(3))*cos(rpy(2)), cos(rpy(3))*sin(rpy(2))*sin(rpy(1)) - sin(rpy(3))*cos(rpy(1)), cos(rpy(3))*sin(rpy(2))*cos(rpy(1)) + sin(rpy(3))*sin(rpy(1)); ... + sin(rpy(3))*cos(rpy(2)), sin(rpy(3))*sin(rpy(2))*sin(rpy(1)) + cos(rpy(3))*cos(rpy(1)), sin(rpy(3))*sin(rpy(2))*cos(rpy(1)) - cos(rpy(3))*sin(rpy(1)); ... + -sin(rpy(2)), cos(rpy(2))*sin(rpy(1)), cos(rpy(2))*cos(rpy(1)) ]; + + + + subwing_frame_xyz = rot_matrix * subwing_center_body_frame; + + end + + end + +end diff --git a/systems/plants/RigidBodySubWing.m b/systems/plants/RigidBodySubWing.m deleted file mode 100644 index 45b7f1e24afb..000000000000 --- a/systems/plants/RigidBodySubWing.m +++ /dev/null @@ -1,676 +0,0 @@ -classdef RigidBodySubWing < RigidBodyForceElement - % This class implements all of the details for RigidBodyWing. It is - % considered a sub-wing because all RigidBodyWings in Drake are - % containers for sub-wings, allowing one wing to be made up of multiple - % parts. - % - % Having multiple parts in one wing allows for simulation of a wing with - % control surface(s) by splitting up in the wing. - - properties - kinframe; % index to RigidBodyFrame - fCl % PPTrajectories (splines) representing the *dimensional* coefficients - fCd % with fCl = 1/2 rho*S*Cl, etc. (S=area) - fCm - dfCl - dfCd - dfCm - area - %Air density for 20 degC dry air, at sea level - rho = 1.204; - has_control_surface = false; - span; - stall_angle; - chord; - profile; - end - - methods - function obj = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity) - %calls AVL and XFOIL over different angles of attack at the - %given velocity, generates first order polynomials of the CL, - %CD, and pitch moments of the wing. The axes for use in DRAKE are: - % X = forward, in the usual direction of travel - % Y = out the left side of the wing - % Z = up - % Note: an sign inversion is needed for the moment coefficient, as a - % positive pitching moment from AVL/XFOIL represents a pitch up, but - % a positive y-axis rotation represents a pitch down. - % @param frame_id = RigidBodyFrame specifying the location (and - % orientation) of the quarter-chord of the airfoil and the body which - % is it mounted on. - % @param profile = Profile can either be a: - %
-      %         -NACA airfoil designation starting with 'NACA'
-      %         -File location of a .dat file generated by xfoil
-      %         -File location of a .mat file which contains the
-      %         variables 'CLSpline', 'CDSpline', 'CMSpline'
-      %         -the words 'flat plate'
-      %         
- % @param chord = the chord of the wing (meters) - % @param span = the wing span (width) of the wing (meters) - % @param stallAngle = user-defined angle at which the wing - % stalls (degrees). The negative of the stall angle - % is used for AoA<0, even though airfoils do not stall - % at exactly the same abs(AoA). - % @param velocity = the approximate operating velocity of the wing. - % Needed to pass in the correct Reynolds and Mach numbers to the - % to the numerical solvers to generate appropriate CL and CD - % splines. - % - %TODO: - % Implement some values for post-stall CMs - % i.e. at 90 degrees aoa, the center of pressure should be - % at the half chord. - % use variables for path to xfoil and AVL - % - - % we need to be able to construct with no arguments per - % http://www.mathworks.com/help/matlab/matlab_oop/class-constructor-methods.html#btn2kiy - if (nargin == 0) - return; - end - - typecheck(frame_id,'numeric'); - obj.kinframe = frame_id; - linux = isunix(); - obj.area = chord*span; - obj.chord = chord; - obj.span = span; - obj.stall_angle = stallAngle; - obj.profile = profile; - mach = velocity/341; % mach 1 at sea level is about 341 m/s - %Reynolds number calculation for 10 deg C and sea level - Re = velocity*chord/.0000144; - profile = deblank(profile); - disp('Constructing a new airfoil'); - setEnvVars(); - if strcmpi(profile(end-3:end), '.mat') - load(profile, 'CLSpline', 'CDSpline', 'CMSpline') - obj.fCl = CLSpline; - obj.fCd = CDSpline; - obj.fCm = CMSpline; - elseif strcmpi(profile, 'flat plate') - flatplate() - else % not flat plate. I.e. its either a NACA or .dat file - if strcmp(profile(1:4),'NACA') - profile = strtrim(profile(5:end)); - avlprofile = strcat('NACA', '\n', profile); - xfoilprofile = strcat('NACA ', profile); - elseif strcmpi(profile(end-3:end), '.dat') %Path to a .dat file - if ~exist(profile) - error('Cannot find wing input .dat file. Please check file path') - end - % xfoil cannot handle long filenames (see bug 1734), so - % copy the profile to the tmp directory and call that instead. - % yuck. - [~,filename,fileext] = fileparts(profile); - copyfile(which(profile),fullfile(tempdir,[filename,fileext])); - profile = fullfile(tempdir,[filename,fileext]); - - avlprofile = strcat('AFILE', '\n', profile); - xfoilprofile = strcat('LOAD', '\n', profile); - else - err = MException('InputType:NotSupported', 'Input profile not supported. (.dat, .m, NACA, flat plate)'); - throw(err); - end - %{ - Reads in template avl files defining the geometry of the wing and the run - profile (airspeed, AoA). Then replaces the appropriate fields in the - Template files with the correct numbers. - The .0001 additions are to avoid repeated angles. - %} - angles = -stallAngle:stallAngle/12:(stallAngle-.0001); - AoAs = []; - CLs = []; - CDs = []; - CMs = []; - runAvl(); - runXfoil(); - %at this point the laminar regime is done. Now a flat - %plate approximation is added on from -90 degrees to - %-stall, and then from stall to +90 degrees - disp('Laminar regime complete. Adding post-stall points') - addPostStallPoints(); - makeSplines(); - revertEnvVars(); - end % if not a flat plate - - - function runAvl() - checkDependency('avl'); - avlpath = deblank(getCMakeParam('avl')); - - avlfile = fileread(which('avlblank.avl')); - avlfile = regexprep(avlfile, '\$airfoil', avlprofile); - avlfile = regexprep(avlfile, '\$span', sprintf('%.1f',span)); - avlfile = regexprep(avlfile, '\$chord', sprintf('%.1f',chord)); - avlfile = regexprep(avlfile, '\$area', sprintf('%.1f',obj.area)); - avlfile = regexprep(avlfile, '\$mach', sprintf('%.4f',mach)); - avlfile = regexprep(avlfile, '\$yle', sprintf('%.2f',span/2)); - avlfile = regexprep(avlfile, '\$Xorig', sprintf('%.2f',0)); - avlfile = regexprep(avlfile, '\$Yorig', sprintf('%.2f',0)); - avlfile = regexprep(avlfile, '\$Zorig', sprintf('%.2f',0)); - filename = tempname; - avl_cleanup = onCleanup(@()delete([filename,'*'])); - avlfilepath = [filename,'.avl']; - avlid = fopen(avlfilepath, 'w'); - fprintf(avlid, avlfile); - fclose(avlid); - - %writes the case-specific files avl requires to run - runfilepath = [filename,'.run']; - runid = fopen(runfilepath, 'w'); - commandfilepath = [filename,'_command.txt']; - avlcommandfile = fopen(commandfilepath, 'w'); - avlresultsloc = [filename,'_results.txt']; - if ~linux %because windows file paths use backslashes. - avlresultsloc = regexprep(avlresultsloc, '\\', '\\\\'); - end - avlcommandstring = sprintf('OPER\nX\nW\n%s\n', avlresultsloc); - runfiletemplate = fileread(which('avlblank.run')); - for x = 1:length(angles) - runfile = regexprep(runfiletemplate, '\$casenum', sprintf('%d',x)); - runfile = regexprep(runfile, '\$alpha', sprintf('%.2f',angles(x))); - runfile = regexprep(runfile, '\$mach', sprintf('%.1f',mach)); - runfile = regexprep(runfile, '\$vel', sprintf('%.1f',velocity)); - runfile = regexprep(runfile, '\$span', sprintf('%.1f',span)); - fprintf(runid, runfile); - if x ~=1 % case 1 is already taken care of above. Need to do this way to get the output filename correct - avlcommandstring = [avlcommandstring, sprintf('%d\nX\nW\n\n', x)]; - end - end - avlcommandstring = [avlcommandstring, sprintf('\nquit')]; - fprintf(avlcommandfile, avlcommandstring); - fclose(avlcommandfile); - fclose(runid); - - disp('Running AVL...'); - % runs AVL. This generates results.txt, which CL, Cm, and part of CD is - % extracted from. - try - commandstring = sprintf('%s %s %s < %s > %s', avlpath, avlfilepath, runfilepath, commandfilepath, [filename,'_screen_output.txt']); - result = systemWCMakeEnv(commandstring); - catch E - disp('Error running AVL. Switching to Flat Plate. Results likely inaccurate') - flatplate() - return - end - if result ~= 0 || ~ exist(avlresultsloc, 'file');%if AVL didn't execute properly - warning('Error running AVL. The system() call did not execute properly. Switching to Flat Plate. Results likely inaccurate') - flatplate() - return - end - % disp('Processing AVL output...') - avlresult = fileread(avlresultsloc); - AoAindices = strfind(avlresult, 'Alpha ='); - AoAindices = AoAindices + 8; - for x = 1:length(AoAindices) - AoAs = [AoAs str2double(avlresult(AoAindices(x):AoAindices(x)+6))]; - end - CLindices = strfind(avlresult, 'CLtot ='); - CLindices = CLindices + 8; - for x = 1:length(CLindices) - CLs = [CLs str2double(avlresult(CLindices(x):CLindices(x)+6))]; - end - CDindices = strfind(avlresult, 'CDtot ='); - CDindices = CDindices + 8; - for x = 1:length(CDindices) - CDs = [CDs str2double(avlresult(CDindices(x):CDindices(x)+6))]; - end - Cmindices = strfind(avlresult, 'Cmtot ='); - Cmindices = Cmindices + 8; - for x = 1:length(Cmindices) - CMs = [CMs str2double(avlresult(Cmindices(x):Cmindices(x)+6))]; - end - end %runAvl() - - - function runXfoil() - checkDependency('xfoil'); - xfoilpath = deblank(getCMakeParam('xfoil')); - - % Reads template Xfoil commands file and fills in appropriate values - xfoilfile = fileread(which('xfoilblank.txt')); - filename = tempname; - xfoil_cleanup = onCleanup(@()delete([filename,'*'])); - polarLoc = [tempname,'_polar.txt']; - if ~linux %because Windows. - polarLoc = regexprep(polarLoc, '\\', '\\\\\\\\'); - end - xfoilfile = regexprep(xfoilfile, '\$airfoil', xfoilprofile); - xfoilfile = regexprep(xfoilfile, '\$re', sprintf('%.2f',Re)); - xfoilfile = regexprep(xfoilfile, '\$mach', sprintf('%.4f',mach)); - xfoilfile = regexprep(xfoilfile, '\$negStallAngle', sprintf('%.1f',-stallAngle)); - xfoilfile = regexprep(xfoilfile, '\$stallAngle', sprintf('%.1f',stallAngle)); - xfoilfile = regexprep(xfoilfile, '\$polarLocation', polarLoc); - commandfile = [filename,'_commands.txt']; - xfoilid = fopen(commandfile, 'w'); - fprintf(xfoilid, xfoilfile); - fclose(xfoilid); - %runs Xfoil. - disp('Running XFOIL...') - try - commandstring = sprintf('%s < %s > %s', xfoilpath, commandfile, [filename,'_screen_output.txt']); - result = systemWCMakeEnv(commandstring); - - % disp('Processing Xfoil output') - xfoilresult = fopen(polarLoc); - xfoillines = textscan(xfoilresult, '%[^\r\n]'); - fclose(xfoilresult); - %Strips down the output so its just a list of the alpha, - %CL, CD, CDp, CM numbers from xfoil. The while loop should run - %~6 times - xfoillines = xfoillines{1}(1:end); - while ~strcmp(xfoillines{1}(1:5), '-----') - xfoillines = xfoillines(2:end); - end - xfoillines = xfoillines(2:end); - catch E - disp('Warning: Error in running XFOIL. Drag forces pre-stall are likely underestimated. Check the location of your wing data file?') - addPostStallPoints() - makeSplines() - return - end - if result ~= 0 %if XFOIL didn't execute properly - disp('Warning: Error in running XFOIL. Drag forces pre-stall are likely underestimated') - addPostStallPoints() - makeSplines() - return - end - - Cds = []; - Cls = []; - alphas = []; - for x = 1:length(xfoillines) - currline = textscan(xfoillines{x}, '%f'); - currline = currline{1}; - alphas = [alphas currline(1)]; - Cls = [Cls currline(2)]; - Cds = [Cds currline(3)]; - end - %{ - xfoil runs from 0 to negstallangle, then resets and runs - from 0 to stallangle to promote convergence of solutions. - (If it started at negstallangle, it may not converge if - the wing is stalled, so it starts from 0 and works its way - outwards.) This creates improper ordering of the output - file, which these next four lines take care of. - reorders the matricies from -stallangle to stallangle - %} - - [~,pivot] = max(diff(alphas)); - %Xfoil on my lab machine would have two zero data points, which would - %break spline generation. If there are two zeros, then skip the - %second one. I'm not sure why this happens. Something in the - %Xfoil install? --Tim - if length(find(alphas==0))==2 - inc = 2; - else - inc = 1; - end - alphas = [fliplr(alphas(1:pivot)) alphas(pivot+inc:end)]; - Cls = [fliplr(Cls(1:pivot)) Cls(pivot+inc:end)]; - Cds = [fliplr(Cds(1:pivot)) Cds(pivot+inc:end)]; - [~, maxloc] = max(Cls); - if alphas(maxloc)+1 < stallAngle - disp('Warning: Wing stall detected earlier than the user-specified stall') - end - xfoilspline = spline(alphas, Cds); - %Add the xfoil Cd to the AVL Cd - try - for x = 1:length(AoAs) - CDs(x) = CDs(x) + ppval(xfoilspline, AoAs(x)); - end - catch E - disp('Warning: Error in matching up XFOIL Cds. Drag forces are likely underestimated') - end - - end %runXfoil() - - - function addPostStallPoints() - postStallAngles = stallAngle+2:2:180; - postStallCLs = 2*sind(postStallAngles).*cosd(postStallAngles); - postStallCDs = 2*sind(postStallAngles).^2; - postStallCMs = -2*postStallAngles./(90*4); - AoAs = [-fliplr(postStallAngles) AoAs postStallAngles]; - CLs = [-fliplr(postStallCLs) CLs postStallCLs]; - CDs = [fliplr(postStallCDs) CDs postStallCDs]; - CMs = [-fliplr(postStallCMs) CMs postStallCMs]; - end - - - function flatplate() - disp('Using a flat plate airfoil.') - laminarpts = 30; - angles = [-180:2:-(stallAngle+.0001) -stallAngle:2*stallAngle/laminarpts:(stallAngle-.0001) stallAngle:2:180]; - %CMangles is used to make the Moment coefficient zero when the wing - %is not stalled - CMangles = [-180:2:-(stallAngle+.0001) zeros(1,laminarpts) stallAngle:2:180]; - obj.fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*chord/4); - obj.fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); - obj.fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); - end - - - function makeSplines() - %Dimensionalized splines, such that you only need to - %multiply by vel^2. Lift = .5*Cl*rho*area*vel^2 - obj.fCl = spline(AoAs, .5*CLs*obj.rho*obj.area); - obj.fCd = spline(AoAs, .5*CDs*obj.rho*obj.area); - obj.fCm = spline(AoAs, .5*CMs*obj.rho*obj.area*chord); - disp('Aerodynamic Splines Finished') - end - - - %These are needed in order to make avl and xfoil run correctly. Not - %entirely sure what the underlying problem is, but this was the - %workaround from mathworks.com. - function setEnvVars() - setenv('GFORTRAN_STDIN_UNIT', '5') - setenv('GFORTRAN_STDOUT_UNIT', '6') - setenv('GFORTRAN_STDERR_UNIT', '0') - end %setEnvVars() - - - function revertEnvVars() - setenv('GFORTRAN_STDIN_UNIT', '-1') - setenv('GFORTRAN_STDOUT_UNIT', '-1') - setenv('GFORTRAN_STDERR_UNIT', '-1') - end %revertEnvVars() - - % convert the splines to PPTrajectory, allowing - % for fasteval improving performance a lot - obj.fCm = PPTrajectory(obj.fCm); - obj.fCl = PPTrajectory(obj.fCl); - obj.fCd = PPTrajectory(obj.fCd); - obj.dfCm = obj.fCm.fnder(1); - obj.dfCl = obj.fCl.fnder(1); - obj.dfCd = obj.fCd.fnder(1); - - end %constructor - - - - - - - function [force, dforce] = computeSpatialForce(obj,manip,q,qd) - nq = size(q,1); - frame = getFrame(manip,obj.kinframe); - - kinsol = doKinematics(manip,q,true,true,qd); - - if (nargout > 1) - [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - else - [ wingvel_world_xz, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - end - - - - - - - if (nargout>1) - [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz, dwingvel_worlddq, dwingvel_worlddqd); - else - wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz); - end - - - airspeed = norm(wingvel_world_xz); - if (nargout>1) - dairspeeddq = (wingvel_world_xz'*dwingvel_worlddq)/norm(wingvel_world_xz); - dairspeeddqd = (wingvel_world_xz'*dwingvel_worlddqd)/norm(wingvel_world_xz); - end - - aoa = -(180/pi)*atan2(wingvel_rel(3),wingvel_rel(1)); - if (nargout>1) - daoadq = -(180/pi)*(wingvel_rel(1)*dwingvel_reldq(3,:)-wingvel_rel(3)*dwingvel_reldq(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); - daoadqd = -(180/pi)*(wingvel_rel(1)*dwingvel_reldqd(3,:)-wingvel_rel(3)*dwingvel_reldqd(1,:))/(wingvel_rel(1)^2+wingvel_rel(3)^2); - end - - %lift and drag are the forces on the body in the world frame. - %cross(wingXZvelocity, wingYunit) rotates it by 90 degrees - if (nargout>1) - [CL, CD, CM, dCL, dCD, dCM] = obj.coeffs(aoa); - dCLdq = dCL*daoadq; - dCDdq = dCD*daoadq; - dCMdq = dCM*daoadq; - dCLdqd = dCL*daoadqd; - dCDdqd = dCD*daoadqd; - dCMdqd = dCM*daoadqd; - else - [CL, CD, CM] = obj.coeffs(aoa); - end - - x_wingvel_world_wingYunit = cross(wingvel_world_xz, wingYunit); - if (nargout>1) - dx_wingvel_world_wingYunitdq = cross(dwingvel_worlddq, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world_xz,1,nq), dwingYunitdq, 1); - dx_wingvel_world_wingYunitdqd = cross(dwingvel_worlddqd, repmat(wingYunit,1,nq), 1) + cross(repmat(wingvel_world_xz,1,nq), dwingYunitdqd, 1); - end - lift_world = CL*airspeed*x_wingvel_world_wingYunit; % this is norm(airspeed)^2 because it equals CL*airspeed* norm(wingvel_world_xz) * norm(a unit_vector) * sin(90 deg) - drag_world = CD*airspeed*(-wingvel_world_xz); - torque_world = -CM*airspeed*airspeed*wingYunit; - if (nargout>1) - dlift_worlddq = x_wingvel_world_wingYunit*airspeed*dCLdq + x_wingvel_world_wingYunit*CL*dairspeeddq + CL*airspeed*dx_wingvel_world_wingYunitdq; - dlift_worlddqd = x_wingvel_world_wingYunit*airspeed*dCLdqd + x_wingvel_world_wingYunit*CL*dairspeeddqd + CL*airspeed*dx_wingvel_world_wingYunitdqd; - ddrag_worlddq = airspeed*-wingvel_world_xz*dCDdq + CD*(-wingvel_world_xz*dairspeeddq) + CD*airspeed*-dwingvel_worlddq; - ddrag_worlddqd = airspeed*-wingvel_world_xz*dCDdqd + CD*(-wingvel_world_xz*dairspeeddqd) + CD*airspeed*-dwingvel_worlddqd; - dtorque_worlddq = -airspeed*airspeed*wingYunit*dCMdq + -CM*2*airspeed*(wingYunit*dairspeeddq) + -CM*airspeed*airspeed*dwingYunitdq; - dtorque_worlddqd = -airspeed*airspeed*wingYunit*dCMdqd + -CM*2*airspeed*(wingYunit*dairspeeddqd); - end - - % convert torque to joint frame (featherstone dynamics algorithm never reasons in body coordinates) - if (nargout>1) - [torque_body, torque_bodyJ, torque_bodyP] = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); - torque_body = torque_body(:,1)-torque_body(:,2); - torque_bodyJ = torque_bodyJ(1:3,:)-torque_bodyJ(4:6,:); - torque_bodyP = torque_bodyP(1:3,:)-torque_bodyP(4:6,:); - dtorque_bodydq = torque_bodyJ+torque_bodyP(1:3,1:3)*dtorque_worlddq; - dtorque_bodydqd = torque_bodyP(1:3,1:3)*dtorque_worlddqd; - else - torque_body = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); - torque_body = torque_body(:,1)-torque_body(:,2); - end - - torque_joint = manip.body(frame.body_ind).X_joint_to_body'*[torque_body;0;0;0]; - if (nargout>1) - dtorque_jointdq = manip.body(frame.body_ind).X_joint_to_body'*[dtorque_bodydq;zeros(3,nq)]; - dtorque_jointdqd = manip.body(frame.body_ind).X_joint_to_body'*[dtorque_bodydqd;zeros(3,nq)]; - end - - %inputs of point (body coordinates), and force (world coordinates) - %returns [torque; xforce; yforce] in the body coordinates - %obj.body.position_num should have 6 elements for - %linkID = manip.findLinkInd(obj.body.linkname, 0); - if (nargout>1) - [f,fJ,fP] = cartesianForceToSpatialForce(manip, kinsol, frame.body_ind, frame.T(1:3,4),lift_world+drag_world); - dfdq = fJ+fP*(dlift_worlddq+ddrag_worlddq); - dfdqd = fP*(dlift_worlddqd+ddrag_worlddqd); - else - f = cartesianForceToSpatialForce(manip, kinsol, frame.body_ind, frame.T(1:3,4),lift_world+drag_world); - end - - body_force = torque_joint + f; - if (nargout>1) - dbody_forcedq = dtorque_jointdq + dfdq; - dbody_forcedqd = dtorque_jointdqd + dfdqd; - end - - force = sparse(6,getNumBodies(manip))*q(1); % q(1) is for taylorvar - force(:,frame.body_ind) = body_force; - if (nargout>1) - dforce = sparse(numel(force),2*nq)*q(1); % q(1) is for taylorvar - dforce((frame.body_ind-1)*6+1:frame.body_ind*6,:) = [dbody_forcedq,dbody_forcedqd]; - dforce = reshape(dforce,6,[]); - end - - end - - function [CL, CD, CM, dCL, dCD, dCM] = coeffs(obj, aoa) - %returns dimensionalized coefficient of lift, drag, and pitch moment for a - %given angle of attack - CL = obj.fCl.eval(aoa); - CD = obj.fCd.eval(aoa); - CM = obj.fCm.eval(aoa); - if (nargout>3) - dCL = obj.dfCl.eval(aoa); - dCD = obj.dfCd.eval(aoa); - dCM = obj.dfCm.eval(aoa); - end - end - - function drawWing(obj, manip, q, qd, fill_color) - % Draws the subwing onto the current figure - % @param manip manipulator the wing is part of - % @param q state vector - % @param qd q-dot (state vector derivatives) - % @param fill_color @default 1 - - if ~strcmpi(obj.profile, 'flat plate') - warning('Drawing may not be right for non-flat plate wings.'); - end - - hold on - - kinsol = doKinematics(manip,q,false, false, qd); - - origin = forwardKin(manip, kinsol, obj.kinframe, zeros(3,1), 1); - - % draw a box around the origin in world frame - - height = 0.01; - - % get the corner points in 3d space - - p1 = [-obj.chord/2, -obj.span/2, 0]; - - p2 = [ obj.chord/2, -obj.span/2, 0]; - - p3 = [ obj.chord/2, obj.span/2, 0]; - - p4 = [-obj.chord/2, obj.span/2, 0]; - - pts = forwardKin(manip, kinsol, obj.kinframe, [p1; p2; p3; p4]'); - - fill3(pts(1,:), pts(2,:), pts(3,:), fill_color); - - xlabel('x'); - ylabel('y'); - zlabel('z'); - - axis equal - - end - - end - - methods (Static) - - function [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd, wingvel_world_xyz ] = computeWingVelocity(kinframe, manip, q, qd, kinsol) - % Computes the velcity of the wing in word coordinates - % - % @param kinframe frame id of the kinematic frame - % @param manip manipulator we are a part of - % @param q state vector - % @param qd q-dot (time derivative of state vector) - % @param kinsol solution from doKinematics - % - % @retval wingvel_world_xz velocity of the wing in world coodinates - % projected onto the wing's XZ plane. In other words, velocity with - % sideslip subtracted out. - % @retval wingYunit unit vector along the wing's Y axis in world - % coordinates - % @retval dwingvel_worlddq derivative of wing velocity with respect - % to q - % @retval dwingvel_worlddqd derivative of the wing velocity with - % respect to qdot - % @retval wingvel_world_xzy velocity of the wing in world coordinates - - if (nargout>2) - - [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1)); - Jdot = forwardJacDot(manip,kinsol,kinframe,zeros(3,1)); - wingvel_world_xyz = J*qd; % assume still air. Air flow over the wing - dwingvel_worlddq = Jdot; - dwingvel_worlddqd = J; - else - kinsol = doKinematics(manip,q); - [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1)); - wingvel_world_xyz = J*qd; % assume still air. Air flow over the wing - end - - % Implementation note: for homogenous transforms, I could do the following - % vector transforms more efficiently. forwardKin is adding a 1 on - % the end of every pt for the homogenous coordinates. it would be - % equivalent, cleaner, and more efficient, to just add a zero on the - % end instead of the 1... because for homogeneous transform matrix - % T we have: - % T * [x;1] - T * [0;1] = T * [x;0] - % but I made this change everywhere and decided it was more important - % to keep the interface to the forwardKin method clean instead of - % polluting it (and bodyKin, and the mex files, ...) with an extra - % input/option for "vectors_not_points". - - %project this onto the XZ plane of the wing (ignores sideslip) - if (nargout>2) - [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]); - wingYunit = wingYunit(:,1)-wingYunit(:,2); % subtract out the origin - dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:); - dwingYunitdqd = zeros(3, size(q,1)); - else - wingYunit = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]); - wingYunit = wingYunit(:,1)-wingYunit(:,2); % subtract out the origin - end - - sideslip = wingvel_world_xyz'*wingYunit; - if (nargout>2) - dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world_xyz'*dwingYunitdq; - dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world_xyz'*dwingYunitdqd; - end - - wingvel_world_xz = wingvel_world_xyz - sideslip*wingYunit; - if (nargout>2) - dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq; - dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd; - end - - end - - - function [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = computeWingVelocityRelative(kinframe, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd) - % Computes the relative wing velocity - % - % @param kinframe frame id (usually in obj.kinframe) - % @param manip manipulator we are a part of - % @param kinsol solution from doKinematics - % @param wingvel_world world velocity from computeWingVelocity - % @param dwingvel_worlddq from computeWingVelocity - % @param dwingvel_worlddqd from computeWingVelocity - % - % @retval wingvel_rel relative wing velocity - % @retval dwingvel_reldq derivative of relative wing velocity with - % respect to q - % @retval dwingvel_reldqd derivative of relative wing velocity with - % respect to q-dot - - if (nargout>1) - [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,kinframe,[wingvel_world,zeros(3,1)]); - wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); - wingvel_relJ = wingvel_relJ(1:3,:)-wingvel_relJ(4:6,:); - wingvel_relP = wingvel_relP(1:3,:)-wingvel_relP(4:6,:); - dwingvel_reldq = wingvel_relJ+wingvel_relP(:,1:3)*dwingvel_worlddq; - dwingvel_reldqd = wingvel_relP(:,1:3)*dwingvel_worlddqd; - else - wingvel_rel = bodyKin(manip,kinsol,kinframe,[wingvel_world,zeros(3,1)]); - wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); - end - - end - - end - -end diff --git a/systems/plants/RigidBodySubWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m similarity index 98% rename from systems/plants/RigidBodySubWingWithControlSurface.m rename to systems/plants/RigidBodyWingWithControlSurface.m index c764f7d25654..48006a4070fa 100644 --- a/systems/plants/RigidBodySubWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -1,5 +1,5 @@ -classdef RigidBodySubWingWithControlSurface < RigidBodySubWing - % Implements functionality similar to RigidBodySubWing but with a +classdef RigidBodyWingWithControlSurface < RigidBodySubWing + % Implements functionality similar to RigidBodyWing but with a % control surface attached to the wing. properties @@ -13,7 +13,7 @@ methods - function obj = RigidBodySubWingWithControlSurface(frame_id, profile, chord, span, stall_angle, velocity, control_surface) + function obj = RigidBodyWingWithControlSurface(frame_id, profile, chord, span, stall_angle, velocity, control_surface) % Constructor taking similar arguments to RigidBodySubWing except % with the addition of a ControlSurface % From 365b8b118fb35ce71ec722a5ee982cb8d16dc2de Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 21 Oct 2014 14:50:28 -0400 Subject: [PATCH 184/271] Continues refactoring, including renaming RigidBodyDragForce to RigidBodyBluffBody --- systems/plants/@RigidBodyWing/RigidBodyWing.m | 23 +++-- ...idBodyDragForce.m => RigidBodyBluffBody.m} | 8 +- systems/plants/RigidBodyCompositeWing.m | 86 ++++++++++--------- .../plants/RigidBodyWingWithControlSurface.m | 16 ++-- ...dyDragForce.m => testRigidBodyBluffBody.m} | 4 +- ...Force.urdf => testRigidBodyBluffBody.urdf} | 0 ... => testRigidBodyWingWithControlSurface.m} | 2 +- ... testRigidBodyWingWithControlSurface.urdf} | 0 8 files changed, 69 insertions(+), 70 deletions(-) rename systems/plants/{RigidBodyDragForce.m => RigidBodyBluffBody.m} (94%) rename systems/plants/test/{testRigidBodyDragForce.m => testRigidBodyBluffBody.m} (90%) rename systems/plants/test/{testRigidBodyDragForce.urdf => testRigidBodyBluffBody.urdf} (100%) rename systems/plants/test/{testRigidBodySubWingWithControlSurface.m => testRigidBodyWingWithControlSurface.m} (92%) rename systems/plants/test/{testRigidBodySubWingWithControlSurface.urdf => testRigidBodyWingWithControlSurface.urdf} (100%) diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index b9f60452f7ea..b1d4f9d4142e 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -1,11 +1,7 @@ classdef RigidBodyWing < RigidBodyForceElement - % This class implements all of the details for RigidBodyWing. It is - % considered a sub-wing because all RigidBodyWings in Drake are - % containers for sub-wings, allowing one wing to be made up of multiple - % parts. - % - % Having multiple parts in one wing allows for simulation of a wing with - % control surface(s) by splitting up in the wing. + % This class implements a wing element, supporting flat plates and + % airfoils defined with NACA numbers, a geometry profile (with xfoil and + % AVL backend) and .mat files defining wing performance properties kinframe; % index to RigidBodyFrame @@ -26,7 +22,7 @@ end methods - function obj = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity) + function obj = RigidBodyWing(frame_id, profile, chord, span, stallAngle, velocity) %calls AVL and XFOIL over different angles of attack at the %given velocity, generates first order polynomials of the CL, %CD, and pitch moments of the wing. The axes for use in DRAKE are: @@ -403,9 +399,9 @@ function revertEnvVars() kinsol = doKinematics(manip,q,true,true,qd); if (nargout > 1) - [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); else - [ wingvel_world_xz, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + [ wingvel_world_xz, wingYunit ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); end @@ -414,9 +410,9 @@ function revertEnvVars() if (nargout>1) - [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz, dwingvel_worlddq, dwingvel_worlddqd); + [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz, dwingvel_worlddq, dwingvel_worlddqd); else - wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz); + wingvel_rel = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz); end @@ -524,7 +520,8 @@ function revertEnvVars() end function drawWing(obj, manip, q, qd, fill_color) - % Draws the subwing onto the current figure + % Draws the wing onto the current figure + % % @param manip manipulator the wing is part of % @param q state vector % @param qd q-dot (state vector derivatives) diff --git a/systems/plants/RigidBodyDragForce.m b/systems/plants/RigidBodyBluffBody.m similarity index 94% rename from systems/plants/RigidBodyDragForce.m rename to systems/plants/RigidBodyBluffBody.m index ba0c64f13852..205bfcc5e7b0 100644 --- a/systems/plants/RigidBodyDragForce.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -1,4 +1,4 @@ -classdef RigidBodyDragForce < RigidBodyForceElement +classdef RigidBodyBluffBody < RigidBodyForceElement % Element that provides an aerodynamic drag force at a point properties @@ -21,7 +21,7 @@ methods - function obj = RigidBodyDragForce(frame_id, coefficient_drag_x, coefficient_drag_y, coefficient_drag_z, area_x, area_y, area_z) + function obj = RigidBodyBluffBody(frame_id, coefficient_drag_x, coefficient_drag_y, coefficient_drag_z, area_x, area_y, area_z) % Provides an aerodynamic drag force at a point % % Drag force is computed as: @@ -77,7 +77,7 @@ % Compute airspeed over this point in xyz - [~, ~, ~, ~, ~, ~, wingvel_world_xyz ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + [~, ~, ~, ~, ~, ~, wingvel_world_xyz ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); velocity_x = wingvel_world_xyz(1); velocity_y = wingvel_world_xyz(2); @@ -137,7 +137,7 @@ this_area_z = parseParamString(model,robotnum,char(node.getAttribute('area_z'))); - obj = RigidBodyDragForce(this_frame_id, cdrag_x, cdrag_y, cdrag_z, this_area_x, this_area_y, this_area_z); + obj = RigidBodyBluffBody(this_frame_id, cdrag_x, cdrag_y, cdrag_z, this_area_x, this_area_y, this_area_z); obj.name = name; end diff --git a/systems/plants/RigidBodyCompositeWing.m b/systems/plants/RigidBodyCompositeWing.m index b719b121fd9e..71263ce7e73f 100644 --- a/systems/plants/RigidBodyCompositeWing.m +++ b/systems/plants/RigidBodyCompositeWing.m @@ -9,30 +9,30 @@ properties - subwings = {}; % array of RigidBodySubWing's that make up this wing + contained_wings = {}; % array of RigidBodyWing's that make up this wing - subwing_left_edges; % sorted array of points along the wing denoting the left edge of each subwing. Index is the same as obj.subwings. + contained_wing_left_edges; % sorted array of points along the wing denoting the left edge of each contained_wing. Index is the same as obj.contained_wings. control_surfaces; % array of control surfaces on this wing, sorted by order appearing in the URDF - kinframe; % frame_id for the wing (note: there are different ones for the subwings based on their actual position) + kinframe; % frame_id for the wing (note: there are different ones for the contained_wings based on their actual position) end methods - function obj = RigidBodyWing(frame_id, profile, chord, span, stallAngle, velocity) + function obj = RigidBodyCompositeWing(frame_id, profile, chord, span, stallAngle, velocity) % This constructor supports no arguments or the arguments above. - % Given the parameters above, we create one RigidBodySubWing with the + % Given the parameters above, we create one RigidBodyWing with the % parameters described there. if nargin > 0 - thisWing = RigidBodySubWing(frame_id, profile, chord, span, stallAngle, velocity); + this_contained_wing = RigidBodyWing(frame_id, profile, chord, span, stallAngle, velocity); - obj.subwings{length(obj.subwings) + 1} = this_subwing; + obj.contained_wings{length(obj.contained_wings) + 1} = this_contained_wing; - obj.subwing_left_edges = 0; + obj.contained_wing_left_edges = 0; obj.kinframe = frame_id; @@ -46,8 +46,8 @@ function [force, B_force_or_dforce, dforce ] = computeSpatialForce(obj,manip,q,qd) - % Calls the appropriate RigidBodySubWing.computeSpatialForce - % for all of the subwings, adds the results, and returns. + % Calls the appropriate RigidBodyWing.computeSpatialForce + % for all of the contained wings, adds the results, and returns. % % @param manip RigidBodyManipulator we are a part of % @param q state vector @@ -62,15 +62,15 @@ % anywhere - if length(obj.subwings) < 1 - error('computeSpatialForce called with no subwings.'); + if length(obj.contained_wings) < 1 + error('computeSpatialForce called with no contained wings.'); end control_surface_flag = false; - for i = 1 : length(obj.subwings) + for i = 1 : length(obj.contained_wings) - if (obj.subwings{i}.has_control_surface) + if (obj.contained_wings{i}.has_control_surface) if control_surface_flag error('multiple control surfaces on one wing not supported.'); @@ -78,7 +78,7 @@ control_surface_flag = true; - [this_force, B_force, this_dforce, dB_force ] = obj.subwings{i}.computeSpatialForce(manip,q,qd); + [this_force, B_force, this_dforce, dB_force ] = obj.contained_wings{i}.computeSpatialForce(manip,q,qd); if i == 1 force = this_force; @@ -92,7 +92,7 @@ else - [this_force, this_dforce] = obj.subwings{i}.computeSpatialForce(manip, q, qd); + [this_force, this_dforce] = obj.contained_wings{i}.computeSpatialForce(manip, q, qd); if i == 1 force = this_force; dforce = this_dforce; @@ -115,13 +115,13 @@ end function obj = setInputNum(obj, input_num) - % override RigidBodyForceElement.setInputNum to support subwings. + % override RigidBodyForceElement.setInputNum to support contained_wings. obj.input_num = input_num; - for i = 1 : length(obj.subwings) - if obj.subwings{i}.has_control_surface - obj.subwings{i} = obj.subwings{i}.setInputNum(input_num); + for i = 1 : length(obj.contained_wings) + if obj.contained_wings{i}.has_control_surface + obj.contained_wings{i} = obj.contained_wings{i}.setInputNum(input_num); end end end @@ -140,8 +140,8 @@ function drawWing(obj, manip, q, qd, fill_color) fill_color = 1; end - for i = 1 : length(obj.subwings) - obj.subwings{i}.drawWing(manip, q, qd, fill_color); + for i = 1 : length(obj.contained_wings) + obj.contained_wings{i}.drawWing(manip, q, qd, fill_color); end end @@ -160,16 +160,16 @@ function drawWing(obj, manip, q, qd, fill_color) % @retval dCL derivative of coefficient of drag % @retval dCL derivative of pitch moment - if length(obj.subwings) == 1 + if length(obj.contained_wings) == 1 if (nargout > 3) - [CL, CD, CM, dCL, dCD, dCM] = obj.subwings{1}.coeffs(aoa); + [CL, CD, CM, dCL, dCD, dCM] = obj.contained_wings{1}.coeffs(aoa); else - [CL, CD, CM] = obj.subwings{1}.coeffs(aoa); + [CL, CD, CM] = obj.contained_wings{1}.coeffs(aoa); end else - error('Not supported for wings with more than one subwing.'); + error('Not supported for wings with more than one contained wing.'); end @@ -180,6 +180,8 @@ function drawWing(obj, manip, q, qd, fill_color) methods (Static) function [model,obj] = parseURDFNode(model,robotnum,node,options) + % Build a RigidBodyCompositeWing from a URDF. + name = char(node.getAttribute('name')); name = regexprep(name, '\.', '_', 'preservecase'); @@ -216,10 +218,10 @@ function drawWing(obj, manip, q, qd, fill_color) if isempty(control_surface_nodes.item(0)) % no control surfaces - this_subwing = RigidBodySubWing(obj.kinframe, profile, chord, span, stall_angle, nominal_speed); + this_contained_wing = RigidBodyWing(obj.kinframe, profile, chord, span, stall_angle, nominal_speed); - obj.subwings{length(obj.subwings) + 1} = this_subwing; - obj.subwing_left_edges = 0; + obj.contained_wings{length(obj.contained_wings) + 1} = this_contained_wing; + obj.contained_wing_left_edges = 0; else % deal with control surfaces @@ -317,14 +319,14 @@ function drawWing(obj, manip, q, qd, fill_color) this_span = this_surface.span; - subwing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; + contained_wing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; - subwing_frame_xyz = left_edge_of_wing + obj.getSubWingFrameXYZ(subwing_center_body_frame, rpy); + contained_wing_frame_xyz = left_edge_of_wing + obj.getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy); - [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,[this_surface.name '_subwing' num2str(length(obj.subwings)) '_of_' name '_frame'])); + [model,contained_wing_frame_id] = addFrame(model,RigidBodyFrame(parent,contained_wing_frame_xyz,rpy,[this_surface.name '_contained_wing' num2str(length(obj.contained_wings)) '_of_' name '_frame'])); - this_subwing = RigidBodySubWingWithControlSurface(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface); + this_contained_wing = RigidBodyWingWithControlSurface(contained_wing_frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface); obj.input_limits = [ obj.input_limits [ this_surface.min_deflection; this_surface.max_deflection] ]; @@ -343,18 +345,18 @@ function drawWing(obj, manip, q, qd, fill_color) this_span = min_left_edge_value - point_along_wing; end - subwing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; + contained_wing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; - subwing_frame_xyz = left_edge_of_wing + obj.getSubWingFrameXYZ(subwing_center_body_frame, rpy); + contained_wing_frame_xyz = left_edge_of_wing + obj.getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy); - [model,subwing_frame_id] = addFrame(model,RigidBodyFrame(parent,subwing_frame_xyz,rpy,['subwing' num2str(length(obj.subwings)) '_of_' name '_frame'])); + [model,contained_wing_frame_id] = addFrame(model,RigidBodyFrame(parent,contained_wing_frame_xyz,rpy,['contained_wing' num2str(length(obj.contained_wings)) '_of_' name '_frame'])); - this_subwing = RigidBodySubWing(subwing_frame_id, profile, chord, this_span, stall_angle, nominal_speed); + this_contained_wing = RigidBodyWing(contained_wing_frame_id, profile, chord, this_span, stall_angle, nominal_speed); end - obj.subwings{length(obj.subwings) + 1} = this_subwing; - obj.subwing_left_edges = [ obj.subwing_left_edges point_along_wing ]; + obj.contained_wings{length(obj.contained_wings) + 1} = this_contained_wing; + obj.contained_wing_left_edges = [ obj.contained_wing_left_edges point_along_wing ]; point_along_wing = point_along_wing + this_span; @@ -366,8 +368,8 @@ function drawWing(obj, manip, q, qd, fill_color) obj.name = name; end - function subwing_frame_xyz = getSubWingFrameXYZ(subwing_center_body_frame, rpy) - % figure out where the center of this subwing is, accounting + function contained_wing_frame_xyz = getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy) + % figure out where the center of this contained wing is, accounting % for possible roll/pitch/yaw in the spec rot_matrix = [ cos(rpy(3))*cos(rpy(2)), cos(rpy(3))*sin(rpy(2))*sin(rpy(1)) - sin(rpy(3))*cos(rpy(1)), cos(rpy(3))*sin(rpy(2))*cos(rpy(1)) + sin(rpy(3))*sin(rpy(1)); ... @@ -376,7 +378,7 @@ function drawWing(obj, manip, q, qd, fill_color) - subwing_frame_xyz = rot_matrix * subwing_center_body_frame; + contained_wing_frame_xyz = rot_matrix * contained_wing_center_body_frame; end diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index 48006a4070fa..6b799cbf0152 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -1,4 +1,4 @@ -classdef RigidBodyWingWithControlSurface < RigidBodySubWing +classdef RigidBodyWingWithControlSurface < RigidBodyWing % Implements functionality similar to RigidBodyWing but with a % control surface attached to the wing. @@ -14,7 +14,7 @@ methods function obj = RigidBodyWingWithControlSurface(frame_id, profile, chord, span, stall_angle, velocity, control_surface) - % Constructor taking similar arguments to RigidBodySubWing except + % Constructor taking similar arguments to RigidBodyWing except % with the addition of a ControlSurface % % @param control_surface a ControlSurface attached to this wing. @@ -26,7 +26,7 @@ return; end - obj = obj@RigidBodySubWing(frame_id, profile, chord, span, stall_angle, velocity); + obj = obj@RigidBodyWing(frame_id, profile, chord, span, stall_angle, velocity); obj.control_surface = control_surface; obj.direct_feedthrough_flag = true; @@ -64,7 +64,7 @@ % first, call the parent class's computeSpatialForce to get the % u-invariant parts - [force, dforce] = computeSpatialForce@RigidBodySubWing(obj, manip, q, qd); + [force, dforce] = computeSpatialForce@RigidBodyWing(obj, manip, q, qd); % now compute B and dB @@ -73,8 +73,8 @@ % get the coefficients for this point - [ wingvel_world_xz, wingYunit ] = RigidBodySubWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - wingvel_rel = RigidBodySubWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz); + [ wingvel_world_xz, wingYunit ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + wingvel_rel = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz); @@ -314,7 +314,7 @@ end function drawWing(obj, manip, q, qd, fill_color) - % Draws the subwing with control surfaces. + % Draws the wing with control surfaces. % % @param manip manipulator the wing is part of % @param q state vector @@ -325,7 +325,7 @@ function drawWing(obj, manip, q, qd, fill_color) color = min([1 1 1], color); % first draw the main part of the wing - drawWing@RigidBodySubWing(obj, manip, q, qd, color) + drawWing@RigidBodyWing(obj, manip, q, qd, color) % now draw the control surface diff --git a/systems/plants/test/testRigidBodyDragForce.m b/systems/plants/test/testRigidBodyBluffBody.m similarity index 90% rename from systems/plants/test/testRigidBodyDragForce.m rename to systems/plants/test/testRigidBodyBluffBody.m index 41c4199eb787..094ecec9d351 100644 --- a/systems/plants/test/testRigidBodyDragForce.m +++ b/systems/plants/test/testRigidBodyBluffBody.m @@ -7,7 +7,7 @@ disp('Constructing from URDF...'); options.floating = true; -r = RigidBodyManipulator('testRigidBodySubWingWithControlSurface.urdf', options); +r = RigidBodyManipulator('testRigidBodyWingWithControlSurface.urdf', options); %v = r.constructVisualizer(); @@ -43,7 +43,7 @@ % now simulate with drag forces disp('Simulating with drag forces...'); -r2 = RigidBodyManipulator('testRigidBodyDragForce.urdf', options); +r2 = RigidBodyManipulator('testRigidBodyBluffBody.urdf', options); constant_traj = ConstantTrajectory([0.8 0.8 100]); constant_traj = constant_traj.setOutputFrame(r2.getInputFrame()); diff --git a/systems/plants/test/testRigidBodyDragForce.urdf b/systems/plants/test/testRigidBodyBluffBody.urdf similarity index 100% rename from systems/plants/test/testRigidBodyDragForce.urdf rename to systems/plants/test/testRigidBodyBluffBody.urdf diff --git a/systems/plants/test/testRigidBodySubWingWithControlSurface.m b/systems/plants/test/testRigidBodyWingWithControlSurface.m similarity index 92% rename from systems/plants/test/testRigidBodySubWingWithControlSurface.m rename to systems/plants/test/testRigidBodyWingWithControlSurface.m index cbfcd9a5130b..a4553eb881d7 100644 --- a/systems/plants/test/testRigidBodySubWingWithControlSurface.m +++ b/systems/plants/test/testRigidBodyWingWithControlSurface.m @@ -7,7 +7,7 @@ disp('Constructing from URDF...'); options.floating = true; -r = RigidBodyManipulator('testRigidBodySubWingWithControlSurface.urdf', options); +r = RigidBodyManipulator('testRigidBodyWingWithControlSurface.urdf', options); %v = r.constructVisualizer(); % Visualize the constructed wing with the wing-drawing tools diff --git a/systems/plants/test/testRigidBodySubWingWithControlSurface.urdf b/systems/plants/test/testRigidBodyWingWithControlSurface.urdf similarity index 100% rename from systems/plants/test/testRigidBodySubWingWithControlSurface.urdf rename to systems/plants/test/testRigidBodyWingWithControlSurface.urdf From c69649ab93895692f1fd23ccae6d1d9ab0b3faaf Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 21 Oct 2014 18:07:03 -0400 Subject: [PATCH 185/271] Makes changes to tests to support new wing names. --- .../RigidBodyManipulator.m | 12 ++- systems/plants/@RigidBodyWing/RigidBodyWing.m | 2 + systems/plants/RigidBodyCompositeWing.m | 53 ++++++++--- .../plants/RigidBodyWingWithControlSurface.m | 2 + systems/plants/test/testRigidBodyBluffBody.m | 91 +++++++++++-------- .../plants/test/testRigidBodyBluffBody.urdf | 53 +++++++++-- .../testRigidBodyWingWithControlSurface.m | 66 +++++++------- .../testRigidBodyWingWithControlSurface.urdf | 33 ++++++- 8 files changed, 215 insertions(+), 97 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index b469ef8d36d0..52a1257420fc 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -2484,12 +2484,18 @@ function checkDirty(obj) elnode = node.getElementsByTagName('wing').item(0); if ~isempty(elnode) - [model,fe] = RigidBodyWing.parseURDFNode(model,robotnum,elnode,options); + % the composite wing will handle the wing stuff, creating a normal + % RigidBodyWing if there are no control surfaces, creating a + % RigidBodyWingWithControlSurface if there is one control surface + % that covers the entire wing, or creating a RigidBodyCompositeWing + % if there is a wing that has part control surface and part not + + [model,fe] = RigidBodyCompositeWing.parseURDFNode(model,robotnum,elnode,options); end - elnode = node.getElementsByTagName('drag').item(0); + elnode = node.getElementsByTagName('bluff_body').item(0); if ~isempty(elnode) - [model,fe] = RigidBodyDragForce.parseURDFNode(model,robotnum,elnode,options); + [model,fe] = RigidBodyBluffBody.parseURDFNode(model,robotnum,elnode,options); end elnode = node.getElementsByTagName('thrust').item(0); diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index b1d4f9d4142e..341505cf0fff 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -2,6 +2,8 @@ % This class implements a wing element, supporting flat plates and % airfoils defined with NACA numbers, a geometry profile (with xfoil and % AVL backend) and .mat files defining wing performance + % + % URDF parsing is handled by RigidBodyCompositeWing. properties kinframe; % index to RigidBodyFrame diff --git a/systems/plants/RigidBodyCompositeWing.m b/systems/plants/RigidBodyCompositeWing.m index 71263ce7e73f..24c888b76134 100644 --- a/systems/plants/RigidBodyCompositeWing.m +++ b/systems/plants/RigidBodyCompositeWing.m @@ -203,10 +203,6 @@ function drawWing(obj, manip, q, qd, fill_color) % search for control surfaces control_surface_nodes = node.getElementsByTagName('control_surface'); - obj = RigidBodyWing(); - - obj.kinframe = this_frame_id; - profile = char(node.getAttribute('profile')); chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); span = parseParamString(model,robotnum,char(node.getAttribute('span'))); @@ -216,15 +212,16 @@ function drawWing(obj, manip, q, qd, fill_color) left_edge_of_wing = xyz - [0; span/2; 0]; if isempty(control_surface_nodes.item(0)) - % no control surfaces + % no control surfaces, only a normal wing + % create that object and return. - this_contained_wing = RigidBodyWing(obj.kinframe, profile, chord, span, stall_angle, nominal_speed); + obj = RigidBodyWing(this_frame_id, profile, chord, span, stall_angle, nominal_speed); + obj.name = name; - obj.contained_wings{length(obj.contained_wings) + 1} = this_contained_wing; - obj.contained_wing_left_edges = 0; + return; else - % deal with control surfaces + % has control surfaces if ~strcmpi(profile, 'flat plate') error('wings with control surfaces that are not flat plates is unimplemneted at the current time.'); @@ -232,6 +229,8 @@ function drawWing(obj, manip, q, qd, fill_color) % load control surface data count = 0; + + control_surfaces_array = []; this_surface = control_surface_nodes.item(count); while ~isempty(this_surface) @@ -250,13 +249,13 @@ function drawWing(obj, manip, q, qd, fill_color) assert(surface_span + surface_left_edge_position_along_wing <= span, ['Control surface runs off the right end of the wing on surface "' surface_name '"']); - for other_surface = obj.control_surfaces + for other_surface = control_surfaces_array if strcmp(other_surface.name, surface_name) error(['Duplicate control surface name "' surface_name '"']); end end - obj.control_surfaces = [ obj.control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing, surface_min_deflection, surface_max_deflection) ]; + control_surfaces_array = [ control_surfaces_array ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing, surface_min_deflection, surface_max_deflection) ]; count = count + 1; @@ -269,8 +268,8 @@ function drawWing(obj, manip, q, qd, fill_color) % do some sanity checks to make sure that the control surfaces do % not overlap - for surface = obj.control_surfaces - for surface2 = obj.control_surfaces + for surface = control_surfaces_array + for surface2 = control_surfaces_array if ~strcmp(surface.name, surface2.name) @@ -287,6 +286,34 @@ function drawWing(obj, manip, q, qd, fill_color) end end % end sanity checks + + % check for the case where the entire wing has a control surface + if length(control_surfaces_array) == 1 && control_surfaces_array(1).left_edge_position_along_wing == 0 ... + && control_surfaces_array(1).span == span + + % this wing has only one control surface and it spans the entire + % wing, so we can just return a single + % RigidBodyWingWithControlSurface object + + + obj = RigidBodyWingWithControlSurface(this_frame_id, profile, chord, span, stall_angle, nominal_speed, control_surfaces_array(1)); + obj.name = name; + + return; + + end + + + + % if we are here, that means we have a more complex wing that + % consists of componet parts. Thus, we create a + % RigidBodyCompositeWing + + obj = RigidBodyCompositeWing(); + + obj.kinframe = this_frame_id; + obj.control_surfaces = control_surfaces_array; + % split the wing up starting from the left edge remaining_surfaces = obj.control_surfaces; diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index 6b799cbf0152..631b119a3e19 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -1,6 +1,8 @@ classdef RigidBodyWingWithControlSurface < RigidBodyWing % Implements functionality similar to RigidBodyWing but with a % control surface attached to the wing. + % + % URDF parsing is handled by RigidBodyCompositeWing. properties control_surface % the control surface attached to this wing diff --git a/systems/plants/test/testRigidBodyBluffBody.m b/systems/plants/test/testRigidBodyBluffBody.m index 094ecec9d351..a9261bdf0c57 100644 --- a/systems/plants/test/testRigidBodyBluffBody.m +++ b/systems/plants/test/testRigidBodyBluffBody.m @@ -1,59 +1,72 @@ -% Tests control surfaces by creating from a URDF that has control surfaces -% and simulating. +function xtraj = testRigidBodyBluffBody -%% Construct from URDF + % Tests control surfaces by creating from a URDF that has control surfaces + % and simulating. + %% Construct from URDF -disp('Constructing from URDF...'); -options.floating = true; -r = RigidBodyManipulator('testRigidBodyWingWithControlSurface.urdf', options); + disp('Constructing from URDF...'); -%v = r.constructVisualizer(); + options.floating = true; + r = RigidBodyManipulator('testRigidBodyWingWithControlSurface.urdf', options); -% Visualize the constructed wing with the wing-drawing tools -% -%q = zeros(r.getNumContStates(),1); -%qd = zeros(r.getNumContStates(),1); -% clf -% for i = 1 : length(r.force) -% plot3(0, 0, 0, '*'); -% if isa(r.force{i}, 'RigidBodyWing') -% r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); -% end -% end + v = r.constructVisualizer(); -%% simulate + % Visualize the constructed wing with the wing-drawing tools -disp('Simulating...'); + q = zeros(r.getNumContStates(),1); + qd = zeros(r.getNumContStates(),1); + clf + for i = 1 : length(r.force) + plot3(0, 0, 0, '*'); + if isa(r.force{i}, 'RigidBodyCompositeWing') || isa(r.force{i}, 'RigidBodyWing') + r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); + end + end -x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0]; -end_t = .5; + %% simulate -constant_traj = ConstantTrajectory([0.8 0.8 100]); -constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); + disp('Simulating...'); -feedback_system = cascade(constant_traj, r); + x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0]; + end_t = .5; -[ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + constant_traj = ConstantTrajectory([0.8 0.8 100]); + constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); -%v.playback(xtraj) + feedback_system = cascade(constant_traj, r); -final_x = xtraj.eval(end_t) + [ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); -% now simulate with drag forces -disp('Simulating with drag forces...'); -r2 = RigidBodyManipulator('testRigidBodyBluffBody.urdf', options); + v.playback(xtraj) -constant_traj = ConstantTrajectory([0.8 0.8 100]); -constant_traj = constant_traj.setOutputFrame(r2.getInputFrame()); + final_x = xtraj.eval(end_t) -feedback_system = cascade(constant_traj, r2); + %% build with drag force -[ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + % now simulate with drag forces + disp('Simulating with drag forces...'); + r2 = RigidBodyManipulator('testRigidBodyBluffBody.urdf', options); -final_x_with_drag = xtraj.eval(end_t) + v = r2.constructVisualizer(); -assert(final_x_with_drag(1) < final_x(1)) % should move forward less with drag -assert(abs(final_x_with_drag(2)) < .1) % should stay in the center regardless of drag -assert(final_x_with_drag(3) < final_x(3)); % should gain less altitude with drag + constant_traj = ConstantTrajectory([0.8 0.8 100]); + constant_traj = constant_traj.setOutputFrame(r2.getInputFrame()); + + feedback_system = cascade(constant_traj, r2); + + %% simulate with drag force + + [ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + + v.playback(xtraj) + + + final_x_with_drag = xtraj.eval(end_t) + + assert(final_x_with_drag(1) < final_x(1)) % should move forward less with drag + assert(abs(final_x_with_drag(2)) < .1) % should stay in the center regardless of drag + assert(final_x_with_drag(3) < final_x(3)); % should gain less altitude with drag + +end \ No newline at end of file diff --git a/systems/plants/test/testRigidBodyBluffBody.urdf b/systems/plants/test/testRigidBodyBluffBody.urdf index 2d3b9dc4d9fd..ad0cce24c6d7 100644 --- a/systems/plants/test/testRigidBodyBluffBody.urdf +++ b/systems/plants/test/testRigidBodyBluffBody.urdf @@ -1,6 +1,6 @@ + xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd" name="testRigidBodyBluffBody"> @@ -22,8 +22,7 @@ xyz="0 0 0" rpy="0 0 0" /> - + @@ -31,6 +30,46 @@ rgba="0.68 0.68 0.68 1" /> + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -74,7 +113,7 @@ - + - + - + diff --git a/systems/plants/test/testRigidBodyWingWithControlSurface.m b/systems/plants/test/testRigidBodyWingWithControlSurface.m index a4553eb881d7..a266afa7b402 100644 --- a/systems/plants/test/testRigidBodyWingWithControlSurface.m +++ b/systems/plants/test/testRigidBodyWingWithControlSurface.m @@ -1,46 +1,50 @@ -% Tests control surfaces by creating from a URDF that has control surfaces -% and simulating. +function xtraj = testRigidBodyWingWithControlSurface() -%% Construct from URDF + % Tests control surfaces by creating from a URDF that has control surfaces + % and simulating. + %% Construct from URDF -disp('Constructing from URDF...'); -options.floating = true; -r = RigidBodyManipulator('testRigidBodyWingWithControlSurface.urdf', options); -%v = r.constructVisualizer(); + disp('Constructing from URDF...'); -% Visualize the constructed wing with the wing-drawing tools -% -%q = zeros(r.getNumContStates(),1); -%qd = zeros(r.getNumContStates(),1); -% clf -% for i = 1 : length(r.force) -% plot3(0, 0, 0, '*'); -% if isa(r.force{i}, 'RigidBodyWing') -% r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); -% end -% end + options.floating = true; + r = RigidBodyManipulator('testRigidBodyWingWithControlSurface.urdf', options); + v = r.constructVisualizer(); -%% simulate + % Visualize the constructed wing with the wing-drawing tools -disp('Simulating...'); + q = zeros(r.getNumContStates(),1); + qd = zeros(r.getNumContStates(),1); + clf + for i = 1 : length(r.force) + plot3(0, 0, 0, '*'); + if isa(r.force{i}, 'RigidBodyCompositeWing') || isa(r.force{i}, 'RigidBodyWing') + r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); + end + end -x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0]; -end_t = .5; + %% simulate -constant_traj = ConstantTrajectory([0.8 0.8 100]); -constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); + disp('Simulating...'); -feedback_system = cascade(constant_traj, r); + x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0]; + end_t = .5; -[ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + constant_traj = ConstantTrajectory([0.8 0.8 100]); + constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); -%v.playback(xtraj) + feedback_system = cascade(constant_traj, r); -final_x = xtraj.eval(end_t); + [ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + v.playback(xtraj) -assert(final_x(1) > 5) % should move forward -assert(abs(final_x(2)) < .1) % should stay in the center -assert(final_x(3) > 1); % should gain altitude + final_x = xtraj.eval(end_t); + + + assert(final_x(1) > 5) % should move forward + assert(abs(final_x(2)) < .1) % should stay in the center + assert(final_x(3) > 1); % should gain altitude + +end \ No newline at end of file diff --git a/systems/plants/test/testRigidBodyWingWithControlSurface.urdf b/systems/plants/test/testRigidBodyWingWithControlSurface.urdf index fa2b0a310171..06478add6967 100644 --- a/systems/plants/test/testRigidBodyWingWithControlSurface.urdf +++ b/systems/plants/test/testRigidBodyWingWithControlSurface.urdf @@ -1,6 +1,6 @@ + xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd" name="testRigidBodyWingWithControlSurface"> @@ -22,8 +22,33 @@ xyz="0 0 0" rpy="0 0 0" /> - + + + + + + + + + + + + + + + + + + + @@ -74,7 +99,7 @@ - + Date: Tue, 21 Oct 2014 18:30:57 -0400 Subject: [PATCH 186/271] Adds a test for using a RigidBodyWingWithControlSurface by iteself (not inside a composite wing). Fixes a bug related to that case. --- systems/plants/RigidBodyCompositeWing.m | 1 + ...WingWithControlSurfaceOnlyControlSurface.m | 50 ++++++++++ ...gWithControlSurfaceOnlyControlSurface.urdf | 99 +++++++++++++++++++ 3 files changed, 150 insertions(+) create mode 100644 systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.m create mode 100644 systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf diff --git a/systems/plants/RigidBodyCompositeWing.m b/systems/plants/RigidBodyCompositeWing.m index 24c888b76134..fee4ee6d3ad6 100644 --- a/systems/plants/RigidBodyCompositeWing.m +++ b/systems/plants/RigidBodyCompositeWing.m @@ -298,6 +298,7 @@ function drawWing(obj, manip, q, qd, fill_color) obj = RigidBodyWingWithControlSurface(this_frame_id, profile, chord, span, stall_angle, nominal_speed, control_surfaces_array(1)); obj.name = name; + obj.input_limits = [ control_surfaces_array(1).min_deflection; control_surfaces_array(1).max_deflection]; return; diff --git a/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.m b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.m new file mode 100644 index 000000000000..47f21a264bf6 --- /dev/null +++ b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.m @@ -0,0 +1,50 @@ +function xtraj = testRigidBodyWingWithControlSurfaceOnlyControlSurface() + + % Tests control surfaces by creating from a URDF that has control surfaces + % and simulating. + + %% Construct from URDF + + + disp('Constructing from URDF...'); + + options.floating = true; + r = RigidBodyManipulator('testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf', options); + v = r.constructVisualizer(); + + % Visualize the constructed wing with the wing-drawing tools + + q = zeros(r.getNumContStates(),1); + qd = zeros(r.getNumContStates(),1); + clf + for i = 1 : length(r.force) + plot3(0, 0, 0, '*'); + if isa(r.force{i}, 'RigidBodyCompositeWing') || isa(r.force{i}, 'RigidBodyWing') + r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); + end + end + + %% simulate + + disp('Simulating...'); + + x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0]; + end_t = .5; + + constant_traj = ConstantTrajectory([0.8 100]); + constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); + + feedback_system = cascade(constant_traj, r); + + [ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + + v.playback(xtraj) + + final_x = xtraj.eval(end_t); + + + assert(final_x(1) > 5) % should move forward + assert(abs(final_x(2)) < .1) % should stay in the center + assert(final_x(3) > 1); % should gain altitude + +end \ No newline at end of file diff --git a/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf new file mode 100644 index 000000000000..03a6bf54601d --- /dev/null +++ b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf @@ -0,0 +1,99 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From ed0893f7f5886493763e19c7682dbd230cf67332 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 21 Oct 2014 23:55:11 -0400 Subject: [PATCH 187/271] Change no-op for build servers version of matlab. --- systems/plants/RigidBodyWingWithControlSurface.m | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index 631b119a3e19..70ad262e6536 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -24,12 +24,13 @@ % we need to be able to construct with no arguments per % http://www.mathworks.com/help/matlab/matlab_oop/class-constructor-methods.html#btn2kiy + + obj = obj@RigidBodyWing(frame_id, profile, chord, span, stall_angle, velocity); + if (nargin == 0) return; end - obj = obj@RigidBodyWing(frame_id, profile, chord, span, stall_angle, velocity); - obj.control_surface = control_surface; obj.direct_feedthrough_flag = true; From faf9df66150ab0f394da4f69bd75c239a4f19479 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 22 Oct 2014 16:04:16 -0400 Subject: [PATCH 188/271] rigid body visualizers should have the position frame as input (the state frame will automatically transform down to position if that is passed in, so it should not break backwards compatibility) --- .../RigidBodyWRLVisualizer.m | 14 +++++++------- systems/plants/BotVisualizer.m | 6 +++--- systems/plants/RigidBodyVisualizer.m | 2 +- 3 files changed, 11 insertions(+), 11 deletions(-) diff --git a/systems/plants/@RigidBodyWRLVisualizer/RigidBodyWRLVisualizer.m b/systems/plants/@RigidBodyWRLVisualizer/RigidBodyWRLVisualizer.m index 6e8041da167d..ac1a33b8fb62 100644 --- a/systems/plants/@RigidBodyWRLVisualizer/RigidBodyWRLVisualizer.m +++ b/systems/plants/@RigidBodyWRLVisualizer/RigidBodyWRLVisualizer.m @@ -60,21 +60,21 @@ function drawWrapper(obj,t,x) draw(obj,t,x); end - function draw(obj,t,x) + function draw(obj,t,q) for i=1:length(obj.model.body) b = obj.model.body(i); if b.parent>0 node=getfield(obj.wrl,b.jointname); if (b.floating==1) - node.rotation = rpy2axis(x(b.position_num(4:6)))'; - node.translation = x(b.position_num(1:3))'; + node.rotation = rpy2axis(q(b.position_num(4:6)))'; + node.translation = q(b.position_num(1:3))'; elseif (b.floating==2) - node.rotation = quat2axis(x(b.position_num(4:7)))'; - node.translation = x(b.position_num(1:3))'; + node.rotation = quat2axis(q(b.position_num(4:7)))'; + node.translation = q(b.position_num(1:3))'; elseif (b.pitch==0) - node.rotation=[b.joint_axis' x(b.position_num)]; + node.rotation=[b.joint_axis' q(b.position_num)]; elseif isinf(b.pitch) - node.translation=x(b.position_num)*b.joint_axis'; + node.translation=q(b.position_num)*b.joint_axis'; else error('helical joints not implemented yet (but would be simple)'); end diff --git a/systems/plants/BotVisualizer.m b/systems/plants/BotVisualizer.m index 3cd8e4ca2cc7..cc9e56ccf4b0 100644 --- a/systems/plants/BotVisualizer.m +++ b/systems/plants/BotVisualizer.m @@ -109,17 +109,17 @@ obj.draw_msg.position = single(zeros(nb,3)); obj.draw_msg.quaternion = single(zeros(nb,4)); - draw(obj,0,zeros(getNumStates(manip),1)); + draw(obj,0,zeros(getNumPositions(manip),1)); end function drawWrapper(obj,t,y) draw(obj,t,y); end - function draw(obj,t,y) + function draw(obj,t,q) obj.draw_msg.timestamp = int64(t*1000000); - kinsol = doKinematics(obj.model,y(1:getNumPositions(obj.model))); + kinsol = doKinematics(obj.model,q); for i=1:getNumBodies(obj.model) pt = forwardKin(obj.model,kinsol,i,zeros(3,1),2); obj.draw_msg.position(i,:) = pt(1:3); diff --git a/systems/plants/RigidBodyVisualizer.m b/systems/plants/RigidBodyVisualizer.m index 794ffb99b805..e891e578db63 100644 --- a/systems/plants/RigidBodyVisualizer.m +++ b/systems/plants/RigidBodyVisualizer.m @@ -7,7 +7,7 @@ end methods function obj = RigidBodyVisualizer(manip) - obj = obj@Visualizer(getStateFrame(manip)); + obj = obj@Visualizer(getPositionFrame(manip)); obj.model = manip; end function inspector(obj,x0,state_dims,minrange,maxrange,options) From 0e9231c7186f5586c9d31b99a68e53316fa64b33 Mon Sep 17 00:00:00 2001 From: mposa Date: Thu, 23 Oct 2014 10:53:21 -0400 Subject: [PATCH 189/271] Fixes to example code plotting. --- examples/DoubleIntegrator.m | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/examples/DoubleIntegrator.m b/examples/DoubleIntegrator.m index 0abb13aeb2f2..22c9703cbf37 100644 --- a/examples/DoubleIntegrator.m +++ b/examples/DoubleIntegrator.m @@ -49,13 +49,14 @@ function draw(t,x) costfun = @mintime_cost; % costfun = @lqr_cost; xbins = {[-3:.2:3],[-4:.2:4]}; - mdp = MarkovDecisionProcess.discretizeSystem(p,costfun,xbins,linspace(-1,1,9),options); + ubins = linspace(p.umin,p.umax,9); + mdp = MarkovDecisionProcess.discretizeSystem(p,costfun,xbins,ubins,options); function drawfun(J,PI) figure(2); clf; n1=length(xbins{1}); n2=length(xbins{2}); - subplot(2,1,1);imagesc(xbins{1},xbins{2},reshape(PI,n1,n2)'); + subplot(2,1,1);imagesc(xbins{1},xbins{2},reshape(ubins(PI),n1,n2)'); axis xy; xlabel('q'); ylabel('qdot'); From ef495c5f354545447aa6f306e79242b61c235c80 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Thu, 23 Oct 2014 13:50:10 -0400 Subject: [PATCH 190/271] Changes URDF parsing to be smarter, removing the need for RigidBodyCompositeWing, which is now deleted. --- .../RigidBodyManipulator.m | 8 +- systems/plants/@RigidBodyWing/RigidBodyWing.m | 240 ++++++++++ systems/plants/RigidBodyCompositeWing.m | 415 ------------------ 3 files changed, 246 insertions(+), 417 deletions(-) delete mode 100644 systems/plants/RigidBodyCompositeWing.m diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 8affb0a9a4a6..35bd4c95c85d 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -2479,7 +2479,7 @@ function checkDirty(obj) % that covers the entire wing, or creating a RigidBodyCompositeWing % if there is a wing that has part control surface and part not - [model,fe] = RigidBodyCompositeWing.parseURDFNode(model,robotnum,elnode,options); + [model,fe] = RigidBodyWing.parseURDFNode(model,robotnum,elnode,options); end elnode = node.getElementsByTagName('bluff_body').item(0); @@ -2510,7 +2510,11 @@ function checkDirty(obj) if ~isempty(fe) - model.force{end+1} = fe; + if iscell(fe) + model.force = {model.force{:} fe{:}}; + else + model.force{end+1} = fe; + end end end diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 341505cf0fff..55cc83fe051f 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -669,6 +669,246 @@ function drawWing(obj, manip, q, qd, fill_color) end end + + function [model, obj_or_cell_array_of_wings] = parseURDFNode(model,robotnum,node,options) + % Build a RigidBodyWing from a URDF. Note that this can return a + % cell array for obj, in the case of a wing with two or more parts + % that mixes normal wings and wings with control surfaces + % + % @param model model we are adding to + % @param node parent node in the URDF + % @param options unused at the current time + % + % @retval model updated model + % @retval obj_or_cell_array_of_wings RigidBodyWing, + % RigidBodyWingWithControlSurface, or a cell array of + % RigidBodyWing and RigidBodyWingWithControlSurface's. + + name = char(node.getAttribute('name')); + name = regexprep(name, '\.', '_', 'preservecase'); + + elNode = node.getElementsByTagName('parent').item(0); + parent = findLinkInd(model,char(elNode.getAttribute('link')),robotnum); + + xyz=zeros(3,1); rpy=zeros(3,1); + elnode = node.getElementsByTagName('origin').item(0); + if ~isempty(elnode) + if elnode.hasAttribute('xyz') + xyz = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('xyz'))),3,1); + end + if elnode.hasAttribute('rpy') + rpy = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('rpy'))),3,1); + end + end + + + % search for control surfaces + control_surface_nodes = node.getElementsByTagName('control_surface'); + + wing_profile = char(node.getAttribute('profile')); + wing_chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); + wing_span = parseParamString(model,robotnum,char(node.getAttribute('span'))); + wing_stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); + nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); + + left_edge_of_wing = xyz - [0; wing_span/2; 0]; + + if isempty(control_surface_nodes.item(0)) + % no control surfaces, only a normal wing + % create that object and return. + + [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); + + obj_or_cell_array_of_wings = RigidBodyWing(this_frame_id, wing_profile, wing_chord, wing_span, wing_stall_angle, nominal_speed); + obj_or_cell_array_of_wings.name = name; + + return; + + else + % has control surfaces + + if ~strcmpi(wing_profile, 'flat plate') + error('wings with control surfaces that are not flat plates is unimplemneted at the current time.'); + end + + % load control surface data + count = 0; + + control_surfaces = []; + + this_surface = control_surface_nodes.item(count); + while ~isempty(this_surface) + + + surface_name = char(this_surface.getAttribute('name')); + surface_chord = parseParamString(model,robotnum,char(this_surface.getAttribute('chord'))); + surface_span = parseParamString(model,robotnum,char(this_surface.getAttribute('span'))); + surface_left_edge_position_along_wing = parseParamString(model,robotnum,char(this_surface.getAttribute('left_edge_position_along_wing'))); + surface_min_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('min_deflection'))); + surface_max_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('max_deflection'))); + + assert(surface_span > 0, ['Span must be > 0 on control surface "' surface_name '"']); + assert(surface_chord > 0, ['Chord must be > 0 on control surface "' surface_name '"']); + assert(surface_left_edge_position_along_wing >= 0, ['Left edge position must be >= 0 on control surface "' surface_name '"']); + + assert(surface_span + surface_left_edge_position_along_wing <= wing_span, ['Control surface runs off the right end of the wing on surface "' surface_name '"']); + + for other_surface = control_surfaces + if strcmp(other_surface.name, surface_name) + error(['Duplicate control surface name "' surface_name '"']); + end + end + + control_surfaces = [ control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing, surface_min_deflection, surface_max_deflection) ]; + + + count = count + 1; + this_surface = control_surface_nodes.item(count); + + end + + % now we split the wing up into multiple segments that either + % contain one of the control surfaces or don't + + % do some sanity checks to make sure that the control surfaces do + % not overlap + for surface = control_surfaces + for surface2 = control_surfaces + + if ~strcmp(surface.name, surface2.name) + + left1 = surface.left_edge_position_along_wing; + right1 = left1 + surface.span; + + left2 = surface2.left_edge_position_along_wing; + + if (left1 < left2 && right1 > left2) + error(['Control surfaces "' surface.name '" and "' surface2.name '" overlap.']); + end + + end + end + end % end sanity checks + + + % check for the case where the entire wing has a control surface + if length(control_surfaces) == 1 && control_surfaces(1).left_edge_position_along_wing == 0 ... + && control_surfaces(1).span == wing_span + + % this wing has only one control surface and it spans the entire + % wing, so we can just return a single + % RigidBodyWingWithControlSurface object + + [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); + + obj_or_cell_array_of_wings = RigidBodyWingWithControlSurface(this_frame_id, wing_profile, wing_chord, wing_span, wing_stall_angle, nominal_speed, control_surfaces(1)); + obj_or_cell_array_of_wings.name = name; + obj_or_cell_array_of_wings.input_limits = [ control_surfaces(1).min_deflection; control_surfaces(1).max_deflection]; + + return; + + end + + + + % if we are here, that means we have a more complex wing that + % consists of componet parts and will return a cell array of wings + + obj_or_cell_array_of_wings = {}; + + % split the wing up starting from the left edge + + remaining_surfaces = control_surfaces; + point_along_wing = 0; + + while (wing_span - point_along_wing > 1e-6) % not always exactly less than + + % find the minimum value of the control surface left edges + min_left_edge_value = inf; + min_left_edge_index = -1; + + for i = 1 : length(remaining_surfaces) + % need a loop heree because min() doesn't support two matricies + % with two output arguments + if (remaining_surfaces(i).left_edge_position_along_wing < min_left_edge_value) + min_left_edge_value = remaining_surfaces(i).left_edge_position_along_wing; + min_left_edge_index = i; + end + end + + if (min_left_edge_value == point_along_wing) + % control surface starts at the left edge + + % span of this part of the wing is the span of the control + % surface + + this_surface = control_surfaces(min_left_edge_index); + this_span = this_surface.span; + + + contained_wing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; + + + contained_wing_frame_xyz = left_edge_of_wing + RigidBodyWing.getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy); + + [model,new_wing_frame_id] = addFrame(model,RigidBodyFrame(parent,contained_wing_frame_xyz,rpy,[this_surface.name '_wing' num2str(length(obj_or_cell_array_of_wings)) '_of_' name '_frame'])); + + this_wing = RigidBodyWingWithControlSurface(new_wing_frame_id, wing_profile, wing_chord, this_span, wing_stall_angle, nominal_speed, this_surface); + this_wing.input_limits = [ this_surface.min_deflection; this_surface.max_deflection ]; + this_wing.name = ['wing_' num2str(length(obj_or_cell_array_of_wings)) '_of_' name '_and_control_surface_' this_surface.name]; + + % remove this surface from consideration + remaining_surfaces(min_left_edge_index) = []; + + + else + % make a non-control surfaced wing since the control surface + % does not start at the left edge + + if (min_left_edge_value == inf) + this_span = wing_span - point_along_wing; + else + this_span = min_left_edge_value - point_along_wing; + end + + contained_wing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; + + contained_wing_frame_xyz = left_edge_of_wing + RigidBodyWing.getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy); + + [model,new_wing_frame_id] = addFrame(model,RigidBodyFrame(parent,contained_wing_frame_xyz,rpy,['wing' num2str(length(obj_or_cell_array_of_wings)) '_of_' name '_frame'])); + + this_wing = RigidBodyWing(new_wing_frame_id, wing_profile, wing_chord, this_span, wing_stall_angle, nominal_speed); + this_wing.name = ['wing_' num2str(length(obj_or_cell_array_of_wings)) '_of_' name]; + + end + + + obj_or_cell_array_of_wings{end + 1} = this_wing; + + point_along_wing = point_along_wing + this_span; + + end + + + + end + + end + + function contained_wing_frame_xyz = getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy) + % figure out where the center of this contained wing is, accounting + % for possible roll/pitch/yaw in the spec + + rot_matrix = [ cos(rpy(3))*cos(rpy(2)), cos(rpy(3))*sin(rpy(2))*sin(rpy(1)) - sin(rpy(3))*cos(rpy(1)), cos(rpy(3))*sin(rpy(2))*cos(rpy(1)) + sin(rpy(3))*sin(rpy(1)); ... + sin(rpy(3))*cos(rpy(2)), sin(rpy(3))*sin(rpy(2))*sin(rpy(1)) + cos(rpy(3))*cos(rpy(1)), sin(rpy(3))*sin(rpy(2))*cos(rpy(1)) - cos(rpy(3))*sin(rpy(1)); ... + -sin(rpy(2)), cos(rpy(2))*sin(rpy(1)), cos(rpy(2))*cos(rpy(1)) ]; + + + + contained_wing_frame_xyz = rot_matrix * contained_wing_center_body_frame; + + end + end diff --git a/systems/plants/RigidBodyCompositeWing.m b/systems/plants/RigidBodyCompositeWing.m deleted file mode 100644 index fee4ee6d3ad6..000000000000 --- a/systems/plants/RigidBodyCompositeWing.m +++ /dev/null @@ -1,415 +0,0 @@ -classdef RigidBodyCompositeWing < RigidBodyForceElement - % RigidBodyCompositeWing is a container class for one or more - % RigidBodyWing or RigidBodyWingWithControlSurface's. - % This allows us to handle wings with control surfaces as multiple - % smaller parts of a wing. - % - % When reading a URDF, we automatically create the relevant objects - % based on if the wing has control surfaces or not. - - properties - - contained_wings = {}; % array of RigidBodyWing's that make up this wing - - contained_wing_left_edges; % sorted array of points along the wing denoting the left edge of each contained_wing. Index is the same as obj.contained_wings. - - control_surfaces; % array of control surfaces on this wing, sorted by order appearing in the URDF - - kinframe; % frame_id for the wing (note: there are different ones for the contained_wings based on their actual position) - - end - - - methods - function obj = RigidBodyCompositeWing(frame_id, profile, chord, span, stallAngle, velocity) - % This constructor supports no arguments or the arguments above. - % Given the parameters above, we create one RigidBodyWing with the - % parameters described there. - - if nargin > 0 - - this_contained_wing = RigidBodyWing(frame_id, profile, chord, span, stallAngle, velocity); - - obj.contained_wings{length(obj.contained_wings) + 1} = this_contained_wing; - - obj.contained_wing_left_edges = 0; - - obj.kinframe = frame_id; - - else - % with no arguments, we were probably called by the URDF constructor - - % no op - - end - end - - - function [force, B_force_or_dforce, dforce ] = computeSpatialForce(obj,manip,q,qd) - % Calls the appropriate RigidBodyWing.computeSpatialForce - % for all of the contained wings, adds the results, and returns. - % - % @param manip RigidBodyManipulator we are a part of - % @param q state vector - % @param qd time derivative of state vector - % - % @retval force forces produced by the wing - % @retval B_force_or_dforce if we have a control surface anywhere, - % this is the B matrix that maps control input to force. - % Otherwise, this is the gradient of the forces. - % - % @retval dforce gradient of forces if we do have a control surface - % anywhere - - - if length(obj.contained_wings) < 1 - error('computeSpatialForce called with no contained wings.'); - end - - control_surface_flag = false; - - for i = 1 : length(obj.contained_wings) - - if (obj.contained_wings{i}.has_control_surface) - - if control_surface_flag - error('multiple control surfaces on one wing not supported.'); - end - - control_surface_flag = true; - - [this_force, B_force, this_dforce, dB_force ] = obj.contained_wings{i}.computeSpatialForce(manip,q,qd); - - if i == 1 - force = this_force; - dforce = this_dforce; - else - force = force + this_force; - dforce = dforce + this_dforce; - - end - - - else - - [this_force, this_dforce] = obj.contained_wings{i}.computeSpatialForce(manip, q, qd); - if i == 1 - force = this_force; - dforce = this_dforce; - else - force = force + this_force; - dforce = dforce + this_dforce; - - end - end - - end - - if control_surface_flag - % we have a control surface - B_force_or_dforce = B_force; - else - B_force_or_dforce = dforce; - end - - end - - function obj = setInputNum(obj, input_num) - % override RigidBodyForceElement.setInputNum to support contained_wings. - - obj.input_num = input_num; - - for i = 1 : length(obj.contained_wings) - if obj.contained_wings{i}.has_control_surface - obj.contained_wings{i} = obj.contained_wings{i}.setInputNum(input_num); - end - end - end - - - function drawWing(obj, manip, q, qd, fill_color) - % Draws the wing onto the current figure in the state - % given by q and qdot - % - % @param manip manipulator the wing is part of - % @param q state vector - % @param qd q-dot (state vector derivatives) - % @param fill_color @default 1 - - if nargin < 5 - fill_color = 1; - end - - for i = 1 : length(obj.contained_wings) - obj.contained_wings{i}.drawWing(manip, q, qd, fill_color); - end - end - - - function [CL, CD, CM, dCL, dCD, dCM] = coeffs(obj, aoa) - % Returns dimensionalized coefficient of lift, drag, and pitch - % moment for a given angle of attack - % - % @param aoa angle of attack to get coefficients at - % - % @retval CL coefficient of lift - % @retval CD coefficient of drag - % @retval CM pitch moment - % - % @retval dCL derivative of coefficient of lift - % @retval dCL derivative of coefficient of drag - % @retval dCL derivative of pitch moment - - if length(obj.contained_wings) == 1 - - if (nargout > 3) - [CL, CD, CM, dCL, dCD, dCM] = obj.contained_wings{1}.coeffs(aoa); - else - [CL, CD, CM] = obj.contained_wings{1}.coeffs(aoa); - end - - else - error('Not supported for wings with more than one contained wing.'); - end - - - - end - - end - - methods (Static) - function [model,obj] = parseURDFNode(model,robotnum,node,options) - % Build a RigidBodyCompositeWing from a URDF. - - name = char(node.getAttribute('name')); - name = regexprep(name, '\.', '_', 'preservecase'); - - elNode = node.getElementsByTagName('parent').item(0); - parent = findLinkInd(model,char(elNode.getAttribute('link')),robotnum); - - xyz=zeros(3,1); rpy=zeros(3,1); - elnode = node.getElementsByTagName('origin').item(0); - if ~isempty(elnode) - if elnode.hasAttribute('xyz') - xyz = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('xyz'))),3,1); - end - if elnode.hasAttribute('rpy') - rpy = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('rpy'))),3,1); - end - end - [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); - - % search for control surfaces - control_surface_nodes = node.getElementsByTagName('control_surface'); - - profile = char(node.getAttribute('profile')); - chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); - span = parseParamString(model,robotnum,char(node.getAttribute('span'))); - stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); - nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); - - left_edge_of_wing = xyz - [0; span/2; 0]; - - if isempty(control_surface_nodes.item(0)) - % no control surfaces, only a normal wing - % create that object and return. - - obj = RigidBodyWing(this_frame_id, profile, chord, span, stall_angle, nominal_speed); - obj.name = name; - - return; - - else - % has control surfaces - - if ~strcmpi(profile, 'flat plate') - error('wings with control surfaces that are not flat plates is unimplemneted at the current time.'); - end - - % load control surface data - count = 0; - - control_surfaces_array = []; - - this_surface = control_surface_nodes.item(count); - while ~isempty(this_surface) - - - surface_name = char(this_surface.getAttribute('name')); - surface_chord = parseParamString(model,robotnum,char(this_surface.getAttribute('chord'))); - surface_span = parseParamString(model,robotnum,char(this_surface.getAttribute('span'))); - surface_left_edge_position_along_wing = parseParamString(model,robotnum,char(this_surface.getAttribute('left_edge_position_along_wing'))); - surface_min_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('min_deflection'))); - surface_max_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('max_deflection'))); - - assert(surface_span > 0, ['Span must be > 0 on control surface "' surface_name '"']); - assert(surface_chord > 0, ['Chord must be > 0 on control surface "' surface_name '"']); - assert(surface_left_edge_position_along_wing >= 0, ['Left edge position must be >= 0 on control surface "' surface_name '"']); - - assert(surface_span + surface_left_edge_position_along_wing <= span, ['Control surface runs off the right end of the wing on surface "' surface_name '"']); - - for other_surface = control_surfaces_array - if strcmp(other_surface.name, surface_name) - error(['Duplicate control surface name "' surface_name '"']); - end - end - - control_surfaces_array = [ control_surfaces_array ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing, surface_min_deflection, surface_max_deflection) ]; - - - count = count + 1; - this_surface = control_surface_nodes.item(count); - - end - - % now we split the wing up into multiple segments that either - % contain one of the control surfaces or don't - - % do some sanity checks to make sure that the control surfaces do - % not overlap - for surface = control_surfaces_array - for surface2 = control_surfaces_array - - if ~strcmp(surface.name, surface2.name) - - left1 = surface.left_edge_position_along_wing; - right1 = left1 + surface.span; - - left2 = surface2.left_edge_position_along_wing; - - if (left1 < left2 && right1 > left2) - error(['Control surfaces "' surface.name '" and "' surface2.name '" overlap.']); - end - - end - end - end % end sanity checks - - - % check for the case where the entire wing has a control surface - if length(control_surfaces_array) == 1 && control_surfaces_array(1).left_edge_position_along_wing == 0 ... - && control_surfaces_array(1).span == span - - % this wing has only one control surface and it spans the entire - % wing, so we can just return a single - % RigidBodyWingWithControlSurface object - - - obj = RigidBodyWingWithControlSurface(this_frame_id, profile, chord, span, stall_angle, nominal_speed, control_surfaces_array(1)); - obj.name = name; - obj.input_limits = [ control_surfaces_array(1).min_deflection; control_surfaces_array(1).max_deflection]; - - return; - - end - - - - % if we are here, that means we have a more complex wing that - % consists of componet parts. Thus, we create a - % RigidBodyCompositeWing - - obj = RigidBodyCompositeWing(); - - obj.kinframe = this_frame_id; - obj.control_surfaces = control_surfaces_array; - - % split the wing up starting from the left edge - - remaining_surfaces = obj.control_surfaces; - point_along_wing = 0; - - while (span - point_along_wing > 1e-6) % not always exactly less than - - % find the minimum value of the control surface left edges - min_left_edge_value = inf; - min_left_edge_index = -1; - - for i = 1 : length(remaining_surfaces) - % need a loop heree because min() doesn't support two matricies - % with two output arguments - if (remaining_surfaces(i).left_edge_position_along_wing < min_left_edge_value) - min_left_edge_value = remaining_surfaces(i).left_edge_position_along_wing; - min_left_edge_index = i; - end - end - - if (min_left_edge_value == point_along_wing) - % control surface starts at the left edge - - obj.direct_feedthrough_flag = true; - - % span of this part of the wing is the span of the control - % surface - - this_surface = obj.control_surfaces(min_left_edge_index); - this_span = this_surface.span; - - - contained_wing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; - - - contained_wing_frame_xyz = left_edge_of_wing + obj.getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy); - - [model,contained_wing_frame_id] = addFrame(model,RigidBodyFrame(parent,contained_wing_frame_xyz,rpy,[this_surface.name '_contained_wing' num2str(length(obj.contained_wings)) '_of_' name '_frame'])); - - this_contained_wing = RigidBodyWingWithControlSurface(contained_wing_frame_id, profile, chord, this_span, stall_angle, nominal_speed, this_surface); - - - obj.input_limits = [ obj.input_limits [ this_surface.min_deflection; this_surface.max_deflection] ]; - - % remove this surface from consideration - remaining_surfaces(min_left_edge_index) = []; - - - else - % make a non-control surfaced wing since the control surface - % does not start at the left edge - - if (min_left_edge_value == inf) - this_span = span - point_along_wing; - else - this_span = min_left_edge_value - point_along_wing; - end - - contained_wing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; - - contained_wing_frame_xyz = left_edge_of_wing + obj.getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy); - - [model,contained_wing_frame_id] = addFrame(model,RigidBodyFrame(parent,contained_wing_frame_xyz,rpy,['contained_wing' num2str(length(obj.contained_wings)) '_of_' name '_frame'])); - - this_contained_wing = RigidBodyWing(contained_wing_frame_id, profile, chord, this_span, stall_angle, nominal_speed); - end - - - obj.contained_wings{length(obj.contained_wings) + 1} = this_contained_wing; - obj.contained_wing_left_edges = [ obj.contained_wing_left_edges point_along_wing ]; - - point_along_wing = point_along_wing + this_span; - - end - - - - end - obj.name = name; - end - - function contained_wing_frame_xyz = getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy) - % figure out where the center of this contained wing is, accounting - % for possible roll/pitch/yaw in the spec - - rot_matrix = [ cos(rpy(3))*cos(rpy(2)), cos(rpy(3))*sin(rpy(2))*sin(rpy(1)) - sin(rpy(3))*cos(rpy(1)), cos(rpy(3))*sin(rpy(2))*cos(rpy(1)) + sin(rpy(3))*sin(rpy(1)); ... - sin(rpy(3))*cos(rpy(2)), sin(rpy(3))*sin(rpy(2))*sin(rpy(1)) + cos(rpy(3))*cos(rpy(1)), sin(rpy(3))*sin(rpy(2))*cos(rpy(1)) - cos(rpy(3))*sin(rpy(1)); ... - -sin(rpy(2)), cos(rpy(2))*sin(rpy(1)), cos(rpy(2))*cos(rpy(1)) ]; - - - - contained_wing_frame_xyz = rot_matrix * contained_wing_center_body_frame; - - end - - end - -end From 2c9bdd84578eb0a58676b4f0afd98a2c71ab4e6f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Thu, 23 Oct 2014 14:58:03 -0400 Subject: [PATCH 191/271] same fix from double integrator, but for pendulum example --- examples/Pendulum/runValueIteration.m | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/examples/Pendulum/runValueIteration.m b/examples/Pendulum/runValueIteration.m index e6d12f60c32d..d153c768fef8 100644 --- a/examples/Pendulum/runValueIteration.m +++ b/examples/Pendulum/runValueIteration.m @@ -7,13 +7,14 @@ %cost = @mintime; ulimit = 1; cost = @lqrcost; ulimit = 5; xbins = {linspace(0,2*pi,51),linspace(-10,10,51)}; -mdp = MarkovDecisionProcess.discretizeSystem(plant,cost,xbins,linspace(-ulimit,ulimit,9),options); +ubins = linspace(-ulimit,ulimit,9); +mdp = MarkovDecisionProcess.discretizeSystem(plant,cost,xbins,ubins,options); function drawfun(J,PI) figure(2); clf; n1=length(xbins{1}); n2=length(xbins{2}); - subplot(2,1,1);imagesc(xbins{1},xbins{2},reshape(PI,n1,n2)'); + subplot(2,1,1);imagesc(xbins{1},xbins{2},reshape(ubins(PI),n1,n2)'); axis xy; xlabel('theta'); ylabel('thetadot'); From edf2895b2f42944539d9fdb3306a3bc5a82bddf0 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Thu, 23 Oct 2014 15:05:39 -0400 Subject: [PATCH 192/271] Removes scatteredInterpolant in favor of griddedInterpolant which is supported in 2012a. --- systems/plants/RigidBodyWingWithControlSurface.m | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index 70ad262e6536..7678468ccdc0 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -237,10 +237,10 @@ [ fCl, fCd, fCm, aoa_mat, control_surface_mat] = obj.flatplateControlSurface(aoa_range, control_surface_range); - fCl_interp = scatteredInterpolant(aoa_mat(:), control_surface_mat(:), fCl(:)); - fCd_interp = scatteredInterpolant(aoa_mat(:), control_surface_mat(:), fCd(:)); - fCm_interp = scatteredInterpolant(aoa_mat(:), control_surface_mat(:), fCm(:)); - + fCl_interp = griddedInterpolant(aoa_mat', control_surface_mat', fCl'); + fCd_interp = griddedInterpolant(aoa_mat', control_surface_mat', fCd'); + fCm_interp = griddedInterpolant(aoa_mat', control_surface_mat', fCm'); + end function [ fCl, fCd, fCm, aoa_mat, control_surface_mat ] = flatplateControlSurface(obj, aoa, control_surface_angle_rad) From 6ad290d5a94dc3d3ed6e3fdc0ef483c358ecd28b Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Thu, 23 Oct 2014 21:19:44 -0400 Subject: [PATCH 193/271] Adds automatic drawing for wings and propellors. --- systems/plants/@RigidBodyWing/RigidBodyWing.m | 43 ++++++++ systems/plants/RigidBodyGeometry.m | 11 ++ systems/plants/RigidBodyPropellor.m | 100 +++++++++++++++++- .../plants/RigidBodyWingWithControlSurface.m | 43 ++++++++ systems/plants/test/TestWing.urdf | 4 +- .../testRigidBodyWingWithControlSurface.urdf | 53 ++-------- ...gWithControlSurfaceOnlyControlSurface.urdf | 45 +------- 7 files changed, 205 insertions(+), 94 deletions(-) diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 55cc83fe051f..516412f11918 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -564,8 +564,30 @@ function drawWing(obj, manip, q, qd, fill_color) axis equal end + + function model = addWingVisualShapeToBody(obj, model, body) + % Adds a visual shape of the wing to the model on the body given for + % drawing the wing in a visualizer. + % + % @param model manipulator the wing is part of + % @param body body to add the visual shape to + % + % @retval model updated model + + wing_height = 0.01; + + + box_size = [ obj.chord, obj.span, wing_height ]; + + shape = RigidBodyBox(box_size, model.getFrame(obj.kinframe).T); + + model = model.addVisualShapeToBody(body, shape); + + end end + + methods (Static) @@ -710,6 +732,12 @@ function drawWing(obj, manip, q, qd, fill_color) wing_span = parseParamString(model,robotnum,char(node.getAttribute('span'))); wing_stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); + visual_geometry = parseParamString(model,robotnum,char(node.getAttribute('visual_geometry'))); + + if isempty(visual_geometry) + % visual geometry defaults to on + visual_geometry = 1; + end left_edge_of_wing = xyz - [0; wing_span/2; 0]; @@ -722,6 +750,11 @@ function drawWing(obj, manip, q, qd, fill_color) obj_or_cell_array_of_wings = RigidBodyWing(this_frame_id, wing_profile, wing_chord, wing_span, wing_stall_angle, nominal_speed); obj_or_cell_array_of_wings.name = name; + if (visual_geometry) + % add visual shapes for automatic drawing of the wing + model = obj_or_cell_array_of_wings.addWingVisualShapeToBody(model, parent); + end + return; else @@ -801,10 +834,16 @@ function drawWing(obj, manip, q, qd, fill_color) [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); + obj_or_cell_array_of_wings = RigidBodyWingWithControlSurface(this_frame_id, wing_profile, wing_chord, wing_span, wing_stall_angle, nominal_speed, control_surfaces(1)); obj_or_cell_array_of_wings.name = name; obj_or_cell_array_of_wings.input_limits = [ control_surfaces(1).min_deflection; control_surfaces(1).max_deflection]; + if (visual_geometry) + % add visual shapes for automatic drawing of the wing + model = obj_or_cell_array_of_wings.addWingVisualShapeToBody(model, parent); + end + return; end @@ -882,6 +921,10 @@ function drawWing(obj, manip, q, qd, fill_color) end + if (visual_geometry) + % add visual shapes for automatic drawing of the wing + model = this_wing.addWingVisualShapeToBody(model, parent); + end obj_or_cell_array_of_wings{end + 1} = this_wing; diff --git a/systems/plants/RigidBodyGeometry.m b/systems/plants/RigidBodyGeometry.m index b9406f692070..7c0e374b82a6 100644 --- a/systems/plants/RigidBodyGeometry.m +++ b/systems/plants/RigidBodyGeometry.m @@ -98,6 +98,17 @@ pts = []; end + function obj = setColor(obj, color) + % Sets the color of the geometry for drawing + % + % @param color 3x1 color rgb array (defaults to [.7 .7 .7] + % + % @retval obj updated object + + obj.c = color; + + end + end methods (Static) diff --git a/systems/plants/RigidBodyPropellor.m b/systems/plants/RigidBodyPropellor.m index 8eefb77ebb79..30b9b3a1e1d5 100644 --- a/systems/plants/RigidBodyPropellor.m +++ b/systems/plants/RigidBodyPropellor.m @@ -100,6 +100,80 @@ end + function manip = addPropellorVisualShapeToBody(obj, manip, body, diameter) + % Adds a visual shape of the propellor to the model on the body given for + % drawing the in a visualizer. + % + % @param model manipulator the wing is part of + % @param body body to add the visual shape to + % @param diameter diameter of the propellor to draw + % @param axis the propellor produces thrust on + % + % @retval model updated model + + prop_width = 0.05; + + % repect the axis the propellor produces thrust on + + % a cyclindar always starts facing up so rotate it so that it is + % facing in the direction of the thrust axis + + origin = [0; 0; 0]; + default_axis = [0; 0; 1]; + + if default_axis == obj.axis + rotmat = eye(3); + else + + a = default_axis; + b = obj.axis; + + % adapted from http://math.stackexchange.com/a/897677 + % first, generate the basis in which to rotate + % with column vectors: [ normalized projection of b onto a, + % normalized vector rejection of b onto a, and cross(b,a) + + u = a; + + v = (b - dot(a,b)*a) / norm(b - dot(a,b)*a); + + w = cross(b,a); + + Fi = [ u v w ]; + + + + % build the matrix to rotate in that basis + + G = [ dot(a,b) -norm(cross(a,b)) 0; ... + norm(cross(a,b)) dot(a,b) 0; ... + 0 0 1]; + + + rotmat = Fi * G * inv(Fi); + + end + + pts = [origin; 1]; + + T = manip.getFrame(obj.kinframe).T; + R = T(1:3,1:3); + + + xyz_rpy = [T(1:3,:)*pts; repmat(rotmat2rpy(R*rotmat),1, 1)]; + + xyz = xyz_rpy(1:3); + + + rpy = xyz_rpy(4:6); + + + shape = RigidBodyCylinder(diameter/2, prop_width, xyz, rpy); + shape = shape.setColor([ .5 .5 .5 ]); + manip = manip.addVisualShapeToBody(body, shape); + + end + end methods (Static) @@ -133,12 +207,13 @@ scaleFacMoment = parseParamString(model,robotnum,char(node.getAttribute('scale_factor_moment'))); end - axis = [1; 0; 0]; + prop_axis = [1; 0; 0]; elnode = node.getElementsByTagName('axis').item(0); if ~isempty(elnode) - axis = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('xyz'))),3,1); - axis = axis/(norm(axis)+eps); % normalize + prop_axis = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('xyz'))),3,1); + prop_axis = prop_axis/(norm(prop_axis)+eps); % normalize end + limits = [-inf,inf]; if node.hasAttribute('lower_limit') @@ -148,8 +223,25 @@ limits(2) = parseParamString(model,robotnum,char(node.getAttribute('upper_limit'))); end - obj = RigidBodyPropellor(frame_id, axis, scaleFacThrust, scaleFacMoment, limits); + obj = RigidBodyPropellor(frame_id, prop_axis, scaleFacThrust, scaleFacMoment, limits); obj.name = name; + + visual_geometry = parseParamString(model,robotnum,char(node.getAttribute('visual_geometry'))); + visual_diameter = parseParamString(model,robotnum,char(node.getAttribute('visual_diameter'))); + + if isempty(visual_geometry) + visual_geometry = 1; + end + + if isempty(visual_diameter) + visual_diameter = 0.2; + end + + if visual_geometry + model = obj.addPropellorVisualShapeToBody(model, parent, visual_diameter); + end + + end end diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index 7678468ccdc0..1543860c1242 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -362,6 +362,49 @@ function drawWing(obj, manip, q, qd, fill_color) end + function model = addWingVisualShapeToBody(obj, model, body) + % Adds a visual shape of the wing to the model on the body given for + % drawing the wing in a visualizer. + % + % @param model manipulator the wing is part of + % @param body body to add the visual shape to + % + % @retval model updated model + + % call the parent wing's drawing system to add the main wing + model = addWingVisualShapeToBody@RigidBodyWing(obj, model, body); + + + % add another box for the control surface + + control_surface_height = 0.01; + + box_size = [ obj.control_surface.chord, obj.control_surface.span, control_surface_height ]; + + % get the xyz and rpy of the control surface + origin = [-obj.chord/2 - obj.control_surface.chord/2; 0; 0]; + + q = zeros(model.getNumContStates(), 1); + qd = zeros(model.getNumContStates(), 1); + + T = model.getFrame(obj.kinframe).T; + R = T(1:3,1:3); + + pts = [origin; 1]; + + xyz_rpy = [T(1:3,:)*pts; repmat(rotmat2rpy(R),1, 1)]; + + xyz = xyz_rpy(1:3); + + rpy = xyz_rpy(4:6); + + shape = RigidBodyBox(box_size, xyz, rpy); + + shape = shape.setColor([1 .949 .211]); + + model = model.addVisualShapeToBody(body, shape); + + end end diff --git a/systems/plants/test/TestWing.urdf b/systems/plants/test/TestWing.urdf index e0ad7b68e6c3..7abc1700519b 100644 --- a/systems/plants/test/TestWing.urdf +++ b/systems/plants/test/TestWing.urdf @@ -19,7 +19,7 @@ @@ -40,7 +40,7 @@ - + diff --git a/systems/plants/test/testRigidBodyWingWithControlSurface.urdf b/systems/plants/test/testRigidBodyWingWithControlSurface.urdf index 06478add6967..45b2eb3790c8 100644 --- a/systems/plants/test/testRigidBodyWingWithControlSurface.urdf +++ b/systems/plants/test/testRigidBodyWingWithControlSurface.urdf @@ -17,48 +17,9 @@ iyz="-0.000001" izz="0.019316" /> - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - + - + - + - + - + diff --git a/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf index 03a6bf54601d..9e1dabeeed24 100644 --- a/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf +++ b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf @@ -17,45 +17,6 @@ iyz="-0.000001" izz="0.019316" /> - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -87,13 +48,13 @@ - + - + From 73ed5ee49b57b60dd55e553280bf1d827540bd09 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Thu, 23 Oct 2014 21:36:03 -0400 Subject: [PATCH 194/271] First pass at URDF documentation. --- doc/drakeURDF.xsd | 48 ++++++++++++++++++++++++++++++++++++++++------- 1 file changed, 41 insertions(+), 7 deletions(-) diff --git a/doc/drakeURDF.xsd b/doc/drakeURDF.xsd index 47266b4ab49e..3141376f7440 100644 --- a/doc/drakeURDF.xsd +++ b/doc/drakeURDF.xsd @@ -12,11 +12,11 @@ Documents URDF support for Drake, which implements much of the ROS URDF specific Can be any string that will evaluate as a polynomial using "eval" in the matlab environment, where parameters are referenced with $param_name. -Example: +Example: "$m * $l^2" or -"$m2 * ($lc2 - $l1)" +"$m2 * ($lc2 - $l1)" @@ -38,9 +38,9 @@ or - You can add a loop joint if you have a kinematic loop (e.g. four-bar linkage, or even something more complicated) in your robot. To use this interface, you must first describe every link in your robot as part of a kinematic tree (no loops). You should be able to take a path through the linkages that touches everything without any loops. Then add the remaining loops by referencing existing links from the tree. + You can add a loop joint if you have a kinematic loop (e.g. four-bar linkage, or even something more complicated) in your robot. To use this interface, you must first describe every link in your robot as part of a kinematic tree (no loops). You should be able to take a path through the linkages that touches everything without any loops. Then add the remaining loops by referencing existing links from the tree. -There are a few limitations with the current implementation. We do not currently support joint limits nor actuators at the new joint created by the loop_joint tag. For all of the systems we have modeled so far, there has always been at least one of these "simple" joints in each kinematic loop; and we are simply careful to write down the initial kinematic tree so that it includes all of the more complex joints, leaving the simple joint as the loop joint. +There are a few limitations with the current implementation. We do not currently support joint limits nor actuators at the new joint created by the loop_joint tag. For all of the systems we have modeled so far, there has always been at least one of these "simple" joints in each kinematic loop; and we are simply careful to write down the initial kinematic tree so that it includes all of the more complex joints, leaving the simple joint as the loop joint. @@ -87,13 +87,13 @@ feet of an Atlas robot to make Iron Man. Propellor elements produce both a thrust at a point on the parent body in a specified direction, along with a moment whose axis is the same as the thrust axis. This is useful for modelling propellors, -which typically produce both a thrust and a moment due to aerodynamic drag. The magnitude of the force and torque are scaled +which typically produce both a thrust and a moment due to aerodynamic drag. The magnitude of the force and torque are scaled from an input to the system, with different scalings for each. - Places added-mass coefficients on a point on the parent body. Added-mass forces act like a 'drag' that is proportional to the acceleration of the body, rather than the velocity. Important when the body is comparable in mass to the surrounding fluid, or if rapid motions are needed. + Places added-mass coefficients on a point on the parent body. Added-mass forces act like a 'drag' that is proportional to the acceleration of the body, rather than the velocity. Important when the body is comparable in mass to the surrounding fluid, or if rapid motions are needed. These forces are represented by a 6x6 matrix 'Ma' similar to a mass matrix, where the force is F=-Ma*a (+coriolis terms). Each matrix element is refered as 'mij', where 'i' and 'j' are the rows and columns of the matrix. As is standard in the oceanographic literature, rows 123 are the linear accelerations, and 456 are the angular accelerations [note this is opposite of Featherstone's notation] @@ -187,6 +187,12 @@ used for the moment coefficient. RPY support has been excluded, requiring the axes of the airfoil to line up with those of its parent body. + + + control surface attached to the wing. +Can have up to one control surface per wing. + + @@ -227,6 +233,34 @@ Reynolds number around which we design the aerodynamic coefficients. + + + + + + Only "flat plate" supported right now. + + + + Length of the control surface. + + + + Width of the control surface. + + + + Position of the left edge of the control surface along the wing (in meters). + + + + Minimum control surface deflection in radians. Typical is around -0.90 + + + + Maximum control surface deflection in radians. Typical is around 0.90 + + @@ -538,7 +572,7 @@ this buoyancy is attached. - coulomb friction coefficient. + coulomb friction coefficient. total friction force is a piecewise linear approximation of sgn(qd)*Fc + qd*Fd: From b7202362ac7f8a74df54af5f0bb69d3eb31cac98 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 24 Oct 2014 13:32:55 -0400 Subject: [PATCH 195/271] URDF documentation, tested on the server. --- doc/drakeURDF.xsd | 137 +++++++++++++++++++++++++++++++++++----------- 1 file changed, 104 insertions(+), 33 deletions(-) diff --git a/doc/drakeURDF.xsd b/doc/drakeURDF.xsd index 3141376f7440..c44ddd26481c 100644 --- a/doc/drakeURDF.xsd +++ b/doc/drakeURDF.xsd @@ -71,7 +71,7 @@ eventually support all of the same types as a 'joint' element. See the joint ele - See RigidBodyWing.m for more documentation + Wing element supporting flat plates, airfoils, and control surfaces. @@ -83,7 +83,8 @@ produced by a propeller on an airplane, or thrusters on the hands and feet of an Atlas robot to make Iron Man. - + + Propellor elements produce both a thrust at a point on the parent body in a specified direction, along with a moment whose axis is the same as the thrust axis. This is useful for modelling propellors, @@ -91,6 +92,9 @@ which typically produce both a thrust and a moment due to aerodynamic drag. The from an input to the system, with different scalings for each. + + + Places added-mass coefficients on a point on the parent body. Added-mass forces act like a 'drag' that is proportional to the acceleration of the body, rather than the velocity. Important when the body is comparable in mass to the surrounding fluid, or if rapid motions are needed. @@ -189,8 +193,7 @@ the axes of the airfoil to line up with those of its parent body. - control surface attached to the wing. -Can have up to one control surface per wing. + Control surface attached to a wing. Can have up to one control surface per wing. @@ -232,35 +235,106 @@ nominal speed in meters per second used to calculate the Reynolds number around which we design the aerodynamic coefficients. + + + enable or disable automatic drawing of the wing + + - - - Only "flat plate" supported right now. - - - - Length of the control surface. - - - - Width of the control surface. - - - - Position of the left edge of the control surface along the wing (in meters). - - - - Minimum control surface deflection in radians. Typical is around -0.90 - - - - Maximum control surface deflection in radians. Typical is around 0.90 - + + + + Only "flat plate" supported right now. + + + + + + Length of the control surface. + + + + + + Width of the control surface. + + + + + + Position of the left edge of the control surface along the wing (in meters). + + + + + + Minimum control surface deflection in radians. Typical is around -0.90 + + + + + + Maximum control surface deflection in radians. Typical is around 0.90 + + + + + + + + + + input minimum. + + + + + + input maximum. + + + + + + scales the dimensionless input to Newtons of force. + + + + + + scales the dimensionless input to newton-meters of torque. + + + + + + true to enable automatic drawing of the propellor. + + + + + + diameter of the propllor when drawn. + + + + + + Axis the thrust element acts on. For example a propellor facing forward would point in the X-axis and you'd use: xyz="1 0 0". + + + + + Position of the thrust element. Example: xyz="0 0 0" rpy="0 0 0". + + + + + @@ -271,15 +345,12 @@ which the force will be applied. - The joint axis specified in the joint frame. This is the axis of rotation for revolute joints, the axis of translation for prismatic joints, and the surface normal for planar joints. The axis is specified in the joint frame of reference. Fixed and floating joints do not use the axis field. + Axis the thrust element acts on. For example a propellor facing forward would point in the X-axis and you'd use: xyz="1 0 0". - This defines the position of -the quarter-chord point of the airfoil, since that is the reference point -used for the moment coefficient. RPY support has been excluded, requiring -the axes of the airfoil to line up with those of its parent body. + Position of the thrust element. Example: xyz="0 0 0" rpy="0 0 0". From b935eefa7e6ba28b6577165e16c575f6b9447b3c Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 24 Oct 2014 18:02:30 -0400 Subject: [PATCH 196/271] Addresses Russ's comments from pull request and adds a test for RigidBodyPropellor. --- .../RigidBodyManipulator.m | 10 +- systems/plants/@RigidBodyWing/RigidBodyWing.m | 146 ++++++++---------- .../plants/RigidBodyWingWithControlSurface.m | 30 +--- systems/plants/test/testRigidBodyPropellor.m | 65 ++++++++ .../plants/test/testRigidBodyPropellor.urdf | 42 +++++ .../testRigidBodyWingWithControlSurface.m | 12 -- ...WingWithControlSurfaceOnlyControlSurface.m | 10 -- 7 files changed, 183 insertions(+), 132 deletions(-) create mode 100644 systems/plants/test/testRigidBodyPropellor.m create mode 100644 systems/plants/test/testRigidBodyPropellor.urdf diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 35bd4c95c85d..0fc27e144043 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -2473,11 +2473,11 @@ function checkDirty(obj) elnode = node.getElementsByTagName('wing').item(0); if ~isempty(elnode) - % the composite wing will handle the wing stuff, creating a normal - % RigidBodyWing if there are no control surfaces, creating a - % RigidBodyWingWithControlSurface if there is one control surface - % that covers the entire wing, or creating a RigidBodyCompositeWing - % if there is a wing that has part control surface and part not + % the wing parser may return a cell array of wings, in the case + % where the URDF asks for a wing that has portions that contain a + % control surface and portions that are normal wings. + % RigidBodyWing will automatically divide up and the wing create + % the parts as needed. [model,fe] = RigidBodyWing.parseURDFNode(model,robotnum,elnode,options); end diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 516412f11918..4ffec9cb82c0 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -2,9 +2,7 @@ % This class implements a wing element, supporting flat plates and % airfoils defined with NACA numbers, a geometry profile (with xfoil and % AVL backend) and .mat files defining wing performance - % - % URDF parsing is handled by RigidBodyCompositeWing. - + properties kinframe; % index to RigidBodyFrame fCl % PPTrajectories (splines) representing the *dimensional* coefficients @@ -232,7 +230,7 @@ function runXfoil() xfoilfile = fileread(which('xfoilblank.txt')); filename = tempname; xfoil_cleanup = onCleanup(@()delete([filename,'*'])); - polarLoc = [tempname,'_polar.txt']; + polarLoc = [filename,'_polar.txt']; if ~linux %because Windows. polarLoc = regexprep(polarLoc, '\\', '\\\\\\\\'); end @@ -401,20 +399,31 @@ function revertEnvVars() kinsol = doKinematics(manip,q,true,true,qd); if (nargout > 1) - [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - else - [ wingvel_world_xz, wingYunit ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - end - + [ wingvel_struct, wingvel_dstruct ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + + wingvel_world_xz = wingvel_struct.wingvel_world_xz; + wingYunit = wingvel_struct.wingYunit; + wingvel_world_xyz = wingvel_struct.wingvel_world_xyz; + + dwingvel_worlddq = wingvel_dstruct.dwingvel_worlddq; + dwingvel_worlddqd = wingvel_dstruct.dwingvel_worlddqd; + dwingYunitdq = wingvel_dstruct.dwingYunitdq; + dwingYunitdqd = wingvel_dstruct.dwingYunitdqd; - - + else + wingvel_struct = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + + wingvel_world_xz = wingvel_struct.wingvel_world_xz; + wingYunit = wingvel_struct.wingYunit; + wingvel_world_xyz = wingvel_struct.wingvel_world_xyz; + + end if (nargout>1) - [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz, dwingvel_worlddq, dwingvel_worlddqd); + [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_struct, wingvel_dstruct); else - wingvel_rel = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz); + wingvel_rel = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_struct); end @@ -521,50 +530,6 @@ function revertEnvVars() end end - function drawWing(obj, manip, q, qd, fill_color) - % Draws the wing onto the current figure - % - % @param manip manipulator the wing is part of - % @param q state vector - % @param qd q-dot (state vector derivatives) - % @param fill_color @default 1 - - if ~strcmpi(obj.profile, 'flat plate') - warning('Drawing may not be right for non-flat plate wings.'); - end - - hold on - - kinsol = doKinematics(manip,q,false, false, qd); - - origin = forwardKin(manip, kinsol, obj.kinframe, zeros(3,1), 1); - - % draw a box around the origin in world frame - - height = 0.01; - - % get the corner points in 3d space - - p1 = [-obj.chord/2, -obj.span/2, 0]; - - p2 = [ obj.chord/2, -obj.span/2, 0]; - - p3 = [ obj.chord/2, obj.span/2, 0]; - - p4 = [-obj.chord/2, obj.span/2, 0]; - - pts = forwardKin(manip, kinsol, obj.kinframe, [p1; p2; p3; p4]'); - - fill3(pts(1,:), pts(2,:), pts(3,:), fill_color); - - xlabel('x'); - ylabel('y'); - zlabel('z'); - - axis equal - - end - function model = addWingVisualShapeToBody(obj, model, body) % Adds a visual shape of the wing to the model on the body given for % drawing the wing in a visualizer. @@ -591,7 +556,7 @@ function drawWing(obj, manip, q, qd, fill_color) methods (Static) - function [wingvel_world_xz, wingYunit, dwingvel_worlddq, dwingvel_worlddqd, dwingYunitdq, dwingYunitdqd, wingvel_world_xyz ] = computeWingVelocity(kinframe, manip, q, qd, kinsol) + function [ wingvel_struct, wingvel_dstruct ]= computeWingVelocity(kinframe, manip, q, qd, kinsol) % Computes the velcity of the wing in word coordinates % % @param kinframe frame id of the kinematic frame @@ -600,18 +565,27 @@ function drawWing(obj, manip, q, qd, fill_color) % @param qd q-dot (time derivative of state vector) % @param kinsol solution from doKinematics % - % @retval wingvel_world_xz velocity of the wing in world coodinates - % projected onto the wing's XZ plane. In other words, velocity with - % sideslip subtracted out. - % @retval wingYunit unit vector along the wing's Y axis in world - % coordinates - % @retval dwingvel_worlddq derivative of wing velocity with respect - % to q - % @retval dwingvel_worlddqd derivative of the wing velocity with - % respect to qdot - % @retval wingvel_world_xzy velocity of the wing in world coordinates - - if (nargout>2) + % @retval wingvel_struct which has the following values: + %
+      %   wingvel_world_xz
+      %     velocity of the wing in world coodinates
+      %     projected onto the wing's XZ plane.  In other words, velocity with
+      %     sideslip subtracted out.
