towr_anymal_dll.cpp

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#include <cmath>
#include <iostream>

#include <towr/terrain/examples/height_map_examples.h>
#include <towr/nlp_formulation.h>
#include <ifopt/ipopt_solver.h>

#include <towr/initialization/gait_generator.h>
//#define base_height_initial 0.54
#define towr_initial_output false
using namespace towr;

// A minimal example how to build a trajectory optimization problem using TOWR.
//
// The more advanced example that includes ROS integration, GUI, rviz
// visualization and plotting can be found here:
// towr_ros/src/towr_ros_app.cc
struct Trajectory_data
{

float base_linear[3];
float base_angular[3];
float ee_linear[12]; // 4 legs 3 cordinates
float ee_force[12]; // 4 legs 3 componenst for each force


};





void towr_trajectory(NlpFormulation &formulation,SplineHolder &solution,
                    Eigen::Vector3d target,Eigen::Vector3d target_a,Eigen::Vector3d base_i_lin,
                    Eigen::Vector3d base_i_ang,Eigen::Vector3d ee1,
                    Eigen::Vector3d ee2,Eigen::Vector3d ee3,Eigen::Vector3d ee4,
                    Trajectory_data* data,int no_of_samples,int terrain_id,
                    int gait_pattern)
{




  // terrain
  //formulation.terrain_ = std::make_shared<FlatGround>(0.0);
  /*
  0                  FlatID,
  1                  BlockID,
  2                  StairsID,
  3                  GapID,
  4                  SlopeID,
  5                  ChimneyID,
  6                  ChimneyLRID,
  7                  TERRAIN_COUNT
  */
  auto Terrain_id = static_cast<HeightMap::TerrainID>(terrain_id);
  formulation.terrain_ = HeightMap::MakeTerrain(Terrain_id);
  // Kinematic limits and dynamic parameters of the Anymal
  formulation.model_ = RobotModel(RobotModel::Anymal);

  // set the initial position of the Anymal
  //Eigen::Vector3d Ini(-2,0,0.54);
  formulation.initial_base_.lin.at(kPos) = base_i_lin;//*(base_i_lin+0);
  formulation.initial_base_.ang.at(kPos) = base_i_ang;
  /*
  std::cout<<"\nBase_i_lin:\n"<<formulation.initial_base_.lin.at(kPos).x()
                          <<"\n"<<formulation.initial_base_.lin.at(kPos).y()
                          <<"\n"<<formulation.initial_base_.lin.at(kPos).z();
  std::cout<<"\nBase_i_ang:\n"<<formulation.initial_base_.ang.at(kPos).x()
                          <<"\n"<<formulation.initial_base_.ang.at(kPos).y()
                          <<"\n"<<formulation.initial_base_.ang.at(kPos).z();
*/
  auto nominal_stance_B = formulation.model_.kinematic_model_->GetNominalStanceInBase();
  double z_ground = 0.0;
  formulation.initial_ee_W_ =  nominal_stance_B;
 int ee_index = 0;
  std::for_each(formulation.initial_ee_W_.begin(), formulation.initial_ee_W_.end(),
                  [&](Eigen::Vector3d& p)
                  {switch(ee_index)
                  {
                    case(0):{p = ee1;break;}
                    case(1):{p = ee2;break;}
                    case(2):{p = ee3;break;}
                    case(3):{p = ee4;break;}
                    default:{break;}
                    
                    
                  } 
//std::cout<<"\nee"<<ee_index<<":\n"<<p;


                  ee_index ++; } // feet at 0 height
     );

 //formulation.initial_base_.lin.at(kPos).z() = - nominal_stance_B.front().z() + z_ground;
   int n_ee = formulation.model_.kinematic_model_->GetNumberOfEndeffectors();
   std::cout<<"\n\nn_ee :"<<n_ee<<"\n\n";
  // define the desired goal state of the Anymal
  formulation.final_base_.lin.at(towr::kPos) = target;
  formulation.final_base_.ang.at(towr::kPos) = target_a;
  

    auto gait_gen_ = GaitGenerator::MakeGaitGenerator(n_ee);
    
