OMDynamicalSystemDiscrepancy.cpp

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#include "OMDynamicalSystemDiscrepancy.h"
#include "../action/ActionModelIK.h"
#include "../util/eigen_matnd.h"

#include <ControllerBase.h>
#include <Rcs_typedef.h>
#include <Rcs_macros.h>

namespace Rcs
{

OMDynamicalSystemDiscrepancy::OMDynamicalSystemDiscrepancy(AMDynamicalSystemActivation* actionModel) : actionModel(
    actionModel)
{
    auto amik = dynamic_cast<AMIKGeneric*>(actionModel->getWrappedActionModel());
    RCHECK_MSG(amik, "AMDynamicalSystemActivation must wrap an AMIKGeneric");
    
    controller = new ControllerBase(actionModel->getGraph());
    for (auto tsk : amik->getController()->getTasks()) {
        controller->add(tsk->clone(actionModel->getGraph()));
    }
    
    x_curr = MatNd_create(controller->getTaskDim(), 1);
}

unsigned int OMDynamicalSystemDiscrepancy::getVelocityDim() const
{
    return 0;  // does not have a velocity field
}

OMDynamicalSystemDiscrepancy::~OMDynamicalSystemDiscrepancy()
{
    delete controller;
    MatNd_destroy(x_curr);
}

unsigned int OMDynamicalSystemDiscrepancy::getStateDim() const
{
    return (unsigned int) controller->getTaskDim(); // equal the number of controller tasks
}

void OMDynamicalSystemDiscrepancy::computeObservation(
    double* state, double* velocity, const MatNd* currentAction,
    double dt) const
{
    // Save last state
    Eigen::VectorXd x_last;
    copyMatNd2Eigen(x_last, x_curr);
    
    // Compute current task state
    controller->computeX(x_curr); // the controller is defined on the actionModel's graph
    
    // Compute actual movement in task space
    Eigen::VectorXd delta_x = viewMatNd2Eigen(x_curr) - x_last;
    
    // Compute discrepancy between what the action model commanded and what the robot did (desired - actual)
    Eigen::VectorXd accumulatedDiscrepancy = actionModel->getX() - viewMatNd2Eigen(x_curr);
    Eigen::VectorXd incrementalDiscrepancy = actionModel->getXdot()*dt - delta_x;
    Eigen::VectorXd velocityDiscrepancy = actionModel->getXdot() - delta_x/dt;
    
    // Print if debug level is exceeded
    REXEC(7) {
        std::cout << "Accumulated dynamical system discrepancy: " << accumulatedDiscrepancy << std::endl;
        std::cout << "Incremental dynamical system discrepancy: " << incrementalDiscrepancy << std::endl;
    }

//    state = &incrementalDiscrepancy(0);
//    velocity = &velocityDiscrepancy(0);
    for (unsigned int i = 0; i < getStateDim(); i++) {
        state[i] = incrementalDiscrepancy[i];
    }
}

void OMDynamicalSystemDiscrepancy::reset()
{
    // fill x_curr with current state
    controller->computeX(x_curr);
}

std::vector<std::string> OMDynamicalSystemDiscrepancy::getStateNames() const
{
    std::vector<std::string> result;
    result.reserve(getStateDim());
    
    // Get names from controller tasks
    for (auto task : controller->getTasks()) {
        std::ostringstream prefix;
        std::string name = "UNSET";
        if (task->getEffector()) {
            // If there is an effector, we use its name
            name = task->getEffector()->name;
        }
        else {
            // If not, e.g. for TaskJoint, then we use
            name = task->getName();
        }
        prefix << "DiscrepDS_" << name << "_";
        for (auto param : task->getParameters()) {
            auto paramName = param.name;
            // The tasks do report their var names, but unfortunately also include the unit in that string.
            // We have to strip that.
            auto spaceIdx = paramName.find(' ');
            if (spaceIdx != std::string::npos) {
                paramName = paramName.substr(0, spaceIdx);
            }
            
            result.push_back(prefix.str() + paramName);
        }
    }
    return result;
}

} /* namespace Rcs */