+      %   wingYunit
+      %     unit vector along the wing's Y axis in world
+      %     coordinates
+      %   
+ % @retval wingvel_dstruct which has the following values: + %
+      %   dwingvel_worlddq
+      %     derivative of wing velocity with respect to q
+      %   dwingvel_worlddqd
+      %     derivative of the wing velocity with respect to qdot
+      %   wingvel_world_xzy
+      %     velocity of the wing in world coordinates
+      %   
+ + if (nargout>1) [~,J] = forwardKin(manip,kinsol,kinframe,zeros(3,1)); Jdot = forwardJacDot(manip,kinsol,kinframe,zeros(3,1)); @@ -637,7 +611,7 @@ function drawWing(obj, manip, q, qd, fill_color) % input/option for "vectors_not_points". %project this onto the XZ plane of the wing (ignores sideslip) - if (nargout>2) + if (nargout>1) [wingYunit,dwingYunitdq] = forwardKin(manip,kinsol,kinframe,[0 0; 1 0; 0 0]); wingYunit = wingYunit(:,1)-wingYunit(:,2); % subtract out the origin dwingYunitdq = dwingYunitdq(1:3,:)-dwingYunitdq(4:6,:); @@ -648,29 +622,39 @@ function drawWing(obj, manip, q, qd, fill_color) end sideslip = wingvel_world_xyz'*wingYunit; - if (nargout>2) + if (nargout>1) dsideslipdq = wingYunit'*dwingvel_worlddq + wingvel_world_xyz'*dwingYunitdq; dsideslipdqd = wingYunit'*dwingvel_worlddqd + wingvel_world_xyz'*dwingYunitdqd; end wingvel_world_xz = wingvel_world_xyz - sideslip*wingYunit; - if (nargout>2) + if (nargout>1) dwingvel_worlddq = dwingvel_worlddq - sideslip*dwingYunitdq - wingYunit*dsideslipdq; dwingvel_worlddqd = dwingvel_worlddqd - sideslip*dwingYunitdqd - wingYunit*dsideslipdqd; end + wingvel_struct.wingvel_world_xz = wingvel_world_xz; + wingvel_struct.wingYunit = wingYunit; + wingvel_struct.wingvel_world_xyz = wingvel_world_xyz; + + if (nargout>1) + wingvel_dstruct.dwingvel_worlddq = dwingvel_worlddq; + wingvel_dstruct.dwingvel_worlddqd = dwingvel_worlddqd; + wingvel_dstruct.dwingYunitdq = dwingYunitdq; + wingvel_dstruct.dwingYunitdqd = dwingYunitdqd; + end + end - function [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = computeWingVelocityRelative(kinframe, manip, kinsol, wingvel_world, dwingvel_worlddq, dwingvel_worlddqd) + function [wingvel_rel, dwingvel_reldq, dwingvel_reldqd] = computeWingVelocityRelative(kinframe, manip, kinsol, wingvel_struct, wingvel_dstruct) % Computes the relative wing velocity % % @param kinframe frame id (usually in obj.kinframe) % @param manip manipulator we are a part of % @param kinsol solution from doKinematics - % @param wingvel_world world velocity from computeWingVelocity - % @param dwingvel_worlddq from computeWingVelocity - % @param dwingvel_worlddqd from computeWingVelocity + % @param wingvel_struct from computeWingVelocity + % @param wingvel_dstruct from computeWingVelocity % % @retval wingvel_rel relative wing velocity % @retval dwingvel_reldq derivative of relative wing velocity with @@ -679,14 +663,14 @@ function drawWing(obj, manip, q, qd, fill_color) % respect to q-dot if (nargout>1) - [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,kinframe,[wingvel_world,zeros(3,1)]); + [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,kinframe,[wingvel_struct.wingvel_world_xz,zeros(3,1)]); wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); wingvel_relJ = wingvel_relJ(1:3,:)-wingvel_relJ(4:6,:); wingvel_relP = wingvel_relP(1:3,:)-wingvel_relP(4:6,:); - dwingvel_reldq = wingvel_relJ+wingvel_relP(:,1:3)*dwingvel_worlddq; - dwingvel_reldqd = wingvel_relP(:,1:3)*dwingvel_worlddqd; + dwingvel_reldq = wingvel_relJ+wingvel_relP(:,1:3)*wingvel_dstruct.dwingvel_worlddq; + dwingvel_reldqd = wingvel_relP(:,1:3)*wingvel_dstruct.dwingvel_worlddqd; else - wingvel_rel = bodyKin(manip,kinsol,kinframe,[wingvel_world,zeros(3,1)]); + wingvel_rel = bodyKin(manip,kinsol,kinframe,[wingvel_struct.wingvel_world_xz,zeros(3,1)]); wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); end diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index 1543860c1242..c1da3145c2ea 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -2,7 +2,7 @@ % Implements functionality similar to RigidBodyWing but with a % control surface attached to the wing. % - % URDF parsing is handled by RigidBodyCompositeWing. + % URDF parsing is handled by RigidBodyWing. properties control_surface % the control surface attached to this wing @@ -76,10 +76,12 @@ % get the coefficients for this point - [ wingvel_world_xz, wingYunit ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - wingvel_rel = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_world_xz); - + wingvel_struct = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + wingvel_rel = RigidBodyWing.computeWingVelocityRelative(obj.kinframe, manip, kinsol, wingvel_struct); + wingvel_world_xz = wingvel_struct.wingvel_world_xz; + wingYunit = wingvel_struct.wingYunit; + wingvel_world_xyz = wingvel_struct.wingvel_world_xyz; airspeed = norm(wingvel_world_xz); @@ -190,23 +192,6 @@ dB_force = 0; %todo - end - - - function [fCl, fCd, fCm] = flatplate_old(obj) - disp('Using a flat plate airfoil with control surfaces.') - laminarpts = 30; - stallAngle = obj.stall_angle; - - angles = [-180:2:-(stallAngle+.0001) -stallAngle:2*stallAngle/laminarpts:(stallAngle-.0001) stallAngle:2:180]; - %CMangles is used to make the Moment coefficient zero when the wing - %is not stalled - CMangles = [-180:2:-(stallAngle+.0001) zeros(1,laminarpts) stallAngle:2:180]; - fCm = foh(angles, -(CMangles./90)*obj.rho*obj.area*obj.chord/4); - fCl = spline(angles, .5*(2*sind(angles).*cosd(angles))*obj.rho*obj.area); - fCd = spline(angles, .5*(2*sind(angles).^2)*obj.rho*obj.area); - - end function [ fCl_interp, fCd_interp, fCm_interp ] = flateplateControlSurfaceInterp(obj) @@ -383,9 +368,6 @@ function drawWing(obj, manip, q, qd, fill_color) % get the xyz and rpy of the control surface origin = [-obj.chord/2 - obj.control_surface.chord/2; 0; 0]; - - q = zeros(model.getNumContStates(), 1); - qd = zeros(model.getNumContStates(), 1); T = model.getFrame(obj.kinframe).T; R = T(1:3,1:3); diff --git a/systems/plants/test/testRigidBodyPropellor.m b/systems/plants/test/testRigidBodyPropellor.m new file mode 100644 index 000000000000..47511d92c9f6 --- /dev/null +++ b/systems/plants/test/testRigidBodyPropellor.m @@ -0,0 +1,65 @@ +function xtraj = testRigidBodyPropellor + % Tests propellors + + %% Construct from URDF + + + disp('Constructing from URDF...'); + + options.floating = true; + r = RigidBodyManipulator('testRigidBodyPropellor.urdf', options); + + v = r.constructVisualizer(); + + + %% simulate with the front propellor running + + disp('Simulating with forwards facing prop running...'); + + x0 = [0; 0; 0; 0; 0; 0; 0; 0; 0; 0; 0; 0]; + end_t = .5; + + constant_traj = ConstantTrajectory([100 0]); + constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); + + feedback_system = cascade(constant_traj, r); + + [ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + + v.playback(xtraj) + + final_x = xtraj.eval(end_t) + + assert(final_x(1) > 1) % should move forward + assert(final_x(3) < 1) % should fall due to gravity + assert(abs(final_x(2)) < 0.1) % shouldn't move much in Y + assert(final_x(4) > 1) % should have velocity in the x direction + + assert(final_x(10) > 5) % should have lots of positive roll + + %% simulate with the upwards propellor running + + disp('Simulating with upwards facing prop runnings...'); + + constant_traj = ConstantTrajectory([0 100]); + constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); + + feedback_system = cascade(constant_traj, r); + + %% simulate with drag force + + [ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + + v.playback(xtraj) + + + final_x = xtraj.eval(end_t) + + assert(abs(final_x(1)) < .1) % shouldn't move forward much + assert(final_x(3) > 1) % should move up + assert(abs(final_x(2)) < 0.1) % shouldn't move much in Y + assert(final_x(6) > 1) % should have velocity in the z direction + + assert(final_x(12) > 5) % should have lots of positive yaw + +end \ No newline at end of file diff --git a/systems/plants/test/testRigidBodyPropellor.urdf b/systems/plants/test/testRigidBodyPropellor.urdf new file mode 100644 index 000000000000..a0cc565bd067 --- /dev/null +++ b/systems/plants/test/testRigidBodyPropellor.urdf @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/systems/plants/test/testRigidBodyWingWithControlSurface.m b/systems/plants/test/testRigidBodyWingWithControlSurface.m index a266afa7b402..fd5947d7d719 100644 --- a/systems/plants/test/testRigidBodyWingWithControlSurface.m +++ b/systems/plants/test/testRigidBodyWingWithControlSurface.m @@ -12,18 +12,6 @@ r = RigidBodyManipulator('testRigidBodyWingWithControlSurface.urdf', options); v = r.constructVisualizer(); - % Visualize the constructed wing with the wing-drawing tools - - q = zeros(r.getNumContStates(),1); - qd = zeros(r.getNumContStates(),1); - clf - for i = 1 : length(r.force) - plot3(0, 0, 0, '*'); - if isa(r.force{i}, 'RigidBodyCompositeWing') || isa(r.force{i}, 'RigidBodyWing') - r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); - end - end - %% simulate disp('Simulating...'); diff --git a/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.m b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.m index 47f21a264bf6..6486092ddc6b 100644 --- a/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.m +++ b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.m @@ -14,16 +14,6 @@ % Visualize the constructed wing with the wing-drawing tools - q = zeros(r.getNumContStates(),1); - qd = zeros(r.getNumContStates(),1); - clf - for i = 1 : length(r.force) - plot3(0, 0, 0, '*'); - if isa(r.force{i}, 'RigidBodyCompositeWing') || isa(r.force{i}, 'RigidBodyWing') - r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); - end - end - %% simulate disp('Simulating...'); From 2a735ebfce7aa16505947f685375b7f453ba30ed Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 24 Oct 2014 18:56:33 -0400 Subject: [PATCH 197/271] Fixes for changed function returns and unit test for deletion of old drawing code. --- systems/plants/RigidBodyBluffBody.m | 4 +- systems/plants/test/testRigidBodyBluffBody.m | 12 ------ .../plants/test/testRigidBodyBluffBody.urdf | 39 ------------------- 3 files changed, 3 insertions(+), 52 deletions(-) diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index 205bfcc5e7b0..ae4664379a39 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -77,7 +77,9 @@ % Compute airspeed over this point in xyz - [~, ~, ~, ~, ~, ~, wingvel_world_xyz ] = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + wingvel_struct = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); + + wingvel_world_xyz = wingvel_struct.wingvel_world_xyz; velocity_x = wingvel_world_xyz(1); velocity_y = wingvel_world_xyz(2); diff --git a/systems/plants/test/testRigidBodyBluffBody.m b/systems/plants/test/testRigidBodyBluffBody.m index a9261bdf0c57..8ce80e9505c6 100644 --- a/systems/plants/test/testRigidBodyBluffBody.m +++ b/systems/plants/test/testRigidBodyBluffBody.m @@ -13,18 +13,6 @@ v = r.constructVisualizer(); - % Visualize the constructed wing with the wing-drawing tools - - q = zeros(r.getNumContStates(),1); - qd = zeros(r.getNumContStates(),1); - clf - for i = 1 : length(r.force) - plot3(0, 0, 0, '*'); - if isa(r.force{i}, 'RigidBodyCompositeWing') || isa(r.force{i}, 'RigidBodyWing') - r.force{i}.drawWing(r, q, qd, [rand() rand() rand()]); - end - end - %% simulate disp('Simulating...'); diff --git a/systems/plants/test/testRigidBodyBluffBody.urdf b/systems/plants/test/testRigidBodyBluffBody.urdf index ad0cce24c6d7..da8ea69e762c 100644 --- a/systems/plants/test/testRigidBodyBluffBody.urdf +++ b/systems/plants/test/testRigidBodyBluffBody.urdf @@ -17,45 +17,6 @@ iyz="-0.000001" izz="0.019316" /> - - - - - - - - - - - - - - - - - - - - - - - - - - - Date: Fri, 24 Oct 2014 20:16:51 -0400 Subject: [PATCH 198/271] Updates documentation, adds drawing for bluff bodies, and notes a bug in the bluff_body implementaiton. --- doc/drakeURDF.xsd | 86 +++++++++++++++++++++++++---- systems/plants/RigidBodyBluffBody.m | 39 +++++++++++++ 2 files changed, 113 insertions(+), 12 deletions(-) diff --git a/doc/drakeURDF.xsd b/doc/drakeURDF.xsd index c44ddd26481c..b52b1caccb11 100644 --- a/doc/drakeURDF.xsd +++ b/doc/drakeURDF.xsd @@ -93,6 +93,12 @@ from an input to the system, with different scalings for each. + + + A bluff body that provides only drag force in xyz. + + + @@ -283,7 +289,75 @@ Reynolds number around which we design the aerodynamic coefficients. + + + + + Position of the thrust element. Example: xyz="0 0 0" rpy="0 0 0". + + + + + + + + + coefficient of drag in the X dimension. + + + + + + coefficient of drag in the Y dimension. + + + + + + coefficient of drag in the Z dimension. + + + + + + area of the bluff body for computing drag on the X axis. + + + + + + area of the bluff body for computing drag on the Y axis. + + + + + + area of the bluff body for computing drag on the Z axis. + + + + + + true to enable automatic drawing of the bluff_body as a red cube. + + + + + + + + + Axis the thrust element acts on. For example a propellor facing forward would point in the X-axis and you'd use: xyz="1 0 0". + + + + + Position of the thrust element. Example: xyz="0 0 0" rpy="0 0 0". + + + + @@ -321,18 +395,6 @@ Reynolds number around which we design the aerodynamic coefficients.diameter of the propllor when drawn. - - - - Axis the thrust element acts on. For example a propellor facing forward would point in the X-axis and you'd use: xyz="1 0 0". - - - - - Position of the thrust element. Example: xyz="0 0 0" rpy="0 0 0". - - - diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index ae4664379a39..7e04900ac4d4 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -81,6 +81,11 @@ wingvel_world_xyz = wingvel_struct.wingvel_world_xyz; + % convert world velocity to velocity in the body fram + % TODO + + error('todo'); + velocity_x = wingvel_world_xyz(1); velocity_y = wingvel_world_xyz(2); velocity_z = wingvel_world_xyz(3); @@ -103,6 +108,29 @@ end + function model = addBluffBodyVisualShapeToBody(obj, model, body) + % Adds a visual shape of the bluff body to the model on the body + % given for drawing in a visualizer. + % + % @param model manipulator the wing is part of + % @param body body to add the visual shape to + % + % @retval model updated model + + min_size = 0.001; + + size_x = max(min_size, sqrt(obj.area_x)); + size_y = max(min_size, sqrt(obj.area_y)); + size_z = max(min_size, sqrt(obj.area_z)); + + box_size = [ size_x size_y size_z ]; + + shape = RigidBodyBox(box_size, model.getFrame(obj.kinframe).T); + shape = shape.setColor([1 0 0]); % red + + model = model.addVisualShapeToBody(body, shape); + + end end @@ -138,8 +166,19 @@ this_area_y = parseParamString(model,robotnum,char(node.getAttribute('area_y'))); this_area_z = parseParamString(model,robotnum,char(node.getAttribute('area_z'))); + visual_geometry = parseParamString(model,robotnum,char(node.getAttribute('visual_geometry'))); + + if isempty(visual_geometry) + % visual geometry defaults to on + visual_geometry = 1; + end obj = RigidBodyBluffBody(this_frame_id, cdrag_x, cdrag_y, cdrag_z, this_area_x, this_area_y, this_area_z); + + if (visual_geometry) + model = addBluffBodyVisualShapeToBody(obj, model, parent); + end + obj.name = name; end From edec094a829f31d79050b87d359dc85968523fe0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Sat, 25 Oct 2014 23:49:04 -0400 Subject: [PATCH 199/271] Add 'use_bullet' field to RBM contact_options prop This lets us put the `checkDependency` call in the RBM constructor rather than requiring it later. --- .../@RigidBodyManipulator/RigidBodyManipulator.m | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 39b4670b3e28..2be084f22fb9 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -77,6 +77,7 @@ % @retval contact_options - Struct with the following fields: % * ignore_self_collisions @default false % * replace_cylinders_with_capsules @default true + % * use_bullet @default checkDependency('bullet') % If a corresponding field exists in `options`, its value will % be used. contact_options = struct(); @@ -93,6 +94,15 @@ else contact_options.replace_cylinders_with_capsules = true; end + if isfield(options,'use_bullet') + typecheck(options.use_bullet,'logical'); + if options.use_bullet + checkDependency('bullet') + end + contact_options.use_bullet = options.use_bullet; + else + contact_options.use_bullet = checkDependency('bullet'); + end % NOTEST end end From cd7afa280883ad3c603ff3f7553788dda8a4500c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Sat, 25 Oct 2014 23:49:36 -0400 Subject: [PATCH 200/271] If not using bullet, force terrain collision check Resolves #501 --- systems/plants/@RigidBodyManipulator/collisionDetect.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/plants/@RigidBodyManipulator/collisionDetect.m b/systems/plants/@RigidBodyManipulator/collisionDetect.m index 3f1aa71022a5..17cfe1cdf8d4 100644 --- a/systems/plants/@RigidBodyManipulator/collisionDetect.m +++ b/systems/plants/@RigidBodyManipulator/collisionDetect.m @@ -62,7 +62,7 @@ active_collision_options.terrain_only = false; end -force_collisionDetectTerrain = false; +force_collisionDetectTerrain = ~obj.contact_options.use_bullet; if (~active_collision_options.terrain_only && obj.mex_model_ptr ~= 0 && kinsol.mex) From c6682ffc7a7354cf6b12c2252c0f3cfee94309b2 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 08:11:03 -0400 Subject: [PATCH 201/271] remove sizecheck from main quat methods --- util/quatConjugate.m | 3 ++- util/quatProduct.m | 9 +++------ util/quatRotateVec.m | 7 +++++-- 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/util/quatConjugate.m b/util/quatConjugate.m index d393b6127bbe..84e4893f5a44 100644 --- a/util/quatConjugate.m +++ b/util/quatConjugate.m @@ -4,7 +4,8 @@ % @retval q_conj = [w; -v] % @retval dq_conj - Jacobian of q_conj wrt q -sizecheck(q,[4,1]); +%sizecheck(q,[4,1]); % this is slow and if it is not true an error will + % occur immediately below. q_conj = [1;-1;-1;-1].*q; if nargout > 1 diff --git a/util/quatProduct.m b/util/quatProduct.m index a0f2a252448a..339521a0f883 100644 --- a/util/quatProduct.m +++ b/util/quatProduct.m @@ -6,13 +6,10 @@ % @retval q3 - q1 q2 % @retval dq3 - Jacobian of q3 wrt [q1;q2] -% sizecheck(q1,[4,1]); +% these are slow and will if they are not met then an error will occur +% immediately below +% sizecheck(q1,[4,1]); % sizecheck(q2,[4,1]); -q1_size = size(q1); -q2_size = size(q2); -if(length(q1_size) ~= 2 || q1_size(1) ~=4 || q1_size(2) ~= 1 || length(q2_size) ~= 2 || q2_size(1) ~= 4 || q2_size(2) ~= 1) -error('Drake:quatProduct: quaternion must be of size 4 x 1 '); -end w1 = q1(1); w2 = q2(1); diff --git a/util/quatRotateVec.m b/util/quatRotateVec.m index 90fe8ec2da36..b4892ce89a64 100644 --- a/util/quatRotateVec.m +++ b/util/quatRotateVec.m @@ -5,8 +5,11 @@ % @param r - A vector % @retval r_rot - The vector given by rotating r by q % @retval dr_rot - The Jacobian of r_rot wrt [q;r] -sizecheck(q,[4,1]); -sizecheck(r,[3,1]); + +% these are slow and will if they are not met then an error will occur below +%sizecheck(q,[4,1]); +%sizecheck(r,[3,1]); + if nargout > 1 dq = [eye(4),zeros(4,3)]; dr = [zeros(4),[zeros(1,3);eye(3)]]; From 76b5ccb4b154c9d4a9a44b91126f1b6c772ae0f0 Mon Sep 17 00:00:00 2001 From: Gregory Izatt Date: Mon, 27 Oct 2014 10:21:44 -0400 Subject: [PATCH 202/271] Prepping for hackathon --- .../plants/@RigidBodyManipulator/addRobotFromURDF.m | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m index a2cc3ab9cd72..8c7d9ac485c0 100644 --- a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m +++ b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m @@ -134,15 +134,20 @@ end % weld the root link of this robot to the world link +% or some other link if specified in options +if (isfield(options, 'weld_to_link')) + weldLink = options.weld_to_link; +else + weldLink = 1; % world link +end ind = find([model.body.parent]<1); rootlink = ind([model.body(ind).robotnum]==robotnum); -worldlink = 1; for i=1:length(rootlink) - if ~isempty(options.floating) - model = addFloatingBase(model,worldlink,rootlink(i),xyz,rpy,options.floating); + if (weldLink == 1 && ~isempty(options.floating)) + model = addFloatingBase(model,weldLink,rootlink(i),xyz,rpy,options.floating); else - model = addJoint(model,'','fixed',worldlink,rootlink(i),xyz,rpy); + model = addJoint(model,'','fixed',weldLink,rootlink(i),xyz,rpy); end end From 98c612758ffcb4b2d39046f2622a3af53b3adc16 Mon Sep 17 00:00:00 2001 From: Gregory Izatt Date: Mon, 27 Oct 2014 11:45:31 -0400 Subject: [PATCH 203/271] Removing addElementWithoutGroup DrakeCollision model can no longer have an element added without a group specified. If you don't want to specify one, you can use default, even though I guess that still means you're specifying / choosing one. This functionality was used in a single test and no other part of Drake. --- systems/plants/collision/DrakeCollision.h | 9 --------- systems/plants/collision/test/ModelTest.cpp | 6 +++--- 2 files changed, 3 insertions(+), 12 deletions(-) diff --git a/systems/plants/collision/DrakeCollision.h b/systems/plants/collision/DrakeCollision.h index 5d9b366f35be..6f522672663a 100644 --- a/systems/plants/collision/DrakeCollision.h +++ b/systems/plants/collision/DrakeCollision.h @@ -50,15 +50,6 @@ namespace DrakeCollision bool is_static, bool use_margins = true) {}; - virtual void addElementWithoutGroup(const int body_idx, const int parent_idx, - const Eigen::Matrix4d& T_element_to_link, Shape shape, - const std::vector& params, - bool is_static, - bool use_margins = true) - { - addElement(body_idx,parent_idx,T_element_to_link,shape,params,"default",is_static,use_margins); - }; - virtual bool updateElementsForBody(const int body_idx, const Eigen::Matrix4d& T_link_to_world) { return false; }; diff --git a/systems/plants/collision/test/ModelTest.cpp b/systems/plants/collision/test/ModelTest.cpp index 3935e9249657..e9d10607b131 100644 --- a/systems/plants/collision/test/ModelTest.cpp +++ b/systems/plants/collision/test/ModelTest.cpp @@ -43,9 +43,9 @@ BOOST_AUTO_TEST_CASE(filter_by_body) T_body3_to_world.topRightCorner(3,1) << 2,2,0; shared_ptr model = newModel(); - model->addElementWithoutGroup(1,0,Matrix4d::Identity(),BOX,box_params,false); - model->addElementWithoutGroup(2,0,Matrix4d::Identity(),SPHERE,sphere_params,false); - model->addElementWithoutGroup(3,0,Matrix4d::Identity(),SPHERE,sphere_params,false); + model->addElement(1,0,Matrix4d::Identity(),BOX,box_params,"default",false); + model->addElement(2,0,Matrix4d::Identity(),SPHERE,sphere_params,"default",false); + model->addElement(3,0,Matrix4d::Identity(),SPHERE,sphere_params,"default",false); model->updateElementsForBody(1, T_body1_to_world); model->updateElementsForBody(2, T_body2_to_world); model->updateElementsForBody(3, T_body3_to_world); From e03fbc782ca7b183bd09309b8ac7973b98afe42d Mon Sep 17 00:00:00 2001 From: Gregory Izatt Date: Mon, 27 Oct 2014 11:58:29 -0400 Subject: [PATCH 204/271] Reverting spoilers This belongs to an incomplete feature --- .../plants/@RigidBodyManipulator/addRobotFromURDF.m | 13 ++++--------- 1 file changed, 4 insertions(+), 9 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m index 8c7d9ac485c0..a2cc3ab9cd72 100644 --- a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m +++ b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m @@ -134,20 +134,15 @@ end % weld the root link of this robot to the world link -% or some other link if specified in options -if (isfield(options, 'weld_to_link')) - weldLink = options.weld_to_link; -else - weldLink = 1; % world link -end ind = find([model.body.parent]<1); rootlink = ind([model.body(ind).robotnum]==robotnum); +worldlink = 1; for i=1:length(rootlink) - if (weldLink == 1 && ~isempty(options.floating)) - model = addFloatingBase(model,weldLink,rootlink(i),xyz,rpy,options.floating); + if ~isempty(options.floating) + model = addFloatingBase(model,worldlink,rootlink(i),xyz,rpy,options.floating); else - model = addJoint(model,'','fixed',weldLink,rootlink(i),xyz,rpy); + model = addJoint(model,'','fixed',worldlink,rootlink(i),xyz,rpy); end end From e3aebe43f6590f3c850a50ac61eca6a53a290078 Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Sun, 26 Oct 2014 16:46:48 -0400 Subject: [PATCH 205/271] Moved testFindAncestorBodies and testFindKinematicPath from examples/Atlas/test to systems/plants/test. --- .../Atlas => systems/plants}/test/testFindAncestorBodies.m | 4 +--- .../Atlas => systems/plants}/test/testFindKinematicPath.m | 3 +-- 2 files changed, 2 insertions(+), 5 deletions(-) rename {examples/Atlas => systems/plants}/test/testFindAncestorBodies.m (80%) rename {examples/Atlas => systems/plants}/test/testFindKinematicPath.m (94%) diff --git a/examples/Atlas/test/testFindAncestorBodies.m b/systems/plants/test/testFindAncestorBodies.m similarity index 80% rename from examples/Atlas/test/testFindAncestorBodies.m rename to systems/plants/test/testFindAncestorBodies.m index e3c53d4f0360..405d79feaec2 100644 --- a/examples/Atlas/test/testFindAncestorBodies.m +++ b/systems/plants/test/testFindAncestorBodies.m @@ -1,8 +1,6 @@ function testFindAncestorBodies() -options.floating = true; -options.terrain = RigidBodyFlatTerrain(); -robot = TimeSteppingRigidBodyManipulator(fullfile('../urdf/atlas_minimal_contact.urdf'),0.001,options); +robot = createAtlas('rpy'); num_bodies = robot.getNumBodies(); diff --git a/examples/Atlas/test/testFindKinematicPath.m b/systems/plants/test/testFindKinematicPath.m similarity index 94% rename from examples/Atlas/test/testFindKinematicPath.m rename to systems/plants/test/testFindKinematicPath.m index 0ec447a2d43d..c277940872f1 100644 --- a/examples/Atlas/test/testFindKinematicPath.m +++ b/systems/plants/test/testFindKinematicPath.m @@ -1,7 +1,6 @@ function testFindKinematicPath() -options.floating = true; -robot = RigidBodyManipulator(fullfile('../urdf/atlas_minimal_contact.urdf'),options); +robot = createAtlas('rpy'); num_bodies = robot.getNumBodies(); From 0eabf7a1341512c89befefb5b90cc6ac93a9a506 Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Sun, 26 Oct 2014 20:14:45 -0400 Subject: [PATCH 206/271] mexed findKinematicPath --- .../@RigidBodyManipulator/findKinematicPath.m | 121 ++++++++++-------- systems/plants/CMakeLists.txt | 3 +- systems/plants/KinematicPath.h | 18 +++ systems/plants/RigidBodyManipulator.cpp | 112 ++++++++++++++-- systems/plants/RigidBodyManipulator.h | 8 +- systems/plants/findKinematicPathmex.cpp | 67 ++++++++++ systems/plants/test/testFindKinematicPath.m | 50 +++++--- 7 files changed, 296 insertions(+), 83 deletions(-) create mode 100644 systems/plants/KinematicPath.h create mode 100644 systems/plants/findKinematicPathmex.cpp diff --git a/systems/plants/@RigidBodyManipulator/findKinematicPath.m b/systems/plants/@RigidBodyManipulator/findKinematicPath.m index 0e916bfaccc3..218851162240 100644 --- a/systems/plants/@RigidBodyManipulator/findKinematicPath.m +++ b/systems/plants/@RigidBodyManipulator/findKinematicPath.m @@ -1,10 +1,10 @@ -function [body_path, joint_path, signs] = findKinematicPath(obj, start_body, end_body) -% findKinematicPath computes the shortest path from one robot link to +function [body_path, joint_path, signs] = findKinematicPath(obj, start_body, end_body, use_mex) +% findKinematicPath computes the shortest path from one robot link to % another % % @param start_body index of rigid body at which the path should start % @param end_body index of rigid body at which the path should end -% @return body_path column vector of rigid body indices that represent the +% @return body_path column vector of rigid body indices that represent the % shortest path starting at start_body and ending at end_body, including % start_body and end_body % @return joint_path indices of joints on shortest path from start_body to @@ -13,61 +13,74 @@ % joint is traversed from child to parent, -1 if joint is traversed from % parent to child % Throws an error if there is no path between the bodies -% - -if (start_body < 0) - fr = getFrame(obj,start_body); - start_body = fr.body_ind; -end +% -if (end_body < 0) - fr = getFrame(obj,end_body); - end_body = fr.body_ind; +if nargin < 4 + use_mex = obj.mex_model_ptr ~= 0; end -ancestors1 = [start_body; findAncestorBodies(obj, start_body)]; -ancestors2 = [end_body; findAncestorBodies(obj, end_body)]; - -common_size = min(size(ancestors1, 1), size(ancestors2, 1)); - -reduced_ancestors1 = ancestors1(end - common_size + 1: end); -reduced_ancestors2 = ancestors2(end - common_size + 1: end); - -common_indices = reduced_ancestors1 == reduced_ancestors2; -lca_index = find(common_indices, 1); -if isempty(lca_index) - error(['there is no path between ' start_body ' and ' end_body]); +if use_mex + [body_path, joint_path, signs] = findKinematicPathmex(obj.mex_model_ptr, start_body, end_body); +else + if (start_body < 0) + fr = getFrame(obj,start_body); + start_body = fr.body_ind; + end + + if (end_body < 0) + fr = getFrame(obj,end_body); + end_body = fr.body_ind; + end + + ancestors1 = [start_body; findAncestorBodies(obj, start_body)]; + ancestors2 = [end_body; findAncestorBodies(obj, end_body)]; + + common_size = min(size(ancestors1, 1), size(ancestors2, 1)); + + reduced_ancestors1 = ancestors1(end - common_size + 1: end); + reduced_ancestors2 = ancestors2(end - common_size + 1: end); + + common_indices = reduced_ancestors1 == reduced_ancestors2; + lca_index = find(common_indices, 1); + if isempty(lca_index) + error(['there is no path between ' start_body ' and ' end_body]); + end + + least_common_ancestor = reduced_ancestors1(lca_index); + + path_start = ancestors1(1 : size(ancestors1, 1) - common_size + lca_index - 1); + path_end = flipud(ancestors2(1 : size(ancestors2, 1) - common_size + lca_index - 1)); + + body_path = [path_start; least_common_ancestor; path_end]; + if isempty(path_start) && isempty(path_end) + joint_path = zeros(0, 1); + signs = zeros(0, 1); + % otherwise it would be 0 x 2, which doesn't make sense + else + joint_path = [path_start; path_end]; + signs = [-ones(size(path_start)); ones(size(path_end))]; + end + + % THIS IS MUCH SLOWER: + % start_body_ancestors = [start_body; obj.findAncestorBodies(start_body)]; + % end_body_ancestors = [end_body; obj.findAncestorBodies(end_body)]; + % [common_ancestors, start_indices, end_indices] = intersect(start_body_ancestors, end_body_ancestors); + % if isempty(common_ancestors) + % error(['there is no path between ' start_body ' and ' end_body]); + % end + % + % [least_common_ancestor, least_common_ancestor_index] = max(common_ancestors); + % + % start_index = start_indices(least_common_ancestor_index); + % path_start = start_body_ancestors(1 : start_index - 1); + % + % end_index = end_indices(least_common_ancestor_index); + % path_end = flipud(end_body_ancestors(1 : end_index - 1)); + % + % body_path = [path_start; least_common_ancestor; path_end]; + % joint_path = [path_start; path_end]; + % signs = [-ones(size(path_start)); ones(size(path_end))]; end -least_common_ancestor = reduced_ancestors1(lca_index); - -path_start = ancestors1(1 : size(ancestors1, 1) - common_size + lca_index - 1); -path_end = flipud(ancestors2(1 : size(ancestors2, 1) - common_size + lca_index - 1)); - -body_path = [path_start; least_common_ancestor; path_end]; -joint_path = [path_start; path_end]; -signs = [-ones(size(path_start)); ones(size(path_end))]; - - -% THIS IS MUCH SLOWER: -% start_body_ancestors = [start_body; obj.findAncestorBodies(start_body)]; -% end_body_ancestors = [end_body; obj.findAncestorBodies(end_body)]; -% [common_ancestors, start_indices, end_indices] = intersect(start_body_ancestors, end_body_ancestors); -% if isempty(common_ancestors) -% error(['there is no path between ' start_body ' and ' end_body]); -% end -% -% [least_common_ancestor, least_common_ancestor_index] = max(common_ancestors); -% -% start_index = start_indices(least_common_ancestor_index); -% path_start = start_body_ancestors(1 : start_index - 1); -% -% end_index = end_indices(least_common_ancestor_index); -% path_end = flipud(end_body_ancestors(1 : end_index - 1)); -% -% body_path = [path_start; least_common_ancestor; path_end]; -% joint_path = [path_start; path_end]; -% signs = [-ones(size(path_start)); ones(size(path_end))]; - end diff --git a/systems/plants/CMakeLists.txt b/systems/plants/CMakeLists.txt index 1b0d5dacce24..30042e776aae 100644 --- a/systems/plants/CMakeLists.txt +++ b/systems/plants/CMakeLists.txt @@ -22,7 +22,7 @@ if (NOT WIN32) endif(NOT WIN32) pods_install_libraries(drakeRBM) - pods_install_headers(RigidBodyManipulator.h RigidBody.h RigidBodyFrame.h DESTINATION drake) + pods_install_headers(RigidBodyManipulator.h RigidBody.h RigidBodyFrame.h KinematicPath.h DESTINATION drake) pods_install_pkg_config_file(drake-rbm LIBS -ldrakeRBM REQUIRES @@ -63,6 +63,7 @@ endif(NOT WIN32) add_rbm_mex(collisionRaycastmex) add_rbm_mex(allCollisionsmex) add_rbm_mex(getCMMmex) + add_rbm_mex(findKinematicPathmex) add_library(drakeIKoptions SHARED IKoptions.cpp) target_link_libraries(drakeIKoptions drakeRBM drakeUtil) diff --git a/systems/plants/KinematicPath.h b/systems/plants/KinematicPath.h new file mode 100644 index 000000000000..216af3df0c53 --- /dev/null +++ b/systems/plants/KinematicPath.h @@ -0,0 +1,18 @@ +#ifndef KINEMATICPATH_H_ +#define KINEMATICPATH_H_ + +#include +#include + +class DrakeJoint; +class RigidBody; + +struct KinematicPath +{ + std::vector joint_path; + std::vector joint_direction_signs; + std::vector body_path; +}; + + +#endif /* KINEMATICPATH_H_ */ diff --git a/systems/plants/RigidBodyManipulator.cpp b/systems/plants/RigidBodyManipulator.cpp index 613fa5fe3651..0e4dcb17ae51 100644 --- a/systems/plants/RigidBodyManipulator.cpp +++ b/systems/plants/RigidBodyManipulator.cpp @@ -1041,7 +1041,7 @@ void RigidBodyManipulator::getContactPositionsJacDot(MatrixBase &Jdot, } /* [body_ind,Tframe] = parseBodyOrFrameID(body_or_frame_id) */ -int RigidBodyManipulator::parseBodyOrFrameID(const int body_or_frame_id, Matrix4d& Tframe) +int RigidBodyManipulator::parseBodyOrFrameID(const int body_or_frame_id, Matrix4d* Tframe) { int body_ind=0; if (body_or_frame_id == -1) { @@ -1049,14 +1049,110 @@ int RigidBodyManipulator::parseBodyOrFrameID(const int body_or_frame_id, Matrix4 } else if (body_or_frame_id<0) { int frame_ind = -body_or_frame_id-2; body_ind = frames[frame_ind].body_ind; - Tframe = frames[frame_ind].Ttree; + + if (Tframe) + (*Tframe) = frames[frame_ind].Ttree; } else { body_ind = body_or_frame_id; - Tframe = Matrix4d::Identity(); + if (Tframe) + (*Tframe) = Matrix4d::Identity(); } return body_ind; } +void RigidBodyManipulator::findAncestorBodies(std::vector& ancestor_bodies, int body_idx) +{ + const RigidBody* current_body = bodies[body_idx].get(); + while (current_body->parent != -1) + { + ancestor_bodies.push_back(current_body->parent); + current_body = bodies[current_body->parent].get(); + } +} + +void RigidBodyManipulator::findKinematicPath(KinematicPath& path, int start_body_or_frame_idx, int end_body_or_frame_idx) +{ + // find all ancestors of start_body and end_body + int start_body = parseBodyOrFrameID(start_body_or_frame_idx); + + std::vector start_body_ancestors; + start_body_ancestors.push_back(start_body); + findAncestorBodies(start_body_ancestors, start_body); + + int end_body = parseBodyOrFrameID(end_body_or_frame_idx); + std::vector end_body_ancestors; + end_body_ancestors.push_back(end_body); + findAncestorBodies(end_body_ancestors, end_body); + + // find least common ancestor + int common_size = std::min(start_body_ancestors.size(), end_body_ancestors.size()); + bool least_common_ancestor_found = false; + std::vector::iterator start_body_lca_it = start_body_ancestors.end() - common_size; + std::vector::iterator end_body_lca_it = end_body_ancestors.end() - common_size; + + for (int i = 0; i < common_size; i++) { + if (*start_body_lca_it == *end_body_lca_it) { + least_common_ancestor_found = true; + break; + } + start_body_lca_it++; + end_body_lca_it++; + } + + if (!least_common_ancestor_found) { + std::ostringstream stream; + stream << "There is no path between " << bodies[start_body]->linkname << " and " << bodies[end_body]->linkname << "."; + throw std::runtime_error(stream.str()); + } + int least_common_ancestor = *start_body_lca_it; + +// std::ostringstream stream; +// stream << "start_body_ancestors:\n"; +// for (std::vector::iterator it = start_body_ancestors.begin(); it != start_body_ancestors.end(); it++) { +// stream << *it << "\n"; +// } +// throw std::runtime_error(stream.str()); + +// std::ostringstream stream; +// stream << "end_body_ancestors:\n"; +// for (std::vector::iterator it = end_body_ancestors.begin(); it != end_body_ancestors.end(); it++) { +// stream << *it << "\n"; +// } +// throw std::runtime_error(stream.str()); + +// std::ostringstream stream; +// stream << "least_common_ancestor: " << least_common_ancestor; +// throw std::runtime_error(stream.str()); + + // compute path + path.joint_path.clear(); + path.joint_direction_signs.clear(); + path.body_path.clear(); + + std::vector::iterator it = start_body_ancestors.begin(); + for ( ; it != start_body_lca_it; it++) { + path.joint_path.push_back(*it); + path.joint_direction_signs.push_back(-1); + path.body_path.push_back(*it); + } + + path.body_path.push_back(least_common_ancestor); + + std::vector::reverse_iterator reverse_it(end_body_lca_it); + for ( ; reverse_it != end_body_ancestors.rend(); reverse_it++) { + path.joint_path.push_back(*reverse_it); + path.joint_direction_signs.push_back(1); + path.body_path.push_back(*reverse_it); + } + +// std::ostringstream stream; +// stream << "body_path:\n"; +// for (std::vector::iterator it = path.body_path.begin(); it != path.body_path.end(); it++) { +// stream << *it << "\n"; +// } +// throw std::runtime_error(stream.str()); +} + /* * rotation_type 0, no rotation * 1, output Euler angles @@ -1067,7 +1163,7 @@ template void RigidBodyManipulator::forwardKin(const int body_or_frame_id, const MatrixBase& pts, const int rotation_type, MatrixBase &x) { int n_pts = pts.cols(); Matrix4d Tframe; - int body_ind = parseBodyOrFrameID(body_or_frame_id,Tframe); + int body_ind = parseBodyOrFrameID(body_or_frame_id, &Tframe); MatrixXd T = bodies[body_ind]->T.topLeftCorner(3,4)*Tframe; @@ -1130,7 +1226,7 @@ template & pts, MatrixBase &x, MatrixBase *J, MatrixBase *P) { Matrix4d Tframe; - int body_ind = parseBodyOrFrameID(body_or_frame_id,Tframe); + int body_ind = parseBodyOrFrameID(body_or_frame_id, &Tframe); MatrixXd Tinv = (bodies[body_ind]->T*Tframe).inverse(); x = Tinv.topLeftCorner(3,4)*pts; @@ -1163,7 +1259,7 @@ template void RigidBodyManipulator::forwardJac(const int body_or_frame_id, const MatrixBase &pts, const int rotation_type, MatrixBase &J) { int n_pts = pts.cols(); Matrix4d Tframe; - int body_ind = parseBodyOrFrameID(body_or_frame_id,Tframe); + int body_ind = parseBodyOrFrameID(body_or_frame_id, &Tframe); MatrixXd dTdq = bodies[body_ind]->dTdq.topLeftCorner(3*num_dof,4)*Tframe; MatrixXd tmp =dTdq*pts; @@ -1271,7 +1367,7 @@ template void RigidBodyManipulator::forwardJacDot(const int body_or_frame_id, const MatrixBase &pts, const int rotation_type, MatrixBase& Jdot) { int n_pts = pts.cols(); Matrix4d Tframe; - int body_ind = parseBodyOrFrameID(body_or_frame_id,Tframe); + int body_ind = parseBodyOrFrameID(body_or_frame_id, &Tframe); MatrixXd tmp = bodies[body_ind]->dTdqdot*Tframe*pts; MatrixXd Jdott = Map(tmp.data(),num_dof,3*n_pts); @@ -1316,7 +1412,7 @@ template void RigidBodyManipulator::forwarddJac(const int body_or_frame_id, const MatrixBase &pts, MatrixBase& dJ) { int n_pts = pts.cols(); Matrix4d Tframe; - int body_ind = parseBodyOrFrameID(body_or_frame_id,Tframe); + int body_ind = parseBodyOrFrameID(body_or_frame_id, &Tframe); int i,j; MatrixXd dJ_reshaped = MatrixXd(num_dof, 3*n_pts*num_dof); diff --git a/systems/plants/RigidBodyManipulator.h b/systems/plants/RigidBodyManipulator.h index ae4dd1aebb46..2a58804a094a 100644 --- a/systems/plants/RigidBodyManipulator.h +++ b/systems/plants/RigidBodyManipulator.h @@ -4,9 +4,11 @@ #include #include #include +#include #include //#include #include "collision/DrakeCollision.h" +#include "KinematicPath.h" #if defined(WIN32) || defined(WIN64) #if defined(drakeRBM_EXPORTS) @@ -64,6 +66,10 @@ class DLLEXPORT RigidBodyManipulator template void getContactPositionsJacDot(MatrixBase &Jdot, const std::set &body_idx);// = emptyIntSet); + void findAncestorBodies(std::vector& ancestor_bodies, int body); + + void findKinematicPath(KinematicPath& path, int start_body_or_frame_idx, int end_body_or_frame_idx); + template void forwardKin(const int body_or_frame_ind, const MatrixBase& pts, const int rotation_type, MatrixBase &x); @@ -172,7 +178,7 @@ class DLLEXPORT RigidBodyManipulator private: - int parseBodyOrFrameID(const int body_or_frame_id, Matrix4d& Tframe); + int parseBodyOrFrameID(const int body_or_frame_id, Matrix4d* Tframe = nullptr); // variables for featherstone dynamics std::vector S; diff --git a/systems/plants/findKinematicPathmex.cpp b/systems/plants/findKinematicPathmex.cpp new file mode 100644 index 000000000000..6c86ab2b2a15 --- /dev/null +++ b/systems/plants/findKinematicPathmex.cpp @@ -0,0 +1,67 @@ +#include +#include +#include "drakeUtil.h" +#include "RigidBodyManipulator.h" +#include "math.h" + +using namespace Eigen; +using namespace std; + +/* + * A C version of the findKinematicPath function + * + * Call with findKinematicPathmex(model_ptr, start_body_or_frame_idx, end_body_or_frame_idx); + */ + +mxArray* stdVectorToMatlab(const std::vector& vec) { +// mxArray* pm = mxCreateNumericMatrix(vec.size(), 1, mxINT32_CLASS, mxREAL); +// if (vec.size() > 0) { +// memcpy(mxGetPr(pm), vec.data(), sizeof(int) * vec.size()); +// } +// return pm; + + mxArray* pm = mxCreateDoubleMatrix(vec.size(), 1, mxREAL); + for (int i = 0; i < vec.size(); i++) { + mxGetPr(pm)[i] = (double) vec[i]; + } + return pm; +} + +void baseZeroToBaseOne(std::vector& vec) { + for (auto& val : vec) { + val++; + } +} + +void mexFunction( int nlhs, mxArray *plhs[],int nrhs, const mxArray *prhs[] ) { + + std::string usage = "Usage [body_path, joint_path, signs] = findKinematicPathmex(model_ptr, start_body_or_frame_idx, end_body_or_frame_idx)"; + if (nrhs != 3) { + mexErrMsgIdAndTxt("Drake:findKinematicPathmex:WrongNumberOfInputs", usage.c_str()); + } + + if (nlhs > 3) { + mexErrMsgIdAndTxt("Drake:findKinematicPathmex:WrongNumberOfOutputs", usage.c_str()); + } + + // first get the model_ptr back from matlab + RigidBodyManipulator *model= (RigidBodyManipulator*) getDrakeMexPointer(prhs[0]); + + int start_body_or_frame_idx = ((int) mxGetScalar(prhs[1])) - 1; // base 1 to base 0 + int end_body_or_frame_idx = ((int) mxGetScalar(prhs[2])) - 1; // base 1 to base 0 + + KinematicPath path; + model->findKinematicPath(path, start_body_or_frame_idx, end_body_or_frame_idx); + + if (nlhs > 0) { + baseZeroToBaseOne(path.body_path); + plhs[0] = stdVectorToMatlab(path.body_path); + } + if (nlhs > 1) { + baseZeroToBaseOne(path.joint_path); + plhs[1] = stdVectorToMatlab(path.joint_path); + } + if (nlhs > 2) { + plhs[2] = stdVectorToMatlab(path.joint_direction_signs); + } +} diff --git a/systems/plants/test/testFindKinematicPath.m b/systems/plants/test/testFindKinematicPath.m index c277940872f1..77987048d2c6 100644 --- a/systems/plants/test/testFindKinematicPath.m +++ b/systems/plants/test/testFindKinematicPath.m @@ -2,15 +2,22 @@ function testFindKinematicPath() robot = createAtlas('rpy'); -num_bodies = robot.getNumBodies(); +testPathToSelf(robot); +testAllPaths(robot); + +end +function testPathToSelf(robot) % verify that path to self contains only self +num_bodies = robot.getNumBodies(); for i = 1 : num_bodies path = robot.findKinematicPath(i, i); valuecheck(path, i); end +end - +function testAllPaths(robot) +num_bodies = robot.getNumBodies(); for i = 1 : num_bodies % verify that path to parent contains only self and parent and that path to % child is flipud(path from child to parent) @@ -19,29 +26,34 @@ function testFindKinematicPath() valuecheck(robot.findKinematicPath(i, parent), [i; parent]); valuecheck(robot.findKinematicPath(parent, i), [parent; i]); end - + for j = 1 : num_bodies - path = robot.findKinematicPath(i, j); - + [body_path_mex, joint_path_mex, signs_mex] = robot.findKinematicPath(i, j, true); + [body_path_non_mex, joint_path_non_mex, signs_non_mex] = robot.findKinematicPath(i, j, false); + + % compare mex and matlab + valuecheck(body_path_mex, body_path_non_mex); + valuecheck(joint_path_mex, joint_path_non_mex); + valuecheck(signs_mex, signs_non_mex); + % verify that no paths have repeated entries - valuecheck(length(unique(path)), length(path)); - + valuecheck(length(unique(body_path_mex)), length(body_path_mex)); + % verify that all paths are connected - assert(isLinkPathConnected(path, robot)); - + assert(isLinkPathConnected(body_path_mex, robot)); + % verify that all paths have at most one direction change - assert(getDirectionChanges(path) < 2) - - if (getDirectionChanges(path) == 1) + assert(getDirectionChanges(body_path_mex) < 2) + + if (getDirectionChanges(body_path_mex) == 1) end - -% if (getDirectionChanges(path) > 1) -% printBodyNames(path, robot); -% robot.drawKinematicTree(); -% end + + % if (getDirectionChanges(path) > 1) + % printBodyNames(path, robot); + % robot.drawKinematicTree(); + % end end end - end function ret = isLinkPathConnected(path, robot) @@ -52,7 +64,7 @@ function testFindKinematicPath() if j <= path_length a = path(i); b = path(j); - + is_a_parent_of_b = robot.getBody(a).parent == b; is_b_parent_of_a = robot.getBody(b).parent == a; if ~(is_a_parent_of_b || is_b_parent_of_a) From 2291b3a3b07c7a5d9d90ad0a98628fb1f8292a1c Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 27 Oct 2014 00:01:56 -0400 Subject: [PATCH 207/271] mexed geometricJacobian, added transformSpatialMotion and transformSpatialForce methods. --- cmake | 2 +- .../@RigidBodyManipulator/geometricJacobian.m | 34 +++++--- systems/plants/CMakeLists.txt | 1 + systems/plants/RigidBodyManipulator.cpp | 79 ++++++++++++------ systems/plants/RigidBodyManipulator.h | 2 + systems/plants/geometricJacobianmex.cpp | 80 +++++++++++++++++++ systems/plants/test/testGeometricJacobian.m | 58 ++++++++------ util/drakeGeometryUtil.cpp | 39 +++++++++ util/drakeGeometryUtil.h | 15 +++- 9 files changed, 245 insertions(+), 65 deletions(-) create mode 100644 systems/plants/geometricJacobianmex.cpp diff --git a/cmake b/cmake index 19e3b583538e..9bb29fdbb8c4 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit 19e3b583538e01e5171474c3f169317809ba318f +Subproject commit 9bb29fdbb8c4a27fdef7b7075b4acbe72c3f3bc2 diff --git a/systems/plants/@RigidBodyManipulator/geometricJacobian.m b/systems/plants/@RigidBodyManipulator/geometricJacobian.m index 5ed19cc388fb..fcd3eaaa10d3 100644 --- a/systems/plants/@RigidBodyManipulator/geometricJacobian.m +++ b/systems/plants/@RigidBodyManipulator/geometricJacobian.m @@ -1,24 +1,32 @@ -function [J, vIndices] = geometricJacobian(obj, kinsol, base, endEffector, expressedIn) +function [J, v_indices] = geometricJacobian(obj, kinsol, base, endEffector, expressedIn, use_mex) %GEOMETRICJACOBIAN Computes the geometric Jacobian from base to endEffector % expressed in frame attached to expressedIn % The general contract of this method is that for joint velocity vector % v, the twist of endEffector with respect to base, expressed in % expressedIn, can be computed as J * (v(vIndices)). -[~, jointPath, signs] = findKinematicPath(obj, base, endEffector); -vIndices = velocityVectorIndices(obj.body, jointPath); - -motionSubspaces = cell(1, length(jointPath)); -for i = 1 : length(jointPath) - body = obj.body(jointPath(i)); - motionSubspaces{i} = motionSubspace(body, kinsol.q(body.position_num)); +if nargin < 6 + use_mex = obj.mex_model_ptr ~= 0; end -transformedMotionSubspaces = cellfun(@transformMotionSubspace, ... - kinsol.T(jointPath), motionSubspaces, num2cell(signs'), 'UniformOutput', ... - false); % change frame from body to world -J = cell2mat(transformedMotionSubspaces); -J = transformTwists(inv(kinsol.T{expressedIn}), J); % change frame from world to expressedIn +if use_mex + [J, v_indices] = geometricJacobianmex(obj.mex_model_ptr, base, endEffector, expressedIn); +else + [~, jointPath, signs] = findKinematicPath(obj, base, endEffector); + v_indices = velocityVectorIndices(obj.body, jointPath); + + motionSubspaces = cell(1, length(jointPath)); + for i = 1 : length(jointPath) + body = obj.body(jointPath(i)); + motionSubspaces{i} = motionSubspace(body, kinsol.q(body.position_num)); + end + + transformedMotionSubspaces = cellfun(@transformMotionSubspace, ... + kinsol.T(jointPath), motionSubspaces, num2cell(signs'), 'UniformOutput', ... + false); % change frame from body to world + J = cell2mat(transformedMotionSubspaces); + J = transformTwists(inv(kinsol.T{expressedIn}), J); % change frame from world to expressedIn +end end function ret = transformMotionSubspace(H, S, sign) diff --git a/systems/plants/CMakeLists.txt b/systems/plants/CMakeLists.txt index 30042e776aae..9eb6dcf41082 100644 --- a/systems/plants/CMakeLists.txt +++ b/systems/plants/CMakeLists.txt @@ -64,6 +64,7 @@ endif(NOT WIN32) add_rbm_mex(allCollisionsmex) add_rbm_mex(getCMMmex) add_rbm_mex(findKinematicPathmex) + add_rbm_mex(geometricJacobianmex) add_library(drakeIKoptions SHARED IKoptions.cpp) target_link_libraries(drakeIKoptions drakeRBM drakeUtil) diff --git a/systems/plants/RigidBodyManipulator.cpp b/systems/plants/RigidBodyManipulator.cpp index 0e4dcb17ae51..e8839dd13d4f 100644 --- a/systems/plants/RigidBodyManipulator.cpp +++ b/systems/plants/RigidBodyManipulator.cpp @@ -3,6 +3,7 @@ //#include "mex.h" #include "RigidBodyManipulator.h" +#include "drakeGeometryUtil.h" #include #include @@ -1106,24 +1107,6 @@ void RigidBodyManipulator::findKinematicPath(KinematicPath& path, int start_body } int least_common_ancestor = *start_body_lca_it; -// std::ostringstream stream; -// stream << "start_body_ancestors:\n"; -// for (std::vector::iterator it = start_body_ancestors.begin(); it != start_body_ancestors.end(); it++) { -// stream << *it << "\n"; -// } -// throw