    // overlap-walk -0
    // fly trot - 1
    // pace - 2
    // bound - 3
    // gallop - 4
    GaitGenerator::Combos k = GaitGenerator::Combos(gait_pattern); //walk combo
    switch(k)
    {
     case(0):{std::cout<<"\n\nGait_selected:overlap-walk\n\n";break;}
     case(1):{std::cout<<"\n\nGait_selected:fly trot\n\n";break;}
     case(2):{std::cout<<"\n\nGait_selected:pace\n\n";break;}
     case(3):{std::cout<<"\n\nGait_selected:bound\n\n";break;}
     case(4):{std::cout<<"\n\nGait_selected:gallop\n\n";break;}
     default:break;
     }
    gait_gen_->SetCombo(k);
    double total_duration = 2.0;
    //random phase duration , actually monoped
    for (int ee=0; ee<n_ee; ++ee) 
    {
      formulation.params_.ee_phase_durations_.push_back(gait_gen_->GetPhaseDurations(total_duration, ee));
      formulation.params_.ee_in_contact_at_start_.push_back(gait_gen_->IsInContactAtStart(ee));
    }



  // Initialize the nonlinear-programming problem with the variables,
  // constraints and costs.
  ifopt::Problem nlp;

  for (auto c : formulation.GetVariableSets(solution))
    nlp.AddVariableSet(c);
  for (auto c : formulation.GetConstraints(solution))
    nlp.AddConstraintSet(c);
  for (auto c : formulation.GetCosts())
    nlp.AddCostSet(c);
 


  // You can add your own elements to the nlp as well, simply by calling:
  // nlp.AddVariablesSet(your_custom_variables);
  // nlp.AddConstraintSet(your_custom_constraints);

  // Choose ifopt solver (IPOPT or SNOPT), set some parameters and solve.
  // solver->SetOption("derivative_test", "first-order");
  auto solver = std::make_shared<ifopt::IpoptSolver>();
  solver->SetOption("jacobian_approximation", "exact"); // "finite difference-values"
  solver->SetOption("max_cpu_time", 40.0);
  solver->Solve(nlp);
 
  // Can directly view the optimization variables through:
  // Eigen::VectorXd x = nlp.GetVariableValues()
  // However, it's more convenient to access the splines constructed from these
  // variables and query their values at specific times:
  using namespace std;
  
  cout.precision(2);

  //nlp.PrintCurrent(); // view variable-set, constraint violations, indices,...
  
  cout << fixed;



 

  double t = 0.0;

  //possible bug-might not get to the xact target position
  //need to rectify
  double time_step = (solution.base_linear_->GetTotalTime() + 1e-5)/no_of_samples;
  //std::cout<<"\ntotal_Time:\t"<<solution.base_linear_->GetTotalTime() + 1e-5<<"\n";
int i =0;

  //while (t<=solution.base_linear_->GetTotalTime() + 1e-5)
  while(i<=no_of_samples)
  {
    if(t>2)
      t=2;
    //base angles to radian
    Eigen::Vector3d rad = solution.base_angular_->GetPoint(t).p();
    //if required to degree conversion from radian
    //rad =  rad/M_PI*180;

    for(int j=0;j<3;j++)
        {    

             (data+i)->base_linear[j] = solution.base_linear_->GetPoint(t).p().transpose()[j];
             
             
             (data+i)->base_angular[j] = rad[j];
             
             for (int k=0;k<n_ee;k++)//leg wise co ordinates
             {
             (data+i)->ee_linear[j+3*k] = solution.ee_motion_.at(k)->GetPoint(t).p().transpose()[j];
             (data+i)->ee_force[j+3*k] = solution.ee_force_.at(k)->GetPoint(t).p().transpose()[j];
              }
                    

