AMJointControlAcceleration.cpp

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#include "AMJointControlAcceleration.h"

#include <Rcs_typedef.h>
#include <Rcs_dynamics.h>
#include <Rcs_macros.h>
#include <Rcs_VecNd.h>

#include <limits>


namespace Rcs
{

// TODO @Felix: this does not work ATM, but I will leave it in case we want to change that later.
AMJointControlAcceleration::AMJointControlAcceleration(RcsGraph* graph) : AMJointControl(graph)
{
    // Make sure nJ is correct
    RcsGraph_setState(graph, NULL, NULL);
    // Iterate unconstrained joints
//    RCSGRAPH_TRAVERSE_JOINTS(graph)
//    {
//        if (JNT->jacobiIndex != -1)
//        {
//            // Make sure that the joints actually use torque control inside the simulation
//            JNT->ctrlType = RCSJOINT_CTRL_TORQUE;
//        }
//    }
    
    // create temporary matrices
    M = MatNd_create(graph->nJ, graph->nJ);
    h = MatNd_create(graph->nJ, 1);
    F_gravity = MatNd_create(graph->nJ, 1);
}

AMJointControlAcceleration::~AMJointControlAcceleration()
{
    MatNd_destroy(M);
    MatNd_destroy(h);
    MatNd_destroy(F_gravity);
}

// TODO discuss this fcn with Michael
void AMJointControlAcceleration::computeCommand(
    MatNd* q_des, MatNd* q_dot_des, MatNd* T_des, const MatNd* action,
    double dt)
{
    // Compute inverse dynamics
    RcsGraph_computeKineticTerms(graph, M, h, F_gravity);
    
    // Use them to compute the torque. This is done in IK state vector.
    MatNd_reshape(T_des, graph->nJ, 1);
    
    MatNd_mul(T_des, M, action);
    
    // Print if debug level is exceeded
    REXEC(8) {
        MatNd_printComment("M", M);
        MatNd_printComment("M*q_dotdot_des", T_des);
        MatNd_printComment("coriolis", h);
        MatNd_printComment("gravity compensation", F_gravity);
    }
    
    MatNd_addSelf(T_des, h);
    MatNd_subSelf(T_des, F_gravity);
    // Expand T_des to full state vector
    RcsGraph_stateVectorFromIKSelf(graph, T_des);
}

void AMJointControlAcceleration::getMinMax(double* min, double* max) const
{
    VecNd_setElementsTo(min, -std::numeric_limits<double>::infinity(), getDim()); // rad/s^2
    VecNd_setElementsTo(max, std::numeric_limits<double>::infinity(), getDim()); // rad/s^2
}

void AMJointControlAcceleration::getStableAction(MatNd* action) const
{
    // stable action = no acceleration
    MatNd_setZero(action);
}

ActionModel* AMJointControlAcceleration::clone(RcsGraph* newGraph) const
{
    return new AMJointControlAcceleration(newGraph);
}

} /* namespace Rcs */