std::runtime_error(stream.str()); - -// std::ostringstream stream; -// stream << "end_body_ancestors:\n"; -// for (std::vector::iterator it = end_body_ancestors.begin(); it != end_body_ancestors.end(); it++) { -// stream << *it << "\n"; -// } -// throw std::runtime_error(stream.str()); - -// std::ostringstream stream; -// stream << "least_common_ancestor: " << least_common_ancestor; -// throw std::runtime_error(stream.str()); - // compute path path.joint_path.clear(); path.joint_direction_signs.clear(); @@ -1144,13 +1127,6 @@ void RigidBodyManipulator::findKinematicPath(KinematicPath& path, int start_body path.joint_direction_signs.push_back(1); path.body_path.push_back(*reverse_it); } - -// std::ostringstream stream; -// stream << "body_path:\n"; -// for (std::vector::iterator it = path.body_path.begin(); it != path.body_path.end(); it++) { -// stream << *it << "\n"; -// } -// throw std::runtime_error(stream.str()); } /* @@ -1255,6 +1231,56 @@ void RigidBodyManipulator::bodyKin(const int body_or_frame_id, const MatrixBase< } +template +void RigidBodyManipulator::geometricJacobian(int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, PlainObjectBase& J, std::vector* v_indices) +{ + // TODO: need to redo after changes to kinsol format + KinematicPath kinematic_path; + findKinematicPath(kinematic_path, base_body_or_frame_ind, end_effector_body_or_frame_ind); + + int cols = 0; + int body_index; + for (int i = 0; i < kinematic_path.joint_path.size(); i++) { + body_index = kinematic_path.joint_path[i]; + const std::unique_ptr& body = bodies[body_index]; + const DrakeJoint& joint = body->getJoint(); + cols += joint.getNumVelocities(); + } + + Matrix4d Tframe; + int expressed_in_body = parseBodyOrFrameID(expressed_in_body_or_frame_ind, &Tframe); + Matrix4d T_world_to_frame = (bodies[expressed_in_body]->T * Tframe).inverse(); + + J.resize(TWIST_SIZE, cols); + DrakeJoint::MotionSubspaceType motion_subspace; + if (v_indices) { + v_indices->clear(); + v_indices->reserve(cols); + } + + int col_start = 0; + int sign; + for (int i = 0; i < kinematic_path.joint_path.size(); i++) { + body_index = kinematic_path.joint_path[i]; + const std::unique_ptr& body = bodies[body_index]; + const DrakeJoint& joint = body->getJoint(); + + joint.motionSubspace(cached_q.data() + body->dofnum, motion_subspace); // TODO: should just let DrakeJoints work with VectorXds + + sign = kinematic_path.joint_direction_signs[i]; + auto block = J.template block(0, col_start, TWIST_SIZE, joint.getNumVelocities()); + block.noalias() = sign * transformSpatialMotion(Isometry3d(body->T), motion_subspace); + + if (v_indices) { + for (int j = 0; j < joint.getNumVelocities(); j++) { + v_indices->push_back(body->dofnum + j); // FLOATINGBASE TODO: assumes qd = v + } + } + col_start = col_start + joint.getNumVelocities(); + } + J = transformSpatialMotion(Isometry3d(T_world_to_frame), J); +} + template void RigidBodyManipulator::forwardJac(const int body_or_frame_id, const MatrixBase &pts, const int rotation_type, MatrixBase &J) { @@ -1696,6 +1722,9 @@ template DLLEXPORT void RigidBodyManipulator::forwardJac(const int, const Matrix //template DLLEXPORT void RigidBodyManipulator::forwarddJac(const int, const MatrixBase< Vector4d > &, MatrixBase< MatrixXd >&); template DLLEXPORT void RigidBodyManipulator::bodyKin(const int, const MatrixBase< MatrixXd >&, MatrixBase< Map > &, MatrixBase< Map > *, MatrixBase< Map > *); template DLLEXPORT void RigidBodyManipulator::bodyKin(const int, const MatrixBase< MatrixXd >&, MatrixBase< MatrixXd > &, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > *); +template DLLEXPORT void RigidBodyManipulator::geometricJacobian(int, int, int, PlainObjectBase< Matrix >&, std::vector*); +template DLLEXPORT void RigidBodyManipulator::geometricJacobian(int, int, int, PlainObjectBase< MatrixXd >&, std::vector*); + template DLLEXPORT void RigidBodyManipulator::HandC(double* const, double * const, MatrixBase< Map > * const, MatrixBase< Map > &, MatrixBase< Map > &, MatrixBase< Map > *, MatrixBase< Map > *, MatrixBase< Map > * const); template DLLEXPORT void RigidBodyManipulator::HandC(double* const, double * const, MatrixBase< MatrixXd > * const, MatrixBase< MatrixXd > &, MatrixBase< VectorXd > &, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > *, MatrixBase< MatrixXd > * const); diff --git a/systems/plants/RigidBodyManipulator.h b/systems/plants/RigidBodyManipulator.h index 2a58804a094a..d6ded7ebc70e 100644 --- a/systems/plants/RigidBodyManipulator.h +++ b/systems/plants/RigidBodyManipulator.h @@ -85,6 +85,8 @@ class DLLEXPORT RigidBodyManipulator template void bodyKin(const int body_ind, const MatrixBase& pts, MatrixBase &x, MatrixBase *J=NULL, MatrixBase *P=NULL); + template + void geometricJacobian(int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, PlainObjectBase& J, std::vector* v_indices); template void HandC(double* const q, double * const qd, MatrixBase * const f_ext, MatrixBase &H, MatrixBase &C, MatrixBase *dH=NULL, MatrixBase *dC=NULL, MatrixBase * const df_ext=NULL); diff --git a/systems/plants/geometricJacobianmex.cpp b/systems/plants/geometricJacobianmex.cpp new file mode 100644 index 000000000000..191281eec698 --- /dev/null +++ b/systems/plants/geometricJacobianmex.cpp @@ -0,0 +1,80 @@ +#include +#include +#include "drakeUtil.h" +#include "RigidBodyManipulator.h" +#include "drakeGeometryUtil.h" +#include "math.h" + +using namespace Eigen; +using namespace std; + +/* + * A C version of the geometricJacobian function + * + * Call with [J, vIndices] = geometricJacobianmex(model_ptr, base_body_or_frame_ind, end_effector_body_or_frame_ind, expressed_in_body_or_frame_ind); + */ + +// TODO: stop copying these functions everywhere and find a good place for them +template +mxArray* eigenToMatlab(Eigen::Matrix &m) +{ + mxArray* pm = mxCreateDoubleMatrix(m.rows(), m.cols(), mxREAL); + if (m.rows() * m.cols() > 0) + memcpy(mxGetPr(pm), m.data(), sizeof(double) * m.rows() * m.cols()); + return pm; +} + +mxArray* stdVectorToMatlab(const std::vector& vec) { +// mxArray* pm = mxCreateNumericMatrix(vec.size(), 1, mxINT32_CLASS, mxREAL); +// if (vec.size() > 0) { +// memcpy(mxGetPr(pm), vec.data(), sizeof(int) * vec.size()); +// } +// return pm; + + mxArray* pm = mxCreateDoubleMatrix(vec.size(), 1, mxREAL); + for (int i = 0; i < vec.size(); i++) { + mxGetPr(pm)[i] = (double) vec[i]; + } + return pm; +} + +void baseZeroToBaseOne(std::vector& vec) { + for (auto& val : vec) { + val++; + } +} + +void mexFunction( int nlhs, mxArray *plhs[],int nrhs, const mxArray *prhs[] ) { + + std::string usage = "Usage [J, vIndices] = geometricJacobianmex(model_ptr, base_body_or_frame_ind, end_effector_body_or_frame_ind, expressed_in_body_or_frame_ind)"; + if (nrhs != 4) { + mexErrMsgIdAndTxt("Drake:geometricJacobianmex:WrongNumberOfInputs", usage.c_str()); + } + + if (nlhs > 2) { + mexErrMsgIdAndTxt("Drake:geometricJacobianmex:WrongNumberOfOutputs", usage.c_str()); + } + + // first get the model_ptr back from matlab + RigidBodyManipulator *model= (RigidBodyManipulator*) getDrakeMexPointer(prhs[0]); + + int base_body_or_frame_ind = ((int) mxGetScalar(prhs[1])) - 1; // base 1 to base 0 + int end_effector_body_or_frame_ind = ((int) mxGetScalar(prhs[2])) - 1; // base 1 to base 0 + int expressed_in_body_or_frame_ind = ((int) mxGetScalar(prhs[3])) - 1; // base 1 to base 0 + + Eigen::Matrix J(TWIST_SIZE, 1); + + if (nlhs > 1) { + std::vector v_indices; + model->geometricJacobian(base_body_or_frame_ind, end_effector_body_or_frame_ind, expressed_in_body_or_frame_ind, J, &v_indices); + + baseZeroToBaseOne(v_indices); + plhs[1] = stdVectorToMatlab(v_indices); + } + else if (nlhs > 0){ + model->geometricJacobian(base_body_or_frame_ind, end_effector_body_or_frame_ind, expressed_in_body_or_frame_ind, J, nullptr); + } + if (nlhs > 0) { + plhs[0] = eigenToMatlab(J); + } +} diff --git a/systems/plants/test/testGeometricJacobian.m b/systems/plants/test/testGeometricJacobian.m index 2894e9709089..8d4fe9e30075 100644 --- a/systems/plants/test/testGeometricJacobian.m +++ b/systems/plants/test/testGeometricJacobian.m @@ -7,10 +7,12 @@ function testAtlas(floatingJointType) +rng(123512, 'twister'); + robot = createAtlas(floatingJointType); -nq = robot.getNumStates() / 2; % TODO -nv = robot.getNumStates() / 2; % TODO +nq = robot.getNumPositions(); +nv = robot.getNumVelocities(); nBodies = length(robot.body); @@ -19,29 +21,35 @@ function testAtlas(floatingJointType) nTests = 50; testNumber = 1; while testNumber < nTests - q = randn(nq, 1); - v = randn(nv, 1); - kinsol = robot.doKinematics(q,false,false, v); - - base = randi(bodyRange); - endEffector = randi(bodyRange); - if base ~= endEffector - expressedIn = base; - - [J, vIndices] = robot.geometricJacobian(kinsol, base, endEffector, expressedIn); - twist = J * (v(vIndices)); - - HBase = kinsol.T{base}; - HBody = kinsol.T{endEffector}; - HBaseDot = kinsol.Tdot{base}; - HBodyDot = kinsol.Tdot{endEffector}; - - HBodyToBase = HBase \ HBody; - transformDot = twistToTildeForm(twist) * HBodyToBase; - transformDotForwardKin = relativeTdot(HBase, HBody, HBaseDot, HBodyDot); - valuecheck(transformDot, transformDotForwardKin, 1e-12); - testNumber = testNumber + 1; - end + q = randn(nq, 1); + v = randn(nv, 1); + kinsol = robot.doKinematics(q,false,false, v); + kinsolmex = robot.doKinematics(q, false, true, v); + + base = randi(bodyRange); + endEffector = randi(bodyRange); + if base ~= endEffector + expressedIn = base; + + [J, v_indices] = robot.geometricJacobian(kinsol, base, endEffector, expressedIn, false); + [Jmex, v_indicesmex] = robot.geometricJacobian(kinsolmex, base, endEffector, expressedIn, true); + + valuecheck(J, Jmex); + valuecheck(v_indices, v_indicesmex); + + twist = J * (v(v_indices)); + + HBase = kinsol.T{base}; + HBody = kinsol.T{endEffector}; + HBaseDot = kinsol.Tdot{base}; + HBodyDot = kinsol.Tdot{endEffector}; + + HBodyToBase = HBase \ HBody; + transformDot = twistToTildeForm(twist) * HBodyToBase; + transformDotForwardKin = relativeTdot(HBase, HBody, HBaseDot, HBodyDot); + valuecheck(transformDot, transformDotForwardKin, 1e-12); + testNumber = testNumber + 1; + end end end diff --git a/util/drakeGeometryUtil.cpp b/util/drakeGeometryUtil.cpp index e7fe8bf8bd76..14c70f31f9f4 100644 --- a/util/drakeGeometryUtil.cpp +++ b/util/drakeGeometryUtil.cpp @@ -652,6 +652,29 @@ Eigen::Matrix rpydot2angula return E; } +template +Eigen::Matrix transformSpatialMotion( + const Eigen::Transform& T, + const Eigen::MatrixBase& M) { + Eigen::Matrix ret(TWIST_SIZE, M.cols()); + ret.template topRows<3>().noalias() = T.linear() * M.template topRows<3>(); + ret.template bottomRows<3>().noalias() = -ret.template topRows<3>().colwise().cross(T.translation()); + ret.template bottomRows<3>().noalias() += T.linear() * M.template bottomRows<3>(); + return ret; +} + +template +Eigen::Matrix transformSpatialForce( + const Eigen::Transform& T, + const Eigen::MatrixBase& F) { + Eigen::Matrix ret(TWIST_SIZE, F.cols()); + Eigen::Transform Tinv = T.inverse(); + ret.template bottomRows<3>().noalias() = Tinv.linear() * F.template bottomRows<3>(); + ret.template topRows<3>().noalias() = -ret.template bottomRows<3>().colwise().cross(Tinv.translation()); + ret.template topRows<3>().noalias() = Tinv.linear() * F.template topRows<3>(); + return ret; +} + template Eigen::Matrix dHomogTrans( const Eigen::Transform& T, @@ -862,6 +885,22 @@ template DLLEXPORT Vector4d rpy2axis(const Eigen::MatrixBase< Map >&); template DLLEXPORT Vector4d rpy2quat(const Eigen::MatrixBase< Map >&); template DLLEXPORT Matrix3d rpy2rotmat(const Eigen::MatrixBase< Map >&); +template DLLEXPORT Eigen::Matrix transformSpatialMotion( + const Eigen::Isometry3d&, + const Eigen::MatrixBase< Matrix >&); + +template DLLEXPORT Eigen::Matrix transformSpatialMotion( + const Eigen::Isometry3d&, + const Eigen::MatrixBase< MatrixXd >&); + +template DLLEXPORT Eigen::Matrix transformSpatialForce( + const Eigen::Isometry3d&, + const Eigen::MatrixBase< Matrix >&); + +template DLLEXPORT Eigen::Matrix transformSpatialForce( + const Eigen::Isometry3d&, + const Eigen::MatrixBase< MatrixXd >&); + #if !defined(WIN32) && !defined(WIN64) template typename Gradient::type dquat2rotmat(const Eigen::MatrixBase&); diff --git a/util/drakeGeometryUtil.h b/util/drakeGeometryUtil.h index 55e4c32eb1c6..0e7274896f64 100644 --- a/util/drakeGeometryUtil.h +++ b/util/drakeGeometryUtil.h @@ -147,7 +147,20 @@ void quatdot2angularvelMatrix(const Eigen::MatrixBase& q, typename Gradient::type* dM = nullptr); /* - * transform gradient methods + * spatial transform functions + */ +template +Eigen::Matrix transformSpatialMotion( + const Eigen::Transform& T, + const Eigen::MatrixBase& M); + +template +Eigen::Matrix transformSpatialForce( + const Eigen::Transform& T, + const Eigen::MatrixBase& F); + +/* + * spatial transform gradient methods */ template Eigen::Matrix dHomogTrans( From 1ab7b09383a1cec8d8ff9289e12a2ec9b031c18d Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 27 Oct 2014 01:42:20 -0400 Subject: [PATCH 208/271] Conditionally compile geometricJacobian under Windows. --- systems/plants/RigidBodyManipulator.cpp | 2 ++ systems/plants/RigidBodyManipulator.h | 2 ++ 2 files changed, 4 insertions(+) diff --git a/systems/plants/RigidBodyManipulator.cpp b/systems/plants/RigidBodyManipulator.cpp index e8839dd13d4f..703506236107 100644 --- a/systems/plants/RigidBodyManipulator.cpp +++ b/systems/plants/RigidBodyManipulator.cpp @@ -1231,6 +1231,7 @@ void RigidBodyManipulator::bodyKin(const int body_or_frame_id, const MatrixBase< } +#if !defined(WIN32) && !defined(WIN64) template void RigidBodyManipulator::geometricJacobian(int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, PlainObjectBase& J, std::vector* v_indices) { @@ -1280,6 +1281,7 @@ void RigidBodyManipulator::geometricJacobian(int base_body_or_frame_ind, int end } J = transformSpatialMotion(Isometry3d(T_world_to_frame), J); } +#endif template void RigidBodyManipulator::forwardJac(const int body_or_frame_id, const MatrixBase &pts, const int rotation_type, MatrixBase &J) diff --git a/systems/plants/RigidBodyManipulator.h b/systems/plants/RigidBodyManipulator.h index d6ded7ebc70e..ab85b4ca8a59 100644 --- a/systems/plants/RigidBodyManipulator.h +++ b/systems/plants/RigidBodyManipulator.h @@ -85,8 +85,10 @@ class DLLEXPORT RigidBodyManipulator template void bodyKin(const int body_ind, const MatrixBase& pts, MatrixBase &x, MatrixBase *J=NULL, MatrixBase *P=NULL); +#if !defined(WIN32) && !defined(WIN64) template void geometricJacobian(int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, PlainObjectBase& J, std::vector* v_indices); +#endif template void HandC(double* const q, double * const qd, MatrixBase * const f_ext, MatrixBase &H, MatrixBase &C, MatrixBase *dH=NULL, MatrixBase *dC=NULL, MatrixBase * const df_ext=NULL); From 7b022e3e31fed47cb32ada89c254e2f6674126ea Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 27 Oct 2014 01:57:10 -0400 Subject: [PATCH 209/271] cmake --- cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake b/cmake index 9bb29fdbb8c4..19e3b583538e 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit 9bb29fdbb8c4a27fdef7b7075b4acbe72c3f3bc2 +Subproject commit 19e3b583538e01e5171474c3f169317809ba318f From a262607400cad1e77ddae6566377f3bc581f4a7a Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 27 Oct 2014 09:23:08 -0400 Subject: [PATCH 210/271] Fixed analyticalJacobian test, got rid of fixed random seed for testGeometricJacobian. --- systems/plants/@RigidBodyManipulator/analyticalJacobian.m | 6 +++++- systems/plants/test/testAnalyticalJacobian.m | 4 ++-- systems/plants/test/testGeometricJacobian.m | 2 -- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/analyticalJacobian.m b/systems/plants/@RigidBodyManipulator/analyticalJacobian.m index e3e49bf8269a..b5a6dba74803 100644 --- a/systems/plants/@RigidBodyManipulator/analyticalJacobian.m +++ b/systems/plants/@RigidBodyManipulator/analyticalJacobian.m @@ -1,6 +1,10 @@ function JAnalytical = analyticalJacobian(obj, kinsol, base, endEffector, points, rotationType) -[JGeometric, vIndices] = geometricJacobian(obj, kinsol, base, endEffector, base); +% NOTE: even though geometricJacobian is mexed, I need kinsol.T in what +% follows, so I can't use a mex kinsol. Explicitly using non-mex +% geometricJacobian. I intend to remove analyticalJacobian soon though, so +% I'm not going to bother mexing it. --tk +[JGeometric, vIndices] = geometricJacobian(obj, kinsol, base, endEffector, base, false); JOmega = JGeometric(1 : 3, :); JV = JGeometric(4 : 6, :); diff --git a/systems/plants/test/testAnalyticalJacobian.m b/systems/plants/test/testAnalyticalJacobian.m index 3671d52fccee..48049c5b6c7c 100644 --- a/systems/plants/test/testAnalyticalJacobian.m +++ b/systems/plants/test/testAnalyticalJacobian.m @@ -17,8 +17,8 @@ function testAtlas(floatingJointType) function compareToForwardKin(robot, rotationType) -nq = robot.getNumStates() / 2; % TODO -nv = robot.getNumStates() / 2; % TODO +nq = robot.getNumPositions(); +nv = robot.getNumVelocities(); nBodies = length(robot.body); diff --git a/systems/plants/test/testGeometricJacobian.m b/systems/plants/test/testGeometricJacobian.m index 8d4fe9e30075..6e7c514b6ef6 100644 --- a/systems/plants/test/testGeometricJacobian.m +++ b/systems/plants/test/testGeometricJacobian.m @@ -7,8 +7,6 @@ function testAtlas(floatingJointType) -rng(123512, 'twister'); - robot = createAtlas(floatingJointType); nq = robot.getNumPositions(); From ea6a69bedf15f18c4926d46641239fbc5f907f3b Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 27 Oct 2014 10:26:40 -0400 Subject: [PATCH 211/271] Fixed mex/non-mex logic in geometricJacobian --- .../plants/@RigidBodyManipulator/analyticalJacobian.m | 10 ++++++---- .../plants/@RigidBodyManipulator/geometricJacobian.m | 11 +++++------ .../@RigidBodyManipulator/geometricJacobianDotV.m | 4 ++++ systems/plants/test/testGeometricJacobian.m | 4 ++-- 4 files changed, 17 insertions(+), 12 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/analyticalJacobian.m b/systems/plants/@RigidBodyManipulator/analyticalJacobian.m index b5a6dba74803..b637b1fcf588 100644 --- a/systems/plants/@RigidBodyManipulator/analyticalJacobian.m +++ b/systems/plants/@RigidBodyManipulator/analyticalJacobian.m @@ -1,10 +1,12 @@ function JAnalytical = analyticalJacobian(obj, kinsol, base, endEffector, points, rotationType) % NOTE: even though geometricJacobian is mexed, I need kinsol.T in what -% follows, so I can't use a mex kinsol. Explicitly using non-mex -% geometricJacobian. I intend to remove analyticalJacobian soon though, so -% I'm not going to bother mexing it. --tk -[JGeometric, vIndices] = geometricJacobian(obj, kinsol, base, endEffector, base, false); +% follows, so I can't use a mex kinsol. +if (kinsol.mex) + error('Drake:RigidBodyManipulator:NoMex','This method has not been mexed yet.'); +end + +[JGeometric, vIndices] = geometricJacobian(obj, kinsol, base, endEffector, base); JOmega = JGeometric(1 : 3, :); JV = JGeometric(4 : 6, :); diff --git a/systems/plants/@RigidBodyManipulator/geometricJacobian.m b/systems/plants/@RigidBodyManipulator/geometricJacobian.m index fcd3eaaa10d3..e69b249c81d2 100644 --- a/systems/plants/@RigidBodyManipulator/geometricJacobian.m +++ b/systems/plants/@RigidBodyManipulator/geometricJacobian.m @@ -1,15 +1,14 @@ -function [J, v_indices] = geometricJacobian(obj, kinsol, base, endEffector, expressedIn, use_mex) +function [J, v_indices] = geometricJacobian(obj, kinsol, base, endEffector, expressedIn) %GEOMETRICJACOBIAN Computes the geometric Jacobian from base to endEffector % expressed in frame attached to expressedIn % The general contract of this method is that for joint velocity vector % v, the twist of endEffector with respect to base, expressed in % expressedIn, can be computed as J * (v(vIndices)). -if nargin < 6 - use_mex = obj.mex_model_ptr ~= 0; -end - -if use_mex +if (kinsol.mex) + if (obj.mex_model_ptr==0) + error('Drake:RigidBodyManipulator:InvalidKinematics','This kinsol is no longer valid because the mex model ptr has been deleted.'); + end [J, v_indices] = geometricJacobianmex(obj.mex_model_ptr, base, endEffector, expressedIn); else [~, jointPath, signs] = findKinematicPath(obj, base, endEffector); diff --git a/systems/plants/@RigidBodyManipulator/geometricJacobianDotV.m b/systems/plants/@RigidBodyManipulator/geometricJacobianDotV.m index c965d697fde8..e11c46fc62c0 100644 --- a/systems/plants/@RigidBodyManipulator/geometricJacobianDotV.m +++ b/systems/plants/@RigidBodyManipulator/geometricJacobianDotV.m @@ -19,6 +19,10 @@ % across the individual joints (with vdot set to zero), transformed to % expressedIn frame before addition. +if (kinsol.mex) + error('Drake:RigidBodyManipulator:NoMex','This method has not been mexed yet.'); +end + [~, jointPath, signs] = obj.findKinematicPath(base, endEffector); jDotV = zeros(6, 1); diff --git a/systems/plants/test/testGeometricJacobian.m b/systems/plants/test/testGeometricJacobian.m index 6e7c514b6ef6..18fbd8f4e6e3 100644 --- a/systems/plants/test/testGeometricJacobian.m +++ b/systems/plants/test/testGeometricJacobian.m @@ -29,8 +29,8 @@ function testAtlas(floatingJointType) if base ~= endEffector expressedIn = base; - [J, v_indices] = robot.geometricJacobian(kinsol, base, endEffector, expressedIn, false); - [Jmex, v_indicesmex] = robot.geometricJacobian(kinsolmex, base, endEffector, expressedIn, true); + [J, v_indices] = robot.geometricJacobian(kinsol, base, endEffector, expressedIn); + [Jmex, v_indicesmex] = robot.geometricJacobian(kinsolmex, base, endEffector, expressedIn); valuecheck(J, Jmex); valuecheck(v_indices, v_indicesmex); From 90bd5567e5741d0e0265c09ed822bbdecc1281a5 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 12:55:53 -0400 Subject: [PATCH 212/271] adds robotiq urdf from alexg --- .../s-model_articulated/collision/chull.mlx | 6 + .../collision/convert_stl_2_obj.sh | 10 + .../collision/convert_stl_2_wrl.sh | 10 + .../s-model_articulated/collision/link_0.STL | Bin 0 -> 10884 bytes .../s-model_articulated/collision/link_0.obj | 1528 + .../s-model_articulated/collision/link_0.wrl | 239 + .../collision/link_0_1.obj | 452 + .../collision/link_0_1_1.obj | 452 + .../collision/link_0_chull.obj | 452 + .../collision/link_0_chull.wrl | 105 + .../collision/link_0_chull_1.obj | 452 + .../collision/link_0_chull_1_1.obj | 452 + .../s-model_articulated/collision/link_1.STL | Bin 0 -> 11084 bytes .../s-model_articulated/collision/link_1.obj | 1556 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.../visual/link_2_chull_1.obj | 444 + .../visual/link_2_chull_1_1.obj | 1972 + .../s-model_articulated/visual/link_3.STL | Bin 0 -> 36534 bytes .../s-model_articulated/visual/link_3.obj | 5119 + .../s-model_articulated/visual/link_3.wrl | 710 + .../s-model_articulated/visual/link_3_1.obj | 1601 + .../s-model_articulated/visual/link_3_1_1.obj | 1601 + .../visual/link_3_chull.obj | 624 + .../visual/link_3_chull.wrl | 131 + .../visual/link_3_chull_1.obj | 624 + .../visual/link_3_chull_1_1.obj | 1601 + .../s-model_articulated/visual/palm.STL | Bin 0 -> 677984 bytes .../s-model_articulated/visual/palm.obj | 94922 ++++++++++++++++ .../s-model_articulated/visual/palm.wrl | 12470 ++ .../s-model_articulated/visual/palm_1.obj | 27086 +++++ .../s-model_articulated/visual/palm_1_1.obj | 27086 +++++ .../s-model_articulated/visual/palm_chull.obj | 5340 + .../s-model_articulated/visual/palm_chull.wrl | 818 + .../visual/palm_chull_1.obj | 5300 + .../visual/palm_chull_1_1.obj | 27086 +++++ .../s-model_articulated/visual/simplify.mlx | 4 + .../visual/simplify_obj.sh | 9 + examples/Atlas/urdf/robotiq.urdf | 1060 + 101 files changed, 316537 insertions(+) create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/chull.mlx create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_obj.sh create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_wrl.sh create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/link_0.STL create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/link_0.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/link_0.wrl create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/link_0_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/link_0_1_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/collision/link_0_chull.obj create mode 100644 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examples/Atlas/urdf/meshes/s-model_articulated/visual/link_3_chull.wrl create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/link_3_chull_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/link_3_chull_1_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm.STL create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm.wrl create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_1_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_chull.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_chull.wrl create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_chull_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_chull_1_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify.mlx create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify_obj.sh create mode 100644 examples/Atlas/urdf/robotiq.urdf diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/chull.mlx b/examples/Atlas/urdf/meshes/s-model_articulated/collision/chull.mlx new file mode 100644 index 000000000000..8d4cc3ab12fb --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/chull.mlx @@ -0,0 +1,6 @@ + + + + + + diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_obj.sh b/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_obj.sh new file mode 100644 index 000000000000..a038f820ad71 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_obj.sh @@ -0,0 +1,10 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.STL +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'.obj' -om vn + meshlabserver -i $file -o $name'_chull.obj' -om vn -s chull.mlx + #echo $name'.obj' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_wrl.sh b/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_wrl.sh new file mode 100644 index 000000000000..50278255873b --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_wrl.sh @@ -0,0 +1,10 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.STL +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'.wrl' -om vn + meshlabserver -i $file -o $name'_chull.wrl' -om vn -s chull.mlx + #echo $name'.wrl' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/link_0.STL b/examples/Atlas/urdf/meshes/s-model_articulated/collision/link_0.STL new file mode 100644 index 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+f 1236//1236 1197//1197 176//176 +f 1236//1236 1073//1073 1072//1072 +f 1072//1072 1071//1071 1236//1236 +f 1236//1236 1071//1071 1079//1079 +f 575//575 1073//1073 1236//1236 +f 1236//1236 1076//1076 1100//1100 +f 1236//1236 1188//1188 1076//1076 +# 2640 faces, 0 coords texture + +# End of File \ No newline at end of file diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify.mlx b/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify.mlx new file mode 100644 index 000000000000..f76bef53e17e --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify.mlx @@ -0,0 +1,4 @@ + + + + diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify_obj.sh b/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify_obj.sh new file mode 100644 index 000000000000..dfbf7f21ec63 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify_obj.sh @@ -0,0 +1,9 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.obj +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'_1.obj' -om vn -s simplify.mlx + #echo $name'.obj' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/chull.mlx b/examples/Atlas/urdf/meshes/s-model_articulated/visual/chull.mlx new file mode 100644 index 000000000000..8d4cc3ab12fb --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/chull.mlx @@ -0,0 +1,6 @@ + + + + + + diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_obj.sh b/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_obj.sh new file mode 100644 index 000000000000..a038f820ad71 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_obj.sh @@ -0,0 +1,10 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.STL +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'.obj' -om vn + meshlabserver -i $file -o $name'_chull.obj' -om vn -s chull.mlx + #echo $name'.obj' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_wrl.sh b/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_wrl.sh new file mode 100644 index 000000000000..50278255873b --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_wrl.sh @@ -0,0 +1,10 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.STL +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'.wrl' -om vn + meshlabserver -i $file -o $name'_chull.wrl' -om vn -s chull.mlx + #echo $name'.wrl' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/link_0.STL b/examples/Atlas/urdf/meshes/s-model_articulated/visual/link_0.STL new file mode 100644 index 0000000000000000000000000000000000000000..f432890dc31d2aa2817393452b2b2ed6f0df1f65 GIT binary patch literal 25084 zcmb`Pd$8SAb;o~(@KA}oia?V<2o#ioAP;GJ&$;&p4mttaN_Z($1e*v1Dbf}YnglKq 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6395//6395 6476//6476 6712//6712 +f 6712//6712 6476//6476 6477//6477 +f 6712//6712 6477//6477 6756//6756 +f 6756//6756 6477//6477 6479//6479 +f 6756//6756 6479//6479 6757//6757 +# 13538 faces, 0 coords texture + +# End of File \ No newline at end of file diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify.mlx b/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify.mlx new file mode 100644 index 000000000000..f76bef53e17e --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify.mlx @@ -0,0 +1,4 @@ + + + + diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify_obj.sh b/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify_obj.sh new file mode 100644 index 000000000000..dfbf7f21ec63 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify_obj.sh @@ -0,0 +1,9 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.obj +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'_1.obj' -om vn -s simplify.mlx + #echo $name'.obj' +done diff --git a/examples/Atlas/urdf/robotiq.urdf b/examples/Atlas/urdf/robotiq.urdf new file mode 100644 index 000000000000..73706246e1ec --- /dev/null +++ b/examples/Atlas/urdf/robotiq.urdf @@ -0,0 +1,1060 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + true + + + + From 8318b9e4da383b649afa74cd40f0fd22e7394894 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 12:59:54 -0400 Subject: [PATCH 215/271] robotiq hand model was bringing drake to it's knees. turns out the rbm object was 3.5 GB in memory. after a painfully slow debugging process, we figured out that it was because the loop joints, and drakeFunction kinematic constraints, contained a copy of the manipulator, which nested into a massive memory alloc. the stopgap solution is to zap the system constraints for the copy of the rbm that is stored inside the kinematic constraint class. --- solvers/+drakeFunction/RigidBodyManipulatorFunction.m | 2 +- systems/@DrakeSystem/DrakeSystem.m | 7 +++++++ systems/plants/@Manipulator/Manipulator.m | 11 +++++++++++ 3 files changed, 19 insertions(+), 1 deletion(-) diff --git a/solvers/+drakeFunction/RigidBodyManipulatorFunction.m b/solvers/+drakeFunction/RigidBodyManipulatorFunction.m index 3cd3ae17a939..1f9b88d757cd 100644 --- a/solvers/+drakeFunction/RigidBodyManipulatorFunction.m +++ b/solvers/+drakeFunction/RigidBodyManipulatorFunction.m @@ -14,7 +14,7 @@ typecheck(rbm,{'RigidBodyManipulator', ... 'TimeSteppingRigidBodyManipulator'}); obj = obj@drakeFunction.DrakeFunction(input_frame,output_frame); - obj.rbm = rbm; + obj.rbm = rbm.removeAllStateConstraints(); end function obj = setRigidBodyManipulator(obj, rbm) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index b3df378ceb3e..9eaf2c9156b8 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -394,6 +394,13 @@ function displayStateConstraints(obj) disp(obj.state_constraints{i}); end end + + function obj = removeAllStateConstraints(obj) + obj.num_xcon_eq = 0; + obj.num_xcon_ineq = 0; + obj.state_constraints = {}; + obj.state_constraint_xind = {}; + end end methods (Sealed) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 2f3271d45465..2fa79e4f8f38 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -219,6 +219,17 @@ obj.num_velocity_constraints = obj.num_velocity_constraints+con.num_cnstr; obj.velocity_constraints{id} = con; end + + function obj = removeAllStateConstraints(obj) + obj.num_position_constraints=0; + obj.num_velocity_constraints=0; + obj.position_constraints = {}; + obj.position_constraint_ids = []; + obj.velocity_constraints = {}; + obj.velocity_constraint_ids = []; + obj.joint_limit_constraint_id = []; + obj = removeAllStateConstraints@DrakeSystem(obj); + end end methods From f6f5ac13bfca4a0abe74129af6d489d4a7b94e85 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 13:39:15 -0400 Subject: [PATCH 216/271] dt simulate didn't work for systems with no outputs --- systems/@DynamicalSystem/simulate.m | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/systems/@DynamicalSystem/simulate.m b/systems/@DynamicalSystem/simulate.m index 1f5467ead10b..07c12fc0a7b7 100644 --- a/systems/@DynamicalSystem/simulate.m +++ b/systems/@DynamicalSystem/simulate.m @@ -152,11 +152,19 @@ if (isdiscrete) - ytraj = DTTrajectory(t',y); - ytraj = setOutputFrame(ytraj,obj.getOutputFrame); + if isempty(y) + ytraj=[]; + else + ytraj = DTTrajectory(t',y); + ytraj = setOutputFrame(ytraj,obj.getOutputFrame); + end if (nargout>1) - xtraj = DTTrajectory(t',x); - xtraj = setOutputFrame(xtraj,obj.getStateFrame); + if isempty(x) + xtraj = []; + else + xtraj = DTTrajectory(t',x); + xtraj = setOutputFrame(xtraj,obj.getStateFrame); + end end else % note: could make this more exact. see comments in bug# 623. From fef3f7ee72f9180358e0007b8f67af656a0bc15f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 13:54:42 -0400 Subject: [PATCH 217/271] position constraints give higher derivatives now, so geval is not needed here --- systems/plants/TimeSteppingRigidBodyManipulator.m | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index f292be3317c6..1dce11050f06 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -326,10 +326,9 @@ function checkDirty(obj) % write as % phiP + h*JP*qdn >= 0 && -phiP - h*JP*qdn >= 0 if (nargout<5) - [phiP,JP] = geval(@positionConstraints,obj.manip,q); - % [phiP,JP] = obj.manip.positionConstraints(q); + [phiP,JP] = obj.manip.positionConstraints(q); else - [phiP,JP,dJP] = geval(@positionConstraints,obj.manip,q); + [phiP,JP,dJP] = obj.manip.positionConstraints(q); dJP(nL+(1:nP),:) = [dJP; -dJP]; end phiP = [phiP;-phiP]; From 66f5dfe3c0bf3fe44b6578f1206266114ca56476 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 14:54:29 -0400 Subject: [PATCH 218/271] fixed bug in lcp missed constraint logic. yikes. --- systems/plants/TimeSteppingRigidBodyManipulator.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index 1dce11050f06..38af8dbdba5f 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -484,7 +484,7 @@ function checkDirty(obj) end inactive = ~active(1:(nL+nP+nC)); % only worry about the constraints that really matter. - missed = (M(inactive,inactive)*z(inactive)+w(inactive) < 0); + missed = (M(inactive,active)*z(active)+w(inactive) < 0); if ~any(missed), break; end % otherwise add the missed indices to the active set and repeat warning('Drake:TimeSteppingRigidBodyManipulator:ResolvingLCP',['t=',num2str(t),': missed ',num2str(sum(missed)),' constraints. resolving lcp.']); From 369300b038978f336673b02d6ba0797c693cb1c6 Mon Sep 17 00:00:00 2001 From: Gregory Izatt Date: Mon, 27 Oct 2014 17:06:54 -0400 Subject: [PATCH 219/271] Collision raycast defaults to more accurate setting --- systems/plants/RigidBodyManipulator.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/plants/RigidBodyManipulator.h b/systems/plants/RigidBodyManipulator.h index 83c30f1be3c3..060c73860b30 100644 --- a/systems/plants/RigidBodyManipulator.h +++ b/systems/plants/RigidBodyManipulator.h @@ -98,7 +98,7 @@ class DLLEXPORT RigidBodyManipulator bool getPairwiseClosestPoint(const int body_indA, const int body_indB, Vector3d &ptA, Vector3d &ptB, Vector3d &normal, double &distance, bool use_margins=true); - bool collisionRaycast(const Matrix3Xd &origins, const Matrix3Xd &ray_endpoints, VectorXd &distances, bool use_margins=true); + bool collisionRaycast(const Matrix3Xd &origins, const Matrix3Xd &ray_endpoints, VectorXd &distances, bool use_margins=false); //bool closestPointsAllBodies( MatrixXd& ptsA, MatrixXd& ptsB, //MatrixXd& normal, VectorXd& distance, From 02c7c8d0165bd09400fff24b7c331190e9eb218f Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Mon, 27 Oct 2014 18:47:37 -0400 Subject: [PATCH 220/271] Fixes a coordinate transforms for bluff body, making the correct transform from world to body frame and then back to world frame. Also zaps an unused variable and adds a little documentation. --- systems/plants/RigidBodyBluffBody.m | 32 ++++++++++++------- .../plants/RigidBodyWingWithControlSurface.m | 1 - systems/visualizers/Visualizer.m | 6 ++++ 3 files changed, 27 insertions(+), 12 deletions(-) diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index 7e04900ac4d4..3958b9ba6233 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -79,24 +79,34 @@ wingvel_struct = RigidBodyWing.computeWingVelocity(obj.kinframe, manip, q, qd, kinsol); - wingvel_world_xyz = wingvel_struct.wingvel_world_xyz; + % convert world velocity to velocity in the body frame - % convert world velocity to velocity in the body fram - % TODO + origin = zeros(3, 1); + + body_origin = manip.bodyKin(kinsol, obj.kinframe, origin); + body_wingvel = manip.bodyKin(kinsol, obj.kinframe, wingvel_struct.wingvel_world_xyz); + + body_wingvel = body_wingvel - body_origin; + + %keyboard + + velocity_x = body_wingvel(1); + velocity_y = body_wingvel(2); + velocity_z = body_wingvel(3); - error('todo'); + force_x = -sign(velocity_x) * 0.5 * obj.rho * velocity_x * velocity_x * obj.coefficient_drag_x * obj.area_x; + force_y = -sign(velocity_y) * 0.5 * obj.rho * velocity_y * velocity_y * obj.coefficient_drag_y * obj.area_y; + force_z = -sign(velocity_z) * 0.5 * obj.rho * velocity_z * velocity_z * obj.coefficient_drag_z * obj.area_z; - velocity_x = wingvel_world_xyz(1); - velocity_y = wingvel_world_xyz(2); - velocity_z = wingvel_world_xyz(3); - force_x = -0.5 * obj.rho * velocity_x * velocity_x * obj.coefficient_drag_x * obj.area_x; - force_y = -0.5 * obj.rho * velocity_y * velocity_y * obj.coefficient_drag_y * obj.area_y; - force_z = -0.5 * obj.rho * velocity_z * velocity_z * obj.coefficient_drag_z * obj.area_z; + f_body = [force_x; force_y; force_z]; + % map body forces back to world coordinates + world_origin = manip.forwardKin(kinsol, obj.kinframe, origin); + f = manip.forwardKin(kinsol, obj.kinframe, f_body); + f = f - world_origin; - f = [force_x; force_y; force_z]; f = manip.cartesianForceToSpatialForce(kinsol, frame.body_ind, zeros(3,1), f); force = sparse(6, getNumBodies(manip)) * q(1); % q(1) for taylorvar diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index c1da3145c2ea..8125011a08c6 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -81,7 +81,6 @@ wingvel_world_xz = wingvel_struct.wingvel_world_xz; wingYunit = wingvel_struct.wingYunit; - wingvel_world_xyz = wingvel_struct.wingvel_world_xyz; airspeed = norm(wingvel_world_xz); diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m index af57e5f382c8..95432b734c8b 100644 --- a/systems/visualizers/Visualizer.m +++ b/systems/visualizers/Visualizer.m @@ -205,6 +205,12 @@ function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system) % @param minrange is the lower bound for the sliders % @param maxrange is the upper bound for the sliders % @param visualized_system is the system to be displayed + % + % Example, for drawing forces on a 12-state floating base system: + % + %

+      %   v.inspector(zeros(12,1), 1:12)
+      % 
fr = obj.getInputFrame(); if (nargin<2 || isempty(x0)), x0 = zeros(fr.dim,1); end From 017f1b47e46ba3871f4ee76b76f57bcc2c6768d9 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 20:34:37 -0400 Subject: [PATCH 221/271] lcp cache is a shared data handle (so it can be used between calls) --- .../plants/TimeSteppingRigidBodyManipulator.m | 111 ++++++++++-------- util/SharedDataHandle.m | 4 +- 2 files changed, 68 insertions(+), 47 deletions(-) diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index 38af8dbdba5f..f3cfcdf249f9 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -13,9 +13,7 @@ timestep twoD=false position_control=false; - LCP_cache = struct('t',[],'x',[],'u',[],'nargout',[], ... - 'z',[],'Mqdn',[],'wqdn',[], ... - 'dz',[],'dMqdn',[],'dwqdn',[],'contact_data',[]); + LCP_cache; end methods @@ -46,6 +44,9 @@ end obj.timestep = timestep; + obj.LCP_cache = SharedDataHandle(struct('t',[],'x',[],'u',[],'nargout',[], ... + 'z',[],'Mqdn',[],'wqdn',[], ... + 'dz',[],'dMqdn',[],'dwqdn',[],'contact_data',[])); obj = setSampleTime(obj,[timestep;0]); @@ -135,10 +136,10 @@ function checkDirty(obj) model = setOutputFrame(model,getOutputFrame(model.manip)); model = setDirectFeedthrough(model,model.manip.isDirectFeedthrough); end - model.LCP_cache.t = NaN; - model.LCP_cache.x = NaN(model.getNumStates(),1); - model.LCP_cache.u = NaN(model.getNumInputs(),1); - model.LCP_cache.nargout = NaN; + model.LCP_cache.data.t = NaN; + model.LCP_cache.data.x = NaN(model.getNumStates(),1); + model.LCP_cache.data.u = NaN(model.getNumInputs(),1); + model.LCP_cache.data.nargout = NaN; model.dirty = false; end @@ -195,8 +196,8 @@ function checkDirty(obj) end function hit = cacheHit(obj,t,x,u,num_args_out) - hit = (t==obj.LCP_cache.t && all(x==obj.LCP_cache.x) && ... - all(u==obj.LCP_cache.u) && num_args_out <= obj.LCP_cache.nargout); + hit = (t==obj.LCP_cache.data.t && all(x==obj.LCP_cache.data.x) && ... + all(u==obj.LCP_cache.data.u) && num_args_out <= obj.LCP_cache.data.nargout); end function [obj,z,Mqdn,wqdn,dz,dMqdn,dwqdn] = solveLCP(obj,t,x,u) @@ -204,20 +205,20 @@ function checkDirty(obj) % todo: implement some basic caching here if cacheHit(obj,t,x,u,nargout) - z = obj.LCP_cache.z; - Mqdn = obj.LCP_cache.Mqdn; - wqdn = obj.LCP_cache.wqdn; + z = obj.LCP_cache.data.z; + Mqdn = obj.LCP_cache.data.Mqdn; + wqdn = obj.LCP_cache.data.wqdn; if nargout > 4 - dz = obj.LCP_cache.dz; - dMqdn = obj.LCP_cache.dMqdn; - dwqdn = obj.LCP_cache.dwqdn; + dz = obj.LCP_cache.data.dz; + dMqdn = obj.LCP_cache.data.dMqdn; + dwqdn = obj.LCP_cache.data.dwqdn; end else - obj.LCP_cache.t = t; - obj.LCP_cache.x = x; - obj.LCP_cache.u = u; - obj.LCP_cache.nargout = nargout; + obj.LCP_cache.data.t = t; + obj.LCP_cache.data.x = x; + obj.LCP_cache.data.u = u; + obj.LCP_cache.data.nargout = nargout; num_q = obj.manip.num_positions; q=x(1:num_q); qd=x(num_q+(1:num_q)); @@ -302,7 +303,7 @@ function checkDirty(obj) end contact_data = struct(); end - obj.LCP_cache.contact_data = contact_data; + obj.LCP_cache.data.contact_data = contact_data; if (nL > 0) if (obj.position_control) phiL = q(pos_control_index) - u; @@ -343,8 +344,8 @@ function checkDirty(obj) M = zeros(nL+nP+(mC+2)*nC)*q(1); w = zeros(nL+nP+(mC+2)*nC,1)*q(1); - active = true(nL+nP+(mC+2)*nC,1); - active_tol = .01; + activeset_conservative_guess = true(nL+nP+(mC+2)*nC,1); + activeset_conservative_guess_tol = .01; Hinv = inv(H); wqdn = qd + h*Hinv*tau; @@ -375,7 +376,7 @@ function checkDirty(obj) if (nL > 0) w(1:nL) = phiL + h*JL*wqdn; M(1:nL,:) = h*JL*Mqdn; - active(1:nL) = (phiL + h*JL*qd) < active_tol; + activeset_conservative_guess(1:nL) = (phiL + h*JL*qd) < activeset_conservative_guess_tol; if (nargout>4) dJL = [zeros(prod(size(JL)),1),reshape(dJL,numel(JL),[]),zeros(numel(JL),num_q+obj.num_u)]; if (obj.position_control) @@ -393,7 +394,7 @@ function checkDirty(obj) if (nP > 0) w(nL+(1:nP)) = phiP + h*JP*wqdn; M(nL+(1:nP),:) = h*JP*Mqdn; - active(nL+(1:nP)) = true; + activeset_conservative_guess(nL+(1:nP)) = true; if (nargout>4) dJP = [zeros(numel(JP),1),reshape(dJP,numel(JP),[]),zeros(numel(JP),num_q+obj.num_u)]; dw(nL+(1:nP),:) = [zeros(size(JP,1),1),JP,zeros(size(JP,1),num_q+obj.num_u)] + h*matGradMultMat(JP,wqdn,dJP,dwqdn); @@ -460,8 +461,8 @@ function checkDirty(obj) dM(nL+nP+nC+(1:mC*nC),1:size(Mqdn,2),:) = reshape(matGradMultMat(D,Mqdn,dD,dMqdn),mC*nC,size(Mqdn,2),[]); end - a = (phiC+h*n*qd) < active_tol; - active(nL+nP+(1:(mC+2)*nC),:) = repmat(a,mC+2,1); + a = (phiC+h*n*qd) < activeset_conservative_guess_tol; + activeset_conservative_guess(nL+nP+(1:(mC+2)*nC),:) = repmat(a,mC+2,1); end % check gradients @@ -471,20 +472,36 @@ function checkDirty(obj) % end % return; + + if (numel(obj.LCP_cache.data.z) == nL+nP+(mC+2)*nC) + % try doing the linear solve using the same active set as the + % previous solve + + z = obj.LCP_cache.data.z; + activeset_last = z>eps; + ac = find(activeset_last)' + z(activeset_last) = pinv(M(activeset_last,activeset_last))*(-w(activeset_last)); + + inactive = ~activeset_last(1:(nL+nP+nC)); % only worry about the constraints that really matter. + missed = (M(inactive,activeset_last)*z(activeset_last)+w(inactive) < 0); + sum(missed) + else + missed = 1; % force the solve below + end - while (1) + while any(missed) - obj.LCP_cache.t = t; - obj.LCP_cache.x = x; - obj.LCP_cache.u = u; - obj.LCP_cache.nargout = nargout; + obj.LCP_cache.data.t = t; + obj.LCP_cache.data.x = x; + obj.LCP_cache.data.u = u; + obj.LCP_cache.data.nargout = nargout; z = zeros(nL+nP+(mC+2)*nC,1); - if any(active) - z(active) = pathlcp(M(active,active),w(active)); + if any(activeset_conservative_guess) + z(activeset_conservative_guess) = pathlcp(M(activeset_conservative_guess,activeset_conservative_guess),w(activeset_conservative_guess)); end - - inactive = ~active(1:(nL+nP+nC)); % only worry about the constraints that really matter. - missed = (M(inactive,active)*z(active)+w(inactive) < 0); + + inactive = ~activeset_conservative_guess(1:(nL+nP+nC)); % only worry about the constraints that really matter. + missed = (M(inactive,activeset_conservative_guess)*z(activeset_conservative_guess)+w(inactive) < 0); if ~any(missed), break; end % otherwise add the missed indices to the active set and repeat warning('Drake:TimeSteppingRigidBodyManipulator:ResolvingLCP',['t=',num2str(t),': missed ',num2str(sum(missed)),' constraints. resolving lcp.']); @@ -492,7 +509,7 @@ function checkDirty(obj) inactive(ind(missed)) = false; % add back in the related contact terms: inactive = [inactive; repmat(inactive(nL+nP+(1:nC)),mC+1,1)]; - active = ~inactive; + activeset_conservative_guess = ~inactive; end % for debugging @@ -502,9 +519,9 @@ function checkDirty(obj) %lambda = z(nL+nP+3*nC+(1:nC)) % end debugging - obj.LCP_cache.z = z; - obj.LCP_cache.Mqdn = Mqdn; - obj.LCP_cache.wqdn = wqdn; + obj.LCP_cache.data.z = z; + obj.LCP_cache.data.Mqdn = Mqdn; + obj.LCP_cache.data.wqdn = wqdn; if (nargout>4) % Quick derivation: % The LCP solves for z given that: @@ -539,14 +556,16 @@ function checkDirty(obj) dwbar = dw(zposind,:); dz(zposind,:) = -pinv(Mbar)*(matGradMult(dMbar,zbar) + dwbar); end - obj.LCP_cache.dz = dz; - obj.LCP_cache.dMqdn = dMqdn; - obj.LCP_cache.dwqdn = dwqdn; + obj.LCP_cache.data.dz = dz; + obj.LCP_cache.data.dMqdn = dMqdn; + obj.LCP_cache.data.dwqdn = dwqdn; else - obj.LCP_cache.dz = []; - obj.LCP_cache.dMqdn = []; - obj.LCP_cache.dwqdn = []; + obj.LCP_cache.data.dz = []; + obj.LCP_cache.data.dMqdn = []; + obj.LCP_cache.data.dwqdn = []; end + + activeset_last = find(z>eps)' end end diff --git a/util/SharedDataHandle.m b/util/SharedDataHandle.m index 8be8ac79a916..55269fd9bd38 100644 --- a/util/SharedDataHandle.m +++ b/util/SharedDataHandle.m @@ -7,9 +7,11 @@ % will internally be accessing the shared data structure. properties (SetAccess=private,GetAccess=public) - data deleteFcn=[]; end + properties + data; + end methods function obj = SharedDataHandle(data, deleteFcn) From 3936c36518d768e3f74b4e35b2fcbc9bc8078979 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 22:21:40 -0400 Subject: [PATCH 222/271] minor cleanup --- systems/plants/TimeSteppingRigidBodyManipulator.m | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index 38af8dbdba5f..bfc3e0347676 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -473,11 +473,6 @@ function checkDirty(obj) while (1) - - obj.LCP_cache.t = t; - obj.LCP_cache.x = x; - obj.LCP_cache.u = u; - obj.LCP_cache.nargout = nargout; z = zeros(nL+nP+(mC+2)*nC,1); if any(active) z(active) = pathlcp(M(active,active),w(active)); @@ -501,7 +496,17 @@ function checkDirty(obj) %beta2 = z(nL+nP+2*nC+(1:nC)) %lambda = z(nL+nP+3*nC+(1:nC)) % end debugging + % more debugging +% path_convergence_tolerance = 1e-6; % default according to http://pages.cs.wisc.edu/~ferris/path/options.pdf +% assert(all(z>=0)); +% assert(all(M*z+w>=-path_convergence_tolerance)); +% valuecheck(z'*(M*z+w),0,path_convergence_tolerance); + % end more debugging + obj.LCP_cache.t = t; + obj.LCP_cache.x = x; + obj.LCP_cache.u = u; + obj.LCP_cache.nargout = nargout; obj.LCP_cache.z = z; obj.LCP_cache.Mqdn = Mqdn; obj.LCP_cache.wqdn = wqdn; From 871c090ce461dd6ede4fe412b262f2398fb979e8 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 28 Oct 2014 17:16:16 -0400 Subject: [PATCH 223/271] Works on body drawing for bluff bodies with parameters. --- systems/plants/RigidBodyBluffBody.m | 63 +++++++++++++++++-- systems/plants/test/testRigidBodyBluffBody.m | 17 ++++- .../plants/test/testRigidBodyBluffBody.urdf | 22 ++----- 3 files changed, 79 insertions(+), 23 deletions(-) diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index 3958b9ba6233..d3823da86ff3 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -16,6 +16,8 @@ area_y; % area of the drag surface in y area_z; % area of the drag surface in z + visual_geometry; % true if drawing from the URDF properties + end @@ -137,11 +139,56 @@ shape = RigidBodyBox(box_size, model.getFrame(obj.kinframe).T); shape = shape.setColor([1 0 0]); % red + shape.name = [obj.name '_urdf_shape']; model = model.addVisualShapeToBody(body, shape); end + function