        }
    //cout<<"\n"<<t<<"\n";
    i+=1;
    t+=time_step;

  }

//cout<<"\ni:"<<i<<"\n";

 if(towr_initial_output)
  {

      cout << "\n====================\nAnymal trajectory:\n====================\n";

   t= 0.0;
while (t<=solution.base_linear_->GetTotalTime() + 1e-5) {
    cout << "t=" << t << "\n";
    cout << "Base linear position x,y,z:   \t";
    cout << solution.base_linear_->GetPoint(t).p().transpose() << "\t[m]" << endl;

    cout << "Base Euler roll, pitch, yaw:  \t";
    Eigen::Vector3d rad = solution.base_angular_->GetPoint(t).p();
    cout << (rad/M_PI*180).transpose() << "\t[deg]" << endl;



   
    for (int ee_towr=0; ee_towr<n_ee; ++ee_towr) {
      cout<<"\n\tLeg: "<<ee_towr<<endl;

      cout << "\tFoot in Contact          \t";
      bool contact = solution.phase_durations_.at(ee_towr)->IsContactPhase(t);
      std::string foot_in_contact = contact? "yes" : "no";
      cout<< foot_in_contact<<endl;

      cout << "\tFoot position x,y,z:          \t";
      cout << solution.ee_motion_.at(ee_towr)->GetPoint(t).p().transpose() << "\t[m]" << endl;

      cout << "\tContact force x,y,z:          \t";
      cout << solution.ee_force_.at(ee_towr)->GetPoint(t).p().transpose() << "\t[N]" << endl;
      
      
      //solution.ee_motion_.at(ee_towr)->GetPoint(t);
      //solution.ee_force_.at(ee_towr)->GetPoint(t).p();
    }

   // cout << "Contact force x,y,z:          \t";
    //cout << solution.ee_force_.at(0)->GetPoint(t).p().transpose() << "\t[N]" << endl;

    //bool contact = solution.phase_durations_.at(0)->IsContactPhase(t);
    //std::string foot_in_contact = contact? "yes" : "no";
    //cout << "Foot in contact:              \t" + foot_in_contact << endl;

    cout << endl;

    t += time_step;
  }

}




}







extern "C"{

void Trajectory(Trajectory_data* data,float i_b_p[3],float i_p_a[3],float ee1[3],
                float ee2[3],float ee3[3],float ee4[3],float t[3],float t_a[3],int no_of_samples,int terrain_id,int gait_pattern)
{
  

   
  NlpFormulation formulation;
  SplineHolder solution;
  Eigen::Vector3d target,base_i_lin,base_i_ang,ee_1,ee_2,ee_3,ee_4,target_a;
  //std::cout <<"\nEnter Target Co-ordinates:\n";
  
  
  for(int i=0;i<3;i++)
  {
   target(i)=t[i];
   base_i_lin(i)=i_b_p[i];
   base_i_ang(i)=i_p_a[i];
   ee_1(i) = ee1[i];
   ee_2(i) = ee2[i];
   ee_3(i) = ee3[i];
   ee_4(i) = ee4[i];
   target_a(i) = t_a[i]; 

  }
  

  towr_trajectory(formulation,solution,
                  target,target_a,base_i_lin,base_i_ang,
                  ee_1,ee_2,ee_3,ee_4,
                  data,no_of_samples,terrain_id,gait_pattern);


}
}

/*

void towr_trajectory(NlpFormulation &formulation,SplineHolder &solution,
                    Eigen::Vector3d target,Eigen::Vector3d target_a,Eigen::Vector3d base_i_lin,
                    Eigen::Vector3d base_i_ang,Eigen::Vector3d ee1,
                    Eigen::Vector3d ee2,Eigen::Vector3d ee3,Eigen::Vector3d ee4,
                    Trajectory_data* data,int no_of_samples,int terrain_id,
                    int gait_pattern)
  */