ModelPredictiveControl.cpp

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <mc_rtc/gui.h>
 
#include <iomanip>
#include <lipm_walking/ModelPredictiveControl.h>
#include <lipm_walking/utils/clamp.h>
#include <lipm_walking/utils/slerp.h>
 
namespace lipm_walking
{
 
// Repeat static constexpr declarations
// Fixes https://github.com/stephane-caron/lipm_walking_controller/issues/21
// See also https://stackoverflow.com/q/8016780
constexpr double ModelPredictiveControl::SAMPLING_PERIOD;
constexpr unsigned ModelPredictiveControl::INPUT_SIZE;
constexpr unsigned ModelPredictiveControl::NB_STEPS;
constexpr unsigned ModelPredictiveControl::STATE_SIZE;
 
ModelPredictiveControl::ModelPredictiveControl()
{
  velCostMat_.setZero();
  constexpr double T = SAMPLING_PERIOD;
  double S = T * T / 2; // "square"
  double C = T * T * T / 6; // "cube"
  Eigen::Matrix<double, STATE_SIZE, STATE_SIZE> stateMatrix;
  // clang-format off
  stateMatrix <<
    1, 0, T, 0, S, 0,
    0, 1, 0, T, 0, S,
    0, 0, 1, 0, T, 0,
    0, 0, 0, 1, 0, T,
    0, 0, 0, 0, 1, 0,
    0, 0, 0, 0, 0, 1;
  // clang-format on
  Eigen::Matrix<double, STATE_SIZE, INPUT_SIZE> inputMatrix;
  // clang-format off
  inputMatrix <<
    C, 0,
    0, C,
    S, 0,
    0, S,
    T, 0,
    0, T;
  // clang-format on
  Eigen::VectorXd biasVector = Eigen::VectorXd::Zero(STATE_SIZE);
  initState_ = Eigen::VectorXd::Zero(STATE_SIZE);
  previewSystem_ = std::make_shared<copra::PreviewSystem>(stateMatrix, inputMatrix, biasVector, initState_, NB_STEPS);
  mc_rtc::log::success("Initialized new ModelPredictiveControl solver");
}
 
void ModelPredictiveControl::configure(const mc_rtc::Configuration & config)
{
  if(config.has("weights"))
  {
    auto weights = config("weights");
    weights("jerk", jerkWeight);
    weights("vel", velWeights);
    weights("zmp", zmpWeight);
  }
}
 
void ModelPredictiveControl::addGUIElements(std::shared_ptr<mc_rtc::gui::StateBuilder> gui)
{
  using namespace mc_rtc::gui;
  gui->addElement({"Walking", "CoM"},
                  ComboInput(
                      "MPC QP solver", {"QuadProgDense", "QLD"},
                      [this]() -> std::string
                      {
                        switch(solver_)
                        {
                          case copra::SolverFlag::QLD:
                            return "QLD";
                          case copra::SolverFlag::QuadProgDense:
                          default:
                            return "QuadProgDense";
                        }
                      },
                      [this](const std::string & solver)
                      {
                        if(solver == "QLD")
                        {
                          solver_ = copra::SolverFlag::QLD;
                        }
                        else // (solver == "QuadProgDense")
                        {
                          solver_ = copra::SolverFlag::QuadProgDense;
                        }
                      }),
                  ArrayInput(
                      "MPC QP cost weights", {"jerk", "vel_x", "vel_y", "zmp"},
                      [this]()
                      {
                        Eigen::VectorXd weights(4);
                        weights[0] = jerkWeight;
                        weights[1] = velWeights.x();
                        weights[2] = velWeights.y();
                        weights[3] = zmpWeight;
                        return weights;
                      },
                      [this](const Eigen::VectorXd & weights)
                      {
                        jerkWeight = weights[0];
                        velWeights.x() = weights[1];
                        velWeights.y() = weights[2];
                        zmpWeight = weights[3];
                      }));
}
 
void ModelPredictiveControl::addLogEntries(mc_rtc::Logger & logger)
{
  logger.addLogEntry("mpc_velRef", [this]() -> Eigen::Vector2d { return velRef_.head<2>(); });
  logger.addLogEntry("mpc_weights_jerk", [this]() { return jerkWeight; });
  logger.addLogEntry("mpc_weights_vel", [this]() { return velWeights; });
  logger.addLogEntry("mpc_weights_zmp", [this]() { return zmpWeight; });
  logger.addLogEntry("mpc_zmpRef", [this]() -> Eigen::Vector2d { return zmpRef_.head<2>(); });
  logger.addLogEntry("perf_MPCBuildAndSolve", [this]() { return buildAndSolveTime_; });
  logger.addLogEntry("perf_MPCSolve", [this]() { return solveTime_; });
}
 
void ModelPredictiveControl::phaseDurations(double initSupportDuration,
                                            double doubleSupportDuration,
                                            double targetSupportDuration)
{
  constexpr double T = SAMPLING_PERIOD;
 
  unsigned nbStepsSoFar = 0;
  nbInitSupportSteps_ = std::min(static_cast<unsigned>(std::round(initSupportDuration / T)), NB_STEPS - nbStepsSoFar);
  nbStepsSoFar += nbInitSupportSteps_;
  nbDoubleSupportSteps_ =
      std::min(static_cast<unsigned>(std::round(doubleSupportDuration / T)), NB_STEPS - nbStepsSoFar);
  nbStepsSoFar += nbDoubleSupportSteps_;
  nbTargetSupportSteps_ =
      std::min(static_cast<unsigned>(std::round(targetSupportDuration / T)), NB_STEPS - nbStepsSoFar);
  nbStepsSoFar += nbTargetSupportSteps_;
  if(nbTargetSupportSteps_ > 0) // full preview
  {
    nbNextDoubleSupportSteps_ = NB_STEPS - nbStepsSoFar; // always positive
  }
  for(long i = 0; i <= NB_STEPS; i++)
  {
    // SSP constraint is enforced at the very first step of DSP
    if(i < nbInitSupportSteps_ || (0 < i && i == nbInitSupportSteps_))
    {
      indexToHrep_[i] = 0;
    }
    else if(i - nbInitSupportSteps_ < nbDoubleSupportSteps_)
    {
      indexToHrep_[i] = 1;
    }
    else if(nbTargetSupportSteps_ > 0)
    {
      if(i - nbInitSupportSteps_ - nbDoubleSupportSteps_ <= nbTargetSupportSteps_)
      {
        indexToHrep_[i] = 2;
      }
      else if(nbNextDoubleSupportSteps_ > 0)
      {
        indexToHrep_[i] = 3;
      }
      else // (nbNextDoubleSupportSteps_ == 0)
      {
        indexToHrep_[i] = 2;
      }
    }
    else // (nbTargetSupportSteps_ == 0)
    {
      indexToHrep_[i] = 1;
    }
  }
}
 
void ModelPredictiveControl::computeZMPRef()
{
  zmpRef_.setZero();
  Eigen::Vector2d p_0 = initContact_.anklePos(sole_).head<2>();
  Eigen::Vector2d p_1 = targetContact_.anklePos(sole_).head<2>();
  Eigen::Vector2d p_2 = nextContact_.anklePos(sole_).head<2>();
  if(nbTargetSupportSteps_ < 1) // stop during first DSP
  {
    p_1 = 0.5 * (initContact_.anklePos(sole_) + targetContact_.anklePos(sole_)).head<2>();
  }
  for(long i = 0; i <= NB_STEPS; i++)
  {
    if(indexToHrep_[i] <= 1)
    {
      long j = i - nbInitSupportSteps_;
      double x = (nbDoubleSupportSteps_ > 0) ? static_cast<double>(j) / nbDoubleSupportSteps_ : 0.;
      x = clamp(x, 0., 1.);
      zmpRef_.segment<2>(2 * i) = (1. - x) * p_0 + x * p_1;
    }
    else // (indexToHrep_[i] <= 3), which implies nbTargetSupportSteps_ > 0
    {
      long j = i - nbInitSupportSteps_ - nbDoubleSupportSteps_ - nbTargetSupportSteps_;
      double x = (nbNextDoubleSupportSteps_ > 0) ? static_cast<double>(j) / nbNextDoubleSupportSteps_ : 0;
      x = clamp(x, 0., 1.);
      zmpRef_.segment<2>(2 * i) = (1. - x) * p_1 + x * p_2;
    }
  }
}
 
void ModelPredictiveControl::updateTerminalConstraint()
{
  Eigen::MatrixXd E_dcm = Eigen::MatrixXd::Zero(2, STATE_SIZE * (NB_STEPS + 1));
  Eigen::MatrixXd E_zmp = Eigen::MatrixXd::Zero(2, STATE_SIZE * (NB_STEPS + 1));
  if(nbTargetSupportSteps_ < 1) // half preview
  {
    unsigned i = nbInitSupportSteps_ + nbDoubleSupportSteps_;
    E_dcm.block<2, 6>(0, 6 * i) = dcmFromState_;
    E_zmp.block<2, 6>(0, 6 * i) = zmpFromState_;
  }
  else // full preview
  {
    E_dcm.rightCols<6>() = dcmFromState_;
    E_zmp.rightCols<6>() = zmpFromState_;
  }
  Eigen::Vector2d dcmTarget = zmpRef_.tail<2>();
  Eigen::Vector2d zmpTarget = zmpRef_.tail<2>();
  termDCMCons_ = std::make_shared<copra::TrajectoryConstraint>(E_dcm, dcmTarget, /* isInequalityConstraint = */ false);
  termZMPCons_ = std::make_shared<copra::TrajectoryConstraint>(E_zmp, zmpTarget, /* isInequalityConstraint = */ false);
}
 
void ModelPredictiveControl::updateZMPConstraint()
{
  hreps_[0] = initContact_.hrep();
  hreps_[2] = targetContact_.hrep();
  unsigned totalRows = 0;
  for(long i = 0; i <= NB_STEPS; i++)
  {
    unsigned hrepIndex = indexToHrep_[i];
    if(hrepIndex % 2 == 0)
    {
      const auto & hrep = hreps_[hrepIndex];
      totalRows += static_cast<unsigned>(hrep.first.rows());
    }
  }
  Eigen::MatrixXd A{totalRows, STATE_SIZE * (NB_STEPS + 1)};
  Eigen::VectorXd b{totalRows};
  A.setZero();
  long nextRow = 0;
  for(long i = 0; i <= NB_STEPS; i++)
  {
    unsigned hrepIndex = indexToHrep_[i];
    if(hrepIndex % 2 == 0)
    {
      const auto & hrep = hreps_[indexToHrep_[i]];
      unsigned consRows = static_cast<unsigned>(hrep.first.rows());
      A.block(nextRow, STATE_SIZE * i, consRows, STATE_SIZE) = hrep.first * zmpFromState_;
      b.segment(nextRow, consRows) = hrep.second;
      nextRow += consRows;
    }
  }
  zmpCons_ = std::make_shared<copra::TrajectoryConstraint>(A, b);
}
 
void ModelPredictiveControl::updateJerkCost()
{
  Eigen::Matrix2d jerkMat = Eigen::Matrix2d::Identity();
  Eigen::Vector2d jerkVec = Eigen::Vector2d::Zero();
  jerkCost_ = std::make_shared<copra::ControlCost>(jerkMat, jerkVec);
  jerkCost_->weight(jerkWeight);
}
 
void ModelPredictiveControl::updateVelCost()
{
  velRef_.setZero();
  const Eigen::Matrix3d & R_0 = initContact_.pose.rotation();
  const Eigen::Matrix3d & R_1 = targetContact_.pose.rotation();
  const Eigen::Matrix3d & R_2 = nextContact_.pose.rotation();
  Eigen::Vector2d v_0 = initContact_.refVel.head<2>();
  Eigen::Vector2d v_1 = targetContact_.refVel.head<2>();
  Eigen::Vector2d v_2 = nextContact_.refVel.head<2>();
  if(nbTargetSupportSteps_ < 1) // stop during first DSP
  {
    v_1 = {0., 0.};
  }
  Eigen::Matrix2d R;
  Eigen::Vector2d v;
  for(long i = 0; i <= NB_STEPS; i++)
  {
    if(indexToHrep_[i] <= 1)
    {
      double w = static_cast<double>(i) / (nbInitSupportSteps_ + nbDoubleSupportSteps_);
      w = clamp(w, 0., 1.);
      R = slerp(R_0, R_1, w).topLeftCorner<2, 2>();
      v = (1. - w) * v_0 + w * v_1;
    }
    else // (indexToHrep_[i] <= 3), which implies nbTargetSupportSteps_ > 0
    {
      long i2 = i - nbInitSupportSteps_ - nbDoubleSupportSteps_; // >= 0
      double w = static_cast<double>(i2) / (nbTargetSupportSteps_ + nbNextDoubleSupportSteps_);
      w = clamp(w, 0., 1.);
      R = slerp(R_1, R_2, w).topLeftCorner<2, 2>();
      ;
      v = (1. - w) * v_1 + w * v_2;
    }
    velCostMat_.block<2, STATE_SIZE>(2 * i, STATE_SIZE * i).block<2, 2>(0, 2) = R;
    velRef_.segment<2>(2 * i) = R * v;
  }
  velCost_ = std::make_shared<copra::TrajectoryCost>(velCostMat_, velRef_);
  velCost_->weights(velWeights);
}
 
void ModelPredictiveControl::updateZMPCost()
{
  zmpCost_ = std::make_shared<copra::TrajectoryCost>(zmpFromState_, zmpRef_);
  zmpCost_->weight(zmpWeight);
  zmpCost_->autoSpan(); // repeat zmpFromState
}
 
bool ModelPredictiveControl::buildAndSolve()
{
  using namespace std::chrono;
  auto startTime = high_resolution_clock::now();
 
  computeZMPRef();
 
  previewSystem_->xInit(initState_);
  updateTerminalConstraint();
  updateZMPConstraint();
  updateJerkCost();
  updateVelCost();
  updateZMPCost();
 
  copra::LMPC lmpc(previewSystem_, solver_);
  lmpc.addConstraint(termDCMCons_);
  lmpc.addConstraint(termZMPCons_);
  lmpc.addConstraint(zmpCons_);
  lmpc.addCost(jerkCost_);
  lmpc.addCost(velCost_);
  lmpc.addCost(zmpCost_);
 
  bool solutionFound = lmpc.solve();
  if(solutionFound)
  {
    solution_.reset(new Preview(lmpc.trajectory(), lmpc.control()));
  }
  else
  {
    mc_rtc::log::error("Model predictive control problem has no solution");
    solution_.reset(new Preview());
  }
 
  auto endTime = high_resolution_clock::now();
  buildAndSolveTime_ = 1000. * duration_cast<duration<double>>(endTime - startTime).count();
  solveTime_ = 1000. * lmpc.solveTime();
  return solutionFound;
}
 
} // namespace lipm_walking