body=updateParams(obj,poly,pval) + % Override from RigidBodyElement to update drawing as well as parameters + + % first call the parent + obj = updateParams@RigidBodyElement(obj, poly, pval); + + % update drawing + if (obj.visual_geometry) + % remove any shapes for this body + + + + model = addBluffBodyVisualShapeToBody(obj, model, parent); + + + + end + + end + + function model = updateVisualShapes(obj, model, parent_id) + + if (obj.visual_geometry) + body_idx = obj.parseBodyOrFrameID(parent_id); + + % remove any existing shapes for this body + for i = 1:length(obj.body(body_idx).visual_shapes) + + if strcmp(obj.body(body_idx).visual_shapes{i}.name, [obj.name '_urdf_shape']) == true + + % remove this shape + obj.body(body_idx).visual_shapes{i} = {}; + + end + end + + % add new shapes + model = addBluffBodyVisualShapeToBody(obj, model, parent); % TODO + + + end + + end + end methods (Static) @@ -167,6 +214,8 @@ rpy = zeros(3,1); [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); + + % get the drag coefficients of the element cdrag_x = parseParamString(model,robotnum,char(node.getAttribute('coefficient_drag_x'))); cdrag_y = parseParamString(model,robotnum,char(node.getAttribute('coefficient_drag_y'))); @@ -176,16 +225,22 @@ this_area_y = parseParamString(model,robotnum,char(node.getAttribute('area_y'))); this_area_z = parseParamString(model,robotnum,char(node.getAttribute('area_z'))); - visual_geometry = parseParamString(model,robotnum,char(node.getAttribute('visual_geometry'))); + visual_geometry_urdf = parseParamString(model,robotnum,char(node.getAttribute('visual_geometry'))); - if isempty(visual_geometry) + if isempty(visual_geometry_urdf) % visual geometry defaults to on - visual_geometry = 1; + visual_geometry_urdf = 1; end obj = RigidBodyBluffBody(this_frame_id, cdrag_x, cdrag_y, cdrag_z, this_area_x, this_area_y, this_area_z); - if (visual_geometry) + obj.visual_geometry = visual_geometry_urdf; + + % bind parameters, because if there is a parameter on area, we need + % to know what it is (right now) for correct drawing + obj = obj.bindParams(model, double(model.getParams())); + + if (obj.visual_geometry) model = addBluffBodyVisualShapeToBody(obj, model, parent); end diff --git a/systems/plants/test/testRigidBodyBluffBody.m b/systems/plants/test/testRigidBodyBluffBody.m index 8ce80e9505c6..e8850b699980 100644 --- a/systems/plants/test/testRigidBodyBluffBody.m +++ b/systems/plants/test/testRigidBodyBluffBody.m @@ -9,13 +9,19 @@ disp('Constructing from URDF...'); options.floating = true; - r = RigidBodyManipulator('testRigidBodyWingWithControlSurface.urdf', options); + r = RigidBodyManipulator('testRigidBodyBluffBody.urdf', options); + + params = r.getParams(); + params.drag_area = 0; % no drag force for the first simulation + + r = r.setParams(params); + v = r.constructVisualizer(); %% simulate - disp('Simulating...'); + disp('Simulating without drag force...'); x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0]; end_t = .5; @@ -35,7 +41,12 @@ % now simulate with drag forces disp('Simulating with drag forces...'); - r2 = RigidBodyManipulator('testRigidBodyBluffBody.urdf', options); + + params = r.getParams(); + + params.drag_area = 0; % no drag force for the first simulation + + r2 = r.setParams(params); v = r2.constructVisualizer(); diff --git a/systems/plants/test/testRigidBodyBluffBody.urdf b/systems/plants/test/testRigidBodyBluffBody.urdf index da8ea69e762c..5d07b23f1425 100644 --- a/systems/plants/test/testRigidBodyBluffBody.urdf +++ b/systems/plants/test/testRigidBodyBluffBody.urdf @@ -1,6 +1,9 @@ + + + @@ -17,20 +20,7 @@ iyz="-0.000001" izz="0.019316" /> - - - - - - - - - - + @@ -84,8 +74,8 @@ - + From c1f44b61fe5581586b0bf64c280fdee46beb9474 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 28 Oct 2014 18:55:54 -0400 Subject: [PATCH 224/271] incremental work. --- systems/plants/RigidBodyBluffBody.m | 52 +++++++++++++++-------------- 1 file changed, 27 insertions(+), 25 deletions(-) diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index d3823da86ff3..841126534006 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -17,6 +17,7 @@ area_z; % area of the drag surface in z visual_geometry; % true if drawing from the URDF properties + parent_id; % id of parent body from the URDF end @@ -145,44 +146,44 @@ end - function body=updateParams(obj,poly,pval) - % Override from RigidBodyElement to update drawing as well as parameters - - % first call the parent - obj = updateParams@RigidBodyElement(obj, poly, pval); - - % update drawing - if (obj.visual_geometry) - % remove any shapes for this body - - - - model = addBluffBodyVisualShapeToBody(obj, model, parent); - - - - end - - end +% function body=updateParams(obj,poly,pval) +% % Override from RigidBodyElement to update drawing as well as parameters +% +% % first call the parent +% obj = updateParams@RigidBodyElement(obj, poly, pval); +% +% % update drawing +% if (obj.visual_geometry) +% % remove any shapes for this body +% +% +% +% model = addBluffBodyVisualShapeToBody(obj, model, parent); +% +% +% +% end +% +% end - function model = updateVisualShapes(obj, model, parent_id) + function model = updateVisualShapes(obj, model) if (obj.visual_geometry) - body_idx = obj.parseBodyOrFrameID(parent_id); + body_idx = model.parseBodyOrFrameID(obj.parent_id); % remove any existing shapes for this body - for i = 1:length(obj.body(body_idx).visual_shapes) + for i = 1:length(model.body(body_idx).visual_shapes) - if strcmp(obj.body(body_idx).visual_shapes{i}.name, [obj.name '_urdf_shape']) == true + if strcmp(model.body(body_idx).visual_shapes{i}.name, [obj.name '_urdf_shape']) == true % remove this shape - obj.body(body_idx).visual_shapes{i} = {}; + model.body(body_idx).visual_shapes{i} = {}; end end % add new shapes - model = addBluffBodyVisualShapeToBody(obj, model, parent); % TODO + model = addBluffBodyVisualShapeToBody(obj, model, model.body(body_idx)); % TODO end @@ -235,6 +236,7 @@ obj = RigidBodyBluffBody(this_frame_id, cdrag_x, cdrag_y, cdrag_z, this_area_x, this_area_y, this_area_z); obj.visual_geometry = visual_geometry_urdf; + obj.parent_id = parent; % bind parameters, because if there is a parameter on area, we need % to know what it is (right now) for correct drawing From 2438540115f0be5bd6bf60e82bb9abcb4dc1e9a3 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Tue, 28 Oct 2014 22:13:31 -0400 Subject: [PATCH 225/271] Updates RigidBodyElements to call updateVisualShapes on model compile which should update the visual elements if a parameter has changed. This is cleaner than updating in updateParams since it does not require a change in the arguments passed to and from that function. --- .../RigidBodyManipulator.m | 35 ++++++++++++++ systems/plants/RigidBodyBluffBody.m | 46 ++++++------------- systems/plants/RigidBodyElement.m | 11 ++++- systems/plants/test/testRigidBodyBluffBody.m | 5 +- .../plants/test/testRigidBodyBluffBody.urdf | 6 +-- 5 files changed, 63 insertions(+), 40 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 0fc27e144043..fd1d7d8bd2d1 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -603,6 +603,20 @@ end i=i+1; end + + %% update visual elements + + for i=1:length(model.force) + model = model.force{i}.updateVisualShapes(model); + end + + for i=1:length(model.sensor) + model = model.sensor{i}.updateVisualShapes(model); + end + + for i=1:length(model.actuator) + model = model.actuator(i).updateVisualShapes(model); + end %% extract featherstone model structure model = extractFeatherstone(model); @@ -1214,6 +1228,27 @@ obj = obj.addVisualShapeToBody(body_id,shape); obj = obj.addContactShapeToBody(body_id,shape,varargin{:}); end + + function obj = removeShapeFromBody(obj, body_id, shape_name) + % Removes the first shape a given body to match a name + % + % @param body_id body to remove shapes from + % @param shape_name name to match (will remove the first match) + % + % @retval obj updated object + + body_idx = obj.parseBodyOrFrameID(body_id); + + for i = 1:length(obj.body(body_idx).visual_shapes) + + if strcmp(obj.body(body_idx).visual_shapes{i}.name, shape_name) == true + + % remove this shape + obj.body(body_idx).visual_shapes(i) = []; + break; + end + end + end function model = replaceContactShapesWithCHull(model,body_indices,varargin) if any(body_indices==1) diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index 841126534006..f026ec19b874 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -113,6 +113,7 @@ f = manip.cartesianForceToSpatialForce(kinsol, frame.body_ind, zeros(3,1), f); force = sparse(6, getNumBodies(manip)) * q(1); % q(1) for taylorvar + force(:, frame.body_ind) = f; % TODO @@ -146,44 +147,24 @@ end -% function body=updateParams(obj,poly,pval) -% % Override from RigidBodyElement to update drawing as well as parameters -% -% % first call the parent -% obj = updateParams@RigidBodyElement(obj, poly, pval); -% -% % update drawing -% if (obj.visual_geometry) -% % remove any shapes for this body -% -% -% -% model = addBluffBodyVisualShapeToBody(obj, model, parent); -% -% -% -% end -% -% end - function model = updateVisualShapes(obj, model) + % Update visual shapes. This should be called after a parameter + % update that may change the automatic drawing of shapes (ie the area + % of the drag force is changed). + % + % @param model RigidBodyManipulator this is a part of + % + % @retval model updated model + if (obj.visual_geometry) - body_idx = model.parseBodyOrFrameID(obj.parent_id); + % remove any existing shapes for this body - for i = 1:length(model.body(body_idx).visual_shapes) - - if strcmp(model.body(body_idx).visual_shapes{i}.name, [obj.name '_urdf_shape']) == true - - % remove this shape - model.body(body_idx).visual_shapes{i} = {}; - - end - end + model = model.removeShapeFromBody(obj.parent_id, [ obj.name '_urdf_shape' ]); % add new shapes - model = addBluffBodyVisualShapeToBody(obj, model, model.body(body_idx)); % TODO + model = addBluffBodyVisualShapeToBody(obj, model, obj.parent_id); end @@ -234,6 +215,7 @@ end obj = RigidBodyBluffBody(this_frame_id, cdrag_x, cdrag_y, cdrag_z, this_area_x, this_area_y, this_area_z); + obj.name = name; obj.visual_geometry = visual_geometry_urdf; obj.parent_id = parent; @@ -246,7 +228,7 @@ model = addBluffBodyVisualShapeToBody(obj, model, parent); end - obj.name = name; + end diff --git a/systems/plants/RigidBodyElement.m b/systems/plants/RigidBodyElement.m index c062f998e469..db17eec3137e 100644 --- a/systems/plants/RigidBodyElement.m +++ b/systems/plants/RigidBodyElement.m @@ -17,9 +17,14 @@ end end - function body=updateParams(body,poly,pval) + function [body, model]=updateParams(body,poly,pval,model) % this is only intended to be called from the parent manipulator % class. (maybe I should move it up to there?) + % + % model is returned in case you need to update it (ie update visual + % shapes in responce to a parameter change). If you pass it, you + % should respect its (potentially new) returned value + fn = fieldnames(body.param_bindings); for i=1:length(fn) body.(fn{i}) = double(subs(body.param_bindings.(fn{i}),poly,pval)); @@ -39,5 +44,9 @@ function obj = updateBodyCoordinates(obj,body_ind,T_old_body_to_new_body) % intentionally do nothing. overload if necessary end + + function model = updateVisualShapes(obj, model) + % intentionally do nothing. overload if necessary + end end end \ No newline at end of file diff --git a/systems/plants/test/testRigidBodyBluffBody.m b/systems/plants/test/testRigidBodyBluffBody.m index e8850b699980..aee469aa063e 100644 --- a/systems/plants/test/testRigidBodyBluffBody.m +++ b/systems/plants/test/testRigidBodyBluffBody.m @@ -14,7 +14,6 @@ params = r.getParams(); params.drag_area = 0; % no drag force for the first simulation - r = r.setParams(params); v = r.constructVisualizer(); @@ -43,9 +42,7 @@ disp('Simulating with drag forces...'); params = r.getParams(); - - params.drag_area = 0; % no drag force for the first simulation - + params.drag_area = 0.01; % no drag force for the first simulation r2 = r.setParams(params); v = r2.constructVisualizer(); diff --git a/systems/plants/test/testRigidBodyBluffBody.urdf b/systems/plants/test/testRigidBodyBluffBody.urdf index 5d07b23f1425..ae0058e67273 100644 --- a/systems/plants/test/testRigidBodyBluffBody.urdf +++ b/systems/plants/test/testRigidBodyBluffBody.urdf @@ -2,7 +2,7 @@ xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd" name="testRigidBodyBluffBody"> - + @@ -67,14 +67,14 @@ - Date: Wed, 29 Oct 2014 04:02:40 -0400 Subject: [PATCH 226/271] resolves #512 --- systems/@DrakeSystem/tvlqr.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/systems/@DrakeSystem/tvlqr.m b/systems/@DrakeSystem/tvlqr.m index 202ebca132c0..a4dbf8ad82de 100644 --- a/systems/@DrakeSystem/tvlqr.m +++ b/systems/@DrakeSystem/tvlqr.m @@ -96,7 +96,7 @@ if isa(R{1},'double'), R{1} = ConstantTrajectory(R{1}); else typecheck(R{1},'Trajectory'); end - sizecheck(Q{1},[nU,nU]); + sizecheck(R{1},[nU,nU]); if isa(R{2},'double'), R{2} = ConstantTrajectory(R{2}); else typecheck(R{2},'Trajectory'); end From d34e61cc5b32b621ef597ee627bc41069e3ae177 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Wed, 29 Oct 2014 06:50:13 -0400 Subject: [PATCH 227/271] handle empty active set --- systems/plants/TimeSteppingRigidBodyManipulator.m | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index bfc3e0347676..b4b9b2d5fb42 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -476,11 +476,15 @@ function checkDirty(obj) z = zeros(nL+nP+(mC+2)*nC,1); if any(active) z(active) = pathlcp(M(active,active),w(active)); + if all(active), break; end + inactive = ~active(1:(nL+nP+nC)); % only worry about the constraints that really matter. + missed = (M(inactive,active)*z(active)+w(inactive) < 0); + else + inactive=true(nL+nP+nC,1); + missed = (w(inactive)<0); end - - inactive = ~active(1:(nL+nP+nC)); % only worry about the constraints that really matter. - missed = (M(inactive,active)*z(active)+w(inactive) < 0); if ~any(missed), break; end + % otherwise add the missed indices to the active set and repeat warning('Drake:TimeSteppingRigidBodyManipulator:ResolvingLCP',['t=',num2str(t),': missed ',num2str(sum(missed)),' constraints. resolving lcp.']); ind = find(inactive); From aabe3fb13e4bd2071c1759d97c6a9f1f4ebdb27e Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Wed, 29 Oct 2014 18:14:21 -0400 Subject: [PATCH 228/271] Big change to the structure of the system. Now the user must specify which wings have control surfaces at the wing level in the URDF. This removes the control_surface tag and introduces the wing_with_control_surface tag. Documentation still to be updated for the URDF. Also changes RigidBodyManipulator to support parameters inside its frames, enabling paramters to work inside of elements like the origin of a wing. --- .../RigidBodyManipulator.m | 100 +++++- systems/plants/@RigidBodyWing/RigidBodyWing.m | 327 ++++++------------ systems/plants/ControlSurface.m | 29 -- systems/plants/RigidBodyBluffBody.m | 8 +- systems/plants/RigidBodyElement.m | 19 +- .../plants/RigidBodyWingWithControlSurface.m | 156 ++++++++- .../test/testRigidBodyWingChangingParams.m | 64 ++++ .../test/testRigidBodyWingChangingParams.urdf | 128 +++++++ .../testRigidBodyWingWithControlSurface.urdf | 74 +++- 9 files changed, 591 insertions(+), 314 deletions(-) delete mode 100644 systems/plants/ControlSurface.m create mode 100644 systems/plants/test/testRigidBodyWingChangingParams.m create mode 100644 systems/plants/test/testRigidBodyWingChangingParams.urdf diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index fd1d7d8bd2d1..0c4509b8d7f4 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -9,6 +9,7 @@ body=[]; % array of RigidBody objects actuator = []; % array of RigidBodyActuator objects param_db = {}; % cell of structures (one per robot) containing parsed parameter info + param_db_fr={}; % cell array of parameters for the frames containing msspoly parameterized representations their properties loop=[]; % array of RigidBodyLoop objects sensor={}; % cell array of RigidBodySensor objects force={}; % cell array of RigidBodyForceElement objects @@ -564,6 +565,44 @@ error('unknown floating base type'); end end + + function model = bindFrameParams(model, pval) + % Checks for parameters inside the model's frames and binds them to + % values + % + % @param pval input values for the parameters + % + % @retval model updated model + + % first, check inside the existing frames for any parameters + + for i=1:length(model.frame) + this_t = model.frame(i).T; + + if isa(this_t, 'msspoly') + % this is a paramter + + model.param_db_fr{i} = this_t; + + end + + end + + + % now iterate through the model_db.frames and bind them to our frames + fr = getParamFrame(model); + + for i=1:length(model.param_db_fr) + + msspoly_t = model.param_db_fr{i}; + + bound_t = double(subs(msspoly_t, fr.getPoly, pval)); + + model.frame(i).T = bound_t; + + end + + end function model = addSensor(model,sensor) % Adds a sensor to the RigidBodyManipulator. This modifies the @@ -604,18 +643,21 @@ i=i+1; end - %% update visual elements + %% update RigidBodyElements for i=1:length(model.force) - model = model.force{i}.updateVisualShapes(model); + [new_element, model] = model.force{i}.onCompile(model); + model.force{i} = new_element; end for i=1:length(model.sensor) - model = model.sensor{i}.updateVisualShapes(model); + [new_element, model] = model.sensor{i}.onCompile(model); + model.sensor{i} = new_element; end for i=1:length(model.actuator) - model = model.actuator(i).updateVisualShapes(model); + [new_element, model] = model.actuator(i).onCompile(model); + model.actuator(i) = new_element; end %% extract featherstone model structure @@ -959,6 +1001,9 @@ model.actuator(i) = updateParams(model.actuator(i), fr.getPoly, p); end + % update frames in case parameters caused them to change + model = bindFrameParams(model, p); + model = compile(model); end @@ -1230,7 +1275,7 @@ end function obj = removeShapeFromBody(obj, body_id, shape_name) - % Removes the first shape a given body to match a name + % Removes all shapes from a given body that match a name % % @param body_id body to remove shapes from % @param shape_name name to match (will remove the first match) @@ -1239,13 +1284,18 @@ body_idx = obj.parseBodyOrFrameID(body_id); + removed_count = 0; + for i = 1:length(obj.body(body_idx).visual_shapes) - if strcmp(obj.body(body_idx).visual_shapes{i}.name, shape_name) == true + index = i - removed_count; + + if strcmp(obj.body(body_idx).visual_shapes{index}.name, shape_name) == true % remove this shape - obj.body(body_idx).visual_shapes(i) = []; - break; + obj.body(body_idx).visual_shapes(index) = []; + removed_count = removed_count + 1; + end end end @@ -1721,8 +1771,22 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) model.dirty = true; end - function val = parseParamString(model,robotnum,str) + function [ val, default_value ] = parseParamString(model,robotnum,str) + % Parses parameter strings from URDFs and returns either the value or + % a msspoly expression for later use with + % RigidBodyElement.bindParams(). + % % @ingroup URDF Parsing + % + % @param model model we are building from a URDF + % @param robotnum robot number + % @param str string to parse + % + % @retval val parameter value (possibly with msspolys inside) to put + % in the property of the object + % + % @retval default_val value of the parameter when default values of + % params are used fr = getParamFrame(model); p=fr.getPoly; pstr = regexprep(str,'\$(\w+)','p(model.param_db{robotnum}.(''$1'').index)'); @@ -1731,6 +1795,13 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) % else % val = RigidBodyParameterizedValue(['[',pstr,']'],model,robotnum); % end + + if nargout > 1 + % get the default value + pstr2 = regexprep(str,'\$(\w+)','model.param_db{robotnum}.(''$1'').value'); + default_value = eval(['[',pstr2,']']); + + end end function [linknames,robotnums] = processCFGroupArgs(model,linknames,robotnums) @@ -2508,15 +2579,14 @@ function checkDirty(obj) elnode = node.getElementsByTagName('wing').item(0); if ~isempty(elnode) - % the wing parser may return a cell array of wings, in the case - % where the URDF asks for a wing that has portions that contain a - % control surface and portions that are normal wings. - % RigidBodyWing will automatically divide up and the wing create - % the parts as needed. - [model,fe] = RigidBodyWing.parseURDFNode(model,robotnum,elnode,options); end + elnode = node.getElementsByTagName('wing_with_control_surface').item(0); + if ~isempty(elnode) + [model,fe] = RigidBodyWingWithControlSurface.parseURDFNode(model,robotnum,elnode,options); + end + elnode = node.getElementsByTagName('bluff_body').item(0); if ~isempty(elnode) [model,fe] = RigidBodyBluffBody.parseURDFNode(model,robotnum,elnode,options); diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 4ffec9cb82c0..8817d0760ce6 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -4,7 +4,6 @@ % AVL backend) and .mat files defining wing performance properties - kinframe; % index to RigidBodyFrame fCl % PPTrajectories (splines) representing the *dimensional* coefficients fCd % with fCl = 1/2 rho*S*Cl, etc. (S=area) fCm @@ -19,6 +18,11 @@ stall_angle; chord; profile; + visual_geometry; % true for automatic drawing of geometry from URDF + parent_id; % parent id from URDF + airfoil_needs_update = true; % flag that tells us if we need to create a new airfoil on compile + velocity; % approximate operating velocity of the wing + kinframe; end methods @@ -69,16 +73,44 @@ typecheck(frame_id,'numeric'); obj.kinframe = frame_id; - linux = isunix(); + obj.area = chord*span; obj.chord = chord; obj.span = span; obj.stall_angle = stallAngle; - obj.profile = profile; + obj.profile = deblank(profile); + obj.velocity = velocity; + + + end + + function [obj, model] = onCompile(obj, model) + % Runs on model compilation, constructs an airfoil if one does not + % exist with these parameters + % + % @param model model we are a part of + % + % @retval obj updated object + % @retval model updated model. you need to put the updated object + % back into this model on return from this function + + if (obj.airfoil_needs_update == false) + return; + end + + model = obj.updateVisualShapes(model); + profile = obj.profile; + velocity = obj.velocity; + stallAngle = obj.stall_angle; + chord = obj.chord; + + linux = isunix(); mach = velocity/341; % mach 1 at sea level is about 341 m/s + %Reynolds number calculation for 10 deg C and sea level - Re = velocity*chord/.0000144; - profile = deblank(profile); + Re = velocity*obj.chord/.0000144; + + disp('Constructing a new airfoil'); setEnvVars(); if strcmpi(profile(end-3:end), '.mat') @@ -387,11 +419,6 @@ function revertEnvVars() end %constructor - - - - - function [force, dforce] = computeSpatialForce(obj,manip,q,qd) nq = size(q,1); frame = getFrame(manip,obj.kinframe); @@ -545,14 +572,59 @@ function revertEnvVars() box_size = [ obj.chord, obj.span, wing_height ]; shape = RigidBodyBox(box_size, model.getFrame(obj.kinframe).T); + shape.name = [ obj.name '_urdf_shape' ]; model = model.addVisualShapeToBody(body, shape); end + + function body=updateParams(body,poly,pval) + % @override + + body.airfoil_needs_update = true; + + body = updateParams@RigidBodyElement(body, poly, pval); + + end + + function model = updateVisualShapes(obj, model) + % Update visual shapes. This should be called after a parameter + % update that may change the automatic drawing of shapes (ie the area + % of the drag force is changed). + % + % @param model RigidBodyManipulator this is a part of + % + % @retval model updated model + + + if (obj.visual_geometry) + + + % remove any existing shapes for this body + model = model.removeShapeFromBody(obj.parent_id, [ obj.name '_urdf_shape' ]); + + % add new shapes + model = addWingVisualShapeToBody(obj, model, obj.parent_id); + + + end + + end + + function [ body, model ]=bindParams(body,model,pval) + % @override + + body.airfoil_needs_update = true; + + [body, model] = bindParams@RigidBodyElement(body,model,pval); + + end end + + methods (Static) @@ -676,19 +748,15 @@ function revertEnvVars() end - function [model, obj_or_cell_array_of_wings] = parseURDFNode(model,robotnum,node,options) - % Build a RigidBodyWing from a URDF. Note that this can return a - % cell array for obj, in the case of a wing with two or more parts - % that mixes normal wings and wings with control surfaces + function [model, obj] = parseURDFNode(model,robotnum,node,options) + % Build a RigidBodyWing from a URDF. % % @param model model we are adding to % @param node parent node in the URDF % @param options unused at the current time % % @retval model updated model - % @retval obj_or_cell_array_of_wings RigidBodyWing, - % RigidBodyWingWithControlSurface, or a cell array of - % RigidBodyWing and RigidBodyWingWithControlSurface's. + % @retval obj constructed RigidBodyWing name = char(node.getAttribute('name')); name = regexprep(name, '\.', '_', 'preservecase'); @@ -708,235 +776,36 @@ function revertEnvVars() end - % search for control surfaces - control_surface_nodes = node.getElementsByTagName('control_surface'); - wing_profile = char(node.getAttribute('profile')); wing_chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); wing_span = parseParamString(model,robotnum,char(node.getAttribute('span'))); wing_stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); - visual_geometry = parseParamString(model,robotnum,char(node.getAttribute('visual_geometry'))); + visual_geometry_urdf = parseParamString(model,robotnum,char(node.getAttribute('visual_geometry'))); - if isempty(visual_geometry) + if isempty(visual_geometry_urdf) % visual geometry defaults to on - visual_geometry = 1; + visual_geometry_urdf = 1; end - left_edge_of_wing = xyz - [0; wing_span/2; 0]; - - if isempty(control_surface_nodes.item(0)) - % no control surfaces, only a normal wing - % create that object and return. - - [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); - - obj_or_cell_array_of_wings = RigidBodyWing(this_frame_id, wing_profile, wing_chord, wing_span, wing_stall_angle, nominal_speed); - obj_or_cell_array_of_wings.name = name; - - if (visual_geometry) - % add visual shapes for automatic drawing of the wing - model = obj_or_cell_array_of_wings.addWingVisualShapeToBody(model, parent); - end - - return; - - else - % has control surfaces - - if ~strcmpi(wing_profile, 'flat plate') - error('wings with control surfaces that are not flat plates is unimplemneted at the current time.'); - end - - % load control surface data - count = 0; - - control_surfaces = []; - - this_surface = control_surface_nodes.item(count); - while ~isempty(this_surface) - - - surface_name = char(this_surface.getAttribute('name')); - surface_chord = parseParamString(model,robotnum,char(this_surface.getAttribute('chord'))); - surface_span = parseParamString(model,robotnum,char(this_surface.getAttribute('span'))); - surface_left_edge_position_along_wing = parseParamString(model,robotnum,char(this_surface.getAttribute('left_edge_position_along_wing'))); - surface_min_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('min_deflection'))); - surface_max_deflection = parseParamString(model,robotnum,char(this_surface.getAttribute('max_deflection'))); - - assert(surface_span > 0, ['Span must be > 0 on control surface "' surface_name '"']); - assert(surface_chord > 0, ['Chord must be > 0 on control surface "' surface_name '"']); - assert(surface_left_edge_position_along_wing >= 0, ['Left edge position must be >= 0 on control surface "' surface_name '"']); - - assert(surface_span + surface_left_edge_position_along_wing <= wing_span, ['Control surface runs off the right end of the wing on surface "' surface_name '"']); - - for other_surface = control_surfaces - if strcmp(other_surface.name, surface_name) - error(['Duplicate control surface name "' surface_name '"']); - end - end - - control_surfaces = [ control_surfaces ControlSurface(surface_name, surface_chord, surface_span, surface_left_edge_position_along_wing, surface_min_deflection, surface_max_deflection) ]; - - - count = count + 1; - this_surface = control_surface_nodes.item(count); - - end - - % now we split the wing up into multiple segments that either - % contain one of the control surfaces or don't - - % do some sanity checks to make sure that the control surfaces do - % not overlap - for surface = control_surfaces - for surface2 = control_surfaces - - if ~strcmp(surface.name, surface2.name) - - left1 = surface.left_edge_position_along_wing; - right1 = left1 + surface.span; - - left2 = surface2.left_edge_position_along_wing; - - if (left1 < left2 && right1 > left2) - error(['Control surfaces "' surface.name '" and "' surface2.name '" overlap.']); - end - - end - end - end % end sanity checks - - - % check for the case where the entire wing has a control surface - if length(control_surfaces) == 1 && control_surfaces(1).left_edge_position_along_wing == 0 ... - && control_surfaces(1).span == wing_span - - % this wing has only one control surface and it spans the entire - % wing, so we can just return a single - % RigidBodyWingWithControlSurface object - - [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); - - - obj_or_cell_array_of_wings = RigidBodyWingWithControlSurface(this_frame_id, wing_profile, wing_chord, wing_span, wing_stall_angle, nominal_speed, control_surfaces(1)); - obj_or_cell_array_of_wings.name = name; - obj_or_cell_array_of_wings.input_limits = [ control_surfaces(1).min_deflection; control_surfaces(1).max_deflection]; - - if (visual_geometry) - % add visual shapes for automatic drawing of the wing - model = obj_or_cell_array_of_wings.addWingVisualShapeToBody(model, parent); - end - - return; - - end - - - % if we are here, that means we have a more complex wing that - % consists of componet parts and will return a cell array of wings + [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); - obj_or_cell_array_of_wings = {}; - - % split the wing up starting from the left edge - - remaining_surfaces = control_surfaces; - point_along_wing = 0; - - while (wing_span - point_along_wing > 1e-6) % not always exactly less than - - % find the minimum value of the control surface left edges - min_left_edge_value = inf; - min_left_edge_index = -1; - - for i = 1 : length(remaining_surfaces) - % need a loop heree because min() doesn't support two matricies - % with two output arguments - if (remaining_surfaces(i).left_edge_position_along_wing < min_left_edge_value) - min_left_edge_value = remaining_surfaces(i).left_edge_position_along_wing; - min_left_edge_index = i; - end - end + obj = RigidBodyWing(this_frame_id, wing_profile, wing_chord, wing_span, wing_stall_angle, nominal_speed); + obj.visual_geometry = visual_geometry_urdf; + obj.name = name; + obj.parent_id = parent; - if (min_left_edge_value == point_along_wing) - % control surface starts at the left edge - - % span of this part of the wing is the span of the control - % surface - - this_surface = control_surfaces(min_left_edge_index); - this_span = this_surface.span; - - - contained_wing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; - - - contained_wing_frame_xyz = left_edge_of_wing + RigidBodyWing.getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy); - - [model,new_wing_frame_id] = addFrame(model,RigidBodyFrame(parent,contained_wing_frame_xyz,rpy,[this_surface.name '_wing' num2str(length(obj_or_cell_array_of_wings)) '_of_' name '_frame'])); - - this_wing = RigidBodyWingWithControlSurface(new_wing_frame_id, wing_profile, wing_chord, this_span, wing_stall_angle, nominal_speed, this_surface); - this_wing.input_limits = [ this_surface.min_deflection; this_surface.max_deflection ]; - this_wing.name = ['wing_' num2str(length(obj_or_cell_array_of_wings)) '_of_' name '_and_control_surface_' this_surface.name]; - - % remove this surface from consideration - remaining_surfaces(min_left_edge_index) = []; - - - else - % make a non-control surfaced wing since the control surface - % does not start at the left edge - - if (min_left_edge_value == inf) - this_span = wing_span - point_along_wing; - else - this_span = min_left_edge_value - point_along_wing; - end - - contained_wing_center_body_frame = [0; this_span / 2 + point_along_wing; 0]; - - contained_wing_frame_xyz = left_edge_of_wing + RigidBodyWing.getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy); - - [model,new_wing_frame_id] = addFrame(model,RigidBodyFrame(parent,contained_wing_frame_xyz,rpy,['wing' num2str(length(obj_or_cell_array_of_wings)) '_of_' name '_frame'])); - - this_wing = RigidBodyWing(new_wing_frame_id, wing_profile, wing_chord, this_span, wing_stall_angle, nominal_speed); - this_wing.name = ['wing_' num2str(length(obj_or_cell_array_of_wings)) '_of_' name]; + % bind parameters before drawing so we know what to draw + obj = obj.bindParams(model, double(model.getParams())); - end - - if (visual_geometry) - % add visual shapes for automatic drawing of the wing - model = this_wing.addWingVisualShapeToBody(model, parent); - end - - obj_or_cell_array_of_wings{end + 1} = this_wing; - - point_along_wing = point_along_wing + this_span; - - end - - - + if (visual_geometry_urdf) + % add visual shapes for automatic drawing of the wing + model = obj.addWingVisualShapeToBody(model, parent); end end - - function contained_wing_frame_xyz = getContainedWingFrameXYZ(contained_wing_center_body_frame, rpy) - % figure out where the center of this contained wing is, accounting - % for possible roll/pitch/yaw in the spec - rot_matrix = [ cos(rpy(3))*cos(rpy(2)), cos(rpy(3))*sin(rpy(2))*sin(rpy(1)) - sin(rpy(3))*cos(rpy(1)), cos(rpy(3))*sin(rpy(2))*cos(rpy(1)) + sin(rpy(3))*sin(rpy(1)); ... - sin(rpy(3))*cos(rpy(2)), sin(rpy(3))*sin(rpy(2))*sin(rpy(1)) + cos(rpy(3))*cos(rpy(1)), sin(rpy(3))*sin(rpy(2))*cos(rpy(1)) - cos(rpy(3))*sin(rpy(1)); ... - -sin(rpy(2)), cos(rpy(2))*sin(rpy(1)), cos(rpy(2))*cos(rpy(1)) ]; - - - - contained_wing_frame_xyz = rot_matrix * contained_wing_center_body_frame; - - end - - end end diff --git a/systems/plants/ControlSurface.m b/systems/plants/ControlSurface.m deleted file mode 100644 index e87212f3a810..000000000000 --- a/systems/plants/ControlSurface.m +++ /dev/null @@ -1,29 +0,0 @@ -classdef ControlSurface - - properties - name; - chord; - span; - left_edge_position_along_wing; - min_deflection; % in radians - max_deflection; % in radians - - end - - - methods - - function obj = ControlSurface(name, chord, span, left_edge_position_along_wing, min_deflection, max_deflection) - obj.name = name; - obj.chord = chord; - obj.span = span; - obj.left_edge_position_along_wing = left_edge_position_along_wing; - obj.min_deflection = min_deflection; - obj.max_deflection = max_deflection; - end - - end - - -end - \ No newline at end of file diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index f026ec19b874..534ca3f2f38e 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -7,8 +7,6 @@ coefficient_drag_y; % coefficient of drag in the y (left/right) direction coefficient_drag_z; % coefficient of drag in the z (up/down) direction - kinframe; - %Air density for 20 degC dry air, at sea level rho = 1.204; @@ -147,13 +145,15 @@ end - function model = updateVisualShapes(obj, model) - % Update visual shapes. This should be called after a parameter + function [ obj, model ] = onCompile(obj, model) + % Update visual shapes on compile. This should be called after a parameter % update that may change the automatic drawing of shapes (ie the area % of the drag force is changed). % % @param model RigidBodyManipulator this is a part of % + % @retval obj updated object, which you need to put back into + % the updated model % @retval model updated model diff --git a/systems/plants/RigidBodyElement.m b/systems/plants/RigidBodyElement.m index db17eec3137e..5e1e313ed78e 100644 --- a/systems/plants/RigidBodyElement.m +++ b/systems/plants/RigidBodyElement.m @@ -6,7 +6,15 @@ end methods - function body=bindParams(body,model,pval) + function [ body, model ] = bindParams(body,model,pval) + % Bind parameters from msspolys to doubles + % + % @param body this object + % @param model model we are a part of + % @param pval values to set + % + % @retval updated body + fr = getParamFrame(model); pn = properties(body); for i=1:length(pn) @@ -15,15 +23,12 @@ body.(pn{i}) = double(subs(body.(pn{i}),fr.getPoly,pval)); end end + end - function [body, model]=updateParams(body,poly,pval,model) + function body=updateParams(body,poly,pval) % this is only intended to be called from the parent manipulator % class. (maybe I should move it up to there?) - % - % model is returned in case you need to update it (ie update visual - % shapes in responce to a parameter change). If you pass it, you - % should respect its (potentially new) returned value fn = fieldnames(body.param_bindings); for i=1:length(fn) @@ -45,7 +50,7 @@ % intentionally do nothing. overload if necessary end - function model = updateVisualShapes(obj, model) + function [obj, model] = onCompile(obj, model) % intentionally do nothing. overload if necessary end end diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index 8125011a08c6..2a0c323d7d51 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -5,7 +5,10 @@ % URDF parsing is handled by RigidBodyWing. properties - control_surface % the control surface attached to this wing + control_surface_chord; % chord of the control surface + control_surface_min_deflection; % min deflection in radians + control_surface_max_deflection; % max deflection in radians + fCl_control_surface; % Interpolant for the control surface, given aoa and u fCd_control_surface; fCm_control_surface; @@ -15,11 +18,16 @@ methods - function obj = RigidBodyWingWithControlSurface(frame_id, profile, chord, span, stall_angle, velocity, control_surface) + function obj = RigidBodyWingWithControlSurface(frame_id, profile, chord, span, stall_angle, velocity, control_surface_chord, control_surface_min_deflection, control_surface_max_deflection) % Constructor taking similar arguments to RigidBodyWing except - % with the addition of a ControlSurface + % with the addition of control surface parameters % - % @param control_surface a ControlSurface attached to this wing. + % @param control_surface_chord length of the control surface attached + % to the wing + % @param control_surface_min_deflection minimum deflection of the + % control surface attached to the wing in raidans (ex. -0.9) + % @param control_surface_max_deflection maximum deflection of the + % control surface attached to the wing in radians (ex. 0.9) % we need to be able to construct with no arguments per @@ -31,20 +39,31 @@ return; end - obj.control_surface = control_surface; + obj.control_surface_chord = control_surface_chord; + obj.control_surface_min_deflection = control_surface_min_deflection; + obj.control_surface_max_deflection = control_surface_max_deflection; + obj.direct_feedthrough_flag = true; + obj.input_limits = [ obj.control_surface_min_deflection; obj.control_surface_max_deflection ]; - obj.has_control_surface = true; - % compute the coefficients for the flat plate + end + + function [obj, model] = onCompile(obj, model) + % Called on compile. Builds a new airfoil if needed + % and also builds a new control surface parameterization if needed - %[obj.fCl, obj.fCd, obj.fCm] = obj.flatplate_old(); + % call parent + [obj, model] = onCompile@RigidBodyWing(obj, model); - [obj.fCl_control_surface, obj.fCd_control_surface, obj.fCm_control_surface ] = obj.flateplateControlSurfaceInterp(); + % compute the coefficients for the flat plate + %[obj.fCl, obj.fCd, obj.fCm] = obj.flatplate_old(); + [obj.fCl_control_surface, obj.fCd_control_surface, obj.fCm_control_surface ] = obj.flateplateControlSurfaceInterp(); + end function [force, B_force, dforce, dB_force] = computeSpatialForce(obj,manip,q,qd) @@ -275,7 +294,7 @@ Cd_control_surface = 2 .* (sin(aoa_mat + control_surface_mat)) .^ 2; - control_surface_area = obj.control_surface.span .* obj.control_surface.chord; + control_surface_area = obj.span .* obj.control_surface_chord; fCl = 0.5 .* obj.rho .* Cl_control_surface .* control_surface_area; @@ -283,7 +302,7 @@ % distance from the center of the wing to the center of the control % surface - r = obj.chord / 2 + obj.control_surface.chord / 2; + r = obj.chord / 2 + obj.control_surface_chord / 2; fCm = obj.rho .* r .* sin(aoa_mat + control_surface_mat) .* cos(aoa_mat + control_surface_mat) .* control_surface_area; @@ -297,7 +316,7 @@ % % @retval control_surface_range the range as an array - control_surface_range = obj.control_surface.min_deflection : obj.control_surface_increment : obj.control_surface.max_deflection; + control_surface_range = obj.control_surface_min_deflection : obj.control_surface_increment : obj.control_surface_max_deflection; end function drawWing(obj, manip, q, qd, fill_color) @@ -320,15 +339,15 @@ function drawWing(obj, manip, q, qd, fill_color) kinsol = doKinematics(manip,q,false, false, qd); % move the origin to the control surface's origin - origin = [-obj.chord/2 - obj.control_surface.chord/2; 0; 0]; + origin = [-obj.chord/2 - obj.control_surface_chord/2; 0; 0]; - p1 = [origin(1) - obj.control_surface.chord/2, origin(2) - obj.control_surface.span/2, origin(3)]; + p1 = [origin(1) - obj.control_surface_chord/2, origin(2) - obj.span/2, origin(3)]; - p2 = [origin(1) + obj.control_surface.chord/2, origin(2) - obj.control_surface.span/2, origin(3)]; + p2 = [origin(1) + obj.control_surface_chord/2, origin(2) - obj.span/2, origin(3)]; - p3 = [origin(1) + obj.control_surface.chord/2, origin(2) + obj.control_surface.span/2, origin(3)]; + p3 = [origin(1) + obj.control_surface_chord/2, origin(2) + obj.span/2, origin(3)]; - p4 = [origin(1) - obj.control_surface.chord/2, origin(2) + obj.control_surface.span/2, origin(3)]; + p4 = [origin(1) - obj.control_surface_chord/2, origin(2) + obj.span/2, origin(3)]; pts = forwardKin(manip, kinsol, obj.kinframe, [p1; p2; p3; p4]'); @@ -363,10 +382,10 @@ function drawWing(obj, manip, q, qd, fill_color) control_surface_height = 0.01; - box_size = [ obj.control_surface.chord, obj.control_surface.span, control_surface_height ]; + box_size = [ obj.control_surface_chord, obj.span, control_surface_height ]; % get the xyz and rpy of the control surface - origin = [-obj.chord/2 - obj.control_surface.chord/2; 0; 0]; + origin = [-obj.chord/2 - obj.control_surface_chord/2; 0; 0]; T = model.getFrame(obj.kinframe).T; R = T(1:3,1:3); @@ -382,11 +401,110 @@ function drawWing(obj, manip, q, qd, fill_color) shape = RigidBodyBox(box_size, xyz, rpy); shape = shape.setColor([1 .949 .211]); + shape.name = [ obj.name '_urdf_shape' ]; model = model.addVisualShapeToBody(body, shape); end + function model = updateVisualShapes(obj, model) + % Update visual shapes. This should be called after a parameter + % update that may change the automatic drawing of shapes (ie the area + % of the drag force is changed). + % + % @param model RigidBodyManipulator this is a part of + % + % @retval model updated model + + if (obj.visual_geometry) + + % call parent class's version + model = updateVisualShapes@RigidBodyWing(obj, model); + + % remove any existing shapes for this body + model = model.removeShapeFromBody(obj.parent_id, [ obj.name '_urdf_shape' ]); + + % add new shapes + model = addWingVisualShapeToBody(obj, model, obj.parent_id); + + + end + + end + + end + + methods (Static) + + function [model, obj] = parseURDFNode(model,robotnum,node,options) + % Parses URDF node for wing_with_control_surface + % + % @param model model we are buidling + % @param robotnum + % @param node URDF node to parse + % @param options none right now + % + % @retval model updated model + % @reval obj newly created RigidBodyWingWithControlSurface object + + + name = char(node.getAttribute('name')); + name = regexprep(name, '\.', '_', 'preservecase'); + + elNode = node.getElementsByTagName('parent').item(0); + parent = findLinkInd(model,char(elNode.getAttribute('link')),robotnum); + + xyz=zeros(3,1); rpy=zeros(3,1); + elnode = node.getElementsByTagName('origin').item(0); + if ~isempty(elnode) + if elnode.hasAttribute('xyz') + xyz = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('xyz'))),3,1); + end + if elnode.hasAttribute('rpy') + rpy = reshape(parseParamString(model,robotnum,char(elnode.getAttribute('rpy'))),3,1); + end + end + + + + wing_profile = char(node.getAttribute('profile')); + + if ~strcmpi(wing_profile, 'flat plate') + error('wings with control surfaces that are not flat plates is unimplemneted at the current time.'); + end + + + + wing_chord = parseParamString(model,robotnum,char(node.getAttribute('chord'))); + wing_span = parseParamString(model,robotnum,char(node.getAttribute('span'))); + wing_stall_angle = parseParamString(model,robotnum,char(node.getAttribute('stall_angle'))); + nominal_speed = parseParamString(model,robotnum,char(node.getAttribute('nominal_speed'))); + visual_geometry_urdf = parseParamString(model,robotnum,char(node.getAttribute('visual_geometry'))); + control_surface_chord_urdf = parseParamString(model,robotnum,char(node.getAttribute('control_surface_chord'))); + control_surface_min_deflection_urdf = parseParamString(model,robotnum,char(node.getAttribute('control_surface_min_deflection'))); + control_surface_max_deflection_urdf = parseParamString(model,robotnum,char(node.getAttribute('control_surface_max_deflection'))); + + [model,this_frame_id] = addFrame(model,RigidBodyFrame(parent,xyz,rpy,[name,'_frame'])); + + obj = RigidBodyWingWithControlSurface(this_frame_id, wing_profile, wing_chord, ... + wing_span, wing_stall_angle, nominal_speed, control_surface_chord_urdf, ... + control_surface_min_deflection_urdf, control_surface_max_deflection_urdf); + + obj.name = name; + obj.visual_geometry = visual_geometry_urdf; + obj.parent_id = parent; + + + % bind parameters before drawing so we know what to draw + obj = obj.bindParams(model, double(model.getParams())); + model = bindFrameParams(model, double(model.getParams())); + + if (visual_geometry_urdf) + % add visual shapes for automatic drawing of the wing + % model = obj.addWingVisualShapeToBody(model, parent); + end + + end end diff --git a/systems/plants/test/testRigidBodyWingChangingParams.m b/systems/plants/test/testRigidBodyWingChangingParams.m new file mode 100644 index 000000000000..e02b07ddd257 --- /dev/null +++ b/systems/plants/test/testRigidBodyWingChangingParams.m @@ -0,0 +1,64 @@ +function xtraj = testRigidBodyWingChangingParams() + + % Tests control surfaces by creating from a URDF that has control surfaces + % and simulating. + + %% Construct from URDF + + + disp('Constructing from URDF...'); + + options.floating = true; + r = RigidBodyManipulator('testRigidBodyWingChangingParams.urdf', options); + v = r.constructVisualizer(); + + %% simulate + + disp('Simulating...'); + + x0 = [0; 0; 0; 0; 0; 0; 15; 0; 0; 0; 0; 0]; + end_t = .5; + + constant_traj = ConstantTrajectory([0.8 0.8 100]); + constant_traj = constant_traj.setOutputFrame(r.getInputFrame()); + + feedback_system = cascade(constant_traj, r); + + [ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + + v.playback(xtraj) + + final_x = xtraj.eval(end_t); + + + assert(final_x(1) > 5) % should move forward + assert(abs(final_x(2)) < .1) % should stay in the center + assert(final_x(3) > 1); % should gain altitude + + + + %% change the params + + params = r.getParams(); + params.cs_chord = params.cs_chord + .1; + r2 = r.setParams(params); + + v2 = r2.constructVisualizer(); + + constant_traj = ConstantTrajectory([0.8 0.8 100]); + constant_traj = constant_traj.setOutputFrame(r2.getInputFrame()); + + feedback_system = cascade(constant_traj, r2); + + [ytraj, xtraj] = feedback_system.simulate([0 end_t], x0); + + v2.playback(xtraj) + + final_x_different_params = xtraj.eval(end_t); + + + assert(final_x(1) > 5) % should move forward + assert(abs(final_x(2)) < .1) % should stay in the center + assert(final_x(3) > 1); % should gain altitude + +end \ No newline at end of file diff --git a/systems/plants/test/testRigidBodyWingChangingParams.urdf b/systems/plants/test/testRigidBodyWingChangingParams.urdf new file mode 100644 index 000000000000..085e11bc6ed2 --- /dev/null +++ b/systems/plants/test/testRigidBodyWingChangingParams.urdf @@ -0,0 +1,128 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/systems/plants/test/testRigidBodyWingWithControlSurface.urdf b/systems/plants/test/testRigidBodyWingWithControlSurface.urdf index 45b2eb3790c8..e8283b91178f 100644 --- a/systems/plants/test/testRigidBodyWingWithControlSurface.urdf +++ b/systems/plants/test/testRigidBodyWingWithControlSurface.urdf @@ -18,29 +18,73 @@ izz="0.019316" /> - - + + + - - + + + + + + + + - - + + + - - + + - + + Date: Wed, 29 Oct 2014 19:22:36 -0400 Subject: [PATCH 229/271] Adds URDF documentation. Also fixes a few bugs related to the parameters and updates tests. --- doc/drakeURDF.xsd | 69 +++++++++++----- .../RigidBodyManipulator.m | 19 +++-- systems/plants/@RigidBodyWing/RigidBodyWing.m | 12 +-- systems/plants/RigidBodyBluffBody.m | 3 + systems/plants/RigidBodyElement.m | 2 +- .../plants/test/testRigidBodyBluffBody.urdf | 79 +++++++++++++++---- .../test/testRigidBodyWingChangingParams.m | 1 + .../test/testRigidBodyWingChangingParams.urdf | 4 +- ...gWithControlSurfaceOnlyControlSurface.urdf | 16 +++- 9 files changed, 152 insertions(+), 53 deletions(-) diff --git a/doc/drakeURDF.xsd b/doc/drakeURDF.xsd index b52b1caccb11..c7b73c2dec4c 100644 --- a/doc/drakeURDF.xsd +++ b/doc/drakeURDF.xsd @@ -71,7 +71,7 @@ eventually support all of the same types as a 'joint' element. See the joint ele - Wing element supporting flat plates, airfoils, and control surfaces. + Wing element supporting flat plates, airfoils. See wing_with_control_surface for a wing with a control surface attached. @@ -197,11 +197,6 @@ used for the moment coefficient. RPY support has been excluded, requiring the axes of the airfoil to line up with those of its parent body. - - - Control surface attached to a wing. Can have up to one control surface per wing. - - @@ -248,40 +243,74 @@ Reynolds number around which we design the aerodynamic coefficients.

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6395//6395 6476//6476 6712//6712 +f 6712//6712 6476//6476 6477//6477 +f 6712//6712 6477//6477 6756//6756 +f 6756//6756 6477//6477 6479//6479 +f 6756//6756 6479//6479 6757//6757 +# 13538 faces, 0 coords texture + +# End of File \ No newline at end of file diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify.mlx b/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify.mlx new file mode 100644 index 000000000000..f76bef53e17e --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify.mlx @@ -0,0 +1,4 @@ + + + + diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify_obj.sh b/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify_obj.sh new file mode 100644 index 000000000000..dfbf7f21ec63 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify_obj.sh @@ -0,0 +1,9 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.obj +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'_1.obj' -om vn -s simplify.mlx + #echo $name'.obj' +done diff --git a/examples/Atlas/urdf/robotiq.urdf b/examples/Atlas/urdf/robotiq.urdf new file mode 100644 index 000000000000..73706246e1ec --- /dev/null +++ b/examples/Atlas/urdf/robotiq.urdf @@ -0,0 +1,1060 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + Gazebo/FlatBlack + true + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + true + + + + From bffd0d6ac598a0391897c46e98e042ec0c5d7f01 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 12:59:54 -0400 Subject: [PATCH 213/271] robotiq hand model was bringing drake to it's knees. turns out the rbm object was 3.5 GB in memory. after a painfully slow debugging process, we figured out that it was because the loop joints, and drakeFunction kinematic constraints, contained a copy of the manipulator, which nested into a massive memory alloc. the stopgap solution is to zap the system constraints for the copy of the rbm that is stored inside the kinematic constraint class. --- solvers/+drakeFunction/RigidBodyManipulatorFunction.m | 2 +- systems/@DrakeSystem/DrakeSystem.m | 7 +++++++ systems/plants/@Manipulator/Manipulator.m | 11 +++++++++++ 3 files changed, 19 insertions(+), 1 deletion(-) diff --git a/solvers/+drakeFunction/RigidBodyManipulatorFunction.m b/solvers/+drakeFunction/RigidBodyManipulatorFunction.m index 3cd3ae17a939..1f9b88d757cd 100644 --- a/solvers/+drakeFunction/RigidBodyManipulatorFunction.m +++ b/solvers/+drakeFunction/RigidBodyManipulatorFunction.m @@ -14,7 +14,7 @@ typecheck(rbm,{'RigidBodyManipulator', ... 'TimeSteppingRigidBodyManipulator'}); obj = obj@drakeFunction.DrakeFunction(input_frame,output_frame); - obj.rbm = rbm; + obj.rbm = rbm.removeAllStateConstraints(); end function obj = setRigidBodyManipulator(obj, rbm) diff --git a/systems/@DrakeSystem/DrakeSystem.m b/systems/@DrakeSystem/DrakeSystem.m index b3df378ceb3e..9eaf2c9156b8 100644 --- a/systems/@DrakeSystem/DrakeSystem.m +++ b/systems/@DrakeSystem/DrakeSystem.m @@ -394,6 +394,13 @@ function displayStateConstraints(obj) disp(obj.state_constraints{i}); end end + + function obj = removeAllStateConstraints(obj) + obj.num_xcon_eq = 0; + obj.num_xcon_ineq = 0; + obj.state_constraints = {}; + obj.state_constraint_xind = {}; + end end methods (Sealed) diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 2f3271d45465..2fa79e4f8f38 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -219,6 +219,17 @@ obj.num_velocity_constraints = obj.num_velocity_constraints+con.num_cnstr; obj.velocity_constraints{id} = con; end + + function obj = removeAllStateConstraints(obj) + obj.num_position_constraints=0; + obj.num_velocity_constraints=0; + obj.position_constraints = {}; + obj.position_constraint_ids = []; + obj.velocity_constraints = {}; + obj.velocity_constraint_ids = []; + obj.joint_limit_constraint_id = []; + obj = removeAllStateConstraints@DrakeSystem(obj); + end end methods From 6d309d32cff104eebedad96a5d29bda40967a69d Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 27 Oct 2014 12:55:53 -0400 Subject: [PATCH 214/271] adds robotiq urdf from alexg --- .../s-model_articulated/collision/chull.mlx | 6 + .../collision/convert_stl_2_obj.sh | 10 + .../collision/convert_stl_2_wrl.sh | 10 + .../s-model_articulated/collision/link_0.STL | Bin 0 -> 10884 bytes .../s-model_articulated/collision/link_0.obj | 1528 + .../s-model_articulated/collision/link_0.wrl | 239 + .../collision/link_0_1.obj | 452 + .../collision/link_0_1_1.obj | 452 + .../collision/link_0_chull.obj | 452 + .../collision/link_0_chull.wrl | 105 + .../collision/link_0_chull_1.obj | 452 + .../collision/link_0_chull_1_1.obj | 452 + .../s-model_articulated/collision/link_1.STL | Bin 0 -> 11084 bytes .../s-model_articulated/collision/link_1.obj | 1556 + .../s-model_articulated/collision/link_1.wrl | 243 + .../collision/link_1_1.obj | 460 + .../collision/link_1_1_1.obj | 460 + .../collision/link_1_chull.obj | 460 + .../collision/link_1_chull.wrl | 106 + .../collision/link_1_chull_1.obj | 460 + .../collision/link_1_chull_1_1.obj | 460 + .../s-model_articulated/collision/link_2.STL | Bin 0 -> 10684 bytes .../s-model_articulated/collision/link_2.obj | 1500 + .../s-model_articulated/collision/link_2.wrl | 236 + .../collision/link_2_1.obj | 444 + .../collision/link_2_1_1.obj | 444 + .../collision/link_2_chull.obj | 444 + .../collision/link_2_chull.wrl | 104 + .../collision/link_2_chull_1.obj | 444 + .../collision/link_2_chull_1_1.obj | 444 + .../s-model_articulated/collision/link_3.STL | Bin 0 -> 15184 bytes .../s-model_articulated/collision/link_3.obj | 2130 + .../s-model_articulated/collision/link_3.wrl | 319 + .../collision/link_3_1.obj | 624 + .../collision/link_3_1_1.obj | 624 + .../collision/link_3_chull.obj | 624 + .../collision/link_3_chull.wrl | 131 + .../collision/link_3_chull_1.obj | 624 + .../collision/link_3_chull_1_1.obj | 624 + .../s-model_articulated/collision/palm.STL | Bin 0 -> 133084 bytes .../s-model_articulated/collision/palm.obj | 18636 +++ .../s-model_articulated/collision/palm.wrl | 2480 + .../s-model_articulated/collision/palm_1.obj | 5300 + .../collision/palm_1_1.obj | 5300 + .../collision/palm_chull.obj | 5340 + .../collision/palm_chull.wrl | 818 + .../collision/palm_chull_1.obj | 5300 + .../collision/palm_chull_1_1.obj | 5300 + .../collision/simplify.mlx | 4 + .../collision/simplify_obj.sh | 9 + .../s-model_articulated/visual/chull.mlx | 6 + .../visual/convert_stl_2_obj.sh | 10 + .../visual/convert_stl_2_wrl.sh | 10 + .../s-model_articulated/visual/link_0.STL | Bin 0 -> 25084 bytes .../s-model_articulated/visual/link_0.obj | 3516 + .../s-model_articulated/visual/link_0.wrl | 500 + .../s-model_articulated/visual/link_0_1.obj | 1012 + .../s-model_articulated/visual/link_0_1_1.obj | 1012 + .../visual/link_0_chull.obj | 452 + .../visual/link_0_chull.wrl | 105 + .../visual/link_0_chull_1.obj | 452 + .../visual/link_0_chull_1_1.obj | 1012 + .../s-model_articulated/visual/link_1.STL | Bin 0 -> 46584 bytes .../s-model_articulated/visual/link_1.obj | 6526 ++ .../s-model_articulated/visual/link_1.wrl | 894 + .../s-model_articulated/visual/link_1_1.obj | 2090 + .../s-model_articulated/visual/link_1_1_1.obj | 2090 + .../visual/link_1_chull.obj | 460 + .../visual/link_1_chull.wrl | 106 + .../visual/link_1_chull_1.obj | 460 + .../visual/link_1_chull_1_1.obj | 2090 + .../s-model_articulated/visual/link_2.STL | Bin 0 -> 44084 bytes .../s-model_articulated/visual/link_2.obj | 6176 + .../s-model_articulated/visual/link_2.wrl | 848 + .../s-model_articulated/visual/link_2_1.obj | 1972 + .../s-model_articulated/visual/link_2_1_1.obj | 1972 + .../visual/link_2_chull.obj | 444 + .../visual/link_2_chull.wrl | 104 + .../visual/link_2_chull_1.obj | 444 + .../visual/link_2_chull_1_1.obj | 1972 + .../s-model_articulated/visual/link_3.STL | Bin 0 -> 36534 bytes .../s-model_articulated/visual/link_3.obj | 5119 + .../s-model_articulated/visual/link_3.wrl | 710 + .../s-model_articulated/visual/link_3_1.obj | 1601 + .../s-model_articulated/visual/link_3_1_1.obj | 1601 + .../visual/link_3_chull.obj | 624 + .../visual/link_3_chull.wrl | 131 + .../visual/link_3_chull_1.obj | 624 + .../visual/link_3_chull_1_1.obj | 1601 + .../s-model_articulated/visual/palm.STL | Bin 0 -> 677984 bytes .../s-model_articulated/visual/palm.obj | 94922 ++++++++++++++++ .../s-model_articulated/visual/palm.wrl | 12470 ++ 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examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_1_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_chull.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_chull.wrl create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_chull_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/palm_chull_1_1.obj create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify.mlx create mode 100644 examples/Atlas/urdf/meshes/s-model_articulated/visual/simplify_obj.sh create mode 100644 examples/Atlas/urdf/robotiq.urdf diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/chull.mlx b/examples/Atlas/urdf/meshes/s-model_articulated/collision/chull.mlx new file mode 100644 index 000000000000..8d4cc3ab12fb --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/chull.mlx @@ -0,0 +1,6 @@ + + + + + + diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_obj.sh b/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_obj.sh new file mode 100644 index 000000000000..a038f820ad71 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_obj.sh @@ -0,0 +1,10 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.STL +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'.obj' -om vn + meshlabserver -i $file -o $name'_chull.obj' -om vn -s chull.mlx + #echo $name'.obj' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_wrl.sh b/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_wrl.sh new file mode 100644 index 000000000000..50278255873b --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/convert_stl_2_wrl.sh @@ -0,0 +1,10 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.STL +do + name=${file%%[.]*} 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726//726 1271//1271 +f 1270//1270 1269//1269 726//726 +f 1270//1270 976//976 1269//1269 +f 1270//1270 1246//1246 976//976 +f 1272//1272 1246//1246 1270//1270 +f 1270//1270 1271//1271 1272//1272 +f 1275//1275 1247//1247 1273//1273 +f 1275//1275 1276//1276 1247//1247 +f 1275//1275 1273//1273 1274//1274 +f 1275//1275 1274//1274 1128//1128 +f 1275//1275 1128//1128 984//984 +f 984//984 1276//1276 1275//1275 +f 1277//1277 1130//1130 559//559 +f 1277//1277 559//559 1280//1280 +f 1278//1278 1130//1130 1277//1277 +f 1277//1277 1279//1279 1278//1278 +f 1277//1277 1280//1280 560//560 +f 1279//1279 1277//1277 560//560 +f 1282//1282 1281//1281 1136//1136 +f 1250//1250 1282//1282 1136//1136 +f 1282//1282 1250//1250 1281//1281 +f 1289//1289 1284//1284 1216//1216 +f 1215//1215 1216//1216 1284//1284 +f 1292//1292 1283//1283 1284//1284 +f 1284//1284 1283//1283 1215//1215 +f 1285//1285 1286//1286 1218//1218 +f 1254//1254 1285//1285 1218//1218 +f 870//870 1286//1286 1285//1285 +f 1285//1285 877//877 870//870 +f 1285//1285 1150//1150 877//877 +f 1212//1212 1150//1150 1285//1285 +f 1285//1285 1254//1254 1212//1212 +f 1287//1287 1257//1257 847//847 +f 1287//1287 847//847 850//850 +f 850//850 1224//1224 1287//1287 +f 1287//1287 1224//1224 1288//1288 +f 1287//1287 1288//1288 1223//1223 +f 1223//1223 1257//1257 1287//1287 +f 1291//1291 1284//1284 1289//1289 +f 1253//1253 1291//1291 1290//1290 +f 1291//1291 1289//1289 1290//1290 +f 1292//1292 1284//1284 1291//1291 +f 1291//1291 800//800 1292//1292 +f 1291//1291 1253//1253 800//800 +f 1294//1294 316//316 12//12 +f 91//91 1293//1293 278//278 +f 1293//1293 227//227 278//278 +f 1295//1295 114//114 319//319 +f 1300//1300 1303//1303 333//333 +f 1300//1300 629//629 625//625 +f 1300//1300 377//377 354//354 +f 1298//1298 1300//1300 41//41 +f 1300//1300 1297//1297 41//41 +f 1300//1300 1302//1302 311//311 +f 1300//1300 415//415 1299//1299 +f 1300//1300 1298//1298 2//2 +f 311//311 670//670 1300//1300 +f 1300//1300 1299//1299 164//164 +f 1301//1301 1297//1297 1300//1300 +f 1300//1300 1306//1306 297//297 +f 333//333 42//42 1300//1300 +f 1300//1300 231//231 467//467 +f 1300//1300 299//299 231//231 +f 1300//1300 42//42 1301//1301 +f 1300//1300 354//354 1305//1305 +f 1300//1300 300//300 299//299 +f 467//467 1302//1302 1300//1300 +f 1304//1304 1303//1303 1300//1300 +f 1300//1300 341//341 1304//1304 +f 1305//1305 629//629 1300//1300 +f 164//164 377//377 1300//1300 +f 1300//1300 670//670 1054//1054 +f 1300//1300 766//766 1306//1306 +f 2//2 766//766 1300//1300 +f 297//297 300//300 1300//1300 +f 1054//1054 415//415 1300//1300 +f 1307//1307 192//192 1313//1313 +f 1313//1313 1317//1317 1315//1315 +f 1308//1308 148//148 1313//1313 +f 12//12 316//316 1313//1313 +f 1313//1313 702//702 1309//1309 +f 1313//1313 316//316 701//701 +f 1313//1313 728//728 1310//1310 +f 1313//1313 1311//1311 1308//1308 +f 701//701 702//702 1313//1313 +f 1313//1313 1122//1122 1206//1206 +f 148//148 407//407 1313//1313 +f 55//55 1307//1307 1313//1313 +f 1313//1313 1316//1316 55//55 +f 1313//1313 1310//1310 75//75 +f 1206//1206 1312//1312 1313//1313 +f 1313//1313 284//284 1314//1314 +f 1309//1309 1311//1311 1313//1313 +f 1313//1313 192//192 12//12 +f 1315//1315 386//386 1313//1313 +f 407//407 1319//1319 1313//1313 +f 1313//1313 1312//1312 1320//1320 +f 385//385 284//284 1313//1313 +f 1313//1313 443//443 1316//1316 +f 382//382 1317//1317 1313//1313 +f 1318//1318 382//382 1313//1313 +f 443//443 1313//1313 75//75 +f 1313//1313 386//386 385//385 +f 1313//1313 1319//1319 1318//1318 +f 1320//1320 728//728 1313//1313 +f 1313//1313 972//972 1122//1122 +f 83//83 1322//1322 85//85 +f 1322//1322 84//84 85//85 +f 1322//1322 83//83 246//246 +f 1322//1322 246//246 273//273 +f 1322//1322 1321//1321 84//84 +f 1322//1322 497//497 88//88 +f 1322//1322 489//489 1321//1321 +f 273//273 499//499 1322//1322 +f 499//499 498//498 1322//1322 +f 1322//1322 498//498 497//497 +f 1322//1322 965//965 489//489 +f 1236//1236 1100//1100 1197//1197 +f 1236//1236 176//176 575//575 +f 1236//1236 1197//1197 176//176 +f 1236//1236 1073//1073 1072//1072 +f 1072//1072 1071//1071 1236//1236 +f 1236//1236 1071//1071 1079//1079 +f 575//575 1073//1073 1236//1236 +f 1236//1236 1076//1076 1100//1100 +f 1236//1236 1188//1188 1076//1076 +# 2640 faces, 0 coords texture + +# End of File \ No newline at end of file diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify.mlx b/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify.mlx new file mode 100644 index 000000000000..f76bef53e17e --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify.mlx @@ -0,0 +1,4 @@ + + + + diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify_obj.sh b/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify_obj.sh new file mode 100644 index 000000000000..dfbf7f21ec63 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/collision/simplify_obj.sh @@ -0,0 +1,9 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.obj +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'_1.obj' -om vn -s simplify.mlx + #echo $name'.obj' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/chull.mlx b/examples/Atlas/urdf/meshes/s-model_articulated/visual/chull.mlx new file mode 100644 index 000000000000..8d4cc3ab12fb --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/chull.mlx @@ -0,0 +1,6 @@ + + + + + + diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_obj.sh b/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_obj.sh new file mode 100644 index 000000000000..a038f820ad71 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_obj.sh @@ -0,0 +1,10 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.STL +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'.obj' -om vn + meshlabserver -i $file -o $name'_chull.obj' -om vn -s chull.mlx + #echo $name'.obj' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_wrl.sh b/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_wrl.sh new file mode 100644 index 000000000000..50278255873b --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/convert_stl_2_wrl.sh @@ -0,0 +1,10 @@ +#!/bin/bash + # echo of all files in a directory + +for file in *.STL +do + name=${file%%[.]*} + meshlabserver -i $file -o $name'.wrl' -om vn + meshlabserver -i $file -o $name'_chull.wrl' -om vn -s chull.mlx + #echo $name'.wrl' +done diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/link_0.STL b/examples/Atlas/urdf/meshes/s-model_articulated/visual/link_0.STL new file mode 100644 index 0000000000000000000000000000000000000000..f432890dc31d2aa2817393452b2b2ed6f0df1f65 GIT binary patch literal 25084 zcmb`Pd$8SAb;o~(@KA}oia?V<2o#ioAP;GJ&$;&p4mttaN_Z($1e*v1Dbf}YnglKq 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+ +# End of File \ No newline at end of file diff --git a/examples/Atlas/urdf/meshes/s-model_articulated/visual/link_1.wrl b/examples/Atlas/urdf/meshes/s-model_articulated/visual/link_1.wrl new file mode 100644 index 000000000000..ca320ea187c1 --- /dev/null +++ b/examples/Atlas/urdf/meshes/s-model_articulated/visual/link_1.wrl @@ -0,0 +1,894 @@ +#VRML V2.0 utf8 + +# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR + +NavigationInfo { + type [ "EXAMINE", "ANY" ] +} +Transform { + scale 1 1 1 + translation 0 0 0 + children + [ + Shape + { + geometry IndexedFaceSet + { + creaseAngle .5 + solid FALSE + coord Coordinate + { + point + [ + -0.078652 -0.0251893 0.009017, -0.0796111 -0.0232121 0.009017, -0.078652 -0.0251893 -0.009017, -0.078652 -0.0251893 -0.009017, + -0.0796111 -0.0232121 0.009017, -0.0796111 -0.0232121 -0.009017, -0.0796111 -0.0232121 0.009017, -0.0801225 -0.021075 0.009017, + -0.0796111 -0.0232121 -0.009017, -0.0796111 -0.0232121 -0.009017, -0.0801225 -0.021075 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- - - - + + + + + String naming the link on which +this wing is attached. + + + + + This defines the position of +the quarter-chord point of the airfoil, since that is the reference point +used for the moment coefficient. RPY support has been excluded, requiring +the axes of the airfoil to line up with those of its parent body. + + + + Only "flat plate" supported right now. - - + - Length of the control surface. + the chord length in +meters. - - + + + the span of the wing +in meters. + + + + + the angle +in degrees upon which the lift and drag performance returns to that of +a flat plate. (this value is ignored if the profile is set to a flat plate). + + + - Width of the control surface. + an approximate +nominal speed in meters per second used to calculate the +Reynolds number around which we design the aerodynamic coefficients. + + + enable or disable automatic drawing of the wing + + + - + - Position of the left edge of the control surface along the wing (in meters). + Length of the control surface. - + Minimum control surface deflection in radians. Typical is around -0.90 - + Maximum control surface deflection in radians. Typical is around 0.90 diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 0c4509b8d7f4..8d96407a2d34 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -582,7 +582,7 @@ if isa(this_t, 'msspoly') % this is a paramter - model.param_db_fr{i} = this_t; + model.param_db_fr{i}.T = this_t; end @@ -592,14 +592,17 @@ % now iterate through the model_db.frames and bind them to our frames fr = getParamFrame(model); - for i=1:length(model.param_db_fr) - - msspoly_t = model.param_db_fr{i}; - - bound_t = double(subs(msspoly_t, fr.getPoly, pval)); - - model.frame(i).T = bound_t; + for i=1:length(model.frame) + % check to see if we have data for this frame + if i <= length(model.param_db_fr) && ~isempty(model.param_db_fr{i}) + + msspoly_t = model.param_db_fr{i}.T; + + bound_t = double(subs(msspoly_t, fr.getPoly, pval)); + + model.frame(i).T = bound_t; + end end end diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 8817d0760ce6..023d2736c050 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -103,6 +103,7 @@ velocity = obj.velocity; stallAngle = obj.stall_angle; chord = obj.chord; + span = obj.span; linux = isunix(); mach = velocity/341; % mach 1 at sea level is about 341 m/s @@ -578,9 +579,9 @@ function revertEnvVars() end - function body=updateParams(body,poly,pval) + function body = updateParams(body,poly,pval) % @override - + body.airfoil_needs_update = true; body = updateParams@RigidBodyElement(body, poly, pval); @@ -611,12 +612,12 @@ function revertEnvVars() end - function [ body, model ]=bindParams(body,model,pval) + function body = bindParams(body,model,pval) % @override - + body.airfoil_needs_update = true; - [body, model] = bindParams@RigidBodyElement(body,model,pval); + body = bindParams@RigidBodyElement(body,model,pval); end @@ -798,6 +799,7 @@ function revertEnvVars() % bind parameters before drawing so we know what to draw obj = obj.bindParams(model, double(model.getParams())); + model = bindFrameParams(model, double(model.getParams())); if (visual_geometry_urdf) % add visual shapes for automatic drawing of the wing diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index 534ca3f2f38e..8da83534bbb5 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -17,6 +17,8 @@ visual_geometry; % true if drawing from the URDF properties parent_id; % id of parent body from the URDF + kinframe; + end @@ -223,6 +225,7 @@ % bind parameters, because if there is a parameter on area, we need % to know what it is (right now) for correct drawing obj = obj.bindParams(model, double(model.getParams())); + model = bindFrameParams(model, double(model.getParams())); if (obj.visual_geometry) model = addBluffBodyVisualShapeToBody(obj, model, parent); diff --git a/systems/plants/RigidBodyElement.m b/systems/plants/RigidBodyElement.m index 5e1e313ed78e..ef6fed55717f 100644 --- a/systems/plants/RigidBodyElement.m +++ b/systems/plants/RigidBodyElement.m @@ -6,7 +6,7 @@ end methods - function [ body, model ] = bindParams(body,model,pval) + function body = bindParams(body,model,pval) % Bind parameters from msspolys to doubles % % @param body this object diff --git a/systems/plants/test/testRigidBodyBluffBody.urdf b/systems/plants/test/testRigidBodyBluffBody.urdf index ae0058e67273..eee90297c8d6 100644 --- a/systems/plants/test/testRigidBodyBluffBody.urdf +++ b/systems/plants/test/testRigidBodyBluffBody.urdf @@ -20,31 +20,74 @@ iyz="-0.000001" izz="0.019316" /> - - - + + + - - + - - + + + + + + + + + + - - + + - + + - + - + diff --git a/systems/plants/test/testRigidBodyWingChangingParams.m b/systems/plants/test/testRigidBodyWingChangingParams.m index e02b07ddd257..b98f740b3ede 100644 --- a/systems/plants/test/testRigidBodyWingChangingParams.m +++ b/systems/plants/test/testRigidBodyWingChangingParams.m @@ -41,6 +41,7 @@ params = r.getParams(); params.cs_chord = params.cs_chord + .1; + params.cs_span = params.cs_span - .1; r2 = r.setParams(params); v2 = r2.constructVisualizer(); diff --git a/systems/plants/test/testRigidBodyWingChangingParams.urdf b/systems/plants/test/testRigidBodyWingChangingParams.urdf index 085e11bc6ed2..24694dc4af51 100644 --- a/systems/plants/test/testRigidBodyWingChangingParams.urdf +++ b/systems/plants/test/testRigidBodyWingChangingParams.urdf @@ -92,7 +92,7 @@ @@ -109,7 +109,7 @@ diff --git a/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf index 9e1dabeeed24..ab66437d649d 100644 --- a/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf +++ b/systems/plants/test/testRigidBodyWingWithControlSurfaceOnlyControlSurface.urdf @@ -19,13 +19,23 @@ - + + - - + From 02271e247411c33ece0e31f17d729114a41eb879 Mon Sep 17 00:00:00 2001 From: Andy Barry Date: Fri, 31 Oct 2014 14:48:41 -0400 Subject: [PATCH 230/271] Changes frame parameter implementation to push it inside RigidBodyFrame as Russ suggested. Updates associated files as well. --- .../RigidBodyManipulator.m | 48 ++----------------- .../@RigidBodyManipulator/addRobotFromURDF.m | 4 ++ systems/plants/@RigidBodyWing/RigidBodyWing.m | 5 +- systems/plants/RigidBodyBluffBody.m | 3 +- systems/plants/RigidBodyFrame.m | 42 ++++++++++++++++ .../plants/RigidBodyWingWithControlSurface.m | 3 +- 6 files changed, 57 insertions(+), 48 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 8d96407a2d34..621ccebd81ee 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -9,7 +9,6 @@ body=[]; % array of RigidBody objects actuator = []; % array of RigidBodyActuator objects param_db = {}; % cell of structures (one per robot) containing parsed parameter info - param_db_fr={}; % cell array of parameters for the frames containing msspoly parameterized representations their properties loop=[]; % array of RigidBodyLoop objects sensor={}; % cell array of RigidBodySensor objects force={}; % cell array of RigidBodyForceElement objects @@ -565,47 +564,6 @@ error('unknown floating base type'); end end - - function model = bindFrameParams(model, pval) - % Checks for parameters inside the model's frames and binds them to - % values - % - % @param pval input values for the parameters - % - % @retval model updated model - - % first, check inside the existing frames for any parameters - - for i=1:length(model.frame) - this_t = model.frame(i).T; - - if isa(this_t, 'msspoly') - % this is a paramter - - model.param_db_fr{i}.T = this_t; - - end - - end - - - % now iterate through the model_db.frames and bind them to our frames - fr = getParamFrame(model); - - for i=1:length(model.frame) - - % check to see if we have data for this frame - if i <= length(model.param_db_fr) && ~isempty(model.param_db_fr{i}) - - msspoly_t = model.param_db_fr{i}.T; - - bound_t = double(subs(msspoly_t, fr.getPoly, pval)); - - model.frame(i).T = bound_t; - end - end - - end function model = addSensor(model,sensor) % Adds a sensor to the RigidBodyManipulator. This modifies the @@ -1004,8 +962,10 @@ model.actuator(i) = updateParams(model.actuator(i), fr.getPoly, p); end - % update frames in case parameters caused them to change - model = bindFrameParams(model, p); + for i=1:length(model.frame) + model.frame(i) = updateParams(model.frame(i), fr.getPoly, p); + end + model = compile(model); diff --git a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m index a3d3c85a2ffc..487ef6ebd190 100644 --- a/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m +++ b/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m @@ -163,6 +163,10 @@ model.actuator(i) = bindParams(model.actuator(i), model, pval); end +for i=1:length(model.frame) + model.frame(i) = bindParams(model.frame(i), model, pval); +end + end function model = parseParameter(model,robotnum,node,options) diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 023d2736c050..98a138897209 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -799,8 +799,9 @@ function revertEnvVars() % bind parameters before drawing so we know what to draw obj = obj.bindParams(model, double(model.getParams())); - model = bindFrameParams(model, double(model.getParams())); - + bound_frame = model.getFrame(this_frame_id).bindParams(model, double(model.getParams())); + model = model.setFrame(this_frame_id, bound_frame); + if (visual_geometry_urdf) % add visual shapes for automatic drawing of the wing model = obj.addWingVisualShapeToBody(model, parent); diff --git a/systems/plants/RigidBodyBluffBody.m b/systems/plants/RigidBodyBluffBody.m index 8da83534bbb5..f08742ad223e 100644 --- a/systems/plants/RigidBodyBluffBody.m +++ b/systems/plants/RigidBodyBluffBody.m @@ -225,7 +225,8 @@ % bind parameters, because if there is a parameter on area, we need % to know what it is (right now) for correct drawing obj = obj.bindParams(model, double(model.getParams())); - model = bindFrameParams(model, double(model.getParams())); + bound_frame = model.getFrame(this_frame_id).bindParams(model, double(model.getParams())); + model = model.setFrame(this_frame_id, bound_frame); if (obj.visual_geometry) model = addBluffBodyVisualShapeToBody(obj, model, parent); diff --git a/systems/plants/RigidBodyFrame.m b/systems/plants/RigidBodyFrame.m index 07fb12aa4e9b..19dbb7fca107 100644 --- a/systems/plants/RigidBodyFrame.m +++ b/systems/plants/RigidBodyFrame.m @@ -33,12 +33,54 @@ end end + function obj = bindParams(obj, model, pval) + % Checks for parameters inside this frame and binds them to real + % values + % + % @param model model we are a part of + % @param pval values to set + % + % @retval obj updated frame object + + if isa(obj.T, 'msspoly') + % this is a paramter + obj.param_binding_T = obj.T; + + % bind it to a value + fr = getParamFrame(model); + obj = obj.updateParams(fr.getPoly(), pval); + end + + + end + + function obj = updateParams(obj, poly, pval) + % Checks for parameters inside this frame and binds them to real + % values + % + % @param poly parameter frame's polynomials (from frame.getPoly()) + % @param pval input values for the parameters + % + % @retval obj updated frame + + + % first, check inside this frame for parameters + + + % check to see if we have data for this frame + if ~isempty(obj.param_binding_T) + obj.T = double(subs(obj.param_binding_T, poly, pval)); + end + + end + end properties name body_ind T + param_binding_T = []; % if this frame has parameters, the msspoly representation is stored here end end diff --git a/systems/plants/RigidBodyWingWithControlSurface.m b/systems/plants/RigidBodyWingWithControlSurface.m index 2a0c323d7d51..8774cb6d1e3d 100644 --- a/systems/plants/RigidBodyWingWithControlSurface.m +++ b/systems/plants/RigidBodyWingWithControlSurface.m @@ -497,7 +497,8 @@ function drawWing(obj, manip, q, qd, fill_color) % bind parameters before drawing so we know what to draw obj = obj.bindParams(model, double(model.getParams())); - model = bindFrameParams(model, double(model.getParams())); + bound_frame = model.getFrame(this_frame_id).bindParams(model, double(model.getParams())); + model = model.setFrame(this_frame_id, bound_frame); if (visual_geometry_urdf) % add visual shapes for automatic drawing of the wing From 88fa4668e00d7246ad8cd7631935bc4d712657c0 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Fri, 31 Oct 2014 15:30:13 -0400 Subject: [PATCH 231/271] remove state constraints for tsrbm --- systems/plants/TimeSteppingRigidBodyManipulator.m | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/systems/plants/TimeSteppingRigidBodyManipulator.m b/systems/plants/TimeSteppingRigidBodyManipulator.m index b4b9b2d5fb42..bb77f3c65960 100644 --- a/systems/plants/TimeSteppingRigidBodyManipulator.m +++ b/systems/plants/TimeSteppingRigidBodyManipulator.m @@ -728,6 +728,11 @@ function checkDirty(obj) obj = updateStateConstraint@DrakeSystem(obj,id,con); obj.manip = updateStateConstraint(obj.manip,id,con); end + + function obj = removeAllStateConstraints(obj) + obj = removeAllStateConstraints@DrakeSystem(obj); + obj.manip = removeAllStateConstraints(obj.manip); + end function varargout = positionConstraints(obj,varargin) varargout = cell(1,nargout); From 4a231c9a58d3357d00cd3ed1194805424ed6bd15 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Fri, 31 Oct 2014 21:46:41 -0400 Subject: [PATCH 232/271] more support for PP traj combinations. resolves #520 --- systems/trajectories/PPTrajectory.m | 25 +++++++++++++++++++++--- systems/trajectories/test/feedbackTest.m | 25 ++++++++++++++++++++++++ 2 files changed, 47 insertions(+), 3 deletions(-) create mode 100644 systems/trajectories/test/feedbackTest.m diff --git a/systems/trajectories/PPTrajectory.m b/systems/trajectories/PPTrajectory.m index 9d733e041a8c..5e6efde17fab 100644 --- a/systems/trajectories/PPTrajectory.m +++ b/systems/trajectories/PPTrajectory.m @@ -140,6 +140,25 @@ nobj = PPTrajectory(obj.pp); end + function tf = eq(a,b) + % only implement the trivial case of pptraj=scalar const + % (which is what I need right now) + if isscalar(a) + tmp=b;b=a;a=tmp; + end + if isscalar(b) + % first check if it's a constant + if any(a.pp.coefs(:,1:end-1)~=0), tf=false; return; end + tf = all(a.pp.coefs(:,end)==b); + else + error('not implemented yet'); + end + end + + function tf = ne(a,b) + tf = ~eq(a,b); + end + function t = getBreaks(obj) t = obj.pp.breaks; end @@ -486,11 +505,11 @@ if isempty(a) % handle the special case [breaks,coefs,l,k,d] = unmkpp(b.pp); e=[]; - coefs = reshape(coefs,[d,l,k]); + d_extended = [d,l,k]; + coefs = reshape(coefs,d_extended); s.subs = {s.subs{:},':',':'}; e = subsasgn(e,s,coefs); - d=size(coefs); d=d(1:end-2); - a = PPTrajectory(mkpp(breaks,e,d)); + a = PPTrajectory(mkpp(breaks,e,d_extended(1:end-2))); return; end if isnumeric(a) % then b must be a PPTrajectory diff --git a/systems/trajectories/test/feedbackTest.m b/systems/trajectories/test/feedbackTest.m new file mode 100644 index 000000000000..3e7ff0f9d080 --- /dev/null +++ b/systems/trajectories/test/feedbackTest.m @@ -0,0 +1,25 @@ +function feedbackTest() +num_pieces = 2; % set to 1 and set order to 1 for a segfault +order = 1; % set to 1 to get nx x 1 state matrix for the closed loop system + +nx = 4; +nu = 2; +ny = 4; + +A = randn(nx, nx); +B = randn(nx, nu); +C = randn(ny, nx); +D = zeros(ny, nu); +p = LinearSystem(A,B,[],[],C,D); + +Ccon = ConstantTrajectory(zeros(nu, 0)); + +t = linspace(0, 1, num_pieces + 1); +Dcon = PPTrajectory(mkpp(t,randn((length(t) - 1) * nu * ny, order),[nu, ny])); +controller = LinearSystem([], [], [], [], Ccon, Dcon); + +controller = controller.setOutputFrame(p.getInputFrame); +controller = controller.setInputFrame(p.getOutputFrame); +sys_cl = feedback(p,controller); + +end From 8341d60e60fc7915aa1f521f118a99499c0bd238 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sat, 1 Nov 2014 05:47:48 -0400 Subject: [PATCH 233/271] resolves #487 --- systems/plants/RigidBodySpringDamper.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/systems/plants/RigidBodySpringDamper.m b/systems/plants/RigidBodySpringDamper.m index 636801d8c3de..4f3e5fb43344 100644 --- a/systems/plants/RigidBodySpringDamper.m +++ b/systems/plants/RigidBodySpringDamper.m @@ -32,7 +32,7 @@ dv2dqd = J2; % r = x1-x2; l=sqrt(r'r); ldot=(r'rdot)/sqrt(r'r); length = norm(x1-x2); - dlengthdq = ((x1-x2)'/norm(x1-x2))*(J1-J2); + dlengthdq = ((x1-x2)'/(length+eps))*(J1-J2); vel = ((x1-x2)'*(v1-v2))/(length+eps); dveldq = (((J1-J2)'*(v1-v2)+(x1-x2)'*(dv1dq-dv2dq))*(length+eps)-((x1-x2)'*(v1-v2))*dlengthdq)/(length+eps)^2; dveldqd = (((x1-x2)'*(dv1dqd-dv2dqd))*(length+eps))/(length+eps)^2; @@ -51,7 +51,7 @@ [x1,J1] = forwardKin(manip,kinsol,obj.body1,obj.pos1); [x2,J2] = forwardKin(manip,kinsol,obj.body2,obj.pos2); length = norm(x1-x2); - dlengthdq = ((x1-x2)'/norm(x1-x2))*(J1-J2); + dlengthdq = ((x1-x2)'/(length+eps))*(J1-J2); vel = 0; dveldq = zeros(1,nq); dveldqd = zeros(1,nq); From edf49700427bea98aa03680a1395032cc5edde96 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Sun, 2 Nov 2014 10:41:37 -0500 Subject: [PATCH 234/271] per the discussion at the triage meeting, we can count on the constraint eval function to use geval if and only when necessary, so we should be absolutely call positionConstriants, velocityConstraints, and stateConstraints on a manipulator without geval. note: changed the default grad_method to 'user_then_taylorvar', which means that constraints must declare that they have gradient information to avoid hitting geval. there might be some in the current examples that do not do this. --- examples/CompassGait/dev/kintest.m | 2 +- examples/Pendulum/dev/kintest.m | 2 +- examples/RimlessWheel/runDircol.m | 4 +--- solvers/Constraint.m | 4 ++-- systems/plants/@Manipulator/Manipulator.m | 8 ++++---- .../plants/@RigidBodyManipulator/RigidBodyManipulator.m | 2 +- 6 files changed, 10 insertions(+), 12 deletions(-) diff --git a/examples/CompassGait/dev/kintest.m b/examples/CompassGait/dev/kintest.m index 755ff40c675a..f7c4412f8b9b 100644 --- a/examples/CompassGait/dev/kintest.m +++ b/examples/CompassGait/dev/kintest.m @@ -4,7 +4,7 @@ x=randn(8,1); %p.getInitialState(); q=x(1:4);qd=x(5:8); -[phi,J]=geval(@p.positionConstraints,q); +[phi,J]=p.positionConstraints(q); psi = p.velocityConstraints(q,qd); diff --git a/examples/Pendulum/dev/kintest.m b/examples/Pendulum/dev/kintest.m index 666ee8f90c1a..20e95817b302 100644 --- a/examples/Pendulum/dev/kintest.m +++ b/examples/Pendulum/dev/kintest.m @@ -4,7 +4,7 @@ x=randn(2,1); %p.getInitialState(); q=x(1);qd=x(1); -[phi,J]=geval(@p.positionConstraints,q); +[phi,J]=p.positionConstraints(q); psi = p.velocityConstraints(q,qd); diff --git a/examples/RimlessWheel/runDircol.m b/examples/RimlessWheel/runDircol.m index 6bff3c325d8b..c0be3ed7ffd9 100644 --- a/examples/RimlessWheel/runDircol.m +++ b/examples/RimlessWheel/runDircol.m @@ -31,7 +31,7 @@ [Theta,ThetaDot] = meshgrid(theta_samples(1:10:end),linspace(0,2,21)); xdot = rw.getMode(1).dynamics(0,[Theta(:)';ThetaDot(:)';0*Theta(:)']); ThetaDDot = reshape(xdot(2,:),size(Theta)); - + function draw(dt,x,u) quiver(Theta,ThetaDot,ThetaDot,ThetaDDot,'r'); hold on; @@ -46,11 +46,9 @@ function draw(dt,x,u) hold off; axis([rw.gamma - 2*rw.alpha,rw.gamma+2*rw.alpha,0 2]); drawnow; - pause; end prog = prog.addTrajectoryDisplayFunction(@draw); prog.solveTraj(1); end - diff --git a/solvers/Constraint.m b/solvers/Constraint.m index 9d9d8023d6f2..afdf4671d699 100644 --- a/solvers/Constraint.m +++ b/solvers/Constraint.m @@ -52,7 +52,7 @@ obj.name = repmat({''},obj.num_cnstr,1); - obj.grad_method = 'user'; + obj.grad_method = 'user_then_taylorvar'; obj.iCfun = reshape(bsxfun(@times,(1:obj.num_cnstr)',ones(1,obj.xdim)),[],1); obj.jCvar = reshape(bsxfun(@times,1:obj.xdim,ones(obj.num_cnstr,1)),[],1); @@ -111,7 +111,7 @@ function disp(obj) end function varargout = eval(obj,varargin) - if obj.grad_level==-2 % no gradients available + if obj.grad_level==-2 % no gradients available (non-differentiable) varargout{1} = obj.constraintEval(varargin{:}); else % special casing 'user' to avoid geval for speed reasons diff --git a/systems/plants/@Manipulator/Manipulator.m b/systems/plants/@Manipulator/Manipulator.m index 2fa79e4f8f38..95f7615edce2 100644 --- a/systems/plants/@Manipulator/Manipulator.m +++ b/systems/plants/@Manipulator/Manipulator.m @@ -124,10 +124,10 @@ phi=[]; psi=[]; qd = vToqdot(obj, q) * v; if ~isempty(obj.position_constraints) && ~isempty(obj.velocity_constraints) - [phi,J,dJ] = geval(@obj.positionConstraints,q); + [phi,J,dJ] = obj.positionConstraints(q); Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); - [psi,dpsi] = geval(@obj.velocityConstraints,q,qd); + [psi,dpsi] = obj.velocityConstraints(q,qd); dpsidq = dpsi(:,1:obj.num_positions); dpsidqd = dpsi(:,obj.num_positions+1:end); @@ -136,14 +136,14 @@ constraint_force = -[J;dpsidqd]'*pinv([J*term1;dpsidqd*term1])*[J*term2 + Jdotqd + alpha*J*qd; dpsidqd*term2 + dpsidq*qd + beta*psi]; elseif ~isempty(obj.position_constraints) % note: it didn't work to just have dpsidq,etc=[], so it seems like the best solution is to handle each case... - [phi,J,dJ] = geval(@obj.positionConstraints,q); + [phi,J,dJ] = obj.positionConstraints(q); % todo: find a way to use Jdot*qd directly (ala Twan's code) % instead of computing dJ Jdotqd = dJ*reshape(qd*qd',obj.num_positions^2,1); constraint_force = -J'*pinv(J*Hinv*J')*(J*Hinv*tau + Jdotqd + alpha*J*qd); elseif ~isempty(obj.velocity_constraints) - [psi,J] = geval(@obj.velocityConstraints,q,qd); + [psi,J] = obj.velocityConstraints(q,qd); dpsidq = J(:,1:obj.num_positions); dpsidqd = J(:,obj.num_positions+1:end); diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 120e4f9768a1..ef9d00478972 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -1665,7 +1665,7 @@ function drawLCMGLForces(model,q,qd,gravity_visual_magnitude) GCeq = [dC(1:nq,1:nq),-B]'; end if getNumStateConstraints(obj)>0 - [phi,dphi] = geval(@obj.stateConstraints,[q;zeros(nv,1)]); + [phi,dphi] = obj.stateConstraints([q;zeros(nv,1)]); ceq = [ceq; phi]; GCeq = [GCeq, [dphi(:,1:nq),zeros(numel(phi),nu+nz)]']; end From 591b37670e82be97b3bd69fb0fc75ef91155caef Mon Sep 17 00:00:00 2001 From: Scott Viteri Date: Thu, 2 Oct 2014 18:08:45 -0400 Subject: [PATCH 235/271] These urdf and matlab files generate a virtual office environment with which the quadrotor algorithms can interact. Conflicts: examples/Quadrotor/runMixedIntegerOffice.m --- examples/Quadrotor/Quadrotor.m | 82 ++-- examples/Quadrotor/office.urdf | 444 ++++++++++++++++++ .../Quadrotor/runMixedIntegerEnvironment.m | 1 - examples/Quadrotor/runMixedIntegerOffice.m | 64 +-- 4 files changed, 520 insertions(+), 71 deletions(-) create mode 100644 examples/Quadrotor/office.urdf diff --git a/examples/Quadrotor/Quadrotor.m b/examples/Quadrotor/Quadrotor.m index 4b5a6f3ed869..4451e48cd3bd 100644 --- a/examples/Quadrotor/Quadrotor.m +++ b/examples/Quadrotor/Quadrotor.m @@ -86,51 +86,51 @@ obj = compile(obj); end - function obj = addBox(obj, lwh, xy, yaw) - % Adds a single box (this is addTree but without the leaves) with specified length width height, xy - % location, and yaw orientation. - height = lwh(1,3); - width_param = lwh(1,1:2); - treeTrunk = RigidBodyBox([.2+.8*width_param height],... - [xy;height/2+0.005],[0;0;yaw]); - % treeTrunk.c = [83,53,10]/255; % brown - treeTrunk.c = [191,120,21]/255; % brown - obj = addShapeToBody(obj,'world',treeTrunk); - obj = addContactShapeToBody(obj,'world',treeTrunk); - obj = compile(obj); - end + % function obj = addBox(obj, lwh, xy, yaw) + % % Adds a single box (this is addTree but without the leaves) with specified length width height, xy + % % location, and yaw orientation. + % height = lwh(1,3); + % width_param = lwh(1,1:2); + % treeTrunk = RigidBodyBox([.2+.8*width_param height],... + % [xy;height/2+0.005],[0;0;yaw]); + % % treeTrunk.c = [83,53,10]/255; % brown + % treeTrunk.c = [191,120,21]/255; % brown + % obj = addShapeToBody(obj,'world',treeTrunk); + % obj = addContactShapeToBody(obj,'world',treeTrunk); + % obj = compile(obj); + % end - function obj = addFloatingBox(obj, lwh, xyz, yaw, color) - if nargin < 5 - color = [.8,.8,.8]; % gray - end - % Adds a single box with specified length width height, x,y, and z - % location, and yaw orientation. - height = lwh(1,3); - length = lwh(1,1); - width = lwh(1,2); - floatBox = RigidBodyBox([length width height],... - [xyz(1,1) xyz(1,2) xyz(1,3)],[0;0;yaw]); - floatBox.c = color; - obj = addShapeToBody(obj,'world',floatBox); - obj = addContactShapeToBody(obj,'world',floatBox); - obj = compile(obj); - end + % function obj = addFloatingBox(obj, lwh, xyz, yaw, color) + % if nargin < 5 + % color = [.8,.8,.8]; % gray + % end + % % Adds a single box with specified length width height, x,y, and z + % % location, and yaw orientation. + % height = lwh(1,3); + % length = lwh(1,1); + % width = lwh(1,2); + % floatBox = RigidBodyBox([length width height],... + % [xyz(1,1) xyz(1,2) xyz(1,3)],[0;0;yaw]); + % floatBox.c = color; + % obj = addShapeToBody(obj,'world',floatBox); + % obj = addContactShapeToBody(obj,'world',floatBox); + % obj = compile(obj); + % end - function obj = addTable(r, lwh, xyz, dist) - % This adds 5 Floating boxes given the size, location, tilt of - % the Quadrant III leg, and shortest dist. from one leg to an - % adjacent one + % function obj = addTable(r, lwh, xyz, dist) + % % This adds 5 Floating boxes given the size, location, tilt of + % % the Quadrant III leg, and shortest dist. from one leg to an + % % adjacent one - %leg boxes - r = addFloatingBox(r, lwh, [xyz(1,1),xyz(1,2),xyz(1,3)], 0); - r = addFloatingBox(r, lwh, [xyz(1,1),xyz(1,2)+dist,xyz(1,3)], 0); - r = addFloatingBox(r, lwh, [xyz(1,1)+dist,xyz(1,2),xyz(1,3)], 0); - r = addFloatingBox(r, lwh, [xyz(1,1)+dist,xyz(1,2)+dist,xyz(1,3)], 0); - %surface box - obj = addFloatingBox(r, [dist+.3,dist+.3,0.1], [xyz(1,1)+dist/2,xyz(1,2)+dist/2, 2 * xyz(1,3)], 0); + % %leg boxes + % r = addFloatingBox(r, lwh, [xyz(1,1),xyz(1,2),xyz(1,3)], 0); + % r = addFloatingBox(r, lwh, [xyz(1,1),xyz(1,2)+dist,xyz(1,3)], 0); + % r = addFloatingBox(r, lwh, [xyz(1,1)+dist,xyz(1,2),xyz(1,3)], 0); + % r = addFloatingBox(r, lwh, [xyz(1,1)+dist,xyz(1,2)+dist,xyz(1,3)], 0); + % %surface box + % obj = addFloatingBox(r, [dist+.3,dist+.3,0.1], [xyz(1,1)+dist/2,xyz(1,2)+dist/2, 2 * xyz(1,3)], 0); - end + % end function traj_opt = addPlanVisualizer(obj,traj_opt) % spew out an lcmgl visualization of the trajectory. intended to be diff --git a/examples/Quadrotor/office.urdf b/examples/Quadrotor/office.urdf new file mode 100644 index 000000000000..deeaaa094159 --- /dev/null +++ b/examples/Quadrotor/office.urdf @@ -0,0 +1,444 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + + + + + + + 5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/examples/Quadrotor/runMixedIntegerEnvironment.m b/examples/Quadrotor/runMixedIntegerEnvironment.m index cdb70e3251f3..abf2c01612a9 100644 --- a/examples/Quadrotor/runMixedIntegerEnvironment.m +++ b/examples/Quadrotor/runMixedIntegerEnvironment.m @@ -118,6 +118,5 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, traj_degree, subplot(5, 1, j); fnplt(fnder(ytraj(1), j)); end -keyboard(); end diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m index 37cfc858442f..ec1b1061870c 100644 --- a/examples/Quadrotor/runMixedIntegerOffice.m +++ b/examples/Quadrotor/runMixedIntegerOffice.m @@ -1,4 +1,4 @@ -function [r, xtraj, utraj, prog] = runMixedIntegerOffice +function [r] = runMixedIntegerOffice % NOTEST % Run the mixed-integer SOS trajectory planner in the office environment @@ -7,51 +7,57 @@ degree = 3; n_segments = 7; % start = [5;-1;1.5]; -start = [-2;0;1]; +start = [-1.5;9;1.5]; % goal = [0;0;.5]; -goal = [5;-1;1.5]; +goal = [0;1;.5]; % goal = [6;-1;1.5]; -wall_height = 3.0; +% wall_height = 3.0; -%room walls -r = addBox(r, [10.0,.1,wall_height], [0;3.15],0); -r = addBox(r, [10.0,.1,wall_height], [0;-3.15],0); -r = addBox(r, [.1,8.0,1.0], [4.0;0],0); -r = addBox(r, [.1,8.0,wall_height], [-4.0;0],0); +% %room walls +% r = addBox(r, [10.0,.1,wall_height], [0;3.15],0); +% r = addBox(r, [10.0,.1,wall_height], [0;-3.15],0); +% r = addBox(r, [.1,8.0,1.0], [4.0;0],0); +% r = addBox(r, [.1,8.0,wall_height], [-4.0;0],0); -%room internal wall -r = addBox(r, [.1,3.7,wall_height], [2.5;-1.65],0); -r = addBox(r, [.1,1.5,wall_height], [2.5;2.5],0); +% %room internal wall +% r = addBox(r, [.1,3.7,wall_height], [2.5;-1.65],0); +% r = addBox(r, [.1,1.5,wall_height], [2.5;2.5],0); -%room window -r = addBox(r, [.1,4.0,wall_height], [4.0;1.5],0); -r = addBox(r, [.1,1.75,wall_height], [4.0;-2.5],0); -r = addFloatingBox(r, [.28,1.5,wall_height-2], [4.0,-.95,2.5], 0, [191,120,21]/255); +% %room window +% r = addBox(r, [.1,4.0,wall_height], [4.0;1.5],0); +% r = addBox(r, [.1,1.75,wall_height], [4.0;-2.5],0); +% r = addFloatingBox(r, [.28,1.5,wall_height-2], [4.0,-.95,2.5], 0, [191,120,21]/255); -%roof -%r = addBox(r, [10,8,2.0], [0;0],0); +% %roof +% %r = addBox(r, [10,8,2.0], [0;0],0); -%cabinet -r = addFloatingBox(r, [.8,1.7,1.7],[-3.5,-1.8,0.8],0); +% %cabinet +% r = addFloatingBox(r, [.8,1.7,1.7],[-3.5,-1.8,0.8],0); -r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,1.3],0); -r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,0.8],0); -r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,0.3],0); +% r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,1.3],0); +% r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,0.8],0); +% r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,0.3],0); -r = addTable(r, [.2,.2,1.0], [-1,-1,.5],2); +% r = addTable(r, [.2,.2,1.0], [-1,-1,.5],2); +r = addRobotFromURDF(r, 'office.urdf'); -lb = [-5;-3.5;0.01]; -ub = [6;3.5;3.01]; +lb = [-5;0;0.01]; +ub = [6;9.5;2.01]; seeds = [... - [4, -1, 1.5]; - [2.5, .75, 1]; - [3, 0, 1]; + % [4, -1, 1.5]; + % [2.5, .75, 1]; + % [3, 0, 1]; start'; + goal'; ]'; n_regions = 7; runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, degree, n_segments, n_regions); + + +return; + From 72d5bfdfaeb4d3c5a09e3e0807bd9e0c196f3191 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Sun, 2 Nov 2014 12:33:09 -0500 Subject: [PATCH 236/271] minor cleanup to get a nice demo result --- examples/Quadrotor/runMixedIntegerEnvironment.m | 7 +------ examples/Quadrotor/runMixedIntegerOffice.m | 5 +++-- 2 files changed, 4 insertions(+), 8 deletions(-) diff --git a/examples/Quadrotor/runMixedIntegerEnvironment.m b/examples/Quadrotor/runMixedIntegerEnvironment.m index abf2c01612a9..15fb6631ff68 100644 --- a/examples/Quadrotor/runMixedIntegerEnvironment.m +++ b/examples/Quadrotor/runMixedIntegerEnvironment.m @@ -37,6 +37,7 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, traj_degree, end if can_draw_lcm_polytopes + lcmgl = LCMGLClient('iris_seeds'); % Clear the displayed polytopes drawLCMPolytope(0, 0, 0, 0, lc); % pause @@ -81,12 +82,6 @@ function runMixedIntegerEnvironment(r, start, goal, lb, ub, seeds, traj_degree, goal = [goal, [0;0;0], [0;0;0]]; [ytraj, ~, ~, safe_region_assignments] = prob.solveTrajectory(start, goal, safe_regions); -% Run the program again with the region assignments fixed, for a 5-th-degree polynomial -prob.traj_degree = 5; -[ytraj, diagnostics, ~, ~] = prob.solveTrajectory(start, goal, safe_regions, safe_region_assignments); -diagnostics - - % Add an all-zeros yaw trajectory ytraj = ytraj.vertcat(ConstantTrajectory(0)); diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m index ec1b1061870c..e2e7700e65b0 100644 --- a/examples/Quadrotor/runMixedIntegerOffice.m +++ b/examples/Quadrotor/runMixedIntegerOffice.m @@ -7,9 +7,9 @@ degree = 3; n_segments = 7; % start = [5;-1;1.5]; -start = [-1.5;9;1.5]; +start = [-2.5;9;1.5]; % goal = [0;0;.5]; -goal = [0;1;.5]; +goal = [0;2;.5]; % goal = [6;-1;1.5]; % wall_height = 3.0; @@ -48,6 +48,7 @@ ub = [6;9.5;2.01]; seeds = [... + [-2.25,8,1.5]; % [4, -1, 1.5]; % [2.5, .75, 1]; % [3, 0, 1]; From 4a25fa19bfa8fbf7877243100a5bdf082dc382b8 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Sun, 2 Nov 2014 12:37:39 -0500 Subject: [PATCH 237/271] cleanup --- examples/Quadrotor/Quadrotor.m | 46 ---------------------- examples/Quadrotor/runMixedIntegerOffice.m | 36 ----------------- 2 files changed, 82 deletions(-) diff --git a/examples/Quadrotor/Quadrotor.m b/examples/Quadrotor/Quadrotor.m index 4451e48cd3bd..5f6e5ef94391 100644 --- a/examples/Quadrotor/Quadrotor.m +++ b/examples/Quadrotor/Quadrotor.m @@ -86,52 +86,6 @@ obj = compile(obj); end - % function obj = addBox(obj, lwh, xy, yaw) - % % Adds a single box (this is addTree but without the leaves) with specified length width height, xy - % % location, and yaw orientation. - % height = lwh(1,3); - % width_param = lwh(1,1:2); - % treeTrunk = RigidBodyBox([.2+.8*width_param height],... - % [xy;height/2+0.005],[0;0;yaw]); - % % treeTrunk.c = [83,53,10]/255; % brown - % treeTrunk.c = [191,120,21]/255; % brown - % obj = addShapeToBody(obj,'world',treeTrunk); - % obj = addContactShapeToBody(obj,'world',treeTrunk); - % obj = compile(obj); - % end - - % function obj = addFloatingBox(obj, lwh, xyz, yaw, color) - % if nargin < 5 - % color = [.8,.8,.8]; % gray - % end - % % Adds a single box with specified length width height, x,y, and z - % % location, and yaw orientation. - % height = lwh(1,3); - % length = lwh(1,1); - % width = lwh(1,2); - % floatBox = RigidBodyBox([length width height],... - % [xyz(1,1) xyz(1,2) xyz(1,3)],[0;0;yaw]); - % floatBox.c = color; - % obj = addShapeToBody(obj,'world',floatBox); - % obj = addContactShapeToBody(obj,'world',floatBox); - % obj = compile(obj); - % end - - % function obj = addTable(r, lwh, xyz, dist) - % % This adds 5 Floating boxes given the size, location, tilt of - % % the Quadrant III leg, and shortest dist. from one leg to an - % % adjacent one - - % %leg boxes - % r = addFloatingBox(r, lwh, [xyz(1,1),xyz(1,2),xyz(1,3)], 0); - % r = addFloatingBox(r, lwh, [xyz(1,1),xyz(1,2)+dist,xyz(1,3)], 0); - % r = addFloatingBox(r, lwh, [xyz(1,1)+dist,xyz(1,2),xyz(1,3)], 0); - % r = addFloatingBox(r, lwh, [xyz(1,1)+dist,xyz(1,2)+dist,xyz(1,3)], 0); - % %surface box - % obj = addFloatingBox(r, [dist+.3,dist+.3,0.1], [xyz(1,1)+dist/2,xyz(1,2)+dist/2, 2 * xyz(1,3)], 0); - - % end - function traj_opt = addPlanVisualizer(obj,traj_opt) % spew out an lcmgl visualization of the trajectory. intended to be % used as a callback (fake objective) in the direct trajectory diff --git a/examples/Quadrotor/runMixedIntegerOffice.m b/examples/Quadrotor/runMixedIntegerOffice.m index e2e7700e65b0..59bde3799f86 100644 --- a/examples/Quadrotor/runMixedIntegerOffice.m +++ b/examples/Quadrotor/runMixedIntegerOffice.m @@ -6,41 +6,8 @@ degree = 3; n_segments = 7; -% start = [5;-1;1.5]; start = [-2.5;9;1.5]; -% goal = [0;0;.5]; goal = [0;2;.5]; -% goal = [6;-1;1.5]; - -% wall_height = 3.0; - - -% %room walls -% r = addBox(r, [10.0,.1,wall_height], [0;3.15],0); -% r = addBox(r, [10.0,.1,wall_height], [0;-3.15],0); -% r = addBox(r, [.1,8.0,1.0], [4.0;0],0); -% r = addBox(r, [.1,8.0,wall_height], [-4.0;0],0); - -% %room internal wall -% r = addBox(r, [.1,3.7,wall_height], [2.5;-1.65],0); -% r = addBox(r, [.1,1.5,wall_height], [2.5;2.5],0); - -% %room window -% r = addBox(r, [.1,4.0,wall_height], [4.0;1.5],0); -% r = addBox(r, [.1,1.75,wall_height], [4.0;-2.5],0); -% r = addFloatingBox(r, [.28,1.5,wall_height-2], [4.0,-.95,2.5], 0, [191,120,21]/255); - -% %roof -% %r = addBox(r, [10,8,2.0], [0;0],0); - -% %cabinet -% r = addFloatingBox(r, [.8,1.7,1.7],[-3.5,-1.8,0.8],0); - -% r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,1.3],0); -% r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,0.8],0); -% r = addFloatingBox(r, [.6,1.5,.4],[-3.3,-1.8,0.3],0); - -% r = addTable(r, [.2,.2,1.0], [-1,-1,.5],2); r = addRobotFromURDF(r, 'office.urdf'); @@ -49,9 +16,6 @@ seeds = [... [-2.25,8,1.5]; - % [4, -1, 1.5]; - % [2.5, .75, 1]; - % [3, 0, 1]; start'; goal'; ]'; From af1d5136349fee778534f73d793082a23915ea2c Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Sun, 2 Nov 2014 14:42:52 -0500 Subject: [PATCH 238/271] got rid of superfluous include --- systems/plants/RigidBodyManipulator.h | 1 - 1 file changed, 1 deletion(-) diff --git a/systems/plants/RigidBodyManipulator.h b/systems/plants/RigidBodyManipulator.h index ab85b4ca8a59..93d86de413e6 100644 --- a/systems/plants/RigidBodyManipulator.h +++ b/systems/plants/RigidBodyManipulator.h @@ -4,7 +4,6 @@ #include #include #include -#include #include //#include #include "collision/DrakeCollision.h" From 5e8c7c22a34412591c7ded8a73d8fd4f8c9f66a7 Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Sun, 2 Nov 2014 14:44:18 -0500 Subject: [PATCH 239/271] got rid of commented out old implementation of findKinematicPath --- .../@RigidBodyManipulator/findKinematicPath.m | 22 ------------------- 1 file changed, 22 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/findKinematicPath.m b/systems/plants/@RigidBodyManipulator/findKinematicPath.m index 218851162240..af1a9ef5bd63 100644 --- a/systems/plants/@RigidBodyManipulator/findKinematicPath.m +++ b/systems/plants/@RigidBodyManipulator/findKinematicPath.m @@ -60,27 +60,5 @@ joint_path = [path_start; path_end]; signs = [-ones(size(path_start)); ones(size(path_end))]; end - - % THIS IS MUCH SLOWER: - % start_body_ancestors = [start_body; obj.findAncestorBodies(start_body)]; - % end_body_ancestors = [end_body; obj.findAncestorBodies(end_body)]; - % [common_ancestors, start_indices, end_indices] = intersect(start_body_ancestors, end_body_ancestors); - % if isempty(common_ancestors) - % error(['there is no path between ' start_body ' and ' end_body]); - % end - % - % [least_common_ancestor, least_common_ancestor_index] = max(common_ancestors); - % - % start_index = start_indices(least_common_ancestor_index); - % path_start = start_body_ancestors(1 : start_index - 1); - % - % end_index = end_indices(least_common_ancestor_index); - % path_end = flipud(end_body_ancestors(1 : end_index - 1)); - % - % body_path = [path_start; least_common_ancestor; path_end]; - % joint_path = [path_start; path_end]; - % signs = [-ones(size(path_start)); ones(size(path_end))]; -end - end From c9fe29d08874cd1d11589337634f4cdc4caf58e6 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Sun, 2 Nov 2014 15:45:20 -0500 Subject: [PATCH 240/271] include package +test folders --- util/unitTest.m | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/util/unitTest.m b/util/unitTest.m index f349f2f3e57a..01b464992bc4 100644 --- a/util/unitTest.m +++ b/util/unitTest.m @@ -368,7 +368,7 @@ function expandAll(tree,node) elseif ~isempty(param) error([fullfile(pwd,'.UNITTEST'),' has a an unknown tag: ',param]); else - crawlDir(name,node,only_test_dirs && ~strcmpi(name,'test'),options); + crawlDir(name,node,only_test_dirs && ~isTestDir(name),options); end elseif exist(name,'file') files=vertcat(files,dir(name)); @@ -388,7 +388,7 @@ function expandAll(tree,node) if (files(i).isdir) % then recurse into the directory if (files(i).name(1)~='.' && ~any(strcmpi(files(i).name,{'dev','slprj','autogen-matlab','autogen-posters'}))) % skip . and dev directories - crawlDir(files(i).name,node,only_test_dirs && ~strcmpi(files(i).name,'test'),options); + crawlDir(files(i).name,node,only_test_dirs && ~isTestDir(files(i).name),options); end continue; end @@ -909,3 +909,8 @@ function appendTextNode(docNode,parent,element_name,text) thisElement.appendChild(docNode.createTextNode(text)); parent.appendChild(thisElement); end + + function tf = isTestDir(dirname) + % Supports package notation in which folders begin with a + + tf = strcmp(dirname, 'test') || strcmp(dirname, '+test'); + end From f0bba1a53075a7eab742a4a997a196130b6ec259 Mon Sep 17 00:00:00 2001 From: Hongkai Dai Date: Sun, 2 Nov 2014 17:27:10 -0500 Subject: [PATCH 241/271] remove geval in NonlinearProgram --- solvers/NonlinearProgram.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solvers/NonlinearProgram.m b/solvers/NonlinearProgram.m index 59ffa06408be..27223bee2592 100644 --- a/solvers/NonlinearProgram.m +++ b/solvers/NonlinearProgram.m @@ -1269,7 +1269,7 @@ x_all = zeros(obj.num_vars,1); x_all(free_x_idx) = x_free; x_all(fix_x_idx) = x_fix; - [f,G] = geval(@obj.objectiveAndNonlinearConstraints,x_all); + [f,G] = objectiveAndNonlinearConstraints(obj,x_all); f = [f;zeros(length(bin_free)+length(beq_free),1)]; G = G(sub2ind(size(G),iGfun,jGvar)); From c9012d0a2b85fe5f39b36c29a6dc423ba1ef7dcc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Wed, 8 Oct 2014 11:42:33 -0400 Subject: [PATCH 242/271] Add ddinvT to invHT. --- util/invHT.m | 64 ++++++++++++++++++++++++++++++++++++++++++++-------- 1 file changed, 54 insertions(+), 10 deletions(-) diff --git a/util/invHT.m b/util/invHT.m index 9046698d1d4e..79bf4866ae1f 100644 --- a/util/invHT.m +++ b/util/invHT.m @@ -1,4 +1,4 @@ -function [invT, dinvT] = invHT(T,dT) +function [invT, dinvT, ddinvT] = invHT(T,dT,ddT) % [invT, dinvT] = invHT(T,dT) - Invert homogeneous transform % % Returns the inverse of a homogeneous transform, T. If the Jacobian of T is @@ -10,29 +10,73 @@ % by forwardKin: % % dT = [dT(1,:)dq1; dT(1,:)dq2; ...; dT(1,:)dqN; dT(2,:)dq1 ...] +% +% @param ddT the second derivative of T w.r.t. an N-element vector q in the format used +% by forwardKin: +% +% ddTdqdq = [d(dT)dq1; d(dT)dq2; ...] +% isHT(T); +compute_first_derivatives = (nargout > 1); +compute_second_derivatives = (nargout > 2); R = T(1:3,1:3); p = T(1:3,4); invT = [R' -R'*p;0 0 0 1]; -if nargout > 1 +if compute_first_derivatives if nargin < 2 error('Input argument ''dT'' is needed in order to compute ''dinvT'''); end - % dT [3*nq x 4] + % dT [3*N x 4] sizecheck(dT,[NaN,4]); valuecheck(mod(size(dT,1),3),0); - nq = size(dT,1)/3; + N = size(dT,1)/3; + + % dR^T [3*N x 3] + dRtranspose = reshape(dT(:,1:3)',3*N,3); + + % dp [3 x N] + dp = reshape(dT(:,4),N,3)'; + dinvT_reshaped = [dRtranspose -dRtranspose*p - reshape(R'*dp,[3*N,1])]; + dinvT = reshape(transposeBlocks(dinvT_reshaped,[3,4]),[4,3*N])'; + + if compute_second_derivatives + if nargin < 3 + error('Input argument ''ddT'' is needed in order to compute ''ddinvT'''); + end + % ddT [3*N^2 x 4] + sizecheck(ddT,[3*N^2,4]); - % dR [3*nq x 3] - dRtranspose = reshape(dT(:,1:3)',3*nq,3); + % Reshape to 4D. [3 x 4 x N x N] + % Mental picture: N x N array of 3 x 4 matrices + ddT_reshaped = permute(reshape(ddT,[N,3,N,4]), [2,4,1,3]); - % dp [3 x nq] - dp = reshape(dT(:,4),nq,3)'; - dinvT_reshaped = [dRtranspose -dRtranspose*p - reshape(R'*dp,[3*nq,1])]; - dinvT = reshape(transposeBlocks(dinvT_reshaped,[3,4]),[4,3*nq])'; + % ddR^T [3 x 3 x N x N] + ddRtranspose = ddT_reshaped(1:3,1:3,:,:); + + % ddR^T*p [3 x 1 x N x N] + ddRtranspose_p_flat = reshape(permute(ddRtranspose,[2,1,3,4]),[3,3*N*N])'*p; + ddRtranspose_p = reshape(ddRtranspose_p_flat,[3,1,N,N]); + + % ddp [3 x 1 x N x N] + ddp = ddT_reshaped(:,4,:,:); + + % R^T*ddp [3 x 1 x N x N] + Rtranspose_ddp_flat = R'*reshape(ddp,3,N*N); + Rtranspose_ddp = reshape(Rtranspose_ddp_flat,[3,1,N,N]); + + % dRi^T * dpj [3 x 1 x N x N] + dRtranspose_i_dp_j = permute(reshape(dRtranspose*dp,[3,N,1,N]), [1,3,2,4]); + dRtranspose_j_dp_i = permute(dRtranspose_i_dp_j, [1,2,4,3]); + + % ddinvT_reshaped [3 x 4 x N x N] + ddinvT_reshaped = [ddRtranspose, -ddRtranspose_p - dRtranspose_i_dp_j - dRtranspose_j_dp_i - Rtranspose_ddp]; + + % ddinvT [3*N^2 x 4] + ddinvT = reshape(permute(ddinvT_reshaped,[3,1,4,2]),3*N^2,4); + end end end From e3a9d516840c46092a30eb5166d1e20b61ba0902 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Wed, 8 Oct 2014 11:45:12 -0400 Subject: [PATCH 243/271] Add dJ support to bodyKin --- .../plants/@RigidBodyManipulator/bodyKin.m | 47 +++++++++++++++---- 1 file changed, 38 insertions(+), 9 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/bodyKin.m b/systems/plants/@RigidBodyManipulator/bodyKin.m index acaa9b343f21..d45f3ec084f2 100644 --- a/systems/plants/@RigidBodyManipulator/bodyKin.m +++ b/systems/plants/@RigidBodyManipulator/bodyKin.m @@ -1,4 +1,4 @@ -function [x,J,P] = bodyKin(obj,kinsol,body_or_frame_ind,pts) +function [x,J,P,dJ] = bodyKin(obj,kinsol,body_or_frame_ind,pts) % computes the position of pts (given in the global frame) in the body frame % % @param kinsol solution structure obtained from doKinematics @@ -7,7 +7,7 @@ % @retval x the position of pts (given in the global frame) in the body frame % @retval J the Jacobian, dxdq % @retval P the gradient, dxdpts - useful when computing forces -%% @retval dJ the gradients of the Jacobian, dJdq +% @retval dJ the gradients of the Jacobian, dJdq % % if pts is a 3xm matrix, then x will be a 3xm matrix % and (following our gradient convention) J will be a ((3xm)x(q)) @@ -16,12 +16,17 @@ checkDirty(obj); -if (nargout>3), error('Gradient of the Jacobian (dJ) not implemented yet.'); end +compute_first_derivatives = (nargout > 1); +compute_P = (nargout > 2); +compute_second_derivatives = (nargout > 3); % todo: zap this after the transition if isa(body_or_frame_ind,'RigidBody'), error('support for passing in RigidBody objects has been removed. please pass in the body index'); end -if (kinsol.mex) +if kinsol.mex + if compute_second_derivatives + error('Second derivatives not implemented in mex yet.'); + end if (obj.mex_model_ptr==0) error('Drake:RigidBodyManipulator:InvalidKinematics','This kinsol is no longer valid because the mex model ptr has been deleted.'); end @@ -29,9 +34,9 @@ error('Drake:RigidBodyManipulator:InvalidKinematics','This kinsol is not valid because it was computed via mex, and you are now asking for an evaluation with non-numeric pts. If you intended to use something like TaylorVar, then you must call doKinematics with use_mex = false'); end - if (nargout>2) + if compute_P [x,J,P] = bodyKinmex(obj.mex_model_ptr,kinsol.q,body_or_frame_ind,pts); - elseif (nargout>1) + elseif compute_first_derivatives [x,J] = bodyKinmex(obj.mex_model_ptr,kinsol.q,body_or_frame_ind,pts); else x = bodyKinmex(obj.mex_model_ptr,kinsol.q,body_or_frame_ind,pts); @@ -49,18 +54,28 @@ m = size(pts,2); pts = [pts;ones(1,m)]; - invT = inv(kinsol.T{body_ind}*Tframe); + T = kinsol.T{body_ind}*Tframe; + if compute_second_derivatives + dT = kinsol.dTdq{body_ind}*Tframe; + ddT = kinsol.ddTdqdq{body_ind}*Tframe; + [invT, dinvT, ddinvT] = invHT(T,dT,ddT); + elseif compute_first_derivatives + dT = kinsol.dTdq{body_ind}*Tframe; + [invT, dinvT] = invHT(T,dT); + else + invT = invHT(T); + end x = invT*pts; x = x(1:3,:); % Jacobians make use of d(inv(T))dqi = -inv(T)*dTdqi*inv(T) - if (nargout>2) + if compute_P P = zeros(3*m,3*m); for i=1:size(pts,2) P((i-1)*3+1:i*3,(i-1)*3+1:i*3)=invT(1:3,1:3); end end - if (nargout>1) + if compute_first_derivatives nq = size(kinsol.q,1); invT = inv(kinsol.T{body_ind}*Tframe); dTdq = cell(1,nq); @@ -78,6 +93,20 @@ grad = grad(1:3,:); J(:,i) = reshape(grad,[],1); end + %J = zeros(3*m,nq); + %for i=1:m + %grad = dinvT*pts(:,i); + %grad = grad(1:3,:); + %J((i-1)*3+(1:3),:) = reshape(grad,3,[]); + %end + end + if compute_second_derivatives + if isempty(kinsol.ddTdqdq{body_ind}) + error('you must call doKinematics with the second derivative option enabled'); + end + %ind = repmat(1:3*nq,nq,1)+repmat((0:3*nq:3*nq*(nq-1))',1,3*nq); + dJ_reshaped = ddinvT*pts; + dJ = reshape(permute(reshape(dJ_reshaped,[nq,3,nq,m]),[2,4,1,3]),3*m,nq^2); end end From 3c3a4d5a3bddb71a75160a6742e0c05ebb73ed7c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Wed, 8 Oct 2014 11:46:49 -0400 Subject: [PATCH 244/271] Add dJ output to drakeFunction.kinematic.RelativePosition --- solvers/+drakeFunction/+kinematic/RelativePosition.m | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/solvers/+drakeFunction/+kinematic/RelativePosition.m b/solvers/+drakeFunction/+kinematic/RelativePosition.m index 0b4b0629af66..9b2d37bc0838 100644 --- a/solvers/+drakeFunction/+kinematic/RelativePosition.m +++ b/solvers/+drakeFunction/+kinematic/RelativePosition.m @@ -46,7 +46,7 @@ obj.n_pts = n_pts_tmp; end - function [pos,J] = eval(obj,q) + function [pos,J,dJ] = eval(obj,q) % pos = eval(obj,q) returns the relative positions of the points % % [pos,J] = eval(obj,q) also returns the Jacobian of the relative @@ -54,6 +54,8 @@ % % @param obj -- drakeFunction.kinematic.RelativePosition object % @param q -- Column vector of joint positions + compute_first_derivative = (nargout > 1); + compute_second_derivative = (nargout > 2); kinsol = obj.rbm.doKinematics(q); if obj.frameA == 0 [pts_in_world,JA] = getCOM(obj.rbm,kinsol); From 682633f875ee9d264a20c4f412b101ec5de39ab9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Wed, 8 Oct 2014 11:57:11 -0400 Subject: [PATCH 245/271] Add bodyKinTest --- systems/plants/test/bodyKinTest.m | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 systems/plants/test/bodyKinTest.m diff --git a/systems/plants/test/bodyKinTest.m b/systems/plants/test/bodyKinTest.m new file mode 100644 index 000000000000..50efe6e3e895 --- /dev/null +++ b/systems/plants/test/bodyKinTest.m @@ -0,0 +1,24 @@ +function bodyKinTest() + options.floating = true; + r = RigidBodyManipulator('FallingBrick.urdf',options); + m = 5; + pts = rand(3,m); + + q = rand(r.getNumPositions(),1); + + geval_options.grad_method = {'user','taylorvar'}; + [x,J,dJ] = geval(@bodyKinWrapper,q,geval_options); + + function [x,J,dJ] = bodyKinWrapper(q) + kinsol = r.doKinematics(q,true,false); + switch nargout + case 1 + x = r.bodyKin(kinsol,2,pts); + case 2 + [x, J] = r.bodyKin(kinsol,2,pts); + case 3 + [x, J, ~, dJ] = r.bodyKin(kinsol,2,pts); + end + end +end + From d27ce974945421177ac746c674dd9ed4f8a373ea Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Sun, 12 Oct 2014 21:42:18 -0400 Subject: [PATCH 246/271] Add invHTstd and test. Computes the inverse of a homogeneous transform with derivatives up to second order. Assumes the standard geval format for derivatives. --- util/invHTstd.m | 90 ++++++++++++++++++++++++++++++++++++ util/test/invHTStdFormTest.m | 11 +++++ 2 files changed, 101 insertions(+) create mode 100644 util/invHTstd.m create mode 100644 util/test/invHTStdFormTest.m diff --git a/util/invHTstd.m b/util/invHTstd.m new file mode 100644 index 000000000000..cc6e1182d2d0 --- /dev/null +++ b/util/invHTstd.m @@ -0,0 +1,90 @@ +function [invT, dinvT, ddinvT] = invHTstd(T,dT,ddT) +% [invT, dinvT] = invHT(T,dT) - Invert homogeneous transform +% +% Returns the inverse of a homogeneous transform, T. If the Jacobian of T is +% given and a second output is requested, also returns the Jacobian of the +% inverse. +% +% @param T a 4x4 array representing a homogenous transform +% @param dT the Jacobian of T w.r.t. an N-element vector q in the format used +% by forwardKin: +% +% dT = [dT(1,:)dq1; dT(1,:)dq2; ...; dT(1,:)dqN; dT(2,:)dq1 ...] +% +% @param ddT the second derivative of T w.r.t. an N-element vector q in the format used +% by forwardKin: +% +% ddTdqdq = [d(dT)dq1; d(dT)dq2; ...] +% +isHT(T); +compute_first_derivatives = (nargout > 1); +compute_second_derivatives = (nargout > 2); + +R = T(1:3,1:3); +p = T(1:3,4); + +invT = [R' -R'*p;0 0 0 1]; + +if compute_first_derivatives + if nargin < 2 + error('Input argument ''dT'' is needed in order to compute ''dinvT'''); + end + % dT [3*N x 4] + sizecheck(dT,[16,NaN]); + N = size(dT,2); + + dT_reshaped = reshape(full(dT),[4,4,N]); + + % dR^T [3*N x 3] + dRtranspose = permute(dT_reshaped(1:3,1:3,:),[2,1,3]); + dRtranspose_p_flat = reshape(permute(dRtranspose,[2,1,3]),[3,3*N])'*p; + dRtranspose_p = reshape(dRtranspose_p_flat,[3,1,N]); + + % dp [3 x N] + dp = dT_reshaped(1:3,4,:); + + Rtranspose_dp_flat = R'*reshape(dp,[3,N]); + Rtranspose_dp = reshape(Rtranspose_dp_flat,[3,1,N]); + dinvT_reshaped = [dRtranspose, -dRtranspose_p - Rtranspose_dp; ... + zeros(1,4,N)]; + dinvT = reshape(dinvT_reshaped,[4*4,N]); + + if compute_second_derivatives + if nargin < 3 + error('Input argument ''ddT'' is needed in order to compute ''ddinvT'''); + end + % ddT [3*N^2 x 4] + sizecheck(ddT,[4*4,N*N]); + + % Reshape to 4D. [3 x 4 x N x N] + % Mental picture: N x N array of 3 x 4 matrices + ddT_reshaped = reshape(full(ddT),[4,4,N,N]); + + % ddR^T [3 x 3 x N x N] + ddRtranspose = permute(ddT_reshaped(1:3,1:3,:,:),[2,1,3,4]); + + % ddR^T*p [3 x 1 x N x N] + ddRtranspose_p_flat = reshape(permute(ddRtranspose,[2,1,3,4]),[3,3*N*N])'*p; + ddRtranspose_p = reshape(ddRtranspose_p_flat,[3,1,N,N]); + + % ddp [3 x 1 x N x N] + ddp = ddT_reshaped(1:3,4,:,:); + + % R^T*ddp [3 x 1 x N x N] + Rtranspose_ddp_flat = R'*reshape(ddp,3,N*N); + Rtranspose_ddp = reshape(Rtranspose_ddp_flat,[3,1,N,N]); + + % dRi^T * dpj [3 x 1 x N x N] + dRtranspose_i_dp_j = permute(reshape(reshape(permute(dRtranspose,[2,1,3]),[3,3*N])'*reshape(dp,[3,N]),[3,N,1,N]), [1,3,2,4]); + dRtranspose_j_dp_i = permute(dRtranspose_i_dp_j, [1,2,4,3]); + + % ddinvT_reshaped [3 x 4 x N x N] + ddinvT_reshaped = [ddRtranspose, -ddRtranspose_p - dRtranspose_i_dp_j - dRtranspose_j_dp_i - Rtranspose_ddp; ... + zeros(1,4,N,N)]; + + % ddinvT [3*N^2 x 4] + ddinvT = reshape(ddinvT_reshaped,[4*4,N*N]); + end +end + +end diff --git a/util/test/invHTStdFormTest.m b/util/test/invHTStdFormTest.m new file mode 100644 index 000000000000..19e018e7fd9b --- /dev/null +++ b/util/test/invHTStdFormTest.m @@ -0,0 +1,11 @@ +function invHTStdFormTest + rpy = 2*pi*rand(3,1)-pi; + p = rand(3,1); + makeT = @(euler_angles,pos) [rpy2rotmat(euler_angles),pos;zeros(1,3),1]; + [T,dT,ddT] = geval(makeT,rpy,p,struct('grad_method','taylorvar')); + + makeInvT = @(euler_angles,pos) invHTstd(makeT(euler_angles,pos),dT,ddT); + + options.grad_method = {'taylorvar','user'}; + [invT, dinvT, ddinvT] = geval(makeInvT,rpy,p,options); +end From fb2fe2b33031d3060155178af690127055466b86 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 13 Oct 2014 12:00:28 -0400 Subject: [PATCH 247/271] Fix comment in invHTstd. --- util/invHTstd.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/util/invHTstd.m b/util/invHTstd.m index cc6e1182d2d0..4b2b47f485f7 100644 --- a/util/invHTstd.m +++ b/util/invHTstd.m @@ -82,7 +82,7 @@ ddinvT_reshaped = [ddRtranspose, -ddRtranspose_p - dRtranspose_i_dp_j - dRtranspose_j_dp_i - Rtranspose_ddp; ... zeros(1,4,N,N)]; - % ddinvT [3*N^2 x 4] + % ddinvT [16 x N^2] ddinvT = reshape(ddinvT_reshaped,[4*4,N*N]); end end From f480fddbca870ac54847abf20da2369d48ae958c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 13 Oct 2014 12:01:37 -0400 Subject: [PATCH 248/271] Fix second derivatives in invHT and bodyKin. bodyKinTest passes! --- .../plants/@RigidBodyManipulator/bodyKin.m | 27 +++------------ systems/plants/test/bodyKinTest.m | 34 +++++++++---------- util/invHT.m | 26 +++++++++----- 3 files changed, 39 insertions(+), 48 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/bodyKin.m b/systems/plants/@RigidBodyManipulator/bodyKin.m index d45f3ec084f2..21bc71330cc2 100644 --- a/systems/plants/@RigidBodyManipulator/bodyKin.m +++ b/systems/plants/@RigidBodyManipulator/bodyKin.m @@ -68,7 +68,6 @@ x = invT*pts; x = x(1:3,:); - % Jacobians make use of d(inv(T))dqi = -inv(T)*dTdqi*inv(T) if compute_P P = zeros(3*m,3*m); for i=1:size(pts,2) @@ -77,36 +76,18 @@ end if compute_first_derivatives nq = size(kinsol.q,1); - invT = inv(kinsol.T{body_ind}*Tframe); - dTdq = cell(1,nq); - for i=1:nq - dTdq{i} = [kinsol.dTdq{body_ind}(i:nq:end,:);zeros(1,size(kinsol.dTdq{body_ind},2))]; - dTdq{i} = dTdq{i}*Tframe; - end - dinvTdq = cell(1,nq); - for i=1:nq - dinvTdq{i} = -invT*dTdq{i}*invT; - end J = zeros(3*m,nq); - for i=1:nq - grad = dinvTdq{i}*pts; - grad = grad(1:3,:); - J(:,i) = reshape(grad,[],1); + for i=1:m + grad = dinvT*pts(:,i); + J((i-1)*3+(1:3),:) = reshape(grad,nq,3)'; end - %J = zeros(3*m,nq); - %for i=1:m - %grad = dinvT*pts(:,i); - %grad = grad(1:3,:); - %J((i-1)*3+(1:3),:) = reshape(grad,3,[]); - %end end if compute_second_derivatives if isempty(kinsol.ddTdqdq{body_ind}) error('you must call doKinematics with the second derivative option enabled'); end - %ind = repmat(1:3*nq,nq,1)+repmat((0:3*nq:3*nq*(nq-1))',1,3*nq); dJ_reshaped = ddinvT*pts; - dJ = reshape(permute(reshape(dJ_reshaped,[nq,3,nq,m]),[2,4,1,3]),3*m,nq^2); + dJ = reshape(permute(reshape(dJ_reshaped,[nq,3,nq,m]),[2,4,3,1]),3*m,nq^2); end end diff --git a/systems/plants/test/bodyKinTest.m b/systems/plants/test/bodyKinTest.m index 50efe6e3e895..7bfca14bb76b 100644 --- a/systems/plants/test/bodyKinTest.m +++ b/systems/plants/test/bodyKinTest.m @@ -1,24 +1,24 @@ function bodyKinTest() - options.floating = true; - r = RigidBodyManipulator('FallingBrick.urdf',options); - m = 5; - pts = rand(3,m); + options.floating = false; + r = RigidBodyManipulator(fullfile(getDrakePath(),'examples','KneedCompassGait','KneedCompassGait.urdf'),options); + m = 1; + pts = ones(3,m); + body_ind = 4; - q = rand(r.getNumPositions(),1); + q = rand*ones(r.getNumPositions(),1); geval_options.grad_method = {'user','taylorvar'}; - [x,J,dJ] = geval(@bodyKinWrapper,q,geval_options); + [x,J,dJ] = geval(@(q)bodyKinWrapper(q,r,body_ind,pts),q,geval_options); +end - function [x,J,dJ] = bodyKinWrapper(q) - kinsol = r.doKinematics(q,true,false); - switch nargout - case 1 - x = r.bodyKin(kinsol,2,pts); - case 2 - [x, J] = r.bodyKin(kinsol,2,pts); - case 3 - [x, J, ~, dJ] = r.bodyKin(kinsol,2,pts); - end +function [x,J,dJ] = bodyKinWrapper(q,r,body_ind,pts) + kinsol = r.doKinematics(q,true,false); + switch nargout + case 1 + x = r.bodyKin(kinsol,body_ind,pts); + case 2 + [x, J] = r.bodyKin(kinsol,body_ind,pts); + case 3 + [x, J, ~, dJ] = r.bodyKin(kinsol,body_ind,pts); end end - diff --git a/util/invHT.m b/util/invHT.m index 79bf4866ae1f..cd69a90fa574 100644 --- a/util/invHT.m +++ b/util/invHT.m @@ -34,13 +34,22 @@ valuecheck(mod(size(dT,1),3),0); N = size(dT,1)/3; + dT_reshaped = permute(reshape(dT,[N,3,4]),[2,3,1]); + % dR^T [3*N x 3] - dRtranspose = reshape(dT(:,1:3)',3*N,3); + dRtranspose = permute(dT_reshaped(1:3,1:3,:),[2,1,3]); + dRtranspose_flat = reshape(permute(dRtranspose,[2,1,3]),[3,3*N])'; + dRtranspose_p_flat = dRtranspose_flat*p; + dRtranspose_p = reshape(dRtranspose_p_flat,[3,1,N]); % dp [3 x N] - dp = reshape(dT(:,4),N,3)'; - dinvT_reshaped = [dRtranspose -dRtranspose*p - reshape(R'*dp,[3*N,1])]; - dinvT = reshape(transposeBlocks(dinvT_reshaped,[3,4]),[4,3*N])'; + dp = dT_reshaped(1:3,4,:); + + Rtranspose_dp_flat = R'*reshape(dp,[3,N]); + Rtranspose_dp = reshape(Rtranspose_dp_flat,[3,1,N]); + dinvT_reshaped = [dRtranspose, -dRtranspose_p - Rtranspose_dp]; + + dinvT = reshape(permute(dinvT_reshaped,[2,3,1]),[4,3*N])'; if compute_second_derivatives if nargin < 3 @@ -54,28 +63,29 @@ ddT_reshaped = permute(reshape(ddT,[N,3,N,4]), [2,4,1,3]); % ddR^T [3 x 3 x N x N] - ddRtranspose = ddT_reshaped(1:3,1:3,:,:); + ddRtranspose = permute(ddT_reshaped(1:3,1:3,:,:),[2,1,3,4]); % ddR^T*p [3 x 1 x N x N] ddRtranspose_p_flat = reshape(permute(ddRtranspose,[2,1,3,4]),[3,3*N*N])'*p; ddRtranspose_p = reshape(ddRtranspose_p_flat,[3,1,N,N]); % ddp [3 x 1 x N x N] - ddp = ddT_reshaped(:,4,:,:); + ddp = ddT_reshaped(1:3,4,:,:); % R^T*ddp [3 x 1 x N x N] Rtranspose_ddp_flat = R'*reshape(ddp,3,N*N); Rtranspose_ddp = reshape(Rtranspose_ddp_flat,[3,1,N,N]); % dRi^T * dpj [3 x 1 x N x N] - dRtranspose_i_dp_j = permute(reshape(dRtranspose*dp,[3,N,1,N]), [1,3,2,4]); + dp_flat = reshape(dp,[3,N]); + dRtranspose_i_dp_j = permute(reshape(dRtranspose_flat*dp_flat,[3,N,1,N]), [1,3,2,4]); dRtranspose_j_dp_i = permute(dRtranspose_i_dp_j, [1,2,4,3]); % ddinvT_reshaped [3 x 4 x N x N] ddinvT_reshaped = [ddRtranspose, -ddRtranspose_p - dRtranspose_i_dp_j - dRtranspose_j_dp_i - Rtranspose_ddp]; % ddinvT [3*N^2 x 4] - ddinvT = reshape(permute(ddinvT_reshaped,[3,1,4,2]),3*N^2,4); + ddinvT = reshape(permute(ddinvT_reshaped,[2,3,1,4]),[4,3*N^2])'; end end From 3fb564334de4be75e3b9d9788bbdd4b2c1c91232 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 13 Oct 2014 14:54:44 -0400 Subject: [PATCH 249/271] Modify matGradMultMat to work with TaylorVars Can't use kron(speye(...)) with TaylorVars because they don't implement "find". --- util/matGradMultMat.m | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/util/matGradMultMat.m b/util/matGradMultMat.m index 6ef40d08fe78..8403a25b5827 100644 --- a/util/matGradMultMat.m +++ b/util/matGradMultMat.m @@ -12,7 +12,15 @@ if (np ~= n*p) error('dimension mismatch'); end if (q2 ~= q) error('dA and dB must have the same number of gradient terms'); end -B_diag = kron(speye(q),B); +% speye is faster, so if we have numerical inputs we should use that. We +% can't use speye with TaylorVars, however, because they don't implement +% "find". We're switching based on `isnumeric` rather than +% `isa(...,'TaylorVar') to avoid doing a string comparision. +if isnumeric(B) + B_diag = kron(speye(q),B); +else + B_diag = kron(eye(q),B); +end dAB = reshape(reshape(dA,m,n*q)*B_diag + A*reshape(dB,n,p*q),m*p,q); From 43f8e675d5b12a444ee2293b4ff5d38704f0fb4c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 13 Oct 2014 14:56:54 -0400 Subject: [PATCH 250/271] Change output argument order in bodyKin P should come before J since it's not a gradient w.r.t. q. --- systems/plants/@RigidBodyManipulator/bodyKin.m | 18 +++++++++++++----- systems/plants/test/bodyKinTest.m | 15 +++++++++++++-- 2 files changed, 26 insertions(+), 7 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/bodyKin.m b/systems/plants/@RigidBodyManipulator/bodyKin.m index 21bc71330cc2..9df4f60845e7 100644 --- a/systems/plants/@RigidBodyManipulator/bodyKin.m +++ b/systems/plants/@RigidBodyManipulator/bodyKin.m @@ -1,4 +1,4 @@ -function [x,J,P,dJ] = bodyKin(obj,kinsol,body_or_frame_ind,pts) +function [x,P,J,dP,dJ] = bodyKin(obj,kinsol,body_or_frame_ind,pts) % computes the position of pts (given in the global frame) in the body frame % % @param kinsol solution structure obtained from doKinematics @@ -16,9 +16,9 @@ checkDirty(obj); -compute_first_derivatives = (nargout > 1); -compute_P = (nargout > 2); -compute_second_derivatives = (nargout > 3); +compute_P = (nargout > 1); +compute_first_derivatives = (nargout > 2); +compute_second_derivatives = (nargout > 4); % todo: zap this after the transition if isa(body_or_frame_ind,'RigidBody'), error('support for passing in RigidBody objects has been removed. please pass in the body index'); end @@ -69,7 +69,7 @@ x = x(1:3,:); if compute_P - P = zeros(3*m,3*m); + P = zeros(3*m,3*m)*kinsol.q(1); % keep the taylorvars happy for i=1:size(pts,2) P((i-1)*3+1:i*3,(i-1)*3+1:i*3)=invT(1:3,1:3); end @@ -77,10 +77,18 @@ if compute_first_derivatives nq = size(kinsol.q,1); J = zeros(3*m,nq); + if compute_P + dP = zeros(3*m,3*m,nq); + dinvT_reshaped = permute(reshape(dinvT,[nq,3,4]),[2,3,1]); + end for i=1:m grad = dinvT*pts(:,i); J((i-1)*3+(1:3),:) = reshape(grad,nq,3)'; + if compute_P + dP((i-1)*3+1:i*3,(i-1)*3+1:i*3,:)=dinvT_reshaped(1:3,1:3,:); + end end + dP = reshape(dP,(3*m)^2,nq); end if compute_second_derivatives if isempty(kinsol.ddTdqdq{body_ind}) diff --git a/systems/plants/test/bodyKinTest.m b/systems/plants/test/bodyKinTest.m index 7bfca14bb76b..5774ca0f74b8 100644 --- a/systems/plants/test/bodyKinTest.m +++ b/systems/plants/test/bodyKinTest.m @@ -9,6 +9,7 @@ function bodyKinTest() geval_options.grad_method = {'user','taylorvar'}; [x,J,dJ] = geval(@(q)bodyKinWrapper(q,r,body_ind,pts),q,geval_options); + [P,dP] = geval(@(q)bodyKinPWrapper(q,r,body_ind,pts),q,geval_options); end function [x,J,dJ] = bodyKinWrapper(q,r,body_ind,pts) @@ -17,8 +18,18 @@ function bodyKinTest() case 1 x = r.bodyKin(kinsol,body_ind,pts); case 2 - [x, J] = r.bodyKin(kinsol,body_ind,pts); + [x, ~, J] = r.bodyKin(kinsol,body_ind,pts); case 3 - [x, J, ~, dJ] = r.bodyKin(kinsol,body_ind,pts); + [x, ~, J, ~, dJ] = r.bodyKin(kinsol,body_ind,pts); + end +end + +function [P,dP] = bodyKinPWrapper(q,r,body_ind,pts) + kinsol = r.doKinematics(q,true,false); + switch nargout + case 1 + [~, P] = r.bodyKin(kinsol,body_ind,pts); + case 2 + [~, P, ~, dP] = r.bodyKin(kinsol,body_ind,pts); end end From 3d551ad8b4c7ec9343d7ee6ef79e6de1fc7c92a4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 13 Oct 2014 14:57:57 -0400 Subject: [PATCH 251/271] Update PlanarRBM/bodyKin for RBM/bodyKin changes --- .../plants/@PlanarRigidBodyManipulator/bodyKin.m | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/systems/plants/@PlanarRigidBodyManipulator/bodyKin.m b/systems/plants/@PlanarRigidBodyManipulator/bodyKin.m index 502f01ab1560..2cadc86aaa83 100644 --- a/systems/plants/@PlanarRigidBodyManipulator/bodyKin.m +++ b/systems/plants/@PlanarRigidBodyManipulator/bodyKin.m @@ -1,4 +1,4 @@ -function [x,J,P] = bodyKin(obj,kinsol,body_ind,pts) +function [x,P,J,dP,dJ] = bodyKin(obj,kinsol,body_ind,pts) % computes the position of pts (given in the global frame) in the body frame % (see documentation for bodyKin in RigidBodyManipulator) % @@ -7,14 +7,18 @@ % returned). [n,m] = size(pts); -if (n==2) pts = obj.T_2D_to_3D * pts; end +if (n==2), pts = obj.T_2D_to_3D * pts; end -if (nargout>2) - [x,J,P] = bodyKin@RigidBodyManipulator(obj,kinsol,body_ind,pts); +if (nargout>4) + [x,P,J,dP,dJ] = bodyKin@RigidBodyManipulator(obj,kinsol,body_ind,pts); +elseif (nargout>3) + [x,P,J,dP] = bodyKin@RigidBodyManipulator(obj,kinsol,body_ind,pts); +elseif (nargout>2) + [x,P,J] = bodyKin@RigidBodyManipulator(obj,kinsol,body_ind,pts); elseif (nargout>1) - [x,J] = bodyKin@RigidBodyManipulator(obj,kinsol,body_ind,pts); + [x,P] = bodyKin@RigidBodyManipulator(obj,kinsol,body_ind,pts); else x = bodyKin@RigidBodyManipulator(obj,kinsol,body_ind,pts); end -if (n==2) x = obj.T_2D_to_3D'*x; end \ No newline at end of file +if (n==2), x = obj.T_2D_to_3D'*x; end From e7621557c956c3e3dff5d12a4d3f094c56238dec Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 13 Oct 2014 14:58:43 -0400 Subject: [PATCH 252/271] Add second derivative support to RelativePosition --- .../+kinematic/RelativePosition.m | 54 ++++++++++++------- 1 file changed, 34 insertions(+), 20 deletions(-) diff --git a/solvers/+drakeFunction/+kinematic/RelativePosition.m b/solvers/+drakeFunction/+kinematic/RelativePosition.m index 9b2d37bc0838..da81705b0819 100644 --- a/solvers/+drakeFunction/+kinematic/RelativePosition.m +++ b/solvers/+drakeFunction/+kinematic/RelativePosition.m @@ -54,29 +54,43 @@ % % @param obj -- drakeFunction.kinematic.RelativePosition object % @param q -- Column vector of joint positions - compute_first_derivative = (nargout > 1); - compute_second_derivative = (nargout > 2); - kinsol = obj.rbm.doKinematics(q); - if obj.frameA == 0 - [pts_in_world,JA] = getCOM(obj.rbm,kinsol); + compute_second_derivatives = (nargout > 2); + if compute_second_derivatives + kinsol = obj.rbm.doKinematics(q,true,false); + if obj.frameA == 0 + [pts_in_world,JA,dJA] = getCOM(obj.rbm,kinsol); + else + [pts_in_world,JA,dJA] = forwardKin(obj.rbm,kinsol,obj.frameA,obj.pts_in_A,0); + end + [pts_in_B,P,JB,dP,dJB] = obj.rbm.bodyKin(kinsol,obj.frameB,pts_in_world); + dJ = dJB + reshape(matGradMultMat(P,JA,dP,reshape(dJA,numel(JA),[])),size(dJB)); else - [pts_in_world,JA] = forwardKin(obj.rbm,kinsol,obj.frameA,obj.pts_in_A,0); + kinsol = obj.rbm.doKinematics(q); + if obj.frameA == 0 + [pts_in_world,JA] = getCOM(obj.rbm,kinsol); + else + [pts_in_world,JA] = forwardKin(obj.rbm,kinsol,obj.frameA,obj.pts_in_A,0); + end + [pts_in_B,P,JB] = obj.rbm.bodyKin(kinsol,obj.frameB,pts_in_world); end - [T_B_to_world,dT_B_to_world] = forwardKin(obj.rbm,kinsol,obj.frameB,[0;0;0],2); - [quat_world_to_B,dquat_world_to_B] = quatConjugate(T_B_to_world(4:7)); - dquat_world_to_B = dquat_world_to_B*dT_B_to_world(4:7,:); - [xyz_world_to_B,dxyz_world_to_B] = quatRotateVec(quat_world_to_B,T_B_to_world(1:3)); - xyz_world_to_B = -xyz_world_to_B; - dxyz_world_to_B = -dxyz_world_to_B*[dquat_world_to_B;dT_B_to_world(1:3,:)]; + J = JB + P*JA; - pts_in_B = zeros(3,obj.n_pts)*q(1); - J = zeros(3*obj.n_pts,obj.rbm.getNumPositions())*q(1); - for i = 1:obj.n_pts - [pts_in_B1,dpts_in_B1] = quatRotateVec(quat_world_to_B,pts_in_world(:,i)); - dpts_in_B1 = dpts_in_B1*[dquat_world_to_B;JA(3*(i-1)+(1:3),:)]; - pts_in_B(:,i) = pts_in_B1+xyz_world_to_B; - J(3*(i-1)+(1:3),:) = dpts_in_B1+dxyz_world_to_B; - end + + %[T_B_to_world,dT_B_to_world] = forwardKin(obj.rbm,kinsol,obj.frameB,[0;0;0],2); + %[quat_world_to_B,dquat_world_to_B] = quatConjugate(T_B_to_world(4:7)); + %dquat_world_to_B = dquat_world_to_B*dT_B_to_world(4:7,:); + %[xyz_world_to_B,dxyz_world_to_B] = quatRotateVec(quat_world_to_B,T_B_to_world(1:3)); + %xyz_world_to_B = -xyz_world_to_B; + %dxyz_world_to_B = -dxyz_world_to_B*[dquat_world_to_B;dT_B_to_world(1:3,:)]; + + %pts_in_B = zeros(3,obj.n_pts)*q(1); + %J = zeros(3*obj.n_pts,obj.rbm.getNumPositions())*q(1); + %for i = 1:obj.n_pts + %[pts_in_B1,dpts_in_B1] = quatRotateVec(quat_world_to_B,pts_in_world(:,i)); + %dpts_in_B1 = dpts_in_B1*[dquat_world_to_B;JA(3*(i-1)+(1:3),:)]; + %pts_in_B(:,i) = pts_in_B1+xyz_world_to_B; + %J(3*(i-1)+(1:3),:) = dpts_in_B1+dxyz_world_to_B; + %end pos = reshape(pts_in_B,[],1); end end From 6d1ac4d7cfe56ffc735a1c7d5fa4b75e3cb8e769 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 13 Oct 2014 14:59:11 -0400 Subject: [PATCH 253/271] Add second derivative support to Concatenated --- solvers/+drakeFunction/Concatenated.m | 36 ++++++++++++++++++++++----- 1 file changed, 30 insertions(+), 6 deletions(-) diff --git a/solvers/+drakeFunction/Concatenated.m b/solvers/+drakeFunction/Concatenated.m index e4b001cb8c9e..e5602f48a8a3 100644 --- a/solvers/+drakeFunction/Concatenated.m +++ b/solvers/+drakeFunction/Concatenated.m @@ -72,9 +72,15 @@ obj = obj.setSparsityPattern(); end - function [f,df] = eval(obj,x) - [f_cell,df_cell] = evalContainedFunctions(obj,x); - [f,df] = combineOutputs(obj,f_cell,df_cell); + function [f,df,ddf] = eval(obj,x) + compute_second_derivatives = (nargout > 2); + if compute_second_derivatives + [f_cell,df_cell,ddf_cell] = evalContainedFunctions(obj,x); + [f,df,ddf] = combineOutputs(obj,f_cell,df_cell,ddf_cell); + else + [f_cell,df_cell] = evalContainedFunctions(obj,x); + [f,df] = combineOutputs(obj,f_cell,df_cell); + end end function obj = setSparsityPattern(obj) @@ -111,27 +117,45 @@ % component function % @retval df_cell -- Cell array of Jacobians for each component % function + compute_second_derivatives = (nargout > 2); x_cell = cell(size(obj.contained_functions)); f_cell = cell(size(x_cell)); df_cell = cell(size(x_cell)); + if compute_second_derivatives + ddf_cell = cell(size(x_cell)); + end if obj.same_input x_cell(:) = {x}; else x_cell = splitCoordinates(obj.input_frame, x); end contained_functions_local = obj.contained_functions; - for i = 1:obj.n_contained_functions - [f_cell{i},df_cell{i}] = eval(contained_functions_local{i},x_cell{i}); + if compute_second_derivatives + for i = 1:obj.n_contained_functions + [f_cell{i},df_cell{i},ddf_cell{i}] = eval(contained_functions_local{i},x_cell{i}); + end + else + for i = 1:obj.n_contained_functions + [f_cell{i},df_cell{i}] = eval(contained_functions_local{i},x_cell{i}); + end end end - function [f,df] = combineOutputs(obj,f_cell,df_cell) + function [f,df,ddf] = combineOutputs(obj,f_cell,df_cell,ddf_cell) + compute_second_derivatives = (nargout > 2); f = vertcat(f_cell{:}); if obj.same_input df = vertcat(df_cell{:}); else df = blkdiag(df_cell{:}); end + if compute_second_derivatives + if obj.same_input + ddf = vertcat(ddf_cell{:}); + else + error('Really hoping we don''t get here') + end + end end end From 12bac295b286fa4ae525a94289ccf25aca9cf323 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Fri, 31 Oct 2014 10:16:18 -0400 Subject: [PATCH 254/271] Add doc for dJ in RelativePosition --- solvers/+drakeFunction/+kinematic/RelativePosition.m | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/solvers/+drakeFunction/+kinematic/RelativePosition.m b/solvers/+drakeFunction/+kinematic/RelativePosition.m index da81705b0819..3e059921299a 100644 --- a/solvers/+drakeFunction/+kinematic/RelativePosition.m +++ b/solvers/+drakeFunction/+kinematic/RelativePosition.m @@ -52,8 +52,17 @@ % [pos,J] = eval(obj,q) also returns the Jacobian of the relative % positions % + % [pos,J,dJ] = eval(obj,q) also returns the second-derivaties of + % the relative positions + % % @param obj -- drakeFunction.kinematic.RelativePosition object % @param q -- Column vector of joint positions + % + % @retval pos -- [3 x n_pts] array containing the positions of + % pts_in_A relative to frameB + % @retval J -- [3*n_pts x nq] Jacobian of pos w.r.t. q + % @retval dJ -- [3*n_pts x nq^2] second-derivatives of pos w.r.t. + % q in geval format compute_second_derivatives = (nargout > 2); if compute_second_derivatives kinsol = obj.rbm.doKinematics(q,true,false); From 78f6edbcc57289e19299636d583d471413e394b1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Fri, 31 Oct 2014 12:29:08 -0400 Subject: [PATCH 255/271] runLQR operating point is now (x_nom,u_nom) This makes SimpleFourBar/runLQR easier to read, as there aren't multiple distinct meanings for x0. --- examples/SimpleFourBar/runLQR.m | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/examples/SimpleFourBar/runLQR.m b/examples/SimpleFourBar/runLQR.m index 8186e877c204..96cd374e16ab 100644 --- a/examples/SimpleFourBar/runLQR.m +++ b/examples/SimpleFourBar/runLQR.m @@ -5,22 +5,21 @@ v = r.constructVisualizer(); v.xlim = [-8 8]; v.ylim = [-4 10]; -%x0 = [2.861691;.811224;-3.528619;0;0;0]; u0 = 0; -x0 = [0.4485; -2.2775; -1.6694; 0; 0; 0]; u0 = -6.5407; -v.draw(0,x0); -[x0,u0] = findFixedPoint(r,x0,u0); -v.draw(0,x0); +x_nom = [0.4485; -2.2775; -1.6694; 0; 0; 0]; u_nom = -6.5407; +v.draw(0,x_nom); +[x_nom,u_nom,~,x_resolve_constraints] = findFixedPoint(r,x_nom,u_nom); +v.draw(0,x_nom); Q = diag([10 10 10 1 1 1]); R = .001; -c = tilqr(r,x0,u0,Q,R); +c = tilqr(r,x_nom,u_nom,Q,R); sys = feedback(r,c); -x0 = resolveConstraints(r,double(x0)+.2*randn(6,1)); +x0 = resolveConstraints(r,double(x_nom)+.2*randn(6,1)); w = warning('off','Drake:DrakeSystem:ConstraintsNotEnforced'); xtraj = simulate(sys,[0 10],x0); -xtrajopenloop = simulate(cascade(setOutputFrame(ConstantTrajectory(u0),getInputFrame(r)),r),[0 10],x0); +xtrajopenloop = simulate(cascade(setOutputFrame(ConstantTrajectory(u_nom),getInputFrame(r)),r),[0 10],x0); warning(w); vopenloop = v; From 125c3b3f72ca928701642220015868e0fce3da13 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Fri, 31 Oct 2014 12:30:55 -0400 Subject: [PATCH 256/271] Remove commented out lines from RelativePosition.m --- .../+kinematic/RelativePosition.m | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/solvers/+drakeFunction/+kinematic/RelativePosition.m b/solvers/+drakeFunction/+kinematic/RelativePosition.m index 3e059921299a..818b6bbc9e2c 100644 --- a/solvers/+drakeFunction/+kinematic/RelativePosition.m +++ b/solvers/+drakeFunction/+kinematic/RelativePosition.m @@ -83,23 +83,6 @@ [pts_in_B,P,JB] = obj.rbm.bodyKin(kinsol,obj.frameB,pts_in_world); end J = JB + P*JA; - - - %[T_B_to_world,dT_B_to_world] = forwardKin(obj.rbm,kinsol,obj.frameB,[0;0;0],2); - %[quat_world_to_B,dquat_world_to_B] = quatConjugate(T_B_to_world(4:7)); - %dquat_world_to_B = dquat_world_to_B*dT_B_to_world(4:7,:); - %[xyz_world_to_B,dxyz_world_to_B] = quatRotateVec(quat_world_to_B,T_B_to_world(1:3)); - %xyz_world_to_B = -xyz_world_to_B; - %dxyz_world_to_B = -dxyz_world_to_B*[dquat_world_to_B;dT_B_to_world(1:3,:)]; - - %pts_in_B = zeros(3,obj.n_pts)*q(1); - %J = zeros(3*obj.n_pts,obj.rbm.getNumPositions())*q(1); - %for i = 1:obj.n_pts - %[pts_in_B1,dpts_in_B1] = quatRotateVec(quat_world_to_B,pts_in_world(:,i)); - %dpts_in_B1 = dpts_in_B1*[dquat_world_to_B;JA(3*(i-1)+(1:3),:)]; - %pts_in_B(:,i) = pts_in_B1+xyz_world_to_B; - %J(3*(i-1)+(1:3),:) = dpts_in_B1+dxyz_world_to_B; - %end pos = reshape(pts_in_B,[],1); end end From 81a7d89e39437cb0bcabc88baf48362c1e0abc84 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Fri, 31 Oct 2014 12:36:51 -0400 Subject: [PATCH 257/271] Add description of dJ format to bodyKin --- systems/plants/@RigidBodyManipulator/bodyKin.m | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/bodyKin.m b/systems/plants/@RigidBodyManipulator/bodyKin.m index 9df4f60845e7..9316644b0a6a 100644 --- a/systems/plants/@RigidBodyManipulator/bodyKin.m +++ b/systems/plants/@RigidBodyManipulator/bodyKin.m @@ -11,8 +11,10 @@ % % if pts is a 3xm matrix, then x will be a 3xm matrix % and (following our gradient convention) J will be a ((3xm)x(q)) -% matrix, with [J1;J2;...;Jm] where Ji = dxidq -% and P will be a ((3xm)x(3xm)) matrix, with [P1;P2;...] where Pi = dxidpts +% matrix, with [J1;J2;...;Jm] where Ji = dxidq, P will be a +% ((3xm)x(3xm)) matrix, with [P1;P2;...] where Pi = dxidpts, and dJ +% will be a ((3*m)x(nq^2)) matrix, with [dJ1,dJ2,...,dJq] where +% dJj = dJdqj checkDirty(obj); From 9fbe7dcc2c542dc03fb9f519d81a38da798d375c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Fri, 31 Oct 2014 12:46:45 -0400 Subject: [PATCH 258/271] Remove invHTstd and test. These were crucial in getting the second derivatives right for invHT, as they let me test with geval. We don't use them in practice though, so I'm removing them from the working tree. They're still in the git history, of course. Revert "Fix comment in invHTstd." This reverts commit 5256a6490262b9312652f5b09a80dffe1dac195e. Revert "Add invHTstd and test." This reverts commit 48fec36091f96580875158593ca502e8b7829f63. --- util/invHTstd.m | 90 ------------------------------------ util/test/invHTStdFormTest.m | 11 ----- 2 files changed, 101 deletions(-) delete mode 100644 util/invHTstd.m delete mode 100644 util/test/invHTStdFormTest.m diff --git a/util/invHTstd.m b/util/invHTstd.m deleted file mode 100644 index 4b2b47f485f7..000000000000 --- a/util/invHTstd.m +++ /dev/null @@ -1,90 +0,0 @@ -function [invT, dinvT, ddinvT] = invHTstd(T,dT,ddT) -% [invT, dinvT] = invHT(T,dT) - Invert homogeneous transform -% -% Returns the inverse of a homogeneous transform, T. If the Jacobian of T is -% given and a second output is requested, also returns the Jacobian of the -% inverse. -% -% @param T a 4x4 array representing a homogenous transform -% @param dT the Jacobian of T w.r.t. an N-element vector q in the format used -% by forwardKin: -% -% dT = [dT(1,:)dq1; dT(1,:)dq2; ...; dT(1,:)dqN; dT(2,:)dq1 ...] -% -% @param ddT the second derivative of T w.r.t. an N-element vector q in the format used -% by forwardKin: -% -% ddTdqdq = [d(dT)dq1; d(dT)dq2; ...] -% -isHT(T); -compute_first_derivatives = (nargout > 1); -compute_second_derivatives = (nargout > 2); - -R = T(1:3,1:3); -p = T(1:3,4); - -invT = [R' -R'*p;0 0 0 1]; - -if compute_first_derivatives - if nargin < 2 - error('Input argument ''dT'' is needed in order to compute ''dinvT'''); - end - % dT [3*N x 4] - sizecheck(dT,[16,NaN]); - N = size(dT,2); - - dT_reshaped = reshape(full(dT),[4,4,N]); - - % dR^T [3*N x 3] - dRtranspose = permute(dT_reshaped(1:3,1:3,:),[2,1,3]); - dRtranspose_p_flat = reshape(permute(dRtranspose,[2,1,3]),[3,3*N])'*p; - dRtranspose_p = reshape(dRtranspose_p_flat,[3,1,N]); - - % dp [3 x N] - dp = dT_reshaped(1:3,4,:); - - Rtranspose_dp_flat = R'*reshape(dp,[3,N]); - Rtranspose_dp = reshape(Rtranspose_dp_flat,[3,1,N]); - dinvT_reshaped = [dRtranspose, -dRtranspose_p - Rtranspose_dp; ... - zeros(1,4,N)]; - dinvT = reshape(dinvT_reshaped,[4*4,N]); - - if compute_second_derivatives - if nargin < 3 - error('Input argument ''ddT'' is needed in order to compute ''ddinvT'''); - end - % ddT [3*N^2 x 4] - sizecheck(ddT,[4*4,N*N]); - - % Reshape to 4D. [3 x 4 x N x N] - % Mental picture: N x N array of 3 x 4 matrices - ddT_reshaped = reshape(full(ddT),[4,4,N,N]); - - % ddR^T [3 x 3 x N x N] - ddRtranspose = permute(ddT_reshaped(1:3,1:3,:,:),[2,1,3,4]); - - % ddR^T*p [3 x 1 x N x N] - ddRtranspose_p_flat = reshape(permute(ddRtranspose,[2,1,3,4]),[3,3*N*N])'*p; - ddRtranspose_p = reshape(ddRtranspose_p_flat,[3,1,N,N]); - - % ddp [3 x 1 x N x N] - ddp = ddT_reshaped(1:3,4,:,:); - - % R^T*ddp [3 x 1 x N x N] - Rtranspose_ddp_flat = R'*reshape(ddp,3,N*N); - Rtranspose_ddp = reshape(Rtranspose_ddp_flat,[3,1,N,N]); - - % dRi^T * dpj [3 x 1 x N x N] - dRtranspose_i_dp_j = permute(reshape(reshape(permute(dRtranspose,[2,1,3]),[3,3*N])'*reshape(dp,[3,N]),[3,N,1,N]), [1,3,2,4]); - dRtranspose_j_dp_i = permute(dRtranspose_i_dp_j, [1,2,4,3]); - - % ddinvT_reshaped [3 x 4 x N x N] - ddinvT_reshaped = [ddRtranspose, -ddRtranspose_p - dRtranspose_i_dp_j - dRtranspose_j_dp_i - Rtranspose_ddp; ... - zeros(1,4,N,N)]; - - % ddinvT [16 x N^2] - ddinvT = reshape(ddinvT_reshaped,[4*4,N*N]); - end -end - -end diff --git a/util/test/invHTStdFormTest.m b/util/test/invHTStdFormTest.m deleted file mode 100644 index 19e018e7fd9b..000000000000 --- a/util/test/invHTStdFormTest.m +++ /dev/null @@ -1,11 +0,0 @@ -function invHTStdFormTest - rpy = 2*pi*rand(3,1)-pi; - p = rand(3,1); - makeT = @(euler_angles,pos) [rpy2rotmat(euler_angles),pos;zeros(1,3),1]; - [T,dT,ddT] = geval(makeT,rpy,p,struct('grad_method','taylorvar')); - - makeInvT = @(euler_angles,pos) invHTstd(makeT(euler_angles,pos),dT,ddT); - - options.grad_method = {'taylorvar','user'}; - [invT, dinvT, ddinvT] = geval(makeInvT,rpy,p,options); -end From 7504ab591c922aacd9c93bc99873c75eef4f9de4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Sun, 2 Nov 2014 22:12:27 -0500 Subject: [PATCH 259/271] Update argument order for calls to bodyKin --- systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m | 2 +- systems/plants/@RigidBodyWing/RigidBodyWing.m | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m index 120e4f9768a1..2b12dd33fd99 100644 --- a/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m +++ b/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m @@ -324,7 +324,7 @@ % convert force to body coordinates if (nargout>1) - [ftmp,ftmpJ,ftmpP]=bodyKin(obj,kinsol,body_ind,[force,zeros(3,1)]); + [ftmp,ftmpP,ftmpJ]=bodyKin(obj,kinsol,body_ind,[force,zeros(3,1)]); else ftmp=bodyKin(obj,kinsol,body_ind,[force,zeros(3,1)]); end diff --git a/systems/plants/@RigidBodyWing/RigidBodyWing.m b/systems/plants/@RigidBodyWing/RigidBodyWing.m index 98a138897209..9cfb18de92da 100644 --- a/systems/plants/@RigidBodyWing/RigidBodyWing.m +++ b/systems/plants/@RigidBodyWing/RigidBodyWing.m @@ -500,7 +500,7 @@ function revertEnvVars() % convert torque to joint frame (featherstone dynamics algorithm never reasons in body coordinates) if (nargout>1) - [torque_body, torque_bodyJ, torque_bodyP] = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); + [torque_body, torque_bodyP, torque_bodyJ] = bodyKin(manip,kinsol,frame.body_ind,[torque_world,zeros(3,1)]); torque_body = torque_body(:,1)-torque_body(:,2); torque_bodyJ = torque_bodyJ(1:3,:)-torque_bodyJ(4:6,:); torque_bodyP = torque_bodyP(1:3,:)-torque_bodyP(4:6,:); @@ -736,7 +736,7 @@ function revertEnvVars() % respect to q-dot if (nargout>1) - [wingvel_rel,wingvel_relJ,wingvel_relP] = bodyKin(manip,kinsol,kinframe,[wingvel_struct.wingvel_world_xz,zeros(3,1)]); + [wingvel_rel,wingvel_relP,wingvel_relJ] = bodyKin(manip,kinsol,kinframe,[wingvel_struct.wingvel_world_xz,zeros(3,1)]); wingvel_rel = wingvel_rel(:,1)-wingvel_rel(:,2); wingvel_relJ = wingvel_relJ(1:3,:)-wingvel_relJ(4:6,:); wingvel_relP = wingvel_relP(1:3,:)-wingvel_relP(4:6,:); From f7f67899c660d8ef99be680e3e55d3f1c682ee12 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Sun, 2 Nov 2014 22:44:23 -0500 Subject: [PATCH 260/271] Fix NonlinearProgram name in drakeFunction.euclidean.test --- solvers/+drakeFunction/+euclidean/+test/normSquaredTest.m | 2 +- .../+euclidean/+test/signedDistanceToHyperplaneTest.m | 2 +- solvers/+drakeFunction/+euclidean/+test/smoothNormTest.m | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/solvers/+drakeFunction/+euclidean/+test/normSquaredTest.m b/solvers/+drakeFunction/+euclidean/+test/normSquaredTest.m index cd565078f2ad..3086597b247c 100644 --- a/solvers/+drakeFunction/+euclidean/+test/normSquaredTest.m +++ b/solvers/+drakeFunction/+euclidean/+test/normSquaredTest.m @@ -17,7 +17,7 @@ squared_dist_between_pts_fcn = norm_squared_fcn(Difference(R3)); distance_constraint = DrakeFunctionConstraint((2*radius)^2,inf,squared_dist_between_pts_fcn); - prog = NonlinearProgramWConstraintObjects(3*N); + prog = NonlinearProgram(3*N); prog = prog.addDisplayFunction(@(r)displayCallback(lcmgl,radius,r),r_inds); for i = 1:N for j = i+1:N diff --git a/solvers/+drakeFunction/+euclidean/+test/signedDistanceToHyperplaneTest.m b/solvers/+drakeFunction/+euclidean/+test/signedDistanceToHyperplaneTest.m index 79f71d8a73dd..aa96c16dc3a9 100644 --- a/solvers/+drakeFunction/+euclidean/+test/signedDistanceToHyperplaneTest.m +++ b/solvers/+drakeFunction/+euclidean/+test/signedDistanceToHyperplaneTest.m @@ -34,7 +34,7 @@ hyperplane_constraint = DrakeFunctionConstraint(zeros(2*N,1),Inf(2*N,1),hyperplane_distances); % Create nonlinear program - prog = NonlinearProgramWConstraintObjects(3*N); + prog = NonlinearProgram(3*N); prog = prog.addDisplayFunction(@(r)displayCallback(lcmgl,radius,origin,r),r_inds); % Add constraints diff --git a/solvers/+drakeFunction/+euclidean/+test/smoothNormTest.m b/solvers/+drakeFunction/+euclidean/+test/smoothNormTest.m index 49d2ead680e7..518d76fedd07 100644 --- a/solvers/+drakeFunction/+euclidean/+test/smoothNormTest.m +++ b/solvers/+drakeFunction/+euclidean/+test/smoothNormTest.m @@ -10,7 +10,7 @@ smooth_dist_between_pts_fcn = smooth_norm_fcn(Difference(R3)); distance_constraint = DrakeFunctionConstraint((2*radius),inf,smooth_dist_between_pts_fcn); - prog = NonlinearProgramWConstraintObjects(3*N); + prog = NonlinearProgram(3*N); prog = prog.addDisplayFunction(@(r)displayCallback(lcmgl,radius,r),r_inds); for i = 1:N for j = i+1:N From c90a919d26011bb806c43069f5b192c002ce13c7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 3 Nov 2014 09:31:25 -0500 Subject: [PATCH 261/271] Fix drakeFunction.test.sumTest --- solvers/+drakeFunction/+test/sumTest.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solvers/+drakeFunction/+test/sumTest.m b/solvers/+drakeFunction/+test/sumTest.m index 58e7dc4a0fb7..113f6cae8546 100644 --- a/solvers/+drakeFunction/+test/sumTest.m +++ b/solvers/+drakeFunction/+test/sumTest.m @@ -15,7 +15,7 @@ function sumTest() % Test with same inputs N = 10; - sum_fun = Composed(Sum(frame,N),Concatenated(repmat({fun1},10,1),true)); + sum_fun = Composed(Sum(frame,N),Concatenated(repmat({fun1},1,10),true)); x = rand(5,1); [f,df] = sum_fun(x); valuecheck(f,N*x); From 2cdcf3ca580e9eb6b8c0e5d9f73f6336d95b2c00 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 3 Nov 2014 09:43:37 -0500 Subject: [PATCH 262/271] Split drakeFunction.kinematic.relativePositionTest Now using drakeFunction.kinematic.RelativePosition in a nonlinear program is tested in it's own script. The NLP was hitting the iteration limits with fmincon, so that test has checkDependency('snopt'). The test that just checks the gradients of drakeFunction.kinematic.RelativePosition should run on any system. --- .../relativePositionNonlinearProgramTest.m | 139 ++++++++++++++++++ .../+kinematic/+test/relativePositionTest.m | 104 ------------- 2 files changed, 139 insertions(+), 104 deletions(-) create mode 100644 solvers/+drakeFunction/+kinematic/+test/relativePositionNonlinearProgramTest.m diff --git a/solvers/+drakeFunction/+kinematic/+test/relativePositionNonlinearProgramTest.m b/solvers/+drakeFunction/+kinematic/+test/relativePositionNonlinearProgramTest.m new file mode 100644 index 000000000000..5cf19a2185bf --- /dev/null +++ b/solvers/+drakeFunction/+kinematic/+test/relativePositionNonlinearProgramTest.m @@ -0,0 +1,139 @@ +function relativePositionNonlinearProgramTest(visualize) + % fmincon doesn't solve this problem in a timely manner, so check that + % we can use snopt here. + checkDependency('snopt'); + + import drakeFunction.* + import drakeFunction.euclidean.* + import drakeFunction.kinematic.* + + if nargin < 1, visualize = false; end + + %% Initial Setup + % Create the robot + w = warning('off','Drake:RigidBodyManipulator:UnsupportedContactPoints'); + warning('off','Drake:RigidBodyManipulator:UnsupportedVelocityLimits'); + warning('off','Drake:RigidBodyManipulator:UnsupportedJointLimits'); + options.floating = true; + urdf = fullfile(getDrakePath(),'examples','Atlas','urdf','atlas_minimal_contact.urdf'); + rbm = RigidBodyManipulator(urdf,options); + warning(w); + nq = rbm.getNumPositions(); + + % Initialize visualization (if needed) + if visualize + lcmgl = LCMGLClient('relativePositionTest'); + v = rbm.constructVisualizer(); + end + + % Load nominal posture + S = load(fullfile(getDrakePath(),'examples','Atlas','data','atlas_fp.mat')); + q_nom = S.xstar(1:nq); + q0 = q_nom; + + % Create short name for R^3 + R3 = drakeFunction.frames.realCoordinateSpace(3); + + %% Solve an inverse kinematics problem + + % Create a DrakeFunction that computes the world position of the hand points + hand_pts_in_body = rbm.getBody(rbm.findLinkInd('l_hand')).getTerrainContactPoints(); + hand_pts_fcn = RelativePosition(rbm,'l_hand','world',hand_pts_in_body); + + %% Constraints on body points + % Create a DrakeFunction that computes the signed distance from a point to + % the xy-plane + single_pt_dist_to_ground = SignedDistanceToHyperplane(Point(R3,0),Point(R3,[0;0;1])); + + %% Enforce that the corners of the left foot be on the ground + % Create a DrakeFunction that computes the world positions of foot points + foot_pts_in_body = rbm.getBody(rbm.findLinkInd('l_foot')).getTerrainContactPoints(); + foot_pts_fcn = RelativePosition(rbm,'l_foot','world',foot_pts_in_body); + + % Create a DrakeFunction that computes the signed distances from m points to + % the xy-plane, where m = foot_pts_fcn.n_pts + dist_to_ground_fcn = duplicate(single_pt_dist_to_ground,foot_pts_fcn.n_pts); + + % Create an constraint mandating that the signed distances between the foot + % points and the ground be zero + lb = zeros(foot_pts_fcn.n_pts,1); + ub = lb; + foot_on_ground_cnstr = DrakeFunctionConstraint(lb,ub,dist_to_ground_fcn(foot_pts_fcn)); + + %% Enforce that the hand points be on the ground + % Create a DrakeFunction that computes the signed distances from m points to + % the xy-plane, where m = hand_pts_fcn.n_pts + dist_to_ground_fcn = duplicate(single_pt_dist_to_ground,hand_pts_fcn.n_pts); + + % Create an constraint mandating that the signed distances between the foot + % points and the ground be zero + lb = zeros(hand_pts_fcn.n_pts,1); + ub = lb; + hand_on_ground_cnstr = DrakeFunctionConstraint(lb,ub,dist_to_ground_fcn(hand_pts_fcn)); + + %% Enforce that the projection of the COM onto the xy-plane be within the + %% convex hull of the foot points + % Create a frame for the convex weights on the foot points + weights_frame = frames.realCoordinateSpace(foot_pts_fcn.n_pts); + + % Create a DrakeFunction that computes the COM position + com_fcn = RelativePosition(rbm,0,'world'); + % Add unused inputs for the weights + com_fcn = addInputFrame(com_fcn,weights_frame); + + % Create a DrakeFunction that computes a linear combination of points in R3 + % given the points and the weights as inputs + lin_comb_of_pts = LinearCombination(foot_pts_fcn.n_pts,R3); + % Create a DrakeFUnction that computes a linear combination of the foot + % points given joint-angles and weights as inputs + lin_comb_of_foot_pts = lin_comb_of_pts([foot_pts_fcn;Identity(weights_frame)]); + + % Create a DrakeFunction that computes the difference between the COM + % position computed from the joint-angles and the linear combination of the + % foot points. + support_polygon{1} = minus(com_fcn,lin_comb_of_foot_pts,true); + support_polygon{2} = Identity(weights_frame); + + % Create a DrakeFunction that computes the sum of the weights + support_polygon{3} = Linear(weights_frame,frames.realCoordinateSpace(1),ones(1,foot_pts_fcn.n_pts)); + + % Create quasi-static constraints + % xy-coordinates of COM must match a linear combination of the foot points + % for some set of weights + qsc_cnstr{1} = DrakeFunctionConstraint([0;0;-Inf],[0;0;Inf],support_polygon{1}); + + % The weights must be between 0 and 1 + lb = zeros(foot_pts_fcn.n_pts,1); + ub = ones(foot_pts_fcn.n_pts,1); + qsc_cnstr{2} = DrakeFunctionConstraint(lb,ub,support_polygon{2}); + + % The weights must sum to 1 + qsc_cnstr{3} = DrakeFunctionConstraint(1,1,support_polygon{3}); + + Q = eye(numel(q_nom)); + prog = InverseKinematics(rbm,q_nom); + prog = prog.setQ(Q); + q_inds = prog.q_idx; + w_inds = reshape(prog.num_vars+(1:foot_pts_fcn.n_pts),[],1); + prog = prog.addDecisionVariable(numel(w_inds)); + + prog = prog.addConstraint(foot_on_ground_cnstr,q_inds); + prog = prog.addConstraint(hand_on_ground_cnstr,q_inds); + + prog = prog.addConstraint(qsc_cnstr{1},[q_inds;w_inds]); + prog = prog.addConstraint(qsc_cnstr{2},w_inds); + prog = prog.addConstraint(qsc_cnstr{3},w_inds); + + time_prog = tic; + [q,F,info] = solve(prog,q0); + display(snoptInfo(info)) + toc(time_prog); + + if visualize + kinsol = doKinematics(rbm,q); + com = getCOM(rbm,kinsol); + lcmgl.glColor3f(1,0,0); + lcmgl.sphere([com(1:2);0],0.02,20,20); + lcmgl.switchBuffers(); + v.draw(0,q); + end diff --git a/solvers/+drakeFunction/+kinematic/+test/relativePositionTest.m b/solvers/+drakeFunction/+kinematic/+test/relativePositionTest.m index 14d2dcaa7dca..cec885dd6f01 100644 --- a/solvers/+drakeFunction/+kinematic/+test/relativePositionTest.m +++ b/solvers/+drakeFunction/+kinematic/+test/relativePositionTest.m @@ -22,9 +22,6 @@ function relativePositionTest(visualize) v = rbm.constructVisualizer(); end - % Create short name for R^3 - R3 = drakeFunction.frames.realCoordinateSpace(3); - % Load nominal posture S = load(fullfile(getDrakePath(),'examples','Atlas','data','atlas_fp.mat')); q_nom = S.xstar(1:nq); @@ -50,105 +47,4 @@ function relativePositionTest(visualize) % Check the gradients of the DrakeFunction [f,df] = geval(@(q) eval(hand_pts_fcn,q),q0,struct('grad_method',{{'user','taylorvar'}},'tol',1e-6)); - - - %% Solve an inverse kinematics problem - - %% Constraints on body points - % Create a DrakeFunction that computes the signed distance from a point to - % the xy-plane - single_pt_dist_to_ground = SignedDistanceToHyperplane(Point(R3,0),Point(R3,[0;0;1])); - - %% Enforce that the corners of the left foot be on the ground - % Create a DrakeFunction that computes the world positions of foot points - foot_pts_in_body = rbm.getBody(rbm.findLinkInd('l_foot')).getTerrainContactPoints(); - foot_pts_fcn = RelativePosition(rbm,'l_foot','world',foot_pts_in_body); - - % Create a DrakeFunction that computes the signed distances from m points to - % the xy-plane, where m = foot_pts_fcn.n_pts - dist_to_ground_fcn = duplicate(single_pt_dist_to_ground,foot_pts_fcn.n_pts); - - % Create an constraint mandating that the signed distances between the foot - % points and the ground be zero - lb = zeros(foot_pts_fcn.n_pts,1); - ub = lb; - foot_on_ground_cnstr = DrakeFunctionConstraint(lb,ub,dist_to_ground_fcn(foot_pts_fcn)); - - %% Enforce that the hand points be on the ground - % Create a DrakeFunction that computes the signed distances from m points to - % the xy-plane, where m = hand_pts_fcn.n_pts - dist_to_ground_fcn = duplicate(single_pt_dist_to_ground,hand_pts_fcn.n_pts); - - % Create an constraint mandating that the signed distances between the foot - % points and the ground be zero - lb = zeros(hand_pts_fcn.n_pts,1); - ub = lb; - hand_on_ground_cnstr = DrakeFunctionConstraint(lb,ub,dist_to_ground_fcn(hand_pts_fcn)); - - %% Enforce that the projection of the COM onto the xy-plane be within the - %% convex hull of the foot points - % Create a frame for the convex weights on the foot points - weights_frame = frames.realCoordinateSpace(foot_pts_fcn.n_pts); - - % Create a DrakeFunction that computes the COM position - com_fcn = RelativePosition(rbm,0,'world'); - % Add unused inputs for the weights - com_fcn = addInputFrame(com_fcn,weights_frame); - - % Create a DrakeFunction that computes a linear combination of points in R3 - % given the points and the weights as inputs - lin_comb_of_pts = LinearCombination(foot_pts_fcn.n_pts,R3); - % Create a DrakeFUnction that computes a linear combination of the foot - % points given joint-angles and weights as inputs - lin_comb_of_foot_pts = lin_comb_of_pts([foot_pts_fcn;Identity(weights_frame)]); - - % Create a DrakeFunction that computes the difference between the COM - % position computed from the joint-angles and the linear combination of the - % foot points. - support_polygon{1} = minus(com_fcn,lin_comb_of_foot_pts,true); - support_polygon{2} = Identity(weights_frame); - - % Create a DrakeFunction that computes the sum of the weights - support_polygon{3} = Linear(weights_frame,frames.realCoordinateSpace(1),ones(1,foot_pts_fcn.n_pts)); - - % Create quasi-static constraints - % xy-coordinates of COM must match a linear combination of the foot points - % for some set of weights - qsc_cnstr{1} = DrakeFunctionConstraint([0;0;-Inf],[0;0;Inf],support_polygon{1}); - - % The weights must be between 0 and 1 - lb = zeros(foot_pts_fcn.n_pts,1); - ub = ones(foot_pts_fcn.n_pts,1); - qsc_cnstr{2} = DrakeFunctionConstraint(lb,ub,support_polygon{2}); - - % The weights must sum to 1 - qsc_cnstr{3} = DrakeFunctionConstraint(1,1,support_polygon{3}); - - Q = eye(numel(q_nom)); - prog = InverseKinematics(rbm,q_nom); - prog = prog.setQ(Q); - q_inds = prog.q_idx; - w_inds = reshape(prog.num_vars+(1:foot_pts_fcn.n_pts),[],1); - prog = prog.addDecisionVariable(numel(w_inds)); - - prog = prog.addConstraint(foot_on_ground_cnstr,q_inds); - prog = prog.addConstraint(hand_on_ground_cnstr,q_inds); - - prog = prog.addConstraint(qsc_cnstr{1},[q_inds;w_inds]); - prog = prog.addConstraint(qsc_cnstr{2},w_inds); - prog = prog.addConstraint(qsc_cnstr{3},w_inds); - - time_prog = tic; - [q,F,info] = solve(prog,q0); - display(snoptInfo(info)) - toc(time_prog); - - if visualize - kinsol = doKinematics(rbm,q); - com = getCOM(rbm,kinsol); - lcmgl.glColor3f(1,0,0); - lcmgl.sphere([com(1:2);0],0.02,20,20); - lcmgl.switchBuffers(); - v.draw(0,q); - end end From 057420ea0b5823ec12bffdca7b9801d09d2974ab Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 3 Nov 2014 09:48:44 -0500 Subject: [PATCH 263/271] Remove erroneous debugging code --- examples/SimpleFourBar/runLQR.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SimpleFourBar/runLQR.m b/examples/SimpleFourBar/runLQR.m index 96cd374e16ab..d24572c55f01 100644 --- a/examples/SimpleFourBar/runLQR.m +++ b/examples/SimpleFourBar/runLQR.m @@ -7,7 +7,7 @@ x_nom = [0.4485; -2.2775; -1.6694; 0; 0; 0]; u_nom = -6.5407; v.draw(0,x_nom); -[x_nom,u_nom,~,x_resolve_constraints] = findFixedPoint(r,x_nom,u_nom); +[x_nom,u_nom] = findFixedPoint(r,x_nom,u_nom); v.draw(0,x_nom); Q = diag([10 10 10 1 1 1]); From 7387a68dab8d669f67c175eb97ce1645fcd5b9cd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9s=20Valenzuela?= Date: Mon, 3 Nov 2014 10:04:33 -0500 Subject: [PATCH 264/271] Only use GRIPPER_OPEN_chull meshes. As far as I can tell, the Robotiq hand description does not contain any non-convex-hull, single-mesh representations of the entire hand. I've edited `atlas_minimal_contact.urdf` to use GRIPPER_OPEN_chull throughout. Resolves #435 --- examples/Atlas/urdf/atlas_convex_hull.urdf | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/Atlas/urdf/atlas_convex_hull.urdf b/examples/Atlas/urdf/atlas_convex_hull.urdf index d943475ba21c..7e8a62612900 100644 --- a/examples/Atlas/urdf/atlas_convex_hull.urdf +++ b/examples/Atlas/urdf/atlas_convex_hull.urdf @@ -155,7 +155,7 @@ - + @@ -496,7 +496,7 @@ - + From bc9efe406b54af3c89dfecc0c0f0fed87edaae7e Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Mon, 3 Nov 2014 10:52:41 -0500 Subject: [PATCH 265/271] cleaner process for matlab package tests (now compatible with ctest) --- cmake | 2 +- util/fevalPackageSafe.m | 22 ++++++++++++++++++++++ util/unitTest.m | 31 +++---------------------------- 3 files changed, 26 insertions(+), 29 deletions(-) create mode 100644 util/fevalPackageSafe.m diff --git a/cmake b/cmake index 19e3b583538e..e2d8248f827d 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit 19e3b583538e01e5171474c3f169317809ba318f +Subproject commit e2d8248f827da305bf8300bfc072e1d7de0f32ec diff --git a/util/fevalPackageSafe.m b/util/fevalPackageSafe.m new file mode 100644 index 000000000000..dc7719dbb2c5 --- /dev/null +++ b/util/fevalPackageSafe.m @@ -0,0 +1,22 @@ +function fevalPackageSafe(f) +% Run a function or script, which may be inside a Matlab package. This function assumes +% that the current directory has been set to the folder containing the given function +% or script, as is the case in all of our unit testing tools. It will temporarily +% modify the working directory and the functio name in order to correctly call Matlab +% package functions, which cannot normally be called from the folder that contains them +% (and must instead be called with the entire package name prefixed). + +[pathstr, name] = fileparts(pwd()); +if strcmp(name(1), '+') + % we're in a package + % add the package name + f = strcat(name(2:end), '.', f); + % clean up our mess once we're done + cleanup_handle = onCleanup(@() cd(name)); + % move up a directory and try again + cd(pathstr) + fevalPackageSafe(f); +else + % not in a package, just evaluate + feval(f); +end diff --git a/util/unitTest.m b/util/unitTest.m index 01b464992bc4..0a52d17b0610 100644 --- a/util/unitTest.m +++ b/util/unitTest.m @@ -615,28 +615,7 @@ function editNode(node) function [pass,elapsed_time] = runTest(runpath,test,options) p=pwd; -% Detect if this is a MATLAB 'package', which requires special handling -% to make sure we call the right function. More info can be found here: -% http://www.mathworks.com/help/matlab/matlab_oop/scoping-classes-with-packages.html -pathParts = strsplit(runpath, filesep); -packageMembers = cellfun(@(x) ~isempty(regexp(x, '^\+')), pathParts); -if any(packageMembers) - % We are passing around the name of the test to run as a string, not a - % function handle. That means that even if we were to import the package - % containing that test file, when the name of the function is passed to - % feval_in_contained_workspace, the import is lost and the test cannot - % be found. Instead, we have to modify the name of the test to include - % its full package name so that Matlab can find it. - packageStart = find(packageMembers, 1, 'first'); - pathParts = cellfun(@(x) regexprep(x,'^\+', ''), pathParts, 'UniformOutput', false); - packageName = strjoin(pathParts(packageStart:end), '.'); - test = [packageName, '.', test]; -else - % It's not a package, so we can just cd to the directory containing the - % test. - cd(runpath); -end -% disp(['running ',path,'/',test,'...']); +cd(runpath); if nargin<3, error('needs three arguments now'); end @@ -698,11 +677,11 @@ function editNode(node) % useful for debugging: if 'dbstop if error' is on, then don't use try catch. if any(strcmp('error',{s.cond})) ||any(strcmp('warning',{s.cond})) - feval_in_contained_workspace(test); + fevalPackageSafe(test); else try lastwarn(''); % clears lastwarn - feval_in_contained_workspace(test); + fevalPackageSafe(test); if (options.warnings_are_errors) [msg,id] = lastwarn; if ~isempty(msg) @@ -783,10 +762,6 @@ function editNode(node) cd(p); end -function feval_in_contained_workspace(f) % helps with scripts - feval(f); -end - function [bfound, trailing_text] = checkFile(filename,strings,search_comments) % opens the file and checks for the existence of the string (or strings) From 017fadf2f9a7c42f21fcb5aa245b16fc874b5fec Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Mon, 3 Nov 2014 10:57:53 -0500 Subject: [PATCH 266/271] include cmake merge commit --- cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake b/cmake index e2d8248f827d..1e114979dd17 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit e2d8248f827da305bf8300bfc072e1d7de0f32ec +Subproject commit 1e114979dd1787dfeb30baa1b5ab5b16dc134ea1 From 30a8dd5ff8c165c94cf70a98d2e8caa9a35393a2 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 3 Nov 2014 11:02:53 -0500 Subject: [PATCH 267/271] default constraint grad_method is '' --- solvers/Constraint.m | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/solvers/Constraint.m b/solvers/Constraint.m index afdf4671d699..810ac092b5ff 100644 --- a/solvers/Constraint.m +++ b/solvers/Constraint.m @@ -23,9 +23,11 @@ end properties - grad_level % derivative level of user gradients provided - grad_method % A string indicating the method to compute gradient. Refer to - % 'geval' for all supported method. @default 'user' + grad_level % derivative level of user gradients provided + grad_method=''; % A string indicating the method to compute gradient. If empty, + % then it calls geval only if the grad_level is insufficient + % to supply all of the requested arguments. Refer to + % the 'geval' documentation for additional supported values. @default '' end methods @@ -52,8 +54,6 @@ obj.name = repmat({''},obj.num_cnstr,1); - obj.grad_method = 'user_then_taylorvar'; - obj.iCfun = reshape(bsxfun(@times,(1:obj.num_cnstr)',ones(1,obj.xdim)),[],1); obj.jCvar = reshape(bsxfun(@times,1:obj.xdim,ones(obj.num_cnstr,1)),[],1); obj.nnz = obj.num_cnstr*obj.xdim; From 5b63286a7bce9b923f542d2000cc3e004305505f Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 3 Nov 2014 13:20:03 -0500 Subject: [PATCH 268/271] should not have had pause commands in a unit test --- examples/CubicPolynomialExample.m | 6 +++--- systems/plants/BotVisualizer.m | 2 ++ 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/examples/CubicPolynomialExample.m b/examples/CubicPolynomialExample.m index 7098be154d69..4f4a571c3e58 100644 --- a/examples/CubicPolynomialExample.m +++ b/examples/CubicPolynomialExample.m @@ -114,15 +114,15 @@ function sosExample() plot(xs,-xs+xs.^3,'k','linewidth',2); legend('xdot'); axis tight - pause; +% pause; plot(xs,-2*xs.^2+2*xs.^4,'r','linewidth',2); legend('xdot','Vdot'); - pause; +% pause; plot(xs,lambda,'g','linewidth',2); legend('xdot','Vdot','lambda'); - pause; +% pause; plot(xs,vl,'b','linewidth',2); legend('xdot','Vdot','lambda','Vdot+lambda*(1-V)'); diff --git a/systems/plants/BotVisualizer.m b/systems/plants/BotVisualizer.m index cc9e56ccf4b0..530368b9150c 100644 --- a/systems/plants/BotVisualizer.m +++ b/systems/plants/BotVisualizer.m @@ -119,6 +119,8 @@ function drawWrapper(obj,t,y) function draw(obj,t,q) obj.draw_msg.timestamp = int64(t*1000000); + q = q(1:obj.model.num_positions); % be robust to people passing in the full state + kinsol = doKinematics(obj.model,q); for i=1:getNumBodies(obj.model) pt = forwardKin(obj.model,kinsol,i,zeros(3,1),2); From 91a7f177b3618d410ec51e7cbf0b7d9c69a1ca0b Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 3 Nov 2014 13:44:27 -0500 Subject: [PATCH 269/271] another pause. :( --- examples/RimlessWheel/runDircol.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/RimlessWheel/runDircol.m b/examples/RimlessWheel/runDircol.m index 6bff3c325d8b..8e1cf2391f02 100644 --- a/examples/RimlessWheel/runDircol.m +++ b/examples/RimlessWheel/runDircol.m @@ -46,7 +46,7 @@ function draw(dt,x,u) hold off; axis([rw.gamma - 2*rw.alpha,rw.gamma+2*rw.alpha,0 2]); drawnow; - pause; +% pause; end prog = prog.addTrajectoryDisplayFunction(@draw); From efd68f4f9fa96a2624bfe086069db9f2de5d2240 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 3 Nov 2014 14:33:03 -0500 Subject: [PATCH 270/271] handle empty grad_method --- util/geval.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/util/geval.m b/util/geval.m index 8f609ff43d71..54fe5495dd70 100644 --- a/util/geval.m +++ b/util/geval.m @@ -74,7 +74,7 @@ for j=1:nargout if ~valuecheck(fdf{j},varargout{j},options.tol) disp(['gradients generated by ',gm{i},' and ',gm{1},' don''t match for output ',num2str(j)]); -% uncomment this for a very useful graphical debugging output: +% uncomment this for a very useful graphical debugging output: % gradTest(fun,varargin{:}) valuecheck(fdf{j},varargout{j},options.tol); end @@ -92,7 +92,7 @@ method=3; case 'symbolic' method=4; - case 'user_then_taylorvar' + case {'','user_then_taylorvar'} method=12; case 'user_then_numerical' method=13; From 913a56f42ad27d9a5e47b8f41fa9055e6e5a55b1 Mon Sep 17 00:00:00 2001 From: Russ Tedrake Date: Mon, 3 Nov 2014 16:51:31 -0500 Subject: [PATCH 271/271] simple inspector for robotiq hand (to test performance of the four-bar constraint handling). optimized a few pieces of related code (and fixed a bug in the visualizer logic) --- examples/Atlas/robotiqHandInspector.m | 7 +++++++ solvers/Constraint.m | 2 +- systems/plants/@RigidBodyManipulator/bodyKin.m | 5 ----- systems/visualizers/Visualizer.m | 4 ++-- 4 files changed, 10 insertions(+), 8 deletions(-) create mode 100644 examples/Atlas/robotiqHandInspector.m diff --git a/examples/Atlas/robotiqHandInspector.m b/examples/Atlas/robotiqHandInspector.m new file mode 100644 index 000000000000..7e6de55cd305 --- /dev/null +++ b/examples/Atlas/robotiqHandInspector.m @@ -0,0 +1,7 @@ +function robotiqHandInspector + +r = RigidBodyManipulator('urdf/robotiq.urdf'); + +actuated_dof = getActuatedJoints(r); +v = r.constructVisualizer(); +v.inspector([],actuated_dof); diff --git a/solvers/Constraint.m b/solvers/Constraint.m index 9d9d8023d6f2..eb1a11c5d336 100644 --- a/solvers/Constraint.m +++ b/solvers/Constraint.m @@ -115,7 +115,7 @@ function disp(obj) varargout{1} = obj.constraintEval(varargin{:}); else % special casing 'user' to avoid geval for speed reasons - varargout=cell(1,nargout); + varargout=cell(1,max(nargout,1)); if (isempty(obj.grad_method) && nargout<=obj.grad_level+1) ... || strcmp(obj.grad_method,'user') [varargout{:}] = obj.constraintEval(varargin{:}); diff --git a/systems/plants/@RigidBodyManipulator/bodyKin.m b/systems/plants/@RigidBodyManipulator/bodyKin.m index 9316644b0a6a..eaca41c7f6ed 100644 --- a/systems/plants/@RigidBodyManipulator/bodyKin.m +++ b/systems/plants/@RigidBodyManipulator/bodyKin.m @@ -16,14 +16,9 @@ % will be a ((3*m)x(nq^2)) matrix, with [dJ1,dJ2,...,dJq] where % dJj = dJdqj -checkDirty(obj); - compute_P = (nargout > 1); compute_first_derivatives = (nargout > 2); compute_second_derivatives = (nargout > 4); - -% todo: zap this after the transition -if isa(body_or_frame_ind,'RigidBody'), error('support for passing in RigidBody objects has been removed. please pass in the body index'); end if kinsol.mex if compute_second_derivatives diff --git a/systems/visualizers/Visualizer.m b/systems/visualizers/Visualizer.m index 95432b734c8b..606eac27064a 100644 --- a/systems/visualizers/Visualizer.m +++ b/systems/visualizers/Visualizer.m @@ -235,8 +235,8 @@ function inspector(obj,x0,state_dims,minrange,maxrange,visualized_system) label{i} = uicontrol('Style','text','String',getCoordinateName(fr,state_dims(i)), ... 'HorizontalAlignment','right'); slider{i} = uicontrol('Style', 'slider', 'Min', minrange(i), 'Max', maxrange(i), ... - 'Value', x0(i), 'Callback',{@update_display},'UserData',state_dims(i)); - value{i} = uicontrol('Style','text','String',num2str(x0(i)), ... + 'Value', x0(state_dims(i)), 'Callback',{@update_display},'UserData',state_dims(i)); + value{i} = uicontrol('Style','text','String',num2str(x0(state_dims(i))), ... 'HorizontalAlignment','left'); % use a little undocumented matlab to get continuous slider feedback: