diff --git a/.gitignore b/.gitignore index e448316..1d6a888 100644 --- a/.gitignore +++ b/.gitignore @@ -3,8 +3,11 @@ src/avoidbench/avoidmetrics/externals/ src/avoidbench/avoidmetrics/data/ src/avoidbench/avoidmetrics/point_clouds_data/* src/avoidbench/avoidlib/build/ +src/avoidbench/avoidlib/.vscode/ src/avoidbench/avoidlib/externals/ src/avoidbench/avoid_manage/externals/ +src/mavrl/ +src/agilicious/agilib/externals/ build/ devel/ logs/ diff --git a/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/names.cpython-38.pyc b/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/names.cpython-38.pyc index c725a5d..c119158 100644 Binary files a/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/names.cpython-38.pyc and b/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/names.cpython-38.pyc differ diff --git a/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/substitution_args.cpython-38.pyc b/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/substitution_args.cpython-38.pyc index 5acfa6d..71f9f34 100644 Binary files a/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/substitution_args.cpython-38.pyc and b/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/substitution_args.cpython-38.pyc differ diff --git a/src/ThirdP/rpg_quadrotor_control/simulation/rpg_rotors_interface/parameters/rpg_rotors_interface.yaml b/src/ThirdP/rpg_quadrotor_control/simulation/rpg_rotors_interface/parameters/rpg_rotors_interface.yaml index a823399..acb9e67 100644 --- a/src/ThirdP/rpg_quadrotor_control/simulation/rpg_rotors_interface/parameters/rpg_rotors_interface.yaml +++ b/src/ThirdP/rpg_quadrotor_control/simulation/rpg_rotors_interface/parameters/rpg_rotors_interface.yaml @@ -10,8 +10,8 @@ rotor_thrust_coeff: 8.54858e-06 max_rotor_speed: 838.0 # Controller low_level_control_frequency: 200.0 -body_rates_p_xy: 0.1 +body_rates_p_xy: 0.2 body_rates_d_xy: 0.5 -body_rates_p_z: 0.03 -body_rates_d_z: 0.1 +body_rates_p_z: 0.4 +body_rates_d_z: 0.3 roll_pitch_cont_gain: 6.0 diff --git a/src/agilicious/agilib/.clang-tidy b/src/agilicious/agilib/.clang-tidy new file mode 100644 index 0000000..cc078ec --- /dev/null +++ b/src/agilicious/agilib/.clang-tidy @@ -0,0 +1,15 @@ +Checks: "clang-diagnostic-*, + clang-analyzer-*, + -clang-analyzer-core.uninitialized.UndefReturn, + -clang-analyzer-optin.portability.UnixAPI, + -clang-analyzer-unix.Malloc, + modernize-*, + -modernize-use-trailing-return-type, + -modernize-use-nodiscard, + -modernize-avoid-c-arrays, + -modernize-pass-by-value, + performance-*" +WarningsAsErrors: '' +HeaderFilterRegex: '.*\/include\/rise.*' +AnalyzeTemporaryDtors: false +FormatStyle: file diff --git a/src/agilicious/agilib/CMakeLists.txt b/src/agilicious/agilib/CMakeLists.txt new file mode 100644 index 0000000..b01b249 --- /dev/null +++ b/src/agilicious/agilib/CMakeLists.txt @@ -0,0 +1,304 @@ +cmake_minimum_required(VERSION 3.0.0) +project(agilib VERSION 0.1.0) + +message(STATUS "================== !Agilicious! ===================") + +################################################################################ +#Options +################################################################################ + +option(BUILD_TESTS "Building the tests" ON) +option(BUILD_BENCH "Building the benchmark." OFF) +option(ENABLE_FAST "Build with optimizations for speed" ON) +option(UNSAFE_MATH "Build with -funsafe-math-optimizations: high impact on speed, but lowers floating point precision." ON) +option(ENABLE_PROFILING "Build for profiling" OFF) +option(ENABLE_PARALLEL "Build using openmp parallelization" OFF) +option(EIGEN_FROM_SYSTEM "Use the system-provided Eigen" ON) +option(DEBUG_LOGGING "Enable detailed logging" OFF) +set( + EIGEN_ALTERNATIVE "" CACHE STRING + "Path to alternative Eigen, autodownload if blank" +) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +################################################################################ +#Finding Dependencies +################################################################################ +message(STATUS "=============== Setup Dependencies ================") + + +if (EIGEN_FROM_SYSTEM) + find_package(Eigen3 3.3.4 QUIET) + if (EIGEN3_FOUND) + message(STATUS "Using system provided Eigen.") + else () + message(STATUS "No sufficient Eigen version (3.3.4) found.") + message(STATUS "Restoring to download Eigen sources.") + include(cmake/eigen.cmake) + endif () +elseif (EIGEN_ALTERNATIVE STREQUAL "") + include(cmake/eigen.cmake) +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN_ALTERNATIVE}) +endif () + +#Check for ccache +if (NOT DEFINED CATKIN_DEVEL_PREFIX) + find_program(CCACHE_PROGRAM ccache) + if (CCACHE_PROGRAM) + set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}") + else () + message(STATUS "Build time could be improved with ccache!") + message(STATUS " sudo apt install ccache") + endif () +endif () + +# Download acados +include(cmake/acados.cmake) + + +################################################################################ +#Setup Compilation +################################################################################ +message(STATUS "=============== Setup Compilation =================") + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_C_STANDARD 11) +set(CMAKE_C_STANDARD_REQUIRED ON) + +add_definitions(-DEIGEN_STACK_ALLOCATION_LIMIT=1048576) +if (ENABLE_PARALLEL) + find_package(OpenMP REQUIRED) + message(STATUS "Enabling parallelization!") + set(CMAKE_CXX_PAR_FLAGS " -fopenmp") +else () + add_definitions(-DEIGEN_DONT_PARALLELIZE) +endif () + +include_directories(include) +include_directories(AFTER tests) +include_directories(BEFORE SYSTEM ${EIGEN3_INCLUDE_DIRS}) + +#Set default build type +if (NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt) + if (NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE) + endif () +endif () + +#Fix build type for profiling +if (ENABLE_PROFILING) + if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release") + message(STATUS "Switching build type to RelWithDebInfo for profiling") + set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE) + endif() + add_definitions(-fno-omit-frame-pointer) +endif() + +#Add c++ flags +set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -DNDEBUG") +set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -g") + +#Architectural flags +if ("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "armv7l") + message(STATUS "Using ARMv7 optimized flags!") + set(CMAKE_CXX_ARCH_FLAGS " -march=armv7-a -mfpu=neon -mfloat-abi=hard -funsafe-math-optimizations") +elseif ("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "aarch64") + message(STATUS "Using ARM aarch64 optimized flags!") + set(CMAKE_CXX_ARCH_FLAGS " -march=armv8-a+crypto -mcpu=cortex-a57+crypto") +elseif ("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "arm64") + set(CMAKE_CXX_ARCH_FLAGS " -march=armv8-a+crypto -mcpu=cortex-a57+crypto") +else () + if (NOT DEFINED CATKIN_DEVEL_PREFIX) + set(CMAKE_CXX_ARCH_FLAGS " -march=native") + endif () +endif () + +#Optimized flags +if (ENABLE_FAST) + message(STATUS "Enabling fast optimization flags!") + set(CMAKE_CXX_FAST_FLAGS " -O3") +else () + set(CMAKE_CXX_FAST_FLAGS " -O0") +endif () +if (UNSAFE_MATH) + message(STATUS "Using -funsafe-math-optimizations") + set(CMAKE_CXX_FAST_FLAGS "${CMAKE_CXX_FAST_FLAGS} -funsafe-math-optimizations") +endif () + +#DebugLogging +if(DEBUG_LOGGING) + message(STATUS "Enable Debug Logs!") + add_definitions(-DDEBUG_LOG) +endif() + +#Summarize Flags +set(CMAKE_CXX_FLAGS_RELEASE + "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FAST_FLAGS} ${CMAKE_CXX_ARCH_FLAGS} ${CMAKE_CXX_PAR_FLAGS} ${CMAKE_CXX_BLAS_FLAGS}") +string(REPLACE "-DNDEBUG" "" CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}") +message(STATUS "The activated CXX RELEASE configuration is:\n ${CMAKE_CXX_FLAGS_RELEASE}") +message(STATUS "The activated CXX DEBUG configuration is:\n ${CMAKE_CXX_FLAGS_DEBUG}") + + +################################################################################ +#Specify Build Resources +################################################################################ +message(STATUS "================== Setup Build ====================") + +#Create file lists for sources, tests and benchmarks +file(GLOB_RECURSE SOURCES + src/*.cpp + ) +set(EXCLUDE_DIR "/mpc/") +foreach (TMP_PATH ${SOURCES}) + string(FIND ${TMP_PATH} ${EXCLUDE_DIR} EXCLUDE_DIR_FOUND) + if (NOT ${EXCLUDE_DIR_FOUND} EQUAL -1) + list(REMOVE_ITEM SOURCES ${TMP_PATH}) + endif () +endforeach (TMP_PATH) + +file(GLOB_RECURSE ACADOS_SOURCES + src/controller/mpc/*.cpp + src/controller/mpc/acados/*.c + ) +list(REMOVE_ITEM SOURCES ${ACADOS_SOURCES}) + +file(GLOB_RECURSE TEST_SOURCES + tests/*.cpp + ) + +file(GLOB_RECURSE BENCH_SOURCES + benchmarks/*.cpp + ) + + +################################################################################ +# Optional Catkin Build +################################################################################ + +if (DEFINED CATKIN_DEVEL_PREFIX) + message(STATUS "============ Building with -- catkin -- ============") + include(cmake/catkin.cmake) + return() +endif () + + +################################################################################ +# Setup Build +################################################################################ + +# Setup Testing and Benchmark +if (BUILD_TESTS OR BUILD_BENCH) + include(cmake/gtest.cmake) + enable_testing() +endif () +if (BUILD_BENCH) + include(cmake/benchmark.cmake) +endif () + +if (ACADOS_SOURCES) + add_library(acados_mpc ${ACADOS_SOURCES}) + target_link_libraries(acados_mpc acados_agi) + target_compile_options(acados_mpc PRIVATE -Wno-error -Wno-register) + target_include_directories(acados_mpc PUBLIC + include/agilib/controller/mpc/acados/ + ) +endif () + + +if (NOT SOURCES) + set(LIBRARY_NAME) +else () + add_library(${PROJECT_NAME} ${SOURCES}) + target_link_libraries(${PROJECT_NAME} acados_agi acados_mpc) + target_link_libraries(${PROJECT_NAME} + $<$,$,9.0>>:stdc++fs>) + target_compile_options(${PROJECT_NAME} PRIVATE + -fno-finite-math-only + -Wall + -Wextra + -Wpedantic + -Werror + -Wunused + -Wno-unused-parameter + -Wundef + -Wcast-align + -Wmissing-declarations + -Wmissing-include-dirs + -Wnon-virtual-dtor + -Wredundant-decls + -Wodr + -Wunreachable-code + -Wno-unknown-pragmas + ) + # To keep the compiler calm about Eigen + if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + target_compile_options(${PROJECT_NAME} PRIVATE + -Wno-sign-conversion + -Wno-implicit-int-float-conversion + -Wno-c99-extensions + -Wno-implicit-int-conversion + ) + endif() + set(LIBRARY_NAME ${PROJECT_NAME}) +endif () + +# Build tests +if (BUILD_TESTS) + add_executable(tests ${TEST_SOURCES}) + target_compile_options(tests PRIVATE + -fno-finite-math-only + -Wall + -Wextra + -Wpedantic + -Werror + -Wunused + -Wno-unused-parameter + -Wundef + -Wcast-align + -Wmissing-declarations + -Wmissing-include-dirs + -Wnon-virtual-dtor + -Wredundant-decls + -Wodr + -Wunreachable-code + -Wno-unknown-pragmas + ) + target_link_libraries(tests + ${LIBRARY_NAME} + gtest + gtest_main + ) + add_test(tests tests) +endif () + +# Build benchmarks +if (BUILD_BENCH) + add_executable(benchmarks ${BENCH_SOURCES}) + target_compile_options(benchmarks PRIVATE + -fno-finite-math-only + -Wall + -Wextra + -Wpedantic + -Werror + -Wunused + -Wno-unused-parameter + -Wundef + -Wcast-align + -Wmissing-declarations + -Wmissing-include-dirs + -Wnon-virtual-dtor + -Wredundant-decls + -Wodr + -Wunreachable-code + -Wno-unknown-pragmas + ) + target_link_libraries(benchmarks + ${LIBRARY_NAME} + benchmark + benchmark_main + ) +endif () + +message(STATUS "=========== Done! Smells agilicious! ==============") diff --git a/src/agilicious/agilib/benchmarks/math/matrixmath_benchmark.cpp b/src/agilicious/agilib/benchmarks/math/matrixmath_benchmark.cpp new file mode 100644 index 0000000..e124e95 --- /dev/null +++ b/src/agilicious/agilib/benchmarks/math/matrixmath_benchmark.cpp @@ -0,0 +1,145 @@ +#include + +#include "benchmark/benchmark.h" + +using namespace Eigen; + + +void DynamicDenseDiagonalAssignmentEqual(benchmark::State& bench) { + const size_t size = bench.range(0); + + const MatrixXd A = VectorXd::Random(size).asDiagonal(); + MatrixXd B = MatrixXd::Zero(size, size); + + for (auto _ : bench) { + B = A; + benchmark::DoNotOptimize(B); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size * size); +} +BENCHMARK(DynamicDenseDiagonalAssignmentEqual) + ->RangeMultiplier(2) + ->Range(4, 256); + +void DynamicDenseDiagonalAssignmentStream(benchmark::State& bench) { + const size_t size = bench.range(0); + + const MatrixXd A = VectorXd::Random(size).asDiagonal(); + MatrixXd B = MatrixXd::Zero(size, size); + + for (auto _ : bench) { + B << A; + benchmark::DoNotOptimize(B); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size * size); +} +BENCHMARK(DynamicDenseDiagonalAssignmentStream) + ->RangeMultiplier(2) + ->Range(4, 256); + +void DynamicDenseDiagonalMultiply(benchmark::State& bench) { + const size_t size = bench.range(0); + + const MatrixXd A = VectorXd::Random(size).asDiagonal(); + const MatrixXd B = VectorXd::Random(size).asDiagonal(); + MatrixXd C = MatrixXd::Zero(size, size); + + for (auto _ : bench) { + C = A * B; + benchmark::DoNotOptimize(C); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size * size); +} +BENCHMARK(DynamicDenseDiagonalMultiply)->RangeMultiplier(2)->Range(4, 256); + +void DynamicDenseNoAliasDiagonalMultiply(benchmark::State& bench) { + const size_t size = bench.range(0); + + const MatrixXd A = VectorXd::Random(size).asDiagonal(); + const MatrixXd B = VectorXd::Random(size).asDiagonal(); + MatrixXd C = MatrixXd::Zero(size, size); + + for (auto _ : bench) { + C.noalias() = A * B; + benchmark::DoNotOptimize(C); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size * size); +} +BENCHMARK(DynamicDenseNoAliasDiagonalMultiply) + ->RangeMultiplier(2) + ->Range(4, 256); + +template +void StaticDenseDiagonalMultiply(benchmark::State& bench) { + using MatrixS = Matrix; + using VectorS = Matrix; + const MatrixS A = VectorS::Random().asDiagonal(); + const MatrixS B = VectorS::Random().asDiagonal(); + MatrixS C = MatrixS::Zero(size, size); + + for (auto _ : bench) { + C = A * B; + benchmark::DoNotOptimize(C); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size * size); +} +BENCHMARK_TEMPLATE(StaticDenseDiagonalMultiply, 4); +BENCHMARK_TEMPLATE(StaticDenseDiagonalMultiply, 8); +BENCHMARK_TEMPLATE(StaticDenseDiagonalMultiply, 16); +BENCHMARK_TEMPLATE(StaticDenseDiagonalMultiply, 32); +BENCHMARK_TEMPLATE(StaticDenseDiagonalMultiply, 64); +BENCHMARK_TEMPLATE(StaticDenseDiagonalMultiply, 128); +BENCHMARK_TEMPLATE(StaticDenseDiagonalMultiply, 256); + +template +void StaticDenseNoAliasDiagonalMultiply(benchmark::State& bench) { + using MatrixS = Matrix; + using VectorS = Matrix; + const MatrixS A = VectorS::Random().asDiagonal(); + const MatrixS B = VectorS::Random().asDiagonal(); + MatrixS C = MatrixS::Zero(size, size); + + for (auto _ : bench) { + C.noalias() = A * B; + benchmark::DoNotOptimize(C); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size * size); +} +BENCHMARK_TEMPLATE(StaticDenseNoAliasDiagonalMultiply, 4); +BENCHMARK_TEMPLATE(StaticDenseNoAliasDiagonalMultiply, 8); +BENCHMARK_TEMPLATE(StaticDenseNoAliasDiagonalMultiply, 16); +BENCHMARK_TEMPLATE(StaticDenseNoAliasDiagonalMultiply, 32); +BENCHMARK_TEMPLATE(StaticDenseNoAliasDiagonalMultiply, 64); +BENCHMARK_TEMPLATE(StaticDenseNoAliasDiagonalMultiply, 128); +BENCHMARK_TEMPLATE(StaticDenseNoAliasDiagonalMultiply, 256); + +void SparseMatrixMultiply(benchmark::State& bench) { + const size_t size = bench.range(0); + + VectorXd diag_a = VectorXd::Random(size); + VectorXd diag_b = VectorXd::Random(size); + + SparseMatrix A(size, size); + SparseMatrix B(size, size); + for (size_t i = 0; i < size; ++i) { + A.insert(i, i) = diag_a(i); + B.insert(i, i) = diag_b(i); + } + A.makeCompressed(); + B.makeCompressed(); + SparseMatrix C(size, size); + + for (auto _ : bench) { + C = A * B; + benchmark::DoNotOptimize(C); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size); +} +BENCHMARK(SparseMatrixMultiply)->RangeMultiplier(2)->Range(4, 256); \ No newline at end of file diff --git a/src/agilicious/agilib/benchmarks/math/quaternion_math_benchmark.cpp b/src/agilicious/agilib/benchmarks/math/quaternion_math_benchmark.cpp new file mode 100644 index 0000000..201bfad --- /dev/null +++ b/src/agilicious/agilib/benchmarks/math/quaternion_math_benchmark.cpp @@ -0,0 +1,121 @@ +#include + +#include "benchmark/benchmark.h" + + +template +Eigen::Matrix Q_left(const Eigen::Quaternion& q) { + return (Eigen::Matrix() << q.w(), -q.x(), -q.y(), -q.z(), q.x(), + q.w(), -q.z(), q.y(), q.y(), q.z(), q.w(), -q.x(), q.z(), -q.y(), + q.x(), q.w()) + .finished(); +} + +template +Eigen::Matrix skew(const Vector& v) { + using T = typename Vector::Scalar; + return (Eigen::Matrix() << 0, -v.z(), v.y(), v.z(), 0, -v.x(), + -v.y(), v.x(), 0) + .finished(); +} + +template +Eigen::Matrix Q_left_seq(const Eigen::Quaternion& q) { + return q.w() * Eigen::Matrix::Identity() + + (Eigen::Matrix() << 0, -q.vec().transpose(), q.vec(), + skew(q.vec())) + .finished(); +} + + +template +struct types { + using Scalar = typename MatrixType::Scalar; + + template + using Vector = std::conditional_t::value, + const Eigen::Matrix, + Eigen::Matrix>; + + template + using Matrix = std::conditional_t::value, + const Eigen::Matrix, + Eigen::Matrix>; + + using Quaternion = std::conditional_t::value, + const Eigen::Quaternion, + Eigen::Quaternion>; +}; + +template +void directQleftStatic(benchmark::State& bench) { + using Vector4 = typename types::template Vector<4>; + using Matrix4 = typename types::template Matrix<4, 4>; + using Quaternion = typename types::Quaternion; + + Vector4 qvec = Vector4::Random(); + Quaternion q = + Quaternion(qvec.w(), qvec.x(), qvec.y(), qvec.z()).normalized(); + + for (auto _ : bench) { + Matrix4 Q = Q_left(q); + benchmark::DoNotOptimize(Q); + } +} +BENCHMARK_TEMPLATE1(directQleftStatic, Eigen::Matrix4d); +BENCHMARK_TEMPLATE1(directQleftStatic, const Eigen::Matrix4d); + +template +void directQleftDynamic(benchmark::State& bench) { + using Vector = typename types::template Vector<>; + using Matrix = typename types::template Matrix<>; + using Quaternion = typename types::Quaternion; + + Vector qvec = Vector::Random(4); + Quaternion q = + Quaternion(qvec.w(), qvec.x(), qvec.y(), qvec.z()).normalized(); + + for (auto _ : bench) { + Matrix Q = Q_left(q); + benchmark::DoNotOptimize(Q); + } +} +BENCHMARK_TEMPLATE1(directQleftDynamic, Eigen::Matrix4d); +BENCHMARK_TEMPLATE1(directQleftDynamic, const Eigen::Matrix4d); + + +template +void seqQleftStatic(benchmark::State& bench) { + using Vector4 = typename types::template Vector<4>; + using Matrix4 = typename types::template Matrix<4, 4>; + using Quaternion = typename types::Quaternion; + + Vector4 qvec = Vector4::Random(); + Quaternion q = + Quaternion(qvec.w(), qvec.x(), qvec.y(), qvec.z()).normalized(); + + for (auto _ : bench) { + Matrix4 Q = Q_left_seq(q); + benchmark::DoNotOptimize(Q); + } +} +BENCHMARK_TEMPLATE1(seqQleftStatic, Eigen::Matrix4d); +BENCHMARK_TEMPLATE1(seqQleftStatic, const Eigen::Matrix4d); + +template +void seqQleftDynamic(benchmark::State& bench) { + using Vector = typename types::template Vector<>; + using Matrix = typename types::template Matrix<>; + using Quaternion = typename types::Quaternion; + + Vector qvec = Vector::Random(4); + Quaternion q = + Quaternion(qvec.w(), qvec.x(), qvec.y(), qvec.z()).normalized(); + + for (auto _ : bench) { + Matrix Q = Q_left_seq(q); + benchmark::DoNotOptimize(Q); + } +} +BENCHMARK_TEMPLATE1(seqQleftDynamic, Eigen::Matrix4d); +BENCHMARK_TEMPLATE1(seqQleftDynamic, const Eigen::Matrix4d); \ No newline at end of file diff --git a/src/agilicious/agilib/benchmarks/math/vectormath_benchmark.cpp b/src/agilicious/agilib/benchmarks/math/vectormath_benchmark.cpp new file mode 100644 index 0000000..61e58e6 --- /dev/null +++ b/src/agilicious/agilib/benchmarks/math/vectormath_benchmark.cpp @@ -0,0 +1,43 @@ +#include + +#include "benchmark/benchmark.h" + +using namespace Eigen; + + +void VectorDynamicMultiply(benchmark::State& bench) { + const size_t size = bench.range(0); + + const VectorXd x = VectorXd::Random(size); + const VectorXd y = VectorXd::Random(size); + + for (auto _ : bench) { + const double dp = x.transpose() * y; + benchmark::DoNotOptimize(dp); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size * 2); +} +BENCHMARK(VectorDynamicMultiply)->RangeMultiplier(2)->Range(4, 256); + +template +void VectorStaticMultiply(benchmark::State& bench) { + using VectorS = Matrix; + + const VectorS x = VectorS::Random(size); + const VectorS y = VectorS::Random(size); + + for (auto _ : bench) { + const double dp = x.transpose() * y; + benchmark::DoNotOptimize(dp); + } + + bench.SetBytesProcessed(bench.iterations() * sizeof(double) * size * 2); +} +BENCHMARK_TEMPLATE(VectorStaticMultiply, 4); +BENCHMARK_TEMPLATE(VectorStaticMultiply, 8); +BENCHMARK_TEMPLATE(VectorStaticMultiply, 16); +BENCHMARK_TEMPLATE(VectorStaticMultiply, 32); +BENCHMARK_TEMPLATE(VectorStaticMultiply, 64); +BENCHMARK_TEMPLATE(VectorStaticMultiply, 128); +BENCHMARK_TEMPLATE(VectorStaticMultiply, 256); diff --git a/src/agilicious/agilib/benchmarks/trajectories/polynomial_benchmark.cpp b/src/agilicious/agilib/benchmarks/trajectories/polynomial_benchmark.cpp new file mode 100644 index 0000000..bbed201 --- /dev/null +++ b/src/agilicious/agilib/benchmarks/trajectories/polynomial_benchmark.cpp @@ -0,0 +1,87 @@ +#include "agilib/reference/trajectory_reference/polynomial_trajectory.hpp" +#include "benchmark/benchmark.h" + +using namespace agi; + +void ClosedFormMinJerkTrajectoryGeneration(benchmark::State& bench) { + QuadState start_state; + start_state.setZero(); + start_state.t = 0.0; + + QuadState end_state; + end_state.setZero(); + end_state.p = Vector<3>(1.0, 1.0, 1.0); + end_state.t = 355.0 / 113.0; + + for (auto _ : bench) { + benchmark::DoNotOptimize( + ClosedFormMinJerkTrajectory(start_state, end_state)); + } +} +BENCHMARK(ClosedFormMinJerkTrajectoryGeneration); + +void MinJerkTrajectoryGeneration(benchmark::State& bench) { + QuadState start_state; + start_state.setZero(); + start_state.t = 0.0; + + QuadState end_state; + end_state.setZero(); + end_state.p = Vector<3>(1.0, 1.0, 1.0); + end_state.t = 355.0 / 113.0; + + for (auto _ : bench) { + benchmark::DoNotOptimize(MinJerkTrajectory(start_state, end_state)); + } +} +BENCHMARK(MinJerkTrajectoryGeneration); + +bool closedFormMinJerkAxisGeneration(const Vector<3>& start_pva, + const Vector<3>& end_pva, + const Scalar start_t, + const Scalar duration) { + ClosedFormMinJerkAxis traj_axis; + traj_axis.scale(start_t, duration); + traj_axis.addConstraint(start_t, start_pva); + traj_axis.addConstraint(start_t + duration, end_pva); + traj_axis.solve(); + return true; +} + +void ClosedFormMinJerkTrajectoryAxisGeneration(benchmark::State& bench) { + const Vector<3> start_pva(0.0, 0.0, 0.0); + const Scalar start_t = 0.0; + + const Vector<3> end_pva(1.0, 3.0, 2.0); + const Scalar duration = 355.0 / 113.0; + + for (auto _ : bench) { + benchmark::DoNotOptimize( + closedFormMinJerkAxisGeneration(start_pva, end_pva, start_t, duration)); + } +} +BENCHMARK(ClosedFormMinJerkTrajectoryAxisGeneration); + +bool minJerkAxisGeneration(const Vector<3>& start_pva, const Vector<3>& end_pva, + const Scalar start_t, const Scalar duration) { + Polynomial<> traj_axis(11, Vector<3>(0, 0, 1), -1); + traj_axis.scale(start_t, duration); + traj_axis.addConstraint(start_t, start_pva); + traj_axis.addConstraint(start_t + duration, end_pva); + traj_axis.solve(); + return true; +} + +void MinJerkTrajectoryAxisGeneration(benchmark::State& bench) { + const Vector<3> start_pva(0.0, 0.0, 0.0); + const Scalar start_t = 0.0; + + const Vector<3> end_pva(1.0, 3.0, 2.0); + const Scalar duration = 355.0 / 113.0; + + for (auto _ : bench) { + benchmark::DoNotOptimize( + minJerkAxisGeneration(start_pva, end_pva, start_t, duration)); + } +} +BENCHMARK(MinJerkTrajectoryAxisGeneration); diff --git a/src/agilicious/agilib/cmake/acados.cmake b/src/agilicious/agilib/cmake/acados.cmake new file mode 100644 index 0000000..f1327de --- /dev/null +++ b/src/agilicious/agilib/cmake/acados.cmake @@ -0,0 +1,53 @@ +# Download and unpack acados at configure time +message(STATUS "Getting Acados...") + +configure_file( + cmake/acados_download.cmake + ${PROJECT_SOURCE_DIR}/externals/acados-download/CMakeLists.txt) + +execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/acados-download + OUTPUT_QUIET + ERROR_QUIET) +if(result) + message(FATAL_ERROR "Download of Acados failed: ${result}") + message(STATUS "${PROJECT_SOURCE_DIR}/externals/acados-download") +endif() + + +execute_process(COMMAND ${CMAKE_COMMAND} --build . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/acados-download/) +if(result) + message(FATAL_ERROR "Build step for Acados failed: ${result}") +endif() + +message(STATUS "Acados downloaded and built!") + +add_library(hpipm_lib SHARED IMPORTED) +set_target_properties(hpipm_lib PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES ${PROJECT_SOURCE_DIR}/externals/acados-src/external/hpipm/include + IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/externals/acados-src/lib/libhpipm.so) + +add_library(blasfeo_lib SHARED IMPORTED) +set_target_properties(blasfeo_lib PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES ${PROJECT_SOURCE_DIR}/externals/acados-src/external/blasfeo/include + IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/externals/acados-src/lib/libblasfeo.so) + +add_library(acados_lib SHARED IMPORTED) +set_target_properties(acados_lib PROPERTIES + INTERFACE_INCLUDE_DIRECTORIES ${PROJECT_SOURCE_DIR}/externals/acados-src/include + IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/externals/acados-src/lib/libacados.so) + +set(acados_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/externals/acados-src/include" + "${PROJECT_SOURCE_DIR}/externals/acados-src/external/blasfeo/include" + "${PROJECT_SOURCE_DIR}/externals/acados-src/external/hpipm/include") + +set(acados_LIB_DIR "${PROJECT_SOURCE_DIR}/externals/acados-src/lib") + + +add_library(acados_agi INTERFACE IMPORTED GLOBAL) +target_link_libraries(acados_agi INTERFACE hpipm_lib blasfeo_lib acados_lib) + + diff --git a/src/agilicious/agilib/cmake/acados_download.cmake b/src/agilicious/agilib/cmake/acados_download.cmake new file mode 100644 index 0000000..2d9130f --- /dev/null +++ b/src/agilicious/agilib/cmake/acados_download.cmake @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0.0) + +project(acados-project) + +include(ExternalProject) +ExternalProject_Add(ACADOS_PROJECT + GIT_REPOSITORY https://github.com/uzh-rpg/acados.git + GIT_TAG master + SOURCE_DIR "${PROJECT_SOURCE_DIR}/externals/acados-src" + INSTALL_DIR "${PROJECT_SOURCE_DIR}/externals/acados-src" + CMAKE_ARGS "-DCMAKE_C_FLAGS=${CMAKE_C_FLAGS}" + "-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}" + "-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}" + "-DCMAKE_INSTALL_PREFIX=${PROJECT_SOURCE_DIR}/externals/acados-src" +) diff --git a/src/agilicious/agilib/cmake/benchmark.cmake b/src/agilicious/agilib/cmake/benchmark.cmake new file mode 100644 index 0000000..9dddfcb --- /dev/null +++ b/src/agilicious/agilib/cmake/benchmark.cmake @@ -0,0 +1,38 @@ +# Download and unpack benchmark at configure time +message(STATUS "Getting Google Benchmark...") + +configure_file(cmake/benchmark_download.cmake ${PROJECT_SOURCE_DIR}/externals/benchmark-download/CMakeLists.txt) +execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/benchmark-download + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "CMake step for benchmark failed: ${result}") +endif() +execute_process(COMMAND ${CMAKE_COMMAND} --build . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/benchmark-download + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Build step for benchmark failed: ${result}") +endif() + +message(STATUS "Google Benchmark downloaded!") + +# Prevent overriding the parent project's compiler/linker +# settings on Windows +set(benchmark_force_shared_crt ON CACHE INTERNAL "" FORCE) + +# Some flags +set(BENCHMARK_ENABLE_INSTALL OFF CACHE INTERNAL "" FORCE) +set(BENCHMARK_DOWNLOAD_DEPENDENCIES OFF CACHE INTERNAL "" FORCE) +set(BENCHMARK_ENABLE_GTEST_TESTS OFF CACHE INTERNAL "" FORCE) +set(BENCHMARK_ENABLE_TESTING OFF CACHE INTERNAL "" FORCE) +set(GOOGLETEST_PATH ${PROJECT_SOURCE_DIR}/externals/googletest-src) + +# Add benchmark directly to our build. +add_subdirectory(${PROJECT_SOURCE_DIR}/externals/benchmark-src + ${PROJECT_SOURCE_DIR}/externals/benchmark-build + EXCLUDE_FROM_ALL) + +include_directories("${benchmark_SOURCE_DIR}/include") diff --git a/src/agilicious/agilib/cmake/benchmark_download.cmake b/src/agilicious/agilib/cmake/benchmark_download.cmake new file mode 100644 index 0000000..98bbd56 --- /dev/null +++ b/src/agilicious/agilib/cmake/benchmark_download.cmake @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.0.0) + +project(benchmark-download NONE) + +include(ExternalProject) +ExternalProject_Add(benchmark + GIT_REPOSITORY https://github.com/google/benchmark.git + GIT_TAG master + SOURCE_DIR "${PROJECT_SOURCE_DIR}/externals/benchmark-src" + BINARY_DIR "${PROJECT_SOURCE_DIR}/externals/benchmark-build" + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + TEST_COMMAND "" + UPDATE_DISCONNECTED ON +) \ No newline at end of file diff --git a/src/agilicious/agilib/cmake/catkin.cmake b/src/agilicious/agilib/cmake/catkin.cmake new file mode 100644 index 0000000..18118a6 --- /dev/null +++ b/src/agilicious/agilib/cmake/catkin.cmake @@ -0,0 +1,69 @@ +# Setup catkin simple +find_package(catkin_simple REQUIRED) +catkin_simple() + +add_definitions(-std=c++17) + +# Library and Executables +if (ACADOS_SOURCES) + cs_add_library(acados_mpc ${ACADOS_SOURCES}) + target_compile_options(acados_mpc PRIVATE -Wno-error -Wno-register) + target_link_libraries(acados_mpc acados_agi) + target_include_directories(acados_mpc PUBLIC + include/agilib/controller/mpc/acados/ + ) +endif () + + +cs_add_library(${PROJECT_NAME} ${SOURCES}) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${BLAS_LIBRARIES} + ${LAPACK_LIBRARIES} + ${LAPACKE_LIBRARIES} + acados_mpc +) + +target_compile_options(${PROJECT_NAME} PRIVATE + -fno-finite-math-only + -Wall + -Werror + -Wpedantic + -Wunused + -Wno-unused-parameter + -Wundef + -Wcast-align + -Wmissing-include-dirs + # -Wnon-virtual-dtor + -Wredundant-decls + -Wodr + -Wunreachable-code + -Wno-unknown-pragmas +) + +if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + target_compile_options(${PROJECT_NAME} PRIVATE + -Wmissing-declarations + # To keep the compiler calm about Eigen + -Wno-sign-conversion + -Wno-implicit-int-float-conversion + -Wno-c99-extensions + -Wno-implicit-int-conversion + ) +endif() + +# Build tests +if(BUILD_TESTS) + catkin_add_gtest(agilib_tests ${TEST_SOURCES}) + target_link_libraries(agilib_tests ${PROJECT_NAME} gtest gtest_main) +endif() + +# Build benchmarks +if(BUILD_BENCH AND benchmark_catkin_FOUND) + cs_add_executable(agilib_benchmarks ${BENCH_SOURCES}) + target_link_libraries(agilib_benchmarks ${PROJECT_NAME}) +endif() + +# Finish catkin simple +cs_install() +cs_export() diff --git a/src/agilicious/agilib/cmake/eigen.cmake b/src/agilicious/agilib/cmake/eigen.cmake new file mode 100644 index 0000000..169454d --- /dev/null +++ b/src/agilicious/agilib/cmake/eigen.cmake @@ -0,0 +1,25 @@ +# Download and unpack eigen at configure time +message(STATUS "Getting Eigen...") + +configure_file( + cmake/eigen_download.cmake + ${PROJECT_SOURCE_DIR}/externals/eigen/CMakeLists.txt) + +execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/eigen + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Download of Eigen failed: ${result}") +endif() +execute_process(COMMAND ${CMAKE_COMMAND} --build . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/eigen + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Build step for eigen failed: ${result}") +endif() + +message(STATUS "Eigen downloaded!") + +set(EIGEN3_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/externals/eigen/eigen3) diff --git a/src/agilicious/agilib/cmake/eigen_download.cmake b/src/agilicious/agilib/cmake/eigen_download.cmake new file mode 100644 index 0000000..89e0d6e --- /dev/null +++ b/src/agilicious/agilib/cmake/eigen_download.cmake @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0.0) + +project(eigen-external) + +include(ExternalProject) +ExternalProject_Add(eigen + GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git + GIT_TAG 3.3.4 + SOURCE_DIR "${PROJECT_SOURCE_DIR}/externals/eigen/eigen3" + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + TEST_COMMAND "" + UPDATE_DISCONNECTED ON +) diff --git a/src/agilicious/agilib/cmake/gtest.cmake b/src/agilicious/agilib/cmake/gtest.cmake new file mode 100644 index 0000000..98ee7bc --- /dev/null +++ b/src/agilicious/agilib/cmake/gtest.cmake @@ -0,0 +1,37 @@ +# Download and unpack googletest at configure time +message(STATUS "Getting gtests...") + +configure_file(cmake/gtest_download.cmake ${PROJECT_SOURCE_DIR}/externals/googletest-download/CMakeLists.txt) +execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/googletest-download + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "CMake step for googletest failed: ${result}") +endif() +execute_process(COMMAND ${CMAKE_COMMAND} --build . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/googletest-download + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Build step for googletest failed: ${result}") +endif() + +message(STATUS "gtests downloaded!") + +# Prevent overriding the parent project's compiler/linker +# settings on Windows +set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) + +# Add googletest directly to our build. This defines +# the gtest and gtest_main targets. +add_subdirectory(${PROJECT_SOURCE_DIR}/externals/googletest-src + ${PROJECT_SOURCE_DIR}/externals/googletest-build + EXCLUDE_FROM_ALL) + +# The gtest/gtest_main targets carry header search path +# dependencies automatically when using CMake 2.8.11 or +# later. Otherwise we have to add them here ourselves. +if (CMAKE_VERSION VERSION_LESS 2.8.11) + include_directories("${gtest_SOURCE_DIR}/include") +endif() \ No newline at end of file diff --git a/src/agilicious/agilib/cmake/gtest_download.cmake b/src/agilicious/agilib/cmake/gtest_download.cmake new file mode 100644 index 0000000..fdeded5 --- /dev/null +++ b/src/agilicious/agilib/cmake/gtest_download.cmake @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.0.0) + +project(googletest-download NONE) + +include(ExternalProject) +ExternalProject_Add(googletest + GIT_REPOSITORY https://github.com/google/googletest.git + GIT_TAG main + SOURCE_DIR "${PROJECT_SOURCE_DIR}/externals/googletest-src" + BINARY_DIR "${PROJECT_SOURCE_DIR}/externals/googletest-build" + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + TEST_COMMAND "" + UPDATE_DISCONNECTED ON +) diff --git a/src/agilicious/agilib/include/agilib/base/module.hpp b/src/agilicious/agilib/include/agilib/base/module.hpp new file mode 100644 index 0000000..02ffe6c --- /dev/null +++ b/src/agilicious/agilib/include/agilib/base/module.hpp @@ -0,0 +1,22 @@ +#pragma once + +#include + +#include "agilib/utils/logger.hpp" + +namespace agi { + +template +class Module { + public: + Module(const std::string& name) : logger_(name) {} + virtual ~Module() {} + + inline const std::string& name() const { return logger_.name(); } + virtual void logTiming() const {}; + + protected: + Logger logger_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/base/parameter_base.hpp b/src/agilicious/agilib/include/agilib/base/parameter_base.hpp new file mode 100644 index 0000000..efa13d1 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/base/parameter_base.hpp @@ -0,0 +1,31 @@ +#pragma once + +#include +#include +#include + +#include "agilib/math/types.hpp" +#include "agilib/utils/filesystem.hpp" +#include "agilib/utils/yaml.hpp" + +namespace agi { + + +struct ParameterException : public std::exception { + ParameterException() = default; + ParameterException(const std::string& msg) + : msg(std::string("Agilib Parameter Exception: ") + msg) {} + const char* what() const throw() { return msg.c_str(); } + + const std::string msg{"Agilib Parameter Exception"}; +}; + +struct ParameterBase { + virtual ~ParameterBase() = default; + virtual bool load(const fs::path& filename); + virtual bool load(const Yaml& yaml); + + virtual bool valid() const; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/base/pipeline.hpp b/src/agilicious/agilib/include/agilib/base/pipeline.hpp new file mode 100644 index 0000000..367c9eb --- /dev/null +++ b/src/agilicious/agilib/include/agilib/base/pipeline.hpp @@ -0,0 +1,94 @@ +#pragma once + +#include + +#include "agilib/base/module.hpp" +#include "agilib/bridge/bridge_base.hpp" +#include "agilib/controller/controller_base.hpp" +#include "agilib/estimator/estimator_base.hpp" +#include "agilib/reference/reference_base.hpp" +#include "agilib/sampler/sampler_base.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/setpoint.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +class Pipeline { + public: + Pipeline(const std::string& name = "Pipeline", + const Scalar feedthrough_timeout = 0.05); + + using PipelineCallbackFunction = std::function; + + ReferenceVector references_; + std::shared_ptr estimator_; + std::shared_ptr sampler_; + std::shared_ptr outer_controller_; + std::shared_ptr inner_controller_; + std::shared_ptr bridge_; + + Pipeline& operator=(const Pipeline& other); + + bool isReferenceSet() const; + bool isEstimatorSet() const; + bool isSamplerSet() const; + bool isOuterControllerSet() const; + bool isInnerControllerSet() const; + bool isBridgeSet() const; + + bool isSet() const; + + bool appendReference(std::shared_ptr&& reference); + bool insertReference(std::shared_ptr&& reference); + bool run(const Scalar t); + Command getCommand() const; + + bool setFeedthroughCommand(const Command& command); + void clearFeedthoughCommand(); + inline bool feedthroughActive() const { return feedthrough_active_; } + + inline const QuadState& getState() const { return state_; } + inline const SetpointVector getSetpoints() const { return setpoints_; } + inline const SetpointVector& getOuterSetpoints() const { + return setpoints_outer_; + } + inline const SetpointVector& getInnerSetpoints() const { + return setpoints_inner_; + } + + void printReferenceInfo(const bool detailed = false) const; + void registerCallback(const PipelineCallbackFunction& function); + void setOuterloopDivisor(const int divisor); + void setStopAfterFeedthrough(const bool stop_after_feedthrough); + void setFeedthroughTimeout(const Scalar& feedthrough_timeout); + + [[nodiscard]] Scalar dt() const { return dt_; } + + private: + QuadState state_; + Feedback feedback_; + SetpointVector setpoints_; + SetpointVector setpoints_outer_; + SetpointVector setpoints_inner_; + Command command_; + Command apply_command_; + Command feedthrough_command_; + Logger logger_; + + bool initialized_{false}; + bool feedthrough_active_{false}; + Scalar dt_{0.01}; + int outerloop_divisor_{1}; + int outerloop_counter_{-1}; + bool stop_after_feedthrough_; + Scalar feedthrough_timeout_{0.05}; + + std::vector callbacks_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/bridge_base.hpp b/src/agilicious/agilib/include/agilib/bridge/bridge_base.hpp new file mode 100644 index 0000000..e5d5dd2 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/bridge_base.hpp @@ -0,0 +1,69 @@ +#pragma once + +#include +#include +#include + +#include "agilib/base/module.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/feedback.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/setpoint.hpp" +#include "agilib/utils/agi_watchdog.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/median_filter.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + +using FeedbackCallbackFunction = std::function; + +class BridgeBase : public Module { + public: + BridgeBase(const std::string& name, const TimeFunction time_function, + const Scalar timeout = 0.10, const int n_max_timeouts = 10); + virtual ~BridgeBase(); + + virtual bool send(const Command& command) final; + virtual bool sendAB(const Setpoint& setpoint) final; + virtual bool activate() final; + virtual bool deactivate() final; + virtual void reset(); + + virtual bool active() const final; + virtual bool locked() const final; + virtual void setVoltage(const Scalar voltage) final; + virtual Scalar getVoltage() const final; + + virtual bool getFeedback(Feedback* const feedback = nullptr); + virtual void registerFeedbackCallback(FeedbackCallbackFunction function); + + protected: + virtual bool sendCommand(const Command& command, const bool active) = 0; + virtual bool sendReferenceCommand(const Setpoint& setpoint, const bool active) { + return true; + } + virtual void guardTimeout(); + void voltageTimeout() { + logger_.warn("voltage value not updated for a long time"); + }; + + const Scalar timeout_; + const int n_max_timeouts_; + const TimeFunction time_function_; + + bool shutdown_{false}; + std::thread timeout_guard_thread_; + std::mutex timeout_wait_mutex_; + std::condition_variable timeout_reset_cv_; + int n_timeouts_{0}; + bool active_ = false; + bool got_command_ = false; + + Median voltage_{15.5}; + Scalar latest_raw_voltage{15.5}; + std::vector feedback_callbacks_; + AgiWatchdog voltage_watchdog_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_bridge.hpp b/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_bridge.hpp new file mode 100644 index 0000000..869690f --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_bridge.hpp @@ -0,0 +1,27 @@ +#pragma once + +#include "agilib/bridge/ctrl/ctrl_bridge_params.hpp" +#include "agilib/bridge/ctrl/ctrl_encoding.hpp" +#include "agilib/bridge/serial_bridge.hpp" +#include "agilib/types/feedback.hpp" + +namespace agi { + +class CtrlBridge : public SerialBridge { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + CtrlBridge(const Quadrotor& quad, const CtrlParams& params, + const TimeFunction time_function); + + virtual bool getFeedback(Feedback* const feedback = nullptr) override; + + protected: + using SerialBridge::sendCommand; + virtual bool sendCommand(const Command& command, const bool active) override; + void receiveCallback(const char* const buffer, const int length); + void decodeBuffer(); + + CtrlEncoding encoding_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_bridge_params.hpp b/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_bridge_params.hpp new file mode 100644 index 0000000..b25cffa --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_bridge_params.hpp @@ -0,0 +1,30 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/bridge/ctrl/ctrl_msgs_defs.hpp" +#include "agilib/bridge/thrust_map.hpp" +#include "agilib/serial/serial_settings.hpp" + +namespace agi { + +struct CtrlParams : public ParameterBase { + bool load(const fs::path& filename) override; + bool load(const Yaml& node) override; + + friend std::ostream& operator<<(std::ostream& os, const CtrlParams& settings); + + static constexpr char DELIMITER = ctrl::SERIAL_CONTAINER_DELIMITER; + + SerialSettings serial_settings{"/dev/ttyTHS2", 500000, DELIMITER, DELIMITER}; + + Scalar timeout{0.05}; + int n_timeouts_for_lock{4}; + + ctrl::CTRLMODE ctrl_mode_{ctrl::CTRLMODE::ROTOR_THROTTLE}; + bool command_throttle_direct{false}; + + ThrustMap thrust_map_; + Scalar thrust_coeff_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_encoding.hpp b/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_encoding.hpp new file mode 100644 index 0000000..3eb575d --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_encoding.hpp @@ -0,0 +1,69 @@ +#pragma once + +#include + +#include "agilib/bridge/ctrl/ctrl_msgs_defs.hpp" +#include "agilib/bridge/msg_encoding.hpp" +#include "agilib/serial/crc.hpp" +#include "agilib/types/feedback.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +class CtrlEncoding : public MsgEncoding { + public: + CtrlEncoding(const Quadrotor& quad, const ThrustMap& thrust_map, + const ctrl::CTRLMODE mode = ctrl::CTRLMODE::ROTOR_THROTTLE, + bool command_throttle_direct = false, + const Scalar thrust_coeff = 1.56e-6); + + virtual bool encode(const Command& command, const bool armed, + char* const buffer, int* const length) const override; + + bool decodeFeedback(const char* const buffer, const int length, + Feedback* const feedback = nullptr); + + bool encodeMessage(const ctrl::serial_message_t& message, char* const buffer, + int* const length) const; + bool decodeMessage(const char* const buffer, const int length, + ctrl::serial_message_t* const message) const; + + bool encodeContainer(const ctrl::serial_container_t& container, + char* const buffer, int* const length) const; + bool decodeContainer(const char* const buffer, const int length, + ctrl::serial_container_t* const container) const; + + const Feedback& feedback() const { return feedback_; } + bool getFeedback(Feedback* const feedback = nullptr) { + std::lock_guard lock(feedback_mtx_); + *feedback = feedback_; + return feedback->valid(); + }; + + Scalar getVoltage() { return voltage_; } + + private: + // Helper functions + static int getPayloadLength(const ctrl::CTRLMODE mode); + static int getPayloadLength(const uint8_t mode); + static int getMsgLength(const ctrl::CTRLMODE mode); + static int getMsgLength(const uint8_t mode); + + Logger logger_{"CtrlEncoding"}; + using CRC = CRC16; + static constexpr CRC crc_{}; + + static constexpr char DELIMITER = ctrl::SERIAL_CONTAINER_DELIMITER; + + const Quadrotor quad_; + const ThrustMap thrust_map_; + const ctrl::CTRLMODE mode_; + const bool command_throttle_direct_; + const Scalar thrust_coeff_; + mutable uint64_t time_ns_init_{0}; + Feedback feedback_; + std::mutex feedback_mtx_; + const Scalar voltage_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_msgs_defs.hpp b/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_msgs_defs.hpp new file mode 100644 index 0000000..73d5c24 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/ctrl/ctrl_msgs_defs.hpp @@ -0,0 +1,137 @@ +#pragma once + +#include + +namespace agi { +namespace ctrl { + +static constexpr uint8_t SERIAL_MESSAGE_HEADER_LENGTH = 10; +static constexpr uint8_t SERIAL_MESSAGE_MAX_PAYLOAD_LENGTH = 66; +static constexpr uint8_t SERIAL_MESSAGE_MIN_LENGTH = + SERIAL_MESSAGE_HEADER_LENGTH + 1; +static constexpr uint8_t SERIAL_MESSAGE_MAX_LENGTH = + SERIAL_MESSAGE_MIN_LENGTH + SERIAL_MESSAGE_MAX_PAYLOAD_LENGTH; +static constexpr uint8_t SERIAL_MESSAGE_MAX_COUNT = 3; +static constexpr uint8_t SERIAL_CONTAINER_MAX_LENGTH = + SERIAL_MESSAGE_MAX_COUNT * SERIAL_MESSAGE_MAX_LENGTH + 7; // Less than 256 +static constexpr uint8_t SERIAL_CONTAINER_DELIMITER = 0x7c; + +static constexpr int RAW_RANGE = 1; // no conversion! +static constexpr double UNITLESS_RANGE = 32.767; // [1] +static constexpr double TIME_RANGE = 32.767; // [s] +static constexpr double FREQUENCY_RANGE = 32767; // [Hz] +static constexpr double ANGLE_RANGE = 32.767; // [rad] +static constexpr double ANGULAR_VELOCITY_RANGE = 32.767; // [rad/s] +static constexpr double ROTOR_SPEED_RANGE = 3276.7; // [rad/s] +static constexpr double DISTANCE_RANGE = 32.767; // [m] +static constexpr double VELOCITY_RANGE = 32.767; // [m/s] +static constexpr double ACCELERATION_RANGE = 327.67; // [m/s^2] +static constexpr double FORCE_RANGE = 327.67; // [N] +static constexpr double VOLTAGE_RANGE = 327.67; // [V] +static constexpr double CURRENT_RANGE = 327.67; // [A] + +enum CTRLMODE : uint8_t { + INVALID = 0, + OFF = 1, /* disarmed */ + SET_PARAM = 2, /* change a single specified parameter */ + ARM = 3, /* armed and rotors spin at min speed */ + ROTOR_THROTTLE = 4, /* set rotor throttle for every rotor [0-2000] */ + ROTOR_SPEED = 5, /* set rotor speed for every rotor [rad/s] */ + ROTOR_THRUST = 6, /* set rotor thrust for every rotor [N] */ + BODY_RATE = 7, /* set body rate [vector rad/s] and total thrust [N] */ + ATTITUDE = 8, /* set attitude as [unit vector], yaw body rate [rad/s] and + total thrust [N] */ + VELOCITY = 9, /* set velocity [vector m/s] and yaw body rate [rad/s] */ + EMERGENCY = 10, /* hold position and land */ + FEEDBACK = 255 /* upstream flight data */ +}; + +enum COMMANDFLAGS : uint8_t { + SET_BIAS = 0x01, /* use current low pass filtered IMU data as bias */ + SAVE_TO_FLASH = 0x02 /* save all parameters to flash (includes bias) */ +}; + +enum FEEDBACKTYPE : uint8_t { + NOTHING = 0, + THROTTLE = 1, + SPEED = 2, + THRUST = 3 +}; + +struct __attribute__((__packed__)) serial_message_t { + uint8_t mode{1}; /* use control_mode_t */ + uint8_t flags{0}; /* use command_flag_t */ + uint64_t time{0}; /* time since startup [ns] */ + char payload[SERIAL_MESSAGE_MAX_PAYLOAD_LENGTH]; +}; + +struct __attribute__((__packed__)) serial_container_t { + uint8_t num_messages{1}; + serial_message_t messages[SERIAL_MESSAGE_MAX_COUNT]; +}; + +struct __attribute__((__packed__)) parameter_payload_t { + uint16_t parameter{0}; /* use parameter_t */ + float value{0}; /* range dependent on parameter */ +}; + +struct __attribute__((__packed__)) rotor_throttle_payload_t { + int16_t throttle[4] = {0}; /* RAW_RANGE */ +}; + +struct __attribute__((__packed__)) rotor_speed_payload_t { + int16_t speed[4] = {0}; /* ANGULAR_VELOCITY_RANGE */ +}; + +struct __attribute__((__packed__)) rotor_thrust_payload_t { + int16_t thrust[4] = {0}; /* FORCE_RANGE */ +}; + +struct __attribute__((__packed__)) body_rate_payload_t { + int16_t body_rate[3] = {0}; /* ANGULAR_VELOCITY_RANGE */ + int16_t thrust{0}; /* FORCE_RANGE */ +}; + +struct __attribute__((__packed__)) attitude_payload_t { + int16_t attitude[3] = {0}; /* UNITLESS_RANGE */ + int16_t yaw_body_rate{0}; /* ANGULAR_VELOCITY_RANGE */ + int16_t thrust{0}; /* FORCE_RANGE */ +}; + +struct __attribute__((__packed__)) velocity_payload_t { + int16_t velocity[3] = {0}; /* VELOCITY_RANGE */ + int16_t yaw_body_rate{0}; /* ANGULAR_VELOCITY_RANGE */ +}; + +struct __attribute__((__packed__)) upstream_payload_t { + /* IMU upstream */ + float angular_vel_x; + float angular_vel_y; + float angular_vel_z; + float linear_accel_x; + float linear_accel_y; + float linear_accel_z; + + /* rotor feedback */ + float feedback_0; + float feedback_1; + float feedback_2; + float feedback_3; + uint8_t feedback_type; /* use feedback_type_t */ + + /* estimated attitude feedback */ + float quaternion_w; + float quaternion_x; + float quaternion_y; + float quaternion_z; + + /* battery feedback */ + float battery_voltage; + float battery_current; + + uint8_t control_mode; /* use control_mode_t */ +}; + +} // namespace ctrl + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/debug_bridge.hpp b/src/agilicious/agilib/include/agilib/bridge/debug_bridge.hpp new file mode 100644 index 0000000..96c3b89 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/debug_bridge.hpp @@ -0,0 +1,20 @@ +#pragma once + +#include "agilib/bridge/bridge_base.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + +class DebugBridge : public BridgeBase { + public: + DebugBridge(const std::string& name, const TimeFunction time_function); + void reset() override; + + protected: + void guardTimeout() override {} + virtual bool sendCommand(const Command& command, const bool active) override; + + Timer timer_{"Sending dt"}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/laird/laird_bridge.hpp b/src/agilicious/agilib/include/agilib/bridge/laird/laird_bridge.hpp new file mode 100644 index 0000000..42966b9 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/laird/laird_bridge.hpp @@ -0,0 +1,42 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "agilib/bridge/laird/laird_bridge_params.hpp" +#include "agilib/bridge/laird/laird_encoding.hpp" +#include "agilib/bridge/serial_bridge.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/quadrotor.hpp" + +namespace agi { +class LairdBridge : public SerialBridge { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + LairdBridge(const LairdParams& params, const TimeFunction time_function); + + bool receiveCommand(Command* const command, bool* const armed); + bool waitForData(); + + protected: + using SerialBridge::sendCommand; + virtual bool sendCommand(const Command& command, const bool active) override; + void receiveCallback(const char* const buffer, const int length); + + LairdEncoding encoding_; + + std::mutex wait_for_data_mtx_; + std::condition_variable wait_for_data_cv_; + + static constexpr int BUFFER_SIZE = SerialBridge::BUFFER_SIZE; + static constexpr int MSG_SIZE = LairdEncoding::BUFFER_SIZE; + + std::mutex buffer_mtx_; + char buffer_[BUFFER_SIZE]; + int buffer_length_{0}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/laird/laird_bridge_params.hpp b/src/agilicious/agilib/include/agilib/bridge/laird/laird_bridge_params.hpp new file mode 100644 index 0000000..34549b2 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/laird/laird_bridge_params.hpp @@ -0,0 +1,27 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/serial/serial_settings.hpp" + +namespace agi { + +struct LairdParams : public ParameterBase { + LairdParams() = default; + LairdParams(const std::string& port, const int baudrate, + const SerialMode serial_mode); + + bool load(const fs::path& filename) override; + bool load(const Yaml& node) override; + + friend std::ostream& operator<<(std::ostream& os, + const LairdParams& settings); + + SerialSettings serial_settings{"/dev/ttyUSB0", 115200}; + + bool single_rotor_thrust{false}; + // Ca use guard to send arm/disarm with zero command, but never lock. + Scalar timeout{0.0}; + const int n_timeouts_for_lock{0}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/laird/laird_encoding.hpp b/src/agilicious/agilib/include/agilib/bridge/laird/laird_encoding.hpp new file mode 100644 index 0000000..84bd275 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/laird/laird_encoding.hpp @@ -0,0 +1,43 @@ +#pragma once + +#include + +#include "agilib/bridge/msg_encoding.hpp" +#include "agilib/serial/crc.hpp" + +namespace agi { + +class LairdEncoding : public MsgEncoding { + public: + LairdEncoding(const bool single_rotor_thrust = false); + virtual bool encode(const Command& command, const bool armed, + char* const buffer, int* const length) const override; + + virtual bool decode(const char* const buffer, const int length, + Command* const command, bool* const armed) const override; + + /* Length of the message: + * 1 double for time [8 byte] + * 4 double for command values [4 * 8 = 32 byte] + * 1 byte for flags [1 byte] + * 2 bytes CRC16 + * = (1 + 4) * 8 + 1 + 2 = 43 byte + **/ + static constexpr int SCALAR_SIZE = sizeof(Scalar); + static constexpr int FLAGS_SIZE = 1; + static constexpr int NVALUES = 4; + static constexpr int MSG_SIZE = (1 + NVALUES) * SCALAR_SIZE + FLAGS_SIZE; + static constexpr int BUFFER_SIZE = MSG_SIZE + CRC16::SIZE; + + static constexpr char ARMBIT = 1 << 0; + static constexpr char MODEBIT = 1 << 1; + + protected: + using CRC = CRC16; + static constexpr CRC crc{}; + + private: + const bool single_rotor_thrust_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/msg_encoding.hpp b/src/agilicious/agilib/include/agilib/bridge/msg_encoding.hpp new file mode 100644 index 0000000..592ee69 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/msg_encoding.hpp @@ -0,0 +1,22 @@ +#pragma once + +#include + +#include "agilib/bridge/thrust_map.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/quadrotor.hpp" + +namespace agi { +class MsgEncoding { + public: + virtual ~MsgEncoding() = default; + virtual bool encode(const Command& command, const bool armed, + char* const buffer, int* const length) const = 0; + + virtual bool decode(const char* const buffer, const int length, + Command* const command, bool* const armed) const { + return false; + } +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/msp/msp_bridge.hpp b/src/agilicious/agilib/include/agilib/bridge/msp/msp_bridge.hpp new file mode 100644 index 0000000..5fe56b6 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/msp/msp_bridge.hpp @@ -0,0 +1,26 @@ +#pragma once + +#include "agilib/bridge/msp/msp_bridge_params.hpp" +#include "agilib/bridge/msp/msp_encoding.hpp" +#include "agilib/bridge/serial_bridge.hpp" +#include "agilib/types/feedback.hpp" + +namespace agi { + +class MspBridge : public SerialBridge { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + MspBridge(const Quadrotor& quad, const MspParams& params, + const TimeFunction time_function); + + virtual bool getFeedback(Feedback* const feedback = nullptr) override; + + protected: + using SerialBridge::sendCommand; + virtual bool sendCommand(const Command& command, const bool active) override; + void receiveCallback(const char* const buffer, const int length); + + MspEncoding encoding_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/msp/msp_bridge_params.hpp b/src/agilicious/agilib/include/agilib/bridge/msp/msp_bridge_params.hpp new file mode 100644 index 0000000..1ce9c18 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/msp/msp_bridge_params.hpp @@ -0,0 +1,23 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/bridge/thrust_map.hpp" +#include "agilib/serial/serial_settings.hpp" + +namespace agi { + +struct MspParams : public ParameterBase { + bool load(const fs::path& filename) override; + bool load(const Yaml& node) override; + + friend std::ostream& operator<<(std::ostream& os, const MspParams& settings); + + SerialSettings serial_settings{"/dev/ttyTHS2", 115200, SerialMode::ReadWrite}; + + Scalar timeout{0.05}; + int n_timeouts_for_lock{4}; + + ThrustMap thrust_map_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/msp/msp_encoding.hpp b/src/agilicious/agilib/include/agilib/bridge/msp/msp_encoding.hpp new file mode 100644 index 0000000..7a20cd2 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/msp/msp_encoding.hpp @@ -0,0 +1,40 @@ +#pragma once + +#include +#include +#include + +#include "agilib/bridge/msg_encoding.hpp" +#include "agilib/bridge/msp/msp_packet.hpp" +#include "agilib/serial/serial.hpp" +#include "agilib/types/feedback.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +class MspEncoding : public MsgEncoding { + public: + MspEncoding(const ThrustMap& thrust_map); + + virtual bool encode(const Command& command, const bool armed, + char* const buffer, int* const length) const override; + + virtual bool decode(const char* const buffer, const int length, + Command* const command, bool* const armed) const override; + + virtual bool decode(const char* const buffer, const int length) const; + + const Feedback& feedback() const { return feedback_; } + + private: + Logger logger_{"MspEncoding"}; + + const ThrustMap thrust_map_; + mutable MspPacket motor_packet_; + + static constexpr int motor_order[4] = {1, 2, 0, 3}; + + Feedback feedback_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/msp/msp_msgs_defs.hpp b/src/agilicious/agilib/include/agilib/bridge/msp/msp_msgs_defs.hpp new file mode 100644 index 0000000..27ec47c --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/msp/msp_msgs_defs.hpp @@ -0,0 +1,210 @@ +#pragma once + +#include + +namespace agi { +namespace msp { + +static constexpr int MIN_LENGTH = 6; +static constexpr int MAX_PAYLOAD = 16; + +// direction of the message +enum DIRECTION : uint16_t { SEND = '<', RECV = '>' }; + +// uncommented if implemented and tested +enum CODE : uint16_t { + // API_VERSION = 1, + // FC_VARIANT = 2, + // FC_VERSION = 3, + // BOARD_INFO = 4, + // BUILD_INFO = 5, + // INAV_PID = 6, + // SET_INAV_PID = 7, + // NAME = 10, // out message + // SET_NAME = 11, // in message + // NAV_POSHOLD = 12, // only in iNav + // SET_NAV_POSHOLD = 13, // only in iNav + // CALIBRATION_DATA = 14, + // SET_CALIBRATION_DATA = 15, + // POSITION_ESTIMATION_CONFIG = 16, + // SET_POSITION_ESTIMATION_CONFIG = 17, + // WP_MISSION_LOAD = 18, // Load mission from NVRAM + // WP_MISSION_SAVE = 19, // Save mission to NVRAM + // WP_GETINFO = 20, + // RTH_AND_LAND_CONFIG = 21, + // SET_RTH_AND_LAND_CONFIG = 22, + // FW_CONFIG = 23, + // SET_FW_CONFIG = 24, + // BATTERY_CONFIG = 32, // not avaialable in iNav + // SET_BATTERY_CONFIG = 33, // not avaialable in iNav + // MODE_RANGES = 34, + // SET_MODE_RANGE = 35, + // FEATURE = 36, + // SET_FEATURE = 37, + // BOARD_ALIGNMENT = 38, + // SET_BOARD_ALIGNMENT = 39, + // CURRENT_METER_CONFIG = 40, + // SET_CURRENT_METER_CONFIG = 41, + // MIXER = 42, + // SET_MIXER = 43, + // RX_CONFIG = 44, + // SET_RX_CONFIG = 45, + // LED_COLORS = 46, + // SET_LED_COLORS = 47, + // LED_STRIP_CONFIG = 48, + // SET_LED_STRIP_CONFIG = 49, + // RSSI_CONFIG = 50, + // SET_RSSI_CONFIG = 51, + // ADJUSTMENT_RANGES = 52, + // SET_ADJUSTMENT_RANGE = 53, + // CF_SERIAL_CONFIG = 54, + // SET_CF_SERIAL_CONFIG = 55, + // VOLTAGE_METER_CONFIG = 56, + // SET_VOLTAGE_METER_CONFIG = 57, + // SONAR_ALTITUDE = 58, + // PID_CONTROLLER = 59, + // SET_PID_CONTROLLER = 60, + // ARMING_CONFIG = 61, + // SET_ARMING_CONFIG = 62, + // RX_MAP = 64, + // SET_RX_MAP = 65, + // BF_CONFIG = 66, // depricated, out message + // SET_BF_CONFIG = 67, // depricated, in message + // REBOOT = 68, + // BF_BUILD_INFO = 69, // depricated, iNav + // DATAFLASH_SUMMARY = 70, + // DATAFLASH_READ = 71, + // DATAFLASH_ERASE = 72, + // LOOP_TIME = 73, // depricated, iNav + // SET_LOOP_TIME = 74, // depricated, iNav + // FAILSAFE_CONFIG = 75, + // SET_FAILSAFE_CONFIG = 76, + // RXFAIL_CONFIG = 77, // depricated, iNav + // SET_RXFAIL_CONFIG = 78, // depricated, iNav + // SDCARD_SUMMARY = 79, + // BLACKBOX_CONFIG = 80, + // SET_BLACKBOX_CONFIG = 81, + // TRANSPONDER_CONFIG = 82, + // SET_TRANSPONDER_CONFIG = 83, + // OSD_CONFIG = 84, // out message, betaflight + // SET_OSD_CONFIG = 85, // in message, betaflight + // OSD_CHAR_READ = 86, // out message, betaflight + // OSD_CHAR_WRITE = 87, + // VTX_CONFIG = 88, + // SET_VTX_CONFIG = 89, + // ADVANCED_CONFIG = 90, + // SET_ADVANCED_CONFIG = 91, + // FILTER_CONFIG = 92, + // SET_FILTER_CONFIG = 93, + // PID_ADVANCED = 94, + // SET_PID_ADVANCED = 95, + // SENSOR_CONFIG = 96, + // SET_SENSOR_CONFIG = 97, + // CAMERA_CONTROL = 98, // SPECIAL_PARAMETERS + // SET_ARMING_DISABLED = 99, // SET_SPECIAL_PARAMETERS + // IDENT = 100, // depricated + // STATUS = 101, + // RAW_IMU = 102, + // SERVO = 103, + // MOTOR = 104, + // RC = 105, + // RAW_GPS = 106, + // COMP_GPS = 107, + // ATTITUDE = 108, + // ALTITUDE = 109, + ANALOG = 110, + // RC_TUNING = 111, + // PID = 112, + // ACTIVEBOXES = 113, // depricated, iNav + // MISC = 114, // depricated, iNav + // MOTOR_PINS = 115, // depricated, iNav + // BOXNAMES = 116, + // PIDNAMES = 117, + // WP = 118, + // BOXIDS = 119, + // SERVO_CONF = 120, + // NAV_STATUS = 121, + // NAV_CONFIG = 122, + // MOTOR_3D_CONFIG = 124, + // RC_DEADBAND = 125, + // SENSOR_ALIGNMENT = 126, + // LED_STRIP_MODECOLOR = 127, + // VOLTAGE_METERS = 128, // not present in iNav + // CURRENT_METERS = 129, // not present in iNav + // BATTERY_STATE = 130, // not present in iNav + // MOTOR_CONFIG = 131, // out message + // GPS_CONFIG = 132, // out message + // COMPASS_CONFIG = 133, // out message + // ESC_SENSOR_DATA = 134, // out message + // STATUS_EX = 150, + // SENSOR_STATUS = 151, // only iNav + // UID = 160, + // GPSSVINFO = 164, + // GPSSTATISTICS = 166, + // OSD_VIDEO_CONFIG = 180, + // SET_OSD_VIDEO_CONFIG = 181, + // DISPLAYPORT = 182, + // COPY_PROFILE = 183, // not in iNav + // BEEPER_CONFIG = 184, // not in iNav + // SET_BEEPER_CONFIG = 185, // not in iNav + // SET_TX_INFO = 186, // in message + // TX_INFO = 187, // out message + SET_RAW_RC = 200, + // SET_RAW_GPS = 201, + // SET_PID = 202, + // SET_BOX = 203, // depricated + // SET_RC_TUNING = 204, + // ACC_CALIBRATION = 205, + // MAG_CALIBRATION = 206, + // SET_MISC = 207, // depricated + // RESET_CONF = 208, + // SET_WP = 209, + // SELECT_SETTING = 210, + // SET_HEADING = 211, + // SET_SERVO_CONF = 212, + SET_MOTOR = 214, + // SET_NAV_CONFIG = 215, + // SET_MOTOR_3D_CONF = 217, + // SET_RC_DEADBAND = 218, + // SET_RESET_CURR_PID = 219, + // SET_SENSOR_ALIGNMENT = 220, + // SET_LED_STRIP_MODECOLOR = 221, + // SET_MOTOR_CONFIG = 222, // out message + // SET_GPS_CONFIG = 223, // out message + // SET_COMPASS_CONFIG = 224, // out message + // SET_ACC_TRIM = 239, // in message + // ACC_TRIM = 240, // out message + // SERVO_MIX_RULES = 241, // out message + // SET_SERVO_MIX_RULE = 242, // in message + // PASSTHROUGH_SERIAL = 244, // not used in CF, BF, iNav + // SET_4WAY_IF = 245, // in message + // SET_RTC = 246, // in message + // RTC = 247, // out message + // EEPROM_WRITE = 250, // in message + // RESERVE_1 = 251, // reserved for system usage + // RESERVE_2 = 252, // reserved for system usage + // DEBUGMSG = 253, // out message + // DEBUG = 254, // out message + // V2_FRAME = 255, // MSPv2 over MSPv1 + + // COMMON_TZ = 0x1001, // out message, TZ offset + // COMMON_SET_TZ = 0x1002, // in message, sets the TZ offset + // COMMON_SETTING = 0x1003, // in/out message, returns setting + // COMMON_SET_SETTING = 0x1004, // in message, sets a setting value + // COMMON_MOTOR_MIXER = 0x1005, + // COMMON_SET_MOTOR_MIXER = 0x1006, + // INAV_STATUS = 0x2000, + // INAV_OPTICAL_FLOW = 0x2001, + // INAV_ANALOG = 0x2002, + // INAV_MISC = 0x2003, + // INAV_SET_MISC = 0x2004, + // INAV_BATTERY_CONFIG = 0x2005, + // INAV_SET_BATTERY_CONFIG = 0x2006, + // INAV_RATE_PROFILE = 0x2007, + // INAV_SET_RATE_PROFILE = 0x2008, + // INAV_AIR_SPEED = 0x2009 +}; +} // namespace msp + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/msp/msp_packet.hpp b/src/agilicious/agilib/include/agilib/bridge/msp/msp_packet.hpp new file mode 100644 index 0000000..61d662c --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/msp/msp_packet.hpp @@ -0,0 +1,58 @@ +#pragma once + +#include +#include + +#include +#include +#include +#include + +#include "agilib/bridge/msp/msp_msgs_defs.hpp" + +namespace agi { + +struct MspPacket { + MspPacket(const char payload_bytes); + ~MspPacket(); + + void finalize(); + bool copy_to_buffer(char* const buffer) const; + friend std::ostream& operator<<(std::ostream& os, const MspPacket& p); + + // Read access + unsigned char direction() const { return data[2]; } + + unsigned char payload_length() const { return data[3]; } + + unsigned char message_size() const { return data[3] + 6; } + + // MSP Message code as defined in msp_msgs_degs.hpp + unsigned char& code() const { return data[4]; } + + template + const T* const payload() const { + return reinterpret_cast(&data[5]); + } + + unsigned char& checksum() const { return data[data[3] + 5]; } + + const void* message() const { return reinterpret_cast(data); } + + // Write access through references and pointers + unsigned char& direction() { return data[2]; } + + unsigned char& code() { return data[4]; } + + template + T* payload() { + return reinterpret_cast(&data[5]); + } + + unsigned char& checksum() { return data[data[3] + 5]; } + + private: + unsigned char* data; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_bridge.hpp b/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_bridge.hpp new file mode 100644 index 0000000..1d0330a --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_bridge.hpp @@ -0,0 +1,22 @@ +#pragma once + +#include "agilib/bridge/sbus/sbus_bridge_params.hpp" +#include "agilib/bridge/sbus/sbus_encoding.hpp" +#include "agilib/bridge/serial_bridge.hpp" + +namespace agi { +class SbusBridge : public SerialBridge { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + SbusBridge(const Quadrotor& quad, const SbusParams& params, + const TimeFunction time_function); + + protected: + using SerialBridge::sendCommand; + virtual bool sendCommand(const Command& command, const bool active) override; + + Quadrotor quad_; + SbusEncoding encoding_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_bridge_params.hpp b/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_bridge_params.hpp new file mode 100644 index 0000000..9e3c975 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_bridge_params.hpp @@ -0,0 +1,24 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/bridge/thrust_map.hpp" +#include "agilib/serial/serial_settings.hpp" + +namespace agi { + +struct SbusParams : public ParameterBase { + bool load(const fs::path& filename) override; + bool load(const Yaml& node) override; + + friend std::ostream& operator<<(std::ostream& os, const SbusParams& settings); + + SbusSerialSettings serial_settings{"/dev/ttyTHS2"}; + + Scalar timeout{0.05}; + int n_timeouts_for_lock{4}; + + Vector<3> omega_max{1.0, 1.0, 1.0}; + ThrustMap thrust_map_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_encoding.hpp b/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_encoding.hpp new file mode 100644 index 0000000..c09ad8a --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/sbus/sbus_encoding.hpp @@ -0,0 +1,49 @@ +#pragma once + +#include + +#include "agilib/bridge/msg_encoding.hpp" + +namespace agi { + +class SbusEncoding : public MsgEncoding { + public: + SbusEncoding(const Quadrotor& quad, const ThrustMap& thrust_map, + const Vector<3>& omega_max) + : quad(quad), thrust_map(thrust_map), omega_max(omega_max) {} + + bool encode(const Command& command, const bool armed, char* const buffer, + int* const length) const; + + void setVoltage(const Scalar voltage); + + private: + static constexpr size_t N_CHANNELS = 16; + static constexpr size_t CHANNEL_THROTTLE = 0; + static constexpr size_t CHANNEL_OMEGAX = 1; + static constexpr size_t CHANNEL_OMEGAY = 2; + static constexpr size_t CHANNEL_OMEGAZ = 3; + static constexpr size_t CHANNEL_ARMED = 4; + static constexpr size_t CHANNEL_MODE = 5; + + static constexpr int SBUS_FRAME_LENGTH = 25; + static constexpr char SBUS_HEADER_BYTE = 0x0F; + static constexpr char SBUS_FOOTER_BYTE = 0x00; + + static constexpr size_t SBUS_MIN_VAL = 192; + static constexpr size_t SBUS_MAX_VAL = 1792; + static constexpr size_t SBUS_VAL_RANGE = SBUS_MAX_VAL - SBUS_MIN_VAL; + + const Quadrotor quad; + const ThrustMap thrust_map; + const Vector<3> omega_max; + Scalar voltage{NAN}; + + static void parseToBuffer(char* const buffer, const size_t* const channels, + const bool digital_channel_1 = false, + const bool digital_channel_2 = false, + const bool frame_lost = false, + const bool failsafe = false); +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/serial_bridge.hpp b/src/agilicious/agilib/include/agilib/bridge/serial_bridge.hpp new file mode 100644 index 0000000..2155828 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/serial_bridge.hpp @@ -0,0 +1,32 @@ +#pragma once + +#include + +#include "agilib/bridge/bridge_base.hpp" +#include "agilib/bridge/msg_encoding.hpp" +#include "agilib/serial/serial.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +class SerialBridge : public BridgeBase { + public: + SerialBridge(const SerialSettings& serial_settings, const std::string& name, + const TimeFunction time_function, const Scalar timeout = 0.02, + const int n_max_timeouts = 10); + + bool sendCommand(const Command& command, const bool active, + const MsgEncoding& encoding); + + bool isOpen() const { return serial_port_.isOpen(); } + + protected: + virtual bool sendCommand(const Command& command, const bool active) = 0; + + static constexpr size_t BUFFER_SIZE = SerialPort::BUFFER_SIZE; + SerialSettings serial_settings_; + SerialPort serial_port_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/bridge/thrust_map.hpp b/src/agilicious/agilib/include/agilib/bridge/thrust_map.hpp new file mode 100644 index 0000000..19ce8c9 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/bridge/thrust_map.hpp @@ -0,0 +1,31 @@ +#pragma once + +#include + +#include "agilib/math/types.hpp" + +namespace agi { + +struct ThrustMap { + using NeighborCoordinates = std::pair; + + ThrustMap() = default; + ~ThrustMap() = default; + + bool load(const fs::path& file); + + bool valid(); + + Scalar map(const Scalar thrust, const Scalar battery_voltage) const; + inline NeighborCoordinates neighbor(const Scalar value, const Scalar lower, + const Scalar upper, const int size, + Scalar* const x) const; + + Matrix<> map_ = Matrix<>::Constant(1, 1, NAN); + Scalar voltage_min_{NAN}; + Scalar voltage_max_{NAN}; + Scalar thrust_min_{NAN}; + Scalar thrust_max_{NAN}; +}; + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/controller/controller_base.hpp b/src/agilicious/agilib/include/agilib/controller/controller_base.hpp new file mode 100644 index 0000000..8fee177 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/controller_base.hpp @@ -0,0 +1,34 @@ +#pragma once + +#include + +#include "agilib/base/module.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/imu_sample.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/setpoint.hpp" + +namespace agi { + +class ControllerBase : public Module { + public: + ControllerBase(const std::string& name = "Controller", + const Scalar exec_dt = 0.01, const int horizon_length = 1); + virtual ~ControllerBase(); + + virtual bool getCommand(const QuadState& state, + const SetpointVector& reference, + SetpointVector* const setpoints) = 0; + + virtual void addImuSample(const ImuSample& sample) {} + + Scalar dt() const { return pred_dt_; } + int horizonLength() const { return horizon_length_; } + + protected: + int horizon_length_; + Scalar exec_dt_; // dt at which we will run the controller + Scalar pred_dt_; // dt of the predictions +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/geometric/controller_geo.hpp b/src/agilicious/agilib/include/agilib/controller/geometric/controller_geo.hpp new file mode 100644 index 0000000..84eba56 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/geometric/controller_geo.hpp @@ -0,0 +1,57 @@ +#pragma once + +#include +#include +#include + +#include "agilib/controller/controller_base.hpp" +#include "agilib/controller/geometric/geo_params.hpp" +#include "agilib/math/gravity.hpp" +#include "agilib/math/math.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/imu_sample.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/low_pass_filter.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + + +class GeometricController : public ControllerBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + GeometricController(const Quadrotor& quad, + const std::shared_ptr& params); + ~GeometricController(); + + virtual bool getCommand(const QuadState& state, + const SetpointVector& references, + SetpointVector* const setpoints) override; + + bool updateParameters( + const Quadrotor& quad, + const std::shared_ptr params); + bool updateParameters(const Quadrotor& params); + bool updateParameters( + const std::shared_ptr params); + std::shared_ptr getParameters(); + + bool addImu(const ImuSample& imu); + + private: + Vector<3> tiltPrioritizedControl(const Quaternion& q, + const Quaternion& q_des); + Vector<4> qTimeDerivative(const Quaternion& q, const Scalar& t); + + Quadrotor quad_; + std::shared_ptr params_; + LowPassFilter<3> filterAcc_; + LowPassFilter<4> filterMot_; + + ImuSample imu_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/geometric/geo_params.hpp b/src/agilicious/agilib/include/agilib/controller/geometric/geo_params.hpp new file mode 100644 index 0000000..731ef93 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/geometric/geo_params.hpp @@ -0,0 +1,30 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" + +namespace agi { + +struct GeometricControllerParams : public ParameterBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + GeometricControllerParams(); + + using ParameterBase::load; + virtual bool load(const Yaml& node) override; + + Vector<3> kp_acc_; + Vector<3> kd_acc_; + Vector<3> kp_rate_; + Scalar kp_att_xy_; + Scalar kp_att_z_; + Scalar filter_sampling_frequency_; + Scalar filter_cutoff_frequency_; + bool drag_compensation_; + Vector<3> p_err_max_ = + Vector<3>::Constant(std::numeric_limits::max()); + Vector<3> v_err_max_ = + Vector<3>::Constant(std::numeric_limits::max()); + bool valid() const override; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/indi/controller_indi.hpp b/src/agilicious/agilib/include/agilib/controller/indi/controller_indi.hpp new file mode 100644 index 0000000..00bada6 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/indi/controller_indi.hpp @@ -0,0 +1,57 @@ +#pragma once + +#include +#include +#include + +#include "agilib/controller/controller_base.hpp" +#include "agilib/controller/indi/indi_params.hpp" +#include "agilib/math/gravity.hpp" +#include "agilib/math/math.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/imu_sample.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/low_pass_filter.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + + +class IndiController : public ControllerBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + IndiController(const Quadrotor& quad, + const std::shared_ptr& params); + ~IndiController(); + + virtual bool getCommand(const QuadState& state, + const SetpointVector& references, + SetpointVector* const setpoints) override; + + bool reset(); + bool reset(const QuadState& state); + + bool updateParameters(const Quadrotor& quad, + const std::shared_ptr params); + bool updateParameters(const Quadrotor& params); + bool updateParameters(const std::shared_ptr params); + std::shared_ptr getParameters(); + + void addImuSample(const ImuSample& sample) override { imu_ = sample; } + + private: + Quadrotor quad_; + std::shared_ptr params_; + LowPassFilter<3> filterGyr_; + LowPassFilter<4> filterMot_; + + ImuSample imu_; + Matrix<> G_inv_; // We know beforehand it's 4x4 matrix, but we need to do it + // dynamically allocated because the closed form inversion + // of a 4x4 matrix in Eigen seems broken +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/indi/indi_params.hpp b/src/agilicious/agilib/include/agilib/controller/indi/indi_params.hpp new file mode 100644 index 0000000..425c341 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/indi/indi_params.hpp @@ -0,0 +1,28 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" + +namespace agi { + +struct IndiParameters : public ParameterBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + IndiParameters(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + Vector<3> kp_rate_; + + Scalar filter_sampling_frequency_; + Scalar filter_cutoff_frequency_; + + bool use_indi_; + + bool valid() const override; + + friend std::ostream& operator<<(std::ostream& os, + const IndiParameters& params); +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/mpc/acados/.clang-format b/src/agilicious/agilib/include/agilib/controller/mpc/acados/.clang-format new file mode 100644 index 0000000..2e16a26 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/mpc/acados/.clang-format @@ -0,0 +1,4 @@ +--- +DisableFormat: true +SortIncludes: false +--- diff --git a/src/agilicious/agilib/include/agilib/controller/mpc/acados/acados_solver_drone_model.h b/src/agilicious/agilib/include/agilib/controller/mpc/acados/acados_solver_drone_model.h new file mode 100644 index 0000000..6887fe8 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/mpc/acados/acados_solver_drone_model.h @@ -0,0 +1,161 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef ACADOS_SOLVER_drone_model_H_ +#define ACADOS_SOLVER_drone_model_H_ + +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +#define DRONE_MODEL_NX 13 +#define DRONE_MODEL_NZ 0 +#define DRONE_MODEL_NU 4 +#define DRONE_MODEL_NP 24 +#define DRONE_MODEL_NBX 3 +#define DRONE_MODEL_NBX0 13 +#define DRONE_MODEL_NBU 4 +#define DRONE_MODEL_NSBX 0 +#define DRONE_MODEL_NSBU 0 +#define DRONE_MODEL_NSH 0 +#define DRONE_MODEL_NSG 0 +#define DRONE_MODEL_NSPHI 0 +#define DRONE_MODEL_NSHN 0 +#define DRONE_MODEL_NSGN 0 +#define DRONE_MODEL_NSPHIN 0 +#define DRONE_MODEL_NSBXN 0 +#define DRONE_MODEL_NS 0 +#define DRONE_MODEL_NSN 0 +#define DRONE_MODEL_NG 0 +#define DRONE_MODEL_NBXN 0 +#define DRONE_MODEL_NGN 0 +#define DRONE_MODEL_NY0 16 +#define DRONE_MODEL_NY 16 +#define DRONE_MODEL_NYN 12 +#define DRONE_MODEL_N 20 +#define DRONE_MODEL_NH 0 +#define DRONE_MODEL_NPHI 0 +#define DRONE_MODEL_NHN 0 +#define DRONE_MODEL_NPHIN 0 +#define DRONE_MODEL_NR 0 + +#ifdef __cplusplus +extern "C" { +#endif + +// ** capsule for solver data ** +typedef struct drone_model_solver_capsule +{ + // acados objects + ocp_nlp_in *nlp_in; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_solver *nlp_solver; + void *nlp_opts; + ocp_nlp_plan *nlp_solver_plan; + ocp_nlp_config *nlp_config; + ocp_nlp_dims *nlp_dims; + + // number of expected runtime parameters + unsigned int nlp_np; + + /* external functions */ + // dynamics + + external_function_param_casadi *forw_vde_casadi; + external_function_param_casadi *expl_ode_fun; + + + + + // cost + + external_function_param_casadi *cost_y_fun; + external_function_param_casadi *cost_y_fun_jac_ut_xt; + external_function_param_casadi *cost_y_hess; + + + external_function_param_casadi cost_y_0_fun; + external_function_param_casadi cost_y_0_fun_jac_ut_xt; + external_function_param_casadi cost_y_0_hess; + + + + external_function_param_casadi cost_y_e_fun; + external_function_param_casadi cost_y_e_fun_jac_ut_xt; + external_function_param_casadi cost_y_e_hess; + + + // constraints + + + + +} drone_model_solver_capsule; + +drone_model_solver_capsule * drone_model_acados_create_capsule(void); +int drone_model_acados_free_capsule(drone_model_solver_capsule *capsule); + +int drone_model_acados_create(drone_model_solver_capsule * capsule); +/** + * Generic version of drone_model_acados_create which allows to use a different number of shooting intervals than + * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code + * generation, the time-steps from code generation is used. + */ +int drone_model_acados_create_with_discretization(drone_model_solver_capsule * capsule, int n_time_steps, double* new_time_steps); +/** + * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the + * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. + */ +int drone_model_acados_update_time_steps(drone_model_solver_capsule * capsule, int N, double* new_time_steps); +/** + * This function is used for updating an already initialized solver with a different number of qp_cond_N. + */ +int drone_model_acados_update_qp_solver_cond_N(drone_model_solver_capsule * capsule, int qp_solver_cond_N); +int drone_model_acados_update_params(drone_model_solver_capsule * capsule, int stage, double *value, int np); +int drone_model_acados_solve(drone_model_solver_capsule * capsule); +int drone_model_acados_free(drone_model_solver_capsule * capsule); +void drone_model_acados_print_stats(drone_model_solver_capsule * capsule); + +ocp_nlp_in *drone_model_acados_get_nlp_in(drone_model_solver_capsule * capsule); +ocp_nlp_out *drone_model_acados_get_nlp_out(drone_model_solver_capsule * capsule); +ocp_nlp_solver *drone_model_acados_get_nlp_solver(drone_model_solver_capsule * capsule); +ocp_nlp_config *drone_model_acados_get_nlp_config(drone_model_solver_capsule * capsule); +void *drone_model_acados_get_nlp_opts(drone_model_solver_capsule * capsule); +ocp_nlp_dims *drone_model_acados_get_nlp_dims(drone_model_solver_capsule * capsule); +ocp_nlp_plan *drone_model_acados_get_nlp_plan(drone_model_solver_capsule * capsule); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_SOLVER_drone_model_H_ diff --git a/src/agilicious/agilib/include/agilib/controller/mpc/cog_filter.hpp b/src/agilicious/agilib/include/agilib/controller/mpc/cog_filter.hpp new file mode 100644 index 0000000..90f6e38 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/mpc/cog_filter.hpp @@ -0,0 +1,62 @@ +#pragma once + +#include +#include + +#include "agilib/math/types.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/imu_sample.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +class CogFilter { + private: + static constexpr int NX = 4; + static constexpr int NU = 4; + static constexpr int NL = 2; + static constexpr int NY = 2; + static constexpr int NOMEGA = 2; + + public: + CogFilter(const Quadrotor& quad, const Matrix& Q_init, + const Matrix& Q, const Matrix& R); + + void reset(); + bool addImu(const ImuSample& sample); + bool addCommand(const Command& command); + + bool update(); + + Vector getLengthCorrection() const; + Matrix<3, 4> getAbsolutLengths() const; + + private: + Logger logger_{"CoG Filter"}; + const Quadrotor quad_; + const Matrix Q_init_; + const Matrix Q_; + const Matrix R_; + + static constexpr int N_max_samples_ = 128; + + std::mutex mutex_; + std::deque imus_; + std::deque commands_; + + Scalar t_{NAN}; + Vector x_ = Vector::Zero(); + Matrix P_ = Matrix::Zero(); + + const Matrix H_ = + (Matrix() << Matrix::Identity(), Matrix::Zero()) + .finished(); + const Matrix B_ = + (Matrix() << 1.0 / quad_.J_(0, 0) * quad_.t_BM_.row(1), + -1.0 / quad_.J_(1, 1) * quad_.t_BM_.row(0), Matrix::Zero()) + .finished(); +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/mpc/controller_mpc.hpp b/src/agilicious/agilib/include/agilib/controller/mpc/controller_mpc.hpp new file mode 100644 index 0000000..e319e03 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/mpc/controller_mpc.hpp @@ -0,0 +1,68 @@ +#pragma once + +#include +#include + +#include "agilib/controller/controller_base.hpp" +#include "agilib/controller/mpc/cog_filter.hpp" +#include "agilib/controller/mpc/mpc_params.hpp" +#include "agilib/controller/mpc/wrapper.hpp" +#include "agilib/math/gravity.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + +class MpcController : public ControllerBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + public: + MpcController(const Quadrotor& quad, + const std::shared_ptr& params, + const Scalar exec_dt = 0.01); + + bool getCommand(const QuadState& state, const SetpointVector& reference, + SetpointVector* const setpoints) override; + bool reset(); + bool reset(const QuadState& state); + + virtual void addImuSample(const ImuSample& sample) override; + + bool updateParameters(const Quadrotor& quad, + const std::shared_ptr& params); + bool updateParameters(const Quadrotor& params); + bool updateParameters(const std::shared_ptr& params); + std::shared_ptr getParameters(); + + void printTiming() const; + void logTiming() const override; + + private: + using Wrapper = acados::MpcWrapper; + + bool reset(const Vector& state); + Scalar lerp(const Scalar a, const Scalar b, const Scalar t) const; + + Quadrotor quad_; + std::shared_ptr params_; + Wrapper wrapper_; + CogFilter cog_filter_; + + // Thread-safety and preparation. + std::mutex acados_mutex_; + + Timer timing_solver_{"Solver"}; + Timer timing_update_{"Update"}; + + const Vector hover_state_ = + (Vector() << Vector<3>::Zero(), Vector<4>(1, 0, 0, 0), + Vector<3>::Zero(), Vector<3>::Zero()) + .finished(); + const Vector<4> hover_input_acc_ = Vector<4>::Constant(G / 4.0); + Vector<4> hover_input_{quad_.m_ * hover_input_acc_}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/mpc/mpc_params.hpp b/src/agilicious/agilib/include/agilib/controller/mpc/mpc_params.hpp new file mode 100644 index 0000000..71ed188 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/mpc/mpc_params.hpp @@ -0,0 +1,49 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" + +namespace agi { + +struct MpcParameters : public ParameterBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + MpcParameters(); + MpcParameters(const MpcParameters& rhs) = default; + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool threaded_preparation_; + bool timing_; + + Scalar max_wait_time_before_preparation_; + Scalar max_wait_time_after_preparation_; + + Vector<3> Q_pos_; + Vector<3> Q_att_; + Vector<3> Q_vel_; + Vector<2> Q_omega_xy_; + Scalar Q_omega_z_; + Vector<4> R_; + + Scalar exp_decay_; + + // CoG filter + bool cog_enable_; + Scalar cog_abs_velocity_limit_; + Scalar cog_abs_omega_limit_; + Scalar cog_rel_hover_thrust_limit_; + Scalar cog_height_limit_; + Vector<2> Q_cog_omega_; + Vector<2> Q_cog_lengths_; + Vector<2> Q_cog_omega_init_; + Vector<2> Q_cog_lengths_init_; + Vector<2> R_cog_; + + bool valid() const override; + + friend std::ostream& operator<<(std::ostream& os, + const MpcParameters& params); +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/mpc/wrapper.hpp b/src/agilicious/agilib/include/agilib/controller/mpc/wrapper.hpp new file mode 100644 index 0000000..bf52a5d --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/mpc/wrapper.hpp @@ -0,0 +1,196 @@ +#pragma once + + +#include "agilib/math/types.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { +namespace acados { + +#include "acados_c/external_function_interface.h" +#include "acados_c/ocp_nlp_interface.h" +#include "agilib/controller/mpc/acados/acados_solver_drone_model.h" + +class MpcWrapper { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + public: + MpcWrapper(); + ~MpcWrapper(); + + + static constexpr int NX = DRONE_MODEL_NX; + static constexpr int NZ = DRONE_MODEL_NZ; + static constexpr int NU = DRONE_MODEL_NU; + static constexpr int NP = DRONE_MODEL_NP; + static constexpr int NBX = DRONE_MODEL_NBX; + static constexpr int NBX0 = DRONE_MODEL_NBX0; + static constexpr int NBU = DRONE_MODEL_NBU; + static constexpr int NSBX = DRONE_MODEL_NSBX; + static constexpr int NSBU = DRONE_MODEL_NSBU; + static constexpr int NSH = DRONE_MODEL_NSH; + static constexpr int NSG = DRONE_MODEL_NSG; + static constexpr int NSPHI = DRONE_MODEL_NSPHI; + static constexpr int NSHN = DRONE_MODEL_NSHN; + static constexpr int NSGN = DRONE_MODEL_NSGN; + static constexpr int NSPHIN = DRONE_MODEL_NSPHIN; + static constexpr int NSBXN = DRONE_MODEL_NSBXN; + static constexpr int NS = DRONE_MODEL_NS; + static constexpr int NSN = DRONE_MODEL_NSN; + static constexpr int NG = DRONE_MODEL_NG; + static constexpr int NBXN = DRONE_MODEL_NBXN; + static constexpr int NGN = DRONE_MODEL_NGN; + static constexpr int NY0 = DRONE_MODEL_NY0; + static constexpr int NY = DRONE_MODEL_NY; + static constexpr int NYN = DRONE_MODEL_NYN; + static constexpr int N = DRONE_MODEL_N; + static constexpr int NH = DRONE_MODEL_NH; + static constexpr int NPHI = DRONE_MODEL_NPHI; + static constexpr int NHN = DRONE_MODEL_NHN; + static constexpr int NPHIN = DRONE_MODEL_NPHIN; + static constexpr int NR = DRONE_MODEL_NR; + + static constexpr int NQ = NY - NU; + + void setInitialState(const Vector &state); + int update(const Vector &state); + void setStateConstraint( + const Vector<> &state_lb, const Vector<> &state_ub, const int index, + const VectorInt<> &indexes_constr = + (VectorInt() << 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12).finished()); + + void setBodyRateConstraints(const Vector<3> &lower_bound, + const Vector<3> &upper_bound); + + void setInputConstraint(const Vector<> &input_lb, const Vector<> &input_ub, + const int index, + const VectorInt<> &indexes_constr = + (VectorInt() << 0, 1, 2, 3).finished()); + + void setThrustConstraints(const Vector &lower_bound, + const Vector &upper_bound); + + + inline const Vector getState(const int i) const { + return states_pred_.col(i); + } + inline const Matrix getStates() const { return states_pred_; } + + inline const Vector getInput(const int i) const { + return inputs_pred_.col(i); + } + inline const Matrix getInputs() const { return inputs_pred_; } + + + void setReference(const Vector &state_ref, const Vector &input_ref, + const int i); + void setReferences(const Matrix &state_refs, + const Matrix &input_refs); + void setReferenceN(const Vector &state_ref_N); + + void setCosts(const Matrix Ws, const Scalar gamma = 1.0); + void setCost(const Matrix &W, const int i); + void setCostN(const Matrix &W_N, const Scalar gamma = 1.0); + void setMass(const Vector &mass); + void setAeroCoeffs(const Matrix<3, N + 1> &aero_coeff_1, + const Matrix<3, N + 1> &aero_coeff_3, + const Vector &aero_coeff_h); + void setArmLengths(const Matrix<3, 4> &t_BM); + void setKappa(const Vector &kappa); + void setInertia(const Vector<3> &inertia); + + inline void setStatesPred(const Matrix states) { + states_pred_ = states; + } + + inline void setInputsPred(const Matrix inputs) { + inputs_pred_ = inputs; + } + inline Scalar getDt() { return dt_; } + + private: + drone_model_solver_capsule *p_acados_ocp_capsule_; + ocp_nlp_config *p_nlp_config_; + ocp_nlp_dims *p_nlp_dims_; + ocp_nlp_in *p_nlp_in_; + ocp_nlp_out *p_nlp_out_; + ocp_nlp_solver *p_nlp_solver_; + void *p_nlp_opts_; + + Matrix states_pred_; + Matrix inputs_pred_; + Matrix online_params_; + + Matrix lbx_; // From 1 to N+1 + Matrix ubx_; // From 1 to N+1 + Matrix lbu_; // From 0 to N + Matrix ubu_; // From 0 to N + + const VectorInt constr_idx_x_ = + (VectorInt() << 10, 11, 12).finished(); + const VectorInt constr_idx_u_ = + (VectorInt() << 0, 1, 2, 3).finished(); + + void updateInputConstraints(); + void updateStateConstraints(); + + Scalar dt_; + + void updateOnlineParams(); + void setQuaternionReference(const Vector<4> &q_ref, const int i); + + Logger logger_; + + public: + enum STATECONSTR : int { + OMEGA_X = 0, + OMEGA_Y = 1, + OMEGA_Z = 2, + }; + + enum INPUTCONSTR : int { T_0 = 0, T_1 = 1, T_2 = 2, T_3 = 3 }; + + enum ONLPARAMIDX : int { + MASS = 0, + Q_REF_0 = 1, + Q_REF_1 = 2, + Q_REF_2 = 3, + Q_REF_3 = 4, + CDX1 = 5, + CDY1 = 6, + CDZ1 = 7, + CDX3 = 8, + CDY3 = 9, + CDZ3 = 10, + CDZH = 11, + L_X_0 = 12, + L_X_1 = 13, + L_X_2 = 14, + L_X_3 = 15, + L_Y_0 = 16, + L_Y_1 = 17, + L_Y_2 = 18, + L_Y_3 = 19, + KAPPA = 20, + I_XX = 21, + I_YY = 22, + I_ZZ = 23 + }; + + enum STATEIDX : int { + STATEPOS = 0, + STATEATT = 3, + STATEVEL = 7, + STATEOME = 10 + }; + + enum REFIDX : int { + REFPOS = 0, + REFATT = 3, + REFVEL = 6, + REFOME = 9, + REFU = 12 + }; +}; + +} // namespace acados +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/pid/controller_pid.hpp b/src/agilicious/agilib/include/agilib/controller/pid/controller_pid.hpp new file mode 100644 index 0000000..840b445 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/pid/controller_pid.hpp @@ -0,0 +1,54 @@ +#pragma once + +#include +#include +#include + +#include "agilib/controller/controller_base.hpp" +#include "agilib/controller/pid/pid_params.hpp" +#include "agilib/math/gravity.hpp" +#include "agilib/math/math.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/low_pass_filter.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + + +class PidController : public ControllerBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + PidController(const Quadrotor& quad, + const std::shared_ptr& params); + ~PidController(); + + virtual bool getCommand(const QuadState& state, + const SetpointVector& references, + SetpointVector* const setpoints) override; + + bool reset(); + bool reset(const QuadState& state); + + bool updateParameters(const Quadrotor& quad, + const std::shared_ptr params); + bool updateParameters(const Quadrotor& params); + bool updateParameters(const std::shared_ptr params); + std::shared_ptr getParameters(); + // void addImuSample(const ImuSample& sample) override {} + + private: + Quadrotor quad_; + std::shared_ptr params_; + LowPassFilter<3> filterGyr_; + Scalar t_last_; + Vector<3> omega_err_int_; + Matrix<> G_inv_; // We know beforehand it's 4x4 matrix, but we need to do + // it dynamically allocated because the closed form + // inversion of a 4x4 matrix in Eigen seems broken +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/controller/pid/pid_params.hpp b/src/agilicious/agilib/include/agilib/controller/pid/pid_params.hpp new file mode 100644 index 0000000..cf7ee3b --- /dev/null +++ b/src/agilicious/agilib/include/agilib/controller/pid/pid_params.hpp @@ -0,0 +1,26 @@ + +#pragma once + +#include "agilib/base/parameter_base.hpp" + +namespace agi { + +struct PidParameters : public ParameterBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + PidParameters(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + Vector<3> kp_rate_; + Vector<3> kd_rate_; + Vector<3> ki_rate_; + Vector<3> integration_max_; + Scalar filter_sampling_frequency_; + Scalar filter_cutoff_frequency_; + + bool valid() const override; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/estimator/ekf/ekf.hpp b/src/agilicious/agilib/include/agilib/estimator/ekf/ekf.hpp new file mode 100644 index 0000000..e08c3f6 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/ekf/ekf.hpp @@ -0,0 +1,123 @@ +#pragma once + +#include +#include + +#include "agilib/estimator/ekf/ekf_params.hpp" +#include "agilib/estimator/estimator_base.hpp" +#include "agilib/math/integrator_rk4.hpp" +#include "agilib/math/math.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/imu_sample.hpp" +#include "agilib/types/pose.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + +/// EKF filter for pose measurements. +class Ekf : public EstimatorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Ekf(const Quadrotor& quad, const std::shared_ptr& params = + std::shared_ptr()); + ~Ekf(); + + bool getAt(const Scalar t, QuadState* const state) override; + + bool initialize(const QuadState& state) override; + + bool addPose(const Pose& pose) override; + bool addState(const QuadState& pose) override; + bool addImu(const ImuSample& imu) override; + bool addMotorSpeeds(const Vector<4>& speeds) override; + + bool updateParameters(const std::shared_ptr& params); + + bool healthy() const override; + + inline void printTiming() { printTimings(false); } + void printTimings(const bool all = true) const; + void logTiming() const override; + + private: + bool init(const QuadState& state); + bool initSteady(const QuadState& state); + bool process(); + template + bool update(const Vector& y, const Matrix& H, + const Matrix& R); + bool updatePose(const Pose& pose); + bool updateImu(const ImuSample& imu); + bool propagatePrior(const Scalar time); + bool propagatePriorAndJacobian(const Scalar time); + void sanitize(QuadState& state); + + static constexpr int MAX_QUEUE_SIZE = 256; + static constexpr int SRPOSE = 6; // Size of pose measurement. + static constexpr int SRIMU = 6; // Size of IMU measurement. + + // Parameters + std::shared_ptr params_; + SparseMatrix Q_{QuadState::SIZE, QuadState::SIZE}; + SparseMatrix Q_init_{QuadState::SIZE, QuadState::SIZE}; + Matrix R_pose_; + Matrix R_imu_; + Quadrotor quad_; + IntegratorRK4 integrator_; + + // Working variables + QuadState posterior_; + QuadState prior_; + Vector<4> motor_speeds_{0, 0, 0, 0}; + Matrix P_; + + // Thread Safety + std::mutex mutex_; + + std::deque poses_; + Scalar t_last_pose_{NAN}; + std::deque imus_; + Scalar t_last_imu_{NAN}; + + // Logger and timers + Timer timer_process_{"Process"}; + Timer timer_update_pose_{"Update Pose"}; + Timer timer_update_imu_{"Update IMU"}; + Timer timer_compute_gain_{"Kalman gain computation"}; + Timer timer_propagation_{"Propagation Prior"}; + Timer timer_jacobian_{"Propagation Jacobian"}; +}; + + +template +bool Ekf::update(const Vector& y, const Matrix& H, + const Matrix& R) { + if (params_->enable_timing) timer_compute_gain_.tic(); + + const Matrix P = 0.5 * (P_ + P_.transpose()); + const Matrix HP = H * P; + const Matrix S = HP * H.transpose() + R; + const Matrix S_inv = S.inverse(); + + if (!S_inv.allFinite()) return false; + + QuadState new_posterior = prior_; + + const Matrix K = P * H.transpose() * S_inv; + new_posterior.x -= K * y; + new_posterior.linearize(); + P_ = P - K * HP; + + if (!new_posterior.valid()) return false; + + posterior_ = new_posterior; + prior_ = new_posterior; + + if (params_->enable_timing) timer_compute_gain_.toc(); + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/estimator/ekf/ekf_params.hpp b/src/agilicious/agilib/include/agilib/estimator/ekf/ekf_params.hpp new file mode 100644 index 0000000..6046ac6 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/ekf/ekf_params.hpp @@ -0,0 +1,48 @@ + +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +struct EkfParameters : public ParameterBase { + EkfParameters(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + bool enable_timing; + bool use_imu; + + Scalar max_update_wait_time; + bool update_on_get; + Scalar jump_pos_threshold; + Scalar jump_att_threshold; + + Vector<3> R_pos; + Vector<3> R_att; + Vector<3> R_acc; + Vector<3> R_omega; + + Vector<3> Q_pos; + Vector<4> Q_att; + Vector<3> Q_vel; + Vector<3> Q_ome; + Vector<3> Q_acc; + Vector<3> Q_bome; + Vector<3> Q_bacc; + + Vector<3> Q_init_pos; + Vector<4> Q_init_att; + Vector<3> Q_init_vel; + Vector<3> Q_init_ome; + Vector<3> Q_init_acc; + Vector<3> Q_init_bome; + Vector<3> Q_init_bacc; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/estimator/ekf_imu/ekf_imu.hpp b/src/agilicious/agilib/include/agilib/estimator/ekf_imu/ekf_imu.hpp new file mode 100644 index 0000000..72b2524 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/ekf_imu/ekf_imu.hpp @@ -0,0 +1,123 @@ +#pragma once + +#include +#include + +#include "agilib/estimator/ekf_imu/ekf_imu_params.hpp" +#include "agilib/estimator/estimator_base.hpp" +#include "agilib/math/integrator_rk4.hpp" +#include "agilib/math/math.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/imu_sample.hpp" +#include "agilib/types/pose.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + +/// EKF filter for pose measurements. +class EkfImu : public EstimatorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + EkfImu(const std::shared_ptr& params = + std::shared_ptr()); + ~EkfImu(); + + bool getAt(const Scalar t, QuadState* const state) override; + + bool initialize(const QuadState& state) override; + + bool addPose(const Pose& pose) override; + bool addState(const QuadState& pose) override; + bool addImu(const ImuSample& imu) override; + bool addMotorSpeeds(const Vector<4>& speeds) override; + + bool updateParameters(const std::shared_ptr& params_in); + + bool healthy() const override; + + inline void printTiming() { printTimings(false); } + void printTimings(const bool all = true) const; + void logTiming() const override; + + private: + enum IDX : int { + POS = 0, + POSX = 0, + POSY = 1, + POSZ = 2, + NPOS = 3, + ATT = 3, + ATTW = 3, + ATTX = 4, + ATTY = 5, + ATTZ = 6, + NATT = 4, + VEL = 7, + VELX = 7, + VELY = 8, + VELZ = 9, + NVEL = 3, + BOME = 10, + BOMEX = 10, + BOMEY = 11, + BOMEZ = 12, + NBOME = 3, + BACC = 13, + BACCX = 13, + BACCY = 14, + BACCZ = 15, + NBACC = 3, + SIZE = 16, + }; + + using StateVector = Vector; + using StateMatrix = Matrix; + static constexpr int MAX_QUEUE_SIZE = 256; + static constexpr int SRPOSE = 6; // Size of pose measurement. + static constexpr int SRIMU = 6; // Size of IMU measurement. + + + bool init(const QuadState& state); + bool process(); + bool updatePose(const Pose& pose); + bool propagatePrior(const Scalar time); + bool propagatePriorAndCovariance(const Scalar time); + bool vectorToState(const Scalar t, const StateVector& x, + QuadState* const state) const; + bool stateToVector(const QuadState& state, Scalar* const t, + StateVector* const x) const; + + + // Parameters + std::shared_ptr params_; + StateMatrix Q_ = StateMatrix::Zero(); + StateMatrix Q_init_ = StateMatrix::Zero(); + Matrix R_pose_; + Matrix R_imu_; + ImuSample imu_last_; + + // Working variables + Scalar t_prior_{NAN}, t_posterior_{NAN}; + StateVector prior_ = StateVector::Zero(); + StateVector posterior_ = StateVector::Zero(); + StateMatrix P_ = StateMatrix::Zero(); + Vector<4> motor_speeds_{0, 0, 0, 0}; + + // Thread Safety + std::mutex mutex_; + + std::deque poses_; + std::deque imus_; + + // Logger and timers + Timer timer_process_{"Process"}; + Timer timer_update_pose_{"Update Pose"}; + Timer timer_compute_gain_{"Kalman gain computation"}; + Timer timer_propagation_{"Propagation Prior"}; + Timer timer_jacobian_{"Propagation Jacobian"}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/estimator/ekf_imu/ekf_imu_params.hpp b/src/agilicious/agilib/include/agilib/estimator/ekf_imu/ekf_imu_params.hpp new file mode 100644 index 0000000..9134a8c --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/ekf_imu/ekf_imu_params.hpp @@ -0,0 +1,44 @@ + +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +struct EkfImuParameters : public ParameterBase { + EkfImuParameters(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + Scalar jump_pos_threshold; + Scalar jump_att_threshold; + + Vector<3> R_pos; + Vector<3> R_att; + Vector<3> R_acc; + Vector<3> R_omega; + + Vector<3> Q_pos; + Vector<4> Q_att; + Vector<3> Q_vel; + Vector<3> Q_bome; + Vector<3> Q_bacc; + + Vector<3> Q_init_pos; + Vector<4> Q_init_att; + Vector<3> Q_init_vel; + Vector<3> Q_init_bome; + Vector<3> Q_init_bacc; + + bool update_on_get; + + friend std::ostream& operator<<(std::ostream& os, + const EkfImuParameters& params); +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/estimator/estimator_base.hpp b/src/agilicious/agilib/include/agilib/estimator/estimator_base.hpp new file mode 100644 index 0000000..ace7da6 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/estimator_base.hpp @@ -0,0 +1,40 @@ +#pragma once + +#include + +#include "agilib/base/module.hpp" +#include "agilib/types/imu_sample.hpp" +#include "agilib/types/pose.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +class EstimatorBase : public Module { + public: + EstimatorBase(const std::string& name = "Estimator"); + virtual ~EstimatorBase(); + + /// Initialize the filter. + virtual bool initialize(const QuadState& state) = 0; + + /// Add measurement + virtual bool addPose(const Pose& pose) = 0; + virtual bool addState(const QuadState& pose) = 0; + virtual bool addImu(const ImuSample& pose) = 0; + virtual bool addMotorSpeeds(const Vector<4>& speeds) = 0; + + /// Get state at specific time. + virtual bool getAt(const Scalar t, QuadState* const state) = 0; + + /// Check if estimator is healthy. + virtual bool healthy() const = 0; + + /// Get state at time state.t. + bool getState(QuadState* const state); + + /// Get latest state. + bool getRecent(QuadState* const state); + QuadState getRecent(); +}; + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/estimator/feedthrough/feedthrough_estimator.hpp b/src/agilicious/agilib/include/agilib/estimator/feedthrough/feedthrough_estimator.hpp new file mode 100644 index 0000000..2aae65f --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/feedthrough/feedthrough_estimator.hpp @@ -0,0 +1,33 @@ +#pragma once + +#include + +#include "agilib/estimator/estimator_base.hpp" +#include "agilib/estimator/feedthrough/feedthrough_params.hpp" +#include "agilib/types/pose.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +class FeedthroughEstimator : public EstimatorBase { + public: + FeedthroughEstimator(const std::shared_ptr& params); + + virtual bool initialize(const QuadState& state) override; + + virtual bool addPose(const Pose& pose) override { return false; } + virtual bool addState(const QuadState& pose) override; + virtual bool addMotorSpeeds(const Vector<4>& speeds) override; + virtual bool addImu(const ImuSample& imu) override; + + virtual bool getAt(const Scalar t, QuadState* const state) override; + + virtual bool healthy() const override; + + private: + QuadState transform(const QuadState& state_in); + std::shared_ptr params_; + QuadState state_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/estimator/feedthrough/feedthrough_params.hpp b/src/agilicious/agilib/include/agilib/estimator/feedthrough/feedthrough_params.hpp new file mode 100644 index 0000000..7064c63 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/feedthrough/feedthrough_params.hpp @@ -0,0 +1,24 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +struct FeedthroughParameters : public ParameterBase { + FeedthroughParameters(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + bool transform_enabled_; + Scalar roll_; + Scalar pitch_; + Scalar yaw_; + Vector<3> pos_offset_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/estimator/mock_vio/mock_vio.hpp b/src/agilicious/agilib/include/agilib/estimator/mock_vio/mock_vio.hpp new file mode 100644 index 0000000..b8758d1 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/mock_vio/mock_vio.hpp @@ -0,0 +1,80 @@ +#pragma once + +#include +#include +#include +#include + +#include "agilib/estimator/estimator_base.hpp" +#include "agilib/estimator/mock_vio/mock_vio_params.hpp" +#include "agilib/math/integrator_euler.hpp" +#include "agilib/types/pose.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" + +namespace agi { + +class MockVio : public EstimatorBase { + public: + MockVio(const Quadrotor& quad, const std::shared_ptr& params); + + virtual bool initialize(const QuadState& state) override; + + virtual bool addPose(const Pose& pose) override { return false; } + virtual bool addState(const QuadState& pose) override; + virtual bool addImu(const ImuSample& imu) override; + inline virtual bool addMotorSpeeds(const Vector<4>& speeds) override { + return false; + } + + virtual bool getAt(const Scalar t, QuadState* const state) override; + + void reset(); + virtual bool healthy() const override; + + protected: + class ImuSampleWithBias : public ImuSample { + public: + using ImuSample::ImuSample; + ImuSampleWithBias(const ImuSample& imu) : ImuSample(imu) {} + ImuSampleWithBias& operator=(const ImuSample& rhs) { + this->t = rhs.t; + this->acc = rhs.acc; + this->omega = rhs.omega; + return *this; + } + + Vector<3> acc_bias = Vector<3>::Zero(); + Vector<3> omega_bias = Vector<3>::Zero(); + }; + + bool updateVioStateWithLatency(const Scalar t); + bool updateVioState(const Scalar t); + bool updateRiseState(const Scalar t); + bool updateStateWithImu(const Scalar t, const bool repropagate); + Vector<3> randomVector(const Vector<3>& standard_deviation); + + std::shared_ptr params_; + const Quadrotor quad_; + IntegratorEuler integrator_; + + Scalar t_last_vio_update_{0.0}; + QuadState last_vio_state_; + QuadState state_; + ImuSampleWithBias last_imu_sample_; + Vector<3> vio_pos_drift_ = Vector<3>::Zero(); + Vector<3> vio_pos_drift_dynamic_vel_ = Vector<3>::Zero(); + Vector<3> vio_pos_drift_static_vel_ = Vector<3>::Zero(); + + static constexpr int BUFFERSIZE = 512; + Scalar t_last_state_received_{0.0}; + std::deque states_; + std::mutex states_mtx_; + std::deque imus_; + std::mutex imus_mtx_; + + std::random_device rd_{}; + std::mt19937 gen_{rd_()}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/estimator/mock_vio/mock_vio_params.hpp b/src/agilicious/agilib/include/agilib/estimator/mock_vio/mock_vio_params.hpp new file mode 100644 index 0000000..db73fe5 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/estimator/mock_vio/mock_vio_params.hpp @@ -0,0 +1,38 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" + +namespace agi { + +struct MockVioParams : public ParameterBase { + MockVioParams(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + bool use_imu; + Scalar rise; + + Scalar image_dt; + Scalar vio_dt; + Scalar vio_latency; + + Vector<3> vio_pos_static_drift; + Vector<3> vio_pos_dynamic_drift; + Vector<3> vio_pos_noise; + Vector<3> vio_att_noise; + Vector<3> vio_vel_noise; + Vector<3> vio_omega_bias_noise; + Vector<3> vio_acc_bias_noise; + + Scalar imu_dt; + Vector<3> imu_omega_noise; + Vector<3> imu_acc_noise; + Vector<3> imu_omega_bias; + Vector<3> imu_acc_bias; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/guard/guard_base.hpp b/src/agilicious/agilib/include/agilib/guard/guard_base.hpp new file mode 100644 index 0000000..795508a --- /dev/null +++ b/src/agilicious/agilib/include/agilib/guard/guard_base.hpp @@ -0,0 +1,25 @@ +#pragma once + +#include "agilib/base/module.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +class GuardBase : public Module { + public: + GuardBase(const std::string& name = "Guard Base"); + virtual ~GuardBase() = default; + + virtual bool evaluateState(const QuadState& state) { return false; } + virtual bool update(const QuadState& state) { return false; }; + virtual void reset() { guard_state_ = GuardState::NOT_INIT; } + void trigger() { externally_triggered_ = true; } + bool triggered() const { return guard_state_ == GuardState::TRIGGERED; } + enum class GuardState { NOT_INIT, ACTIVE, TRIGGERED }; + + protected: + GuardState guard_state_; + bool externally_triggered_ = false; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/guard/position_guard.hpp b/src/agilicious/agilib/include/agilib/guard/position_guard.hpp new file mode 100644 index 0000000..025853d --- /dev/null +++ b/src/agilicious/agilib/include/agilib/guard/position_guard.hpp @@ -0,0 +1,20 @@ +#pragma once + +#include "agilib/guard/guard_base.hpp" +#include "agilib/guard/position_guard_params.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +class PositionGuard : public GuardBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + PositionGuard(const PositionGuardParams& params); + bool evaluateState(const QuadState& state) override; + bool update(const QuadState& state) override; + void reset() override; + + private: + PositionGuardParams params_; +}; +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/guard/position_guard_params.hpp b/src/agilicious/agilib/include/agilib/guard/position_guard_params.hpp new file mode 100644 index 0000000..61b81dd --- /dev/null +++ b/src/agilicious/agilib/include/agilib/guard/position_guard_params.hpp @@ -0,0 +1,18 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" + +namespace agi { +struct PositionGuardParams : public ParameterBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + using ParameterBase::load; + bool load(const Yaml& node) override; + bool valid() const override; + + Vector<3> pos_lower_bound_ = + Vector<3>::Constant(std::numeric_limits::min()); + Vector<3> pos_upper_bound_ = + Vector<3>::Constant(std::numeric_limits::max()); +}; +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/math/fast_atan2.hpp b/src/agilicious/agilib/include/agilib/math/fast_atan2.hpp new file mode 100644 index 0000000..260cf73 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/math/fast_atan2.hpp @@ -0,0 +1,67 @@ +#pragma once + +#include +#include + +namespace agi { + +// Fast signed atan approximation from +// https://www.dsprelated.com/showarticle/1052.php +template +struct ApproxAtan2 { + EIGEN_EMPTY_STRUCT_CTOR(ApproxAtan2) + T operator()(const T yf, const T xf) const { + const float x = (float)xf; + const float y = (float)yf; + static constexpr float n1 = 0.97239411f; + static constexpr float n2 = -0.19194795f; + float result = 0.0f; + if (x != 0.0f) { + const union { + float flVal; + uint nVal; + } tYSign = {y}; + const union { + float flVal; + uint nVal; + } tXSign = {x}; + if (fabsf(x) >= fabsf(y)) { + union { + float flVal; + uint nVal; + } tOffset = {M_PI}; + // Add or subtract PI based on y's sign. + tOffset.nVal |= tYSign.nVal & 0x80000000u; + // No offset if x is positive, so multiply by 0 or based on x's sign. + tOffset.nVal *= tXSign.nVal >> 31; + result = tOffset.flVal; + const float z = y / x; + result += (n1 + n2 * z * z) * z; + } else // Use atan(y/x) = pi/2 - atan(x/y) if |y/x| > 1. + { + union { + float flVal; + uint nVal; + } tOffset = {M_PI_2}; + // Add or subtract PI/2 based on y's sign. + tOffset.nVal |= tYSign.nVal & 0x80000000u; + result = tOffset.flVal; + const float z = x / y; + result -= (n1 + n2 * z * z) * z; + } + } else if (y > 0.0f) { + result = M_PI_2; + } else if (y < 0.0f) { + result = -M_PI_2; + } + return result; + } +}; + +template +T fastApproxAtan2(const T x, const T y) { + return ApproxAtan2::operator()(x, y); +} + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/math/gravity.hpp b/src/agilicious/agilib/include/agilib/math/gravity.hpp new file mode 100644 index 0000000..935fad9 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/math/gravity.hpp @@ -0,0 +1,22 @@ +#pragma once +#include "agilib/math/types.hpp" + +namespace agi { + +/** + * Gravity Value [m/s^2] + * + * This is the gravity value used in the whole project. + */ +static constexpr Scalar G = 9.8066; + + +/** + * Gravity Vector [m/s^2] + * + * This is the gravity vector pointing in negative z-direction. + * It uses the value of #G. + */ +const Vector<3> GVEC{0, 0, -G}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/math/integrator_base.hpp b/src/agilicious/agilib/include/agilib/math/integrator_base.hpp new file mode 100644 index 0000000..2ae186e --- /dev/null +++ b/src/agilicious/agilib/include/agilib/math/integrator_base.hpp @@ -0,0 +1,33 @@ +#pragma once + +#include + +#include "agilib/math/types.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +class IntegratorBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + public: + IntegratorBase(DynamicsFunction function, const Scalar dt_max = 1e-3); + + virtual ~IntegratorBase() = default; + + bool integrate(const QuadState& initial_state, + QuadState* const final_state) const; + + bool integrate(const Ref> initial_state, const Scalar dt, + Ref> final_state) const; + + virtual bool step(const Ref> initial, const Scalar dt, + Ref> final_state) const = 0; + + Scalar dtMax() const; + + protected: + DynamicsFunction dynamics_; + Scalar dt_max_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/math/integrator_euler.hpp b/src/agilicious/agilib/include/agilib/math/integrator_euler.hpp new file mode 100644 index 0000000..c28b4fd --- /dev/null +++ b/src/agilicious/agilib/include/agilib/math/integrator_euler.hpp @@ -0,0 +1,16 @@ +#pragma once + +#include "agilib/math/integrator_base.hpp" + +namespace agi { + +class IntegratorEuler : public IntegratorBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + public: + using IntegratorBase::IntegratorBase; + + bool step(const Ref> initial_state, const Scalar dt, + Ref> final_state) const; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/math/integrator_rk4.hpp b/src/agilicious/agilib/include/agilib/math/integrator_rk4.hpp new file mode 100644 index 0000000..0cb6ab2 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/math/integrator_rk4.hpp @@ -0,0 +1,16 @@ +#pragma once + +#include "agilib/math/integrator_base.hpp" + +namespace agi { + +class IntegratorRK4 : public IntegratorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + using IntegratorBase::IntegratorBase; + + bool step(const Ref> initial_state, const Scalar dt, + Ref> final_state) const override; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/math/integrator_symplectic_euler.hpp b/src/agilicious/agilib/include/agilib/math/integrator_symplectic_euler.hpp new file mode 100644 index 0000000..de1f57d --- /dev/null +++ b/src/agilicious/agilib/include/agilib/math/integrator_symplectic_euler.hpp @@ -0,0 +1,16 @@ +#pragma once + +#include "agilib/math/integrator_base.hpp" + +namespace agi { + +class IntegratorSymplecticEuler : public IntegratorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + using IntegratorBase::IntegratorBase; + + bool step(const Ref> initial_state, const Scalar dt, + Ref> final_state) const; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/math/math.hpp b/src/agilicious/agilib/include/agilib/math/math.hpp new file mode 100644 index 0000000..50582ef --- /dev/null +++ b/src/agilicious/agilib/include/agilib/math/math.hpp @@ -0,0 +1,47 @@ +#pragma once + +#include + +namespace agi { + +Matrix<3, 3> skew(const Vector<3>& v); + +Matrix<4, 4> Q_left(const Quaternion& q); + +Matrix<4, 4> Q_right(const Quaternion& q); + +Matrix<4, 3> qFromQeJacobian(const Quaternion& q); + +Matrix<4, 4> qConjugateJacobian(); + +Matrix<3, 3> qeRotJacobian(const Quaternion& q, const Matrix<3, 1>& t); + +Matrix<3, 3> qeInvRotJacobian(const Quaternion& q, const Matrix<3, 1>& t); + +void matrixToTripletList(const SparseMatrix& matrix, + std::vector* const list, + const int row_offset = 0, const int col_offset = 0); + +void matrixToTripletList(const Matrix<>& matrix, + std::vector* const list, + const int row_offset = 0, const int col_offset = 0); + +void insert(const SparseMatrix& from, SparseMatrix* const into, + const int row_offset = 0, const int col_offset = 0); + +void insert(const Matrix<>& from, SparseMatrix* const into, + const int row_offset = 0, const int col_offset = 0); + +void insert(const Matrix<>& from, Matrix<>* const into, + const int row_offset = 0, const int col_offset = 0); + +Vector<> clip(const Vector<>& v, const Vector<>& bound); + +inline constexpr Scalar toRad(const Scalar angle_deg) { + return angle_deg * M_PI / 180.0; +} +inline constexpr Scalar toDeg(const Scalar angle_deg) { + return angle_deg / M_PI * 180.0; +} + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/math/types.hpp b/src/agilicious/agilib/include/agilib/math/types.hpp new file mode 100644 index 0000000..71aae7b --- /dev/null +++ b/src/agilicious/agilib/include/agilib/math/types.hpp @@ -0,0 +1,63 @@ +#pragma once + +#include +#include + +namespace agi { + +// Define the scalar type used. +using Scalar = double; +using Integer = int; +static constexpr Scalar INF = std::numeric_limits::infinity(); + +// Define `Dynamic` matrix size. +static constexpr int Dynamic = Eigen::Dynamic; + +// Using shorthand for `Matrix` with scalar type. +template +using Matrix = Eigen::Matrix; + +// Using shorthand for `Vector` with scalar type. +template +using Vector = Matrix; + +// Using shorthand for `Array` with scalar type. +template +using Array = Eigen::Array; + +// Using shorthand for `MatrixInt` with Integer type. +template +using MatrixInt = Eigen::Matrix; + +// Using shorthand for `Vector` with Integer type. +template +using VectorInt = MatrixInt; + + +template +using ArrayVector = Array; + +// Using `SparseMatrix` with type. +using SparseMatrix = Eigen::SparseMatrix; + +// Using SparseTriplet with type. +using SparseTriplet = Eigen::Triplet; + +// Using `Quaternion` with type. +using Quaternion = Eigen::Quaternion; + +// Using `Ref` for modifier references. +template +using Ref = Eigen::Ref; + +// Using `ConstRef` for constant references. +template +using ConstRef = const Eigen::Ref; + +// Using `Map`. +template +using Map = Eigen::Map; + +using DynamicsFunction = + std::function>, Ref>)>; +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/pilot/pilot.hpp b/src/agilicious/agilib/include/agilib/pilot/pilot.hpp new file mode 100644 index 0000000..836c1e5 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/pilot/pilot.hpp @@ -0,0 +1,140 @@ +#pragma once + +#include "agilib/base/pipeline.hpp" +#include "agilib/bridge/debug_bridge.hpp" +#include "agilib/guard/position_guard.hpp" +#include "agilib/pilot/pilot_params.hpp" +#include "agilib/reference/velocity_reference.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/timer.hpp" +#include "agilib/reference/nw_poly_trajectory_reference.hpp" + +namespace agi { + +class Pilot { + public: + Pilot(const PilotParams& params, const TimeFunction time_function); + ~Pilot(); + + void launchPipeline(); + void runPipeline(); + void runPipeline(const Scalar t); + + + bool getReference(const int idx, ReferenceBase* const reference) const; + bool getActiveReference(const QuadState& curr_state, + SetpointVector* const setpoints) const; + int getAllReferences(ReferenceVector* const references) const; + + bool registerExternalEstimator( + const std::shared_ptr& estimator); + bool registerExternalBridge(const std::shared_ptr& bridge); + bool registerFeedbackCallbacks( + const std::shared_ptr& bridge) const; + bool registerFeedbackCallback(const FeedbackCallbackFunction& function); + bool registerExternalDebugBridge(const std::shared_ptr& bridge); + void registerPipelineCallback( + const Pipeline::PipelineCallbackFunction& function); + + void odometryCallback(const Pose& pose); + void odometryCallback(const QuadState& state); + void guardOdometryCallback(const Pose& pose); + void guardOdometryCallback(const QuadState& state); + void voltageCallback(const Scalar voltage); + void imuCallback(const ImuSample& imu); + void motorSpeedCallback(const Vector<4>& mot); + void ctrActivateCallback(const bool activate); + + Command getCommand() const; + const SetpointVector getOuterSetpoints() const; + const SetpointVector getInnerSetpoints() const; + QuadState getRecentState() const; + Scalar getVoltage() const; + + void enable(bool enable); + bool enabled(); + + bool start(); + bool land(); + bool off(); + + + Quaternion EularToquaternion(const Vector<3> euler); + bool forceHover(); + bool goToPose(const QuadState& end_state); + bool setVelocityReference(const Vector<3>& velocity, const Scalar yaw_rate); + bool setAccelerationCommand(const Vector<3>& acceleration, + const Scalar yaw_rate, const Scalar delta_t, const Scalar new_time); + bool setAccelerationCommand(const std::vector>& acceleration, + const std::vector& yaw_rate, const Scalar delta_t, const Scalar new_time); + bool setRLtrajectoryCommand(const SetpointVector& sampled_trajectory, const QuadState& inference, + const Scalar time_received_prediction, const std::string frame_type); + + bool addHover(const Vector<3>& hover_pos, Scalar yaw = NAN, + Scalar start_time = NAN, Scalar duration = NAN); + + template + bool addReference(const ReferenceType& reference) { + return pipeline_.appendReference(reference); + } + bool appendTrajectory(const QuadState& start_state, + const QuadState& end_state); + bool addPolynomialTrajectory(const QuadState& end_state, + const Scalar duration); + + bool addPolynomialTrajectory(const QuadState& end_state, + const Scalar duration, const Scalar new_time); + + bool addPolynomialTrajectory(const QuadState& start, const QuadState& end, + const std::vector& end_state, + const Scalar speed, + const Scalar limit_scale = 0.0); + + bool addPolynomialTrajectory(const QuadState& start, const QuadState& end, + const std::vector& end_state, + const Vector<> t, + const Scalar limit_scale = 0.0); + + bool addSampledTrajectory(const SetpointVector& setpoints); + + bool setFeedthroughCommand(const Command& command); + + void convertTrajectoryToWorldFrame(const SetpointVector& trajectory, const QuadState& odom_at_inference, + SetpointVector* trajectory_world_frame, const std::string frame_type); + + bool isInHover() const; + bool isInVelocityReference() const; + std::string getActiveBridgeType(); + + bool getFeedback(Feedback* const feedback = nullptr) const; + + bool getQuadrotor(Quadrotor* const quad) const; + bool guardTriggered() { return guard_ && guard_->triggered(); } + void triggerGuard(); + inline const PilotParams& getParams() const { return params_; } + inline Scalar getTime() const { return time_(); } + + private: + void pipelineThread(); + Pipeline& getActivePipeline(); + const TimeFunction time_; + PilotParams params_; + Pipeline pipeline_; + Pipeline safety_pipeline_; + std::shared_ptr guard_; + std::shared_ptr bridge_; + std::shared_ptr debug_bridge_; + + bool shutdown_{false}; + std::thread pipeline_thread_; + Timer pipeline_timer_; + QuadState curr_reference_; + bool reference_ready_{false}; + TrajectoryExt network_prediction_; + Scalar time_received_prediction_; + Logger logger_{"Pilot"}; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/pilot/pilot_params.hpp b/src/agilicious/agilib/include/agilib/pilot/pilot_params.hpp new file mode 100644 index 0000000..637b029 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/pilot/pilot_params.hpp @@ -0,0 +1,86 @@ +#pragma once + +#include +#include + +#include "agilib/base/parameter_base.hpp" +#include "agilib/base/pipeline.hpp" +#include "agilib/bridge/bridge_base.hpp" +#include "agilib/controller/controller_base.hpp" +#include "agilib/estimator/estimator_base.hpp" +#include "agilib/guard/guard_base.hpp" +#include "agilib/pilot/pipeline_config.hpp" +#include "agilib/sampler/sampler_base.hpp" +#include "agilib/types/quadrotor.hpp" + +namespace agi { + +class PilotParams : public ParameterBase { + public: + PilotParams() = default; + PilotParams(const fs::path& filename, const fs::path& directory = "", + const fs::path& quad_file = ""); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + bool createEstimator(std::shared_ptr& estimator, + const ModuleConfig& config) const; + bool createSampler(std::shared_ptr& sampler, + const std::shared_ptr& controller, + const ModuleConfig& config) const; + bool createController(std::shared_ptr& controller, + const ModuleConfig& config) const; + bool createBridge(std::shared_ptr& bridge, + const TimeFunction& time_function, + const ModuleConfig&) const; + bool createBridge(std::shared_ptr& bridge, + const TimeFunction& time_function) const; + + bool createPipeline(Pipeline* const pipeline, + const PipelineConfig& config) const; + bool createPipeline(Pipeline* const pipeline) const; + bool createSafetyPipeline(Pipeline* const safety_pipeline) const; + + bool createGuard(std::shared_ptr& guard) const; + + fs::path directory_; + + PipelineConfig pipeline_cfg_; + PipelineConfig safety_pipeline_cfg_; + + ModuleConfig guard_cfg_; + + std::string traj_type_{"poly_min_snap"}; + fs::path quad_file_; + + Quadrotor quad_; + + Scalar dt_min_{0.01}; + int outerloop_divisor_{1}; + Scalar dt_telemetry_{0.1}; + + bool velocity_in_bodyframe_{true}; + Scalar takeoff_heigth_{1.0}; + Scalar takeoff_threshold_{0.5}; + Scalar start_land_speed_{0.6}; + Scalar brake_deceleration_{5.0}; + Scalar go_to_pose_mean_vel_{1.5}; + bool stop_after_feedthrough_{true}; + Scalar feedthrough_timeout_{0.05}; + + Scalar traj_viz_dt_{0.1}; + Scalar traj_viz_sphere_size_{0.1}; + + bool publish_log_var_{false}; + + friend std::ostream& operator<<(std::ostream& os, const PilotParams& params); + + private: + Logger logger_{"PilotParams"}; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/pilot/pipeline_config.hpp b/src/agilicious/agilib/include/agilib/pilot/pipeline_config.hpp new file mode 100644 index 0000000..30ba500 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/pilot/pipeline_config.hpp @@ -0,0 +1,25 @@ +#pragma once + +#include + +#include "agilib/utils/filesystem.hpp" +#include "agilib/utils/module_config.hpp" +#include "agilib/utils/yaml.hpp" + +namespace agi { + +struct PipelineConfig { + ModuleConfig estimator_cfg; + ModuleConfig sampler_cfg; + ModuleConfig outer_controller_cfg; + ModuleConfig inner_controller_cfg; + ModuleConfig bridge_cfg; + + void load(const Yaml& yaml, const std::string& directory); + + friend std::ostream& operator<<(std::ostream& os, + const PipelineConfig& config); +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/reference/hover_reference.hpp b/src/agilicious/agilib/include/agilib/reference/hover_reference.hpp new file mode 100644 index 0000000..bb374d7 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/reference/hover_reference.hpp @@ -0,0 +1,17 @@ +#pragma once + +#include "agilib/reference/reference_base.hpp" + +namespace agi { + + +class HoverReference : public ReferenceBase { + public: + HoverReference(const QuadState& state, const Scalar duration = INF); + + virtual Setpoint getSetpoint(const QuadState& state, const Scalar t) override; + + virtual bool isHover() const override { return true; } +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/reference/nw_poly_trajectory_reference.hpp b/src/agilicious/agilib/include/agilib/reference/nw_poly_trajectory_reference.hpp new file mode 100644 index 0000000..2f3dd9e --- /dev/null +++ b/src/agilicious/agilib/include/agilib/reference/nw_poly_trajectory_reference.hpp @@ -0,0 +1,60 @@ +#pragma once + +#include +#include "agilib/types/setpoint.hpp" +#include "agilib/reference/reference_base.hpp" + +namespace agi { +struct TrajectoryExtPoint { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Eigen::Vector3d position; + Eigen::Vector3d velocity; + Eigen::Vector3d acceleration; + Eigen::Vector3d jerk; + Eigen::Vector3d snap; + Eigen::Quaterniond attitude; + Eigen::Vector3d bodyrates; + double collective_thrust; + double time_from_start; +}; + +enum class FrameID { Body, World }; + + +class TrajectoryExt : public ReferenceBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + public: + TrajectoryExt(); + TrajectoryExt(const SetpointVector& trajectory, const FrameID& frame_id, + const QuadState& start_state, const Scalar duration, + const std::string& name); + ~TrajectoryExt() = default; + + void replaceFirstPoint(const TrajectoryExtPoint& first_point); + void fitPolynomialCoeffs(const unsigned int poly_order, + const unsigned int continuity_order); + void enableYawing(const bool enable_yawing); + void resamplePointsFromPolyCoeffs(); + Eigen::Vector3d evaluatePoly(const double dt, const int derivative); + + bool setConstantArcLengthSpeed(const double &speed, + const int &traj_len, + const double &traj_dt); + bool feasibilityResampling(const double &acc); + void getTrajectory(SetpointVector* trajectory); + using ReferenceBase::getSetpoint; + Setpoint getSetpoint(const QuadState& state, const Scalar time) override; + virtual Setpoint getStartSetpoint() override final; + virtual Setpoint getEndSetpoint() override final; + virtual bool isRLtrajectoryReference() const override { return true; } + + private: + FrameID frame_id_; + bool yawing_enabled_ = false; + unsigned poly_order_; + unsigned int continuity_order_; + std::vector poly_coeff_; + std::vector points_; +}; +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/reference/reference_base.hpp b/src/agilicious/agilib/include/agilib/reference/reference_base.hpp new file mode 100644 index 0000000..5d3edda --- /dev/null +++ b/src/agilicious/agilib/include/agilib/reference/reference_base.hpp @@ -0,0 +1,53 @@ +#pragma once + +#include +#include +#include + +#include "agilib/base/module.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/setpoint.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +class ReferenceBase { + public: + ReferenceBase(const std::string& name = "ReferenceBase"); + ReferenceBase(const QuadState& state, const Scalar duration, + const std::string& name = "ReferenceBase"); + virtual ~ReferenceBase(); + + virtual Setpoint getSetpoint(const QuadState& state, const Scalar t) = 0; + virtual Setpoint getSetpoint(const QuadState& state) final; + virtual Setpoint getSetpoint(const Scalar t, + const Scalar heading = NAN) final; + virtual Setpoint getStartSetpoint(); + virtual Setpoint getEndSetpoint(); + + inline Scalar getStartTime() const { return start_state_.t; } + inline Scalar getEndTime() const { return start_state_.t + duration_; } + inline Scalar getDuration() const { return duration_; } + bool isTimeInRange(const Scalar time) const; + std::string time_in_HH_MM_SS_MMM(const Scalar time) const; + + virtual bool valid() const { return start_state_.valid(); } + const std::string& name() const { return name_; } + virtual bool isHover() const { return false; } + virtual bool isVelocityRefernce() const { return false; } + virtual bool isTrajectoryReference() const { return false; } + virtual bool isRLtrajectoryReference() const { return false; } + virtual bool isAbsolute() const { return true; } + + bool truncate(const Scalar& t); + friend std::ostream& operator<<(std::ostream& os, const ReferenceBase& ref); + + protected: + QuadState start_state_; + Scalar duration_; + const std::string name_; +}; + +using ReferenceVector = std::vector>; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/reference/trajectory_reference/polynomial.hpp b/src/agilicious/agilib/include/agilib/reference/trajectory_reference/polynomial.hpp new file mode 100644 index 0000000..4bfb825 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/reference/trajectory_reference/polynomial.hpp @@ -0,0 +1,74 @@ +#pragma once + +#include "agilib/math/types.hpp" + +namespace agi { + +template>> +class Polynomial { + public: + Polynomial(); + Polynomial(const int order, const Vector<>& weights = Vector<4>(0, 0, 0, 1), + const int continuity = -1); + Polynomial(const Polynomial& rhs) = default; + ~Polynomial() = default; + + bool scale(const Scalar start_time = NAN, const Scalar duration = NAN); + int addConstraint(const Scalar time, const Vector<>& constraint); + bool solve(); + bool eval(const Scalar time, Ref> state) const; + Scalar operator()(const Scalar time, const int order = 0) const; + + inline int order() const noexcept { return order_; } + inline int size() const noexcept { return order_ + 1; } + bool solved() const { return c_.allFinite(); } + + Matrix<> H() const { return H_; } + Matrix<> A() const { return A_; } + Vector<> b() const { return b_; } + Matrix<> exponents() const { return exponents_.transpose(); } + Matrix<> alpha() const { return alpha_.transpose(); } + Vector<> coeffs() const { return c_; } + + Scalar tauFromTime(const Scalar t) const; + Vector<> tauVector(const Scalar tau, const int order = 0) const; + Vector<> tauVectorFromTime(const Scalar time, const int order = 0) const; + Matrix<> polyMatrix(const Scalar tau, const int order) const; + Matrix<> polyMatrixFromTime(const Scalar time, const int order) const; + + void reset(); + + private: + Matrix<> createH(const Vector<>& weights) const; + bool solve(const Matrix<>& H, const Matrix<>& A, const Vector<>& b); + + const int order_; + const int continuity_; + Vector<> c_; + const Array<> exponents_; + const Array<> alpha_; + + Vector<> weights_; // Weights on derivatives starting from velocity, + Matrix<> H_ = Matrix<>::Constant(1, order_, NAN); + Matrix<> A_ = Matrix<>::Constant(1, order_, NAN); + Vector<> b_ = Vector<>::Constant(1, NAN); + + Scalar t_scale_{1.0}; + Scalar t_offset_{0.0}; +}; + +// Closed-Form Minimum Jerk Specialization +template<> +Polynomial::Polynomial(const int order, const Vector<>& weights, + const int continuity) = delete; + +template<> +bool Polynomial::solve(const Matrix<>& H, const Matrix<>& A, + const Vector<>& b) = delete; + +class ClosedFormMinJerkAxis : public Polynomial { + public: + using Polynomial::Polynomial; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/reference/trajectory_reference/polynomial_trajectory.hpp b/src/agilicious/agilib/include/agilib/reference/trajectory_reference/polynomial_trajectory.hpp new file mode 100644 index 0000000..a1ec8b8 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/reference/trajectory_reference/polynomial_trajectory.hpp @@ -0,0 +1,109 @@ + +#pragma once + +#include "agilib/reference/reference_base.hpp" +#include "agilib/reference/trajectory_reference/polynomial.hpp" +#include "agilib/types/quadrotor.hpp" + +namespace agi { + +template> +class PolynomialTrajectory : public ReferenceBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + PolynomialTrajectory(const QuadState& start_state, const QuadState& end_state, + const Vector<>& weights = Vector<4>(0, 0, 0, 1), + const int order = 11, const int continuity = -1, + const std::string& name = "Polynomial Trajectory"); + PolynomialTrajectory(const std::vector& states, + const Vector<>& weights = Vector<4>(0, 0, 0, 1), + const int order = 11, + const std::string& name = "Polynomial Trajectory"); + virtual ~PolynomialTrajectory() = default; + + using ReferenceBase::getSetpoint; + Setpoint getSetpoint(const QuadState& state, const Scalar time) override; + QuadState getState(const Scalar time) const; + virtual Setpoint getStartSetpoint() override final; + virtual Setpoint getEndSetpoint() override final; + + bool addStateConstraint(const QuadState& state); + bool solved() const; + bool valid() const override; + + // utilities + Vector<> evalTranslation(const Scalar time, const int order = 0) const; + Scalar findTimeMaxAcc(const Scalar precision = 1e-3) const; + Scalar findTimeMaxOmega(const Scalar precision = 1e-3) const; + Scalar findTimeMaxAcc(const Scalar t_start, const Scalar t_end, + const Scalar precision = 1e-3) const; + Scalar findTimeMaxOmega(const Scalar t_start, const Scalar t_end, + const Scalar precision = 1e-3) const; + void scale(const Scalar start_time = NAN, const Scalar duration = NAN); + Scalar scaleToLimits(const Quadrotor& quad, const int iterations = 10, + const Scalar tolerance = 1e-4); + Scalar scaleToLimits(const Scalar acc_limit, const int iterations = 10, + const Scalar tolerance = 1e-4); + + void setForwardHeading(const bool forward); + virtual bool isTrajectoryReference() const override { return true; } + + protected: + template + Scalar findTime(const Scalar dt, const Scalar dt_min, const Scalar t_start, + const Scalar t_end, EvalFunc eval, CompFunc comp) const; + + QuadState end_state_; + PolyType x_; + PolyType y_; + PolyType z_; + PolyType yaw_; + + std::vector states_; + + mutable Quaternion q_pitch_roll_last_{1, 0, 0, 0}; + mutable Scalar yaw_last_{0.0}; + bool forward_heading_{false}; +}; + +// Child classes +class MinSnapTrajectory : public PolynomialTrajectory> { + public: + MinSnapTrajectory(const QuadState& start_state, const QuadState& end_state, + const int order = 11, const int continuity = 3, + const std::string& name = "Minimum Snap Trajectory") + : PolynomialTrajectory(start_state, end_state, Vector<4>(0, 0, 0, 1), order, + continuity, name) {} +}; + +class MinJerkTrajectory : public PolynomialTrajectory> { + public: + MinJerkTrajectory(const QuadState& start_state, const QuadState& end_state, + const int order = 11, const int continuity = 2, + const std::string& name = "Minimum Jerk Trajectory") + : PolynomialTrajectory(start_state, end_state, Vector<3>(0, 0, 1), order, + continuity, name) {} +}; + +// Closed-Form Minimum-Jerk Specialization +template<> +PolynomialTrajectory::PolynomialTrajectory( + const QuadState& start_state, const QuadState& end_state, + const Vector<>& weights, const int order, const int continuity, + const std::string& name); + +template<> +PolynomialTrajectory::PolynomialTrajectory( + const std::vector& states, const Vector<>& weights, + const int order, const std::string& name) = delete; + +class ClosedFormMinJerkTrajectory + : public PolynomialTrajectory { + public: + ClosedFormMinJerkTrajectory(const QuadState& start_state, + const QuadState& end_state) + : PolynomialTrajectory(start_state, end_state, Vector<3>(0, 0, 1), 5, 3, + "Closed-Form Mininum Jerk Trajectory") {} +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/reference/trajectory_reference/sampled_trajectory.hpp b/src/agilicious/agilib/include/agilib/reference/trajectory_reference/sampled_trajectory.hpp new file mode 100644 index 0000000..8a9216c --- /dev/null +++ b/src/agilicious/agilib/include/agilib/reference/trajectory_reference/sampled_trajectory.hpp @@ -0,0 +1,24 @@ +#pragma once + +#include "agilib/reference/reference_base.hpp" + +namespace agi { + +class SampledTrajectory : public ReferenceBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + SampledTrajectory(const SetpointVector& setpoints); + virtual ~SampledTrajectory() = default; + + virtual Setpoint getSetpoint(const QuadState& state, const Scalar t) override; + virtual Setpoint getStartSetpoint() override; + virtual Setpoint getEndSetpoint() override; + + private: + Setpoint interpolateSetpoints(const Setpoint& setpoint_1, + const Setpoint& setpoint_2, + const Scalar x) const; + SetpointVector setpoints_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/reference/velocity_reference.hpp b/src/agilicious/agilib/include/agilib/reference/velocity_reference.hpp new file mode 100644 index 0000000..7c5ffdc --- /dev/null +++ b/src/agilicious/agilib/include/agilib/reference/velocity_reference.hpp @@ -0,0 +1,33 @@ +#pragma once + +#include "agilib/reference/reference_base.hpp" + +namespace agi { + + +class VelocityReference : public ReferenceBase { + public: + VelocityReference(const QuadState& state, + const bool update_from_estimate = false, + const Scalar timeout = 1.0); + + virtual Setpoint getSetpoint(const QuadState& state, const Scalar t) override; + + bool update(const Vector<3>& velocity, const Scalar yaw_rate); + + virtual bool isVelocityRefernce() const override { return true; } + virtual bool isAbsolute() const override { return false; } + + private: + void updateTo(const QuadState& state); + + const bool update_from_estimate_; + Vector<3> v_ = Vector<3>::Zero(); + Scalar yaw_last_{0.0}; + Scalar yaw_rate_{0.0}; + const Scalar timeout_{1.0}; + Scalar t_last_update_{NAN}; + Logger logger_{name()}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/sampler/position_based/position_sampler.hpp b/src/agilicious/agilib/include/agilib/sampler/position_based/position_sampler.hpp new file mode 100644 index 0000000..c44a90e --- /dev/null +++ b/src/agilicious/agilib/include/agilib/sampler/position_based/position_sampler.hpp @@ -0,0 +1,28 @@ +#pragma once + +#include "agilib/sampler/position_based/position_sampler_params.hpp" +#include "agilib/sampler/sampler_base.hpp" + +namespace agi { + +class PositionSampler : public SamplerBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + PositionSampler(const PositionSamplerParameters ¶ms, + const int horizon_len, const Scalar horizon_dt); + PositionSampler(const PositionSamplerParameters ¶ms) + : PositionSampler(params, 10, 0.1){}; + ~PositionSampler(); + + bool getAt(const QuadState &state, + const std::vector> &references, + SetpointVector *const setpoints, int horizon_len = -1) const; + + bool isTimeBased() const { return false; } + + private: + mutable Scalar prev_query_time_ = NAN; + PositionSamplerParameters params_; +}; + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/sampler/position_based/position_sampler_params.hpp b/src/agilicious/agilib/include/agilib/sampler/position_based/position_sampler_params.hpp new file mode 100644 index 0000000..7d03513 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/sampler/position_based/position_sampler_params.hpp @@ -0,0 +1,23 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" + +namespace agi { + +struct PositionSamplerParameters : public ParameterBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + using ParameterBase::load; + bool load(const Yaml& node) override; + + // step size when searching reference for closest setpoint + Scalar search_dt_{0.01}; + // Due to imperfect tracking, prioritize future setpoints with this tolerance + Scalar search_tol_{0.001}; + // use axis-specific weights to compute the distance between setpoints + Vector<3> axis_weights_sqrt_; + + bool valid() const override; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/sampler/sampler_base.hpp b/src/agilicious/agilib/include/agilib/sampler/sampler_base.hpp new file mode 100644 index 0000000..a49a935 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/sampler/sampler_base.hpp @@ -0,0 +1,36 @@ +#pragma once + +#include + +#include "agilib/base/module.hpp" +#include "agilib/reference/reference_base.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/setpoint.hpp" + +namespace agi { + +class SamplerBase : public Module { + public: + SamplerBase(const std::string& name = "Sampler", const int horizon_len = 10, + const Scalar horizon_dt = 0.1); + virtual ~SamplerBase(); + + virtual bool getAt(const QuadState& state, const ReferenceVector& references, + SetpointVector* const setpoint, + int horizon_len = -1) const = 0; + + int getHorizonLength() const; + + Scalar getHorizonDt() const; + + bool getFull(const std::shared_ptr& reference, + SetpointVector* const setpoints) const; + + virtual bool isTimeBased() const = 0; + + protected: + int horizon_len_; + Scalar horizon_dt_; +}; + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/sampler/time_based/time_sampler.hpp b/src/agilicious/agilib/include/agilib/sampler/time_based/time_sampler.hpp new file mode 100644 index 0000000..3b76f97 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/sampler/time_based/time_sampler.hpp @@ -0,0 +1,20 @@ +#pragma once + +#include "agilib/sampler/sampler_base.hpp" + +namespace agi { + +class TimeSampler : public SamplerBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + TimeSampler(const int horizon_len, const Scalar horizon_dt); + TimeSampler() : TimeSampler(10, 0.1){}; + ~TimeSampler(); + + bool getAt(const QuadState &state, const ReferenceVector &references, + SetpointVector *const setpoints, int horizon_len = -1) const; + + bool isTimeBased() const { return true; } +}; + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/serial/cobs.hpp b/src/agilicious/agilib/include/agilib/serial/cobs.hpp new file mode 100644 index 0000000..7966453 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/serial/cobs.hpp @@ -0,0 +1,71 @@ +#pragma once + + +namespace agi { + +template +struct COBS { + static bool stuff(const char* const src, const int src_length, + char* const dst, int* const dst_length) { + if (src == nullptr || dst == nullptr) return false; + if (src_length < 1 || *dst_length < src_length + 1) return false; + + const char* src_ptr = src; + char* dst_ptr = dst; + + const char* const end = src + src_length; + char* last = dst_ptr++; + int count = 1; + + do { + if (*src_ptr != Delimiter) { + *dst_ptr++ = *src_ptr; + ++count; + } else { + if (count == Delimiter) count = 0; + *last = count; + last = dst_ptr++; + count = 1; + } + } while (++src_ptr < end); + + if (count == Delimiter) count = 0; + *last = count; + *dst_length = src_length + 1; + + return true; + } + + static int unstuff(const char* const src, const int src_length, + char* const dst, int* const dst_length) { + if (src == nullptr || dst == nullptr) return false; + if (src_length < 1 || *dst_length < src_length) return false; + + const char* src_ptr = src; + char* dst_ptr = dst; + + const char* end = src + src_length; + char count = *src_ptr++; + if (count == 0) count = Delimiter; + --count; + + do { + if (*src_ptr == Delimiter) return false; + if (count != 0) { + *dst_ptr++ = *src_ptr; + --count; + } else { + count = *src_ptr; + *dst_ptr++ = Delimiter; + if (count == 0) count = Delimiter; + --count; + } + } while (++src_ptr < end); + *dst_length = src_length - 1; + + return count == 0; + } +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/serial/crc.hpp b/src/agilicious/agilib/include/agilib/serial/crc.hpp new file mode 100644 index 0000000..0548034 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/serial/crc.hpp @@ -0,0 +1,46 @@ +#pragma once + +#include +#include +#include + +namespace agi { + +// This provides compile-time generated CRC table and runtime checking. +template +class CRC { + public: + using Type = crc_t; + static constexpr int SIZE = sizeof(crc_t); + + constexpr CRC() : CRC(std::make_integer_sequence()) {} + + constexpr crc_t compute(const char* const buffer, const int length) const { + crc_t crc = 0; + for (int i = 0; i < length; ++i) + crc = table[(crc ^ buffer[i]) & 0xFF] ^ (crc >> 8); + return (~crc) ^ std::numeric_limits::max(); + } + + private: + template + constexpr CRC(std::integer_sequence) + : table{prepare(pack)...} {} + static constexpr crc_t prepare(const crc_t val, const int iter = 8) { + return iter <= 0 + ? val + : prepare((val >> 1) ^ (val & 1 ? polynomial : 0), iter - 1); + } + constexpr crc_t operator[](const int i) const { return table[i]; } + + crc_t table[256]; +}; + +// Predefined CRC tables for 16, 32, 64 bit checksums. +// Polynomials according to ANSI/ISO. +// https://en.wikipedia.org/wiki/Cyclic_redundancy_check +using CRC16 = CRC; +using CRC32 = CRC; +using CRC64 = CRC; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/serial/serial.hpp b/src/agilicious/agilib/include/agilib/serial/serial.hpp new file mode 100644 index 0000000..29c833f --- /dev/null +++ b/src/agilicious/agilib/include/agilib/serial/serial.hpp @@ -0,0 +1,59 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "agilib/serial/serial_settings.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +class SerialPort { + public: + explicit SerialPort(const SerialSettings& settings); + ~SerialPort(); + + bool start(); + bool stop(); + bool isOpen() const; + + int send(const char* const buffer, const int length); + int receive(char* const buffer); + bool addReceiveCallback( + std::function function); + static constexpr int BUFFER_SIZE = 1024; + + private: + bool configure(const int baudrate); + void serialThread(); + + const SerialSettings settings_; + std::function + receive_callback_; + + int serial_fd_{-1}; + bool should_exit_{false}; + + std::thread serial_thread_; + + static constexpr size_t BS = BUFFER_SIZE; + + char receive_buffer_[BS]; + size_t received_length_{0u}; + + char received_message_[BS]; + size_t received_message_length_{0u}; + + std::mutex rc_mtx_; + std::mutex proc_mtx_; + std::mutex buffer_mtx; + std::condition_variable rc_cv_; + std::condition_variable proc_cv_; + + Logger logger_{"SerialPort"}; +}; + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/serial/serial_settings.hpp b/src/agilicious/agilib/include/agilib/serial/serial_settings.hpp new file mode 100644 index 0000000..135af68 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/serial/serial_settings.hpp @@ -0,0 +1,69 @@ +#pragma once + +#include +#include + +namespace agi { + +enum class SerialMode { Read, Write, ReadWrite }; + +class SerialSettings { + public: + explicit SerialSettings(const std::string& port, const int baudrate, + const SerialMode serial_mode = SerialMode::Write) + : baudrate(baudrate), serial_mode(serial_mode), port(port) {} + + explicit SerialSettings(const std::string& port, const int baudrate, + const char start_delimiter, const char end_delimiter, + const SerialMode serial_mode = SerialMode::ReadWrite) + : baudrate(baudrate), + serial_mode(serial_mode), + start_delimiter(start_delimiter), + end_delimiter(end_delimiter), + use_delimiter(true), + check_multiple_delimiters(true), + port(port) {} + + friend std::ostream& operator<<(std::ostream& os, + const SerialSettings& settings) { + os << "SerialSettings:\n" + << "Port: " << settings.port << "\n" + << "Baudrate: " << settings.baudrate << "\n" + << "Mode " << (int)settings.serial_mode << std::endl; + + if (settings.use_delimiter) { + os << "Start Delimiter: " << settings.start_delimiter << "\n" + << "End Delimiter: " << settings.end_delimiter << "\n" + << "Check multiple delimiters: " + << (settings.check_multiple_delimiters ? "yes" : "no") << std::endl; + } else { + os << "Not using delimiters!" << std::endl; + } + + return os; + } + + int baudrate; + SerialMode serial_mode{SerialMode::Write}; + bool sbus{false}; + char start_delimiter{0x00}; + char end_delimiter{0x00}; + bool use_delimiter{false}; + bool check_multiple_delimiters{false}; + std::string port; + + protected: + SerialSettings(const std::string& port) // constructor for SBUS child class. + : baudrate(100000), + serial_mode(SerialMode::Write), + sbus(true), + use_delimiter(false), + port(port) {} +}; + +class SbusSerialSettings : public SerialSettings { + public: + SbusSerialSettings(const std::string& port) : SerialSettings(port) {} +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/bem/brent.hpp b/src/agilicious/agilib/include/agilib/simulator/bem/brent.hpp new file mode 100644 index 0000000..c112e82 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/bem/brent.hpp @@ -0,0 +1,193 @@ +#pragma once + +#include + +// Agilib +#include "agilib/math/math.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/timer.hpp" + +namespace agi { + +template +struct BrentFunction { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + virtual ~BrentFunction() = default; + virtual ArrayVector evaluate( + const Ref>) const = 0; + + static constexpr int SIZE = rows; +}; + + +template +class Brent { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + void setTolerance(const Scalar tol); + int find_root(const Function&, const Scalar range_min, const Scalar range_max, + const ArrayVector& initial_guess, + const bool warmstart, + Ref>&& result) const; + + + static constexpr int SUCCESS = 1; + static constexpr int CONTINUE = 0; + static constexpr int ERROR = 2; + + private: + int step(const int i, ArrayVector& f_x0, + ArrayVector& f_x1, ArrayVector& f_x2, + ArrayVector& x0, ArrayVector& x1, + ArrayVector& x2, ArrayVector& x3, + ArrayVector& x4) const; + + Logger logger_{"Brent"}; + + static constexpr int max_iter_ = 100; + Scalar tol_ = 1E-3; + Scalar warmstart_delta_ = 0.02; +}; + + +template +void Brent::setTolerance(const Scalar tol) { + this->tol_ = tol; +} + +template +int Brent::find_root( + const Function& fcn, const Scalar range_min, const Scalar range_max, + const ArrayVector& initial_guess, const bool warmstart, + Ref>&& result) const { + // Start up + bool err_flag = false; + Scalar scale = range_max - range_min; + ArrayVector x0, x1, x2, x3, x4; + ArrayVector f_x0, f_x1, f_x2; + if (warmstart) { + x0 = initial_guess - scale * warmstart_delta_; + x1 = initial_guess + scale * warmstart_delta_; + f_x0 = fcn.evaluate(x0); + f_x1 = fcn.evaluate(x1); + } + if (!warmstart || (f_x0 * f_x1 > 0).any()) { + if (warmstart) logger_.debug("Warmstarting failed!"); + x0.setConstant(range_min); + x1.setConstant(range_max); + f_x0 = fcn.evaluate(x0); + f_x1 = fcn.evaluate(x1); + } + + + if ((f_x0 * f_x1 > 0).any()) { + err_flag = true; + } + + x2 = x0; + f_x2 = f_x0; + + x3 = x1 - x0; + x4 = x3; + + // Solving + int iter = 0; + ArrayVector retVal; + retVal.setZero(); + while (!(retVal == 1).all() && !(retVal == 2).any() && iter < max_iter_ && + !err_flag) { + for (int i = 0; i < Function::SIZE; ++i) { + retVal(i) = step(i, f_x0, f_x1, f_x2, x0, x1, x2, x3, x4); + } + f_x1 = fcn.evaluate(x1); + ++iter; + } + result = x1; + return retVal.maxCoeff(); +} + +template +int Brent::step(const int i, ArrayVector& f_x0, + ArrayVector& f_x1, + ArrayVector& f_x2, + ArrayVector& x0, + ArrayVector& x1, + ArrayVector& x2, + ArrayVector& x3, + ArrayVector& x4) const { + if (i > Function::SIZE) { + return ERROR; + } + + + if (f_x1(i) * f_x2(i) > 0) { + x2(i) = x0(i); + f_x2(i) = f_x0(i); + x3(i) = x1(i) - x0(i); + x4(i) = x3(i); + } + + if (std::abs(f_x2(i)) < std::abs(f_x1(i))) { + x0(i) = x1(i); + x1(i) = x2(i); + x2(i) = x0(i); + + f_x0(i) = f_x1(i); + f_x1(i) = f_x2(i); + f_x2(i) = f_x0(i); + } + + const Scalar m = 0.5 * (x2(i) - x1(i)); + + if (std::abs(m) > tol_ && std::abs(f_x1(i)) > 0) { + if (std::abs(x4(i)) < tol_ || std::abs(f_x0(i)) <= std::abs(f_x1(i))) { + x3(i) = m; + x4(i) = m; + } else { + Scalar s = f_x1(i) / f_x0(i); + Scalar p, q, r; + if (x0(i) == x2(i)) { + p = 2 * m * s; + q = 1 - s; + } else { + q = f_x0(i) / f_x2(i); + r = f_x1(i) / f_x2(i); + p = s * (2 * m * q * (q - r) - (x1(i) - x0(i)) * (r - 1)); + q = (q - 1) * (r - 1) * (s - 1); + } + if (p > 0) { + q = -q; + } else { + p = -p; + } + s = x4(i); + x4(i) = x3(i); + if ((2 * p < 3 * m * q - std::abs(tol_ * q)) && + (p < std::abs(s * q / 2))) { + x3(i) = p / q; + } else { + x3(i) = m; + x4(i) = m; + } + } + + x0(i) = x1(i); + f_x0(i) = f_x1(i); + + if (std::abs(x3(i)) > tol_) { + x1(i) += x3(i); + } else { + if (m > 0) { + x1(i) += tol_; + } else { + x1(i) -= tol_; + } + } + } else { + return SUCCESS; + } + return CONTINUE; +} + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/bem/functions.hpp b/src/agilicious/agilib/include/agilib/simulator/bem/functions.hpp new file mode 100644 index 0000000..b49505e --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/bem/functions.hpp @@ -0,0 +1,81 @@ +#pragma once + +#include +#include +#include + +// Agilib +#include "agilib/math/fast_atan2.hpp" +#include "agilib/utils/timer.hpp" + +// BEM +#include "agilib/simulator/bem/brent.hpp" +#include "agilib/simulator/bem/gauss_kronrod.hpp" +#include "agilib/simulator/bem/propeller_state.hpp" + +namespace agi { + + +struct IntegrandParam { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + ArrayVector vind; + Scalar radius; +}; + +class IntegrandPsi : public GaussKronrodFunction { + public: + enum TYPE : int { THRUST = 1, TORQUE = 2, HFORCE = 3 }; + + IntegrandPsi(const TYPE type) : type_{type} {} + + void setState(std::shared_ptr& pstate) { pstate_ = pstate; } + + Array evaluate(const Ref> Psi, + const void* const param) const override; + + private: + std::shared_ptr pstate_; + const TYPE type_; +}; + +class IntegrandR : public GaussKronrodFunction { + public: + IntegrandR() = default; + void setState(std::shared_ptr& pstate, + std::shared_ptr& fPsi) { + pstate_ = pstate; + fPsi_ = fPsi; + } + + Array<4, 15> evaluate(const Ref> r, + const void* const param = nullptr) const override; + + + private: + std::shared_ptr pstate_; + std::shared_ptr> fPsi_; + const GaussKronrod> gk_{}; +}; + + +class ThrustFunction : public BrentFunction { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ThrustFunction() = default; + void setState(std::shared_ptr& pstate, + std::shared_ptr& fR) { + pstate_ = pstate; + fR_ = fR; + } + + ArrayVector<4> evaluate(const Ref> vind) const override; + + + private: + std::shared_ptr pstate_; + std::shared_ptr> fR_; + const GaussKronrod> gk_{}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/bem/gauss_kronrod.hpp b/src/agilicious/agilib/include/agilib/simulator/bem/gauss_kronrod.hpp new file mode 100644 index 0000000..9b3b1e3 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/bem/gauss_kronrod.hpp @@ -0,0 +1,105 @@ +#pragma once + +#include "agilib/math/math.hpp" + +namespace agi { + +template +struct GaussKronrodResult { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + GaussKronrodResult(const ArrayVector result, + const ArrayVector error) + : result_{result}, error_{error} {} + const ArrayVector result_; + const ArrayVector error_; +}; + + +template +struct GaussKronrodFunction { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + virtual ~GaussKronrodFunction() = default; + virtual Array evaluate(const Ref>, + const void* const = nullptr) const = 0; + static constexpr int SIZE = rows; +}; + + +template +class GaussKronrod { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + static constexpr int NK = 15; + + GaussKronrodResult integrate( + const Function& fcn, const Scalar range_min, const Scalar range_max, + const void* const param = nullptr) const { + const Scalar scale = 0.5 * (range_max - range_min); + const Scalar offset = 0.5 * (range_max + range_min); + const ArrayVector kronrod_abscissae = + this->kronrod_abscissae_.array() * scale + offset; + + const Array kronrod_res = + fcn.evaluate(kronrod_abscissae, param); + const ArrayVector gauss = + kronrod_res.matrix() * gauss_weights_.matrix(); + const ArrayVector kronrod = + kronrod_res.matrix() * kronrod_weights_.matrix(); + return GaussKronrodResult(kronrod * scale, + (kronrod - gauss).abs() * scale); + } + + private: + // https://www.advanpix.com/2011/11/07/gauss-kronrod-quadrature-nodes-weights/ + + // Note the 0's to get rid of every second value + const ArrayVector gauss_weights_ = + (ArrayVector() << 0, 1.294849661688696932706114326790820e-01, 0, + 2.797053914892766679014677714237796e-01, 0, + 3.818300505051189449503697754889751e-01, 0, + 4.179591836734693877551020408163265e-01, 0, + 3.818300505051189449503697754889751e-01, 0, + 2.797053914892766679014677714237796e-01, 0, + 1.294849661688696932706114326790820e-01, 0) + .finished(); + + const ArrayVector kronrod_abscissae_ = + (ArrayVector() << -9.914553711208126392068546975263285e-01, + -9.491079123427585245261896840478513e-01, + -8.648644233597690727897127886409262e-01, + -7.415311855993944398638647732807884e-01, + -5.860872354676911302941448382587296e-01, + -4.058451513773971669066064120769615e-01, + -2.077849550078984676006894037732449e-01, + 0.000000000000000000000000000000000e+00, + 2.077849550078984676006894037732449e-01, + 4.058451513773971669066064120769615e-01, + 5.860872354676911302941448382587296e-01, + 7.415311855993944398638647732807884e-01, + 8.648644233597690727897127886409262e-01, + 9.491079123427585245261896840478513e-01, + 9.914553711208126392068546975263285e-01) + .finished(); + + + const ArrayVector kronrod_weights_ = + (ArrayVector() << 2.293532201052922496373200805896959e-02, + 6.309209262997855329070066318920429e-02, + 1.047900103222501838398763225415180e-01, + 1.406532597155259187451895905102379e-01, + 1.690047266392679028265834265985503e-01, + 1.903505780647854099132564024210137e-01, + 2.044329400752988924141619992346491e-01, + 2.094821410847278280129991748917143e-01, + 2.044329400752988924141619992346491e-01, + 1.903505780647854099132564024210137e-01, + 1.690047266392679028265834265985503e-01, + 1.406532597155259187451895905102379e-01, + 1.047900103222501838398763225415180e-01, + 6.309209262997855329070066318920429e-02, + 2.293532201052922496373200805896959e-02) + .finished(); +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/bem/propeller_data.hpp b/src/agilicious/agilib/include/agilib/simulator/bem/propeller_data.hpp new file mode 100644 index 0000000..5a4767d --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/bem/propeller_data.hpp @@ -0,0 +1,38 @@ +#pragma once + +#include +#include +#include +#include + +namespace agi { + + +struct PropellerData { + /* PARAMETER DECLARATIONS */ + Scalar rho_ = 1.204; // ISA air density [kg / m^3] + Scalar r_prop_ = 5.1 * 2.54 / 2.0 * 1e-02; // Propeller Radius in [m] + Scalar prop_area_ = M_PI * r_prop_ * r_prop_; // Propeller Area [m^2] + Scalar ef_ = 0.1; // Hinge offset (relative) + Scalar e_ = ef_ * r_prop_; // Hinge offset [m] + Scalar sigma_ = 0.215; // Propeller Solidity Ratio + Scalar theta0_ = toRad(22.95); // Propeller Pitch [rad] + Scalar theta1_ = toRad(-8.0); // Propeller Twist [rad/m] + Scalar b_ = 3; // Number of Propeller Blades + Scalar ci_ = 1.7 * 1e-02; // Chord length [m] + Scalar co_ = 0.8 * 1e-02; // Chord length [m] + Scalar mb_ = 1.22e-3; // Mass of one blade [kg] + Scalar cg_ = 2.7e-3; // Distance of prop CoG to shaft + Scalar inertia_blade_ = + mb_ * cg_ * cg_ + 0.25 * r_prop_ * r_prop_ / 12.0; // Inertia of one blade + Scalar moment_blade_ = mb_ * cg_ * G; // Moment of blade around the hinge + Scalar cd_ = 4.168863; // Constant drag coefficient + Scalar cl_ = 4.797071; // Slope of the lift curve in [1/rad] + Scalar k_spring_ = 5.89; // Spring constant of the hinge spring + + bool update(); + bool valid() const; + friend std::ostream& operator<<(std::ostream& os, const PropellerData& p); +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/bem/propeller_state.hpp b/src/agilicious/agilib/include/agilib/simulator/bem/propeller_state.hpp new file mode 100644 index 0000000..dbca122 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/bem/propeller_state.hpp @@ -0,0 +1,47 @@ +#pragma once + +#include "agilib/math/fast_atan2.hpp" +#include "agilib/math/math.hpp" +#include "agilib/math/types.hpp" +#include "agilib/simulator/bem/propeller_data.hpp" +#include "agilib/simulator/model_propeller_bem_params.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +struct PropellerState { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + PropellerState(const BEMParameters& params); + + BEMParameters param_; + ArrayVector<3> flu_conv_frd_{1, -1, -1}; + ArrayVector omega_mot_; + Vector<3> vel_; + Vector<3> w_; + Matrix<3, 3> rot_; + Matrix<3, QS::NMOT> velocity_; + + Vector vhor_; + Vector vver_; + Vector vtot_; + ArrayVector alpha_s_; + Vector mu_; + Vector K_; + + // to be calculated + Vector vind_; // induced velocity + Vector a0_; // coning angle + Vector a1s_; // longitudinal flapping angle + Vector b1s_; // lateral flapping angle + ArrayVector thrust_; // thrust of the propeller + ArrayVector torque_; // drag torque of the propeller + ArrayVector hforce_; // h-force of the propeller + + void update(const Ref>& state, + const Ref>& t_BM); + + void calculateFlapping(); + friend std::ostream& operator<<(std::ostream& os, const PropellerState& s); +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/low_level_controller_base.hpp b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_base.hpp new file mode 100644 index 0000000..4f73414 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_base.hpp @@ -0,0 +1,50 @@ +#pragma once + +#include "agilib/base/module.hpp" +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/math.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" + +namespace agi { + +class LowLevelControllerBase : public Module { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + public: + LowLevelControllerBase(const Quadrotor& quad, const Scalar ctrl_dt, + const std::string& name = "LowLevelControllerBase"); + ~LowLevelControllerBase() override = default; + virtual bool updateQuad(const Quadrotor&); + virtual bool setState(const QuadState& state); + virtual bool setCommand(const Command& cmd); + virtual bool getMotorCommand(Ref> motors); + virtual bool setParamDir(const fs::path& param_dir); + + + protected: + // Command + Command cmd_; + + // State of Quadrotor + QuadState state_; + + // Control Frequency + const float ctrl_dt_; + + // Motor speeds calculated by the controller + Vector<4> motor_omega_des_; + + // Quadcopter to which the controller is applied + Quadrotor quad_; + + // Directory to load parameters or thrust maps + fs::path param_dir_; + + // Method that runs controller + virtual void run() = 0; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/low_level_controller_betaflight.hpp b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_betaflight.hpp new file mode 100644 index 0000000..d862196 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_betaflight.hpp @@ -0,0 +1,45 @@ +#pragma once + +#include +#include +#include + +#include "agilib/simulator/low_level_controller_base.hpp" +#include "agilib/simulator/low_level_controller_betaflight_params.hpp" +#include "agilib/utils/low_pass_filter.hpp" + +namespace agi { + +class LowLevelControllerBetaflight : public LowLevelControllerBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + LowLevelControllerBetaflight(Quadrotor quad, const Scalar ctrl_dt, + const LowLevelControllerBetaflightParams& params, + const std::string& name = "BetaFlight"); + bool setCommand(const Command& cmd) override; + bool setState(const QuadState& state) override; + void run() override; + bool updateQuad(const Quadrotor& quad) override; + + private: + // Quadrotor properties: allocation in BFL style + // 1, -1, 1, 1, + // 1, -1, -1, -1, + // 1, 1, 1, -1, + // 1, 1, -1, 1 + const Matrix<4, 4> B_allocation_ = + (Matrix<4, 4>() << 1, -1, -1, -1, 1, 1, 1, -1, 1, -1, 1, 1, 1, 1, -1, 1) + .finished(); + + // Battery Voltage: fixed for now, add voltage model in the future + Scalar voltage_ = 15.0; + + std::shared_ptr> gyro_lpf_; + std::shared_ptr> dterm_lpf_; + ArrayVector<3> error_integral_; + LowLevelControllerBetaflightParams params_; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/low_level_controller_betaflight_params.hpp b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_betaflight_params.hpp new file mode 100644 index 0000000..9d82f59 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_betaflight_params.hpp @@ -0,0 +1,76 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/bridge/thrust_map.hpp" +#include "agilib/math/types.hpp" +#include "agilib/simulator/low_level_controller_base.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +struct LowLevelControllerBetaflightParams : public ParameterBase { + LowLevelControllerBetaflightParams(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + bool loadThrustMap(const fs::path& agi_param_dir); + + bool valid() const override; + + Vector<4> getDSHOT(const Vector<4>& thr); + friend std::ostream& operator<<(std::ostream& os, + const LowLevelControllerBetaflightParams& p); + + // Thrust Map Commanded Thrust to SBUS + fs::path tmap_file_; + ThrustMap tmap_; + + // Directly put the values from the BFL GUI there + // PID Parameters + ArrayVector<3> kp_{40, 40, 30}; + ArrayVector<3> ki_{80, 80, 60}; + ArrayVector<3> kd_{20, 20, 0}; + + // Directly put the values from the BFL GUI there + // Throttle settings + Scalar bfl_min_throttle_ = 1070; + Scalar bfl_max_throttle_ = 2000; + Scalar bfl_dshot_offset_ = 0.055; + + // Directly put the values from the BFL GUI there + // Lowpass Filter Settings + Scalar freq_lpf_gyro_ = 250; + Scalar freq_lpf_dterm = 170; + + // Some properties of the protocols involved + // DSHOT Command properties + static constexpr size_t PWM_MAX_VAL = 2000; + static constexpr size_t PWM_MIN_VAL = 1000; + static constexpr size_t PWM_RANGE = PWM_MAX_VAL - PWM_MIN_VAL; + + // DSHOT Command properties + static constexpr size_t DSHOT_MAX_VAL = 2048; + static constexpr size_t DSHOT_MIN_VAL = 48; + static constexpr size_t DSHOT_RANGE = DSHOT_MAX_VAL - DSHOT_MIN_VAL; + + // SBUS to normalized motor command + static constexpr size_t SBUS_MIN_VAL = 192; + static constexpr size_t SBUS_MAX_VAL = 1792; + static constexpr size_t SBUS_VAL_RANGE = SBUS_MAX_VAL - SBUS_MIN_VAL; + + // Identified via "BetaflightID_v2.m" (ask Leonard if you want to know more) + // No reason behind this, it is what it is! + static constexpr Scalar p_gain_scaling = 1.818e-3; + static constexpr Scalar i_gain_scaling = 16.67e-6; + static constexpr Scalar d_gain_scaling = -31.25e-6; + static constexpr Scalar i_gain_limit = 0.1; + + static constexpr Scalar omega_cmd_sqrt = 79.79; + static constexpr Scalar omega_cmd_lin = 0.04071; + static constexpr Scalar omega_volt = 61.31; + static constexpr Scalar omega_offset = -1933.2; + + Logger logger_{"BetaFlightParams"}; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/low_level_controller_simple.hpp b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_simple.hpp new file mode 100644 index 0000000..b8c3f93 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_simple.hpp @@ -0,0 +1,30 @@ +#pragma once + +#include + +#include "agilib/simulator/low_level_controller_base.hpp" +#include "agilib/simulator/low_level_controller_simple_params.hpp" +#include "agilib/utils/yaml.hpp" + +namespace agi { + +class LowLevelControllerSimple : public LowLevelControllerBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + LowLevelControllerSimple(Quadrotor quad, const Scalar ctrl_dt, + const LowLevelControllerSimpleParams& params, + const std::string& name = "SimpleLLC"); + bool setCommand(const Command& cmd) override; + void run() override; + bool updateQuad(const Quadrotor& quad) override; + + private: + // Quadrotor properties + Matrix<4, 4> B_allocation_; + Matrix<4, 4> B_allocation_inv_; + LowLevelControllerSimpleParams params_; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/low_level_controller_simple_params.hpp b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_simple_params.hpp new file mode 100644 index 0000000..3f465f2 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/low_level_controller_simple_params.hpp @@ -0,0 +1,21 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +struct LowLevelControllerSimpleParams : public ParameterBase { + LowLevelControllerSimpleParams(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + // P gain for body rate control + Matrix<3, 3> Kinv_ang_vel_tau; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_base.hpp b/src/agilicious/agilib/include/agilib/simulator/model_base.hpp new file mode 100644 index 0000000..927fba3 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_base.hpp @@ -0,0 +1,31 @@ +#pragma once + +#include + +#include "agilib/math/types.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/yaml.hpp" + + +namespace agi { + +class ModelBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ModelBase(Quadrotor& quad); + virtual ~ModelBase() = default; + + virtual bool updateQuad(const Quadrotor&); + + // IN: State x + // IN-OUT: Derivative of State + virtual bool run(const Ref>, + Ref>) const = 0; + + protected: + Quadrotor quad_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_body_drag.hpp b/src/agilicious/agilib/include/agilib/simulator/model_body_drag.hpp new file mode 100644 index 0000000..4fab5a0 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_body_drag.hpp @@ -0,0 +1,24 @@ +#pragma once + +#include "agilib/math/math.hpp" +#include "agilib/simulator/model_base.hpp" +#include "agilib/simulator/model_body_drag_params.hpp" + +namespace agi { + +class ModelBodyDrag : public ModelBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ModelBodyDrag(Quadrotor quad, + const BodyDragParameters& params = BodyDragParameters()); + + bool run(const Ref>, + Ref>) const override; + + private: + BodyDragParameters params_; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_body_drag_params.hpp b/src/agilicious/agilib/include/agilib/simulator/model_body_drag_params.hpp new file mode 100644 index 0000000..956fc24 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_body_drag_params.hpp @@ -0,0 +1,25 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +struct BodyDragParameters : public ParameterBase { + BodyDragParameters(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + Scalar cxy_; // Drag coefficient in body x/y plane + Scalar cz_; // Drag coefficient in body z plane + Scalar ax_; // Area of the Quadcopter + Scalar ay_; // Area of the Quadcopter + Scalar az_; // Area of the Quadcopter + Scalar rho_; // ISA air density [kg / m^3] +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_init.hpp b/src/agilicious/agilib/include/agilib/simulator/model_init.hpp new file mode 100644 index 0000000..5335ef6 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_init.hpp @@ -0,0 +1,18 @@ +#pragma once + +#include "agilib/math/math.hpp" +#include "agilib/simulator/model_base.hpp" + +namespace agi { + +class ModelInit : public ModelBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ModelInit(Quadrotor quad) : ModelBase(quad) {} + bool run(const Ref>, + Ref>) const override; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_lin_cub_drag.hpp b/src/agilicious/agilib/include/agilib/simulator/model_lin_cub_drag.hpp new file mode 100644 index 0000000..061398a --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_lin_cub_drag.hpp @@ -0,0 +1,24 @@ +#pragma once + +#include "agilib/math/math.hpp" +#include "agilib/simulator/model_base.hpp" +#include "agilib/simulator/model_lin_cub_drag_params.hpp" + +namespace agi { + +class ModelLinCubDrag : public ModelBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ModelLinCubDrag(Quadrotor quad, + const LinCubDragParameters& params = LinCubDragParameters()); + + bool run(const Ref>, + Ref>) const override; + + private: + LinCubDragParameters params_; +}; + + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/simulator/model_lin_cub_drag_params.hpp b/src/agilicious/agilib/include/agilib/simulator/model_lin_cub_drag_params.hpp new file mode 100644 index 0000000..876f39b --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_lin_cub_drag_params.hpp @@ -0,0 +1,22 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +struct LinCubDragParameters : public ParameterBase { + LinCubDragParameters(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + Vector<3> lin_drag_coeff_; + Vector<3> cub_drag_coeff_; + Scalar induced_lift_coeff_ = NAN; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_motor.hpp b/src/agilicious/agilib/include/agilib/simulator/model_motor.hpp new file mode 100644 index 0000000..d10a5b3 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_motor.hpp @@ -0,0 +1,19 @@ +#pragma once + +#include "agilib/math/math.hpp" +#include "agilib/simulator/model_base.hpp" + +namespace agi { + +class ModelMotor : public ModelBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ModelMotor(Quadrotor quad) : ModelBase(quad) {} + + bool run(const Ref>, + Ref>) const override; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_propeller_bem.hpp b/src/agilicious/agilib/include/agilib/simulator/model_propeller_bem.hpp new file mode 100644 index 0000000..90b9191 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_propeller_bem.hpp @@ -0,0 +1,62 @@ +#pragma once + +#include + +#include +#include + +// Agilib +#include "agilib/math/gravity.hpp" +#include "agilib/math/math.hpp" +#include "agilib/simulator/model_base.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/timer.hpp" + +// BEM +#include "agilib/simulator/bem/brent.hpp" +#include "agilib/simulator/bem/functions.hpp" +#include "agilib/simulator/bem/gauss_kronrod.hpp" +#include "agilib/simulator/bem/propeller_data.hpp" +#include "agilib/simulator/bem/propeller_state.hpp" + +namespace agi { + + +/* Note: this needs to be in the pipeline after the motor model ran. The angular + * acceleration of the motors is actually used to calculate the gyroscopic + * forces of the propeller. + */ +class ModelPropellerBEM : public ModelBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + public: + ModelPropellerBEM(Quadrotor quad, + const BEMParameters& params = BEMParameters()); + ~ModelPropellerBEM() override; + + bool run(const Ref>, + Ref>) const override; + + private: + // due to frame obscurring parts of the area below + const Scalar thrust_scale_ = 0.9575; + const GaussKronrod> gk_; + + mutable std::shared_ptr prop_state_; + mutable std::shared_ptr f_psi_thrust_; + mutable std::shared_ptr f_psi_torque_; + mutable std::shared_ptr f_psi_hforce_; + mutable std::shared_ptr f_r_thrust_; + mutable std::shared_ptr f_r_torque_; + mutable std::shared_ptr f_r_hforce_; + mutable std::shared_ptr f_v1_; + mutable ArrayVector vind_; // induced velocity + mutable ArrayVector vind_h_; // vortex ring state fit + Brent> vind_solver_; + + Logger logger_{"BEM Model"}; + mutable Timer timer_{"BEM Model"}; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_propeller_bem_params.hpp b/src/agilicious/agilib/include/agilib/simulator/model_propeller_bem_params.hpp new file mode 100644 index 0000000..4eb6b48 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_propeller_bem_params.hpp @@ -0,0 +1,37 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" +#include "agilib/utils/logger.hpp" + +namespace agi { + +struct BEMParameters : public ParameterBase { + BEMParameters(); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + friend std::ostream& operator<<(std::ostream& os, const BEMParameters& p); + + + Scalar rho_; // ISA air density [kg / m^3] + Scalar r_prop_; // Propeller Radius in [m] + Scalar prop_area_; // Propeller Area [m^2] + Scalar ef_; // Hinge offset (relative) + Scalar e_; // Hinge offset [m] + Scalar sigma_; // Propeller Solidity Ratio + Scalar theta0_; // Propeller Pitch [rad] + Scalar theta1_; // Propeller Twist [rad/m] + Scalar b_; // Number of Propeller Blades + Scalar ci_; // Chord length [m] + Scalar co_; // Chord length [m] + Scalar mb_; // Mass of one blade [kg] + Scalar cg_; // Distance of prop CoG to shaft + Scalar cd_; // Constant drag coefficient + Scalar cl_; // Slope of the lift curve in [1/rad] + Scalar k_spring_; // Spring constant of the hinge spring +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_rigid_body.hpp b/src/agilicious/agilib/include/agilib/simulator/model_rigid_body.hpp new file mode 100644 index 0000000..774496e --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_rigid_body.hpp @@ -0,0 +1,19 @@ +#pragma once + +#include "agilib/math/math.hpp" +#include "agilib/simulator/model_base.hpp" + +namespace agi { + +class ModelRigidBody : public ModelBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ModelRigidBody(Quadrotor quad) : ModelBase(quad){}; + + bool run(const Ref>, + Ref>) const override; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/model_thrust_torque_simple.hpp b/src/agilicious/agilib/include/agilib/simulator/model_thrust_torque_simple.hpp new file mode 100644 index 0000000..96a9ecd --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/model_thrust_torque_simple.hpp @@ -0,0 +1,23 @@ +#pragma once + +#include "agilib/math/gravity.hpp" +#include "agilib/simulator/model_base.hpp" + +namespace agi { + +class ModelThrustTorqueSimple : public ModelBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ModelThrustTorqueSimple(Quadrotor quad); + + bool updateQuad(const Quadrotor&) override; + bool run(const Ref>, + Ref>) const override; + + private: + Matrix<4, 4> B_allocation_; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/quadrotor_simulator.hpp b/src/agilicious/agilib/include/agilib/simulator/quadrotor_simulator.hpp new file mode 100644 index 0000000..7ed4919 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/quadrotor_simulator.hpp @@ -0,0 +1,85 @@ +#pragma once + +// std +#include +#include +#include + +// agilib +#include "agilib/base/module.hpp" +#include "agilib/math/integrator_symplectic_euler.hpp" +#include "agilib/math/types.hpp" +#include "agilib/simulator/low_level_controller_betaflight.hpp" +#include "agilib/simulator/low_level_controller_simple.hpp" +#include "agilib/simulator/model_base.hpp" +#include "agilib/simulator/model_init.hpp" +#include "agilib/simulator/model_motor.hpp" +#include "agilib/simulator/model_rigid_body.hpp" +#include "agilib/simulator/model_thrust_torque_simple.hpp" +#include "agilib/simulator/simulator_base.hpp" +#include "agilib/simulator/simulator_params.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" + +namespace agi { + +class QuadrotorSimulator : public SimulatorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + QuadrotorSimulator(const Quadrotor &quadrotor); + QuadrotorSimulator(const SimulatorParams ¶ms = SimulatorParams()); + + // reset + bool reset(const bool &reset_time = true) override; + bool reset(const QuadState &state) override; + + // run the quadrotor simulator + bool run(const Scalar ctl_dt) override; + bool run(const Command &cmd, const Scalar ctl_dt); + + // public get functions + bool getState(QuadState *const state) const override; + bool getQuadrotor(Quadrotor *const quad) const; + const Quadrotor &getQuadrotor() const; + const std::shared_ptr getLowLevelController() const; + + // public set functions + bool setState(const QuadState &state) override; + bool setCommand(const Command &cmd); + bool updateQuad(const Quadrotor &quad); + void clearModelPipeline() { model_pipeline_.clear(); } + + + // public pipeline construction + template + std::shared_ptr addModel(const T &&mdl) { + static_assert(std::is_base_of::value, + "Model must be derived from ModelBase"); + model_pipeline_.push_back(std::make_shared(mdl)); + return std::dynamic_pointer_cast(model_pipeline_.back()); + } + + + private: + // quadrotor dynamics, integrator + SimulatorParams params_; + std::shared_ptr ctrl_; + std::vector> model_pipeline_; + std::shared_ptr integrator_ptr_; + + + // control command + std::queue cmd_queue_; + + // quadrotor state + QuadState state_; + + void updateState(const QuadState &, Scalar); + DynamicsFunction getDynamics() const; + bool computeDynamics(const Ref>, + Ref>) const; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/simulator_base.hpp b/src/agilicious/agilib/include/agilib/simulator/simulator_base.hpp new file mode 100644 index 0000000..035ab8e --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/simulator_base.hpp @@ -0,0 +1,28 @@ +#pragma once + +// agi +#include "agilib/base/module.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +class SimulatorBase : public Module { + public: + SimulatorBase(const std::string& name = "Simulator"); + virtual ~SimulatorBase(); + + // reset + virtual bool reset(const bool& reset_time = true) = 0; + virtual bool reset(const QuadState& state) = 0; + + // run the simulator + virtual bool run(const Scalar dt) = 0; + + // public get function + virtual bool getState(QuadState* const state) const = 0; + + // public set function + virtual bool setState(const QuadState& state) = 0; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/simulator/simulator_params.hpp b/src/agilicious/agilib/include/agilib/simulator/simulator_params.hpp new file mode 100644 index 0000000..dc43323 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/simulator/simulator_params.hpp @@ -0,0 +1,48 @@ +#pragma once + +#include "agilib/base/module.hpp" +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/integrator_base.hpp" +#include "agilib/simulator/low_level_controller_base.hpp" +#include "agilib/simulator/model_base.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/module_config.hpp" + +namespace agi { +class SimulatorParams : public ParameterBase { + public: + SimulatorParams(const Quadrotor& quadrotor = Quadrotor()); + SimulatorParams(const fs::path& filename, + const fs::path& agi_param_directory = "", + const fs::path& ros_param_directory = ""); + + using ParameterBase::load; + bool load(const Yaml& node) override; + + bool valid() const override; + + bool createModelPipeline( + std::vector>& model_pipeline) const; + bool createLowLevelController( + std::shared_ptr& ctrl) const; + bool createIntegrator(std::shared_ptr& integrator, + DynamicsFunction dynamics_function) const; + + fs::path agi_param_directory_; + fs::path ros_param_directory_; + + std::string controller_name_; + fs::path controller_file_; + + std::string integrator_name_; + Scalar sim_dt_; + Scalar delay_; + + fs::path quad_file_; + Quadrotor quadrotor_; + + private: + Logger logger_{"SimulatorParams"}; + std::vector model_configs_; +}; +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/types/command.hpp b/src/agilicious/agilib/include/agilib/types/command.hpp new file mode 100644 index 0000000..a54ffdb --- /dev/null +++ b/src/agilicious/agilib/include/agilib/types/command.hpp @@ -0,0 +1,39 @@ +#pragma once + +#include "agilib/math/types.hpp" + +namespace agi { + +struct Command { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Command(); + + Command(const Scalar t, const Scalar thrust, const Vector<3>& omega); + + Command(const Scalar t, const Vector<4>& thrusts); + + Command(const Scalar t); + + bool valid() const; + bool isSingleRotorThrusts() const; + bool isRatesThrust() const; + + /// time in [s] + Scalar t{NAN}; + + /// Collective mass-normalized thrust in [m/s^2] + Scalar collective_thrust{NAN}; + + /// Bodyrates in [rad/s] + Vector<3> omega{NAN, NAN, NAN}; + + /// Single rotor thrusts in [N] + Vector<4> thrusts{NAN, NAN, NAN, NAN}; + + friend std::ostream& operator<<(std::ostream& os, const Command& command); + + bool operator==(const Command& rhs) const; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/types/feedback.hpp b/src/agilicious/agilib/include/agilib/types/feedback.hpp new file mode 100644 index 0000000..ae1d598 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/types/feedback.hpp @@ -0,0 +1,64 @@ +#pragma once + +#include "agilib/math/types.hpp" +#include "agilib/types/imu_sample.hpp" + +namespace agi { + +struct Feedback { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Scalar t{NAN}; + bool received{false}; + ImuSample imu; + Quaternion attitude{NAN, NAN, NAN, NAN}; + + Scalar voltage{NAN}; + Scalar current{NAN}; + + Vector<4> rotor_speed_rads{NAN, NAN, NAN, NAN}; + Vector<4> rotor_thrust_newton{NAN, NAN, NAN, NAN}; + Vector<4> rotor_value{NAN, NAN, NAN, NAN}; + + enum class CTRLMODE : uint8_t { + INVALID = 0, + OFF = 1, + SET_PARAM = 2, + ARM = 3, + ROTOR_THROTTLE = 4, + ROTOR_SPEED = 5, + ROTOR_THRUST = 6, + BODY_RATE = 7, + ATTITUDE = 8, + VELOCITY = 9, + EMERGENCY = 10, + FEEDBACK = 255 + }; + + CTRLMODE control_mode{CTRLMODE::INVALID}; + bool armed{false}; + + enum class ROTORFEEDBACKTYPE : uint8_t { + INVALID = 0, + THROTTLE = 1, + SPEED = 2, + THRUST = 3 + }; + + ROTORFEEDBACKTYPE rotor_feedback_type{ROTORFEEDBACKTYPE::INVALID}; + + inline bool valid() const { return std::isfinite(t) || received; } + + inline bool hasTimestamp() const { return std::isfinite(t); } + + inline bool isBatteryVoltageValid() const { return std::isfinite(voltage); } + + inline bool isBatteryCurrentValid() const { return std::isfinite(current); } + + inline bool isRotorSpeedValid() const { return rotor_speed_rads.allFinite(); } + + inline bool isImuValid() const { return imu.valid(); } + + inline bool isAttitudeValid() const { return attitude.coeffs().allFinite(); } +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/types/imu_sample.hpp b/src/agilicious/agilib/include/agilib/types/imu_sample.hpp new file mode 100644 index 0000000..968b745 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/types/imu_sample.hpp @@ -0,0 +1,31 @@ +#pragma once + +#include "agilib/math/types.hpp" + +namespace agi { + +struct ImuSample { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + ImuSample() = default; + ImuSample(const ImuSample&) = default; + + ImuSample(const Scalar t, const Vector<3>& acc, const Vector<3>& omega) + : t(t), acc(acc), omega(omega) {} + + ~ImuSample() = default; + + inline bool valid() const { + return omega.allFinite() && acc.allFinite() && std::isfinite(t); + } + + Scalar t{NAN}; + Vector<3> acc{NAN, NAN, NAN}; + Vector<3> omega{NAN, NAN, NAN}; + + inline bool operator<(const Scalar time) const { return t < time; } + inline bool operator<=(const Scalar time) const { return t <= time; } + inline bool operator>(const Scalar time) const { return t > time; } + inline bool operator>=(const Scalar time) const { return t >= time; } +}; + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/types/pose.hpp b/src/agilicious/agilib/include/agilib/types/pose.hpp new file mode 100644 index 0000000..7e2cb76 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/types/pose.hpp @@ -0,0 +1,26 @@ +#pragma once + +#include "agilib/math/types.hpp" + +namespace agi { + +struct Pose { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Pose() = default; + Pose(const Pose&) = default; + ~Pose() = default; + + static constexpr int SIZE = 7; + + bool valid() const { + return std::isfinite(t) && position.allFinite() && + attitude.coeffs().allFinite(); + } + + Scalar t{NAN}; + Vector<3> position{NAN, NAN, NAN}; + Quaternion attitude{NAN, NAN, NAN, NAN}; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/types/quad_state.hpp b/src/agilicious/agilib/include/agilib/types/quad_state.hpp new file mode 100644 index 0000000..e1797d5 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/types/quad_state.hpp @@ -0,0 +1,130 @@ +#pragma once + +#include + +#include "agilib/math/types.hpp" + +namespace agi { + +struct QuadState { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + enum IDX : int { + POS = 0, + POSX = 0, + POSY = 1, + POSZ = 2, + NPOS = 3, + ATT = 3, + ATTW = 3, + ATTX = 4, + ATTY = 5, + ATTZ = 6, + NATT = 4, + VEL = 7, + VELX = 7, + VELY = 8, + VELZ = 9, + NVEL = 3, + OME = 10, + OMEX = 10, + OMEY = 11, + OMEZ = 12, + NOME = 3, + ACC = 13, + ACCX = 13, + ACCY = 14, + ACCZ = 15, + NACC = 3, + TAU = 16, + TAUX = 16, + TAUY = 17, + TAUZ = 18, + NTAU = 3, + JERK = 19, + JERKX = 19, + JERKY = 20, + JERKZ = 21, + NJERK = 3, + SNAP = 22, + SNAPX = 22, + SNAPY = 23, + SNAPZ = 24, + NSNAP = 3, + BOME = 25, + BOMEX = 25, + BOMEY = 26, + BOMEZ = 27, + NBOME = 3, + BACC = 28, + BACCX = 28, + BACCY = 29, + BACCZ = 30, + NBACC = 3, + MOT = 31, + MOT1 = 31, + MOT2 = 32, + MOT3 = 33, + MOT4 = 34, + NMOT = 4, + MOTDES = 35, + MOTDES1 = 35, + MOTDES2 = 36, + MOTDES3 = 37, + MOTDES4 = 38, + NMOTDES = 4, + SIZE = 39, + DYN = 19 + }; + + QuadState(); + QuadState(const Scalar t, const Vector& x); + QuadState(const Scalar t, const Vector<3>& position, const Scalar yaw); + QuadState(const QuadState& state); + ~QuadState(); + + inline static int size() { return SIZE; } + + Quaternion q() const; + void q(const Quaternion quaternion); + void q(const Scalar angle, const Vector<3>& axis = Vector<3>::UnitZ()); + Matrix<3, 3> R() const; + + void setZero(const bool& reset_time = true); + void linearize(); + inline bool valid() const { return x.allFinite() && std::isfinite(t); } + + Vector x = Vector::Constant(NAN); + Scalar t{NAN}; + + Ref> p{x.segment(IDX::POS)}; + Ref> qx{x.segment(IDX::ATT)}; + Ref> v{x.segment(IDX::VEL)}; + Ref> w{x.segment(IDX::OME)}; + Ref> a{x.segment(IDX::ACC)}; + Ref> tau{x.segment(IDX::TAU)}; + Ref> j{x.segment(IDX::JERK)}; + Ref> s{x.segment(IDX::SNAP)}; + Ref> bw{x.segment(IDX::BOME)}; + Ref> ba{x.segment(IDX::BACC)}; + Ref> mot{x.segment(IDX::MOT)}; + Ref> motdes{x.segment(IDX::MOTDES)}; + + Scalar getYaw(const Scalar yaw = NAN) const; + void applyYaw(const Scalar angle); + QuadState getHoverState() const; + + bool operator==(const QuadState& rhs) const; + bool isApprox(const QuadState& rhs, const Scalar tol = 1e-6) const; + + inline bool operator<(const Scalar time) const { return t < time; } + inline bool operator<=(const Scalar time) const { return t <= time; } + inline bool operator>(const Scalar time) const { return t > time; } + inline bool operator>=(const Scalar time) const { return t >= time; } + + friend std::ostream& operator<<(std::ostream& os, const QuadState& state); +}; + +using QS = QuadState; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/types/quadrotor.hpp b/src/agilicious/agilib/include/agilib/types/quadrotor.hpp new file mode 100644 index 0000000..d366c19 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/types/quadrotor.hpp @@ -0,0 +1,86 @@ +#pragma once + +#include + +#include "agilib/base/parameter_base.hpp" +#include "agilib/math/types.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +struct Quadrotor : public ParameterBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + enum class RotorConfig { plus, cross }; + + Quadrotor(const Scalar m, const Scalar l); + Quadrotor(); + + bool dynamics(const QuadState& state, QuadState* const derivative) const; + + bool dynamics(const Ref> state, + Ref> derivative) const; + + bool jacobian(const Ref> state, + Ref> jac) const; + + bool jacobian(const Ref> state, + SparseMatrix& jac) const; + + DynamicsFunction getDynamicsFunction() const; + + using ParameterBase::load; + bool load(const Yaml& node) override; + bool valid() const override; + + // Helpers to apply limits. + Vector<4> clampThrust(const Vector<4> thrusts) const; + Scalar clampThrust(const Scalar thrust) const; + Scalar clampCollectiveThrust(const Scalar thrust) const; + Vector<4> clampMotorOmega(const Vector<4>& omega) const; + Vector<3> clampBodyrates(const Vector<3>& omega) const; + + inline Scalar collective_thrust_min() const { return 4.0 * thrust_min_ / m_; } + inline Scalar collective_thrust_max() const { return 4.0 * thrust_max_ / m_; } + + // Helpers for conversion + Vector<4> motorOmegaToThrust(const Vector<4>& omega) const; + Vector<4> motorOmegaToTorque(const Vector<4>& omega) const; + Vector<4> motorThrustToOmega(const Vector<4>& thrusts) const; + + // Getter Functions for member variables + Matrix<4, 4> getAllocationMatrix() const; + + friend std::ostream& operator<<(std::ostream& os, const Quadrotor& quad); + + // Quadrotor physics + Scalar m_; + Matrix<3, 4> t_BM_; + Matrix<3, 3> J_; + Matrix<3, 3> J_inv_; + + // Motor + Scalar motor_omega_min_; + Scalar motor_omega_max_; + Scalar motor_tau_inv_; + + // Propellers + Vector<3> thrust_map_; + Vector<3> torque_map_; + Scalar kappa_; + Scalar thrust_min_; + Scalar thrust_max_; + RotorConfig rotors_config_; + + // Quadrotor limits + Vector<3> omega_max_; + + // Simple cubic aerodynamic model f= c_1 * v +_ c_3 * v^3. + Vector<3> aero_coeff_1_; + Vector<3> aero_coeff_3_; + + // Forward-flight induced thrust variation fz -= c_h * (vx^2 + vy^2) + Scalar aero_coeff_h_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/types/setpoint.hpp b/src/agilicious/agilib/include/agilib/types/setpoint.hpp new file mode 100644 index 0000000..c934a02 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/types/setpoint.hpp @@ -0,0 +1,23 @@ +#pragma once + +#include + +#include "agilib/types/command.hpp" +#include "agilib/types/quad_state.hpp" + +namespace agi { + +struct Setpoint { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Setpoint() = default; + Setpoint(const QuadState& state, const Command& input) + : state(state), input(input) {} + + QuadState state; + Command input; +}; + +using SetpointVector = std::vector; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/utils/agi_watchdog.hpp b/src/agilicious/agilib/include/agilib/utils/agi_watchdog.hpp new file mode 100644 index 0000000..83e904a --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/agi_watchdog.hpp @@ -0,0 +1,30 @@ +#pragma once +#include +#include +#include +#include + +#include "agilib/math/types.hpp" + +namespace agi { + +class AgiWatchdog { + public: + AgiWatchdog(std::function timeout_callback, Scalar timeout_s, + bool enabled = true); + ~AgiWatchdog(); + bool watchdogTimedOut(); + void refresh(); + inline void enable() { enabled_ = true; }; + inline void disable() { enabled_ = false; }; + + private: + void run(); + std::thread timeout_thread_; + std::mutex timeout_wait_mutex_; + std::condition_variable timeout_reset_cv_; + std::function timeout_callback_; + Scalar timeout_s_; + bool enabled_; +}; +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/utils/file_utils.hpp b/src/agilicious/agilib/include/agilib/utils/file_utils.hpp new file mode 100644 index 0000000..5b01e16 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/file_utils.hpp @@ -0,0 +1,14 @@ +#pragma once + +#include "agilib/base/parameter_base.hpp" +#include "agilib/utils/filesystem.hpp" + + +namespace agi { + +bool checkFile(const fs::path& directory, fs::path* const filename); + +fs::path getQuadFile(const Yaml& yaml, const fs::path& quad_file, + const fs::path& agi_param_directory); + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/utils/filesystem.hpp b/src/agilicious/agilib/include/agilib/utils/filesystem.hpp new file mode 100644 index 0000000..6f11d6e --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/filesystem.hpp @@ -0,0 +1,9 @@ +#if __has_include() +#include +namespace fs = std::filesystem; +#elif __has_include() +#include +namespace fs = std::experimental::filesystem; +#else +#error "no filesystem support found" +#endif \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/utils/logger.hpp b/src/agilicious/agilib/include/agilib/utils/logger.hpp new file mode 100644 index 0000000..fdf7a9b --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/logger.hpp @@ -0,0 +1,121 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "agilib/math/types.hpp" + +namespace agi { + +#ifndef DEBUG_LOG +namespace { +struct NoPrint { + template + constexpr NoPrint operator<<(const T&) const noexcept { + return NoPrint(); + } + constexpr NoPrint operator<<(std::ostream& (*)(std::ostream&)) const // + noexcept { + return NoPrint(); + } +}; +} // namespace +#endif + +struct PublishLogContainer { + Vector<> data; + bool advertise; +}; + + +class Logger { + public: + Logger(const std::string& name, const bool color = true); + ~Logger(); + + inline std::streamsize precision(const std::streamsize n); + inline void scientific(const bool on = true); + + void info(const char* msg, ...) const; + void warn(const char* msg, ...) const; + void error(const char* msg, ...) const; + void fatal(const char* msg, ...) const; + +#ifdef DEBUG_LOG + void debug(const char* msg, ...) const; + std::ostream& debug() const; + void debug(const std::function&& lambda) const; +#else + inline constexpr void debug(const char*, ...) const noexcept {} + inline constexpr NoPrint debug() const { return NoPrint(); } + inline constexpr void debug(const std::function&&) const // + noexcept {} +#endif + + inline void addPublishingVariable(const std::string& var_name, + const Vector<>& vec) const { + publishing_variables_[name_ + var_name].advertise = + false; // Not only advertising + publishing_variables_[name_ + var_name].data = vec; + } + + inline void addPublishingVariable(const std::string& var_name, + Scalar val) const { + addPublishingVariable(var_name, Vector<1>(val)); + } + + inline void advertisePublishingVariable(const std::string& var_name) const { + publishing_variables_[name_ + var_name].advertise = + true; // Only advertising + } + + inline void erasePublishingVariable(const std::string var_name) { + publishing_variables_.erase(name_ + var_name); + } + + template + std::ostream& operator<<(const T& printable) const; + + inline const std::string& name() const { return formatted_name_; } + + static constexpr int MAX_CHARS = 256; + + static void for_each_instance( + std::function + function) { + for (auto& pub_var : publishing_variables_) { + function(pub_var.first, pub_var.second); + } + } + + private: + static constexpr int DEFAULT_PRECISION = 3; + static constexpr int NAME_PADDING = 15; + static constexpr char RESET[] = "\033[0m"; + static constexpr char RED[] = "\033[31m"; + static constexpr char YELLOW[] = "\033[33m"; + static constexpr char INFO[] = "Info: "; + static constexpr char WARN[] = "Warning: "; + static constexpr char ERROR[] = "Error: "; + static constexpr char FATAL[] = "Fatal: "; + static constexpr char DEBUGPREFIX[] = "Debug: "; + + const std::string name_; + std::string formatted_name_; + const bool colored_; + static std::unordered_map + publishing_variables_; // Map from variable name to a struct containing + // info about logging data +}; + +template +std::ostream& Logger::operator<<(const T& printable) const { + return std::cout << formatted_name_ << printable; +} + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/utils/low_pass_filter.hpp b/src/agilicious/agilib/include/agilib/utils/low_pass_filter.hpp new file mode 100644 index 0000000..9feb8e5 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/low_pass_filter.hpp @@ -0,0 +1,106 @@ +#pragma once + +#include "agilib/math/types.hpp" + +namespace agi { + + +template +class LowPassFilter { + public: + LowPassFilter(const Vector& cutoff_frequency, + const Vector& sampling_frequency, + const Vector& initial_value); + + LowPassFilter(const Scalar cutoff_frequency, const Scalar sampling_frequency, + const Scalar initial_value) + : LowPassFilter(Vector::Constant(cutoff_frequency), + Vector::Constant(sampling_frequency), + Vector::Constant(initial_value)) {} + + LowPassFilter() : LowPassFilter(NAN, NAN, NAN) {} + + ~LowPassFilter() = default; + + Vector add(const Vector& sample); + + Vector operator()() const { return output_.col(0); } + Scalar operator()(const int i) const { return output_(i, 0); } + + Vector derivative() const { + return sampling_frequency_.array() * + (output_.col(0) - output_.col(1)).array(); + } + Scalar derivative(const int i) const { + return sampling_frequency_(i) * (output_(i, 0) - output_(i, 1)); + } + + bool valid() const { + return sampling_frequency_.allFinite() && denumerator_.allFinite() && + numerator_.allFinite() && input_.allFinite() && output_.allFinite(); + }; + + private: + static Array init_den(const Vector& fc, + const Vector& fs); + static Array init_num(const Vector& fc, + const Vector& fs); + const Vector sampling_frequency_; + const Array denumerator_; + const Array numerator_; + Array input_; + Array output_; +}; + +template +Array LowPassFilter::init_den(const Vector& fc, + const Vector& fs) { + const ArrayVector K = (M_PI * fc.array() / fs.array()).tan(); + const ArrayVector poly = K * K + sqrt(2.0) * K + 1.0; + + Array denumerator = Array::Zero(); + denumerator.col(0) = 2.0 * (K * K - 1.0) / poly; + denumerator.col(1) = (K * K - sqrt(2.0) * K + 1.0) / poly; + + return denumerator; +} + +template +Array LowPassFilter::init_num(const Vector& fc, + const Vector& fs) { + const ArrayVector K = (M_PI * fc.array() / fs.array()).tan(); + const ArrayVector poly = K * K + sqrt(2.0) * K + 1.0; + + Array numerator = Array::Zero(); + numerator.col(0) = K * K / poly; + numerator.col(1) = 2.0 * numerator.col(0); + + return numerator; +} + + +template +LowPassFilter::LowPassFilter(const Vector& cutoff_frequency, + const Vector& sampling_frequency, + const Vector& initial_value) + : sampling_frequency_(sampling_frequency), + denumerator_(LowPassFilter::init_den(cutoff_frequency, sampling_frequency)), + numerator_(LowPassFilter::init_num(cutoff_frequency, sampling_frequency)), + input_(initial_value.replicate(1, 2)), + output_(initial_value.replicate(1, 2)) {} + +template +Vector LowPassFilter::add(const Vector& sample) { + const ArrayVector x2 = input_.col(1); + input_.col(1) = input_.col(0); + input_.col(0) = sample; + const Vector out = + numerator_.col(0) * x2 + + (numerator_ * input_ - denumerator_ * output_).rowwise().sum(); + output_.col(1) = output_.col(0); + output_.col(0) = out; + + return out; +} + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/utils/median_filter.hpp b/src/agilicious/agilib/include/agilib/utils/median_filter.hpp new file mode 100644 index 0000000..5290644 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/median_filter.hpp @@ -0,0 +1,45 @@ +#pragma once + +#include +#include + +#include "agilib/math/types.hpp" + +namespace agi { + +template +class Median { + public: + Median(const T& initial_value) : median(initial_value) { + *this += initial_value; + } + ~Median() = default; + + T add(const T& value) { + while ((int)buffer.size() >= N) buffer.pop_front(); + buffer.push_back(value); + + sorted = buffer; + std::sort(sorted.begin(), sorted.end()); + median = sorted.at(middle()); + return median; + } + + inline T get() const { return median; } + inline T operator()() const { return get(); } + + Median& operator+=(const T& value) { + add(value); + return *this; + } + + private: + constexpr int middle() { return sorted.size() / 2; } + + T median; + std::deque buffer; + std::deque sorted; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/utils/module_config.hpp b/src/agilicious/agilib/include/agilib/utils/module_config.hpp new file mode 100644 index 0000000..11520d2 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/module_config.hpp @@ -0,0 +1,18 @@ +#pragma once + +#include + +#include "agilib/utils/filesystem.hpp" +#include "agilib/utils/yaml.hpp" + +namespace agi { + +struct ModuleConfig { + std::string type; + fs::path file; + + bool loadIfUndefined(const Yaml& yaml); + + friend std::ostream& operator<<(std::ostream& os, const ModuleConfig& config); +}; +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/include/agilib/utils/throttler.hpp b/src/agilicious/agilib/include/agilib/utils/throttler.hpp new file mode 100644 index 0000000..d514c29 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/throttler.hpp @@ -0,0 +1,30 @@ +#pragma once + +#include +#include + +namespace agi { + +template +class Throttler { + public: + Throttler(T& obj, const Scalar period) : obj(obj), period(period) {} + + template + void operator()(F&& f, const Args&... args) { + const std::chrono::steady_clock::time_point t_now = + std::chrono::steady_clock::now(); + if (std::chrono::duration_cast(t_now - t_last) + .count() > 1e6 * period) { + std::invoke(f, obj, args...); + t_last = t_now; + } + } + + private: + T& obj; + const Scalar period; + std::chrono::steady_clock::time_point t_last; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/utils/timer.hpp b/src/agilicious/agilib/include/agilib/utils/timer.hpp new file mode 100644 index 0000000..101173d --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/timer.hpp @@ -0,0 +1,129 @@ +#pragma once + +#include +#include +#include + +#include "agilib/math/types.hpp" + +namespace agi { + +/* + * Timer class to perform runtime analytics. + * + * This timer class provides a simple solution to time code. + * Simply construct a timer and call it's `tic()` and `toc()` functions to time + * code. It is intended to be used to time multiple calls of a function and not + * only reports the `last()` timing, but also statistics such as the `mean()`, + * `min()`, `max()` time, the `count()` of calls to the timer , and even + * standard deviation `std()`. + * + * The constructor can take a name for the timer (like "update") and a name for + * the module (like "Filter"). + * After construction it can be `reset()` if needed. + * + * A simple way to get the timing and stats is `std::cout << timer;` which can + * output to arbitrary streams, overloading the stream operator, + * or `print()` which always prints to console. + * + */ + +using TimeFunction = std::function; +static constexpr auto ChronoTime = []() -> agi::Scalar { + const std::chrono::high_resolution_clock::time_point now = + std::chrono::high_resolution_clock::now(); + return 1e-9 * std::chrono::duration_cast( + now.time_since_epoch()) + .count(); +}; + +class Timer { + public: + Timer(const std::string name = "", const std::string module = ""); + Timer(const Timer& other); + ~Timer() {} + + /// Start the timer. + void tic(); + + /// Stops timer, calculates timing, also tics again. + Scalar toc(); + + /// Reset saved timings and calls; + void reset(); + + // Accessors + Scalar operator()() const; + Scalar mean() const; + Scalar last() const; + Scalar min() const; + Scalar max() const; + Scalar std() const; + int count() const; + Scalar startTime() const; + + /// Custom stream operator for outputs. + friend std::ostream& operator<<(std::ostream& os, const Timer& timer); + + /// Print timing information to console. + void print() const; + + private: + std::string name_, module_; + using TimePoint = std::chrono::high_resolution_clock::time_point; + TimePoint t_start_; + + // Initialize timing to impossible values. + Scalar timing_mean_; + Scalar timing_last_; + Scalar timing_S_; + Scalar timing_min_; + Scalar timing_max_; + + int n_samples_; +}; + +/* + * Simple class to time scopes. + * + * This effectively instantiates a timer and calls `tic()` in its constructor + * and `toc()` and ` print()` in its destructor. + */ +class ScopedTimer : public Timer { + public: + ScopedTimer(const std::string name = "", const std::string module = ""); + ~ScopedTimer(); +}; + +/* + * * Helper Timer class to instantiate a static Timer that prints in + * descructor. + * * + * * Debugging slow code? Simply create this as a static object somewhere and + * * tic-toc it. Once the program ends, the destructor of StaticTimer will + * print + * * its stats. + * */ +class StaticTimer : public Timer { + public: + using Timer::Timer; + + ~StaticTimer() { this->print(); } +}; + +/* + * Simple class to tic and toc a timer within a scope. + * + * This takes a timer as argument, tics in the constructor, and tocs on + * destruction. + */ +class ScopedTicToc { + public: + ScopedTicToc(Timer& timer); + ~ScopedTicToc(); + + private: + Timer& timer_; +}; + +} // namespace agi diff --git a/src/agilicious/agilib/include/agilib/utils/yaml.hpp b/src/agilicious/agilib/include/agilib/utils/yaml.hpp new file mode 100644 index 0000000..70e1af2 --- /dev/null +++ b/src/agilicious/agilib/include/agilib/utils/yaml.hpp @@ -0,0 +1,494 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +#include "agilib/math/types.hpp" +#include "agilib/utils/filesystem.hpp" + +namespace agi { +namespace { + +struct YamlException : public std::exception { + YamlException() = default; + YamlException(const std::string& msg) : msg(msg) {} + YamlException(const std::string& key, const std::string& msg) + : msg("Key \'" + key + "\':\n" + msg + '\n') {} + + YamlException(const std::string& key, const std::string& msg, + const std::string_view& doc, const size_t pos) + : msg("Key \'" + key + "\' in line " + + std::to_string(getLineNumber(doc.substr(0, pos))) + ":\n" + msg + + '\n') {} + + YamlException(const std::string& msg, const std::string_view& doc, + const size_t pos) + : msg([&] { + const size_t ln = getLineNumber(doc.substr(0, pos)); + return std::string("In line " + std::to_string(ln) + ":\n" + msg + + "\nLine: \'" + getLine(doc, ln) + "\'\n"); + }()) {} + + [[nodiscard]] const char* what() const noexcept override { + return msg.c_str(); + } + + static size_t getLineNumber(const std::string_view& doc) { + return std::count(doc.begin(), doc.end(), '\n'); + } + + static std::string getLine(const std::string_view& doc, const size_t line) { + size_t start = 0; + size_t end = doc.find_first_of('\n'); + if (line) { + for (size_t i = 0; i < line; ++i) { + start = end + 1; + end = doc.find_first_of('\n', start); + } + } + return std::string(doc.substr(start, end - start)); + } + + const std::string msg{"YAML Exception"}; +}; +} // namespace + +class Yaml { + public: + Yaml() = default; + Yaml(const Yaml&) = default; + ~Yaml() = default; + Yaml(const std::string& keyspace, const std::string& key) + : keyspace_(keyspace), key_(key) {} + + // Delegating Constructors + explicit Yaml(const fs::path& filename) : Yaml(loadFile(filename)) {} + explicit Yaml(const std::string& doc) : Yaml(std::string_view(doc)) {} + explicit Yaml(const std::string_view& doc) + : Yaml([](const std::string_view& doc) { + size_t indent = 0; + size_t pos = 0; + return Yaml("", "", doc, pos, doc.size(), indent); + }(doc)) {} + + template + T as() const { + if constexpr (std::is_same_v) + return as_int(); + else if constexpr (std::is_same_v) + return as_uint(); + else if constexpr (std::is_same_v) + return as_float(); + else if constexpr (std::is_same_v) + return as_double(); + else if constexpr (std::is_same_v>) + return as_complex(); + else if constexpr (std::is_same_v>) + return as_complex(); + else if constexpr (std::is_same_v) + return as_bool(); + else + return as_string(); + } + + template, T>::value && + !std::is_base_of, T>::value, + bool>::type = false> + inline friend void operator>>(const Yaml& yaml, T& value) { + value = yaml.as(); + } + + template, Derived>::value, + bool>::type = true> + inline friend void operator>>(const Yaml& yaml, Derived& matrix) { + yaml.as_matrix(matrix); + } + + template, Derived>::value, + bool>::type = true> + inline friend void operator>>(const Yaml& yaml, Derived& matrix) { + yaml.as_quaternion(matrix); + } + + const Yaml operator[](const std::string& s) const { + try { + return map_.at(s); + } catch (std::exception& e) { + return Yaml(getFullKeyName(), s); + } + } + + const Yaml operator[](const int i) const { + const size_t idx = i >= 0 ? (size_t)i : (size_t)(i % (int)seq_.size()); + if (seq_.empty()) return Yaml(); + if (idx < seq_.size()) + return seq_[idx]; + else + return Yaml(getFullKeyName(), std::to_string(i)); + } + + template + bool getIfDefined(T& val) const { + if (isNull()) return false; + if constexpr (std::is_base_of_v, T>) + as_matrix(val); + else if constexpr (std::is_base_of_v, T>) + as_quaternion(val); + else + val = as(); + return true; + } + + [[nodiscard]] inline bool isValid() const { + return !raw_.empty() ^ !map_.empty() ^ !seq_.empty(); + } + [[nodiscard]] inline bool isDefined() const { + return !raw_.empty() || !map_.empty() || !seq_.empty(); + } + [[nodiscard]] inline bool isNull() const { + return raw_.empty() && map_.empty() && seq_.empty(); + } + [[nodiscard]] inline bool isValue() const { return !raw_.empty(); } + [[nodiscard]] inline bool isNode() const { return !map_.empty(); } + [[nodiscard]] inline bool isSequence() const { return !seq_.empty(); } + + [[nodiscard]] inline size_t size() const { + if (isNull()) + return 0; + else if (isSequence()) + return seq_.size(); + else if (isNode()) + return map_.size(); + else + return 1; + } + + friend std::ostream& operator<<(std::ostream& os, const Yaml& yaml) { + yaml.print(os, 0); + return os; + } + + void print(std::ostream& os, const size_t indent) const { + if (isValue()) { + os << ' ' << raw_ << '\n'; + return; + } + os << '\n'; + for (const auto& node : map_) { + os << std::string(indent, ' ') << node.first << ':'; + node.second.print(os, indent + 2); + } + for (const auto& node : seq_) { + os << std::string(indent, ' ') << "- "; + node.print(os, indent + 2); + } + } + + // Parsing Constructor + Yaml(const std::string& keyspace, const std::string& key, + const std::string_view& doc, size_t& pos, const size_t end, + const size_t min_indent = 0, bool list = false) + : keyspace_(keyspace), key_(key) { + while (pos < end) { + const size_t first_non_space = doc.find_first_not_of(" \t", pos); + const size_t first = (list && doc[first_non_space] == '-') + ? doc.find_first_not_of(" \t", first_non_space + 1) + : first_non_space; + list = false; + const size_t line_break = + std::min(doc.find_first_of('\n', first), std::string::npos - 1); + const size_t line_end = std::min(doc.find_first_of("#\n", first), end); + const size_t indent = first - pos; + const size_t next = std::min(line_break + 1, end); + + if (first >= line_end) { + pos = next; + continue; + } + + if (indent < min_indent) break; + + const std::string_view line = doc.substr(first, line_end - first); + + if (line_end > first) { + const size_t indicator = line.find_first_of(":[{("); + if (line[0] == '-' && line[1] == ' ') { + const size_t list_indent = first_non_space - pos; + seq_.emplace_back(getFullKeyName(), std::to_string(seq_.size()), doc, + pos, end, list_indent + 1, true); + } else if (indicator == std::string::npos) { + const size_t value_end = line.find_last_not_of(' '); + if (value_end < std::string::npos) { + raw_ = line.substr(0, 1 + value_end); + } else { + raw_ = line; + } + pos = next; + } else if (line[indicator] == ':') { + const size_t key_end = line.find_first_of(" \t\n:{}[]()"); + const size_t key_remainder = line.find_first_not_of(" \t", key_end); + if (indicator < 1 || key_remainder < indicator) + throw YamlException("Could not parse line! No valid key!", doc, + pos); + const std::string sub_key = + (std::string)line.substr(0, std::min(indicator, key_end)); + const size_t value_start = + line.find_first_not_of(" \t", indicator + 1); + if (value_start < line_end) { + pos = first + value_start; + map_[sub_key] = + Yaml(getFullKeyName(), sub_key, doc, pos, line_end, 0); + } else { + pos = next; + map_[sub_key] = + Yaml(getFullKeyName(), sub_key, doc, pos, end, indent + 1); + } + pos = std::max(pos, next); + } else if (line[indicator] == '[' || line[indicator] == '{' || + line[indicator] == '(') { + pos = doc.find_first_not_of(" \t", first + indicator + 1); + size_t r = pos; + int level = 1; + while (r < end) { + const char c = doc[r]; + if (c == ':') break; + if (c == '[' || c == '{' || c == '(') { + ++level; + ++r; + continue; + } else if (c == ']' || c == '}' || c == ')') { + if (level == 1) { + seq_.emplace_back(getFullKeyName(), std::to_string(seq_.size()), + doc, pos, r, 0); + } + --level; + ++r; + continue; + } else if (c == ',' && level == 1) { + seq_.emplace_back(getFullKeyName(), std::to_string(seq_.size()), + doc, pos, r, 0); + pos = ++r; + continue; + } + ++r; + } + if (level != 0) throw YamlException("List not closed!", doc, pos); + pos = doc.find_first_of('\n', pos); + if (pos < end) ++pos; + } else { + pos = next; + } + } else { + pos = next; + } + } + + // Clean out sequences of size 1. + if (seq_.size() == 1 && map_.empty()) { + raw_ = seq_[0].raw_; + map_ = seq_[0].map_; + seq_ = seq_[0].seq_; + } + } + + private: + // Interpreters + [[nodiscard]] int as_int() const { + try { + return std::stoi(raw_); + } catch (std::exception& e) { + throw YamlException(getFullKeyName(), "Is not a valid int: " + raw_); + }; + } + + [[nodiscard]] int as_uint() const { + try { + return std::stoul(raw_); + } catch (std::exception& e) { + throw YamlException(getFullKeyName(), + "Is not a valid unsigned integer: " + raw_); + }; + } + + [[nodiscard]] float as_float() const { + try { + return std::stof(raw_); + } catch (std::exception& e) { + throw YamlException(getFullKeyName(), "Is not a valid float: " + raw_); + }; + } + + [[nodiscard]] double as_double() const { + try { + return std::stod(raw_); + } catch (std::exception& e) { + throw YamlException(getFullKeyName(), "Is not a valid double: " + raw_); + }; + } + + [[nodiscard]] bool as_bool() const { + // Fast catch for obvious cases such as empty or single char. + if (raw_.empty()) + throw YamlException(getFullKeyName(), "Can't cast empty node to bool!"); + if (raw_.size() == 1) { + if (raw_[0] == '0' || raw_[0] == 'f' || raw_[0] == 'F') return false; + if (raw_[0] == '1' || raw_[0] == 't' || raw_[0] == 'T') return true; + throw YamlException(getFullKeyName(), "Is not a valid bool: " + raw_); + } + + static constexpr std::array strue{'t', 'r', 'u', 'e'}; + static constexpr std::array sfalse{'f', 'a', 'l', 's', 'e'}; + + size_t true_hit = 0; + size_t false_hit = 0; + static constexpr size_t case_dist = 'a' - 'A'; + for (const char c : raw_) { + if (c == strue[true_hit] || (char)(c + case_dist) == strue[true_hit]) { + ++true_hit; + if (true_hit >= strue.size()) return true; + } else { + true_hit = 0; + } + if (c == sfalse[false_hit] || + (char)(c + case_dist) == sfalse[false_hit]) { + ++false_hit; + if (false_hit >= sfalse.size()) return false; + } else { + false_hit = 0; + } + } + throw YamlException(getFullKeyName(), "Is not a valid bool: " + raw_); + } + + [[nodiscard]] std::string as_string() const { + const size_t start = raw_.find_first_not_of(" \'\""); + const size_t end = raw_.find_last_not_of(" \'\""); + if (start < raw_.size() && end < raw_.size()) + return raw_.substr(start, end - start + 1); + else + throw YamlException(getFullKeyName(), + std::string("Is not a valid string: ") + raw_); + return ""; + } + + template + [[nodiscard]] std::complex as_complex() const { + if (seq_.size() != 2) + throw YamlException(getFullKeyName(), "Is not a valid complex number!"); + try { + return std::complex(seq_[0].as(), seq_[1].as()); + } catch (std::exception& e) { + throw YamlException( + getFullKeyName(), + std::string("Can't parse to a complex number:\n") + e.what()); + }; + return std::complex(); + } + + template, Derived>::value, + bool>::type = true> + void as_matrix(Derived& matrix) const { + if (isNull()) + throw YamlException(getFullKeyName(), + "Can't cast empty Yaml node to Eigen object."); + const size_t n = seq_.size(); + try { + if (isValue() && (matrix.rows() == 1 || matrix.cols() == 1)) { + matrix.setConstant(as()); + } else if (matrix.size() == (int)n) { + for (size_t i = 0; i < n; ++i) + matrix((int)i) = seq_[i].as(); + } else { + const int rows = matrix.rows(); + const int cols = matrix.cols(); + if (rows != (int)n) + throw YamlException(getFullKeyName(), + "dimensions wrong\n" + "Eigen object: " + + std::to_string(rows) + 'x' + + std::to_string(cols) + '\n' + + "Yaml object: " + std::to_string(n) + 'x' + + std::to_string(seq_[0].size())); + for (size_t i = 0; i < n; ++i) { + const size_t m = seq_[i].size(); + if (cols != (int)m) + throw YamlException( + getFullKeyName(), + "dimensions wrong\n" + "Eigen object: " + + std::to_string(rows) + 'x' + std::to_string(cols) + '\n' + + "Yaml object: " + std::to_string(n) + 'x' + std::to_string(m)); + for (size_t j = 0; j < m; ++j) + matrix((int)i, (int)j) = seq_[i][j].as(); + } + } + } catch (std::exception& e) { + throw YamlException( + getFullKeyName(), + std::string("Can't parse to Eigen object:\n") + e.what()); + } + } + + template, Derived>::value, + bool>::type = true> + void as_quaternion(Derived& quaternion) const { + if (seq_.size() != 4) + throw YamlException(getFullKeyName(), + "Is not a valid quaternion, because it has " + + std::to_string(seq_.size()) + " entries."); + + try { + quaternion.w() = seq_[0].as(); + quaternion.x() = seq_[1].as(); + quaternion.y() = seq_[2].as(); + quaternion.z() = seq_[3].as(); + } catch (std::exception& e) { + throw YamlException( + getFullKeyName(), + std::string("Can't parse into Eigen quaternion:\n") + e.what()); + } + } + + // File helper + static std::string loadFile(const fs::path& filename) { + std::ifstream fs(filename.c_str()); + if (!fs.is_open()) + throw YamlException("Could not open file \'" + filename.string() + "\'"); + fs.seekg(0, std::ios::end); + const size_t size = fs.tellg(); + if (size < 1) + throw YamlException("Empty file \'" + filename.string() + "\'"); + std::string buffer((size_t)size, ' '); + fs.seekg(0); + fs.read(&buffer[0], size); + return buffer; + } + + [[nodiscard]] std::string getFullKeyName() const { + return keyspace_.empty() ? key_ : keyspace_ + "/" + key_; + } + + // Members + std::string keyspace_; + std::string key_; + std::string raw_; + std::map map_; + std::vector seq_; +}; + + +} // namespace agi diff --git a/src/agilicious/agilib/package.xml b/src/agilicious/agilib/package.xml new file mode 100644 index 0000000..fec6053 --- /dev/null +++ b/src/agilicious/agilib/package.xml @@ -0,0 +1,16 @@ + + + agilib + 0.0.1 + Highly Agile Flight Stack for Tracking Arena + + foehnph + + GNU GPL + + catkin + catkin_simple + + benchmark_catkin + gtest + \ No newline at end of file diff --git a/src/agilicious/agilib/params/ctrl.yaml b/src/agilicious/agilib/params/ctrl.yaml new file mode 100644 index 0000000..71e9804 --- /dev/null +++ b/src/agilicious/agilib/params/ctrl.yaml @@ -0,0 +1,10 @@ +port: /dev/ttyS0 +baudrate: 921600 +timeout: 0.1 + + +thrust_map: thrust_map_tobi.csv # filename of thrust map +thrust_coeff: 1.515e-6 # hovering thrust coeff (Ct), F = Ct w^2 +n_timeouts_for_lock: 10 +ctrl_mode: 5 #ROTOR_THROTTLE = 4, ROTOR_SPEED = 5, ROTOR_THRUST = 6, BODY_RATE = 7 +command_throttle_direct: false #if to send the command values directly as throttle - i.e. for thrust mapping diff --git a/src/agilicious/agilib/params/dynamics_models/model_body_drag.yaml b/src/agilicious/agilib/params/dynamics_models/model_body_drag.yaml new file mode 100644 index 0000000..c5f5171 --- /dev/null +++ b/src/agilicious/agilib/params/dynamics_models/model_body_drag.yaml @@ -0,0 +1,6 @@ +horizontal_drag_coefficient: 1.04 +vertical_drag_coefficient: 1.04 +frontarea_x: 1.5e-2 +frontarea_y: 1.5e-2 +frontarea_z: 3.0e-2 +air_density: 1.204 diff --git a/src/agilicious/agilib/params/dynamics_models/model_lin_cub_drag.yaml b/src/agilicious/agilib/params/dynamics_models/model_lin_cub_drag.yaml new file mode 100644 index 0000000..74ff074 --- /dev/null +++ b/src/agilicious/agilib/params/dynamics_models/model_lin_cub_drag.yaml @@ -0,0 +1,3 @@ +lin_drag_coeff: [ 0.26, 0.28, 0.42 ] +cub_drag_coeff: [ 0.0, 0.0, 0.0 ] +induced_lift_coeff: 0.01 diff --git a/src/agilicious/agilib/params/dynamics_models/model_rotor_bem.yaml b/src/agilicious/agilib/params/dynamics_models/model_rotor_bem.yaml new file mode 100644 index 0000000..b74c62c --- /dev/null +++ b/src/agilicious/agilib/params/dynamics_models/model_rotor_bem.yaml @@ -0,0 +1,35 @@ +air_density: 1.204 # kg/m^3 +# Radius of the propeller disk +radius: 6.477e-2 # m + +# To be measured at the innermost point +pitch: 22.95 # deg + +# twist = (pitch_outside - pitch_inside)/blade length +twist: -8.0 # deg/m + +# Use mean value here +chord_inner: 1.7e-2 # m +chord_outer: 0.8e-2 # m + +# Ratio of area covered by blades +solidity: 0.215 # 1 + +# Distance between CoG of blade and hinge +distance_cog: 2.7e-2 # m + +# Number of blades +num_blades: 3 # 1 + +# Mass of a _single_ blade +mass_blade: 1.22e-3 # kg + +# Offset of the virtual hinge spring (0.1 should mostly be fine) +rel_hinge_offset: 0.1 # 1 + +## Aerodynamic Parameters ## +# All coefficients can be calculated using the MATLAB script +# "Propeller_SysID.m" +drag_coefficient: 4.168863 # 1 +lift_coefficient: 4.797071 # 1 +hinge_spring_constant: 5.89 # Nm/rad diff --git a/src/agilicious/agilib/params/ekf_full_imu.yaml b/src/agilicious/agilib/params/ekf_full_imu.yaml new file mode 100644 index 0000000..74091cd --- /dev/null +++ b/src/agilicious/agilib/params/ekf_full_imu.yaml @@ -0,0 +1,26 @@ +enable_timing: true +use_imu: true +update_on_get: true +max_update_wait_time: 0.020 +jump_pos_threshold: 0.5 +jump_att_threshold: 0.7 +R_pos: 1.0e-4 +R_att: 1.0e-1 +R_acc: 1.0e-3 +R_omega: 1.0e-4 +Q_pos: 1.0e-2 +Q_att: 1.0e-2 +Q_vel: 1.0e-3 +Q_ome: 1.0e+1 +Q_acc: 1.0e+1 +Q_bome: 1.0e-3 +Q_bacc: 1.0e-3 +Q_init_pos: 1.0e-4 +Q_init_att: 1.0e-2 +Q_init_vel: 1.0e+3 +Q_init_ome: 1.0e+3 +Q_init_acc: 1.0e+4 +Q_init_tau: 1.0e+4 +Q_init_bome: 1.0e-3 +Q_init_bacc: 1.0e-3 + diff --git a/src/agilicious/agilib/params/ekf_full_no_imu.yaml b/src/agilicious/agilib/params/ekf_full_no_imu.yaml new file mode 100644 index 0000000..c40102e --- /dev/null +++ b/src/agilicious/agilib/params/ekf_full_no_imu.yaml @@ -0,0 +1,26 @@ +enable_timing: true +use_imu: false +update_on_get: true +max_update_wait_time: 0.005 +jump_pos_threshold: 0.5 +jump_att_threshold: 0.7 +R_pos: 1.0e-4 +R_att: 1.0e-4 +R_acc: 1.0e-3 +R_omega: 1.0e-4 +Q_pos: 1.0e-3 +Q_att: 1.0e-3 +Q_vel: 1.0e+1 +Q_ome: 1.0e+3 +Q_acc: 1.0e+3 +Q_bome: 1.0e-12 +Q_bacc: 1.0e-12 +Q_init_pos: 1.0e-4 +Q_init_att: 1.0e-2 +Q_init_vel: 1.0e+3 +Q_init_ome: 1.0e+3 +Q_init_acc: 1.0e+4 +Q_init_tau: 1.0e+4 +Q_init_bome: 1.0e-12 +Q_init_bacc: 1.0e-12 + diff --git a/src/agilicious/agilib/params/ekf_imu.yaml b/src/agilicious/agilib/params/ekf_imu.yaml new file mode 100644 index 0000000..8f0490f --- /dev/null +++ b/src/agilicious/agilib/params/ekf_imu.yaml @@ -0,0 +1,17 @@ +update_on_get: true +jump_pos_threshold: 0.5 +jump_att_threshold: 50.0 +R_pos: 1.0e-5 +R_att: 1.0e-5 +R_acc: 1.0e+2 +R_omega: 1.0e-4 +Q_pos: 1.0e-5 +Q_att: 1.0e+1 +Q_vel: 1.0e+1 +Q_bome: 1.0e-1 +Q_bacc: 1.0e-1 +Q_init_pos: 1.0e-6 +Q_init_att: 1.0e-4 +Q_init_vel: 1.0e+1 +Q_init_bome: 1.0e-0 +Q_init_bacc: 1.0e-0 diff --git a/src/agilicious/agilib/params/feedthrough.yaml b/src/agilicious/agilib/params/feedthrough.yaml new file mode 100644 index 0000000..20481df --- /dev/null +++ b/src/agilicious/agilib/params/feedthrough.yaml @@ -0,0 +1,6 @@ +# Transformation, in case the estimate comes in a different reference frame +transform_enabled: false +roll: 0.0 # [deg] +pitch: -35.0 # [deg] +yaw: 0.0 # [deg] +pos_offset: [0.0, 0.0, 0.0] # [m] diff --git a/src/agilicious/agilib/params/geo.yaml b/src/agilicious/agilib/params/geo.yaml new file mode 100644 index 0000000..7029197 --- /dev/null +++ b/src/agilicious/agilib/params/geo.yaml @@ -0,0 +1,11 @@ +drag_compensation: false + +kpacc: [10.0, 10.0, 10.0] +kdacc: [ 6.0, 6.0, 6.0] + +kpatt_z: 3 +kpatt_xy: 150 +kprate: [20.0, 20.0, 8] + +filter_sampling_frequency: 300 # filter frequency, same as control frequency (Hz) +filter_cutoff_frequency: 6 # outer loop filter cut-off frequency (Hz) \ No newline at end of file diff --git a/src/agilicious/agilib/params/geo_guard.yaml b/src/agilicious/agilib/params/geo_guard.yaml new file mode 100644 index 0000000..1c5f70a --- /dev/null +++ b/src/agilicious/agilib/params/geo_guard.yaml @@ -0,0 +1,14 @@ +drag_compensation: false + +kpacc: [10.0, 10.0, 20.0] +kdacc: [ 4.0, 4.0, 6.0] + +kpatt_z: 2 +kpatt_xy: 10 +kprate: [0.0, 0.0, 0.0] + +p_err_max: [0.6, 0.6, 0.3] +v_err_max: [1.0, 1.0, 1.0] + +filter_sampling_frequency: 300 # filter frequency, same as control frequency (Hz) +filter_cutoff_frequency: 6 # outer loop filter cut-off frequency (Hz) diff --git a/src/agilicious/agilib/params/indi.yaml b/src/agilicious/agilib/params/indi.yaml new file mode 100644 index 0000000..e818845 --- /dev/null +++ b/src/agilicious/agilib/params/indi.yaml @@ -0,0 +1,4 @@ +use_indi: true + +filter_sampling_frequency: 300 # filter frequency, same as control frequency (Hz)s +filter_cutoff_frequency: 12 # inner loop filter cut-off frequency (Hz) diff --git a/src/agilicious/agilib/params/laird_receive.yaml b/src/agilicious/agilib/params/laird_receive.yaml new file mode 100644 index 0000000..a280654 --- /dev/null +++ b/src/agilicious/agilib/params/laird_receive.yaml @@ -0,0 +1,4 @@ +port: "/dev/ttyUSB0" +baudrate: 115200 + +direction: "receive" # send or receive? diff --git a/src/agilicious/agilib/params/laird_send.yaml b/src/agilicious/agilib/params/laird_send.yaml new file mode 100644 index 0000000..d4db528 --- /dev/null +++ b/src/agilicious/agilib/params/laird_send.yaml @@ -0,0 +1,5 @@ +port: "/dev/ttyUSB0" +baudrate: 115200 + +direction: "send" # send or receive? +timeout: 0.05 \ No newline at end of file diff --git a/src/agilicious/agilib/params/laird_send_ctrl.yaml b/src/agilicious/agilib/params/laird_send_ctrl.yaml new file mode 100644 index 0000000..82b1eee --- /dev/null +++ b/src/agilicious/agilib/params/laird_send_ctrl.yaml @@ -0,0 +1,6 @@ +port: "/dev/ttyUSB0" +baudrate: 115200 + +direction: "send" # send or receive? +timeout: 0.05 +single_rotor_thrust: true diff --git a/src/agilicious/agilib/params/low_level_controllers/llc_betaflight.yaml b/src/agilicious/agilib/params/low_level_controllers/llc_betaflight.yaml new file mode 100644 index 0000000..cd48403 --- /dev/null +++ b/src/agilicious/agilib/params/low_level_controllers/llc_betaflight.yaml @@ -0,0 +1,21 @@ +PID: + kp_roll: 40.0 + ki_roll: 80.0 + kd_roll: 20.0 + kp_pitch: 40.0 + ki_pitch: 80.0 + kd_pitch: 20.0 + kp_yaw: 30.0 + ki_yaw: 60.0 + kd_yaw: 0.0 + +Throttle: + min_throttle_pwm: 1070 + max_throttle_pwm: 2000 + dshot_offset: 0.055 + +Filter: + gyro_lowpass_freq: 250.0 + dterm_lowpass_freq: 170.0 + +thrust_map: "thrust_map.csv" diff --git a/src/agilicious/agilib/params/low_level_controllers/llc_simple.yaml b/src/agilicious/agilib/params/low_level_controllers/llc_simple.yaml new file mode 100644 index 0000000..9a2a915 --- /dev/null +++ b/src/agilicious/agilib/params/low_level_controllers/llc_simple.yaml @@ -0,0 +1,3 @@ +p_roll: 20.0 +p_pitch: 20.0 +p_yaw: 41.0 diff --git a/src/agilicious/agilib/params/mock_rise.yaml b/src/agilicious/agilib/params/mock_rise.yaml new file mode 100644 index 0000000..1fdaea6 --- /dev/null +++ b/src/agilicious/agilib/params/mock_rise.yaml @@ -0,0 +1,22 @@ +use_imu: true # use IMU for propagation from last state estimate + +image_dt: 0.010 # dt between stored states, mimicks image rate [s] +vio_dt: 0.005 # time between VIO updates [s] +# vio_latency: 0.0 # latency of VIO algorithm, [s] + +rise: 0.7 # asympthotic convergence of a real time algorthm + # 0.0 or left out to disable [1] + +# vio_pos_static_drift: 1.0e-4 # std of positional drift per time [m^2/s^2] +# vio_pos_dynamic_drift: 1.0e-4 # std of drift per time and speed [m^2/s^2/(m/s)] +# vio_pose_noise: 1.0e-2 # std of position noise [m^2] +# vio_vel_noise: 1.0e-2 # std of velocity noise [(m/s)^2] +# vio_att_noise: 1.0e-3 # std of attitude noise +# vio_omega_bias_noise: 0.01 # std of noise on known gyro bias +# vio_acc_bias_noise: 0.01 # std of noise on known acc bias + +imu_dt: 0.002 # max imu rate in dt [s] +imu_omega_noise: 0.1 # std of gyro noise [(rad/s)^2] +imu_acc_noise: 0.2 # std of acc noise [(m/s^2)^2] +imu_omega_bias: 1.0e-2 # std of gyro random walk [(rad/s)^2/s^2] +imu_acc_bias: 1.0e-2 # std of acc random walk [(m/s^2)^2/s^2] \ No newline at end of file diff --git a/src/agilicious/agilib/params/mock_vio.yaml b/src/agilicious/agilib/params/mock_vio.yaml new file mode 100644 index 0000000..255e6f1 --- /dev/null +++ b/src/agilicious/agilib/params/mock_vio.yaml @@ -0,0 +1,22 @@ +use_imu: true # use IMU for propagation from last state estimate + +image_dt: 0.010 # dt between stored states, mimicks image rate [s] +vio_dt: 0.033 # time between VIO updates [s] +# vio_latency: 0.0 # latency of VIO algorithm, [s] + +# rise: 0.9 # asympthotic convergence of a real time algorthm + # 0.0 or left out to disable [1] + +# vio_pos_static_drift: 1.0e-4 # std of positional drift per time [m^2/s^2] +# vio_pos_dynamic_drift: 1.0e-4 # std of drift per time and speed [m^2/s^2/(m/s)] +# vio_pose_noise: 1.0e-2 # std of position noise [m^2] +# vio_vel_noise: 1.0e-2 # std of velocity noise [(m/s)^2] +# vio_att_noise: 1.0e-3 # std of attitude noise +# vio_omega_bias_noise: 0.01 # std of noise on known gyro bias +# vio_acc_bias_noise: 0.01 # std of noise on known acc bias + +imu_dt: 0.002 # max imu rate in dt [s] +imu_omega_noise: 0.1 # std of gyro noise [(rad/s)^2] +imu_acc_noise: 0.2 # std of acc noise [(m/s^2)^2] +imu_omega_bias: 1.0e-2 # std of gyro random walk [(rad/s)^2/s^2] +imu_acc_bias: 1.0e-2 # std of acc random walk [(m/s^2)^2/s^2] \ No newline at end of file diff --git a/src/agilicious/agilib/params/mpc.yaml b/src/agilicious/agilib/params/mpc.yaml new file mode 100644 index 0000000..1fc948c --- /dev/null +++ b/src/agilicious/agilib/params/mpc.yaml @@ -0,0 +1,27 @@ +timing: true +threaded_preparation: false +Q_pos_x: 200 +Q_pos_y: 200 +Q_pos_z: 500 +Q_att_x: 5 +Q_att_y: 5 +Q_att_z: 200 +Q_vel: 1.0 +Q_omega_xy: 1.0 +Q_omega_z: 1.0 +R: 6.0 +exp_decay: 1.0 +max_wait_time_before_preparation: 0.1 +max_wait_time_after_preparation: 0.01 + +# CoG Filter +cog_enable: false +cog_abs_velocity_limit: 0.25 # [m/s] +cog_abs_omega_limit: 0.5 # [rad/s] +cog_rel_hover_thrust_limit: 0.5 # allow 50% relative deviation to hover thrust +cog_height_limit: 0.5 # [m] +Q_cog_omega: 1e0 +Q_cog_legnths: 1e-9 +Q_cog_omega_init: 1e2 +Q_cog_legnths_init: 1e-10 +R_cog: 0.1 diff --git a/src/agilicious/agilib/params/msp.yaml b/src/agilicious/agilib/params/msp.yaml new file mode 100644 index 0000000..0ed27a1 --- /dev/null +++ b/src/agilicious/agilib/params/msp.yaml @@ -0,0 +1,4 @@ +port: /dev/ttyTHS2 +timeout: 0.1 + +thrust_map: thrust_map_msp.csv # filename of thrust map diff --git a/src/agilicious/agilib/params/pid.yaml b/src/agilicious/agilib/params/pid.yaml new file mode 100644 index 0000000..e6cc3cf --- /dev/null +++ b/src/agilicious/agilib/params/pid.yaml @@ -0,0 +1,10 @@ +kp_rate: [20.0, 20.0, 5.0] +kd_rate: [0.2, 0.2, 0.1] +ki_rate: [5.0, 5.0, 1.0] + +integration_max: [5.0, 5.0, 5.0] + +# filters for the derivative of body rate +filter_sampling_frequency: 300 # filter frequency, same as control frequency (Hz)s +filter_cutoff_frequency: 12 # inner loop filter cut-off frequency (Hz) + diff --git a/src/agilicious/agilib/params/pilot.yaml b/src/agilicious/agilib/params/pilot.yaml new file mode 100644 index 0000000..4e39424 --- /dev/null +++ b/src/agilicious/agilib/params/pilot.yaml @@ -0,0 +1,32 @@ +pipeline: + estimator: + type: "EKFIMU" + file: "ekf_imu.yaml" + + sampler: + type: "Time" + + controller: + type: "MPC" + file: "mpc.yaml" + + bridge: + type: "SBUS" + file: "sbus.yaml" + +traj_type: "poly_min_snap" + +quadrotor: "example_quad.yaml" + +dt_min: 0.01 # min control period +dt_telemetry: 0.1 # Publish telemetry messages with this period (used for GUI) + +velocity_in_bodyframe: false +takeoff_height: 1.0 # target takeoff height +takeoff_threshold: 0.5 # height under which takeoff is performed +start_land_speed: 0.6 +brake_deceleration: 5.0 +go_to_pose_mean_vel: 1.5 + + + diff --git a/src/agilicious/agilib/params/pos_guard_arena.yaml b/src/agilicious/agilib/params/pos_guard_arena.yaml new file mode 100644 index 0000000..533c4d7 --- /dev/null +++ b/src/agilicious/agilib/params/pos_guard_arena.yaml @@ -0,0 +1,2 @@ +pos_lower_bound: [ -7.0, -8.0, 0.5 ] +pos_upper_bound: [ 13.0, 8.0, 5.0 ] \ No newline at end of file diff --git a/src/agilicious/agilib/params/pos_sampler.yaml b/src/agilicious/agilib/params/pos_sampler.yaml new file mode 100644 index 0000000..e5cdabe --- /dev/null +++ b/src/agilicious/agilib/params/pos_sampler.yaml @@ -0,0 +1,3 @@ +search_dt: 0.01 +search_tol: 0.001 +axis_weights: [ 1.0, 1.0, 1.0 ] \ No newline at end of file diff --git a/src/agilicious/agilib/params/quads/example_quad.yaml b/src/agilicious/agilib/params/quads/example_quad.yaml new file mode 100644 index 0000000..387435c --- /dev/null +++ b/src/agilicious/agilib/params/quads/example_quad.yaml @@ -0,0 +1,16 @@ +mass: 1.0 # [kg] +inertia: 0.001 +arm_length: 0.25 # [m] +motor_omega_min: 150.0 # [rad/s] +motor_omega_max: 2000.0 # [rad/s] +motor_tau: 0.05 # [s] +omega_max: [6.0, 6.0, 6.0] # [rad/s] + +thrust_map: [8.54858e-06, 0.0, 0.0] # [N/(rad/s)^2, N/(rad/s), N] +kappa: 0.016 # [Nm/N] +thrust_min: 0.0 # [N] +thrust_max: 2.5 # [N] per motor +omega_max: [6.0, 6.0, 6.0] + +aero_coeff_1: 0.0 # [N/(v/m)] +aero_coeff_3: 0.0 # [N/(v/m)^3] \ No newline at end of file diff --git a/src/agilicious/agilib/params/quads/sim_kingfisher.yaml b/src/agilicious/agilib/params/quads/sim_kingfisher.yaml new file mode 100644 index 0000000..e5acc36 --- /dev/null +++ b/src/agilicious/agilib/params/quads/sim_kingfisher.yaml @@ -0,0 +1,71 @@ +# General Parameters of the Quad and the Environment +General: + air_density: 1.204 # kg/m^3 + + +# This information is used by the BEMPropeller model +Propeller: + ## Propeller Geometry ## + # Radius of the propeller disk + radius: 6.477e-2 # m + + # To be measured at the innermost point + pitch: 22.95 # deg + + # twist = (pitch_outside - pitch_inside)/blade length + twist: -8.0 # deg/m + + # Use mean value here + chord_inner: 1.7e-2 # m + chord_outer: 0.8e-2 # m + + # Ratio of area covered by blades + solidity: 0.215 # 1 + + # Distance between CoG of blade and hinge + distance_cog: 2.7e-2 # m + + # Number of blades + num_blades: 3 # 1 + + # Mass of a _single_ blade + mass_blade: 1.22e-3 # kg + + # Offset of the virtual hinge spring (0.1 should mostly be fine) + rel_hinge_offset: 0.1 # 1 + + + ## Aerodynamic Parameters ## + # All coefficients can be calculated using the MATLAB script + # "Propeller_SysID.m" + drag_coefficient: 4.168863 # 1 + lift_coefficient: 4.797071 # 1 + hinge_spring_constant: 5.89 # Nm/rad + + +# This information is used by the MotorModel +Motor: + ## General Parameters ## + # Can be measured using Event-Camera High-Speed movie + # Average spin-up / spin-down time constant + time_constant: 33.0e-3 # s + # Inertia of the motor + inertia: 9.3575e-6 # kg*m^2 + + +# This information is used by the RigidBody and AerodynamicDrag Model +Quadcopter: + ## General Parameters ## + mass: 0.752 # kg + frontarea_x: 1.5e-2 # m^2 + frontarea_y: 1.5e-2 # m^2 + frontarea_z: 3.0e-2 # m^2 + + ## Aerodynamic Properties ## + horizontal_drag_coefficient: 1.04 # drag of a cube + vertical_drag_coefficient: 1.04 # drag of a cube + + +# This information is used by the NeuralNet Model +NeuralNet: + weight_file: "" diff --git a/src/agilicious/agilib/params/sbus.yaml b/src/agilicious/agilib/params/sbus.yaml new file mode 100644 index 0000000..dc8be58 --- /dev/null +++ b/src/agilicious/agilib/params/sbus.yaml @@ -0,0 +1,5 @@ +port: /dev/ttyTHS2 +timeout: 0.1 + +thrust_map: thrust_map.csv # filename of thrust map +omega_max: [1022.0, 1022.0, 524.0] # [degree/s] diff --git a/src/agilicious/agilib/params/thrust_map.csv b/src/agilicious/agilib/params/thrust_map.csv new file mode 100644 index 0000000..883ef69 --- /dev/null +++ b/src/agilicious/agilib/params/thrust_map.csv @@ -0,0 +1,51 @@ +50,0,40,10,17,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 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{ + throw ParameterException("ParameterBase load should not be called!"); + return false; +} + +bool ParameterBase::valid() const { return false; } + +} // namespace agi diff --git a/src/agilicious/agilib/src/base/pipeline.cpp b/src/agilicious/agilib/src/base/pipeline.cpp new file mode 100644 index 0000000..2075aa6 --- /dev/null +++ b/src/agilicious/agilib/src/base/pipeline.cpp @@ -0,0 +1,271 @@ +#include "agilib/base/pipeline.hpp" + +#include "agilib/reference/hover_reference.hpp" + +namespace agi { + +Pipeline::Pipeline(const std::string& name, const Scalar feedthrough_timeout) + : logger_(name), feedthrough_timeout_(feedthrough_timeout) {} + +Pipeline& Pipeline::operator=(const Pipeline& other) { + references_ = other.references_; + estimator_ = other.estimator_; + sampler_ = other.sampler_; + outer_controller_ = other.outer_controller_; + inner_controller_ = other.inner_controller_; + bridge_ = other.bridge_; + return *this; +} + +bool Pipeline::isReferenceSet() const { return !references_.empty(); } + +bool Pipeline::isEstimatorSet() const { return estimator_ != nullptr; } + +bool Pipeline::isSamplerSet() const { return sampler_ != nullptr; } + +bool Pipeline::isOuterControllerSet() const { + return outer_controller_ != nullptr; +} + +bool Pipeline::isInnerControllerSet() const { + return inner_controller_ != nullptr; +} + +bool Pipeline::isBridgeSet() const { return bridge_ != nullptr; } + +bool Pipeline::isSet() const { + return !references_.empty() && estimator_ && sampler_ && outer_controller_ && + bridge_; +} + +bool Pipeline::setFeedthroughCommand(const Command& command) { + if (!command.valid()) return false; + + feedthrough_command_ = command; + return true; +} + +void Pipeline::clearFeedthoughCommand() { feedthrough_command_ = Command(); } + +Command Pipeline::getCommand() const { + if (!bridge_->active()) { + return Command(); + } + + return apply_command_; +} + +bool Pipeline::run(const Scalar t) { + // Get State + if (estimator_) { + const bool estimator_successful = estimator_->getAt(t, &state_); + initialized_ |= estimator_successful; + if (initialized_ && !estimator_successful) { + logger_.error("Estimator failed!"); + return false; + } + } + + if (references_.empty()) { + command_ = Command(t); + } else { + // Get Setpoints + if (!sampler_ || !sampler_->getAt(state_, references_, &setpoints_)) { + logger_.error("Sampler failed!"); + return false; + } + // std::cout<<"state_: "<getCommand( + state_, setpoints_, &setpoints_outer_)) { + logger_.error("High Level Controller failed!"); + return false; + } else { + outer_controller_->logTiming(); + } + } + if (isInnerControllerSet()) { + if (!inner_controller_->getCommand(state_, setpoints_outer_, + &setpoints_inner_)) { + logger_.error("Low Level Controller failed!"); + return false; + } + } else { + setpoints_inner_.clear(); + } + + if (!setpoints_inner_.empty()) { + command_ = setpoints_inner_.front().input; + } else if (!setpoints_outer_.empty()) { + command_ = setpoints_outer_.front().input; + } else { + command_ = Command(t); + } + std::cout.precision(6); + // std::cout<<"time: "<getEndTime()<isTimeBased() && (references_.front()->getEndTime() + 0.01) < t) { + if (references_.size() > 1) { + ReferenceVector::iterator first = references_.begin(); + logger_.info("Removing old reference: %s", (*first)->name().c_str()); + references_.erase(first); + } else { + logger_.warn("Reference timed out!"); + QuadState hover = + references_.front()->getEndSetpoint().state.getHoverState(); + if (!std::isfinite(hover.t)) + hover.t = references_.front()->getStartTime(); + hover.t = std::max(hover.t, t); + appendReference(std::make_shared(hover)); + } + } + } + // std::cout< feedthrough_timeout_) { + // logger_.warn("Feedthrough command timed out: %.3f!", + // (t - feedthrough_command_.t)); + // feedthrough_valid = false; + // } + + // // If available, apply feedthrough command... + // apply_command_ = feedthrough_valid ? feedthrough_command_ : command_; + + // // ... and set references to state estimate, + // // so that a time will break into hover. + // if (feedthrough_valid) { + // if (stop_after_feedthrough_) { + // references_.clear(); + // references_.emplace_back(std::make_shared(state_)); + // } + // } else { + // clearFeedthoughCommand(); + // } + + // Send command + // std::cout<<"bridge_->active(): "<active()<send(command_); + } + else { + bridge_->getFeedback(&feedback_); + } + + // Spawn callbacks + for (const PipelineCallbackFunction& callback : callbacks_) + callback(state_, feedback_, references_, setpoints_, setpoints_outer_, + setpoints_inner_, command_); + + return true; +} + +bool Pipeline::appendReference(std::shared_ptr&& reference) { + if (!reference->valid()) { + logger_.error("Reference is not valid!"); + return false; + } + if (references_.empty()) { + references_.push_back(reference); + } else { + const Scalar start_time = reference->getStartTime(); + const Scalar trajectories_end_time = references_.back()->getEndTime(); + if (start_time >= trajectories_end_time) { + references_.push_back(reference); + } else if (references_.back()->isHover() && + references_.back()->isTimeInRange(start_time)) { + references_.back()->truncate(start_time); + references_.push_back(reference); + } else if (references_.back()->isTrajectoryReference() && + references_.back()->isTimeInRange(start_time)) { + references_.pop_back(); + references_.push_back(reference); + } else if (references_.back()->isRLtrajectoryReference() && + references_.back()->isTimeInRange(start_time)) { + references_.pop_back(); + references_.push_back(reference); + } + else { + logger_.warn( + "Not adding reference, since start time before current end time: " + "t_start " + "= %.2f, t_end = %.2f", + start_time, trajectories_end_time); + if (!references_.back()->isHover()) + logger_.warn("Last reference is not hover!"); + if (!references_.back()->isTimeInRange(start_time)) + logger_.warn("Time not in range!"); + return false; + } + } + + printReferenceInfo(true); + return true; +} + +bool Pipeline::insertReference(std::shared_ptr&& reference) { + // open for discussion: do we want a separate function for this? we could + // disable this interface for the standard user maybe? + if (!reference->valid()) { + logger_.error("Reference is not valid!"); + return false; + } + + if (references_.empty()) { + references_.push_back(reference); + } else { + const Scalar start_time = reference->getStartTime(); + const Scalar trajectories_end_time = references_.back()->getEndTime(); + if (start_time >= trajectories_end_time) { + references_.push_back(reference); + } else { + logger_.warn("Inserting reference at %.2f", start_time); + + ReferenceVector::const_iterator first_obsolete_ref = std::lower_bound( + references_.begin(), references_.end(), start_time, + [](const std::shared_ptr& ref, const Scalar t) -> bool { + return ref.get()->getStartTime() < t; + }); + + ReferenceVector new_references(references_.cbegin(), first_obsolete_ref); + if (!new_references.empty()) references_.back()->truncate(start_time); + + new_references.push_back(reference); + references_ = new_references; + } + } + + printReferenceInfo(true); + return true; +} + +void Pipeline::printReferenceInfo(const bool detailed) const { + logger_.info("%zu references set%s:", references_.size(), + detailed ? "" : ", first is"); + for (const std::shared_ptr& reference : references_) { + logger_ << *reference; + if (!detailed) break; + } +} + +void Pipeline::registerCallback(const PipelineCallbackFunction& function) { + callbacks_.push_back(function); +} + +void Pipeline::setOuterloopDivisor(const int divisor) { + outerloop_divisor_ = divisor; +} + +void Pipeline::setStopAfterFeedthrough(const bool stop_after_feedthrough) { + stop_after_feedthrough_ = stop_after_feedthrough; +} + +void Pipeline::setFeedthroughTimeout(const Scalar& feedthrough_timeout) { + feedthrough_timeout_ = feedthrough_timeout; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/bridge_base.cpp b/src/agilicious/agilib/src/bridge/bridge_base.cpp new file mode 100644 index 0000000..4a41189 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/bridge_base.cpp @@ -0,0 +1,139 @@ +#include "agilib/bridge/bridge_base.hpp" + +namespace agi { +BridgeBase::BridgeBase(const std::string& name, + const TimeFunction time_function, const Scalar timeout, + const int n_max_timeouts) + : Module(name), + timeout_(timeout), + n_max_timeouts_(n_max_timeouts), + time_function_(time_function), + voltage_watchdog_(std::bind(&BridgeBase::voltageTimeout, this), 30.0) { + if (timeout_ > 0.0) { + timeout_guard_thread_ = std::thread(&BridgeBase::guardTimeout, this); + } else { + logger_.warn("Not starting guard!"); + } +} + +BridgeBase::~BridgeBase() { + shutdown_ = true; + voltage_watchdog_.disable(); + if (timeout_guard_thread_.joinable()) timeout_guard_thread_.join(); +} + +bool BridgeBase::send(const Command& command) { + // First check if timeout has locked out. + if (locked()) return false; + + got_command_ = true; + const bool ret = sendCommand(command, active_); + + // If command is successfully sent, reset timeout. + // Decrease timeout counter instead of resetting it to catch + // critically low send rates. + if (ret) { + timeout_reset_cv_.notify_all(); + if (n_timeouts_ > 0) --n_timeouts_; + } + + return ret; +} + +bool BridgeBase::sendAB(const Setpoint& command) { + // First check if timeout has locked out. + if (locked()) return false; + + got_command_ = true; + const bool ret = sendReferenceCommand(command, active_); + + // If command is successfully sent, reset timeout. + // Decrease timeout counter instead of resetting it to catch + // critically low send rates. + if (ret) { + timeout_reset_cv_.notify_all(); + if (n_timeouts_ > 0) --n_timeouts_; + } + + return ret; +} + +void BridgeBase::guardTimeout() { + const std::chrono::milliseconds timeout((int)(timeout_ * 1000)); + std::unique_lock lock(timeout_wait_mutex_); + std::cout<<"timeout_guard_thread_"<n_timeouts_ = 0; + got_command_ = false; +} + +bool BridgeBase::active() const { return active_; } + +bool BridgeBase::locked() const { + return n_max_timeouts_ > 0 && n_timeouts_ >= n_max_timeouts_; +} + +bool BridgeBase::getFeedback(Feedback* const feedback) { + if (feedback == nullptr) return false; + feedback->t = time_function_(); + feedback->armed = active_; + return true; +} + +void BridgeBase::registerFeedbackCallback(FeedbackCallbackFunction function) { + feedback_callbacks_.push_back(function); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/ctrl/ctrl_bridge.cpp b/src/agilicious/agilib/src/bridge/ctrl/ctrl_bridge.cpp new file mode 100644 index 0000000..96a5f3f --- /dev/null +++ b/src/agilicious/agilib/src/bridge/ctrl/ctrl_bridge.cpp @@ -0,0 +1,37 @@ +#include + +namespace agi { + +CtrlBridge::CtrlBridge(const Quadrotor& quad, const CtrlParams& params, + const TimeFunction time_function) + : SerialBridge(params.serial_settings, "CTRL Bridge", time_function, + params.timeout, params.n_timeouts_for_lock), + encoding_(quad, params.thrust_map_, params.ctrl_mode_, + params.command_throttle_direct, params.thrust_coeff_) { + if (!serial_port_.addReceiveCallback(std::bind(&CtrlBridge::receiveCallback, + this, std::placeholders::_1, + std::placeholders::_2))) { + logger_.error("Could not bind receive callback to serial port!"); + } +} + +bool CtrlBridge::sendCommand(const Command& command, const bool active) { + Command timed_command = command; + timed_command.t = time_function_(); + setVoltage(encoding_.getVoltage()); + return sendCommand(timed_command, active, encoding_); +} + +void CtrlBridge::receiveCallback(const char* const buffer, const int length) { + if (encoding_.decodeFeedback(buffer, length)) + for (const FeedbackCallbackFunction& function : feedback_callbacks_) + function(encoding_.feedback()); +} + +bool CtrlBridge::getFeedback(Feedback* const feedback) { + if (feedback == nullptr) return false; + + return encoding_.getFeedback(feedback); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/ctrl/ctrl_bridge_params.cpp b/src/agilicious/agilib/src/bridge/ctrl/ctrl_bridge_params.cpp new file mode 100644 index 0000000..f0dfe4e --- /dev/null +++ b/src/agilicious/agilib/src/bridge/ctrl/ctrl_bridge_params.cpp @@ -0,0 +1,55 @@ +#include "agilib/bridge/ctrl/ctrl_bridge_params.hpp" + +#include "agilib/utils/logger.hpp" + +namespace agi { + +bool CtrlParams::load(const fs::path& filename) { + const Yaml node = Yaml(filename); + bool check = load(node); + if (node["thrust_map"].isNull()) + throw ParameterException("No thrust map specified!"); + fs::path thrust_map_file = node["thrust_map"].as(); + check &= thrust_map_.load(filename.parent_path() / thrust_map_file); + return check; +} + +bool CtrlParams::load(const Yaml& node) { + serial_settings.port = node["port"].as(); + serial_settings.baudrate = node["baudrate"].as(); + serial_settings.check_multiple_delimiters = true; + + node["timeout"].getIfDefined(timeout); + node["n_timeouts_for_lock"].getIfDefined(n_timeouts_for_lock); + + if (node["ctrl_mode"].isDefined()) { + int ctrl_mode = node["ctrl_mode"].as(); + switch (ctrl_mode) { + case ctrl::CTRLMODE::BODY_RATE: + case ctrl::CTRLMODE::ROTOR_THROTTLE: + case ctrl::CTRLMODE::ROTOR_THRUST: + case ctrl::CTRLMODE::ROTOR_SPEED: + ctrl_mode_ = (ctrl::CTRLMODE)ctrl_mode; + break; + default: + std::cout << "unknown type of ctrl_mode " << ctrl_mode << std::endl; + return false; + } + } + + node["command_throttle_direct"].getIfDefined(command_throttle_direct); + node["thrust_coeff"].getIfDefined(thrust_coeff_); + + return !serial_settings.port.empty(); +} + +std::ostream& operator<<(std::ostream& os, const CtrlParams& settings) { + os << "CTRL Settings:\n" << settings.serial_settings; + os << "Guard Settings:\n" + << "timeout: " << settings.timeout << "s\n" + << "timeouts before lock: " << settings.n_timeouts_for_lock << std::endl; + + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/ctrl/ctrl_encoding.cpp b/src/agilicious/agilib/src/bridge/ctrl/ctrl_encoding.cpp new file mode 100644 index 0000000..5c3b245 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/ctrl/ctrl_encoding.cpp @@ -0,0 +1,440 @@ +#include "agilib/bridge/ctrl/ctrl_encoding.hpp" + +#include + +#include "agilib/bridge/ctrl/ctrl_msgs_defs.hpp" +#include "agilib/serial/cobs.hpp" + +namespace agi { + +CtrlEncoding::CtrlEncoding(const Quadrotor& quad, const ThrustMap& thrust_map, + const ctrl::CTRLMODE mode, + bool command_throttle_direct, + const Scalar thrust_coeff) + : quad_(quad), + thrust_map_(thrust_map), + mode_(mode), + command_throttle_direct_(command_throttle_direct), + thrust_coeff_(thrust_coeff), + voltage_(NAN) {} + +bool CtrlEncoding::encode(const Command& command, const bool armed, + char* const buffer, int* const length) const { + if (buffer == nullptr || *length <= (int)ctrl::SERIAL_CONTAINER_MAX_LENGTH) + return false; + + if (time_ns_init_ == 0) time_ns_init_ = (uint64_t)(1e9 * command.t); + const uint64_t time_ns = (uint64_t)(1e9 * command.t) - time_ns_init_; + + ctrl::serial_container_t container; + container.num_messages = 1u; + ctrl::serial_message_t& msg = container.messages[0]; + msg.time = time_ns; + + // If it should not be armed, send off message. + if (!armed) { + msg.mode = ctrl::CTRLMODE::OFF; + } else { + // well do it without mutex locking + const Feedback current_feedback = feedback_; + + // We should be armed, so lets see if we are armed. + if (current_feedback.control_mode >= Feedback::CTRLMODE::ARM) { + // Ok, we are armed... so lets send the command. + + if (command_throttle_direct_) { + // use the command thrusts directly as the throttle values - i.e. for + // thrust mapping + msg.mode = ctrl::CTRLMODE::ROTOR_THROTTLE; + ctrl::rotor_throttle_payload_t throttle_payload; + + throttle_payload.throttle[0] = (int16_t)command.thrusts(0); + throttle_payload.throttle[1] = (int16_t)command.thrusts(1); + throttle_payload.throttle[2] = (int16_t)command.thrusts(2); + throttle_payload.throttle[3] = (int16_t)command.thrusts(3); + + memcpy(msg.payload, &throttle_payload, + getPayloadLength(ctrl::CTRLMODE::ROTOR_THROTTLE)); + } else { + // use the command thrusts as force + + switch (mode_) { + case ctrl::CTRLMODE::ROTOR_THRUST: { + // comand in thrusts + msg.mode = ctrl::CTRLMODE::ROTOR_THRUST; + const Vector<4> thrusts = command.thrusts; + ctrl::rotor_thrust_payload_t thrust_payload; + thrust_payload.thrust[0] = + (int16_t)(thrusts(0) * + (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::FORCE_RANGE)); + thrust_payload.thrust[1] = + (int16_t)(thrusts(1) * + (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::FORCE_RANGE)); + thrust_payload.thrust[2] = + (int16_t)(thrusts(2) * + (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::FORCE_RANGE)); + thrust_payload.thrust[3] = + (int16_t)(thrusts(3) * + (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::FORCE_RANGE)); + memcpy(msg.payload, &thrust_payload, + getPayloadLength(ctrl::CTRLMODE::ROTOR_THRUST)); + break; + } + case ctrl::CTRLMODE::ROTOR_THROTTLE: { + // command in throttle + msg.mode = ctrl::CTRLMODE::ROTOR_THROTTLE; + ctrl::rotor_throttle_payload_t throttle_payload; + const Vector<4> thrusts = quad_.clampThrust(command.thrusts); + throttle_payload.throttle[0] = + (int16_t)thrust_map_.map(thrusts(0), current_feedback.voltage); + throttle_payload.throttle[1] = + (int16_t)thrust_map_.map(thrusts(1), current_feedback.voltage); + throttle_payload.throttle[2] = + (int16_t)thrust_map_.map(thrusts(2), current_feedback.voltage); + throttle_payload.throttle[3] = + (int16_t)thrust_map_.map(thrusts(3), current_feedback.voltage); + + memcpy(msg.payload, &throttle_payload, + getPayloadLength(ctrl::CTRLMODE::ROTOR_THROTTLE)); + break; + } + case ctrl::CTRLMODE::ROTOR_SPEED: { + // command in rotor speed + msg.mode = ctrl::CTRLMODE::ROTOR_SPEED; + ctrl::rotor_speed_payload_t rotor_speed_payload; + const Vector<4> thrusts = quad_.clampThrust(command.thrusts); + rotor_speed_payload.speed[0] = (int16_t)( + sqrt(thrusts[0] / thrust_coeff_) * + (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::ROTOR_SPEED_RANGE)); + rotor_speed_payload.speed[1] = (int16_t)( + sqrt(thrusts[1] / thrust_coeff_) * + (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::ROTOR_SPEED_RANGE)); + rotor_speed_payload.speed[2] = (int16_t)( + sqrt(thrusts[2] / thrust_coeff_) * + (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::ROTOR_SPEED_RANGE)); + rotor_speed_payload.speed[3] = (int16_t)( + sqrt(thrusts[3] / thrust_coeff_) * + (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::ROTOR_SPEED_RANGE)); + + memcpy(msg.payload, &rotor_speed_payload, + getPayloadLength(ctrl::CTRLMODE::ROTOR_SPEED)); + break; + } + case ctrl::CTRLMODE::BODY_RATE: { + // command in body rates + msg.mode = ctrl::CTRLMODE::BODY_RATE; + ctrl::body_rate_payload_t rate_payload; + rate_payload.body_rate[0] = + (int16_t)(command.omega(0) * (agi::ctrl::FREQUENCY_RANGE / + agi::ctrl::ANGULAR_VELOCITY_RANGE)); + rate_payload.body_rate[1] = + (int16_t)(command.omega(1) * (agi::ctrl::FREQUENCY_RANGE / + agi::ctrl::ANGULAR_VELOCITY_RANGE)); + rate_payload.body_rate[2] = + (int16_t)(command.omega(2) * (agi::ctrl::FREQUENCY_RANGE / + agi::ctrl::ANGULAR_VELOCITY_RANGE)); + + // thrust-map and thrust limits are for single rotor but + // collective_thrust is for 4 + const Scalar single_thrust = + quad_.clampThrust(command.collective_thrust / 4.0); + rate_payload.thrust = (int16_t)( + thrust_map_.map(single_thrust * quad_.m_, + current_feedback.voltage) * + 4.0 * (agi::ctrl::FREQUENCY_RANGE / agi::ctrl::FORCE_RANGE)); + + memcpy(msg.payload, &rate_payload, + getPayloadLength(ctrl::CTRLMODE::BODY_RATE)); + break; + } + default: + logger_.error("Command mode %u is not implemented", mode_); + return false; + } + } + + } else { + // Not yet armed, lets arm then... + msg.mode = ctrl::CTRLMODE::ARM; + } + } + + if (!encodeContainer(container, &buffer[1], length)) { + logger_.error("Encoding error!"); + return false; + } + + buffer[0] = DELIMITER; + (*length)++; + /* append at least 1 delimiter and pad to a multiple of 8 bytes in length */ + do { + buffer[(*length)++] = DELIMITER; + } while (*length % 16 != 0); + return true; +} + + +bool CtrlEncoding::decodeFeedback(const char* const buffer, const int length, + Feedback* const feedback) { + ctrl::serial_container_t container; + + if (!decodeContainer(buffer, length, &container)) { + logger_.error("Container decoding error!"); + return false; + } + + int n_successful_decoded = 0; + Feedback new_feedback; + for (int i = 0; i < (int)container.num_messages; ++i) { + if (container.messages[i].mode != ctrl::CTRLMODE::FEEDBACK) { + logger_.error("Received unexpected message!"); + continue; + } + + const ctrl::upstream_payload_t data = + *((ctrl::upstream_payload_t*)container.messages[i].payload); + const uint64_t time_ns = container.messages[i].time; + + + const Scalar t = 1e-9 * (time_ns_init_ + time_ns); + if (t < feedback_.t || + (std::isfinite(new_feedback.t) && t < new_feedback.t)) { + logger_.error("Received old feedback message! %0.2f %0.2f", t, + feedback_.t); + continue; + } + + ++n_successful_decoded; + + new_feedback.t = t; + new_feedback.imu.acc.x() = data.linear_accel_x; + new_feedback.imu.acc.y() = data.linear_accel_y; + new_feedback.imu.acc.z() = data.linear_accel_z; + new_feedback.imu.omega.x() = data.angular_vel_x; + new_feedback.imu.omega.y() = data.angular_vel_y; + new_feedback.imu.omega.z() = data.angular_vel_z; + new_feedback.imu.t = t; + + new_feedback.attitude = Quaternion(data.quaternion_w, data.quaternion_x, + data.quaternion_y, data.quaternion_z); + + new_feedback.voltage = data.battery_voltage; + new_feedback.current = data.battery_current; + + new_feedback.control_mode = + static_cast(data.control_mode); + new_feedback.armed = new_feedback.control_mode > Feedback::CTRLMODE::ARM; + new_feedback.rotor_feedback_type = + static_cast(data.feedback_type); + + switch (new_feedback.rotor_feedback_type) { + case Feedback::ROTORFEEDBACKTYPE::SPEED: + new_feedback.rotor_speed_rads(0) = data.feedback_0; + new_feedback.rotor_speed_rads(1) = data.feedback_1; + new_feedback.rotor_speed_rads(2) = data.feedback_2; + new_feedback.rotor_speed_rads(3) = data.feedback_3; + new_feedback.rotor_thrust_newton.setConstant(NAN); + new_feedback.rotor_value.setConstant(NAN); + break; + case Feedback::ROTORFEEDBACKTYPE::THROTTLE: + new_feedback.rotor_speed_rads.setConstant(NAN); + new_feedback.rotor_thrust_newton.setConstant(NAN); + new_feedback.rotor_value(0) = data.feedback_0; + new_feedback.rotor_value(1) = data.feedback_1; + new_feedback.rotor_value(2) = data.feedback_2; + new_feedback.rotor_value(3) = data.feedback_3; + break; + case Feedback::ROTORFEEDBACKTYPE::THRUST: + new_feedback.rotor_speed_rads.setConstant(NAN); + new_feedback.rotor_thrust_newton(0) = data.feedback_0; + new_feedback.rotor_thrust_newton(1) = data.feedback_1; + new_feedback.rotor_thrust_newton(2) = data.feedback_2; + new_feedback.rotor_thrust_newton(3) = data.feedback_3; + new_feedback.rotor_value.setConstant(NAN); + break; + default: + new_feedback.rotor_speed_rads.setConstant(NAN); + new_feedback.rotor_thrust_newton.setConstant(NAN); + new_feedback.rotor_value.setConstant(NAN); + } + } + + if (feedback != nullptr) *feedback = new_feedback; + + std::lock_guard lock(feedback_mtx_); + feedback_ = new_feedback; + + return n_successful_decoded > 0; +} + +bool CtrlEncoding::encodeMessage(const ctrl::serial_message_t& message, + char* const buffer, int* const length) const { + if (buffer == nullptr) return false; + if (length == nullptr) return false; + + const int msg_length = getMsgLength(message.mode); + if (msg_length > ctrl::SERIAL_MESSAGE_MAX_LENGTH) return false; + if (msg_length > *length) return false; + *length = msg_length; + + char* ptr = buffer; + *ptr++ = *length; + *ptr++ = message.mode; + *ptr++ = message.flags; + memcpy(ptr, &message.time, sizeof(uint64_t)); + ptr += sizeof(uint64_t); + memcpy(ptr, &message.payload, getPayloadLength(message.mode)); + return true; +} + +bool CtrlEncoding::decodeMessage( + const char* const buffer, const int length, + ctrl::serial_message_t* const serial_message) const { + if (buffer == nullptr) return false; + if (length < ctrl::SERIAL_MESSAGE_MIN_LENGTH) return false; + if (serial_message == nullptr) return false; + + const char* ptr = buffer; + + const char msg_length = *ptr++; + + if (msg_length < ctrl::SERIAL_MESSAGE_MIN_LENGTH) return false; + + serial_message->mode = *ptr++; + serial_message->flags = *ptr++; + + memcpy(&serial_message->time, ptr, sizeof(uint64_t)); + ptr += sizeof(uint64_t); + + const int payload_length = getPayloadLength(serial_message->mode); + const int msg_length_expected = getMsgLength(serial_message->mode); + + if (length < msg_length_expected) return false; + if (msg_length < msg_length_expected) return false; + + memcpy(&serial_message->payload, ptr, payload_length); + + return true; +} + +bool CtrlEncoding::encodeContainer( + const ctrl::serial_container_t& serial_container, char* const buffer, + int* const length) const { + if (buffer == nullptr) return false; + if (length == NULL) return false; + + if (serial_container.num_messages < 1) return false; + if (serial_container.num_messages > ctrl::SERIAL_MESSAGE_MAX_COUNT) + return false; + + char container_buffer[ctrl::SERIAL_CONTAINER_MAX_LENGTH]; + + int pos = 1; + + container_buffer[pos++] = serial_container.num_messages; + + for (int i = 0; i < serial_container.num_messages; ++i) { + int len = *length - pos; + if (!encodeMessage(serial_container.messages[i], &container_buffer[pos], + &len)) + return false; + + pos += len; + } + + container_buffer[0] = pos; + + const uint16_t checksum = crc_.compute(container_buffer, pos); + container_buffer[pos++] = checksum; + container_buffer[pos++] = checksum >> 8; + + if (!COBS::stuff(container_buffer, pos, buffer, length)) + return false; + + return true; +} + +bool CtrlEncoding::decodeContainer( + const char* const buffer, const int length, + ctrl::serial_container_t* const serial_container) const { + if (buffer == nullptr) return false; + if (serial_container == nullptr) return false; + + if (length == 0) return false; + + int unstuffed_length = ctrl::SERIAL_CONTAINER_MAX_LENGTH; + char container_buffer[ctrl::SERIAL_CONTAINER_MAX_LENGTH]; + + if (!COBS::unstuff(buffer, length, container_buffer, + &unstuffed_length)) + return false; + + if (unstuffed_length - 2 != container_buffer[0]) return false; + + // Compute checksum + const uint16_t checksum = crc_.compute(container_buffer, unstuffed_length); + + // Compare checksum + if (checksum != 0) return false; + + // Read all messags + serial_container->num_messages = container_buffer[1]; + + if (serial_container->num_messages < 1) return false; + if (serial_container->num_messages > ctrl::SERIAL_MESSAGE_MAX_COUNT) + return false; + + int pos = 2u; + + for (int i = 0; i < serial_container->num_messages; ++i) { + int msg_length = container_buffer[pos]; + int len = length - pos; + if (!decodeMessage(&container_buffer[pos], len, + &serial_container->messages[i])) + return false; + + pos += msg_length; + } + + return true; +} + +int CtrlEncoding::getPayloadLength(const ctrl::CTRLMODE mode) { + switch (mode) { + case ctrl::CTRLMODE::OFF: + case ctrl::CTRLMODE::ARM: + case ctrl::CTRLMODE::EMERGENCY: + return 0; + case ctrl::CTRLMODE::ROTOR_THROTTLE: + return (int)sizeof(ctrl::rotor_throttle_payload_t); + case ctrl::CTRLMODE::ROTOR_SPEED: + return (int)sizeof(ctrl::rotor_speed_payload_t); + case ctrl::CTRLMODE::ROTOR_THRUST: + return (int)sizeof(ctrl::rotor_thrust_payload_t); + case ctrl::CTRLMODE::BODY_RATE: + return (int)sizeof(ctrl::body_rate_payload_t); + case ctrl::CTRLMODE::ATTITUDE: + return (int)sizeof(ctrl::attitude_payload_t); + case ctrl::CTRLMODE::VELOCITY: + return (int)sizeof(ctrl::velocity_payload_t); + case ctrl::CTRLMODE::SET_PARAM: + return (int)sizeof(ctrl::parameter_payload_t); + case ctrl::CTRLMODE::FEEDBACK: + return (int)sizeof(ctrl::upstream_payload_t); + default: + return 0; + } +} + +int CtrlEncoding::getPayloadLength(const uint8_t mode) { + return getPayloadLength((ctrl::CTRLMODE)mode); +} + +int CtrlEncoding::getMsgLength(const ctrl::CTRLMODE mode) { + return 1 + ctrl::SERIAL_MESSAGE_HEADER_LENGTH + getPayloadLength(mode); +} + +int CtrlEncoding::getMsgLength(const uint8_t mode) { + return getMsgLength((ctrl::CTRLMODE)mode); +} +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/debug_bridge.cpp b/src/agilicious/agilib/src/bridge/debug_bridge.cpp new file mode 100644 index 0000000..7fad711 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/debug_bridge.cpp @@ -0,0 +1,35 @@ +#include "agilib/bridge/debug_bridge.hpp" + +#include "agilib/math/gravity.hpp" +#include "agilib/utils/throttler.hpp" + +namespace agi { + +DebugBridge::DebugBridge(const std::string& name, + const TimeFunction time_function) + : BridgeBase(name, time_function) { + voltage_watchdog_.disable(); // not a real bridge +} + +bool DebugBridge::sendCommand(const Command& command, const bool active) { + static Throttler timer_info_throttler(logger_, 1.0); + if (!active) return true; + + timer_.toc(); + if (timer_() > 1.0) { + logger_.info("Reset control dt timer."); + timer_.reset(); + timer_.tic(); + } + if (timer_.count() > 1) + timer_info_throttler(&Logger::info, "Control dt: %1.3fs", timer_()); + + return true; +} + +void DebugBridge::reset() { + timer_.reset(); + n_timeouts_ = 0; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/laird/laird_bridge.cpp b/src/agilicious/agilib/src/bridge/laird/laird_bridge.cpp new file mode 100644 index 0000000..111aa71 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/laird/laird_bridge.cpp @@ -0,0 +1,90 @@ +#include "agilib/bridge/laird/laird_bridge.hpp" + +#include + +#include + +namespace agi { + +LairdBridge::LairdBridge(const LairdParams& params, + const TimeFunction time_function) + : SerialBridge(params.serial_settings, "Laird Bridge", time_function, + params.timeout, 0), + encoding_(params.single_rotor_thrust) { + if (!isOpen()) { + logger_.error("Could not open serial port"); + logger_ << params.serial_settings; + } else { + if (serial_settings_.serial_mode != SerialMode::Write) { + logger_.info("Start Laird in receive mode!"); + if (!serial_port_.addReceiveCallback( + std::bind(&LairdBridge::receiveCallback, this, + std::placeholders::_1, std::placeholders::_2))) { + logger_.error("Could not bind receive callback to serial port!"); + } + } else { + logger_.info("Start Laird in transmit mode!"); + } + } +} + +bool LairdBridge::sendCommand(const Command& command, const bool active) { + return sendCommand(command, active, encoding_); +} + +bool LairdBridge::receiveCommand(Command* const command, bool* const armed) { + if (command == nullptr || armed == nullptr) return false; + + std::lock_guard lock(buffer_mtx_); + + if (buffer_length_ < MSG_SIZE) return false; + + int bytes_read; + bool got_command = false; + + // Iterate over the buffer from the start until we find a valid message. + for (bytes_read = 0; bytes_read <= buffer_length_ - MSG_SIZE; ++bytes_read) { + // Try to decode the message, if successful, add the read message length. + if (encoding_.decode(&buffer_[bytes_read], buffer_length_ - bytes_read, + command, armed)) { + got_command = true; + break; + } + } + + if (bytes_read > 0) logger_.info("Dropped %d bytes!", bytes_read); + bytes_read += got_command ? MSG_SIZE : 0; + + // Delete what was parsed from the buffer and make sure length is valid. + static char tmp[BUFFER_SIZE]; + buffer_length_ -= bytes_read; + if (buffer_length_ > 0) { + memcpy(&tmp, &buffer_[bytes_read], buffer_length_); + memcpy(buffer_, &tmp, buffer_length_); + } else { + buffer_length_ = 0; + } + + return got_command; +} + +bool LairdBridge::waitForData() { + if (buffer_length_ >= MSG_SIZE) return true; + std::unique_lock lock(wait_for_data_mtx_); + return wait_for_data_cv_.wait_for(lock, std::chrono::milliseconds(100), + [&] { return buffer_length_ >= MSG_SIZE; }); +} + +void LairdBridge::receiveCallback(const char* const buffer, const int length) { + std::lock_guard lock(buffer_mtx_); + if (length > BUFFER_SIZE - buffer_length_) { + buffer_length_ = 0; + } + if (length > BUFFER_SIZE) return; + + memcpy(&buffer_[buffer_length_], buffer, length); + buffer_length_ += length; + wait_for_data_cv_.notify_all(); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/laird/laird_bridge_params.cpp b/src/agilicious/agilib/src/bridge/laird/laird_bridge_params.cpp new file mode 100644 index 0000000..857b282 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/laird/laird_bridge_params.cpp @@ -0,0 +1,49 @@ +#include "agilib/bridge/laird/laird_bridge_params.hpp" + +#include + +namespace agi { + +LairdParams::LairdParams(const std::string& port, const int baudrate, + const SerialMode serial_mode) + : serial_settings(port, baudrate, serial_mode) {} + + +bool LairdParams::load(const fs::path& filename) { + const Yaml node = Yaml(filename); + return load(node); +} + +bool LairdParams::load(const Yaml& node) { + node["port"].getIfDefined(serial_settings.port); + + node["baudrate"].getIfDefined(serial_settings.baudrate); + + node["single_rotor_thrust"].getIfDefined(single_rotor_thrust); + + if (node["direction"].isDefined()) { + std::string direction = node["direction"].as(); + std::transform(direction.begin(), direction.end(), direction.begin(), + [](unsigned char c) { return std::tolower(c); }); + bool receive = false; + receive |= direction.find("receive") != std::string::npos; + receive |= direction.find("rx") != std::string::npos; + serial_settings.serial_mode = + receive ? SerialMode::Read : SerialMode::Write; + } + + node["timeout"].getIfDefined(timeout); + + return !serial_settings.port.empty(); +} + +std::ostream& operator<<(std::ostream& os, const LairdParams& settings) { + os << "Laird Settings:\n" << settings.serial_settings; + os << "Guard Settings:\n" + << "timeout: " << settings.timeout << "s\n" + << "timeouts before lock: " << settings.n_timeouts_for_lock << std::endl; + + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/laird/laird_encoding.cpp b/src/agilicious/agilib/src/bridge/laird/laird_encoding.cpp new file mode 100644 index 0000000..63eeca7 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/laird/laird_encoding.cpp @@ -0,0 +1,129 @@ +#include "agilib/bridge/laird/laird_encoding.hpp" + +#include +#include + +namespace agi { + +LairdEncoding::LairdEncoding(const bool single_rotor_thrust) + : single_rotor_thrust_(single_rotor_thrust) {} + +bool LairdEncoding::encode(const Command& command, const bool armed, + char* const buffer, int* const length) const { + if (length == nullptr || buffer == nullptr) return false; + if (*length < BUFFER_SIZE) return false; + + if (!command.valid()) return false; + + bool is_single_rotor_thrust = false; + if (single_rotor_thrust_) { + if (command.isSingleRotorThrusts()) { + is_single_rotor_thrust = true; + } else { + std::cout << "LairdEncoding single rotor not in the command" << std::endl; + return false; + } + } else { + if (command.isRatesThrust()) { + is_single_rotor_thrust = false; + } else { + std::cout << "LairdEncoding rates thrust not in the command" << std::endl; + return false; + } + } + + int idx = 0; + memcpy(&buffer[idx], &command.t, SCALAR_SIZE); + idx += SCALAR_SIZE; + + char flags = 0x00; + flags += armed ? ARMBIT : 0x00; + flags += !is_single_rotor_thrust ? 0x00 : MODEBIT; + + memcpy(&buffer[idx], &flags, FLAGS_SIZE); + idx += FLAGS_SIZE; + + // Assigning values individually. + // Could potentially copy the underlying array of the Eigen object. + // However, this might not be contiguous in memory in the general case. + // Therefore, we go with individual copy for the moment. + if (is_single_rotor_thrust) { + memcpy(&buffer[idx], &command.thrusts(0), SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&buffer[idx], &command.thrusts(1), SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&buffer[idx], &command.thrusts(2), SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&buffer[idx], &command.thrusts(3), SCALAR_SIZE); + idx += SCALAR_SIZE; + } else { + memcpy(&buffer[idx], &command.collective_thrust, SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&buffer[idx], &command.omega(0), SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&buffer[idx], &command.omega(1), SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&buffer[idx], &command.omega(2), SCALAR_SIZE); + idx += SCALAR_SIZE; + } + + const CRC::Type crc_value = crc.compute(buffer, idx); + memcpy(&buffer[idx], &crc_value, CRC::SIZE); + idx += CRC::SIZE; + + if (idx != BUFFER_SIZE) return false; + *length = idx; + + return true; +} + +bool LairdEncoding::decode(const char* const buffer, const int length, + Command* const command, bool* const armed) const { + if (buffer == nullptr || command == nullptr || armed == nullptr) return false; + if (length < BUFFER_SIZE) return false; + + CRC::Type crc_received; + memcpy(&crc_received, &buffer[BUFFER_SIZE - CRC::SIZE], CRC::SIZE); + const CRC::Type crc_value = crc.compute(buffer, MSG_SIZE); + + if (crc_value != crc_received) return false; + + int idx = 0; + memcpy(&command->t, &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + + char flags; + memcpy(&flags, &buffer[idx], FLAGS_SIZE); + idx += FLAGS_SIZE; + + *armed = flags & ARMBIT; + const bool is_single_rotor_thrusts = flags & MODEBIT; + + if (is_single_rotor_thrusts) { + memcpy(&command->thrusts(0), &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&command->thrusts(1), &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&command->thrusts(2), &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&command->thrusts(3), &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + command->collective_thrust = NAN; + command->omega.setConstant(NAN); + } else { + memcpy(&command->collective_thrust, &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&command->omega(0), &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&command->omega(1), &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + memcpy(&command->omega(2), &buffer[idx], SCALAR_SIZE); + idx += SCALAR_SIZE; + command->thrusts.setConstant(NAN); + } + + return true; +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/msp/msp_bridge.cpp b/src/agilicious/agilib/src/bridge/msp/msp_bridge.cpp new file mode 100644 index 0000000..ee1176e --- /dev/null +++ b/src/agilicious/agilib/src/bridge/msp/msp_bridge.cpp @@ -0,0 +1,34 @@ +#include + +namespace agi { + +MspBridge::MspBridge(const Quadrotor& quad, const MspParams& params, + const TimeFunction time_function) + : SerialBridge(params.serial_settings, "MSP Bridge", time_function, + params.timeout, params.n_timeouts_for_lock), + encoding_(params.thrust_map_) { + if (!serial_port_.addReceiveCallback(std::bind(&MspBridge::receiveCallback, + this, std::placeholders::_1, + std::placeholders::_2))) { + logger_.error("Could not bind receive callback to serial port!"); + } +} + +bool MspBridge::sendCommand(const Command& command, const bool active) { + if (!command.isSingleRotorThrusts()) return false; + + return sendCommand(command, active, encoding_); +} + +void MspBridge::receiveCallback(const char* const buffer, const int length) { + // decode function not finished +} + +bool MspBridge::getFeedback(Feedback* const feedback) { + if (feedback == nullptr) return false; + + *feedback = encoding_.feedback(); + return feedback->valid(); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/msp/msp_bridge_params.cpp b/src/agilicious/agilib/src/bridge/msp/msp_bridge_params.cpp new file mode 100644 index 0000000..ea2c9f4 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/msp/msp_bridge_params.cpp @@ -0,0 +1,35 @@ +#include "agilib/bridge/msp/msp_bridge_params.hpp" + +#include "agilib/utils/logger.hpp" + +namespace agi { + +bool MspParams::load(const fs::path& filename) { + const Yaml node = Yaml(filename); + bool check = load(node); + if (node["thrust_map"].isNull()) + throw ParameterException("No thrust map specified!"); + fs::path thrust_map_file = node["thrust_map"].as(); + check &= thrust_map_.load(filename.parent_path() / thrust_map_file); + return check; +} + +bool MspParams::load(const Yaml& node) { + serial_settings.port = node["port"].as(); + node["timeout"].getIfDefined(timeout); + + node["n_timeouts_for_lock"].getIfDefined(n_timeouts_for_lock); + + return !serial_settings.port.empty(); +} + +std::ostream& operator<<(std::ostream& os, const MspParams& settings) { + os << "MSP Settings:\n" << settings.serial_settings; + os << "Guard Settings:\n" + << "timeout: " << settings.timeout << "s\n" + << "timeouts before lock: " << settings.n_timeouts_for_lock << std::endl; + + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/msp/msp_encoding.cpp b/src/agilicious/agilib/src/bridge/msp/msp_encoding.cpp new file mode 100644 index 0000000..b4e940d --- /dev/null +++ b/src/agilicious/agilib/src/bridge/msp/msp_encoding.cpp @@ -0,0 +1,77 @@ +#include "agilib/bridge/msp/msp_encoding.hpp" + +#include "agilib/bridge/msp/msp_msgs_defs.hpp" + +namespace agi { + +MspEncoding::MspEncoding(const ThrustMap& thrust_map) + : thrust_map_(thrust_map), motor_packet_(16) { + motor_packet_.code() = msp::SET_MOTOR; + motor_packet_.direction() = msp::SEND; +} + +bool MspEncoding::encode(const Command& command, const bool armed, + char* const buffer, int* const length) const { + if (buffer == nullptr) return false; + const bool armed_and_valid = armed && command.isSingleRotorThrusts(); + + const Scalar voltage = 16.0; + for (int i = 0; i < 4; ++i) { + const Scalar T = thrust_map_.map(4.0 * command.thrusts(i), voltage); + motor_packet_.payload()[motor_order[i]] = + armed_and_valid ? T : 1000; + } + motor_packet_.finalize(); + + *length = motor_packet_.message_size(); + motor_packet_.copy_to_buffer(buffer); + + return true; +} + +bool MspEncoding::decode(const char* const buffer, const int length, + Command* const command, bool* const armed) const { + return false; +} + +bool MspEncoding::decode(const char* const buffer, const int length) const { + if (length < msp::MIN_LENGTH || length > SerialPort::BUFFER_SIZE) + return false; + + bool valid = true; + const char* idx = std::find(buffer, buffer + length, '$'); + const int i = idx - buffer; + if (i > length - msp::MIN_LENGTH) { + valid = false; + return false; + } + // Message format is which is checked is $M< + valid &= (buffer[i + 1] == 'M'); + valid &= (buffer[i + 2] == msp::RECV); + + // Next char [3] is payload length + const uint8_t payload_length = buffer[i + 3]; + const uint8_t remaining_length = + length - i - payload_length - msp::MIN_LENGTH; + if (!valid || payload_length > msp::MAX_PAYLOAD || remaining_length < 0) { + std::cout << "No Remaining Length" << std::endl; + return false; + } + + MspPacket pkt(payload_length); + pkt.direction() = msp::RECV; + + // Message code is fourth byte of the message and payload starts from 5th on + pkt.code() = buffer[i + 4]; + memcpy(pkt.payload(), &buffer[i + 5], pkt.payload_length()); + pkt.finalize(); + + if (pkt.checksum() != buffer[i + msp::MIN_LENGTH + payload_length - 1]) { + std::cout << "Checksums do not match" << std::endl; + return false; + } + + return valid; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/msp/msp_packet.cpp b/src/agilicious/agilib/src/bridge/msp/msp_packet.cpp new file mode 100644 index 0000000..c592b02 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/msp/msp_packet.cpp @@ -0,0 +1,57 @@ +#include "agilib/bridge/msp/msp_packet.hpp" + + +namespace agi { + +MspPacket::MspPacket(const char payload_bytes) { + data = (unsigned char*)malloc(payload_bytes + 6); + memset(data, 0, payload_bytes + 6); + data[0] = '$'; + data[1] = 'M'; + data[3] = payload_bytes; +} + +MspPacket::~MspPacket() { free(data); } + +void MspPacket::finalize() { + checksum() = data[3] ^ data[4]; + const unsigned char* const tmp = payload(); + for (int i = 0; i < payload_length(); ++i) { + checksum() ^= tmp[i]; + } +} + +std::ostream& operator<<(std::ostream& os, const MspPacket& p) { + std::string dir; + switch (p.direction()) { + case msp::SEND: + dir = "to flight controller"; + break; + case msp::RECV: + dir = "from flight controller"; + break; + default: + dir = "unknown - error"; + } + os << "Direction " << dir << std::endl + << "Payload Size " << (int)p.payload_length() << " bytes" << std::endl + << "Message Code " << (int)p.code() << std::endl + << "Checksum " << (int)p.checksum() << std::endl + << "Payload "; + for (int i = 0; i < p.payload_length(); ++i) { + char tmp[3]; + sprintf(tmp, "%02X", p.payload()[i]); + os << tmp << " "; + } + os << std::endl; + return os; +} + + +bool MspPacket::copy_to_buffer(char* const buffer) const { + std::memcpy(buffer, message(), message_size()); + return true; +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/sbus/sbus_bridge.cpp b/src/agilicious/agilib/src/bridge/sbus/sbus_bridge.cpp new file mode 100644 index 0000000..d71b618 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/sbus/sbus_bridge.cpp @@ -0,0 +1,22 @@ +#include "agilib/bridge/sbus/sbus_bridge.hpp" + +#include + +#include + +namespace agi { + +SbusBridge::SbusBridge(const Quadrotor& quad, const SbusParams& params, + const TimeFunction time_function) + : SerialBridge(params.serial_settings, "SBUS Bridge", time_function, + params.timeout, params.n_timeouts_for_lock), + quad_{quad}, + encoding_(quad, params.thrust_map_, params.omega_max) {} + +bool SbusBridge::sendCommand(const Command& command, const bool active) { + if (!command.isRatesThrust()) return false; + encoding_.setVoltage(voltage_()); + return sendCommand(command, active, encoding_); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/sbus/sbus_bridge_params.cpp b/src/agilicious/agilib/src/bridge/sbus/sbus_bridge_params.cpp new file mode 100644 index 0000000..110df84 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/sbus/sbus_bridge_params.cpp @@ -0,0 +1,38 @@ +#include "agilib/bridge/sbus/sbus_bridge_params.hpp" + +#include "agilib/utils/logger.hpp" + +namespace agi { + +bool SbusParams::load(const fs::path& filename) { + const Yaml node = Yaml(filename); + bool check = load(node); + if (node["thrust_map"].isNull()) + throw ParameterException("No thrust map specified!"); + fs::path thrust_map_file = node["thrust_map"].as(); + check &= thrust_map_.load(filename.parent_path() / thrust_map_file); + return check; +} + +bool SbusParams::load(const Yaml& node) { + serial_settings.port = node["port"].as(); + + node["timeout"].getIfDefined(timeout); + + node["n_timeouts_for_lock"].getIfDefined(n_timeouts_for_lock); + + if (node["omega_max"].getIfDefined(omega_max)) omega_max *= M_PI / 180.0; + + return !serial_settings.port.empty(); +} + +std::ostream& operator<<(std::ostream& os, const SbusParams& settings) { + os << "SBUS Settings:\n" << settings.serial_settings; + os << "Guard Settings:\n" + << "timeout: " << settings.timeout << "s\n" + << "timeouts before lock: " << settings.n_timeouts_for_lock << std::endl; + + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/sbus/sbus_encoding.cpp b/src/agilicious/agilib/src/bridge/sbus/sbus_encoding.cpp new file mode 100644 index 0000000..ac5b0f9 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/sbus/sbus_encoding.cpp @@ -0,0 +1,119 @@ +#include "agilib/bridge/sbus/sbus_encoding.hpp" + +namespace agi { + +bool SbusEncoding::encode(const Command& command, const bool armed, + char* const buffer, int* const length) const { + if (length == nullptr || buffer == nullptr) return false; + if (*length < SBUS_FRAME_LENGTH) return false; + + if (!std::isfinite(voltage)) return false; + + std::fill(buffer, buffer + SBUS_FRAME_LENGTH, 0x00); + + // Map a desired thrust in Newton to an SBUS command. + const Scalar sbus_thrust = + thrust_map.map(command.collective_thrust * quad.m_, voltage); + + // Catch mapping error for zero thrust. + const Scalar sbus_thrust_apply = + std::max(command.collective_thrust > 0.0 ? sbus_thrust : 0.0, 0.0); + + // Convert to unsigned int and clamp in valid SBUS range. + const size_t clamped_sbus_thrust = + std::clamp((size_t)sbus_thrust_apply, SBUS_MIN_VAL, SBUS_MAX_VAL); + + // Scale rate to (0, 1) and map into SBUS range below. + const Array<3, 1> scale = Array<3, 1>::Ones() / (2.0 * omega_max.array()); + const Vector<3> sbus_omega{command.omega.x(), command.omega.y(), + -command.omega.z()}; + const Vector<3> normal_rates = + scale * + (sbus_omega.cwiseMax(-omega_max).cwiseMin(omega_max) + omega_max).array(); + + // Set channels. + size_t channels[N_CHANNELS] = {0}; + channels[CHANNEL_THROTTLE] = clamped_sbus_thrust; + channels[CHANNEL_OMEGAX] = + SBUS_MIN_VAL + (size_t)(SBUS_VAL_RANGE * normal_rates.x()); + channels[CHANNEL_OMEGAY] = + SBUS_MIN_VAL + (size_t)(SBUS_VAL_RANGE * normal_rates.y()); + channels[CHANNEL_OMEGAZ] = + SBUS_MIN_VAL + (size_t)(SBUS_VAL_RANGE * normal_rates.z()); + channels[CHANNEL_ARMED] = armed ? SBUS_MAX_VAL : SBUS_MIN_VAL; + channels[CHANNEL_MODE] = SBUS_MAX_VAL; + + // Parse into serial buffer according to SBUS protocol. + parseToBuffer(buffer, channels); + + *length = SBUS_FRAME_LENGTH; + return true; +} + +void SbusEncoding::parseToBuffer(char* const buffer, + const size_t* const channels, + const bool digital_channel_1, + const bool digital_channel_2, + const bool frame_lost, const bool failsafe) { + if (buffer == nullptr) return; // TODO: Handle exception + + buffer[0] = SBUS_HEADER_BYTE; + + // 16 channels of 11 bit data + buffer[1] = (uint8_t)((channels[0] & 0x07FF)); + buffer[2] = + (uint8_t)((channels[0] & 0x07FF) >> 8 | (channels[1] & 0x07FF) << 3); + buffer[3] = + (uint8_t)((channels[1] & 0x07FF) >> 5 | (channels[2] & 0x07FF) << 6); + buffer[4] = (uint8_t)((channels[2] & 0x07FF) >> 2); + buffer[5] = + (uint8_t)((channels[2] & 0x07FF) >> 10 | (channels[3] & 0x07FF) << 1); + buffer[6] = + (uint8_t)((channels[3] & 0x07FF) >> 7 | (channels[4] & 0x07FF) << 4); + buffer[7] = + (uint8_t)((channels[4] & 0x07FF) >> 4 | (channels[5] & 0x07FF) << 7); + buffer[8] = (uint8_t)((channels[5] & 0x07FF) >> 1); + buffer[9] = + (uint8_t)((channels[5] & 0x07FF) >> 9 | (channels[6] & 0x07FF) << 2); + buffer[10] = + (uint8_t)((channels[6] & 0x07FF) >> 6 | (channels[7] & 0x07FF) << 5); + buffer[11] = (uint8_t)((channels[7] & 0x07FF) >> 3); + buffer[12] = (uint8_t)((channels[8] & 0x07FF)); + buffer[13] = + (uint8_t)((channels[8] & 0x07FF) >> 8 | (channels[9] & 0x07FF) << 3); + buffer[14] = + (uint8_t)((channels[9] & 0x07FF) >> 5 | (channels[10] & 0x07FF) << 6); + buffer[15] = (uint8_t)((channels[10] & 0x07FF) >> 2); + buffer[16] = + (uint8_t)((channels[10] & 0x07FF) >> 10 | (channels[11] & 0x07FF) << 1); + buffer[17] = + (uint8_t)((channels[11] & 0x07FF) >> 7 | (channels[12] & 0x07FF) << 4); + buffer[18] = + (uint8_t)((channels[12] & 0x07FF) >> 4 | (channels[13] & 0x07FF) << 7); + buffer[19] = (uint8_t)((channels[13] & 0x07FF) >> 1); + buffer[20] = + (uint8_t)((channels[13] & 0x07FF) >> 9 | (channels[14] & 0x07FF) << 2); + buffer[21] = + (uint8_t)((channels[14] & 0x07FF) >> 6 | (channels[15] & 0x07FF) << 5); + buffer[22] = (uint8_t)((channels[15] & 0x07FF) >> 3); + + buffer[23] = 0x00; + if (digital_channel_1) { + buffer[23] |= 0x01; + } + if (digital_channel_2) { + buffer[23] |= 0x02; + } + if (frame_lost) { + buffer[23] |= 0x04; + } + if (failsafe) { + buffer[23] |= 0x08; + } + + buffer[24] = SBUS_FOOTER_BYTE; +} + +void SbusEncoding::setVoltage(const Scalar v) { voltage = v; } + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/serial_bridge.cpp b/src/agilicious/agilib/src/bridge/serial_bridge.cpp new file mode 100644 index 0000000..6ac1ba9 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/serial_bridge.cpp @@ -0,0 +1,32 @@ +#include "agilib/bridge/serial_bridge.hpp" + +namespace agi { +SerialBridge::SerialBridge(const SerialSettings& serial_settings, + const std ::string& name, + const TimeFunction time_function, + const Scalar timeout, const int n_max_timeouts) + : BridgeBase(name, time_function, timeout, n_max_timeouts), + serial_settings_(serial_settings), + serial_port_(serial_settings_) {} + +bool SerialBridge::sendCommand(const Command& command, const bool active, + const MsgEncoding& encoding) { + if (!command.valid()) { + logger_.error("Command invalid.\n"); + return false; + } + + char buffer[BUFFER_SIZE]; + int length = BUFFER_SIZE; + + if (!encoding.encode(command, active, buffer, &length)) { + logger_.error("Encoding is not correct.\n"); + return false; + } + + int sent_length = serial_port_.send(buffer, length); + + return sent_length >= length; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/bridge/thrust_map.cpp b/src/agilicious/agilib/src/bridge/thrust_map.cpp new file mode 100644 index 0000000..cdf4884 --- /dev/null +++ b/src/agilicious/agilib/src/bridge/thrust_map.cpp @@ -0,0 +1,104 @@ +#include "agilib/bridge/thrust_map.hpp" + +#include +#include + +#include "agilib/base/parameter_base.hpp" + +namespace agi { + + +bool ThrustMap::load(const fs::path& file) { + std::ifstream csvFile; + csvFile.open(file.c_str()); + + if (!csvFile.is_open()) + throw ParameterException("Could not open thrust map file!"); + + std::string line; + + // First line with general parameter + if (!getline(csvFile, line)) + throw ParameterException("Could not read first line of thrust map csv!"); + + std::istringstream ss(line); + std::string num; + + if (!getline(ss, num, ',')) + throw ParameterException("Error in thrust map csv!"); + const int map_size = stoi(num); + + if (!getline(ss, num, ',')) + throw ParameterException("Error in thrust map csv!"); + thrust_min_ = stod(num); + + if (!getline(ss, num, ',')) + throw ParameterException("Error in thrust map csv!"); + thrust_max_ = stod(num); + + if (!getline(ss, num, ',')) + throw ParameterException("Error in thrust map csv!"); + voltage_min_ = stod(num); + + if (!getline(ss, num, ',')) + throw ParameterException("Error in thrust map csv!"); + voltage_max_ = stod(num); + + if ((voltage_max_ - voltage_min_) < 0.5) { + voltage_max_ += 0.5; + } + + map_ = Matrix<>::Zero(map_size, map_size); + + for (int row = 0; row < map_.rows(); ++row) { + if (!getline(csvFile, line)) + throw ParameterException("Thrust map csv has wrong size!"); + ss = std::istringstream(line); + + for (int col = 0; col < map_.cols(); ++col) { + if (!getline(ss, num, ',')) + throw ParameterException("Thrust map csv has wrong size!"); + map_(row, col) = stod(num); + } + } + + return true; +} + +bool ThrustMap::valid() { + return std::isfinite(voltage_min_) && std::isfinite(voltage_max_) && + std::isfinite(thrust_min_) && std::isfinite(thrust_max_) && + map_.allFinite(); +} + +Scalar ThrustMap::map(const Scalar thrust, const Scalar voltage) const { + const int i_thrust{ + std::clamp(((int)(Scalar)map_.cols() * (thrust - thrust_min_) / + (thrust_max_ - thrust_min_)), + 0, map_.cols() - 2)}; + const int i_voltage{ + std::clamp(((int)(Scalar)map_.rows() * (voltage - voltage_min_) / + (voltage_max_ - voltage_min_)), + 0, map_.rows() - 2)}; + + const Matrix<2, 2> W = map_.block<2, 2>(i_voltage, i_thrust); + + const Scalar delta_thrust = (thrust_max_ - thrust_min_) / (map_.cols() - 1); + const Scalar x0_thrust = i_thrust * delta_thrust + thrust_min_; + const Scalar delta_voltage = + (voltage_max_ - voltage_min_) / (map_.rows() - 1); + const Scalar x0_voltage = i_voltage * delta_voltage + voltage_min_; + const Scalar x_thrust = (thrust - x0_thrust) / (delta_thrust); + const Scalar x_voltage = (voltage - x0_voltage) / (delta_voltage); + + + const Matrix<2, 1> xv_thrust{1.0 - x_thrust, x_thrust}; + const Matrix<1, 2> xv_voltage{1.0 - x_voltage, x_voltage}; + + + const Scalar command = xv_voltage * W * xv_thrust; + + return command; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/controller_base.cpp b/src/agilicious/agilib/src/controller/controller_base.cpp new file mode 100644 index 0000000..adad775 --- /dev/null +++ b/src/agilicious/agilib/src/controller/controller_base.cpp @@ -0,0 +1,14 @@ +#include "agilib/controller/controller_base.hpp" + +namespace agi { + +ControllerBase::ControllerBase(const std::string& name, const Scalar exec_dt, + const int horizon_length) + : Module(name), + horizon_length_(horizon_length), + exec_dt_(exec_dt), + pred_dt_(NAN) {} + +ControllerBase::~ControllerBase() {} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/geometric/controller_geo.cpp b/src/agilicious/agilib/src/controller/geometric/controller_geo.cpp new file mode 100644 index 0000000..08a728d --- /dev/null +++ b/src/agilicious/agilib/src/controller/geometric/controller_geo.cpp @@ -0,0 +1,135 @@ +#include "agilib/controller/geometric/controller_geo.hpp" + +#include "agilib/math/math.hpp" + +namespace agi { + +GeometricController::GeometricController( + const Quadrotor& quad, + const std::shared_ptr& params) + : ControllerBase("GEO"), + quad_(quad), + params_(params), + filterAcc_(params->filter_cutoff_frequency_, + params->filter_sampling_frequency_, 0.0), + filterMot_(params->filter_cutoff_frequency_, + params->filter_sampling_frequency_, 0.0) {} + +GeometricController::~GeometricController() {} + +bool GeometricController::getCommand(const QuadState& state, + const SetpointVector& references, + SetpointVector* const setpoints) { + if (setpoints == nullptr) return false; + setpoints->clear(); + + if (!state.valid() || references.empty() || + !references.front().input.valid()) { + logger_.error("Control inputs are not valid!"); + logger_.error("State is valid: [%d]!", state.valid()); + logger_.error("Setpoints are empty: [%d]!", references.empty()); + logger_.error("Setpoint is valid: [%d]!", references.front().input.valid()); + logger_ << references.front().input; + return false; + } + + Setpoint setpoint = references.front(); + + // update filters + const Vector<3> accB = + imu_.valid() ? imu_.acc + state.ba : state.q().inverse() * (state.a - GVEC); + + filterMot_.add(state.mot); + const Vector<4> wf = filterMot_(); + const Scalar thrust_f = quad_.thrust_map_(0) * wf.transpose() * wf; + + filterAcc_.add(accB); + const Vector<3> acc_f = filterAcc_(); + + // acc command + Vector<3> acc_cmd; + { + Vector<3> pos_error = clip(setpoint.state.p - state.p, params_->p_err_max_); + Vector<3> vel_error = clip(setpoint.state.v - state.v, params_->v_err_max_); + + acc_cmd = params_->kp_acc_.cwiseProduct(pos_error) + + params_->kd_acc_.cwiseProduct(vel_error) + setpoint.state.a - + GVEC; + + if (params_->drag_compensation_ && state.v.norm() > 3.0) { + const Vector<3> acc_aero = + state.q() * (thrust_f * Vector<3>::UnitZ() / quad_.m_ - acc_f); + acc_cmd += acc_aero; + } + } + const Scalar thrust_cmd = acc_cmd.norm() * quad_.m_; + + // attitude command + Quaternion q_cmd; + { + const Quaternion q_c(Quaternion( + Eigen::AngleAxis(setpoint.state.getYaw(), Vector<3>::UnitZ()))); + const Vector<3> y_c = q_c * Vector<3>::UnitY(); + const Vector<3> z_B = acc_cmd.normalized(); + const Vector<3> x_B = (y_c.cross(z_B)).normalized(); + const Vector<3> y_B = (z_B.cross(x_B)).normalized(); + const Matrix<3, 3> R_W_B((Matrix<3, 3>() << x_B, y_B, z_B).finished()); + const Quaternion q_des(R_W_B); + + q_cmd = q_des; + } + + // angular acceleration command + Vector<3> alpha_cmd; + Vector<3> omega_cmd; + { + omega_cmd = tiltPrioritizedControl(state.q(), q_cmd); + + // angular rate / acceleration reference from Mellinger 2011 + const Vector<3> bx = state.q() * Vector<3>::UnitX(); + const Vector<3> by = state.q() * Vector<3>::UnitY(); + const Vector<3> bz = state.q() * Vector<3>::UnitZ(); + Vector<3> hw = + quad_.m_ * (setpoint.state.j - bz.dot(setpoint.state.j) * bz); + if (thrust_f >= 0.01) hw /= thrust_f; + const Vector<3> w_ref = + Vector<3>(-hw.dot(by), hw.dot(bx), setpoint.state.w(2)); + + alpha_cmd = omega_cmd + params_->kp_rate_.cwiseProduct(w_ref - state.w); + } + + QuadState state_cmd = state; + state_cmd.tau = alpha_cmd; + Command command; + command.t = state.t; + command.omega = omega_cmd; + command.collective_thrust = thrust_cmd / quad_.m_; + setpoints->push_back({state_cmd, command}); + + return true; +} + +Vector<3> GeometricController::tiltPrioritizedControl(const Quaternion& q, + const Quaternion& q_des) { + // Attitude control method from Fohn 2020. + const Quaternion q_e = q.inverse() * q_des; + + Matrix<3, 3> T_att = (Matrix<3, 3>() << params_->kp_att_xy_, 0.0, 0.0, 0.0, + params_->kp_att_xy_, 0.0, 0.0, 0.0, params_->kp_att_z_) + .finished(); + Vector<3> tmp = Vector<3>(q_e.w() * q_e.x() - q_e.y() * q_e.z(), + q_e.w() * q_e.y() + q_e.x() * q_e.z(), q_e.z()); + if (q_e.w() <= 0) tmp(2) *= -1.0; + const Vector<3> rate_cmd = + 2.0 / std::sqrt(q_e.w() * q_e.w() + q_e.z() * q_e.z()) * T_att * tmp; + + return rate_cmd; +} + + +bool GeometricController::addImu(const ImuSample& imu) { + imu_ = imu; + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/geometric/geo_params.cpp b/src/agilicious/agilib/src/controller/geometric/geo_params.cpp new file mode 100644 index 0000000..cef53bb --- /dev/null +++ b/src/agilicious/agilib/src/controller/geometric/geo_params.cpp @@ -0,0 +1,45 @@ +#include "agilib/controller/geometric/geo_params.hpp" + +namespace agi { + +GeometricControllerParams::GeometricControllerParams() + : kp_acc_(18.0, 18.0, 18.0), + kd_acc_(8.0, 8.0, 8.0), + kp_rate_(20.0, 20.0, 2.0), + kp_att_xy_(150.0), + kp_att_z_(2.0), + filter_sampling_frequency_(100), + filter_cutoff_frequency_(10), + drag_compensation_(false) {} + +bool GeometricControllerParams::load(const Yaml& node) { + node["kpacc"] >> kp_acc_; + node["kdacc"] >> kd_acc_; + node["kprate"] >> kp_rate_; + kp_att_z_ = node["kpatt_z"].as(); + kp_att_xy_ = node["kpatt_xy"].as(); + filter_sampling_frequency_ = node["filter_sampling_frequency"].as(); + filter_cutoff_frequency_ = node["filter_cutoff_frequency"].as(); + drag_compensation_ = node["drag_compensation"].as(); + node["p_err_max"].getIfDefined(p_err_max_); + node["v_err_max"].getIfDefined(v_err_max_); + + return valid(); +} + +bool GeometricControllerParams::valid() const { + bool check = true; + check &= kp_acc_.allFinite() && (kp_acc_.array() >= 0.0).all(); + check &= kd_acc_.allFinite() && (kd_acc_.array() >= 0.0).all(); + check &= kp_rate_.allFinite() && (kp_rate_.array() >= 0.0).all(); + check &= (kp_att_z_ > 0.0); + check &= (kp_att_xy_ >= kp_att_z_); + check &= (filter_sampling_frequency_ > 2.0 * filter_cutoff_frequency_); + check &= (filter_cutoff_frequency_ > 0.0); + check &= p_err_max_.allFinite() && (p_err_max_.array() >= 0.0).all(); + check &= v_err_max_.allFinite() && (v_err_max_.array() >= 0.0).all(); + + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/indi/controller_indi.cpp b/src/agilicious/agilib/src/controller/indi/controller_indi.cpp new file mode 100644 index 0000000..c115238 --- /dev/null +++ b/src/agilicious/agilib/src/controller/indi/controller_indi.cpp @@ -0,0 +1,106 @@ +#include "agilib/controller/indi/controller_indi.hpp" + +namespace agi { + +IndiController::IndiController(const Quadrotor& quad, + const std::shared_ptr& params) + : ControllerBase("INDI"), + quad_(quad), + params_(params), + filterGyr_(params->filter_cutoff_frequency_, + params->filter_sampling_frequency_, 0.0), + filterMot_(params->filter_cutoff_frequency_, + params->filter_sampling_frequency_, 0.0), + G_inv_(quad_.getAllocationMatrix().inverse()) {} + +IndiController::~IndiController() {} + +bool IndiController::getCommand(const QuadState& state, + const SetpointVector& references, + SetpointVector* const setpoints) { + if (setpoints == nullptr) return false; + setpoints->clear(); + + if (!state.valid() || references.empty()) { + logger_.error("Control inputs are not valid!"); + logger_.error("State is valid: [%d]!", state.valid()); + logger_.error("Setpoints are empty: [%d]!", references.empty()); + logger_.error("Setpoint is valid: [%d]!", references.front().input.valid()); + logger_ << references.front().input; + return false; + } + + const bool has_imu = imu_.valid(); + logger_.addPublishingVariable("Motors", state.mot); + logger_.addPublishingVariable("imus", imu_.omega); + const Vector<3> gyrB = has_imu ? imu_.omega : Vector<3>(state.w); + + filterGyr_.add(gyrB); + const Vector<3> omega_f_dot = filterGyr_.derivative(); + + filterMot_.add(state.mot); + const Vector<4> wf = filterMot_(); + const Vector<4> thrusts_f = quad_.thrust_map_(0) * wf.asDiagonal() * wf; + + Command command; + command.t = state.t; + command.thrusts.setZero(); + + const Vector<3> alpha_cmd = references.at(0).state.tau; + const Vector<3> tau_f = (quad_.getAllocationMatrix() * thrusts_f).tail(3); + + Vector<4> mu; + mu(0) = references.front().input.collective_thrust * quad_.m_; + mu.tail(3) = tau_f + quad_.J_ * (alpha_cmd - omega_f_dot); + + Vector<4> mu_ndi; + mu_ndi(0) = mu(0); + mu_ndi.tail(3) = quad_.J_ * alpha_cmd + state.w.cross(quad_.J_ * state.w); + + // use ndi calculated tz_cmd to prevent yaw osscilation. + mu(3) = mu_ndi(3); + + if (!params_->use_indi_) mu = mu_ndi; + + command.thrusts = G_inv_ * mu; + command.collective_thrust = command.thrusts.sum(); + setpoints->push_back({state, command}); + + return true; +} + +bool IndiController::updateParameters( + const Quadrotor& quad, const std::shared_ptr params) { + return updateParameters(quad) && updateParameters(params); +} + +bool IndiController::updateParameters(const Quadrotor& quad) { + if (!quad.valid()) { + logger_.error("Invalid Quadrotor model passed and not applied!"); + logger_ << quad; + return false; + } + + quad_ = quad; + + return true; +} + +bool IndiController::updateParameters( + const std::shared_ptr params) { + if (!params->valid()) { + logger_.error( + "Invalid INDI Parameters passed. Will not apply any changes!"); + return false; + } + + params_ = params; + + return true; +} + +std::shared_ptr IndiController::getParameters() { + return params_; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/indi/indi_params.cpp b/src/agilicious/agilib/src/controller/indi/indi_params.cpp new file mode 100644 index 0000000..db01724 --- /dev/null +++ b/src/agilicious/agilib/src/controller/indi/indi_params.cpp @@ -0,0 +1,39 @@ +#include "agilib/controller/indi/indi_params.hpp" + +#include + +namespace agi { + +IndiParameters::IndiParameters() + : filter_sampling_frequency_(100), + filter_cutoff_frequency_(20), + use_indi_(true) {} + +bool IndiParameters::load(const Yaml& node) { + filter_sampling_frequency_ = node["filter_sampling_frequency"].as(); + filter_cutoff_frequency_ = node["filter_cutoff_frequency"].as(); + use_indi_ = node["use_indi"].as(); + + return valid(); +} + +bool IndiParameters::valid() const { + bool check = true; + check &= (filter_sampling_frequency_ > 2.0 * filter_cutoff_frequency_); + check &= (filter_cutoff_frequency_ > 0.0); + + return check; +} + +std::ostream& operator<<(std::ostream& os, const IndiParameters& params) { + os << "IndiParameters:\n"; + os << "use_indi: " << params.use_indi_ << '\n'; + os << "kp_rate: " << params.kp_rate_.transpose() << '\n'; + os << "filter_sampling_frequency: " << params.filter_sampling_frequency_ + << '\n'; + os << "filter_cutoff_frequency: " << params.filter_cutoff_frequency_ + << '\n'; + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/mpc/acados/.clang-format b/src/agilicious/agilib/src/controller/mpc/acados/.clang-format new file mode 100644 index 0000000..2e16a26 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/.clang-format @@ -0,0 +1,4 @@ +--- +DisableFormat: true +SortIncludes: false +--- diff --git a/src/agilicious/agilib/src/controller/mpc/acados/acados_solver_drone_model.c b/src/agilicious/agilib/src/controller/mpc/acados/acados_solver_drone_model.c new file mode 100644 index 0000000..17a37fc --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/acados_solver_drone_model.c @@ -0,0 +1,1002 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// standard +#include +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "drone_model_model/drone_model_model.h" + + + + +#include "drone_model_cost/drone_model_cost_y_fun.h" +#include "drone_model_cost/drone_model_cost_y_0_fun.h" +#include "drone_model_cost/drone_model_cost_y_e_fun.h" + +#include "acados_solver_drone_model.h" + +#define NX DRONE_MODEL_NX +#define NZ DRONE_MODEL_NZ +#define NU DRONE_MODEL_NU +#define NP DRONE_MODEL_NP +#define NBX DRONE_MODEL_NBX +#define NBX0 DRONE_MODEL_NBX0 +#define NBU DRONE_MODEL_NBU +#define NSBX DRONE_MODEL_NSBX +#define NSBU DRONE_MODEL_NSBU +#define NSH DRONE_MODEL_NSH +#define NSG DRONE_MODEL_NSG +#define NSPHI DRONE_MODEL_NSPHI +#define NSHN DRONE_MODEL_NSHN +#define NSGN DRONE_MODEL_NSGN +#define NSPHIN DRONE_MODEL_NSPHIN +#define NSBXN DRONE_MODEL_NSBXN +#define NS DRONE_MODEL_NS +#define NSN DRONE_MODEL_NSN +#define NG DRONE_MODEL_NG +#define NBXN DRONE_MODEL_NBXN +#define NGN DRONE_MODEL_NGN +#define NY0 DRONE_MODEL_NY0 +#define NY DRONE_MODEL_NY +#define NYN DRONE_MODEL_NYN +// #define N DRONE_MODEL_N +#define NH DRONE_MODEL_NH +#define NPHI DRONE_MODEL_NPHI +#define NHN DRONE_MODEL_NHN +#define NPHIN DRONE_MODEL_NPHIN +#define NR DRONE_MODEL_NR + + +// ** solver data ** + +drone_model_solver_capsule * drone_model_acados_create_capsule(void) +{ + void* capsule_mem = malloc(sizeof(drone_model_solver_capsule)); + drone_model_solver_capsule *capsule = (drone_model_solver_capsule *) capsule_mem; + + return capsule; +} + + +int drone_model_acados_free_capsule(drone_model_solver_capsule *capsule) +{ + free(capsule); + return 0; +} + + +int drone_model_acados_create(drone_model_solver_capsule* capsule) +{ + int N_shooting_intervals = DRONE_MODEL_N; + double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps + return drone_model_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); +} + + +int drone_model_acados_update_time_steps(drone_model_solver_capsule* capsule, int N, double* new_time_steps) +{ + if (N != capsule->nlp_solver_plan->N) { + fprintf(stderr, "drone_model_acados_update_time_steps: given number of time steps (= %d) " \ + "differs from the currently allocated number of " \ + "time steps (= %d)!\n" \ + "Please recreate with new discretization and provide a new vector of time_stamps!\n", + N, capsule->nlp_solver_plan->N); + return 1; + } + + ocp_nlp_config * nlp_config = capsule->nlp_config; + ocp_nlp_dims * nlp_dims = capsule->nlp_dims; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); + } + return 0; +} + +/** + * Internal function for drone_model_acados_create: step 1 + */ +void drone_model_acados_create_1_set_plan(ocp_nlp_plan* nlp_solver_plan, const int N) +{ + assert(N == nlp_solver_plan->N); + + /************************************************ + * plan + ************************************************/ + nlp_solver_plan->nlp_solver = SQP_RTI; + + nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; + + nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; + for (int i = 1; i < N; i++) + nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; + + nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; + + for (int i = 0; i < N; i++) + { + nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; + nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; + } + + for (int i = 0; i < N; i++) + {nlp_solver_plan->nlp_constraints[i] = BGH; + } + nlp_solver_plan->nlp_constraints[N] = BGH; +} + + +/** + * Internal function for drone_model_acados_create: step 2 + */ +ocp_nlp_dims* drone_model_acados_create_2_create_and_set_dimensions(drone_model_solver_capsule* capsule) +{ + ocp_nlp_plan* nlp_solver_plan = capsule->nlp_solver_plan; + const int N = nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * dimensions + ************************************************/ + #define NINTNP1MEMS 17 + int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); + + int* nx = intNp1mem + (N+1)*0; + int* nu = intNp1mem + (N+1)*1; + int* nbx = intNp1mem + (N+1)*2; + int* nbu = intNp1mem + (N+1)*3; + int* nsbx = intNp1mem + (N+1)*4; + int* nsbu = intNp1mem + (N+1)*5; + int* nsg = intNp1mem + (N+1)*6; + int* nsh = intNp1mem + (N+1)*7; + int* nsphi = intNp1mem + (N+1)*8; + int* ns = intNp1mem + (N+1)*9; + int* ng = intNp1mem + (N+1)*10; + int* nh = intNp1mem + (N+1)*11; + int* nphi = intNp1mem + (N+1)*12; + int* nz = intNp1mem + (N+1)*13; + int* ny = intNp1mem + (N+1)*14; + int* nr = intNp1mem + (N+1)*15; + int* nbxe = intNp1mem + (N+1)*16; + + for (int i = 0; i < N+1; i++) + { + // common + nx[i] = NX; + nu[i] = NU; + nz[i] = NZ; + ns[i] = NS; + // cost + ny[i] = NY; + // constraints + nbx[i] = NBX; + nbu[i] = NBU; + nsbx[i] = NSBX; + nsbu[i] = NSBU; + nsg[i] = NSG; + nsh[i] = NSH; + nsphi[i] = NSPHI; + ng[i] = NG; + nh[i] = NH; + nphi[i] = NPHI; + nr[i] = NR; + nbxe[i] = 0; + } + + // for initial state + nbx[0] = NBX0; + nsbx[0] = 0; + ns[0] = NS - NSBX; + nbxe[0] = 13; + ny[0] = NY0; + + // terminal - common + nu[N] = 0; + nz[N] = 0; + ns[N] = NSN; + // cost + ny[N] = NYN; + // constraint + nbx[N] = NBXN; + nbu[N] = 0; + ng[N] = NGN; + nh[N] = NHN; + nphi[N] = NPHIN; + nr[N] = 0; + + nsbx[N] = NSBXN; + nsbu[N] = 0; + nsg[N] = NSGN; + nsh[N] = NSHN; + nsphi[N] = NSPHIN; + + /* create and set ocp_nlp_dims */ + ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); + + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); + + for (int i = 0; i <= N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); + } + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); + for (int i = 1; i < N; i++) + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); + + for (int i = 0; i < N; i++) + { + } + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); + free(intNp1mem); +return nlp_dims; +} + + +/** + * Internal function for drone_model_acados_create: step 3 + */ +void drone_model_acados_create_3_create_and_set_functions(drone_model_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * external functions + ************************************************/ + +#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ + capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ + capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ + capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ + capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ + external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 24); \ + }while(false) + + + + + // explicit ode + capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(forw_vde_casadi[i], drone_model_expl_vde_forw); + } + + capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(expl_ode_fun[i], drone_model_expl_ode_fun); + } + + + // nonlinear least squares function + MAP_CASADI_FNC(cost_y_0_fun, drone_model_cost_y_0_fun); + MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, drone_model_cost_y_0_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_0_hess, drone_model_cost_y_0_hess); + // nonlinear least squares cost + capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun[i], drone_model_cost_y_fun); + } + + capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], drone_model_cost_y_fun_jac_ut_xt); + } + + capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_hess[i], drone_model_cost_y_hess); + } + // nonlinear least square function + MAP_CASADI_FNC(cost_y_e_fun, drone_model_cost_y_e_fun); + MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, drone_model_cost_y_e_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_e_hess, drone_model_cost_y_e_hess); + +#undef MAP_CASADI_FNC +} + + +/** + * Internal function for drone_model_acados_create: step 4 + */ +void drone_model_acados_create_4_set_default_parameters(drone_model_solver_capsule* capsule) { + const int N = capsule->nlp_solver_plan->N; + // initialize parameters to nominal value + double* p = calloc(NP, sizeof(double)); + p[0] = 0.752; + p[1] = 1; + p[12] = 0.075; + p[13] = -0.075; + p[14] = -0.075; + p[15] = 0.075; + p[16] = -0.1; + p[17] = 0.1; + p[18] = -0.1; + p[19] = 0.1; + p[20] = 0.022; + p[21] = 0.0025; + p[22] = 0.0021; + p[23] = 0.0043; + + for (int i = 0; i <= N; i++) { + drone_model_acados_update_params(capsule, i, p, NP); + } + free(p); +} + + +/** + * Internal function for drone_model_acados_create: step 5 + */ +void drone_model_acados_create_5_set_nlp_in(drone_model_solver_capsule* capsule, const int N, double* new_time_steps) +{ + assert(N == capsule->nlp_solver_plan->N); + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + + /************************************************ + * nlp_in + ************************************************/ +// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); +// capsule->nlp_in = nlp_in; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + // set up time_steps + + + if (new_time_steps) { + drone_model_acados_update_time_steps(capsule, N, new_time_steps); + } else {// all time_steps are identical + double time_step = 0.05; + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step); + } + } + + /**** Dynamics ****/ + for (int i = 0; i < N; i++) + { + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); + + } + + /**** Cost ****/ + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + W_0[0+(NY0) * 0] = 100; + W_0[1+(NY0) * 1] = 100; + W_0[2+(NY0) * 2] = 100; + W_0[3+(NY0) * 3] = 1; + W_0[4+(NY0) * 4] = 1; + W_0[5+(NY0) * 5] = 1; + W_0[6+(NY0) * 6] = 1; + W_0[7+(NY0) * 7] = 1; + W_0[8+(NY0) * 8] = 1; + W_0[9+(NY0) * 9] = 10; + W_0[10+(NY0) * 10] = 10; + W_0[11+(NY0) * 11] = 10; + W_0[12+(NY0) * 12] = 1; + W_0[13+(NY0) * 13] = 1; + W_0[14+(NY0) * 14] = 1; + W_0[15+(NY0) * 15] = 1; + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); + + double* yref_0 = calloc(NY0, sizeof(double)); + // change only the non-zero elements: + yref_0[2] = 1; + yref_0[12] = 1.8436408; + yref_0[13] = 1.8436408; + yref_0[14] = 1.8436408; + yref_0[15] = 1.8436408; + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); + free(yref_0); + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + W[0+(NY) * 0] = 100; + W[1+(NY) * 1] = 100; + W[2+(NY) * 2] = 100; + W[3+(NY) * 3] = 1; + W[4+(NY) * 4] = 1; + W[5+(NY) * 5] = 1; + W[6+(NY) * 6] = 1; + W[7+(NY) * 7] = 1; + W[8+(NY) * 8] = 1; + W[9+(NY) * 9] = 10; + W[10+(NY) * 10] = 10; + W[11+(NY) * 11] = 10; + W[12+(NY) * 12] = 1; + W[13+(NY) * 13] = 1; + W[14+(NY) * 14] = 1; + W[15+(NY) * 15] = 1; + + double* yref = calloc(NY, sizeof(double)); + // change only the non-zero elements: + yref[2] = 1; + yref[12] = 1.8436408; + yref[13] = 1.8436408; + yref[14] = 1.8436408; + yref[15] = 1.8436408; + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); + } + free(W); + free(yref); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); + } + + // terminal cost + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + yref_e[2] = 1; + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); + + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + W_e[0+(NYN) * 0] = 100; + W_e[1+(NYN) * 1] = 100; + W_e[2+(NYN) * 2] = 100; + W_e[3+(NYN) * 3] = 1; + W_e[4+(NYN) * 4] = 1; + W_e[5+(NYN) * 5] = 1; + W_e[6+(NYN) * 6] = 1; + W_e[7+(NYN) * 7] = 1; + W_e[8+(NYN) * 8] = 1; + W_e[9+(NYN) * 9] = 10; + W_e[10+(NYN) * 10] = 10; + W_e[11+(NYN) * 11] = 10; + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + + + + /**** Constraints ****/ + + // bounds for initial stage + // x0 + int* idxbx0 = malloc(NBX0 * sizeof(int)); + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + idxbx0[3] = 3; + idxbx0[4] = 4; + idxbx0[5] = 5; + idxbx0[6] = 6; + idxbx0[7] = 7; + idxbx0[8] = 8; + idxbx0[9] = 9; + idxbx0[10] = 10; + idxbx0[11] = 11; + idxbx0[12] = 12; + + double* lubx0 = calloc(2*NBX0, sizeof(double)); + double* lbx0 = lubx0; + double* ubx0 = lubx0 + NBX0; + // change only the non-zero elements: + lbx0[3] = 1; + ubx0[3] = 1; + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + free(idxbx0); + free(lubx0); + // idxbxe_0 + int* idxbxe_0 = malloc(13 * sizeof(int)); + + idxbxe_0[0] = 0; + idxbxe_0[1] = 1; + idxbxe_0[2] = 2; + idxbxe_0[3] = 3; + idxbxe_0[4] = 4; + idxbxe_0[5] = 5; + idxbxe_0[6] = 6; + idxbxe_0[7] = 7; + idxbxe_0[8] = 8; + idxbxe_0[9] = 9; + idxbxe_0[10] = 10; + idxbxe_0[11] = 11; + idxbxe_0[12] = 12; + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); + free(idxbxe_0); + + /* constraints that are the same for initial and intermediate */ + // u + int* idxbu = malloc(NBU * sizeof(int)); + + idxbu[0] = 0; + idxbu[1] = 1; + idxbu[2] = 2; + idxbu[3] = 3; + double* lubu = calloc(2*NBU, sizeof(double)); + double* lbu = lubu; + double* ubu = lubu + NBU; + + ubu[0] = 8.5; + ubu[1] = 8.5; + ubu[2] = 8.5; + ubu[3] = 8.5; + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu); + } + free(idxbu); + free(lubu); + + + + + + + + + // x + int* idxbx = malloc(NBX * sizeof(int)); + + idxbx[0] = 10; + idxbx[1] = 11; + idxbx[2] = 12; + double* lubx = calloc(2*NBX, sizeof(double)); + double* lbx = lubx; + double* ubx = lubx + NBX; + + lbx[0] = -10; + ubx[0] = 10; + lbx[1] = -10; + ubx[1] = 10; + lbx[2] = -10; + ubx[2] = 10; + + for (int i = 1; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); + } + free(idxbx); + free(lubx); + + + + + + + + /* terminal constraints */ + + + + + + + + + + + + + + + +} + + +/** + * Internal function for drone_model_acados_create: step 6 + */ +void drone_model_acados_create_6_set_opts(drone_model_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + void *nlp_opts = capsule->nlp_opts; + + /************************************************ + * opts + ************************************************/ + + + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); + + // set collocation type (relevant for implicit integrators) + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); + + // set up sim_method_num_steps + // all sim_method_num_steps are identical + int sim_method_num_steps = 1; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); + + // set up sim_method_num_stages + // all sim_method_num_stages are identical + int sim_method_num_stages = 4; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); + + int newton_iter_val = 3; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); + + + // set up sim_method_jac_reuse + bool tmp_bool = (bool) 0; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); + + double nlp_solver_step_length = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); + + double levenberg_marquardt = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); + + /* options QP solver */ + int qp_solver_cond_N; + + + // NOTE: there is no condensing happening here! + qp_solver_cond_N = N; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + + + + int qp_solver_iter_max = 50; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); + +int print_level = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); + + + int ext_cost_num_hess = 0; +} + + +/** + * Internal function for drone_model_acados_create: step 7 + */ +void drone_model_acados_create_7_set_nlp_out(drone_model_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + + // initialize primal solution + double* xu0 = calloc(NX+NU, sizeof(double)); + double* x0 = xu0; + + // initialize with x0 + + x0[3] = 1; + + + double* u0 = xu0 + NX; + + for (int i = 0; i < N; i++) + { + // x0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); + // u0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); + free(xu0); +} + + +/** + * Internal function for drone_model_acados_create: step 8 + */ +//void drone_model_acados_create_8_create_solver(drone_model_solver_capsule* capsule) +//{ +// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); +//} + +/** + * Internal function for drone_model_acados_create: step 9 + */ +int drone_model_acados_create_9_precompute(drone_model_solver_capsule* capsule) { + int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + if (status != ACADOS_SUCCESS) { + printf("\nocp_nlp_precompute failed!\n\n"); + exit(1); + } + + return status; +} + + +int drone_model_acados_create_with_discretization(drone_model_solver_capsule* capsule, int N, double* new_time_steps) +{ + // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. + if (N != DRONE_MODEL_N && !new_time_steps) { + fprintf(stderr, "drone_model_acados_create_with_discretization: new_time_steps is NULL " \ + "but the number of shooting intervals (= %d) differs from the number of " \ + "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ + N, DRONE_MODEL_N); + return 1; + } + + // number of expected runtime parameters + capsule->nlp_np = NP; + + // 1) create and set nlp_solver_plan; create nlp_config + capsule->nlp_solver_plan = ocp_nlp_plan_create(N); + drone_model_acados_create_1_set_plan(capsule->nlp_solver_plan, N); + capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); + + // 3) create and set dimensions + capsule->nlp_dims = drone_model_acados_create_2_create_and_set_dimensions(capsule); + drone_model_acados_create_3_create_and_set_functions(capsule); + + // 4) set default parameters in functions + drone_model_acados_create_4_set_default_parameters(capsule); + + // 5) create and set nlp_in + capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); + drone_model_acados_create_5_set_nlp_in(capsule, N, new_time_steps); + + // 6) create and set nlp_opts + capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); + drone_model_acados_create_6_set_opts(capsule); + + // 7) create and set nlp_out + // 7.1) nlp_out + capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + // 7.2) sens_out + capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + drone_model_acados_create_7_set_nlp_out(capsule); + + // 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + //drone_model_acados_create_8_create_solver(capsule); + + // 9) do precomputations + int status = drone_model_acados_create_9_precompute(capsule); + return status; +} + +/** + * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. + */ +int drone_model_acados_update_qp_solver_cond_N(drone_model_solver_capsule* capsule, int qp_solver_cond_N) +{ + // 1) destroy solver + ocp_nlp_solver_destroy(capsule->nlp_solver); + + // 2) set new value for "qp_cond_N" + const int N = capsule->nlp_solver_plan->N; + if(qp_solver_cond_N > N) + printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); + ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + // 3) continue with the remaining steps from drone_model_acados_create_with_discretization(...): + // -> 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + + // -> 9) do precomputations + int status = drone_model_acados_create_9_precompute(capsule); + return status; +} + + +int drone_model_acados_update_params(drone_model_solver_capsule* capsule, int stage, double *p, int np) +{ + int solver_status = 0; + + int casadi_np = 24; + if (casadi_np != np) { + printf("acados_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); + capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); + + + // constraints + + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); + capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); + capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); + capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + // constraints + + } + + + return solver_status; +} + + + +int drone_model_acados_solve(drone_model_solver_capsule* capsule) +{ + // solve NLP + int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + return solver_status; +} + + +int drone_model_acados_free(drone_model_solver_capsule* capsule) +{ + // before destroying, keep some info + const int N = capsule->nlp_solver_plan->N; + // free memory + ocp_nlp_solver_opts_destroy(capsule->nlp_opts); + ocp_nlp_in_destroy(capsule->nlp_in); + ocp_nlp_out_destroy(capsule->nlp_out); + ocp_nlp_out_destroy(capsule->sens_out); + ocp_nlp_solver_destroy(capsule->nlp_solver); + ocp_nlp_dims_destroy(capsule->nlp_dims); + ocp_nlp_config_destroy(capsule->nlp_config); + ocp_nlp_plan_destroy(capsule->nlp_solver_plan); + + /* free external function */ + // dynamics + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); + external_function_param_casadi_free(&capsule->expl_ode_fun[i]); + } + free(capsule->forw_vde_casadi); + free(capsule->expl_ode_fun); + + // cost + external_function_param_casadi_free(&capsule->cost_y_0_fun); + external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_0_hess); + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->cost_y_fun[i]); + external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); + external_function_param_casadi_free(&capsule->cost_y_hess[i]); + } + free(capsule->cost_y_fun); + free(capsule->cost_y_fun_jac_ut_xt); + free(capsule->cost_y_hess); + external_function_param_casadi_free(&capsule->cost_y_e_fun); + external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_e_hess); + + // constraints + + return 0; +} + +ocp_nlp_in *drone_model_acados_get_nlp_in(drone_model_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *drone_model_acados_get_nlp_out(drone_model_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *drone_model_acados_get_sens_out(drone_model_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *drone_model_acados_get_nlp_solver(drone_model_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *drone_model_acados_get_nlp_config(drone_model_solver_capsule* capsule) { return capsule->nlp_config; } +void *drone_model_acados_get_nlp_opts(drone_model_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *drone_model_acados_get_nlp_dims(drone_model_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan *drone_model_acados_get_nlp_plan(drone_model_solver_capsule* capsule) { return capsule->nlp_solver_plan; } + + +void drone_model_acados_print_stats(drone_model_solver_capsule* capsule) +{ + int sqp_iter, stat_m, stat_n, tmp_int; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); + + + double stat[1200]; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); + + int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + printf("iter\tqp_stat\tqp_iter\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + printf("\n"); + } +} + diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.c new file mode 100644 index 0000000..db1d728 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.c @@ -0,0 +1,223 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_0_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s2[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s3[20] = {16, 1, 0, 16, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; + +/* drone_model_cost_y_0_fun:(i0[13],i1[4],i2[24])->(o0[16]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[0]? arg[0][0] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[0]? arg[0][3] : 0; + a1=arg[2]? arg[2][1] : 0; + a2=(a0*a1); + a3=arg[0]? arg[0][4] : 0; + a4=arg[2]? arg[2][2] : 0; + a5=(a3*a4); + a2=(a2+a5); + a5=arg[0]? arg[0][5] : 0; + a6=arg[2]? arg[2][3] : 0; + a7=(a5*a6); + a2=(a2+a7); + a7=arg[0]? arg[0][6] : 0; + a8=arg[2]? arg[2][4] : 0; + a9=(a7*a8); + a2=(a2+a9); + a9=(a0*a4); + a10=(a3*a1); + a9=(a9-a10); + a10=(a7*a6); + a9=(a9+a10); + a10=(a5*a8); + a9=(a9-a10); + a10=(a2*a9); + a11=(a0*a6); + a12=(a5*a1); + a13=(a7*a4); + a12=(a12+a13); + a11=(a11-a12); + a12=(a3*a8); + a11=(a11+a12); + a5=(a5*a4); + a7=(a7*a1); + a5=(a5-a7); + a3=(a3*a6); + a5=(a5-a3); + a0=(a0*a8); + a5=(a5+a0); + a0=(a11*a5); + a10=(a10-a0); + a0=casadi_sq(a2); + a8=casadi_sq(a5); + a0=(a0+a8); + a8=1.0000000000000000e-03; + a0=(a0+a8); + a0=sqrt(a0); + a10=(a10/a0); + if (res[0]!=0) res[0][3]=a10; + a2=(a2*a11); + a9=(a9*a5); + a2=(a2+a9); + a2=(a2/a0); + if (res[0]!=0) res[0][4]=a2; + a5=(a5/a0); + if (res[0]!=0) res[0][5]=a5; + a5=arg[0]? arg[0][7] : 0; + if (res[0]!=0) res[0][6]=a5; + a5=arg[0]? arg[0][8] : 0; + if (res[0]!=0) res[0][7]=a5; + a5=arg[0]? arg[0][9] : 0; + if (res[0]!=0) res[0][8]=a5; + a5=arg[0]? arg[0][10] : 0; + if (res[0]!=0) res[0][9]=a5; + a5=arg[0]? arg[0][11] : 0; + if (res[0]!=0) res[0][10]=a5; + a5=arg[0]? arg[0][12] : 0; + if (res[0]!=0) res[0][11]=a5; + a5=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][12]=a5; + a5=arg[1]? arg[1][1] : 0; + if (res[0]!=0) res[0][13]=a5; + a5=arg[1]? arg[1][2] : 0; + if (res[0]!=0) res[0][14]=a5; + a5=arg[1]? arg[1][3] : 0; + if (res[0]!=0) res[0][15]=a5; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_0_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_0_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_0_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_0_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_0_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_0_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_0_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.h b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.h new file mode 100644 index 0000000..87b2af1 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef drone_model_Y_0_COST +#define drone_model_Y_0_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int drone_model_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_0_fun_work(int *, int *, int *, int *); +const int *drone_model_cost_y_0_fun_sparsity_in(int); +const int *drone_model_cost_y_0_fun_sparsity_out(int); +int drone_model_cost_y_0_fun_n_in(void); +int drone_model_cost_y_0_fun_n_out(void); + +int drone_model_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *drone_model_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *drone_model_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int drone_model_cost_y_0_fun_jac_ut_xt_n_in(void); +int drone_model_cost_y_0_fun_jac_ut_xt_n_out(void); + +int drone_model_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_0_hess_work(int *, int *, int *, int *); +const int *drone_model_cost_y_0_hess_sparsity_in(int); +const int *drone_model_cost_y_0_hess_sparsity_out(int); +int drone_model_cost_y_0_hess_n_in(void); +int drone_model_cost_y_0_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // drone_model_Y_0_COST diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.o new file mode 100644 index 0000000..71d36d0 Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun_jac_ut_xt.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun_jac_ut_xt.c new file mode 100644 index 0000000..d04b46f --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun_jac_ut_xt.c @@ -0,0 +1,369 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_0_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s2[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s3[20] = {16, 1, 0, 16, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +static const casadi_int casadi_s4[44] = {17, 16, 0, 1, 2, 3, 7, 11, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 4, 5, 6, 7, 8, 9, 10, 7, 8, 9, 10, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 0, 1, 2, 3}; + +/* drone_model_cost_y_0_fun_jac_ut_xt:(i0[13],i1[4],i2[24])->(o0[16],o1[17x16,25nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a3, a4, a5, a6, a7, a8, a9; + a0=arg[0]? arg[0][0] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[0]? arg[0][3] : 0; + a1=arg[2]? arg[2][1] : 0; + a2=(a0*a1); + a3=arg[0]? arg[0][4] : 0; + a4=arg[2]? arg[2][2] : 0; + a5=(a3*a4); + a2=(a2+a5); + a5=arg[0]? arg[0][5] : 0; + a6=arg[2]? arg[2][3] : 0; + a7=(a5*a6); + a2=(a2+a7); + a7=arg[0]? arg[0][6] : 0; + a8=arg[2]? arg[2][4] : 0; + a9=(a7*a8); + a2=(a2+a9); + a9=(a0*a4); + a10=(a3*a1); + a9=(a9-a10); + a10=(a7*a6); + a9=(a9+a10); + a10=(a5*a8); + a9=(a9-a10); + a10=(a2*a9); + a11=(a0*a6); + a12=(a5*a1); + a13=(a7*a4); + a12=(a12+a13); + a11=(a11-a12); + a12=(a3*a8); + a11=(a11+a12); + a5=(a5*a4); + a7=(a7*a1); + a5=(a5-a7); + a3=(a3*a6); + a5=(a5-a3); + a0=(a0*a8); + a5=(a5+a0); + a0=(a11*a5); + a10=(a10-a0); + a0=casadi_sq(a2); + a3=casadi_sq(a5); + a0=(a0+a3); + a3=1.0000000000000000e-03; + a0=(a0+a3); + a0=sqrt(a0); + a10=(a10/a0); + if (res[0]!=0) res[0][3]=a10; + a3=(a2*a11); + a7=(a9*a5); + a3=(a3+a7); + a3=(a3/a0); + if (res[0]!=0) res[0][4]=a3; + a7=(a5/a0); + if (res[0]!=0) res[0][5]=a7; + a12=arg[0]? arg[0][7] : 0; + if (res[0]!=0) res[0][6]=a12; + a12=arg[0]? arg[0][8] : 0; + if (res[0]!=0) res[0][7]=a12; + a12=arg[0]? arg[0][9] : 0; + if (res[0]!=0) res[0][8]=a12; + a12=arg[0]? arg[0][10] : 0; + if (res[0]!=0) res[0][9]=a12; + a12=arg[0]? arg[0][11] : 0; + if (res[0]!=0) res[0][10]=a12; + a12=arg[0]? arg[0][12] : 0; + if (res[0]!=0) res[0][11]=a12; + a12=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][12]=a12; + a12=arg[1]? arg[1][1] : 0; + if (res[0]!=0) res[0][13]=a12; + a12=arg[1]? arg[1][2] : 0; + if (res[0]!=0) res[0][14]=a12; + a12=arg[1]? arg[1][3] : 0; + if (res[0]!=0) res[0][15]=a12; + a12=1.; + if (res[1]!=0) res[1][0]=a12; + if (res[1]!=0) res[1][1]=a12; + if (res[1]!=0) res[1][2]=a12; + a13=(a9*a1); + a14=(a2*a4); + a13=(a13+a14); + a14=(a5*a6); + a15=(a11*a8); + a14=(a14+a15); + a13=(a13-a14); + a13=(a13/a0); + a10=(a10/a0); + a14=(a2+a2); + a15=(a14*a1); + a16=(a5+a5); + a17=(a16*a8); + a15=(a15+a17); + a17=(a0+a0); + a15=(a15/a17); + a18=(a10*a15); + a13=(a13-a18); + if (res[1]!=0) res[1][3]=a13; + a13=(a9*a4); + a18=(a2*a1); + a13=(a13-a18); + a18=(a5*a8); + a19=(a11*a6); + a18=(a18-a19); + a13=(a13-a18); + a13=(a13/a0); + a18=(a14*a4); + a19=(a16*a6); + a18=(a18-a19); + a18=(a18/a17); + a19=(a10*a18); + a13=(a13-a19); + if (res[1]!=0) res[1][4]=a13; + a13=(a9*a6); + a19=(a2*a8); + a13=(a13-a19); + a19=(a11*a4); + a20=(a5*a1); + a19=(a19-a20); + a13=(a13-a19); + a13=(a13/a0); + a19=(a14*a6); + a20=(a16*a4); + a19=(a19+a20); + a19=(a19/a17); + a20=(a10*a19); + a13=(a13-a20); + if (res[1]!=0) res[1][5]=a13; + a13=(a9*a8); + a20=(a2*a6); + a13=(a13+a20); + a20=(a5*a4); + a21=(a11*a1); + a20=(a20+a21); + a13=(a13+a20); + a13=(a13/a0); + a14=(a14*a8); + a16=(a16*a1); + a14=(a14-a16); + a14=(a14/a17); + a10=(a10*a14); + a13=(a13-a10); + if (res[1]!=0) res[1][6]=a13; + a13=(a11*a1); + a10=(a2*a6); + a13=(a13+a10); + a10=(a5*a4); + a17=(a9*a8); + a10=(a10+a17); + a13=(a13+a10); + a13=(a13/a0); + a3=(a3/a0); + a10=(a3*a15); + a13=(a13-a10); + if (res[1]!=0) res[1][7]=a13; + a13=(a11*a4); + a10=(a2*a8); + a13=(a13+a10); + a10=(a5*a1); + a17=(a9*a6); + a10=(a10+a17); + a13=(a13-a10); + a13=(a13/a0); + a10=(a3*a18); + a13=(a13-a10); + if (res[1]!=0) res[1][8]=a13; + a13=(a11*a6); + a10=(a2*a1); + a13=(a13-a10); + a10=(a9*a4); + a17=(a5*a8); + a10=(a10-a17); + a13=(a13+a10); + a13=(a13/a0); + a10=(a3*a19); + a13=(a13-a10); + if (res[1]!=0) res[1][9]=a13; + a11=(a11*a8); + a2=(a2*a4); + a11=(a11-a2); + a5=(a5*a6); + a9=(a9*a1); + a5=(a5-a9); + a11=(a11+a5); + a11=(a11/a0); + a3=(a3*a14); + a11=(a11-a3); + if (res[1]!=0) res[1][10]=a11; + a8=(a8/a0); + a7=(a7/a0); + a15=(a7*a15); + a8=(a8-a15); + if (res[1]!=0) res[1][11]=a8; + a6=(a6/a0); + a18=(a7*a18); + a6=(a6+a18); + a6=(-a6); + if (res[1]!=0) res[1][12]=a6; + a4=(a4/a0); + a19=(a7*a19); + a4=(a4-a19); + if (res[1]!=0) res[1][13]=a4; + a1=(a1/a0); + a7=(a7*a14); + a1=(a1+a7); + a1=(-a1); + if (res[1]!=0) res[1][14]=a1; + if (res[1]!=0) res[1][15]=a12; + if (res[1]!=0) res[1][16]=a12; + if (res[1]!=0) res[1][17]=a12; + if (res[1]!=0) res[1][18]=a12; + if (res[1]!=0) res[1][19]=a12; + if (res[1]!=0) res[1][20]=a12; + if (res[1]!=0) res[1][21]=a12; + if (res[1]!=0) res[1][22]=a12; + if (res[1]!=0) res[1][23]=a12; + if (res[1]!=0) res[1][24]=a12; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_0_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_0_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun_jac_ut_xt.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun_jac_ut_xt.o new file mode 100644 index 0000000..53965ac Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_fun_jac_ut_xt.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_hess.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_hess.c new file mode 100644 index 0000000..b4a1db4 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_hess.c @@ -0,0 +1,705 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_0_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s2[20] = {16, 1, 0, 16, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +static const casadi_int casadi_s3[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s4[36] = {17, 17, 0, 0, 0, 0, 0, 0, 0, 0, 4, 8, 12, 16, 16, 16, 16, 16, 16, 16, 7, 8, 9, 10, 7, 8, 9, 10, 7, 8, 9, 10, 7, 8, 9, 10}; + +/* drone_model_cost_y_0_hess:(i0[13],i1[4],i2[16],i3[24])->(o0[17x17,16nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a22, a23, a24, a25, a26, a27, a28, a29, a3, a30, a31, a32, a33, a34, a35, a36, a37, a38, a39, a4, a40, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][4] : 0; + a1=arg[2]? arg[2][4] : 0; + a2=arg[0]? arg[0][3] : 0; + a3=arg[3]? arg[3][1] : 0; + a4=(a2*a3); + a5=arg[0]? arg[0][4] : 0; + a6=arg[3]? arg[3][2] : 0; + a7=(a5*a6); + a4=(a4+a7); + a7=arg[0]? arg[0][5] : 0; + a8=arg[3]? arg[3][3] : 0; + a9=(a7*a8); + a4=(a4+a9); + a9=arg[0]? arg[0][6] : 0; + a10=(a9*a0); + a4=(a4+a10); + a10=casadi_sq(a4); + a11=(a7*a6); + a12=(a9*a3); + a11=(a11-a12); + a12=(a5*a8); + a11=(a11-a12); + a12=(a2*a0); + a11=(a11+a12); + a12=casadi_sq(a11); + a10=(a10+a12); + a12=1.0000000000000000e-03; + a10=(a10+a12); + a10=sqrt(a10); + a12=(a1/a10); + a13=(a12*a6); + a14=(a2*a6); + a15=(a5*a3); + a14=(a14-a15); + a15=(a9*a8); + a14=(a14+a15); + a15=(a7*a0); + a14=(a14-a15); + a15=(a12/a10); + a16=(a4+a4); + a17=(a16*a3); + a18=(a11+a11); + a19=(a18*a0); + a17=(a17+a19); + a19=(a10+a10); + a17=(a17/a19); + a20=(a15*a17); + a21=(a14*a20); + a13=(a13-a21); + a21=arg[2]? arg[2][5] : 0; + a22=(a21/a10); + a22=(a22/a10); + a23=(a22*a17); + a13=(a13-a23); + a23=(a11/a10); + a24=(a23/a10); + a25=(a24*a21); + a2=(a2*a8); + a7=(a7*a3); + a9=(a9*a6); + a7=(a7+a9); + a2=(a2-a7); + a5=(a5*a0); + a2=(a2+a5); + a5=(a4*a2); + a7=(a14*a11); + a5=(a5+a7); + a5=(a5/a10); + a7=(a5/a10); + a9=(a7*a1); + a25=(a25+a9); + a9=(a4*a14); + a26=(a2*a11); + a9=(a9-a26); + a9=(a9/a10); + a26=(a9/a10); + a27=arg[2]? arg[2][3] : 0; + a28=(a26*a27); + a25=(a25+a28); + a28=(a10+a10); + a25=(a25/a28); + a29=(a0+a0); + a29=(a25*a29); + a30=(a11+a11); + a31=(a0/a10); + a23=(a23/a10); + a32=(a23*a17); + a31=(a31-a32); + a31=(a31/a10); + a24=(a24/a10); + a32=(a24*a17); + a31=(a31-a32); + a31=(a21*a31); + a32=(a2*a3); + a33=(a4*a8); + a32=(a32+a33); + a33=(a11*a6); + a34=(a14*a0); + a33=(a33+a34); + a32=(a32+a33); + a32=(a32/a10); + a5=(a5/a10); + a33=(a5*a17); + a32=(a32-a33); + a32=(a32/a10); + a7=(a7/a10); + a33=(a7*a17); + a32=(a32-a33); + a32=(a1*a32); + a31=(a31+a32); + a32=(a14*a3); + a33=(a4*a6); + a32=(a32+a33); + a33=(a11*a8); + a34=(a2*a0); + a33=(a33+a34); + a32=(a32-a33); + a32=(a32/a10); + a9=(a9/a10); + a33=(a9*a17); + a32=(a32-a33); + a32=(a32/a10); + a26=(a26/a10); + a33=(a26*a17); + a32=(a32-a33); + a32=(a27*a32); + a31=(a31+a32); + a31=(a31/a28); + a32=(a25/a28); + a33=(a17+a17); + a33=(a32*a33); + a31=(a31-a33); + a33=(a30*a31); + a29=(a29+a33); + a13=(a13-a29); + a29=(a27/a10); + a33=(a29*a8); + a34=(a29/a10); + a17=(a34*a17); + a35=(a2*a17); + a33=(a33-a35); + a13=(a13-a33); + a33=(a0*a13); + a35=(a12*a3); + a36=(a4*a20); + a35=(a35-a36); + a36=(a29*a0); + a37=(a11*a17); + a36=(a36-a37); + a35=(a35-a36); + a36=(a8*a35); + a33=(a33+a36); + a36=(a12*a0); + a37=(a11*a20); + a36=(a36-a37); + a37=(a29*a3); + a38=(a4*a17); + a37=(a37-a38); + a36=(a36+a37); + a37=(a6*a36); + a33=(a33+a37); + a37=(a12*a8); + a20=(a2*a20); + a37=(a37-a20); + a20=(a3+a3); + a20=(a25*a20); + a38=(a4+a4); + a31=(a38*a31); + a20=(a20+a31); + a37=(a37-a20); + a20=(a29*a6); + a17=(a14*a17); + a20=(a20-a17); + a37=(a37+a20); + a20=(a3*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][0]=a33; + a33=(a0*a35); + a20=(a8*a13); + a33=(a33-a20); + a20=(a3*a36); + a33=(a33-a20); + a20=(a6*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][1]=a33; + a33=(a6*a13); + a20=(a3*a35); + a33=(a33-a20); + a20=(a0*a36); + a33=(a33-a20); + a20=(a8*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][2]=a33; + a36=(a8*a36); + a13=(a3*a13); + a35=(a6*a35); + a13=(a13+a35); + a36=(a36-a13); + a37=(a0*a37); + a36=(a36+a37); + if (res[0]!=0) res[0][3]=a36; + a36=(a12*a6); + a37=(a16*a6); + a13=(a18*a8); + a37=(a37-a13); + a37=(a37/a19); + a13=(a15*a37); + a35=(a4*a13); + a36=(a36-a35); + a35=(a29*a8); + a33=(a34*a37); + a20=(a11*a33); + a35=(a35+a20); + a36=(a36+a35); + a35=(a8*a36); + a20=(a22*a37); + a17=(a12*a3); + a31=(a14*a13); + a17=(a17+a31); + a20=(a20+a17); + a17=(a2*a6); + a31=(a4*a0); + a17=(a17+a31); + a31=(a11*a3); + a39=(a14*a8); + a31=(a31+a39); + a17=(a17-a31); + a17=(a17/a10); + a31=(a5*a37); + a17=(a17-a31); + a17=(a17/a10); + a31=(a7*a37); + a17=(a17-a31); + a17=(a1*a17); + a31=(a8/a10); + a39=(a23*a37); + a31=(a31+a39); + a31=(a31/a10); + a39=(a24*a37); + a31=(a31+a39); + a31=(a21*a31); + a17=(a17-a31); + a31=(a14*a6); + a39=(a4*a3); + a31=(a31-a39); + a39=(a11*a0); + a40=(a2*a8); + a39=(a39-a40); + a31=(a31-a39); + a31=(a31/a10); + a39=(a9*a37); + a31=(a31-a39); + a31=(a31/a10); + a39=(a26*a37); + a31=(a31-a39); + a31=(a27*a31); + a17=(a17+a31); + a17=(a17/a28); + a37=(a37+a37); + a37=(a32*a37); + a17=(a17-a37); + a37=(a30*a17); + a31=(a8+a8); + a31=(a25*a31); + a37=(a37-a31); + a20=(a20+a37); + a37=(a29*a0); + a31=(a2*a33); + a37=(a37-a31); + a20=(a20+a37); + a37=(a0*a20); + a35=(a35-a37); + a37=(a29*a6); + a31=(a4*a33); + a37=(a37-a31); + a31=(a12*a8); + a39=(a11*a13); + a31=(a31+a39); + a37=(a37-a31); + a31=(a6*a37); + a35=(a35+a31); + a31=(a12*a0); + a13=(a2*a13); + a31=(a31-a13); + a13=(a6+a6); + a13=(a25*a13); + a17=(a38*a17); + a13=(a13+a17); + a31=(a31-a13); + a13=(a29*a3); + a33=(a14*a33); + a13=(a13+a33); + a31=(a31-a13); + a13=(a3*a31); + a35=(a35+a13); + if (res[0]!=0) res[0][4]=a35; + a35=(a0*a36); + a13=(a8*a20); + a35=(a35+a13); + a13=(a3*a37); + a35=(a35-a13); + a13=(a6*a31); + a35=(a35+a13); + if (res[0]!=0) res[0][5]=a35; + a35=(a8*a31); + a13=(a6*a20); + a33=(a3*a36); + a13=(a13+a33); + a33=(a0*a37); + a13=(a13+a33); + a35=(a35-a13); + if (res[0]!=0) res[0][6]=a35; + a37=(a8*a37); + a36=(a6*a36); + a20=(a3*a20); + a36=(a36-a20); + a37=(a37-a36); + a31=(a0*a31); + a37=(a37+a31); + if (res[0]!=0) res[0][7]=a37; + a37=(a29*a3); + a31=(a16*a8); + a36=(a18*a6); + a31=(a31+a36); + a31=(a31/a19); + a36=(a34*a31); + a20=(a2*a36); + a37=(a37+a20); + a20=(a22*a31); + a35=(a12*a0); + a13=(a15*a31); + a33=(a14*a13); + a35=(a35+a33); + a20=(a20+a35); + a35=(a6+a6); + a35=(a25*a35); + a33=(a6/a10); + a17=(a23*a31); + a33=(a33-a17); + a33=(a33/a10); + a17=(a24*a31); + a33=(a33-a17); + a33=(a21*a33); + a17=(a2*a8); + a39=(a4*a3); + a17=(a17-a39); + a39=(a14*a6); + a40=(a11*a0); + a39=(a39-a40); + a17=(a17+a39); + a17=(a17/a10); + a39=(a5*a31); + a17=(a17-a39); + a17=(a17/a10); + a39=(a7*a31); + a17=(a17-a39); + a17=(a1*a17); + a33=(a33+a17); + a17=(a14*a8); + a39=(a4*a0); + a17=(a17-a39); + a39=(a2*a6); + a40=(a11*a3); + a39=(a39-a40); + a17=(a17-a39); + a17=(a17/a10); + a39=(a9*a31); + a17=(a17-a39); + a17=(a17/a10); + a39=(a26*a31); + a17=(a17-a39); + a17=(a27*a17); + a33=(a33+a17); + a33=(a33/a28); + a31=(a31+a31); + a31=(a32*a31); + a33=(a33-a31); + a31=(a30*a33); + a35=(a35+a31); + a20=(a20+a35); + a37=(a37-a20); + a20=(a0*a37); + a35=(a12*a8); + a31=(a4*a13); + a35=(a35-a31); + a31=(a29*a6); + a17=(a11*a36); + a31=(a31-a17); + a35=(a35-a31); + a31=(a8*a35); + a20=(a20+a31); + a31=(a12*a6); + a17=(a11*a13); + a31=(a31-a17); + a17=(a29*a8); + a39=(a4*a36); + a17=(a17-a39); + a31=(a31+a17); + a17=(a6*a31); + a20=(a20+a17); + a17=(a12*a3); + a13=(a2*a13); + a17=(a17+a13); + a13=(a8+a8); + a13=(a25*a13); + a33=(a38*a33); + a13=(a13+a33); + a17=(a17+a13); + a13=(a29*a0); + a36=(a14*a36); + a13=(a13+a36); + a17=(a17+a13); + a13=(a3*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][8]=a20; + a20=(a0*a35); + a13=(a8*a37); + a20=(a20-a13); + a13=(a3*a31); + a20=(a20-a13); + a13=(a6*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][9]=a20; + a20=(a6*a37); + a13=(a3*a35); + a20=(a20-a13); + a13=(a0*a31); + a20=(a20-a13); + a13=(a8*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][10]=a20; + a31=(a8*a31); + a37=(a3*a37); + a35=(a6*a35); + a37=(a37+a35); + a31=(a31-a37); + a17=(a0*a17); + a31=(a31-a17); + if (res[0]!=0) res[0][11]=a31; + a31=(a12*a8); + a16=(a16*a0); + a18=(a18*a3); + a16=(a16-a18); + a16=(a16/a19); + a15=(a15*a16); + a19=(a14*a15); + a31=(a31-a19); + a22=(a22*a16); + a31=(a31-a22); + a22=(a2*a0); + a19=(a4*a6); + a22=(a22-a19); + a19=(a11*a8); + a18=(a14*a3); + a19=(a19-a18); + a22=(a22+a19); + a22=(a22/a10); + a5=(a5*a16); + a22=(a22-a5); + a22=(a22/a10); + a7=(a7*a16); + a22=(a22-a7); + a1=(a1*a22); + a22=(a3/a10); + a23=(a23*a16); + a22=(a22+a23); + a22=(a22/a10); + a24=(a24*a16); + a22=(a22+a24); + a21=(a21*a22); + a1=(a1-a21); + a21=(a14*a0); + a22=(a4*a8); + a21=(a21+a22); + a22=(a11*a6); + a24=(a2*a3); + a22=(a22+a24); + a21=(a21+a22); + a21=(a21/a10); + a9=(a9*a16); + a21=(a21-a9); + a21=(a21/a10); + a26=(a26*a16); + a21=(a21-a26); + a27=(a27*a21); + a1=(a1+a27); + a1=(a1/a28); + a28=(a16+a16); + a32=(a32*a28); + a1=(a1-a32); + a30=(a30*a1); + a32=(a3+a3); + a32=(a25*a32); + a30=(a30-a32); + a31=(a31-a30); + a30=(a29*a6); + a34=(a34*a16); + a16=(a2*a34); + a30=(a30+a16); + a31=(a31+a30); + a30=(a0*a31); + a16=(a12*a0); + a32=(a4*a15); + a16=(a16-a32); + a32=(a29*a3); + a28=(a11*a34); + a32=(a32+a28); + a16=(a16+a32); + a32=(a8*a16); + a30=(a30+a32); + a32=(a29*a0); + a4=(a4*a34); + a32=(a32-a4); + a4=(a12*a3); + a11=(a11*a15); + a4=(a4+a11); + a32=(a32-a4); + a4=(a6*a32); + a30=(a30+a4); + a29=(a29*a8); + a14=(a14*a34); + a29=(a29-a14); + a12=(a12*a6); + a2=(a2*a15); + a12=(a12+a2); + a2=(a0+a0); + a25=(a25*a2); + a38=(a38*a1); + a25=(a25+a38); + a12=(a12+a25); + a29=(a29-a12); + a12=(a3*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][12]=a30; + a30=(a0*a16); + a12=(a8*a31); + a30=(a30-a12); + a12=(a3*a32); + a30=(a30-a12); + a12=(a6*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][13]=a30; + a30=(a6*a31); + a12=(a3*a16); + a30=(a30-a12); + a12=(a0*a32); + a30=(a30-a12); + a12=(a8*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][14]=a30; + a8=(a8*a32); + a3=(a3*a31); + a6=(a6*a16); + a3=(a3+a6); + a8=(a8-a3); + a0=(a0*a29); + a8=(a8+a0); + if (res[0]!=0) res[0][15]=a8; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_0_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_0_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_0_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_0_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_0_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_0_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_0_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_0_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_hess.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_hess.o new file mode 100644 index 0000000..9abf10e Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_0_hess.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.c new file mode 100644 index 0000000..e2540cc --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.c @@ -0,0 +1,215 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_e_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s3[16] = {12, 1, 0, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11}; + +/* drone_model_cost_y_e_fun:(i0[13],i1[],i2[24])->(o0[12]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[0]? arg[0][0] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[0]? arg[0][3] : 0; + a1=arg[2]? arg[2][1] : 0; + a2=(a0*a1); + a3=arg[0]? arg[0][4] : 0; + a4=arg[2]? arg[2][2] : 0; + a5=(a3*a4); + a2=(a2+a5); + a5=arg[0]? arg[0][5] : 0; + a6=arg[2]? arg[2][3] : 0; + a7=(a5*a6); + a2=(a2+a7); + a7=arg[0]? arg[0][6] : 0; + a8=arg[2]? arg[2][4] : 0; + a9=(a7*a8); + a2=(a2+a9); + a9=(a0*a4); + a10=(a3*a1); + a9=(a9-a10); + a10=(a7*a6); + a9=(a9+a10); + a10=(a5*a8); + a9=(a9-a10); + a10=(a2*a9); + a11=(a0*a6); + a12=(a5*a1); + a13=(a7*a4); + a12=(a12+a13); + a11=(a11-a12); + a12=(a3*a8); + a11=(a11+a12); + a5=(a5*a4); + a7=(a7*a1); + a5=(a5-a7); + a3=(a3*a6); + a5=(a5-a3); + a0=(a0*a8); + a5=(a5+a0); + a0=(a11*a5); + a10=(a10-a0); + a0=casadi_sq(a2); + a8=casadi_sq(a5); + a0=(a0+a8); + a8=1.0000000000000000e-03; + a0=(a0+a8); + a0=sqrt(a0); + a10=(a10/a0); + if (res[0]!=0) res[0][3]=a10; + a2=(a2*a11); + a9=(a9*a5); + a2=(a2+a9); + a2=(a2/a0); + if (res[0]!=0) res[0][4]=a2; + a5=(a5/a0); + if (res[0]!=0) res[0][5]=a5; + a5=arg[0]? arg[0][7] : 0; + if (res[0]!=0) res[0][6]=a5; + a5=arg[0]? arg[0][8] : 0; + if (res[0]!=0) res[0][7]=a5; + a5=arg[0]? arg[0][9] : 0; + if (res[0]!=0) res[0][8]=a5; + a5=arg[0]? arg[0][10] : 0; + if (res[0]!=0) res[0][9]=a5; + a5=arg[0]? arg[0][11] : 0; + if (res[0]!=0) res[0][10]=a5; + a5=arg[0]? arg[0][12] : 0; + if (res[0]!=0) res[0][11]=a5; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_e_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_e_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_e_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_e_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_e_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_e_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_e_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.h b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.h new file mode 100644 index 0000000..390fb4d --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef drone_model_Y_E_COST +#define drone_model_Y_E_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int drone_model_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_e_fun_work(int *, int *, int *, int *); +const int *drone_model_cost_y_e_fun_sparsity_in(int); +const int *drone_model_cost_y_e_fun_sparsity_out(int); +int drone_model_cost_y_e_fun_n_in(void); +int drone_model_cost_y_e_fun_n_out(void); + +int drone_model_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *drone_model_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *drone_model_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int drone_model_cost_y_e_fun_jac_ut_xt_n_in(void); +int drone_model_cost_y_e_fun_jac_ut_xt_n_out(void); + +int drone_model_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_e_hess_work(int *, int *, int *, int *); +const int *drone_model_cost_y_e_hess_sparsity_in(int); +const int *drone_model_cost_y_e_hess_sparsity_out(int); +int drone_model_cost_y_e_hess_n_in(void); +int drone_model_cost_y_e_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // drone_model_Y_E_COST diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.o new file mode 100644 index 0000000..d78c033 Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun_jac_ut_xt.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun_jac_ut_xt.c new file mode 100644 index 0000000..7f23c30 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun_jac_ut_xt.c @@ -0,0 +1,357 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_e_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s3[16] = {12, 1, 0, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11}; +static const casadi_int casadi_s4[36] = {13, 12, 0, 1, 2, 3, 7, 11, 15, 16, 17, 18, 19, 20, 21, 0, 1, 2, 3, 4, 5, 6, 3, 4, 5, 6, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; + +/* drone_model_cost_y_e_fun_jac_ut_xt:(i0[13],i1[],i2[24])->(o0[12],o1[13x12,21nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a3, a4, a5, a6, a7, a8, a9; + a0=arg[0]? arg[0][0] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[0]? arg[0][3] : 0; + a1=arg[2]? arg[2][1] : 0; + a2=(a0*a1); + a3=arg[0]? arg[0][4] : 0; + a4=arg[2]? arg[2][2] : 0; + a5=(a3*a4); + a2=(a2+a5); + a5=arg[0]? arg[0][5] : 0; + a6=arg[2]? arg[2][3] : 0; + a7=(a5*a6); + a2=(a2+a7); + a7=arg[0]? arg[0][6] : 0; + a8=arg[2]? arg[2][4] : 0; + a9=(a7*a8); + a2=(a2+a9); + a9=(a0*a4); + a10=(a3*a1); + a9=(a9-a10); + a10=(a7*a6); + a9=(a9+a10); + a10=(a5*a8); + a9=(a9-a10); + a10=(a2*a9); + a11=(a0*a6); + a12=(a5*a1); + a13=(a7*a4); + a12=(a12+a13); + a11=(a11-a12); + a12=(a3*a8); + a11=(a11+a12); + a5=(a5*a4); + a7=(a7*a1); + a5=(a5-a7); + a3=(a3*a6); + a5=(a5-a3); + a0=(a0*a8); + a5=(a5+a0); + a0=(a11*a5); + a10=(a10-a0); + a0=casadi_sq(a2); + a3=casadi_sq(a5); + a0=(a0+a3); + a3=1.0000000000000000e-03; + a0=(a0+a3); + a0=sqrt(a0); + a10=(a10/a0); + if (res[0]!=0) res[0][3]=a10; + a3=(a2*a11); + a7=(a9*a5); + a3=(a3+a7); + a3=(a3/a0); + if (res[0]!=0) res[0][4]=a3; + a7=(a5/a0); + if (res[0]!=0) res[0][5]=a7; + a12=arg[0]? arg[0][7] : 0; + if (res[0]!=0) res[0][6]=a12; + a12=arg[0]? arg[0][8] : 0; + if (res[0]!=0) res[0][7]=a12; + a12=arg[0]? arg[0][9] : 0; + if (res[0]!=0) res[0][8]=a12; + a12=arg[0]? arg[0][10] : 0; + if (res[0]!=0) res[0][9]=a12; + a12=arg[0]? arg[0][11] : 0; + if (res[0]!=0) res[0][10]=a12; + a12=arg[0]? arg[0][12] : 0; + if (res[0]!=0) res[0][11]=a12; + a12=1.; + if (res[1]!=0) res[1][0]=a12; + if (res[1]!=0) res[1][1]=a12; + if (res[1]!=0) res[1][2]=a12; + a13=(a9*a1); + a14=(a2*a4); + a13=(a13+a14); + a14=(a5*a6); + a15=(a11*a8); + a14=(a14+a15); + a13=(a13-a14); + a13=(a13/a0); + a10=(a10/a0); + a14=(a2+a2); + a15=(a14*a1); + a16=(a5+a5); + a17=(a16*a8); + a15=(a15+a17); + a17=(a0+a0); + a15=(a15/a17); + a18=(a10*a15); + a13=(a13-a18); + if (res[1]!=0) res[1][3]=a13; + a13=(a9*a4); + a18=(a2*a1); + a13=(a13-a18); + a18=(a5*a8); + a19=(a11*a6); + a18=(a18-a19); + a13=(a13-a18); + a13=(a13/a0); + a18=(a14*a4); + a19=(a16*a6); + a18=(a18-a19); + a18=(a18/a17); + a19=(a10*a18); + a13=(a13-a19); + if (res[1]!=0) res[1][4]=a13; + a13=(a9*a6); + a19=(a2*a8); + a13=(a13-a19); + a19=(a11*a4); + a20=(a5*a1); + a19=(a19-a20); + a13=(a13-a19); + a13=(a13/a0); + a19=(a14*a6); + a20=(a16*a4); + a19=(a19+a20); + a19=(a19/a17); + a20=(a10*a19); + a13=(a13-a20); + if (res[1]!=0) res[1][5]=a13; + a13=(a9*a8); + a20=(a2*a6); + a13=(a13+a20); + a20=(a5*a4); + a21=(a11*a1); + a20=(a20+a21); + a13=(a13+a20); + a13=(a13/a0); + a14=(a14*a8); + a16=(a16*a1); + a14=(a14-a16); + a14=(a14/a17); + a10=(a10*a14); + a13=(a13-a10); + if (res[1]!=0) res[1][6]=a13; + a13=(a11*a1); + a10=(a2*a6); + a13=(a13+a10); + a10=(a5*a4); + a17=(a9*a8); + a10=(a10+a17); + a13=(a13+a10); + a13=(a13/a0); + a3=(a3/a0); + a10=(a3*a15); + a13=(a13-a10); + if (res[1]!=0) res[1][7]=a13; + a13=(a11*a4); + a10=(a2*a8); + a13=(a13+a10); + a10=(a5*a1); + a17=(a9*a6); + a10=(a10+a17); + a13=(a13-a10); + a13=(a13/a0); + a10=(a3*a18); + a13=(a13-a10); + if (res[1]!=0) res[1][8]=a13; + a13=(a11*a6); + a10=(a2*a1); + a13=(a13-a10); + a10=(a9*a4); + a17=(a5*a8); + a10=(a10-a17); + a13=(a13+a10); + a13=(a13/a0); + a10=(a3*a19); + a13=(a13-a10); + if (res[1]!=0) res[1][9]=a13; + a11=(a11*a8); + a2=(a2*a4); + a11=(a11-a2); + a5=(a5*a6); + a9=(a9*a1); + a5=(a5-a9); + a11=(a11+a5); + a11=(a11/a0); + a3=(a3*a14); + a11=(a11-a3); + if (res[1]!=0) res[1][10]=a11; + a8=(a8/a0); + a7=(a7/a0); + a15=(a7*a15); + a8=(a8-a15); + if (res[1]!=0) res[1][11]=a8; + a6=(a6/a0); + a18=(a7*a18); + a6=(a6+a18); + a6=(-a6); + if (res[1]!=0) res[1][12]=a6; + a4=(a4/a0); + a19=(a7*a19); + a4=(a4-a19); + if (res[1]!=0) res[1][13]=a4; + a1=(a1/a0); + a7=(a7*a14); + a1=(a1+a7); + a1=(-a1); + if (res[1]!=0) res[1][14]=a1; + if (res[1]!=0) res[1][15]=a12; + if (res[1]!=0) res[1][16]=a12; + if (res[1]!=0) res[1][17]=a12; + if (res[1]!=0) res[1][18]=a12; + if (res[1]!=0) res[1][19]=a12; + if (res[1]!=0) res[1][20]=a12; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_e_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_e_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun_jac_ut_xt.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun_jac_ut_xt.o new file mode 100644 index 0000000..16a79fc Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_fun_jac_ut_xt.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_hess.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_hess.c new file mode 100644 index 0000000..06a14bf --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_hess.c @@ -0,0 +1,705 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_e_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[16] = {12, 1, 0, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11}; +static const casadi_int casadi_s3[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s4[32] = {13, 13, 0, 0, 0, 0, 4, 8, 12, 16, 16, 16, 16, 16, 16, 16, 3, 4, 5, 6, 3, 4, 5, 6, 3, 4, 5, 6, 3, 4, 5, 6}; + +/* drone_model_cost_y_e_hess:(i0[13],i1[],i2[12],i3[24])->(o0[13x13,16nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a22, a23, a24, a25, a26, a27, a28, a29, a3, a30, a31, a32, a33, a34, a35, a36, a37, a38, a39, a4, a40, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][4] : 0; + a1=arg[2]? arg[2][4] : 0; + a2=arg[0]? arg[0][3] : 0; + a3=arg[3]? arg[3][1] : 0; + a4=(a2*a3); + a5=arg[0]? arg[0][4] : 0; + a6=arg[3]? arg[3][2] : 0; + a7=(a5*a6); + a4=(a4+a7); + a7=arg[0]? arg[0][5] : 0; + a8=arg[3]? arg[3][3] : 0; + a9=(a7*a8); + a4=(a4+a9); + a9=arg[0]? arg[0][6] : 0; + a10=(a9*a0); + a4=(a4+a10); + a10=casadi_sq(a4); + a11=(a7*a6); + a12=(a9*a3); + a11=(a11-a12); + a12=(a5*a8); + a11=(a11-a12); + a12=(a2*a0); + a11=(a11+a12); + a12=casadi_sq(a11); + a10=(a10+a12); + a12=1.0000000000000000e-03; + a10=(a10+a12); + a10=sqrt(a10); + a12=(a1/a10); + a13=(a12*a6); + a14=(a2*a6); + a15=(a5*a3); + a14=(a14-a15); + a15=(a9*a8); + a14=(a14+a15); + a15=(a7*a0); + a14=(a14-a15); + a15=(a12/a10); + a16=(a4+a4); + a17=(a16*a3); + a18=(a11+a11); + a19=(a18*a0); + a17=(a17+a19); + a19=(a10+a10); + a17=(a17/a19); + a20=(a15*a17); + a21=(a14*a20); + a13=(a13-a21); + a21=arg[2]? arg[2][5] : 0; + a22=(a21/a10); + a22=(a22/a10); + a23=(a22*a17); + a13=(a13-a23); + a23=(a11/a10); + a24=(a23/a10); + a25=(a24*a21); + a2=(a2*a8); + a7=(a7*a3); + a9=(a9*a6); + a7=(a7+a9); + a2=(a2-a7); + a5=(a5*a0); + a2=(a2+a5); + a5=(a4*a2); + a7=(a14*a11); + a5=(a5+a7); + a5=(a5/a10); + a7=(a5/a10); + a9=(a7*a1); + a25=(a25+a9); + a9=(a4*a14); + a26=(a2*a11); + a9=(a9-a26); + a9=(a9/a10); + a26=(a9/a10); + a27=arg[2]? arg[2][3] : 0; + a28=(a26*a27); + a25=(a25+a28); + a28=(a10+a10); + a25=(a25/a28); + a29=(a0+a0); + a29=(a25*a29); + a30=(a11+a11); + a31=(a0/a10); + a23=(a23/a10); + a32=(a23*a17); + a31=(a31-a32); + a31=(a31/a10); + a24=(a24/a10); + a32=(a24*a17); + a31=(a31-a32); + a31=(a21*a31); + a32=(a2*a3); + a33=(a4*a8); + a32=(a32+a33); + a33=(a11*a6); + a34=(a14*a0); + a33=(a33+a34); + a32=(a32+a33); + a32=(a32/a10); + a5=(a5/a10); + a33=(a5*a17); + a32=(a32-a33); + a32=(a32/a10); + a7=(a7/a10); + a33=(a7*a17); + a32=(a32-a33); + a32=(a1*a32); + a31=(a31+a32); + a32=(a14*a3); + a33=(a4*a6); + a32=(a32+a33); + a33=(a11*a8); + a34=(a2*a0); + a33=(a33+a34); + a32=(a32-a33); + a32=(a32/a10); + a9=(a9/a10); + a33=(a9*a17); + a32=(a32-a33); + a32=(a32/a10); + a26=(a26/a10); + a33=(a26*a17); + a32=(a32-a33); + a32=(a27*a32); + a31=(a31+a32); + a31=(a31/a28); + a32=(a25/a28); + a33=(a17+a17); + a33=(a32*a33); + a31=(a31-a33); + a33=(a30*a31); + a29=(a29+a33); + a13=(a13-a29); + a29=(a27/a10); + a33=(a29*a8); + a34=(a29/a10); + a17=(a34*a17); + a35=(a2*a17); + a33=(a33-a35); + a13=(a13-a33); + a33=(a0*a13); + a35=(a12*a3); + a36=(a4*a20); + a35=(a35-a36); + a36=(a29*a0); + a37=(a11*a17); + a36=(a36-a37); + a35=(a35-a36); + a36=(a8*a35); + a33=(a33+a36); + a36=(a12*a0); + a37=(a11*a20); + a36=(a36-a37); + a37=(a29*a3); + a38=(a4*a17); + a37=(a37-a38); + a36=(a36+a37); + a37=(a6*a36); + a33=(a33+a37); + a37=(a12*a8); + a20=(a2*a20); + a37=(a37-a20); + a20=(a3+a3); + a20=(a25*a20); + a38=(a4+a4); + a31=(a38*a31); + a20=(a20+a31); + a37=(a37-a20); + a20=(a29*a6); + a17=(a14*a17); + a20=(a20-a17); + a37=(a37+a20); + a20=(a3*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][0]=a33; + a33=(a0*a35); + a20=(a8*a13); + a33=(a33-a20); + a20=(a3*a36); + a33=(a33-a20); + a20=(a6*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][1]=a33; + a33=(a6*a13); + a20=(a3*a35); + a33=(a33-a20); + a20=(a0*a36); + a33=(a33-a20); + a20=(a8*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][2]=a33; + a36=(a8*a36); + a13=(a3*a13); + a35=(a6*a35); + a13=(a13+a35); + a36=(a36-a13); + a37=(a0*a37); + a36=(a36+a37); + if (res[0]!=0) res[0][3]=a36; + a36=(a12*a6); + a37=(a16*a6); + a13=(a18*a8); + a37=(a37-a13); + a37=(a37/a19); + a13=(a15*a37); + a35=(a4*a13); + a36=(a36-a35); + a35=(a29*a8); + a33=(a34*a37); + a20=(a11*a33); + a35=(a35+a20); + a36=(a36+a35); + a35=(a8*a36); + a20=(a22*a37); + a17=(a12*a3); + a31=(a14*a13); + a17=(a17+a31); + a20=(a20+a17); + a17=(a2*a6); + a31=(a4*a0); + a17=(a17+a31); + a31=(a11*a3); + a39=(a14*a8); + a31=(a31+a39); + a17=(a17-a31); + a17=(a17/a10); + a31=(a5*a37); + a17=(a17-a31); + a17=(a17/a10); + a31=(a7*a37); + a17=(a17-a31); + a17=(a1*a17); + a31=(a8/a10); + a39=(a23*a37); + a31=(a31+a39); + a31=(a31/a10); + a39=(a24*a37); + a31=(a31+a39); + a31=(a21*a31); + a17=(a17-a31); + a31=(a14*a6); + a39=(a4*a3); + a31=(a31-a39); + a39=(a11*a0); + a40=(a2*a8); + a39=(a39-a40); + a31=(a31-a39); + a31=(a31/a10); + a39=(a9*a37); + a31=(a31-a39); + a31=(a31/a10); + a39=(a26*a37); + a31=(a31-a39); + a31=(a27*a31); + a17=(a17+a31); + a17=(a17/a28); + a37=(a37+a37); + a37=(a32*a37); + a17=(a17-a37); + a37=(a30*a17); + a31=(a8+a8); + a31=(a25*a31); + a37=(a37-a31); + a20=(a20+a37); + a37=(a29*a0); + a31=(a2*a33); + a37=(a37-a31); + a20=(a20+a37); + a37=(a0*a20); + a35=(a35-a37); + a37=(a29*a6); + a31=(a4*a33); + a37=(a37-a31); + a31=(a12*a8); + a39=(a11*a13); + a31=(a31+a39); + a37=(a37-a31); + a31=(a6*a37); + a35=(a35+a31); + a31=(a12*a0); + a13=(a2*a13); + a31=(a31-a13); + a13=(a6+a6); + a13=(a25*a13); + a17=(a38*a17); + a13=(a13+a17); + a31=(a31-a13); + a13=(a29*a3); + a33=(a14*a33); + a13=(a13+a33); + a31=(a31-a13); + a13=(a3*a31); + a35=(a35+a13); + if (res[0]!=0) res[0][4]=a35; + a35=(a0*a36); + a13=(a8*a20); + a35=(a35+a13); + a13=(a3*a37); + a35=(a35-a13); + a13=(a6*a31); + a35=(a35+a13); + if (res[0]!=0) res[0][5]=a35; + a35=(a8*a31); + a13=(a6*a20); + a33=(a3*a36); + a13=(a13+a33); + a33=(a0*a37); + a13=(a13+a33); + a35=(a35-a13); + if (res[0]!=0) res[0][6]=a35; + a37=(a8*a37); + a36=(a6*a36); + a20=(a3*a20); + a36=(a36-a20); + a37=(a37-a36); + a31=(a0*a31); + a37=(a37+a31); + if (res[0]!=0) res[0][7]=a37; + a37=(a29*a3); + a31=(a16*a8); + a36=(a18*a6); + a31=(a31+a36); + a31=(a31/a19); + a36=(a34*a31); + a20=(a2*a36); + a37=(a37+a20); + a20=(a22*a31); + a35=(a12*a0); + a13=(a15*a31); + a33=(a14*a13); + a35=(a35+a33); + a20=(a20+a35); + a35=(a6+a6); + a35=(a25*a35); + a33=(a6/a10); + a17=(a23*a31); + a33=(a33-a17); + a33=(a33/a10); + a17=(a24*a31); + a33=(a33-a17); + a33=(a21*a33); + a17=(a2*a8); + a39=(a4*a3); + a17=(a17-a39); + a39=(a14*a6); + a40=(a11*a0); + a39=(a39-a40); + a17=(a17+a39); + a17=(a17/a10); + a39=(a5*a31); + a17=(a17-a39); + a17=(a17/a10); + a39=(a7*a31); + a17=(a17-a39); + a17=(a1*a17); + a33=(a33+a17); + a17=(a14*a8); + a39=(a4*a0); + a17=(a17-a39); + a39=(a2*a6); + a40=(a11*a3); + a39=(a39-a40); + a17=(a17-a39); + a17=(a17/a10); + a39=(a9*a31); + a17=(a17-a39); + a17=(a17/a10); + a39=(a26*a31); + a17=(a17-a39); + a17=(a27*a17); + a33=(a33+a17); + a33=(a33/a28); + a31=(a31+a31); + a31=(a32*a31); + a33=(a33-a31); + a31=(a30*a33); + a35=(a35+a31); + a20=(a20+a35); + a37=(a37-a20); + a20=(a0*a37); + a35=(a12*a8); + a31=(a4*a13); + a35=(a35-a31); + a31=(a29*a6); + a17=(a11*a36); + a31=(a31-a17); + a35=(a35-a31); + a31=(a8*a35); + a20=(a20+a31); + a31=(a12*a6); + a17=(a11*a13); + a31=(a31-a17); + a17=(a29*a8); + a39=(a4*a36); + a17=(a17-a39); + a31=(a31+a17); + a17=(a6*a31); + a20=(a20+a17); + a17=(a12*a3); + a13=(a2*a13); + a17=(a17+a13); + a13=(a8+a8); + a13=(a25*a13); + a33=(a38*a33); + a13=(a13+a33); + a17=(a17+a13); + a13=(a29*a0); + a36=(a14*a36); + a13=(a13+a36); + a17=(a17+a13); + a13=(a3*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][8]=a20; + a20=(a0*a35); + a13=(a8*a37); + a20=(a20-a13); + a13=(a3*a31); + a20=(a20-a13); + a13=(a6*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][9]=a20; + a20=(a6*a37); + a13=(a3*a35); + a20=(a20-a13); + a13=(a0*a31); + a20=(a20-a13); + a13=(a8*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][10]=a20; + a31=(a8*a31); + a37=(a3*a37); + a35=(a6*a35); + a37=(a37+a35); + a31=(a31-a37); + a17=(a0*a17); + a31=(a31-a17); + if (res[0]!=0) res[0][11]=a31; + a31=(a12*a8); + a16=(a16*a0); + a18=(a18*a3); + a16=(a16-a18); + a16=(a16/a19); + a15=(a15*a16); + a19=(a14*a15); + a31=(a31-a19); + a22=(a22*a16); + a31=(a31-a22); + a22=(a2*a0); + a19=(a4*a6); + a22=(a22-a19); + a19=(a11*a8); + a18=(a14*a3); + a19=(a19-a18); + a22=(a22+a19); + a22=(a22/a10); + a5=(a5*a16); + a22=(a22-a5); + a22=(a22/a10); + a7=(a7*a16); + a22=(a22-a7); + a1=(a1*a22); + a22=(a3/a10); + a23=(a23*a16); + a22=(a22+a23); + a22=(a22/a10); + a24=(a24*a16); + a22=(a22+a24); + a21=(a21*a22); + a1=(a1-a21); + a21=(a14*a0); + a22=(a4*a8); + a21=(a21+a22); + a22=(a11*a6); + a24=(a2*a3); + a22=(a22+a24); + a21=(a21+a22); + a21=(a21/a10); + a9=(a9*a16); + a21=(a21-a9); + a21=(a21/a10); + a26=(a26*a16); + a21=(a21-a26); + a27=(a27*a21); + a1=(a1+a27); + a1=(a1/a28); + a28=(a16+a16); + a32=(a32*a28); + a1=(a1-a32); + a30=(a30*a1); + a32=(a3+a3); + a32=(a25*a32); + a30=(a30-a32); + a31=(a31-a30); + a30=(a29*a6); + a34=(a34*a16); + a16=(a2*a34); + a30=(a30+a16); + a31=(a31+a30); + a30=(a0*a31); + a16=(a12*a0); + a32=(a4*a15); + a16=(a16-a32); + a32=(a29*a3); + a28=(a11*a34); + a32=(a32+a28); + a16=(a16+a32); + a32=(a8*a16); + a30=(a30+a32); + a32=(a29*a0); + a4=(a4*a34); + a32=(a32-a4); + a4=(a12*a3); + a11=(a11*a15); + a4=(a4+a11); + a32=(a32-a4); + a4=(a6*a32); + a30=(a30+a4); + a29=(a29*a8); + a14=(a14*a34); + a29=(a29-a14); + a12=(a12*a6); + a2=(a2*a15); + a12=(a12+a2); + a2=(a0+a0); + a25=(a25*a2); + a38=(a38*a1); + a25=(a25+a38); + a12=(a12+a25); + a29=(a29-a12); + a12=(a3*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][12]=a30; + a30=(a0*a16); + a12=(a8*a31); + a30=(a30-a12); + a12=(a3*a32); + a30=(a30-a12); + a12=(a6*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][13]=a30; + a30=(a6*a31); + a12=(a3*a16); + a30=(a30-a12); + a12=(a0*a32); + a30=(a30-a12); + a12=(a8*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][14]=a30; + a8=(a8*a32); + a3=(a3*a31); + a6=(a6*a16); + a3=(a3+a6); + a8=(a8-a3); + a0=(a0*a29); + a8=(a8+a0); + if (res[0]!=0) res[0][15]=a8; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_e_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_e_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_e_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_e_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_e_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_e_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_e_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_e_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_hess.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_hess.o new file mode 100644 index 0000000..20e2632 Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_e_hess.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.c new file mode 100644 index 0000000..cda336c --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.c @@ -0,0 +1,223 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s2[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s3[20] = {16, 1, 0, 16, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; + +/* drone_model_cost_y_fun:(i0[13],i1[4],i2[24])->(o0[16]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[0]? arg[0][0] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[0]? arg[0][3] : 0; + a1=arg[2]? arg[2][1] : 0; + a2=(a0*a1); + a3=arg[0]? arg[0][4] : 0; + a4=arg[2]? arg[2][2] : 0; + a5=(a3*a4); + a2=(a2+a5); + a5=arg[0]? arg[0][5] : 0; + a6=arg[2]? arg[2][3] : 0; + a7=(a5*a6); + a2=(a2+a7); + a7=arg[0]? arg[0][6] : 0; + a8=arg[2]? arg[2][4] : 0; + a9=(a7*a8); + a2=(a2+a9); + a9=(a0*a4); + a10=(a3*a1); + a9=(a9-a10); + a10=(a7*a6); + a9=(a9+a10); + a10=(a5*a8); + a9=(a9-a10); + a10=(a2*a9); + a11=(a0*a6); + a12=(a5*a1); + a13=(a7*a4); + a12=(a12+a13); + a11=(a11-a12); + a12=(a3*a8); + a11=(a11+a12); + a5=(a5*a4); + a7=(a7*a1); + a5=(a5-a7); + a3=(a3*a6); + a5=(a5-a3); + a0=(a0*a8); + a5=(a5+a0); + a0=(a11*a5); + a10=(a10-a0); + a0=casadi_sq(a2); + a8=casadi_sq(a5); + a0=(a0+a8); + a8=1.0000000000000000e-03; + a0=(a0+a8); + a0=sqrt(a0); + a10=(a10/a0); + if (res[0]!=0) res[0][3]=a10; + a2=(a2*a11); + a9=(a9*a5); + a2=(a2+a9); + a2=(a2/a0); + if (res[0]!=0) res[0][4]=a2; + a5=(a5/a0); + if (res[0]!=0) res[0][5]=a5; + a5=arg[0]? arg[0][7] : 0; + if (res[0]!=0) res[0][6]=a5; + a5=arg[0]? arg[0][8] : 0; + if (res[0]!=0) res[0][7]=a5; + a5=arg[0]? arg[0][9] : 0; + if (res[0]!=0) res[0][8]=a5; + a5=arg[0]? arg[0][10] : 0; + if (res[0]!=0) res[0][9]=a5; + a5=arg[0]? arg[0][11] : 0; + if (res[0]!=0) res[0][10]=a5; + a5=arg[0]? arg[0][12] : 0; + if (res[0]!=0) res[0][11]=a5; + a5=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][12]=a5; + a5=arg[1]? arg[1][1] : 0; + if (res[0]!=0) res[0][13]=a5; + a5=arg[1]? arg[1][2] : 0; + if (res[0]!=0) res[0][14]=a5; + a5=arg[1]? arg[1][3] : 0; + if (res[0]!=0) res[0][15]=a5; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.h b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.h new file mode 100644 index 0000000..296f9be --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.h @@ -0,0 +1,69 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef drone_model_Y_COST +#define drone_model_Y_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +int drone_model_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_fun_work(int *, int *, int *, int *); +const int *drone_model_cost_y_fun_sparsity_in(int); +const int *drone_model_cost_y_fun_sparsity_out(int); +int drone_model_cost_y_fun_n_in(void); +int drone_model_cost_y_fun_n_out(void); + +int drone_model_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *drone_model_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *drone_model_cost_y_fun_jac_ut_xt_sparsity_out(int); +int drone_model_cost_y_fun_jac_ut_xt_n_in(void); +int drone_model_cost_y_fun_jac_ut_xt_n_out(void); + +int drone_model_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_cost_y_hess_work(int *, int *, int *, int *); +const int *drone_model_cost_y_hess_sparsity_in(int); +const int *drone_model_cost_y_hess_sparsity_out(int); +int drone_model_cost_y_hess_n_in(void); +int drone_model_cost_y_hess_n_out(void); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // drone_model_Y_COST diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.o new file mode 100644 index 0000000..1a7bcab Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun_jac_ut_xt.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun_jac_ut_xt.c new file mode 100644 index 0000000..fef0cb3 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun_jac_ut_xt.c @@ -0,0 +1,369 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s2[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s3[20] = {16, 1, 0, 16, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +static const casadi_int casadi_s4[44] = {17, 16, 0, 1, 2, 3, 7, 11, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 4, 5, 6, 7, 8, 9, 10, 7, 8, 9, 10, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 0, 1, 2, 3}; + +/* drone_model_cost_y_fun_jac_ut_xt:(i0[13],i1[4],i2[24])->(o0[16],o1[17x16,25nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a3, a4, a5, a6, a7, a8, a9; + a0=arg[0]? arg[0][0] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[0]? arg[0][3] : 0; + a1=arg[2]? arg[2][1] : 0; + a2=(a0*a1); + a3=arg[0]? arg[0][4] : 0; + a4=arg[2]? arg[2][2] : 0; + a5=(a3*a4); + a2=(a2+a5); + a5=arg[0]? arg[0][5] : 0; + a6=arg[2]? arg[2][3] : 0; + a7=(a5*a6); + a2=(a2+a7); + a7=arg[0]? arg[0][6] : 0; + a8=arg[2]? arg[2][4] : 0; + a9=(a7*a8); + a2=(a2+a9); + a9=(a0*a4); + a10=(a3*a1); + a9=(a9-a10); + a10=(a7*a6); + a9=(a9+a10); + a10=(a5*a8); + a9=(a9-a10); + a10=(a2*a9); + a11=(a0*a6); + a12=(a5*a1); + a13=(a7*a4); + a12=(a12+a13); + a11=(a11-a12); + a12=(a3*a8); + a11=(a11+a12); + a5=(a5*a4); + a7=(a7*a1); + a5=(a5-a7); + a3=(a3*a6); + a5=(a5-a3); + a0=(a0*a8); + a5=(a5+a0); + a0=(a11*a5); + a10=(a10-a0); + a0=casadi_sq(a2); + a3=casadi_sq(a5); + a0=(a0+a3); + a3=1.0000000000000000e-03; + a0=(a0+a3); + a0=sqrt(a0); + a10=(a10/a0); + if (res[0]!=0) res[0][3]=a10; + a3=(a2*a11); + a7=(a9*a5); + a3=(a3+a7); + a3=(a3/a0); + if (res[0]!=0) res[0][4]=a3; + a7=(a5/a0); + if (res[0]!=0) res[0][5]=a7; + a12=arg[0]? arg[0][7] : 0; + if (res[0]!=0) res[0][6]=a12; + a12=arg[0]? arg[0][8] : 0; + if (res[0]!=0) res[0][7]=a12; + a12=arg[0]? arg[0][9] : 0; + if (res[0]!=0) res[0][8]=a12; + a12=arg[0]? arg[0][10] : 0; + if (res[0]!=0) res[0][9]=a12; + a12=arg[0]? arg[0][11] : 0; + if (res[0]!=0) res[0][10]=a12; + a12=arg[0]? arg[0][12] : 0; + if (res[0]!=0) res[0][11]=a12; + a12=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][12]=a12; + a12=arg[1]? arg[1][1] : 0; + if (res[0]!=0) res[0][13]=a12; + a12=arg[1]? arg[1][2] : 0; + if (res[0]!=0) res[0][14]=a12; + a12=arg[1]? arg[1][3] : 0; + if (res[0]!=0) res[0][15]=a12; + a12=1.; + if (res[1]!=0) res[1][0]=a12; + if (res[1]!=0) res[1][1]=a12; + if (res[1]!=0) res[1][2]=a12; + a13=(a9*a1); + a14=(a2*a4); + a13=(a13+a14); + a14=(a5*a6); + a15=(a11*a8); + a14=(a14+a15); + a13=(a13-a14); + a13=(a13/a0); + a10=(a10/a0); + a14=(a2+a2); + a15=(a14*a1); + a16=(a5+a5); + a17=(a16*a8); + a15=(a15+a17); + a17=(a0+a0); + a15=(a15/a17); + a18=(a10*a15); + a13=(a13-a18); + if (res[1]!=0) res[1][3]=a13; + a13=(a9*a4); + a18=(a2*a1); + a13=(a13-a18); + a18=(a5*a8); + a19=(a11*a6); + a18=(a18-a19); + a13=(a13-a18); + a13=(a13/a0); + a18=(a14*a4); + a19=(a16*a6); + a18=(a18-a19); + a18=(a18/a17); + a19=(a10*a18); + a13=(a13-a19); + if (res[1]!=0) res[1][4]=a13; + a13=(a9*a6); + a19=(a2*a8); + a13=(a13-a19); + a19=(a11*a4); + a20=(a5*a1); + a19=(a19-a20); + a13=(a13-a19); + a13=(a13/a0); + a19=(a14*a6); + a20=(a16*a4); + a19=(a19+a20); + a19=(a19/a17); + a20=(a10*a19); + a13=(a13-a20); + if (res[1]!=0) res[1][5]=a13; + a13=(a9*a8); + a20=(a2*a6); + a13=(a13+a20); + a20=(a5*a4); + a21=(a11*a1); + a20=(a20+a21); + a13=(a13+a20); + a13=(a13/a0); + a14=(a14*a8); + a16=(a16*a1); + a14=(a14-a16); + a14=(a14/a17); + a10=(a10*a14); + a13=(a13-a10); + if (res[1]!=0) res[1][6]=a13; + a13=(a11*a1); + a10=(a2*a6); + a13=(a13+a10); + a10=(a5*a4); + a17=(a9*a8); + a10=(a10+a17); + a13=(a13+a10); + a13=(a13/a0); + a3=(a3/a0); + a10=(a3*a15); + a13=(a13-a10); + if (res[1]!=0) res[1][7]=a13; + a13=(a11*a4); + a10=(a2*a8); + a13=(a13+a10); + a10=(a5*a1); + a17=(a9*a6); + a10=(a10+a17); + a13=(a13-a10); + a13=(a13/a0); + a10=(a3*a18); + a13=(a13-a10); + if (res[1]!=0) res[1][8]=a13; + a13=(a11*a6); + a10=(a2*a1); + a13=(a13-a10); + a10=(a9*a4); + a17=(a5*a8); + a10=(a10-a17); + a13=(a13+a10); + a13=(a13/a0); + a10=(a3*a19); + a13=(a13-a10); + if (res[1]!=0) res[1][9]=a13; + a11=(a11*a8); + a2=(a2*a4); + a11=(a11-a2); + a5=(a5*a6); + a9=(a9*a1); + a5=(a5-a9); + a11=(a11+a5); + a11=(a11/a0); + a3=(a3*a14); + a11=(a11-a3); + if (res[1]!=0) res[1][10]=a11; + a8=(a8/a0); + a7=(a7/a0); + a15=(a7*a15); + a8=(a8-a15); + if (res[1]!=0) res[1][11]=a8; + a6=(a6/a0); + a18=(a7*a18); + a6=(a6+a18); + a6=(-a6); + if (res[1]!=0) res[1][12]=a6; + a4=(a4/a0); + a19=(a7*a19); + a4=(a4-a19); + if (res[1]!=0) res[1][13]=a4; + a1=(a1/a0); + a7=(a7*a14); + a1=(a1+a7); + a1=(-a1); + if (res[1]!=0) res[1][14]=a1; + if (res[1]!=0) res[1][15]=a12; + if (res[1]!=0) res[1][16]=a12; + if (res[1]!=0) res[1][17]=a12; + if (res[1]!=0) res[1][18]=a12; + if (res[1]!=0) res[1][19]=a12; + if (res[1]!=0) res[1][20]=a12; + if (res[1]!=0) res[1][21]=a12; + if (res[1]!=0) res[1][22]=a12; + if (res[1]!=0) res[1][23]=a12; + if (res[1]!=0) res[1][24]=a12; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_fun_jac_ut_xt_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_fun_jac_ut_xt_n_out(void) { return 2;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_fun_jac_ut_xt_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_fun_jac_ut_xt_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_fun_jac_ut_xt_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 2; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun_jac_ut_xt.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun_jac_ut_xt.o new file mode 100644 index 0000000..62d0c62 Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_fun_jac_ut_xt.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_hess.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_hess.c new file mode 100644 index 0000000..08db91b --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_hess.c @@ -0,0 +1,705 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_cost_y_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s2[20] = {16, 1, 0, 16, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +static const casadi_int casadi_s3[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s4[36] = {17, 17, 0, 0, 0, 0, 0, 0, 0, 0, 4, 8, 12, 16, 16, 16, 16, 16, 16, 16, 7, 8, 9, 10, 7, 8, 9, 10, 7, 8, 9, 10, 7, 8, 9, 10}; + +/* drone_model_cost_y_hess:(i0[13],i1[4],i2[16],i3[24])->(o0[17x17,16nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a22, a23, a24, a25, a26, a27, a28, a29, a3, a30, a31, a32, a33, a34, a35, a36, a37, a38, a39, a4, a40, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][4] : 0; + a1=arg[2]? arg[2][4] : 0; + a2=arg[0]? arg[0][3] : 0; + a3=arg[3]? arg[3][1] : 0; + a4=(a2*a3); + a5=arg[0]? arg[0][4] : 0; + a6=arg[3]? arg[3][2] : 0; + a7=(a5*a6); + a4=(a4+a7); + a7=arg[0]? arg[0][5] : 0; + a8=arg[3]? arg[3][3] : 0; + a9=(a7*a8); + a4=(a4+a9); + a9=arg[0]? arg[0][6] : 0; + a10=(a9*a0); + a4=(a4+a10); + a10=casadi_sq(a4); + a11=(a7*a6); + a12=(a9*a3); + a11=(a11-a12); + a12=(a5*a8); + a11=(a11-a12); + a12=(a2*a0); + a11=(a11+a12); + a12=casadi_sq(a11); + a10=(a10+a12); + a12=1.0000000000000000e-03; + a10=(a10+a12); + a10=sqrt(a10); + a12=(a1/a10); + a13=(a12*a6); + a14=(a2*a6); + a15=(a5*a3); + a14=(a14-a15); + a15=(a9*a8); + a14=(a14+a15); + a15=(a7*a0); + a14=(a14-a15); + a15=(a12/a10); + a16=(a4+a4); + a17=(a16*a3); + a18=(a11+a11); + a19=(a18*a0); + a17=(a17+a19); + a19=(a10+a10); + a17=(a17/a19); + a20=(a15*a17); + a21=(a14*a20); + a13=(a13-a21); + a21=arg[2]? arg[2][5] : 0; + a22=(a21/a10); + a22=(a22/a10); + a23=(a22*a17); + a13=(a13-a23); + a23=(a11/a10); + a24=(a23/a10); + a25=(a24*a21); + a2=(a2*a8); + a7=(a7*a3); + a9=(a9*a6); + a7=(a7+a9); + a2=(a2-a7); + a5=(a5*a0); + a2=(a2+a5); + a5=(a4*a2); + a7=(a14*a11); + a5=(a5+a7); + a5=(a5/a10); + a7=(a5/a10); + a9=(a7*a1); + a25=(a25+a9); + a9=(a4*a14); + a26=(a2*a11); + a9=(a9-a26); + a9=(a9/a10); + a26=(a9/a10); + a27=arg[2]? arg[2][3] : 0; + a28=(a26*a27); + a25=(a25+a28); + a28=(a10+a10); + a25=(a25/a28); + a29=(a0+a0); + a29=(a25*a29); + a30=(a11+a11); + a31=(a0/a10); + a23=(a23/a10); + a32=(a23*a17); + a31=(a31-a32); + a31=(a31/a10); + a24=(a24/a10); + a32=(a24*a17); + a31=(a31-a32); + a31=(a21*a31); + a32=(a2*a3); + a33=(a4*a8); + a32=(a32+a33); + a33=(a11*a6); + a34=(a14*a0); + a33=(a33+a34); + a32=(a32+a33); + a32=(a32/a10); + a5=(a5/a10); + a33=(a5*a17); + a32=(a32-a33); + a32=(a32/a10); + a7=(a7/a10); + a33=(a7*a17); + a32=(a32-a33); + a32=(a1*a32); + a31=(a31+a32); + a32=(a14*a3); + a33=(a4*a6); + a32=(a32+a33); + a33=(a11*a8); + a34=(a2*a0); + a33=(a33+a34); + a32=(a32-a33); + a32=(a32/a10); + a9=(a9/a10); + a33=(a9*a17); + a32=(a32-a33); + a32=(a32/a10); + a26=(a26/a10); + a33=(a26*a17); + a32=(a32-a33); + a32=(a27*a32); + a31=(a31+a32); + a31=(a31/a28); + a32=(a25/a28); + a33=(a17+a17); + a33=(a32*a33); + a31=(a31-a33); + a33=(a30*a31); + a29=(a29+a33); + a13=(a13-a29); + a29=(a27/a10); + a33=(a29*a8); + a34=(a29/a10); + a17=(a34*a17); + a35=(a2*a17); + a33=(a33-a35); + a13=(a13-a33); + a33=(a0*a13); + a35=(a12*a3); + a36=(a4*a20); + a35=(a35-a36); + a36=(a29*a0); + a37=(a11*a17); + a36=(a36-a37); + a35=(a35-a36); + a36=(a8*a35); + a33=(a33+a36); + a36=(a12*a0); + a37=(a11*a20); + a36=(a36-a37); + a37=(a29*a3); + a38=(a4*a17); + a37=(a37-a38); + a36=(a36+a37); + a37=(a6*a36); + a33=(a33+a37); + a37=(a12*a8); + a20=(a2*a20); + a37=(a37-a20); + a20=(a3+a3); + a20=(a25*a20); + a38=(a4+a4); + a31=(a38*a31); + a20=(a20+a31); + a37=(a37-a20); + a20=(a29*a6); + a17=(a14*a17); + a20=(a20-a17); + a37=(a37+a20); + a20=(a3*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][0]=a33; + a33=(a0*a35); + a20=(a8*a13); + a33=(a33-a20); + a20=(a3*a36); + a33=(a33-a20); + a20=(a6*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][1]=a33; + a33=(a6*a13); + a20=(a3*a35); + a33=(a33-a20); + a20=(a0*a36); + a33=(a33-a20); + a20=(a8*a37); + a33=(a33+a20); + if (res[0]!=0) res[0][2]=a33; + a36=(a8*a36); + a13=(a3*a13); + a35=(a6*a35); + a13=(a13+a35); + a36=(a36-a13); + a37=(a0*a37); + a36=(a36+a37); + if (res[0]!=0) res[0][3]=a36; + a36=(a12*a6); + a37=(a16*a6); + a13=(a18*a8); + a37=(a37-a13); + a37=(a37/a19); + a13=(a15*a37); + a35=(a4*a13); + a36=(a36-a35); + a35=(a29*a8); + a33=(a34*a37); + a20=(a11*a33); + a35=(a35+a20); + a36=(a36+a35); + a35=(a8*a36); + a20=(a22*a37); + a17=(a12*a3); + a31=(a14*a13); + a17=(a17+a31); + a20=(a20+a17); + a17=(a2*a6); + a31=(a4*a0); + a17=(a17+a31); + a31=(a11*a3); + a39=(a14*a8); + a31=(a31+a39); + a17=(a17-a31); + a17=(a17/a10); + a31=(a5*a37); + a17=(a17-a31); + a17=(a17/a10); + a31=(a7*a37); + a17=(a17-a31); + a17=(a1*a17); + a31=(a8/a10); + a39=(a23*a37); + a31=(a31+a39); + a31=(a31/a10); + a39=(a24*a37); + a31=(a31+a39); + a31=(a21*a31); + a17=(a17-a31); + a31=(a14*a6); + a39=(a4*a3); + a31=(a31-a39); + a39=(a11*a0); + a40=(a2*a8); + a39=(a39-a40); + a31=(a31-a39); + a31=(a31/a10); + a39=(a9*a37); + a31=(a31-a39); + a31=(a31/a10); + a39=(a26*a37); + a31=(a31-a39); + a31=(a27*a31); + a17=(a17+a31); + a17=(a17/a28); + a37=(a37+a37); + a37=(a32*a37); + a17=(a17-a37); + a37=(a30*a17); + a31=(a8+a8); + a31=(a25*a31); + a37=(a37-a31); + a20=(a20+a37); + a37=(a29*a0); + a31=(a2*a33); + a37=(a37-a31); + a20=(a20+a37); + a37=(a0*a20); + a35=(a35-a37); + a37=(a29*a6); + a31=(a4*a33); + a37=(a37-a31); + a31=(a12*a8); + a39=(a11*a13); + a31=(a31+a39); + a37=(a37-a31); + a31=(a6*a37); + a35=(a35+a31); + a31=(a12*a0); + a13=(a2*a13); + a31=(a31-a13); + a13=(a6+a6); + a13=(a25*a13); + a17=(a38*a17); + a13=(a13+a17); + a31=(a31-a13); + a13=(a29*a3); + a33=(a14*a33); + a13=(a13+a33); + a31=(a31-a13); + a13=(a3*a31); + a35=(a35+a13); + if (res[0]!=0) res[0][4]=a35; + a35=(a0*a36); + a13=(a8*a20); + a35=(a35+a13); + a13=(a3*a37); + a35=(a35-a13); + a13=(a6*a31); + a35=(a35+a13); + if (res[0]!=0) res[0][5]=a35; + a35=(a8*a31); + a13=(a6*a20); + a33=(a3*a36); + a13=(a13+a33); + a33=(a0*a37); + a13=(a13+a33); + a35=(a35-a13); + if (res[0]!=0) res[0][6]=a35; + a37=(a8*a37); + a36=(a6*a36); + a20=(a3*a20); + a36=(a36-a20); + a37=(a37-a36); + a31=(a0*a31); + a37=(a37+a31); + if (res[0]!=0) res[0][7]=a37; + a37=(a29*a3); + a31=(a16*a8); + a36=(a18*a6); + a31=(a31+a36); + a31=(a31/a19); + a36=(a34*a31); + a20=(a2*a36); + a37=(a37+a20); + a20=(a22*a31); + a35=(a12*a0); + a13=(a15*a31); + a33=(a14*a13); + a35=(a35+a33); + a20=(a20+a35); + a35=(a6+a6); + a35=(a25*a35); + a33=(a6/a10); + a17=(a23*a31); + a33=(a33-a17); + a33=(a33/a10); + a17=(a24*a31); + a33=(a33-a17); + a33=(a21*a33); + a17=(a2*a8); + a39=(a4*a3); + a17=(a17-a39); + a39=(a14*a6); + a40=(a11*a0); + a39=(a39-a40); + a17=(a17+a39); + a17=(a17/a10); + a39=(a5*a31); + a17=(a17-a39); + a17=(a17/a10); + a39=(a7*a31); + a17=(a17-a39); + a17=(a1*a17); + a33=(a33+a17); + a17=(a14*a8); + a39=(a4*a0); + a17=(a17-a39); + a39=(a2*a6); + a40=(a11*a3); + a39=(a39-a40); + a17=(a17-a39); + a17=(a17/a10); + a39=(a9*a31); + a17=(a17-a39); + a17=(a17/a10); + a39=(a26*a31); + a17=(a17-a39); + a17=(a27*a17); + a33=(a33+a17); + a33=(a33/a28); + a31=(a31+a31); + a31=(a32*a31); + a33=(a33-a31); + a31=(a30*a33); + a35=(a35+a31); + a20=(a20+a35); + a37=(a37-a20); + a20=(a0*a37); + a35=(a12*a8); + a31=(a4*a13); + a35=(a35-a31); + a31=(a29*a6); + a17=(a11*a36); + a31=(a31-a17); + a35=(a35-a31); + a31=(a8*a35); + a20=(a20+a31); + a31=(a12*a6); + a17=(a11*a13); + a31=(a31-a17); + a17=(a29*a8); + a39=(a4*a36); + a17=(a17-a39); + a31=(a31+a17); + a17=(a6*a31); + a20=(a20+a17); + a17=(a12*a3); + a13=(a2*a13); + a17=(a17+a13); + a13=(a8+a8); + a13=(a25*a13); + a33=(a38*a33); + a13=(a13+a33); + a17=(a17+a13); + a13=(a29*a0); + a36=(a14*a36); + a13=(a13+a36); + a17=(a17+a13); + a13=(a3*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][8]=a20; + a20=(a0*a35); + a13=(a8*a37); + a20=(a20-a13); + a13=(a3*a31); + a20=(a20-a13); + a13=(a6*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][9]=a20; + a20=(a6*a37); + a13=(a3*a35); + a20=(a20-a13); + a13=(a0*a31); + a20=(a20-a13); + a13=(a8*a17); + a20=(a20-a13); + if (res[0]!=0) res[0][10]=a20; + a31=(a8*a31); + a37=(a3*a37); + a35=(a6*a35); + a37=(a37+a35); + a31=(a31-a37); + a17=(a0*a17); + a31=(a31-a17); + if (res[0]!=0) res[0][11]=a31; + a31=(a12*a8); + a16=(a16*a0); + a18=(a18*a3); + a16=(a16-a18); + a16=(a16/a19); + a15=(a15*a16); + a19=(a14*a15); + a31=(a31-a19); + a22=(a22*a16); + a31=(a31-a22); + a22=(a2*a0); + a19=(a4*a6); + a22=(a22-a19); + a19=(a11*a8); + a18=(a14*a3); + a19=(a19-a18); + a22=(a22+a19); + a22=(a22/a10); + a5=(a5*a16); + a22=(a22-a5); + a22=(a22/a10); + a7=(a7*a16); + a22=(a22-a7); + a1=(a1*a22); + a22=(a3/a10); + a23=(a23*a16); + a22=(a22+a23); + a22=(a22/a10); + a24=(a24*a16); + a22=(a22+a24); + a21=(a21*a22); + a1=(a1-a21); + a21=(a14*a0); + a22=(a4*a8); + a21=(a21+a22); + a22=(a11*a6); + a24=(a2*a3); + a22=(a22+a24); + a21=(a21+a22); + a21=(a21/a10); + a9=(a9*a16); + a21=(a21-a9); + a21=(a21/a10); + a26=(a26*a16); + a21=(a21-a26); + a27=(a27*a21); + a1=(a1+a27); + a1=(a1/a28); + a28=(a16+a16); + a32=(a32*a28); + a1=(a1-a32); + a30=(a30*a1); + a32=(a3+a3); + a32=(a25*a32); + a30=(a30-a32); + a31=(a31-a30); + a30=(a29*a6); + a34=(a34*a16); + a16=(a2*a34); + a30=(a30+a16); + a31=(a31+a30); + a30=(a0*a31); + a16=(a12*a0); + a32=(a4*a15); + a16=(a16-a32); + a32=(a29*a3); + a28=(a11*a34); + a32=(a32+a28); + a16=(a16+a32); + a32=(a8*a16); + a30=(a30+a32); + a32=(a29*a0); + a4=(a4*a34); + a32=(a32-a4); + a4=(a12*a3); + a11=(a11*a15); + a4=(a4+a11); + a32=(a32-a4); + a4=(a6*a32); + a30=(a30+a4); + a29=(a29*a8); + a14=(a14*a34); + a29=(a29-a14); + a12=(a12*a6); + a2=(a2*a15); + a12=(a12+a2); + a2=(a0+a0); + a25=(a25*a2); + a38=(a38*a1); + a25=(a25+a38); + a12=(a12+a25); + a29=(a29-a12); + a12=(a3*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][12]=a30; + a30=(a0*a16); + a12=(a8*a31); + a30=(a30-a12); + a12=(a3*a32); + a30=(a30-a12); + a12=(a6*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][13]=a30; + a30=(a6*a31); + a12=(a3*a16); + a30=(a30-a12); + a12=(a0*a32); + a30=(a30-a12); + a12=(a8*a29); + a30=(a30+a12); + if (res[0]!=0) res[0][14]=a30; + a8=(a8*a32); + a3=(a3*a31); + a6=(a6*a16); + a3=(a3+a6); + a8=(a8-a3); + a0=(a0*a29); + a8=(a8+a0); + if (res[0]!=0) res[0][15]=a8; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_cost_y_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_hess_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_cost_y_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_cost_y_hess_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_hess_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_cost_y_hess_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_cost_y_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_hess.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_hess.o new file mode 100644 index 0000000..e9a9856 Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_cost/drone_model_cost_y_hess.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_ode_fun.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_ode_fun.c new file mode 100644 index 0000000..c297014 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_ode_fun.c @@ -0,0 +1,390 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_expl_ode_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s2[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; + +/* drone_model_expl_ode_fun:(i0[13],i1[4],i2[24])->(o0[13]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a22, a23, a24, a25, a26, a27, a3, a4, a5, a6, a7, a8, a9; + a0=arg[0]? arg[0][7] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[0]? arg[0][8] : 0; + if (res[0]!=0) res[0][1]=a1; + a2=arg[0]? arg[0][9] : 0; + if (res[0]!=0) res[0][2]=a2; + a3=5.0000000000000000e-01; + a4=arg[0]? arg[0][10] : 0; + a5=arg[0]? arg[0][4] : 0; + a6=(a4*a5); + a7=arg[0]? arg[0][11] : 0; + a8=arg[0]? arg[0][5] : 0; + a9=(a7*a8); + a6=(a6+a9); + a9=arg[0]? arg[0][12] : 0; + a10=arg[0]? arg[0][6] : 0; + a11=(a9*a10); + a6=(a6+a11); + a6=(a3*a6); + a6=(-a6); + if (res[0]!=0) res[0][3]=a6; + a6=arg[0]? arg[0][3] : 0; + a11=(a4*a6); + a12=(a7*a10); + a11=(a11-a12); + a12=(a9*a8); + a11=(a11+a12); + a11=(a3*a11); + if (res[0]!=0) res[0][4]=a11; + a11=(a7*a6); + a12=(a4*a10); + a11=(a11+a12); + a12=(a9*a5); + a11=(a11-a12); + a11=(a3*a11); + if (res[0]!=0) res[0][5]=a11; + a11=(a7*a5); + a12=(a4*a8); + a11=(a11-a12); + a12=(a9*a6); + a11=(a11+a12); + a3=(a3*a11); + if (res[0]!=0) res[0][6]=a3; + a3=arg[1]? arg[1][0] : 0; + a11=arg[1]? arg[1][1] : 0; + a12=(a3+a11); + a13=arg[1]? arg[1][2] : 0; + a12=(a12+a13); + a14=arg[1]? arg[1][3] : 0; + a12=(a12+a14); + a15=arg[2]? arg[2][0] : 0; + a12=(a12/a15); + a16=(a12*a8); + a17=(a6*a16); + a18=(a12*a10); + a19=(a5*a18); + a17=(a17+a19); + a19=(a12*a6); + a20=(a8*a19); + a17=(a17+a20); + a12=(a12*a5); + a20=(a10*a12); + a17=(a17+a20); + a20=arg[2]? arg[2][5] : 0; + a21=(a0*a6); + a22=(a1*a10); + a21=(a21+a22); + a22=(a2*a8); + a21=(a21-a22); + a22=(a6*a21); + a23=(a0*a5); + a24=(a1*a8); + a23=(a23+a24); + a24=(a2*a10); + a23=(a23+a24); + a24=(a5*a23); + a22=(a22+a24); + a24=(a0*a8); + a25=(a1*a5); + a24=(a24-a25); + a25=(a2*a6); + a24=(a24+a25); + a25=(a8*a24); + a22=(a22-a25); + a1=(a1*a6); + a0=(a0*a10); + a1=(a1-a0); + a2=(a2*a5); + a1=(a1+a2); + a2=(a10*a1); + a22=(a22+a2); + a20=(a20*a22); + a2=arg[2]? arg[2][8] : 0; + a0=casadi_sq(a22); + a0=(a22*a0); + a2=(a2*a0); + a20=(a20+a2); + a2=(a20*a6); + a0=arg[2]? arg[2][6] : 0; + a25=(a6*a1); + a26=(a8*a23); + a25=(a25+a26); + a26=(a5*a24); + a25=(a25+a26); + a26=(a10*a21); + a25=(a25-a26); + a0=(a0*a25); + a26=arg[2]? arg[2][9] : 0; + a27=casadi_sq(a25); + a27=(a25*a27); + a26=(a26*a27); + a0=(a0+a26); + a26=(a0*a10); + a2=(a2-a26); + a26=arg[2]? arg[2][7] : 0; + a24=(a6*a24); + a1=(a5*a1); + a24=(a24-a1); + a21=(a8*a21); + a24=(a24+a21); + a23=(a10*a23); + a24=(a24+a23); + a26=(a26*a24); + a23=arg[2]? arg[2][10] : 0; + a21=casadi_sq(a24); + a24=(a24*a21); + a23=(a23*a24); + a26=(a26+a23); + a23=arg[2]? arg[2][11] : 0; + a22=casadi_sq(a22); + a25=casadi_sq(a25); + a22=(a22+a25); + a23=(a23*a22); + a26=(a26-a23); + a23=(a26*a8); + a2=(a2+a23); + a23=(a6*a2); + a22=(a20*a5); + a25=(a0*a8); + a22=(a22+a25); + a25=(a26*a10); + a22=(a22+a25); + a25=(a5*a22); + a23=(a23+a25); + a25=(a0*a5); + a24=(a20*a8); + a25=(a25-a24); + a24=(a26*a6); + a25=(a25+a24); + a24=(a8*a25); + a23=(a23+a24); + a0=(a0*a6); + a20=(a20*a10); + a0=(a0+a20); + a26=(a26*a5); + a0=(a0-a26); + a26=(a10*a0); + a23=(a23-a26); + a23=(a23/a15); + a17=(a17-a23); + if (res[0]!=0) res[0][7]=a17; + a17=(a8*a18); + a23=(a6*a12); + a17=(a17-a23); + a23=(a5*a19); + a17=(a17-a23); + a23=(a10*a16); + a17=(a17+a23); + a23=(a6*a0); + a26=(a8*a22); + a23=(a23+a26); + a26=(a5*a25); + a23=(a23-a26); + a26=(a10*a2); + a23=(a23+a26); + a23=(a23/a15); + a17=(a17-a23); + if (res[0]!=0) res[0][8]=a17; + a19=(a6*a19); + a12=(a5*a12); + a19=(a19-a12); + a16=(a8*a16); + a19=(a19-a16); + a18=(a10*a18); + a19=(a19+a18); + a18=-9.8065999999999995e+00; + a19=(a19+a18); + a6=(a6*a25); + a5=(a5*a0); + a6=(a6+a5); + a8=(a8*a2); + a6=(a6-a8); + a10=(a10*a22); + a6=(a6+a10); + a6=(a6/a15); + a19=(a19-a6); + if (res[0]!=0) res[0][9]=a19; + a19=arg[2]? arg[2][16] : 0; + a19=(a19*a3); + a6=arg[2]? arg[2][17] : 0; + a6=(a6*a11); + a19=(a19+a6); + a6=arg[2]? arg[2][18] : 0; + a6=(a6*a13); + a19=(a19+a6); + a6=arg[2]? arg[2][19] : 0; + a6=(a6*a14); + a19=(a19+a6); + a6=arg[2]? arg[2][23] : 0; + a15=(a6*a9); + a10=(a7*a15); + a22=arg[2]? arg[2][22] : 0; + a8=(a22*a7); + a2=(a9*a8); + a10=(a10-a2); + a19=(a19-a10); + a10=arg[2]? arg[2][21] : 0; + a19=(a19/a10); + if (res[0]!=0) res[0][10]=a19; + a19=arg[2]? arg[2][12] : 0; + a19=(a19*a3); + a2=arg[2]? arg[2][13] : 0; + a2=(a2*a11); + a19=(a19+a2); + a2=arg[2]? arg[2][14] : 0; + a2=(a2*a13); + a19=(a19+a2); + a2=arg[2]? arg[2][15] : 0; + a2=(a2*a14); + a19=(a19+a2); + a10=(a10*a4); + a9=(a9*a10); + a15=(a4*a15); + a9=(a9-a15); + a19=(a19+a9); + a19=(a19/a22); + a19=(-a19); + if (res[0]!=0) res[0][11]=a19; + a19=arg[2]? arg[2][20] : 0; + a3=(a3+a11); + a13=(a13-a3); + a13=(a13+a14); + a19=(a19*a13); + a4=(a4*a8); + a7=(a7*a10); + a4=(a4-a7); + a19=(a19-a4); + a19=(a19/a6); + if (res[0]!=0) res[0][12]=a19; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_ode_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_ode_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_ode_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_ode_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_ode_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_ode_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_ode_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_expl_ode_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_expl_ode_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_expl_ode_fun_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_expl_ode_fun_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_expl_ode_fun_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_expl_ode_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_expl_ode_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_ode_fun.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_ode_fun.o new file mode 100644 index 0000000..8953589 Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_ode_fun.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_adj.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_adj.c new file mode 100644 index 0000000..8c8d881 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_adj.c @@ -0,0 +1,674 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_expl_vde_adj_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s2[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; +static const casadi_int casadi_s3[21] = {17, 1, 0, 17, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; + +/* drone_model_expl_vde_adj:(i0[13],i1[13],i2[4],i3[24])->(o0[17]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a22, a23, a24, a25, a26, a27, a28, a29, a3, a30, a31, a32, a33, a34, a35, a36, a37, a38, a39, a4, a40, a41, a42, a43, a44, a45, a46, a47, a48, a49, a5, a50, a51, a6, a7, a8, a9; + a0=0.; + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[2]? arg[2][0] : 0; + a1=arg[2]? arg[2][1] : 0; + a0=(a0+a1); + a1=arg[2]? arg[2][2] : 0; + a0=(a0+a1); + a1=arg[2]? arg[2][3] : 0; + a0=(a0+a1); + a1=arg[3]? arg[3][0] : 0; + a0=(a0/a1); + a2=arg[0]? arg[0][3] : 0; + a3=(a0*a2); + a4=arg[1]? arg[1][9] : 0; + a5=(a3*a4); + a6=arg[3]? arg[3][6] : 0; + a7=arg[0]? arg[0][8] : 0; + a8=(a7*a2); + a9=arg[0]? arg[0][7] : 0; + a10=arg[0]? arg[0][6] : 0; + a11=(a9*a10); + a8=(a8-a11); + a11=arg[0]? arg[0][9] : 0; + a12=arg[0]? arg[0][4] : 0; + a13=(a11*a12); + a8=(a8+a13); + a13=(a2*a8); + a14=arg[0]? arg[0][5] : 0; + a15=(a9*a12); + a16=(a7*a14); + a15=(a15+a16); + a16=(a11*a10); + a15=(a15+a16); + a16=(a14*a15); + a13=(a13+a16); + a16=(a9*a14); + a17=(a7*a12); + a16=(a16-a17); + a17=(a11*a2); + a16=(a16+a17); + a17=(a12*a16); + a13=(a13+a17); + a17=(a9*a2); + a18=(a7*a10); + a17=(a17+a18); + a18=(a11*a14); + a17=(a17-a18); + a18=(a10*a17); + a13=(a13-a18); + a18=(a6*a13); + a19=arg[3]? arg[3][9] : 0; + a20=casadi_sq(a13); + a21=(a13*a20); + a21=(a19*a21); + a18=(a18+a21); + a21=(a18*a12); + a22=arg[3]? arg[3][5] : 0; + a23=(a2*a17); + a24=(a12*a15); + a23=(a23+a24); + a24=(a14*a16); + a23=(a23-a24); + a24=(a10*a8); + a23=(a23+a24); + a24=(a22*a23); + a25=arg[3]? arg[3][8] : 0; + a26=casadi_sq(a23); + a27=(a23*a26); + a27=(a25*a27); + a24=(a24+a27); + a27=(a24*a14); + a21=(a21-a27); + a27=arg[3]? arg[3][7] : 0; + a28=(a2*a16); + a29=(a12*a8); + a28=(a28-a29); + a29=(a14*a17); + a28=(a28+a29); + a29=(a10*a15); + a28=(a28+a29); + a29=(a27*a28); + a30=arg[3]? arg[3][10] : 0; + a31=casadi_sq(a28); + a32=(a28*a31); + a32=(a30*a32); + a29=(a29+a32); + a32=arg[3]? arg[3][11] : 0; + a33=casadi_sq(a23); + a34=casadi_sq(a13); + a33=(a33+a34); + a33=(a32*a33); + a29=(a29-a33); + a33=(a29*a2); + a21=(a21+a33); + a33=(a4/a1); + a34=(a21*a33); + a5=(a5-a34); + a34=(a18*a2); + a35=(a24*a10); + a34=(a34+a35); + a35=(a29*a12); + a34=(a34-a35); + a35=arg[1]? arg[1][8] : 0; + a36=(a35/a1); + a37=(a34*a36); + a5=(a5-a37); + a37=(a0*a12); + a38=(a37*a35); + a5=(a5-a38); + a38=arg[1]? arg[1][7] : 0; + a39=(a38/a1); + a40=(a10*a39); + a41=(a12*a33); + a42=(a2*a36); + a41=(a41+a42); + a40=(a40-a41); + a41=(a18*a40); + a5=(a5+a41); + a41=(a12*a36); + a42=(a2*a33); + a41=(a41-a42); + a42=(a14*a39); + a41=(a41-a42); + a42=(a29*a41); + a5=(a5+a42); + a42=(a24*a2); + a43=(a18*a10); + a42=(a42-a43); + a43=(a29*a14); + a42=(a42+a43); + a43=(a42*a39); + a5=(a5-a43); + a43=(a2*a41); + a44=(a12*a40); + a43=(a43-a44); + a44=(a10*a33); + a45=(a14*a36); + a44=(a44+a45); + a45=(a12*a39); + a44=(a44+a45); + a45=(a10*a44); + a43=(a43-a45); + a45=(a14*a33); + a46=(a10*a36); + a45=(a45-a46); + a46=(a2*a39); + a45=(a45-a46); + a46=(a14*a45); + a43=(a43+a46); + a30=(a30*a43); + a31=(a31*a30); + a46=(a28+a28); + a28=(a28*a30); + a46=(a46*a28); + a31=(a31+a46); + a27=(a27*a43); + a31=(a31+a27); + a27=(a16*a31); + a5=(a5+a27); + a27=(a2*a40); + a46=(a12*a41); + a27=(a27+a46); + a46=(a14*a44); + a27=(a27-a46); + a46=(a10*a45); + a27=(a27-a46); + a19=(a19*a27); + a20=(a20*a19); + a46=(a13+a13); + a32=(a32*a43); + a46=(a46*a32); + a20=(a20-a46); + a46=(a13+a13); + a13=(a13*a19); + a46=(a46*a13); + a20=(a20+a46); + a6=(a6*a27); + a20=(a20+a6); + a6=(a8*a20); + a5=(a5+a6); + a6=(a24*a45); + a5=(a5+a6); + a6=(a2*a20); + a27=(a12*a31); + a6=(a6-a27); + a27=(a10*a40); + a46=(a14*a41); + a27=(a27-a46); + a46=(a12*a44); + a27=(a27-a46); + a46=(a2*a45); + a27=(a27+a46); + a25=(a25*a27); + a26=(a26*a25); + a46=(a23+a23); + a46=(a46*a32); + a26=(a26-a46); + a46=(a23+a23); + a23=(a23*a25); + a46=(a46*a23); + a26=(a26+a46); + a22=(a22*a27); + a26=(a26+a22); + a22=(a10*a26); + a6=(a6+a22); + a22=(a7*a6); + a5=(a5+a22); + a22=(a2*a31); + a27=(a12*a20); + a22=(a22+a27); + a27=(a14*a26); + a22=(a22-a27); + a27=(a11*a22); + a5=(a5+a27); + a27=(a17*a26); + a5=(a5+a27); + a27=(a14*a31); + a46=(a10*a20); + a27=(a27-a46); + a46=(a2*a26); + a27=(a27+a46); + a46=(a9*a27); + a5=(a5+a46); + a46=(a2*a4); + a23=(a12*a35); + a46=(a46-a23); + a23=(a14*a38); + a46=(a46+a23); + a23=(a0*a46); + a5=(a5+a23); + a23=(a0*a14); + a25=(a23*a38); + a5=(a5+a25); + a25=arg[0]? arg[0][12] : 0; + a32=5.0000000000000000e-01; + a13=arg[1]? arg[1][6] : 0; + a13=(a32*a13); + a19=(a25*a13); + a5=(a5+a19); + a19=arg[0]? arg[0][11] : 0; + a43=arg[1]? arg[1][5] : 0; + a43=(a32*a43); + a28=(a19*a43); + a5=(a5+a28); + a28=arg[0]? arg[0][10] : 0; + a30=arg[1]? arg[1][4] : 0; + a30=(a32*a30); + a47=(a28*a30); + a5=(a5+a47); + if (res[0]!=0) res[0][3]=a5; + a5=(a21*a36); + a47=(a34*a33); + a48=(a37*a4); + a47=(a47+a48); + a5=(a5-a47); + a47=(a3*a35); + a5=(a5-a47); + a47=(a29*a40); + a5=(a5-a47); + a47=(a18*a41); + a5=(a5+a47); + a47=(a24*a12); + a48=(a18*a14); + a47=(a47+a48); + a48=(a29*a10); + a47=(a47+a48); + a48=(a47*a39); + a5=(a5-a48); + a48=(a24*a44); + a5=(a5-a48); + a48=(a8*a31); + a5=(a5-a48); + a48=(a16*a20); + a5=(a5+a48); + a48=(a11*a6); + a5=(a5+a48); + a48=(a7*a22); + a5=(a5-a48); + a48=(a15*a26); + a5=(a5+a48); + a48=(a10*a31); + a49=(a14*a20); + a48=(a48+a49); + a49=(a12*a26); + a48=(a48+a49); + a49=(a9*a48); + a5=(a5+a49); + a49=(a10*a38); + a50=(a12*a4); + a51=(a2*a35); + a50=(a50+a51); + a49=(a49-a50); + a50=(a0*a49); + a5=(a5+a50); + a50=(a0*a10); + a51=(a50*a38); + a5=(a5+a51); + a51=(a19*a13); + a5=(a5+a51); + a51=(a25*a43); + a5=(a5-a51); + a51=arg[1]? arg[1][3] : 0; + a32=(a32*a51); + a51=(a28*a32); + a5=(a5-a51); + if (res[0]!=0) res[0][4]=a5; + a5=(a42*a33); + a51=(a23*a4); + a5=(a5-a51); + a51=(a47*a36); + a5=(a5-a51); + a51=(a50*a35); + a5=(a5+a51); + a21=(a21*a39); + a5=(a5-a21); + a41=(a24*a41); + a5=(a5-a41); + a41=(a18*a44); + a5=(a5-a41); + a41=(a29*a45); + a5=(a5+a41); + a41=(a17*a31); + a5=(a5+a41); + a41=(a15*a20); + a5=(a5+a41); + a16=(a16*a26); + a5=(a5-a16); + a16=(a9*a22); + a5=(a5+a16); + a16=(a7*a48); + a5=(a5+a16); + a16=(a11*a27); + a5=(a5-a16); + a3=(a3*a38); + a5=(a5+a3); + a3=(a10*a35); + a16=(a14*a4); + a3=(a3-a16); + a16=(a2*a38); + a3=(a3+a16); + a16=(a0*a3); + a5=(a5+a16); + a16=(a28*a13); + a5=(a5-a16); + a16=(a25*a30); + a5=(a5+a16); + a16=(a19*a32); + a5=(a5-a16); + if (res[0]!=0) res[0][5]=a5; + a50=(a50*a4); + a47=(a47*a33); + a50=(a50-a47); + a42=(a42*a36); + a50=(a50-a42); + a23=(a23*a35); + a50=(a50+a23); + a34=(a34*a39); + a50=(a50+a34); + a24=(a24*a40); + a50=(a50+a24); + a29=(a29*a44); + a50=(a50-a29); + a15=(a15*a31); + a50=(a50+a15); + a18=(a18*a45); + a50=(a50-a18); + a17=(a17*a20); + a50=(a50-a17); + a8=(a8*a26); + a50=(a50+a8); + a9=(a9*a6); + a50=(a50-a9); + a11=(a11*a48); + a50=(a50+a11); + a7=(a7*a27); + a50=(a50+a7); + a37=(a37*a38); + a50=(a50+a37); + a4=(a10*a4); + a35=(a14*a35); + a4=(a4+a35); + a38=(a12*a38); + a4=(a4+a38); + a0=(a0*a4); + a50=(a50+a0); + a0=(a28*a43); + a50=(a50+a0); + a0=(a19*a30); + a50=(a50-a0); + a0=(a25*a32); + a50=(a50-a0); + if (res[0]!=0) res[0][6]=a50; + a50=(a14*a22); + a0=(a10*a6); + a50=(a50-a0); + a0=(a12*a48); + a50=(a50+a0); + a0=(a2*a27); + a50=(a50+a0); + a0=arg[1]? arg[1][0] : 0; + a50=(a50+a0); + if (res[0]!=0) res[0][7]=a50; + a50=(a2*a6); + a0=(a12*a22); + a50=(a50-a0); + a0=(a14*a48); + a50=(a50+a0); + a0=(a10*a27); + a50=(a50+a0); + a0=arg[1]? arg[1][1] : 0; + a50=(a50+a0); + if (res[0]!=0) res[0][8]=a50; + a6=(a12*a6); + a22=(a2*a22); + a6=(a6+a22); + a48=(a10*a48); + a6=(a6+a48); + a27=(a14*a27); + a6=(a6-a27); + a27=arg[1]? arg[1][2] : 0; + a6=(a6+a27); + if (res[0]!=0) res[0][9]=a6; + a6=arg[3]? arg[3][23] : 0; + a27=(a6*a25); + a48=arg[1]? arg[1][11] : 0; + a22=arg[3]? arg[3][22] : 0; + a48=(a48/a22); + a50=(a27*a48); + a0=(a22*a19); + a38=arg[1]? arg[1][12] : 0; + a38=(a38/a6); + a35=(a0*a38); + a50=(a50-a35); + a35=arg[3]? arg[3][21] : 0; + a37=(a19*a38); + a7=(a25*a48); + a37=(a37-a7); + a37=(a35*a37); + a50=(a50+a37); + a37=(a14*a13); + a50=(a50-a37); + a37=(a10*a43); + a50=(a50+a37); + a37=(a2*a30); + a50=(a50+a37); + a37=(a12*a32); + a50=(a50-a37); + if (res[0]!=0) res[0][10]=a50; + a50=(a35*a28); + a37=(a50*a38); + a7=arg[1]? arg[1][10] : 0; + a7=(a7/a35); + a25=(a25*a7); + a35=(a28*a38); + a25=(a25-a35); + a22=(a22*a25); + a37=(a37+a22); + a27=(a27*a7); + a37=(a37-a27); + a27=(a12*a13); + a37=(a37+a27); + a27=(a2*a43); + a37=(a37+a27); + a27=(a10*a30); + a37=(a37-a27); + a27=(a14*a32); + a37=(a37-a27); + if (res[0]!=0) res[0][11]=a37; + a0=(a0*a7); + a50=(a50*a48); + a0=(a0-a50); + a28=(a28*a48); + a19=(a19*a7); + a28=(a28-a19); + a6=(a6*a28); + a0=(a0+a6); + a13=(a2*a13); + a0=(a0+a13); + a43=(a12*a43); + a0=(a0-a43); + a30=(a14*a30); + a0=(a0+a30); + a32=(a10*a32); + a0=(a0-a32); + if (res[0]!=0) res[0][12]=a0; + a0=arg[3]? arg[3][16] : 0; + a0=(a0*a7); + a32=arg[3]? arg[3][20] : 0; + a32=(a32*a38); + a38=arg[3]? arg[3][12] : 0; + a38=(a38*a48); + a38=(a32+a38); + a0=(a0-a38); + a12=(a12*a49); + a2=(a2*a46); + a12=(a12+a2); + a10=(a10*a4); + a12=(a12+a10); + a14=(a14*a3); + a12=(a12+a14); + a12=(a12/a1); + a0=(a0+a12); + if (res[0]!=0) res[0][13]=a0; + a0=arg[3]? arg[3][17] : 0; + a0=(a0*a7); + a1=arg[3]? arg[3][13] : 0; + a1=(a1*a48); + a1=(a32+a1); + a0=(a0-a1); + a0=(a0+a12); + if (res[0]!=0) res[0][14]=a0; + a0=arg[3]? arg[3][14] : 0; + a0=(a0*a48); + a0=(a32-a0); + a1=arg[3]? arg[3][18] : 0; + a1=(a1*a7); + a0=(a0+a1); + a0=(a0+a12); + if (res[0]!=0) res[0][15]=a0; + a0=arg[3]? arg[3][15] : 0; + a0=(a0*a48); + a32=(a32-a0); + a0=arg[3]? arg[3][19] : 0; + a0=(a0*a7); + a32=(a32+a0); + a32=(a32+a12); + if (res[0]!=0) res[0][16]=a32; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_adj_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_adj_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_vde_adj_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_adj_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_vde_adj_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_vde_adj_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_vde_adj_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_expl_vde_adj_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_expl_vde_adj_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_expl_vde_adj_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_expl_vde_adj_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_expl_vde_adj_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_expl_vde_adj_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s0; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_expl_vde_adj_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_forw.c b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_forw.c new file mode 100644 index 0000000..ef01067 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_forw.c @@ -0,0 +1,6679 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) drone_model_expl_vde_forw_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[17] = {13, 1, 0, 13, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s1[185] = {13, 13, 0, 13, 26, 39, 52, 65, 78, 91, 104, 117, 130, 143, 156, 169, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s2[59] = {13, 4, 0, 13, 26, 39, 52, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +static const casadi_int casadi_s3[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s4[28] = {24, 1, 0, 24, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23}; + +/* drone_model_expl_vde_forw:(i0[13],i1[13x13],i2[13x4],i3[4],i4[24])->(o0[13],o1[13x13],o2[13x4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a2, a20, a21, a22, a23, a24, a25, a26, a27, a28, a29, a3, a30, a31, a32, a33, a34, a35, a36, a37, a38, a39, a4, a40, a41, a42, a43, a44, a45, a46, a47, a48, a49, a5, a50, a51, a52, a53, a54, a55, a56, a57, a58, a59, a6, a60, a61, a62, a63, a64, a65, a66, a67, a68, a69, a7, a70, a71, a72, a73, a74, a75, a76, a77, a78, a79, a8, a80, a81, a82, a83, a84, a85, a86, a87, a9; + a0=arg[0]? arg[0][7] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[0]? arg[0][8] : 0; + if (res[0]!=0) res[0][1]=a1; + a2=arg[0]? arg[0][9] : 0; + if (res[0]!=0) res[0][2]=a2; + a3=5.0000000000000000e-01; + a4=arg[0]? arg[0][10] : 0; + a5=arg[0]? arg[0][4] : 0; + a6=(a4*a5); + a7=arg[0]? arg[0][11] : 0; + a8=arg[0]? arg[0][5] : 0; + a9=(a7*a8); + a6=(a6+a9); + a9=arg[0]? arg[0][12] : 0; + a10=arg[0]? arg[0][6] : 0; + a11=(a9*a10); + a6=(a6+a11); + a6=(a3*a6); + a6=(-a6); + if (res[0]!=0) res[0][3]=a6; + a6=arg[0]? arg[0][3] : 0; + a11=(a4*a6); + a12=(a7*a10); + a11=(a11-a12); + a12=(a9*a8); + a11=(a11+a12); + a11=(a3*a11); + if (res[0]!=0) res[0][4]=a11; + a11=(a7*a6); + a12=(a4*a10); + a11=(a11+a12); + a12=(a9*a5); + a11=(a11-a12); + a11=(a3*a11); + if (res[0]!=0) res[0][5]=a11; + a11=(a7*a5); + a12=(a4*a8); + a11=(a11-a12); + a12=(a9*a6); + a11=(a11+a12); + a11=(a3*a11); + if (res[0]!=0) res[0][6]=a11; + a11=arg[3]? arg[3][0] : 0; + a12=arg[3]? arg[3][1] : 0; + a13=(a11+a12); + a14=arg[3]? arg[3][2] : 0; + a13=(a13+a14); + a15=arg[3]? arg[3][3] : 0; + a13=(a13+a15); + a16=arg[4]? arg[4][0] : 0; + a13=(a13/a16); + a17=(a13*a8); + a18=(a6*a17); + a19=(a13*a10); + a20=(a5*a19); + a18=(a18+a20); + a20=(a13*a6); + a21=(a8*a20); + a18=(a18+a21); + a21=(a13*a5); + a22=(a10*a21); + a18=(a18+a22); + a22=arg[4]? arg[4][5] : 0; + a23=(a0*a6); + a24=(a1*a10); + a23=(a23+a24); + a24=(a2*a8); + a23=(a23-a24); + a24=(a6*a23); + a25=(a0*a5); + a26=(a1*a8); + a25=(a25+a26); + a26=(a2*a10); + a25=(a25+a26); + a26=(a5*a25); + a24=(a24+a26); + a26=(a0*a8); + a27=(a1*a5); + a26=(a26-a27); + a27=(a2*a6); + a26=(a26+a27); + a27=(a8*a26); + a24=(a24-a27); + a27=(a1*a6); + a28=(a0*a10); + a27=(a27-a28); + a28=(a2*a5); + a27=(a27+a28); + a28=(a10*a27); + a24=(a24+a28); + a28=(a22*a24); + a29=arg[4]? arg[4][8] : 0; + a30=casadi_sq(a24); + a31=(a24*a30); + a31=(a29*a31); + a28=(a28+a31); + a31=(a28*a6); + a32=arg[4]? arg[4][6] : 0; + a33=(a6*a27); + a34=(a8*a25); + a33=(a33+a34); + a34=(a5*a26); + a33=(a33+a34); + a34=(a10*a23); + a33=(a33-a34); + a34=(a32*a33); + a35=arg[4]? arg[4][9] : 0; + a36=casadi_sq(a33); + a37=(a33*a36); + a37=(a35*a37); + a34=(a34+a37); + a37=(a34*a10); + a31=(a31-a37); + a37=arg[4]? arg[4][7] : 0; + a38=(a6*a26); + a39=(a5*a27); + a38=(a38-a39); + a39=(a8*a23); + a38=(a38+a39); + a39=(a10*a25); + a38=(a38+a39); + a39=(a37*a38); + a40=arg[4]? arg[4][10] : 0; + a41=casadi_sq(a38); + a42=(a38*a41); + a42=(a40*a42); + a39=(a39+a42); + a42=arg[4]? arg[4][11] : 0; + a43=casadi_sq(a24); + a44=casadi_sq(a33); + a43=(a43+a44); + a43=(a42*a43); + a39=(a39-a43); + a43=(a39*a8); + a31=(a31+a43); + a43=(a6*a31); + a44=(a28*a5); + a45=(a34*a8); + a44=(a44+a45); + a45=(a39*a10); + a44=(a44+a45); + a45=(a5*a44); + a43=(a43+a45); + a45=(a34*a5); + a46=(a28*a8); + a45=(a45-a46); + a46=(a39*a6); + a45=(a45+a46); + a46=(a8*a45); + a43=(a43+a46); + a46=(a34*a6); + a47=(a28*a10); + a46=(a46+a47); + a47=(a39*a5); + a46=(a46-a47); + a47=(a10*a46); + a43=(a43-a47); + a43=(a43/a16); + a18=(a18-a43); + if (res[0]!=0) res[0][7]=a18; + a18=(a8*a19); + a43=(a6*a21); + a18=(a18-a43); + a43=(a5*a20); + a18=(a18-a43); + a43=(a10*a17); + a18=(a18+a43); + a43=(a6*a46); + a47=(a8*a44); + a43=(a43+a47); + a47=(a5*a45); + a43=(a43-a47); + a47=(a10*a31); + a43=(a43+a47); + a43=(a43/a16); + a18=(a18-a43); + if (res[0]!=0) res[0][8]=a18; + a18=(a6*a20); + a43=(a5*a21); + a18=(a18-a43); + a43=(a8*a17); + a18=(a18-a43); + a43=(a10*a19); + a18=(a18+a43); + a43=-9.8065999999999995e+00; + a18=(a18+a43); + a43=(a6*a45); + a47=(a5*a46); + a43=(a43+a47); + a47=(a8*a31); + a43=(a43-a47); + a47=(a10*a44); + a43=(a43+a47); + a43=(a43/a16); + a18=(a18-a43); + if (res[0]!=0) res[0][9]=a18; + a18=arg[4]? arg[4][16] : 0; + a43=(a18*a11); + a47=arg[4]? arg[4][17] : 0; + a48=(a47*a12); + a43=(a43+a48); + a48=arg[4]? arg[4][18] : 0; + a49=(a48*a14); + a43=(a43+a49); + a49=arg[4]? arg[4][19] : 0; + a50=(a49*a15); + a43=(a43+a50); + a50=arg[4]? arg[4][23] : 0; + a51=(a50*a9); + a52=(a7*a51); + a53=arg[4]? arg[4][22] : 0; + a54=(a53*a7); + a55=(a9*a54); + a52=(a52-a55); + a43=(a43-a52); + a52=arg[4]? arg[4][21] : 0; + a43=(a43/a52); + if (res[0]!=0) res[0][10]=a43; + a43=arg[4]? arg[4][12] : 0; + a55=(a43*a11); + a56=arg[4]? arg[4][13] : 0; + a57=(a56*a12); + a55=(a55+a57); + a57=arg[4]? arg[4][14] : 0; + a58=(a57*a14); + a55=(a55+a58); + a58=arg[4]? arg[4][15] : 0; + a59=(a58*a15); + a55=(a55+a59); + a59=(a52*a4); + a60=(a9*a59); + a61=(a4*a51); + a60=(a60-a61); + a55=(a55+a60); + a55=(a55/a53); + a55=(-a55); + if (res[0]!=0) res[0][11]=a55; + a55=arg[4]? arg[4][20] : 0; + a11=(a11+a12); + a14=(a14-a11); + a14=(a14+a15); + a14=(a55*a14); + a15=(a4*a54); + a11=(a7*a59); + a15=(a15-a11); + a14=(a14-a15); + a14=(a14/a50); + if (res[0]!=0) res[0][12]=a14; + a14=arg[1]? arg[1][7] : 0; + if (res[1]!=0) res[1][0]=a14; + a15=arg[1]? arg[1][8] : 0; + if (res[1]!=0) res[1][1]=a15; + a11=arg[1]? arg[1][9] : 0; + if (res[1]!=0) res[1][2]=a11; + a12=arg[1]? arg[1][10] : 0; + a60=(a5*a12); + a61=arg[1]? arg[1][4] : 0; + a62=(a4*a61); + a60=(a60+a62); + a62=arg[1]? arg[1][11] : 0; + a63=(a8*a62); + a64=arg[1]? arg[1][5] : 0; + a65=(a7*a64); + a63=(a63+a65); + a60=(a60+a63); + a63=arg[1]? arg[1][12] : 0; + a65=(a10*a63); + a66=arg[1]? arg[1][6] : 0; + a67=(a9*a66); + a65=(a65+a67); + a60=(a60+a65); + a60=(a3*a60); + a60=(-a60); + if (res[1]!=0) res[1][3]=a60; + a60=(a6*a12); + a65=arg[1]? arg[1][3] : 0; + a67=(a4*a65); + a60=(a60+a67); + a67=(a10*a62); + a68=(a7*a66); + a67=(a67+a68); + a60=(a60-a67); + a67=(a8*a63); + a68=(a9*a64); + a67=(a67+a68); + a60=(a60+a67); + a60=(a3*a60); + if (res[1]!=0) res[1][4]=a60; + a60=(a6*a62); + a67=(a7*a65); + a60=(a60+a67); + a67=(a10*a12); + a68=(a4*a66); + a67=(a67+a68); + a60=(a60+a67); + a67=(a5*a63); + a68=(a9*a61); + a67=(a67+a68); + a60=(a60-a67); + a60=(a3*a60); + if (res[1]!=0) res[1][5]=a60; + a60=(a5*a62); + a67=(a7*a61); + a60=(a60+a67); + a67=(a8*a12); + a68=(a4*a64); + a67=(a67+a68); + a60=(a60-a67); + a67=(a6*a63); + a68=(a9*a65); + a67=(a67+a68); + a60=(a60+a67); + a60=(a3*a60); + if (res[1]!=0) res[1][6]=a60; + a60=(a17*a65); + a67=(a13*a64); + a68=(a6*a67); + a60=(a60+a68); + a68=(a19*a61); + a69=(a13*a66); + a70=(a5*a69); + a68=(a68+a70); + a60=(a60+a68); + a68=(a20*a64); + a70=(a13*a65); + a71=(a8*a70); + a68=(a68+a71); + a60=(a60+a68); + a68=(a21*a66); + a71=(a13*a61); + a72=(a10*a71); + a68=(a68+a72); + a60=(a60+a68); + a68=(a31*a65); + a72=(a23*a65); + a73=(a6*a14); + a74=(a0*a65); + a73=(a73+a74); + a74=(a10*a15); + a75=(a1*a66); + a74=(a74+a75); + a73=(a73+a74); + a74=(a8*a11); + a75=(a2*a64); + a74=(a74+a75); + a73=(a73-a74); + a74=(a6*a73); + a72=(a72+a74); + a74=(a25*a61); + a75=(a5*a14); + a76=(a0*a61); + a75=(a75+a76); + a76=(a8*a15); + a77=(a1*a64); + a76=(a76+a77); + a75=(a75+a76); + a76=(a10*a11); + a77=(a2*a66); + a76=(a76+a77); + a75=(a75+a76); + a76=(a5*a75); + a74=(a74+a76); + a72=(a72+a74); + a74=(a26*a64); + a76=(a8*a14); + a77=(a0*a64); + a76=(a76+a77); + a77=(a5*a15); + a78=(a1*a61); + a77=(a77+a78); + a76=(a76-a77); + a77=(a6*a11); + a78=(a2*a65); + a77=(a77+a78); + a76=(a76+a77); + a77=(a8*a76); + a74=(a74+a77); + a72=(a72-a74); + a74=(a27*a66); + a15=(a6*a15); + a77=(a1*a65); + a15=(a15+a77); + a14=(a10*a14); + a77=(a0*a66); + a14=(a14+a77); + a15=(a15-a14); + a11=(a5*a11); + a14=(a2*a61); + a11=(a11+a14); + a15=(a15+a11); + a11=(a10*a15); + a74=(a74+a11); + a72=(a72+a74); + a74=(a22*a72); + a11=(a30*a72); + a14=(a24+a24); + a77=(a14*a72); + a77=(a24*a77); + a11=(a11+a77); + a11=(a29*a11); + a74=(a74+a11); + a11=(a6*a74); + a77=(a28*a65); + a11=(a11+a77); + a77=(a27*a65); + a78=(a6*a15); + a77=(a77+a78); + a78=(a25*a64); + a79=(a8*a75); + a78=(a78+a79); + a77=(a77+a78); + a78=(a26*a61); + a79=(a5*a76); + a78=(a78+a79); + a77=(a77+a78); + a78=(a23*a66); + a79=(a10*a73); + a78=(a78+a79); + a77=(a77-a78); + a78=(a32*a77); + a79=(a36*a77); + a80=(a33+a33); + a81=(a80*a77); + a81=(a33*a81); + a79=(a79+a81); + a79=(a35*a79); + a78=(a78+a79); + a79=(a10*a78); + a81=(a34*a66); + a79=(a79+a81); + a11=(a11-a79); + a79=(a26*a65); + a76=(a6*a76); + a79=(a79+a76); + a76=(a27*a61); + a15=(a5*a15); + a76=(a76+a15); + a79=(a79-a76); + a76=(a23*a64); + a73=(a8*a73); + a76=(a76+a73); + a79=(a79+a76); + a76=(a25*a66); + a75=(a10*a75); + a76=(a76+a75); + a79=(a79+a76); + a76=(a37*a79); + a75=(a41*a79); + a73=(a38+a38); + a79=(a73*a79); + a79=(a38*a79); + a75=(a75+a79); + a75=(a40*a75); + a76=(a76+a75); + a75=(a24+a24); + a72=(a75*a72); + a79=(a33+a33); + a77=(a79*a77); + a72=(a72+a77); + a72=(a42*a72); + a76=(a76-a72); + a72=(a8*a76); + a77=(a39*a64); + a72=(a72+a77); + a11=(a11+a72); + a72=(a6*a11); + a68=(a68+a72); + a72=(a44*a61); + a77=(a5*a74); + a15=(a28*a61); + a77=(a77+a15); + a15=(a8*a78); + a81=(a34*a64); + a15=(a15+a81); + a77=(a77+a15); + a15=(a10*a76); + a81=(a39*a66); + a15=(a15+a81); + a77=(a77+a15); + a15=(a5*a77); + a72=(a72+a15); + a68=(a68+a72); + a72=(a45*a64); + a15=(a5*a78); + a81=(a34*a61); + a15=(a15+a81); + a81=(a8*a74); + a82=(a28*a64); + a81=(a81+a82); + a15=(a15-a81); + a81=(a6*a76); + a82=(a39*a65); + a81=(a81+a82); + a15=(a15+a81); + a81=(a8*a15); + a72=(a72+a81); + a68=(a68+a72); + a72=(a46*a66); + a78=(a6*a78); + a81=(a34*a65); + a78=(a78+a81); + a74=(a10*a74); + a81=(a28*a66); + a74=(a74+a81); + a78=(a78+a74); + a76=(a5*a76); + a74=(a39*a61); + a76=(a76+a74); + a78=(a78-a76); + a76=(a10*a78); + a72=(a72+a76); + a68=(a68-a72); + a68=(a68/a16); + a60=(a60-a68); + if (res[1]!=0) res[1][7]=a60; + a60=(a19*a64); + a68=(a8*a69); + a60=(a60+a68); + a68=(a21*a65); + a72=(a6*a71); + a68=(a68+a72); + a60=(a60-a68); + a68=(a20*a61); + a72=(a5*a70); + a68=(a68+a72); + a60=(a60-a68); + a68=(a17*a66); + a72=(a10*a67); + a68=(a68+a72); + a60=(a60+a68); + a68=(a46*a65); + a72=(a6*a78); + a68=(a68+a72); + a72=(a44*a64); + a76=(a8*a77); + a72=(a72+a76); + a68=(a68+a72); + a72=(a45*a61); + a76=(a5*a15); + a72=(a72+a76); + a68=(a68-a72); + a72=(a31*a66); + a76=(a10*a11); + a72=(a72+a76); + a68=(a68+a72); + a68=(a68/a16); + a60=(a60-a68); + if (res[1]!=0) res[1][8]=a60; + a60=(a20*a65); + a70=(a6*a70); + a60=(a60+a70); + a70=(a21*a61); + a71=(a5*a71); + a70=(a70+a71); + a60=(a60-a70); + a70=(a17*a64); + a67=(a8*a67); + a70=(a70+a67); + a60=(a60-a70); + a70=(a19*a66); + a69=(a10*a69); + a70=(a70+a69); + a60=(a60+a70); + a65=(a45*a65); + a15=(a6*a15); + a65=(a65+a15); + a61=(a46*a61); + a78=(a5*a78); + a61=(a61+a78); + a65=(a65+a61); + a64=(a31*a64); + a11=(a8*a11); + a64=(a64+a11); + a65=(a65-a64); + a66=(a44*a66); + a77=(a10*a77); + a66=(a66+a77); + a65=(a65+a66); + a65=(a65/a16); + a60=(a60-a65); + if (res[1]!=0) res[1][9]=a60; + a60=(a51*a62); + a65=(a50*a63); + a66=(a7*a65); + a60=(a60+a66); + a66=(a54*a63); + a77=(a53*a62); + a64=(a9*a77); + a66=(a66+a64); + a60=(a60-a66); + a60=(a60/a52); + a60=(-a60); + if (res[1]!=0) res[1][10]=a60; + a63=(a59*a63); + a60=(a52*a12); + a66=(a9*a60); + a63=(a63+a66); + a66=(a51*a12); + a65=(a4*a65); + a66=(a66+a65); + a63=(a63-a66); + a63=(a63/a53); + a63=(-a63); + if (res[1]!=0) res[1][11]=a63; + a12=(a54*a12); + a77=(a4*a77); + a12=(a12+a77); + a62=(a59*a62); + a60=(a7*a60); + a62=(a62+a60); + a12=(a12-a62); + a12=(a12/a50); + a12=(-a12); + if (res[1]!=0) res[1][12]=a12; + a12=arg[1]? arg[1][20] : 0; + if (res[1]!=0) res[1][13]=a12; + a62=arg[1]? arg[1][21] : 0; + if (res[1]!=0) res[1][14]=a62; + a60=arg[1]? arg[1][22] : 0; + if (res[1]!=0) res[1][15]=a60; + a77=arg[1]? arg[1][23] : 0; + a63=(a5*a77); + a66=arg[1]? arg[1][17] : 0; + a65=(a4*a66); + a63=(a63+a65); + a65=arg[1]? arg[1][24] : 0; + a64=(a8*a65); + a11=arg[1]? arg[1][18] : 0; + a61=(a7*a11); + a64=(a64+a61); + a63=(a63+a64); + a64=arg[1]? arg[1][25] : 0; + a61=(a10*a64); + a78=arg[1]? arg[1][19] : 0; + a15=(a9*a78); + a61=(a61+a15); + a63=(a63+a61); + a63=(a3*a63); + a63=(-a63); + if (res[1]!=0) res[1][16]=a63; + a63=(a6*a77); + a61=arg[1]? arg[1][16] : 0; + a15=(a4*a61); + a63=(a63+a15); + a15=(a10*a65); + a70=(a7*a78); + a15=(a15+a70); + a63=(a63-a15); + a15=(a8*a64); + a70=(a9*a11); + a15=(a15+a70); + a63=(a63+a15); + a63=(a3*a63); + if (res[1]!=0) res[1][17]=a63; + a63=(a6*a65); + a15=(a7*a61); + a63=(a63+a15); + a15=(a10*a77); + a70=(a4*a78); + a15=(a15+a70); + a63=(a63+a15); + a15=(a5*a64); + a70=(a9*a66); + a15=(a15+a70); + a63=(a63-a15); + a63=(a3*a63); + if (res[1]!=0) res[1][18]=a63; + a63=(a5*a65); + a15=(a7*a66); + a63=(a63+a15); + a15=(a8*a77); + a70=(a4*a11); + a15=(a15+a70); + a63=(a63-a15); + a15=(a6*a64); + a70=(a9*a61); + a15=(a15+a70); + a63=(a63+a15); + a63=(a3*a63); + if (res[1]!=0) res[1][19]=a63; + a63=(a17*a61); + a15=(a13*a11); + a70=(a6*a15); + a63=(a63+a70); + a70=(a19*a66); + a69=(a13*a78); + a67=(a5*a69); + a70=(a70+a67); + a63=(a63+a70); + a70=(a20*a11); + a67=(a13*a61); + a71=(a8*a67); + a70=(a70+a71); + a63=(a63+a70); + a70=(a21*a78); + a71=(a13*a66); + a68=(a10*a71); + a70=(a70+a68); + a63=(a63+a70); + a70=(a31*a61); + a68=(a23*a61); + a72=(a6*a12); + a76=(a0*a61); + a72=(a72+a76); + a76=(a10*a62); + a74=(a1*a78); + a76=(a76+a74); + a72=(a72+a76); + a76=(a8*a60); + a74=(a2*a11); + a76=(a76+a74); + a72=(a72-a76); + a76=(a6*a72); + a68=(a68+a76); + a76=(a25*a66); + a74=(a5*a12); + a81=(a0*a66); + a74=(a74+a81); + a81=(a8*a62); + a82=(a1*a11); + a81=(a81+a82); + a74=(a74+a81); + a81=(a10*a60); + a82=(a2*a78); + a81=(a81+a82); + a74=(a74+a81); + a81=(a5*a74); + a76=(a76+a81); + a68=(a68+a76); + a76=(a26*a11); + a81=(a8*a12); + a82=(a0*a11); + a81=(a81+a82); + a82=(a5*a62); + a83=(a1*a66); + a82=(a82+a83); + a81=(a81-a82); + a82=(a6*a60); + a83=(a2*a61); + a82=(a82+a83); + a81=(a81+a82); + a82=(a8*a81); + a76=(a76+a82); + a68=(a68-a76); + a76=(a27*a78); + a62=(a6*a62); + a82=(a1*a61); + a62=(a62+a82); + a12=(a10*a12); + a82=(a0*a78); + a12=(a12+a82); + a62=(a62-a12); + a60=(a5*a60); + a12=(a2*a66); + a60=(a60+a12); + a62=(a62+a60); + a60=(a10*a62); + a76=(a76+a60); + a68=(a68+a76); + a76=(a22*a68); + a60=(a30*a68); + a12=(a14*a68); + a12=(a24*a12); + a60=(a60+a12); + a60=(a29*a60); + a76=(a76+a60); + a60=(a6*a76); + a12=(a28*a61); + a60=(a60+a12); + a12=(a27*a61); + a82=(a6*a62); + a12=(a12+a82); + a82=(a25*a11); + a83=(a8*a74); + a82=(a82+a83); + a12=(a12+a82); + a82=(a26*a66); + a83=(a5*a81); + a82=(a82+a83); + a12=(a12+a82); + a82=(a23*a78); + a83=(a10*a72); + a82=(a82+a83); + a12=(a12-a82); + a82=(a32*a12); + a83=(a36*a12); + a84=(a80*a12); + a84=(a33*a84); + a83=(a83+a84); + a83=(a35*a83); + a82=(a82+a83); + a83=(a10*a82); + a84=(a34*a78); + a83=(a83+a84); + a60=(a60-a83); + a83=(a26*a61); + a81=(a6*a81); + a83=(a83+a81); + a81=(a27*a66); + a62=(a5*a62); + a81=(a81+a62); + a83=(a83-a81); + a81=(a23*a11); + a72=(a8*a72); + a81=(a81+a72); + a83=(a83+a81); + a81=(a25*a78); + a74=(a10*a74); + a81=(a81+a74); + a83=(a83+a81); + a81=(a37*a83); + a74=(a41*a83); + a83=(a73*a83); + a83=(a38*a83); + a74=(a74+a83); + a74=(a40*a74); + a81=(a81+a74); + a68=(a75*a68); + a12=(a79*a12); + a68=(a68+a12); + a68=(a42*a68); + a81=(a81-a68); + a68=(a8*a81); + a12=(a39*a11); + a68=(a68+a12); + a60=(a60+a68); + a68=(a6*a60); + a70=(a70+a68); + a68=(a44*a66); + a12=(a5*a76); + a74=(a28*a66); + a12=(a12+a74); + a74=(a8*a82); + a83=(a34*a11); + a74=(a74+a83); + a12=(a12+a74); + a74=(a10*a81); + a83=(a39*a78); + a74=(a74+a83); + a12=(a12+a74); + a74=(a5*a12); + a68=(a68+a74); + a70=(a70+a68); + a68=(a45*a11); + a74=(a5*a82); + a83=(a34*a66); + a74=(a74+a83); + a83=(a8*a76); + a72=(a28*a11); + a83=(a83+a72); + a74=(a74-a83); + a83=(a6*a81); + a72=(a39*a61); + a83=(a83+a72); + a74=(a74+a83); + a83=(a8*a74); + a68=(a68+a83); + a70=(a70+a68); + a68=(a46*a78); + a82=(a6*a82); + a83=(a34*a61); + a82=(a82+a83); + a76=(a10*a76); + a83=(a28*a78); + a76=(a76+a83); + a82=(a82+a76); + a81=(a5*a81); + a76=(a39*a66); + a81=(a81+a76); + a82=(a82-a81); + a81=(a10*a82); + a68=(a68+a81); + a70=(a70-a68); + a70=(a70/a16); + a63=(a63-a70); + if (res[1]!=0) res[1][20]=a63; + a63=(a19*a11); + a70=(a8*a69); + a63=(a63+a70); + a70=(a21*a61); + a68=(a6*a71); + a70=(a70+a68); + a63=(a63-a70); + a70=(a20*a66); + a68=(a5*a67); + a70=(a70+a68); + a63=(a63-a70); + a70=(a17*a78); + a68=(a10*a15); + a70=(a70+a68); + a63=(a63+a70); + a70=(a46*a61); + a68=(a6*a82); + a70=(a70+a68); + a68=(a44*a11); + a81=(a8*a12); + a68=(a68+a81); + a70=(a70+a68); + a68=(a45*a66); + a81=(a5*a74); + a68=(a68+a81); + a70=(a70-a68); + a68=(a31*a78); + a81=(a10*a60); + a68=(a68+a81); + a70=(a70+a68); + a70=(a70/a16); + a63=(a63-a70); + if (res[1]!=0) res[1][21]=a63; + a63=(a20*a61); + a67=(a6*a67); + a63=(a63+a67); + a67=(a21*a66); + a71=(a5*a71); + a67=(a67+a71); + a63=(a63-a67); + a67=(a17*a11); + a15=(a8*a15); + a67=(a67+a15); + a63=(a63-a67); + a67=(a19*a78); + a69=(a10*a69); + a67=(a67+a69); + a63=(a63+a67); + a61=(a45*a61); + a74=(a6*a74); + a61=(a61+a74); + a66=(a46*a66); + a82=(a5*a82); + a66=(a66+a82); + a61=(a61+a66); + a11=(a31*a11); + a60=(a8*a60); + a11=(a11+a60); + a61=(a61-a11); + a78=(a44*a78); + a12=(a10*a12); + a78=(a78+a12); + a61=(a61+a78); + a61=(a61/a16); + a63=(a63-a61); + if (res[1]!=0) res[1][22]=a63; + a63=(a51*a65); + a61=(a50*a64); + a78=(a7*a61); + a63=(a63+a78); + a78=(a54*a64); + a12=(a53*a65); + a11=(a9*a12); + a78=(a78+a11); + a63=(a63-a78); + a63=(a63/a52); + a63=(-a63); + if (res[1]!=0) res[1][23]=a63; + a64=(a59*a64); + a63=(a52*a77); + a78=(a9*a63); + a64=(a64+a78); + a78=(a51*a77); + a61=(a4*a61); + a78=(a78+a61); + a64=(a64-a78); + a64=(a64/a53); + a64=(-a64); + if (res[1]!=0) res[1][24]=a64; + a77=(a54*a77); + a12=(a4*a12); + a77=(a77+a12); + a65=(a59*a65); + a63=(a7*a63); + a65=(a65+a63); + a77=(a77-a65); + a77=(a77/a50); + a77=(-a77); + if (res[1]!=0) res[1][25]=a77; + a77=arg[1]? arg[1][33] : 0; + if (res[1]!=0) res[1][26]=a77; + a65=arg[1]? arg[1][34] : 0; + if (res[1]!=0) res[1][27]=a65; + a63=arg[1]? arg[1][35] : 0; + if (res[1]!=0) res[1][28]=a63; + a12=arg[1]? arg[1][36] : 0; + a64=(a5*a12); + a78=arg[1]? arg[1][30] : 0; + a61=(a4*a78); + a64=(a64+a61); + a61=arg[1]? arg[1][37] : 0; + a11=(a8*a61); + a60=arg[1]? arg[1][31] : 0; + a66=(a7*a60); + a11=(a11+a66); + a64=(a64+a11); + a11=arg[1]? arg[1][38] : 0; + a66=(a10*a11); + a82=arg[1]? arg[1][32] : 0; + a74=(a9*a82); + a66=(a66+a74); + a64=(a64+a66); + a64=(a3*a64); + a64=(-a64); + if (res[1]!=0) res[1][29]=a64; + a64=(a6*a12); + a66=arg[1]? arg[1][29] : 0; + a74=(a4*a66); + a64=(a64+a74); + a74=(a10*a61); + a67=(a7*a82); + a74=(a74+a67); + a64=(a64-a74); + a74=(a8*a11); + a67=(a9*a60); + a74=(a74+a67); + a64=(a64+a74); + a64=(a3*a64); + if (res[1]!=0) res[1][30]=a64; + a64=(a6*a61); + a74=(a7*a66); + a64=(a64+a74); + a74=(a10*a12); + a67=(a4*a82); + a74=(a74+a67); + a64=(a64+a74); + a74=(a5*a11); + a67=(a9*a78); + a74=(a74+a67); + a64=(a64-a74); + a64=(a3*a64); + if (res[1]!=0) res[1][31]=a64; + a64=(a5*a61); + a74=(a7*a78); + a64=(a64+a74); + a74=(a8*a12); + a67=(a4*a60); + a74=(a74+a67); + a64=(a64-a74); + a74=(a6*a11); + a67=(a9*a66); + a74=(a74+a67); + a64=(a64+a74); + a64=(a3*a64); + if (res[1]!=0) res[1][32]=a64; + a64=(a17*a66); + a74=(a13*a60); + a67=(a6*a74); + a64=(a64+a67); + a67=(a19*a78); + a69=(a13*a82); + a15=(a5*a69); + a67=(a67+a15); + a64=(a64+a67); + a67=(a20*a60); + a15=(a13*a66); + a71=(a8*a15); + a67=(a67+a71); + a64=(a64+a67); + a67=(a21*a82); + a71=(a13*a78); + a70=(a10*a71); + a67=(a67+a70); + a64=(a64+a67); + a67=(a31*a66); + a70=(a23*a66); + a68=(a6*a77); + a81=(a0*a66); + a68=(a68+a81); + a81=(a10*a65); + a76=(a1*a82); + a81=(a81+a76); + a68=(a68+a81); + a81=(a8*a63); + a76=(a2*a60); + a81=(a81+a76); + a68=(a68-a81); + a81=(a6*a68); + a70=(a70+a81); + a81=(a25*a78); + a76=(a5*a77); + a83=(a0*a78); + a76=(a76+a83); + a83=(a8*a65); + a72=(a1*a60); + a83=(a83+a72); + a76=(a76+a83); + a83=(a10*a63); + a72=(a2*a82); + a83=(a83+a72); + a76=(a76+a83); + a83=(a5*a76); + a81=(a81+a83); + a70=(a70+a81); + a81=(a26*a60); + a83=(a8*a77); + a72=(a0*a60); + a83=(a83+a72); + a72=(a5*a65); + a62=(a1*a78); + a72=(a72+a62); + a83=(a83-a72); + a72=(a6*a63); + a62=(a2*a66); + a72=(a72+a62); + a83=(a83+a72); + a72=(a8*a83); + a81=(a81+a72); + a70=(a70-a81); + a81=(a27*a82); + a65=(a6*a65); + a72=(a1*a66); + a65=(a65+a72); + a77=(a10*a77); + a72=(a0*a82); + a77=(a77+a72); + a65=(a65-a77); + a63=(a5*a63); + a77=(a2*a78); + a63=(a63+a77); + a65=(a65+a63); + a63=(a10*a65); + a81=(a81+a63); + a70=(a70+a81); + a81=(a22*a70); + a63=(a30*a70); + a77=(a14*a70); + a77=(a24*a77); + a63=(a63+a77); + a63=(a29*a63); + a81=(a81+a63); + a63=(a6*a81); + a77=(a28*a66); + a63=(a63+a77); + a77=(a27*a66); + a72=(a6*a65); + a77=(a77+a72); + a72=(a25*a60); + a62=(a8*a76); + a72=(a72+a62); + a77=(a77+a72); + a72=(a26*a78); + a62=(a5*a83); + a72=(a72+a62); + a77=(a77+a72); + a72=(a23*a82); + a62=(a10*a68); + a72=(a72+a62); + a77=(a77-a72); + a72=(a32*a77); + a62=(a36*a77); + a84=(a80*a77); + a84=(a33*a84); + a62=(a62+a84); + a62=(a35*a62); + a72=(a72+a62); + a62=(a10*a72); + a84=(a34*a82); + a62=(a62+a84); + a63=(a63-a62); + a62=(a26*a66); + a83=(a6*a83); + a62=(a62+a83); + a83=(a27*a78); + a65=(a5*a65); + a83=(a83+a65); + a62=(a62-a83); + a83=(a23*a60); + a68=(a8*a68); + a83=(a83+a68); + a62=(a62+a83); + a83=(a25*a82); + a76=(a10*a76); + a83=(a83+a76); + a62=(a62+a83); + a83=(a37*a62); + a76=(a41*a62); + a62=(a73*a62); + a62=(a38*a62); + a76=(a76+a62); + a76=(a40*a76); + a83=(a83+a76); + a70=(a75*a70); + a77=(a79*a77); + a70=(a70+a77); + a70=(a42*a70); + a83=(a83-a70); + a70=(a8*a83); + a77=(a39*a60); + a70=(a70+a77); + a63=(a63+a70); + a70=(a6*a63); + a67=(a67+a70); + a70=(a44*a78); + a77=(a5*a81); + a76=(a28*a78); + a77=(a77+a76); + a76=(a8*a72); + a62=(a34*a60); + a76=(a76+a62); + a77=(a77+a76); + a76=(a10*a83); + a62=(a39*a82); + a76=(a76+a62); + a77=(a77+a76); + a76=(a5*a77); + a70=(a70+a76); + a67=(a67+a70); + a70=(a45*a60); + a76=(a5*a72); + a62=(a34*a78); + a76=(a76+a62); + a62=(a8*a81); + a68=(a28*a60); + a62=(a62+a68); + a76=(a76-a62); + a62=(a6*a83); + a68=(a39*a66); + a62=(a62+a68); + a76=(a76+a62); + a62=(a8*a76); + a70=(a70+a62); + a67=(a67+a70); + a70=(a46*a82); + a72=(a6*a72); + a62=(a34*a66); + a72=(a72+a62); + a81=(a10*a81); + a62=(a28*a82); + a81=(a81+a62); + a72=(a72+a81); + a83=(a5*a83); + a81=(a39*a78); + a83=(a83+a81); + a72=(a72-a83); + a83=(a10*a72); + a70=(a70+a83); + a67=(a67-a70); + a67=(a67/a16); + a64=(a64-a67); + if (res[1]!=0) res[1][33]=a64; + a64=(a19*a60); + a67=(a8*a69); + a64=(a64+a67); + a67=(a21*a66); + a70=(a6*a71); + a67=(a67+a70); + a64=(a64-a67); + a67=(a20*a78); + a70=(a5*a15); + a67=(a67+a70); + a64=(a64-a67); + a67=(a17*a82); + a70=(a10*a74); + a67=(a67+a70); + a64=(a64+a67); + a67=(a46*a66); + a70=(a6*a72); + a67=(a67+a70); + a70=(a44*a60); + a83=(a8*a77); + a70=(a70+a83); + a67=(a67+a70); + a70=(a45*a78); + a83=(a5*a76); + a70=(a70+a83); + a67=(a67-a70); + a70=(a31*a82); + a83=(a10*a63); + a70=(a70+a83); + a67=(a67+a70); + a67=(a67/a16); + a64=(a64-a67); + if (res[1]!=0) res[1][34]=a64; + a64=(a20*a66); + a15=(a6*a15); + a64=(a64+a15); + a15=(a21*a78); + a71=(a5*a71); + a15=(a15+a71); + a64=(a64-a15); + a15=(a17*a60); + a74=(a8*a74); + a15=(a15+a74); + a64=(a64-a15); + a15=(a19*a82); + a69=(a10*a69); + a15=(a15+a69); + a64=(a64+a15); + a66=(a45*a66); + a76=(a6*a76); + a66=(a66+a76); + a78=(a46*a78); + a72=(a5*a72); + a78=(a78+a72); + a66=(a66+a78); + a60=(a31*a60); + a63=(a8*a63); + a60=(a60+a63); + a66=(a66-a60); + a82=(a44*a82); + a77=(a10*a77); + a82=(a82+a77); + a66=(a66+a82); + a66=(a66/a16); + a64=(a64-a66); + if (res[1]!=0) res[1][35]=a64; + a64=(a51*a61); + a66=(a50*a11); + a82=(a7*a66); + a64=(a64+a82); + a82=(a54*a11); + a77=(a53*a61); + a60=(a9*a77); + a82=(a82+a60); + a64=(a64-a82); + a64=(a64/a52); + a64=(-a64); + if (res[1]!=0) res[1][36]=a64; + a11=(a59*a11); + a64=(a52*a12); + a82=(a9*a64); + a11=(a11+a82); + a82=(a51*a12); + a66=(a4*a66); + a82=(a82+a66); + a11=(a11-a82); + a11=(a11/a53); + a11=(-a11); + if (res[1]!=0) res[1][37]=a11; + a12=(a54*a12); + a77=(a4*a77); + a12=(a12+a77); + a61=(a59*a61); + a64=(a7*a64); + a61=(a61+a64); + a12=(a12-a61); + a12=(a12/a50); + a12=(-a12); + if (res[1]!=0) res[1][38]=a12; + a12=arg[1]? arg[1][46] : 0; + if (res[1]!=0) res[1][39]=a12; + a61=arg[1]? arg[1][47] : 0; + if (res[1]!=0) res[1][40]=a61; + a64=arg[1]? arg[1][48] : 0; + if (res[1]!=0) res[1][41]=a64; + a77=arg[1]? arg[1][49] : 0; + a11=(a5*a77); + a82=arg[1]? arg[1][43] : 0; + a66=(a4*a82); + a11=(a11+a66); + a66=arg[1]? arg[1][50] : 0; + a60=(a8*a66); + a63=arg[1]? arg[1][44] : 0; + a78=(a7*a63); + a60=(a60+a78); + a11=(a11+a60); + a60=arg[1]? arg[1][51] : 0; + a78=(a10*a60); + a72=arg[1]? arg[1][45] : 0; + a76=(a9*a72); + a78=(a78+a76); + a11=(a11+a78); + a11=(a3*a11); + a11=(-a11); + if (res[1]!=0) res[1][42]=a11; + a11=(a6*a77); + a78=arg[1]? arg[1][42] : 0; + a76=(a4*a78); + a11=(a11+a76); + a76=(a10*a66); + a15=(a7*a72); + a76=(a76+a15); + a11=(a11-a76); + a76=(a8*a60); + a15=(a9*a63); + a76=(a76+a15); + a11=(a11+a76); + a11=(a3*a11); + if (res[1]!=0) res[1][43]=a11; + a11=(a6*a66); + a76=(a7*a78); + a11=(a11+a76); + a76=(a10*a77); + a15=(a4*a72); + a76=(a76+a15); + a11=(a11+a76); + a76=(a5*a60); + a15=(a9*a82); + a76=(a76+a15); + a11=(a11-a76); + a11=(a3*a11); + if (res[1]!=0) res[1][44]=a11; + a11=(a5*a66); + a76=(a7*a82); + a11=(a11+a76); + a76=(a8*a77); + a15=(a4*a63); + a76=(a76+a15); + a11=(a11-a76); + a76=(a6*a60); + a15=(a9*a78); + a76=(a76+a15); + a11=(a11+a76); + a11=(a3*a11); + if (res[1]!=0) res[1][45]=a11; + a11=(a17*a78); + a76=(a13*a63); + a15=(a6*a76); + a11=(a11+a15); + a15=(a19*a82); + a69=(a13*a72); + a74=(a5*a69); + a15=(a15+a74); + a11=(a11+a15); + a15=(a20*a63); + a74=(a13*a78); + a71=(a8*a74); + a15=(a15+a71); + a11=(a11+a15); + a15=(a21*a72); + a71=(a13*a82); + a67=(a10*a71); + a15=(a15+a67); + a11=(a11+a15); + a15=(a31*a78); + a67=(a23*a78); + a70=(a6*a12); + a83=(a0*a78); + a70=(a70+a83); + a83=(a10*a61); + a81=(a1*a72); + a83=(a83+a81); + a70=(a70+a83); + a83=(a8*a64); + a81=(a2*a63); + a83=(a83+a81); + a70=(a70-a83); + a83=(a6*a70); + a67=(a67+a83); + a83=(a25*a82); + a81=(a5*a12); + a62=(a0*a82); + a81=(a81+a62); + a62=(a8*a61); + a68=(a1*a63); + a62=(a62+a68); + a81=(a81+a62); + a62=(a10*a64); + a68=(a2*a72); + a62=(a62+a68); + a81=(a81+a62); + a62=(a5*a81); + a83=(a83+a62); + a67=(a67+a83); + a83=(a26*a63); + a62=(a8*a12); + a68=(a0*a63); + a62=(a62+a68); + a68=(a5*a61); + a65=(a1*a82); + a68=(a68+a65); + a62=(a62-a68); + a68=(a6*a64); + a65=(a2*a78); + a68=(a68+a65); + a62=(a62+a68); + a68=(a8*a62); + a83=(a83+a68); + a67=(a67-a83); + a83=(a27*a72); + a61=(a6*a61); + a68=(a1*a78); + a61=(a61+a68); + a12=(a10*a12); + a68=(a0*a72); + a12=(a12+a68); + a61=(a61-a12); + a64=(a5*a64); + a12=(a2*a82); + a64=(a64+a12); + a61=(a61+a64); + a64=(a10*a61); + a83=(a83+a64); + a67=(a67+a83); + a83=(a22*a67); + a64=(a30*a67); + a12=(a14*a67); + a12=(a24*a12); + a64=(a64+a12); + a64=(a29*a64); + a83=(a83+a64); + a64=(a6*a83); + a12=(a28*a78); + a64=(a64+a12); + a12=(a27*a78); + a68=(a6*a61); + a12=(a12+a68); + a68=(a25*a63); + a65=(a8*a81); + a68=(a68+a65); + a12=(a12+a68); + a68=(a26*a82); + a65=(a5*a62); + a68=(a68+a65); + a12=(a12+a68); + a68=(a23*a72); + a65=(a10*a70); + a68=(a68+a65); + a12=(a12-a68); + a68=(a32*a12); + a65=(a36*a12); + a84=(a80*a12); + a84=(a33*a84); + a65=(a65+a84); + a65=(a35*a65); + a68=(a68+a65); + a65=(a10*a68); + a84=(a34*a72); + a65=(a65+a84); + a64=(a64-a65); + a65=(a26*a78); + a62=(a6*a62); + a65=(a65+a62); + a62=(a27*a82); + a61=(a5*a61); + a62=(a62+a61); + a65=(a65-a62); + a62=(a23*a63); + a70=(a8*a70); + a62=(a62+a70); + a65=(a65+a62); + a62=(a25*a72); + a81=(a10*a81); + a62=(a62+a81); + a65=(a65+a62); + a62=(a37*a65); + a81=(a41*a65); + a65=(a73*a65); + a65=(a38*a65); + a81=(a81+a65); + a81=(a40*a81); + a62=(a62+a81); + a67=(a75*a67); + a12=(a79*a12); + a67=(a67+a12); + a67=(a42*a67); + a62=(a62-a67); + a67=(a8*a62); + a12=(a39*a63); + a67=(a67+a12); + a64=(a64+a67); + a67=(a6*a64); + a15=(a15+a67); + a67=(a44*a82); + a12=(a5*a83); + a81=(a28*a82); + a12=(a12+a81); + a81=(a8*a68); + a65=(a34*a63); + a81=(a81+a65); + a12=(a12+a81); + a81=(a10*a62); + a65=(a39*a72); + a81=(a81+a65); + a12=(a12+a81); + a81=(a5*a12); + a67=(a67+a81); + a15=(a15+a67); + a67=(a45*a63); + a81=(a5*a68); + a65=(a34*a82); + a81=(a81+a65); + a65=(a8*a83); + a70=(a28*a63); + a65=(a65+a70); + a81=(a81-a65); + a65=(a6*a62); + a70=(a39*a78); + a65=(a65+a70); + a81=(a81+a65); + a65=(a8*a81); + a67=(a67+a65); + a15=(a15+a67); + a67=(a46*a72); + a68=(a6*a68); + a65=(a34*a78); + a68=(a68+a65); + a83=(a10*a83); + a65=(a28*a72); + a83=(a83+a65); + a68=(a68+a83); + a62=(a5*a62); + a83=(a39*a82); + a62=(a62+a83); + a68=(a68-a62); + a62=(a10*a68); + a67=(a67+a62); + a15=(a15-a67); + a15=(a15/a16); + a11=(a11-a15); + if (res[1]!=0) res[1][46]=a11; + a11=(a19*a63); + a15=(a8*a69); + a11=(a11+a15); + a15=(a21*a78); + a67=(a6*a71); + a15=(a15+a67); + a11=(a11-a15); + a15=(a20*a82); + a67=(a5*a74); + a15=(a15+a67); + a11=(a11-a15); + a15=(a17*a72); + a67=(a10*a76); + a15=(a15+a67); + a11=(a11+a15); + a15=(a46*a78); + a67=(a6*a68); + a15=(a15+a67); + a67=(a44*a63); + a62=(a8*a12); + a67=(a67+a62); + a15=(a15+a67); + a67=(a45*a82); + a62=(a5*a81); + a67=(a67+a62); + a15=(a15-a67); + a67=(a31*a72); + a62=(a10*a64); + a67=(a67+a62); + a15=(a15+a67); + a15=(a15/a16); + a11=(a11-a15); + if (res[1]!=0) res[1][47]=a11; + a11=(a20*a78); + a74=(a6*a74); + a11=(a11+a74); + a74=(a21*a82); + a71=(a5*a71); + a74=(a74+a71); + a11=(a11-a74); + a74=(a17*a63); + a76=(a8*a76); + a74=(a74+a76); + a11=(a11-a74); + a74=(a19*a72); + a69=(a10*a69); + a74=(a74+a69); + a11=(a11+a74); + a78=(a45*a78); + a81=(a6*a81); + a78=(a78+a81); + a82=(a46*a82); + a68=(a5*a68); + a82=(a82+a68); + a78=(a78+a82); + a63=(a31*a63); + a64=(a8*a64); + a63=(a63+a64); + a78=(a78-a63); + a72=(a44*a72); + a12=(a10*a12); + a72=(a72+a12); + a78=(a78+a72); + a78=(a78/a16); + a11=(a11-a78); + if (res[1]!=0) res[1][48]=a11; + a11=(a51*a66); + a78=(a50*a60); + a72=(a7*a78); + a11=(a11+a72); + a72=(a54*a60); + a12=(a53*a66); + a63=(a9*a12); + a72=(a72+a63); + a11=(a11-a72); + a11=(a11/a52); + a11=(-a11); + if (res[1]!=0) res[1][49]=a11; + a60=(a59*a60); + a11=(a52*a77); + a72=(a9*a11); + a60=(a60+a72); + a72=(a51*a77); + a78=(a4*a78); + a72=(a72+a78); + a60=(a60-a72); + a60=(a60/a53); + a60=(-a60); + if (res[1]!=0) res[1][50]=a60; + a77=(a54*a77); + a12=(a4*a12); + a77=(a77+a12); + a66=(a59*a66); + a11=(a7*a11); + a66=(a66+a11); + a77=(a77-a66); + a77=(a77/a50); + a77=(-a77); + if (res[1]!=0) res[1][51]=a77; + a77=arg[1]? arg[1][59] : 0; + if (res[1]!=0) res[1][52]=a77; + a66=arg[1]? arg[1][60] : 0; + if (res[1]!=0) res[1][53]=a66; + a11=arg[1]? arg[1][61] : 0; + if (res[1]!=0) res[1][54]=a11; + a12=arg[1]? arg[1][62] : 0; + a60=(a5*a12); + a72=arg[1]? arg[1][56] : 0; + a78=(a4*a72); + a60=(a60+a78); + a78=arg[1]? arg[1][63] : 0; + a63=(a8*a78); + a64=arg[1]? arg[1][57] : 0; + a82=(a7*a64); + a63=(a63+a82); + a60=(a60+a63); + a63=arg[1]? arg[1][64] : 0; + a82=(a10*a63); + a68=arg[1]? arg[1][58] : 0; + a81=(a9*a68); + a82=(a82+a81); + a60=(a60+a82); + a60=(a3*a60); + a60=(-a60); + if (res[1]!=0) res[1][55]=a60; + a60=(a6*a12); + a82=arg[1]? arg[1][55] : 0; + a81=(a4*a82); + a60=(a60+a81); + a81=(a10*a78); + a74=(a7*a68); + a81=(a81+a74); + a60=(a60-a81); + a81=(a8*a63); + a74=(a9*a64); + a81=(a81+a74); + a60=(a60+a81); + a60=(a3*a60); + if (res[1]!=0) res[1][56]=a60; + a60=(a6*a78); + a81=(a7*a82); + a60=(a60+a81); + a81=(a10*a12); + a74=(a4*a68); + a81=(a81+a74); + a60=(a60+a81); + a81=(a5*a63); + a74=(a9*a72); + a81=(a81+a74); + a60=(a60-a81); + a60=(a3*a60); + if (res[1]!=0) res[1][57]=a60; + a60=(a5*a78); + a81=(a7*a72); + a60=(a60+a81); + a81=(a8*a12); + a74=(a4*a64); + a81=(a81+a74); + a60=(a60-a81); + a81=(a6*a63); + a74=(a9*a82); + a81=(a81+a74); + a60=(a60+a81); + a60=(a3*a60); + if (res[1]!=0) res[1][58]=a60; + a60=(a17*a82); + a81=(a13*a64); + a74=(a6*a81); + a60=(a60+a74); + a74=(a19*a72); + a69=(a13*a68); + a76=(a5*a69); + a74=(a74+a76); + a60=(a60+a74); + a74=(a20*a64); + a76=(a13*a82); + a71=(a8*a76); + a74=(a74+a71); + a60=(a60+a74); + a74=(a21*a68); + a71=(a13*a72); + a15=(a10*a71); + a74=(a74+a15); + a60=(a60+a74); + a74=(a31*a82); + a15=(a23*a82); + a67=(a6*a77); + a62=(a0*a82); + a67=(a67+a62); + a62=(a10*a66); + a83=(a1*a68); + a62=(a62+a83); + a67=(a67+a62); + a62=(a8*a11); + a83=(a2*a64); + a62=(a62+a83); + a67=(a67-a62); + a62=(a6*a67); + a15=(a15+a62); + a62=(a25*a72); + a83=(a5*a77); + a65=(a0*a72); + a83=(a83+a65); + a65=(a8*a66); + a70=(a1*a64); + a65=(a65+a70); + a83=(a83+a65); + a65=(a10*a11); + a70=(a2*a68); + a65=(a65+a70); + a83=(a83+a65); + a65=(a5*a83); + a62=(a62+a65); + a15=(a15+a62); + a62=(a26*a64); + a65=(a8*a77); + a70=(a0*a64); + a65=(a65+a70); + a70=(a5*a66); + a61=(a1*a72); + a70=(a70+a61); + a65=(a65-a70); + a70=(a6*a11); + a61=(a2*a82); + a70=(a70+a61); + a65=(a65+a70); + a70=(a8*a65); + a62=(a62+a70); + a15=(a15-a62); + a62=(a27*a68); + a66=(a6*a66); + a70=(a1*a82); + a66=(a66+a70); + a77=(a10*a77); + a70=(a0*a68); + a77=(a77+a70); + a66=(a66-a77); + a11=(a5*a11); + a77=(a2*a72); + a11=(a11+a77); + a66=(a66+a11); + a11=(a10*a66); + a62=(a62+a11); + a15=(a15+a62); + a62=(a22*a15); + a11=(a30*a15); + a77=(a14*a15); + a77=(a24*a77); + a11=(a11+a77); + a11=(a29*a11); + a62=(a62+a11); + a11=(a6*a62); + a77=(a28*a82); + a11=(a11+a77); + a77=(a27*a82); + a70=(a6*a66); + a77=(a77+a70); + a70=(a25*a64); + a61=(a8*a83); + a70=(a70+a61); + a77=(a77+a70); + a70=(a26*a72); + a61=(a5*a65); + a70=(a70+a61); + a77=(a77+a70); + a70=(a23*a68); + a61=(a10*a67); + a70=(a70+a61); + a77=(a77-a70); + a70=(a32*a77); + a61=(a36*a77); + a84=(a80*a77); + a84=(a33*a84); + a61=(a61+a84); + a61=(a35*a61); + a70=(a70+a61); + a61=(a10*a70); + a84=(a34*a68); + a61=(a61+a84); + a11=(a11-a61); + a61=(a26*a82); + a65=(a6*a65); + a61=(a61+a65); + a65=(a27*a72); + a66=(a5*a66); + a65=(a65+a66); + a61=(a61-a65); + a65=(a23*a64); + a67=(a8*a67); + a65=(a65+a67); + a61=(a61+a65); + a65=(a25*a68); + a83=(a10*a83); + a65=(a65+a83); + a61=(a61+a65); + a65=(a37*a61); + a83=(a41*a61); + a61=(a73*a61); + a61=(a38*a61); + a83=(a83+a61); + a83=(a40*a83); + a65=(a65+a83); + a15=(a75*a15); + a77=(a79*a77); + a15=(a15+a77); + a15=(a42*a15); + a65=(a65-a15); + a15=(a8*a65); + a77=(a39*a64); + a15=(a15+a77); + a11=(a11+a15); + a15=(a6*a11); + a74=(a74+a15); + a15=(a44*a72); + a77=(a5*a62); + a83=(a28*a72); + a77=(a77+a83); + a83=(a8*a70); + a61=(a34*a64); + a83=(a83+a61); + a77=(a77+a83); + a83=(a10*a65); + a61=(a39*a68); + a83=(a83+a61); + a77=(a77+a83); + a83=(a5*a77); + a15=(a15+a83); + a74=(a74+a15); + a15=(a45*a64); + a83=(a5*a70); + a61=(a34*a72); + a83=(a83+a61); + a61=(a8*a62); + a67=(a28*a64); + a61=(a61+a67); + a83=(a83-a61); + a61=(a6*a65); + a67=(a39*a82); + a61=(a61+a67); + a83=(a83+a61); + a61=(a8*a83); + a15=(a15+a61); + a74=(a74+a15); + a15=(a46*a68); + a70=(a6*a70); + a61=(a34*a82); + a70=(a70+a61); + a62=(a10*a62); + a61=(a28*a68); + a62=(a62+a61); + a70=(a70+a62); + a65=(a5*a65); + a62=(a39*a72); + a65=(a65+a62); + a70=(a70-a65); + a65=(a10*a70); + a15=(a15+a65); + a74=(a74-a15); + a74=(a74/a16); + a60=(a60-a74); + if (res[1]!=0) res[1][59]=a60; + a60=(a19*a64); + a74=(a8*a69); + a60=(a60+a74); + a74=(a21*a82); + a15=(a6*a71); + a74=(a74+a15); + a60=(a60-a74); + a74=(a20*a72); + a15=(a5*a76); + a74=(a74+a15); + a60=(a60-a74); + a74=(a17*a68); + a15=(a10*a81); + a74=(a74+a15); + a60=(a60+a74); + a74=(a46*a82); + a15=(a6*a70); + a74=(a74+a15); + a15=(a44*a64); + a65=(a8*a77); + a15=(a15+a65); + a74=(a74+a15); + a15=(a45*a72); + a65=(a5*a83); + a15=(a15+a65); + a74=(a74-a15); + a15=(a31*a68); + a65=(a10*a11); + a15=(a15+a65); + a74=(a74+a15); + a74=(a74/a16); + a60=(a60-a74); + if (res[1]!=0) res[1][60]=a60; + a60=(a20*a82); + a76=(a6*a76); + a60=(a60+a76); + a76=(a21*a72); + a71=(a5*a71); + a76=(a76+a71); + a60=(a60-a76); + a76=(a17*a64); + a81=(a8*a81); + a76=(a76+a81); + a60=(a60-a76); + a76=(a19*a68); + a69=(a10*a69); + a76=(a76+a69); + a60=(a60+a76); + a82=(a45*a82); + a83=(a6*a83); + a82=(a82+a83); + a72=(a46*a72); + a70=(a5*a70); + a72=(a72+a70); + a82=(a82+a72); + a64=(a31*a64); + a11=(a8*a11); + a64=(a64+a11); + a82=(a82-a64); + a68=(a44*a68); + a77=(a10*a77); + a68=(a68+a77); + a82=(a82+a68); + a82=(a82/a16); + a60=(a60-a82); + if (res[1]!=0) res[1][61]=a60; + a60=(a51*a78); + a82=(a50*a63); + a68=(a7*a82); + a60=(a60+a68); + a68=(a54*a63); + a77=(a53*a78); + a64=(a9*a77); + a68=(a68+a64); + a60=(a60-a68); + a60=(a60/a52); + a60=(-a60); + if (res[1]!=0) res[1][62]=a60; + a63=(a59*a63); + a60=(a52*a12); + a68=(a9*a60); + a63=(a63+a68); + a68=(a51*a12); + a82=(a4*a82); + a68=(a68+a82); + a63=(a63-a68); + a63=(a63/a53); + a63=(-a63); + if (res[1]!=0) res[1][63]=a63; + a12=(a54*a12); + a77=(a4*a77); + a12=(a12+a77); + a78=(a59*a78); + a60=(a7*a60); + a78=(a78+a60); + a12=(a12-a78); + a12=(a12/a50); + a12=(-a12); + if (res[1]!=0) res[1][64]=a12; + a12=arg[1]? arg[1][72] : 0; + if (res[1]!=0) res[1][65]=a12; + a78=arg[1]? arg[1][73] : 0; + if (res[1]!=0) res[1][66]=a78; + a60=arg[1]? arg[1][74] : 0; + if (res[1]!=0) res[1][67]=a60; + a77=arg[1]? arg[1][75] : 0; + a63=(a5*a77); + a68=arg[1]? arg[1][69] : 0; + a82=(a4*a68); + a63=(a63+a82); + a82=arg[1]? arg[1][76] : 0; + a64=(a8*a82); + a11=arg[1]? arg[1][70] : 0; + a72=(a7*a11); + a64=(a64+a72); + a63=(a63+a64); + a64=arg[1]? arg[1][77] : 0; + a72=(a10*a64); + a70=arg[1]? arg[1][71] : 0; + a83=(a9*a70); + a72=(a72+a83); + a63=(a63+a72); + a63=(a3*a63); + a63=(-a63); + if (res[1]!=0) res[1][68]=a63; + a63=(a6*a77); + a72=arg[1]? arg[1][68] : 0; + a83=(a4*a72); + a63=(a63+a83); + a83=(a10*a82); + a76=(a7*a70); + a83=(a83+a76); + a63=(a63-a83); + a83=(a8*a64); + a76=(a9*a11); + a83=(a83+a76); + a63=(a63+a83); + a63=(a3*a63); + if (res[1]!=0) res[1][69]=a63; + a63=(a6*a82); + a83=(a7*a72); + a63=(a63+a83); + a83=(a10*a77); + a76=(a4*a70); + a83=(a83+a76); + a63=(a63+a83); + a83=(a5*a64); + a76=(a9*a68); + a83=(a83+a76); + a63=(a63-a83); + a63=(a3*a63); + if (res[1]!=0) res[1][70]=a63; + a63=(a5*a82); + a83=(a7*a68); + a63=(a63+a83); + a83=(a8*a77); + a76=(a4*a11); + a83=(a83+a76); + a63=(a63-a83); + a83=(a6*a64); + a76=(a9*a72); + a83=(a83+a76); + a63=(a63+a83); + a63=(a3*a63); + if (res[1]!=0) res[1][71]=a63; + a63=(a17*a72); + a83=(a13*a11); + a76=(a6*a83); + a63=(a63+a76); + a76=(a19*a68); + a69=(a13*a70); + a81=(a5*a69); + a76=(a76+a81); + a63=(a63+a76); + a76=(a20*a11); + a81=(a13*a72); + a71=(a8*a81); + a76=(a76+a71); + a63=(a63+a76); + a76=(a21*a70); + a71=(a13*a68); + a74=(a10*a71); + a76=(a76+a74); + a63=(a63+a76); + a76=(a31*a72); + a74=(a23*a72); + a15=(a6*a12); + a65=(a0*a72); + a15=(a15+a65); + a65=(a10*a78); + a62=(a1*a70); + a65=(a65+a62); + a15=(a15+a65); + a65=(a8*a60); + a62=(a2*a11); + a65=(a65+a62); + a15=(a15-a65); + a65=(a6*a15); + a74=(a74+a65); + a65=(a25*a68); + a62=(a5*a12); + a61=(a0*a68); + a62=(a62+a61); + a61=(a8*a78); + a67=(a1*a11); + a61=(a61+a67); + a62=(a62+a61); + a61=(a10*a60); + a67=(a2*a70); + a61=(a61+a67); + a62=(a62+a61); + a61=(a5*a62); + a65=(a65+a61); + a74=(a74+a65); + a65=(a26*a11); + a61=(a8*a12); + a67=(a0*a11); + a61=(a61+a67); + a67=(a5*a78); + a66=(a1*a68); + a67=(a67+a66); + a61=(a61-a67); + a67=(a6*a60); + a66=(a2*a72); + a67=(a67+a66); + a61=(a61+a67); + a67=(a8*a61); + a65=(a65+a67); + a74=(a74-a65); + a65=(a27*a70); + a78=(a6*a78); + a67=(a1*a72); + a78=(a78+a67); + a12=(a10*a12); + a67=(a0*a70); + a12=(a12+a67); + a78=(a78-a12); + a60=(a5*a60); + a12=(a2*a68); + a60=(a60+a12); + a78=(a78+a60); + a60=(a10*a78); + a65=(a65+a60); + a74=(a74+a65); + a65=(a22*a74); + a60=(a30*a74); + a12=(a14*a74); + a12=(a24*a12); + a60=(a60+a12); + a60=(a29*a60); + a65=(a65+a60); + a60=(a6*a65); + a12=(a28*a72); + a60=(a60+a12); + a12=(a27*a72); + a67=(a6*a78); + a12=(a12+a67); + a67=(a25*a11); + a66=(a8*a62); + a67=(a67+a66); + a12=(a12+a67); + a67=(a26*a68); + a66=(a5*a61); + a67=(a67+a66); + a12=(a12+a67); + a67=(a23*a70); + a66=(a10*a15); + a67=(a67+a66); + a12=(a12-a67); + a67=(a32*a12); + a66=(a36*a12); + a84=(a80*a12); + a84=(a33*a84); + a66=(a66+a84); + a66=(a35*a66); + a67=(a67+a66); + a66=(a10*a67); + a84=(a34*a70); + a66=(a66+a84); + a60=(a60-a66); + a66=(a26*a72); + a61=(a6*a61); + a66=(a66+a61); + a61=(a27*a68); + a78=(a5*a78); + a61=(a61+a78); + a66=(a66-a61); + a61=(a23*a11); + a15=(a8*a15); + a61=(a61+a15); + a66=(a66+a61); + a61=(a25*a70); + a62=(a10*a62); + a61=(a61+a62); + a66=(a66+a61); + a61=(a37*a66); + a62=(a41*a66); + a66=(a73*a66); + a66=(a38*a66); + a62=(a62+a66); + a62=(a40*a62); + a61=(a61+a62); + a74=(a75*a74); + a12=(a79*a12); + a74=(a74+a12); + a74=(a42*a74); + a61=(a61-a74); + a74=(a8*a61); + a12=(a39*a11); + a74=(a74+a12); + a60=(a60+a74); + a74=(a6*a60); + a76=(a76+a74); + a74=(a44*a68); + a12=(a5*a65); + a62=(a28*a68); + a12=(a12+a62); + a62=(a8*a67); + a66=(a34*a11); + a62=(a62+a66); + a12=(a12+a62); + a62=(a10*a61); + a66=(a39*a70); + a62=(a62+a66); + a12=(a12+a62); + a62=(a5*a12); + a74=(a74+a62); + a76=(a76+a74); + a74=(a45*a11); + a62=(a5*a67); + a66=(a34*a68); + a62=(a62+a66); + a66=(a8*a65); + a15=(a28*a11); + a66=(a66+a15); + a62=(a62-a66); + a66=(a6*a61); + a15=(a39*a72); + a66=(a66+a15); + a62=(a62+a66); + a66=(a8*a62); + a74=(a74+a66); + a76=(a76+a74); + a74=(a46*a70); + a67=(a6*a67); + a66=(a34*a72); + a67=(a67+a66); + a65=(a10*a65); + a66=(a28*a70); + a65=(a65+a66); + a67=(a67+a65); + a61=(a5*a61); + a65=(a39*a68); + a61=(a61+a65); + a67=(a67-a61); + a61=(a10*a67); + a74=(a74+a61); + a76=(a76-a74); + a76=(a76/a16); + a63=(a63-a76); + if (res[1]!=0) res[1][72]=a63; + a63=(a19*a11); + a76=(a8*a69); + a63=(a63+a76); + a76=(a21*a72); + a74=(a6*a71); + a76=(a76+a74); + a63=(a63-a76); + a76=(a20*a68); + a74=(a5*a81); + a76=(a76+a74); + a63=(a63-a76); + a76=(a17*a70); + a74=(a10*a83); + a76=(a76+a74); + a63=(a63+a76); + a76=(a46*a72); + a74=(a6*a67); + a76=(a76+a74); + a74=(a44*a11); + a61=(a8*a12); + a74=(a74+a61); + a76=(a76+a74); + a74=(a45*a68); + a61=(a5*a62); + a74=(a74+a61); + a76=(a76-a74); + a74=(a31*a70); + a61=(a10*a60); + a74=(a74+a61); + a76=(a76+a74); + a76=(a76/a16); + a63=(a63-a76); + if (res[1]!=0) res[1][73]=a63; + a63=(a20*a72); + a81=(a6*a81); + a63=(a63+a81); + a81=(a21*a68); + a71=(a5*a71); + a81=(a81+a71); + a63=(a63-a81); + a81=(a17*a11); + a83=(a8*a83); + a81=(a81+a83); + a63=(a63-a81); + a81=(a19*a70); + a69=(a10*a69); + a81=(a81+a69); + a63=(a63+a81); + a72=(a45*a72); + a62=(a6*a62); + a72=(a72+a62); + a68=(a46*a68); + a67=(a5*a67); + a68=(a68+a67); + a72=(a72+a68); + a11=(a31*a11); + a60=(a8*a60); + a11=(a11+a60); + a72=(a72-a11); + a70=(a44*a70); + a12=(a10*a12); + a70=(a70+a12); + a72=(a72+a70); + a72=(a72/a16); + a63=(a63-a72); + if (res[1]!=0) res[1][74]=a63; + a63=(a51*a82); + a72=(a50*a64); + a70=(a7*a72); + a63=(a63+a70); + a70=(a54*a64); + a12=(a53*a82); + a11=(a9*a12); + a70=(a70+a11); + a63=(a63-a70); + a63=(a63/a52); + a63=(-a63); + if (res[1]!=0) res[1][75]=a63; + a64=(a59*a64); + a63=(a52*a77); + a70=(a9*a63); + a64=(a64+a70); + a70=(a51*a77); + a72=(a4*a72); + a70=(a70+a72); + a64=(a64-a70); + a64=(a64/a53); + a64=(-a64); + if (res[1]!=0) res[1][76]=a64; + a77=(a54*a77); + a12=(a4*a12); + a77=(a77+a12); + a82=(a59*a82); + a63=(a7*a63); + a82=(a82+a63); + a77=(a77-a82); + a77=(a77/a50); + a77=(-a77); + if (res[1]!=0) res[1][77]=a77; + a77=arg[1]? arg[1][85] : 0; + if (res[1]!=0) res[1][78]=a77; + a82=arg[1]? arg[1][86] : 0; + if (res[1]!=0) res[1][79]=a82; + a63=arg[1]? arg[1][87] : 0; + if (res[1]!=0) res[1][80]=a63; + a12=arg[1]? arg[1][88] : 0; + a64=(a5*a12); + a70=arg[1]? arg[1][82] : 0; + a72=(a4*a70); + a64=(a64+a72); + a72=arg[1]? arg[1][89] : 0; + a11=(a8*a72); + a60=arg[1]? arg[1][83] : 0; + a68=(a7*a60); + a11=(a11+a68); + a64=(a64+a11); + a11=arg[1]? arg[1][90] : 0; + a68=(a10*a11); + a67=arg[1]? arg[1][84] : 0; + a62=(a9*a67); + a68=(a68+a62); + a64=(a64+a68); + a64=(a3*a64); + a64=(-a64); + if (res[1]!=0) res[1][81]=a64; + a64=(a6*a12); + a68=arg[1]? arg[1][81] : 0; + a62=(a4*a68); + a64=(a64+a62); + a62=(a10*a72); + a81=(a7*a67); + a62=(a62+a81); + a64=(a64-a62); + a62=(a8*a11); + a81=(a9*a60); + a62=(a62+a81); + a64=(a64+a62); + a64=(a3*a64); + if (res[1]!=0) res[1][82]=a64; + a64=(a6*a72); + a62=(a7*a68); + a64=(a64+a62); + a62=(a10*a12); + a81=(a4*a67); + a62=(a62+a81); + a64=(a64+a62); + a62=(a5*a11); + a81=(a9*a70); + a62=(a62+a81); + a64=(a64-a62); + a64=(a3*a64); + if (res[1]!=0) res[1][83]=a64; + a64=(a5*a72); + a62=(a7*a70); + a64=(a64+a62); + a62=(a8*a12); + a81=(a4*a60); + a62=(a62+a81); + a64=(a64-a62); + a62=(a6*a11); + a81=(a9*a68); + a62=(a62+a81); + a64=(a64+a62); + a64=(a3*a64); + if (res[1]!=0) res[1][84]=a64; + a64=(a17*a68); + a62=(a13*a60); + a81=(a6*a62); + a64=(a64+a81); + a81=(a19*a70); + a69=(a13*a67); + a83=(a5*a69); + a81=(a81+a83); + a64=(a64+a81); + a81=(a20*a60); + a83=(a13*a68); + a71=(a8*a83); + a81=(a81+a71); + a64=(a64+a81); + a81=(a21*a67); + a71=(a13*a70); + a76=(a10*a71); + a81=(a81+a76); + a64=(a64+a81); + a81=(a31*a68); + a76=(a23*a68); + a74=(a6*a77); + a61=(a0*a68); + a74=(a74+a61); + a61=(a10*a82); + a65=(a1*a67); + a61=(a61+a65); + a74=(a74+a61); + a61=(a8*a63); + a65=(a2*a60); + a61=(a61+a65); + a74=(a74-a61); + a61=(a6*a74); + a76=(a76+a61); + a61=(a25*a70); + a65=(a5*a77); + a66=(a0*a70); + a65=(a65+a66); + a66=(a8*a82); + a15=(a1*a60); + a66=(a66+a15); + a65=(a65+a66); + a66=(a10*a63); + a15=(a2*a67); + a66=(a66+a15); + a65=(a65+a66); + a66=(a5*a65); + a61=(a61+a66); + a76=(a76+a61); + a61=(a26*a60); + a66=(a8*a77); + a15=(a0*a60); + a66=(a66+a15); + a15=(a5*a82); + a78=(a1*a70); + a15=(a15+a78); + a66=(a66-a15); + a15=(a6*a63); + a78=(a2*a68); + a15=(a15+a78); + a66=(a66+a15); + a15=(a8*a66); + a61=(a61+a15); + a76=(a76-a61); + a61=(a27*a67); + a82=(a6*a82); + a15=(a1*a68); + a82=(a82+a15); + a77=(a10*a77); + a15=(a0*a67); + a77=(a77+a15); + a82=(a82-a77); + a63=(a5*a63); + a77=(a2*a70); + a63=(a63+a77); + a82=(a82+a63); + a63=(a10*a82); + a61=(a61+a63); + a76=(a76+a61); + a61=(a22*a76); + a63=(a30*a76); + a77=(a14*a76); + a77=(a24*a77); + a63=(a63+a77); + a63=(a29*a63); + a61=(a61+a63); + a63=(a6*a61); + a77=(a28*a68); + a63=(a63+a77); + a77=(a27*a68); + a15=(a6*a82); + a77=(a77+a15); + a15=(a25*a60); + a78=(a8*a65); + a15=(a15+a78); + a77=(a77+a15); + a15=(a26*a70); + a78=(a5*a66); + a15=(a15+a78); + a77=(a77+a15); + a15=(a23*a67); + a78=(a10*a74); + a15=(a15+a78); + a77=(a77-a15); + a15=(a32*a77); + a78=(a36*a77); + a84=(a80*a77); + a84=(a33*a84); + a78=(a78+a84); + a78=(a35*a78); + a15=(a15+a78); + a78=(a10*a15); + a84=(a34*a67); + a78=(a78+a84); + a63=(a63-a78); + a78=(a26*a68); + a66=(a6*a66); + a78=(a78+a66); + a66=(a27*a70); + a82=(a5*a82); + a66=(a66+a82); + a78=(a78-a66); + a66=(a23*a60); + a74=(a8*a74); + a66=(a66+a74); + a78=(a78+a66); + a66=(a25*a67); + a65=(a10*a65); + a66=(a66+a65); + a78=(a78+a66); + a66=(a37*a78); + a65=(a41*a78); + a78=(a73*a78); + a78=(a38*a78); + a65=(a65+a78); + a65=(a40*a65); + a66=(a66+a65); + a76=(a75*a76); + a77=(a79*a77); + a76=(a76+a77); + a76=(a42*a76); + a66=(a66-a76); + a76=(a8*a66); + a77=(a39*a60); + a76=(a76+a77); + a63=(a63+a76); + a76=(a6*a63); + a81=(a81+a76); + a76=(a44*a70); + a77=(a5*a61); + a65=(a28*a70); + a77=(a77+a65); + a65=(a8*a15); + a78=(a34*a60); + a65=(a65+a78); + a77=(a77+a65); + a65=(a10*a66); + a78=(a39*a67); + a65=(a65+a78); + a77=(a77+a65); + a65=(a5*a77); + a76=(a76+a65); + a81=(a81+a76); + a76=(a45*a60); + a65=(a5*a15); + a78=(a34*a70); + a65=(a65+a78); + a78=(a8*a61); + a74=(a28*a60); + a78=(a78+a74); + a65=(a65-a78); + a78=(a6*a66); + a74=(a39*a68); + a78=(a78+a74); + a65=(a65+a78); + a78=(a8*a65); + a76=(a76+a78); + a81=(a81+a76); + a76=(a46*a67); + a15=(a6*a15); + a78=(a34*a68); + a15=(a15+a78); + a61=(a10*a61); + a78=(a28*a67); + a61=(a61+a78); + a15=(a15+a61); + a66=(a5*a66); + a61=(a39*a70); + a66=(a66+a61); + a15=(a15-a66); + a66=(a10*a15); + a76=(a76+a66); + a81=(a81-a76); + a81=(a81/a16); + a64=(a64-a81); + if (res[1]!=0) res[1][85]=a64; + a64=(a19*a60); + a81=(a8*a69); + a64=(a64+a81); + a81=(a21*a68); + a76=(a6*a71); + a81=(a81+a76); + a64=(a64-a81); + a81=(a20*a70); + a76=(a5*a83); + a81=(a81+a76); + a64=(a64-a81); + a81=(a17*a67); + a76=(a10*a62); + a81=(a81+a76); + a64=(a64+a81); + a81=(a46*a68); + a76=(a6*a15); + a81=(a81+a76); + a76=(a44*a60); + a66=(a8*a77); + a76=(a76+a66); + a81=(a81+a76); + a76=(a45*a70); + a66=(a5*a65); + a76=(a76+a66); + a81=(a81-a76); + a76=(a31*a67); + a66=(a10*a63); + a76=(a76+a66); + a81=(a81+a76); + a81=(a81/a16); + a64=(a64-a81); + if (res[1]!=0) res[1][86]=a64; + a64=(a20*a68); + a83=(a6*a83); + a64=(a64+a83); + a83=(a21*a70); + a71=(a5*a71); + a83=(a83+a71); + a64=(a64-a83); + a83=(a17*a60); + a62=(a8*a62); + a83=(a83+a62); + a64=(a64-a83); + a83=(a19*a67); + a69=(a10*a69); + a83=(a83+a69); + a64=(a64+a83); + a68=(a45*a68); + a65=(a6*a65); + a68=(a68+a65); + a70=(a46*a70); + a15=(a5*a15); + a70=(a70+a15); + a68=(a68+a70); + a60=(a31*a60); + a63=(a8*a63); + a60=(a60+a63); + a68=(a68-a60); + a67=(a44*a67); + a77=(a10*a77); + a67=(a67+a77); + a68=(a68+a67); + a68=(a68/a16); + a64=(a64-a68); + if (res[1]!=0) res[1][87]=a64; + a64=(a51*a72); + a68=(a50*a11); + a67=(a7*a68); + a64=(a64+a67); + a67=(a54*a11); + a77=(a53*a72); + a60=(a9*a77); + a67=(a67+a60); + a64=(a64-a67); + a64=(a64/a52); + a64=(-a64); + if (res[1]!=0) res[1][88]=a64; + a11=(a59*a11); + a64=(a52*a12); + a67=(a9*a64); + a11=(a11+a67); + a67=(a51*a12); + a68=(a4*a68); + a67=(a67+a68); + a11=(a11-a67); + a11=(a11/a53); + a11=(-a11); + if (res[1]!=0) res[1][89]=a11; + a12=(a54*a12); + a77=(a4*a77); + a12=(a12+a77); + a72=(a59*a72); + a64=(a7*a64); + a72=(a72+a64); + a12=(a12-a72); + a12=(a12/a50); + a12=(-a12); + if (res[1]!=0) res[1][90]=a12; + a12=arg[1]? arg[1][98] : 0; + if (res[1]!=0) res[1][91]=a12; + a72=arg[1]? arg[1][99] : 0; + if (res[1]!=0) res[1][92]=a72; + a64=arg[1]? arg[1][100] : 0; + if (res[1]!=0) res[1][93]=a64; + a77=arg[1]? arg[1][101] : 0; + a11=(a5*a77); + a67=arg[1]? arg[1][95] : 0; + a68=(a4*a67); + a11=(a11+a68); + a68=arg[1]? arg[1][102] : 0; + a60=(a8*a68); + a63=arg[1]? arg[1][96] : 0; + a70=(a7*a63); + a60=(a60+a70); + a11=(a11+a60); + a60=arg[1]? arg[1][103] : 0; + a70=(a10*a60); + a15=arg[1]? arg[1][97] : 0; + a65=(a9*a15); + a70=(a70+a65); + a11=(a11+a70); + a11=(a3*a11); + a11=(-a11); + if (res[1]!=0) res[1][94]=a11; + a11=(a6*a77); + a70=arg[1]? arg[1][94] : 0; + a65=(a4*a70); + a11=(a11+a65); + a65=(a10*a68); + a83=(a7*a15); + a65=(a65+a83); + a11=(a11-a65); + a65=(a8*a60); + a83=(a9*a63); + a65=(a65+a83); + a11=(a11+a65); + a11=(a3*a11); + if (res[1]!=0) res[1][95]=a11; + a11=(a6*a68); + a65=(a7*a70); + a11=(a11+a65); + a65=(a10*a77); + a83=(a4*a15); + a65=(a65+a83); + a11=(a11+a65); + a65=(a5*a60); + a83=(a9*a67); + a65=(a65+a83); + a11=(a11-a65); + a11=(a3*a11); + if (res[1]!=0) res[1][96]=a11; + a11=(a5*a68); + a65=(a7*a67); + a11=(a11+a65); + a65=(a8*a77); + a83=(a4*a63); + a65=(a65+a83); + a11=(a11-a65); + a65=(a6*a60); + a83=(a9*a70); + a65=(a65+a83); + a11=(a11+a65); + a11=(a3*a11); + if (res[1]!=0) res[1][97]=a11; + a11=(a17*a70); + a65=(a13*a63); + a83=(a6*a65); + a11=(a11+a83); + a83=(a19*a67); + a69=(a13*a15); + a62=(a5*a69); + a83=(a83+a62); + a11=(a11+a83); + a83=(a20*a63); + a62=(a13*a70); + a71=(a8*a62); + a83=(a83+a71); + a11=(a11+a83); + a83=(a21*a15); + a71=(a13*a67); + a81=(a10*a71); + a83=(a83+a81); + a11=(a11+a83); + a83=(a31*a70); + a81=(a23*a70); + a76=(a6*a12); + a66=(a0*a70); + a76=(a76+a66); + a66=(a10*a72); + a61=(a1*a15); + a66=(a66+a61); + a76=(a76+a66); + a66=(a8*a64); + a61=(a2*a63); + a66=(a66+a61); + a76=(a76-a66); + a66=(a6*a76); + a81=(a81+a66); + a66=(a25*a67); + a61=(a5*a12); + a78=(a0*a67); + a61=(a61+a78); + a78=(a8*a72); + a74=(a1*a63); + a78=(a78+a74); + a61=(a61+a78); + a78=(a10*a64); + a74=(a2*a15); + a78=(a78+a74); + a61=(a61+a78); + a78=(a5*a61); + a66=(a66+a78); + a81=(a81+a66); + a66=(a26*a63); + a78=(a8*a12); + a74=(a0*a63); + a78=(a78+a74); + a74=(a5*a72); + a82=(a1*a67); + a74=(a74+a82); + a78=(a78-a74); + a74=(a6*a64); + a82=(a2*a70); + a74=(a74+a82); + a78=(a78+a74); + a74=(a8*a78); + a66=(a66+a74); + a81=(a81-a66); + a66=(a27*a15); + a72=(a6*a72); + a74=(a1*a70); + a72=(a72+a74); + a12=(a10*a12); + a74=(a0*a15); + a12=(a12+a74); + a72=(a72-a12); + a64=(a5*a64); + a12=(a2*a67); + a64=(a64+a12); + a72=(a72+a64); + a64=(a10*a72); + a66=(a66+a64); + a81=(a81+a66); + a66=(a22*a81); + a64=(a30*a81); + a12=(a14*a81); + a12=(a24*a12); + a64=(a64+a12); + a64=(a29*a64); + a66=(a66+a64); + a64=(a6*a66); + a12=(a28*a70); + a64=(a64+a12); + a12=(a27*a70); + a74=(a6*a72); + a12=(a12+a74); + a74=(a25*a63); + a82=(a8*a61); + a74=(a74+a82); + a12=(a12+a74); + a74=(a26*a67); + a82=(a5*a78); + a74=(a74+a82); + a12=(a12+a74); + a74=(a23*a15); + a82=(a10*a76); + a74=(a74+a82); + a12=(a12-a74); + a74=(a32*a12); + a82=(a36*a12); + a84=(a80*a12); + a84=(a33*a84); + a82=(a82+a84); + a82=(a35*a82); + a74=(a74+a82); + a82=(a10*a74); + a84=(a34*a15); + a82=(a82+a84); + a64=(a64-a82); + a82=(a26*a70); + a78=(a6*a78); + a82=(a82+a78); + a78=(a27*a67); + a72=(a5*a72); + a78=(a78+a72); + a82=(a82-a78); + a78=(a23*a63); + a76=(a8*a76); + a78=(a78+a76); + a82=(a82+a78); + a78=(a25*a15); + a61=(a10*a61); + a78=(a78+a61); + a82=(a82+a78); + a78=(a37*a82); + a61=(a41*a82); + a82=(a73*a82); + a82=(a38*a82); + a61=(a61+a82); + a61=(a40*a61); + a78=(a78+a61); + a81=(a75*a81); + a12=(a79*a12); + a81=(a81+a12); + a81=(a42*a81); + a78=(a78-a81); + a81=(a8*a78); + a12=(a39*a63); + a81=(a81+a12); + a64=(a64+a81); + a81=(a6*a64); + a83=(a83+a81); + a81=(a44*a67); + a12=(a5*a66); + a61=(a28*a67); + a12=(a12+a61); + a61=(a8*a74); + a82=(a34*a63); + a61=(a61+a82); + a12=(a12+a61); + a61=(a10*a78); + a82=(a39*a15); + a61=(a61+a82); + a12=(a12+a61); + a61=(a5*a12); + a81=(a81+a61); + a83=(a83+a81); + a81=(a45*a63); + a61=(a5*a74); + a82=(a34*a67); + a61=(a61+a82); + a82=(a8*a66); + a76=(a28*a63); + a82=(a82+a76); + a61=(a61-a82); + a82=(a6*a78); + a76=(a39*a70); + a82=(a82+a76); + a61=(a61+a82); + a82=(a8*a61); + a81=(a81+a82); + a83=(a83+a81); + a81=(a46*a15); + a74=(a6*a74); + a82=(a34*a70); + a74=(a74+a82); + a66=(a10*a66); + a82=(a28*a15); + a66=(a66+a82); + a74=(a74+a66); + a78=(a5*a78); + a66=(a39*a67); + a78=(a78+a66); + a74=(a74-a78); + a78=(a10*a74); + a81=(a81+a78); + a83=(a83-a81); + a83=(a83/a16); + a11=(a11-a83); + if (res[1]!=0) res[1][98]=a11; + a11=(a19*a63); + a83=(a8*a69); + a11=(a11+a83); + a83=(a21*a70); + a81=(a6*a71); + a83=(a83+a81); + a11=(a11-a83); + a83=(a20*a67); + a81=(a5*a62); + a83=(a83+a81); + a11=(a11-a83); + a83=(a17*a15); + a81=(a10*a65); + a83=(a83+a81); + a11=(a11+a83); + a83=(a46*a70); + a81=(a6*a74); + a83=(a83+a81); + a81=(a44*a63); + a78=(a8*a12); + a81=(a81+a78); + a83=(a83+a81); + a81=(a45*a67); + a78=(a5*a61); + a81=(a81+a78); + a83=(a83-a81); + a81=(a31*a15); + a78=(a10*a64); + a81=(a81+a78); + a83=(a83+a81); + a83=(a83/a16); + a11=(a11-a83); + if (res[1]!=0) res[1][99]=a11; + a11=(a20*a70); + a62=(a6*a62); + a11=(a11+a62); + a62=(a21*a67); + a71=(a5*a71); + a62=(a62+a71); + a11=(a11-a62); + a62=(a17*a63); + a65=(a8*a65); + a62=(a62+a65); + a11=(a11-a62); + a62=(a19*a15); + a69=(a10*a69); + a62=(a62+a69); + a11=(a11+a62); + a70=(a45*a70); + a61=(a6*a61); + a70=(a70+a61); + a67=(a46*a67); + a74=(a5*a74); + a67=(a67+a74); + a70=(a70+a67); + a63=(a31*a63); + a64=(a8*a64); + a63=(a63+a64); + a70=(a70-a63); + a15=(a44*a15); + a12=(a10*a12); + a15=(a15+a12); + a70=(a70+a15); + a70=(a70/a16); + a11=(a11-a70); + if (res[1]!=0) res[1][100]=a11; + a11=(a51*a68); + a70=(a50*a60); + a15=(a7*a70); + a11=(a11+a15); + a15=(a54*a60); + a12=(a53*a68); + a63=(a9*a12); + a15=(a15+a63); + a11=(a11-a15); + a11=(a11/a52); + a11=(-a11); + if (res[1]!=0) res[1][101]=a11; + a60=(a59*a60); + a11=(a52*a77); + a15=(a9*a11); + a60=(a60+a15); + a15=(a51*a77); + a70=(a4*a70); + a15=(a15+a70); + a60=(a60-a15); + a60=(a60/a53); + a60=(-a60); + if (res[1]!=0) res[1][102]=a60; + a77=(a54*a77); + a12=(a4*a12); + a77=(a77+a12); + a68=(a59*a68); + a11=(a7*a11); + a68=(a68+a11); + a77=(a77-a68); + a77=(a77/a50); + a77=(-a77); + if (res[1]!=0) res[1][103]=a77; + a77=arg[1]? arg[1][111] : 0; + if (res[1]!=0) res[1][104]=a77; + a68=arg[1]? arg[1][112] : 0; + if (res[1]!=0) res[1][105]=a68; + a11=arg[1]? arg[1][113] : 0; + if (res[1]!=0) res[1][106]=a11; + a12=arg[1]? arg[1][114] : 0; + a60=(a5*a12); + a15=arg[1]? arg[1][108] : 0; + a70=(a4*a15); + a60=(a60+a70); + a70=arg[1]? arg[1][115] : 0; + a63=(a8*a70); + a64=arg[1]? arg[1][109] : 0; + a67=(a7*a64); + a63=(a63+a67); + a60=(a60+a63); + a63=arg[1]? arg[1][116] : 0; + a67=(a10*a63); + a74=arg[1]? arg[1][110] : 0; + a61=(a9*a74); + a67=(a67+a61); + a60=(a60+a67); + a60=(a3*a60); + a60=(-a60); + if (res[1]!=0) res[1][107]=a60; + a60=(a6*a12); + a67=arg[1]? arg[1][107] : 0; + a61=(a4*a67); + a60=(a60+a61); + a61=(a10*a70); + a62=(a7*a74); + a61=(a61+a62); + a60=(a60-a61); + a61=(a8*a63); + a62=(a9*a64); + a61=(a61+a62); + a60=(a60+a61); + a60=(a3*a60); + if (res[1]!=0) res[1][108]=a60; + a60=(a6*a70); + a61=(a7*a67); + a60=(a60+a61); + a61=(a10*a12); + a62=(a4*a74); + a61=(a61+a62); + a60=(a60+a61); + a61=(a5*a63); + a62=(a9*a15); + a61=(a61+a62); + a60=(a60-a61); + a60=(a3*a60); + if (res[1]!=0) res[1][109]=a60; + a60=(a5*a70); + a61=(a7*a15); + a60=(a60+a61); + a61=(a8*a12); + a62=(a4*a64); + a61=(a61+a62); + a60=(a60-a61); + a61=(a6*a63); + a62=(a9*a67); + a61=(a61+a62); + a60=(a60+a61); + a60=(a3*a60); + if (res[1]!=0) res[1][110]=a60; + a60=(a17*a67); + a61=(a13*a64); + a62=(a6*a61); + a60=(a60+a62); + a62=(a19*a15); + a69=(a13*a74); + a65=(a5*a69); + a62=(a62+a65); + a60=(a60+a62); + a62=(a20*a64); + a65=(a13*a67); + a71=(a8*a65); + a62=(a62+a71); + a60=(a60+a62); + a62=(a21*a74); + a71=(a13*a15); + a83=(a10*a71); + a62=(a62+a83); + a60=(a60+a62); + a62=(a31*a67); + a83=(a23*a67); + a81=(a6*a77); + a78=(a0*a67); + a81=(a81+a78); + a78=(a10*a68); + a66=(a1*a74); + a78=(a78+a66); + a81=(a81+a78); + a78=(a8*a11); + a66=(a2*a64); + a78=(a78+a66); + a81=(a81-a78); + a78=(a6*a81); + a83=(a83+a78); + a78=(a25*a15); + a66=(a5*a77); + a82=(a0*a15); + a66=(a66+a82); + a82=(a8*a68); + a76=(a1*a64); + a82=(a82+a76); + a66=(a66+a82); + a82=(a10*a11); + a76=(a2*a74); + a82=(a82+a76); + a66=(a66+a82); + a82=(a5*a66); + a78=(a78+a82); + a83=(a83+a78); + a78=(a26*a64); + a82=(a8*a77); + a76=(a0*a64); + a82=(a82+a76); + a76=(a5*a68); + a72=(a1*a15); + a76=(a76+a72); + a82=(a82-a76); + a76=(a6*a11); + a72=(a2*a67); + a76=(a76+a72); + a82=(a82+a76); + a76=(a8*a82); + a78=(a78+a76); + a83=(a83-a78); + a78=(a27*a74); + a68=(a6*a68); + a76=(a1*a67); + a68=(a68+a76); + a77=(a10*a77); + a76=(a0*a74); + a77=(a77+a76); + a68=(a68-a77); + a11=(a5*a11); + a77=(a2*a15); + a11=(a11+a77); + a68=(a68+a11); + a11=(a10*a68); + a78=(a78+a11); + a83=(a83+a78); + a78=(a22*a83); + a11=(a30*a83); + a77=(a14*a83); + a77=(a24*a77); + a11=(a11+a77); + a11=(a29*a11); + a78=(a78+a11); + a11=(a6*a78); + a77=(a28*a67); + a11=(a11+a77); + a77=(a27*a67); + a76=(a6*a68); + a77=(a77+a76); + a76=(a25*a64); + a72=(a8*a66); + a76=(a76+a72); + a77=(a77+a76); + a76=(a26*a15); + a72=(a5*a82); + a76=(a76+a72); + a77=(a77+a76); + a76=(a23*a74); + a72=(a10*a81); + a76=(a76+a72); + a77=(a77-a76); + a76=(a32*a77); + a72=(a36*a77); + a84=(a80*a77); + a84=(a33*a84); + a72=(a72+a84); + a72=(a35*a72); + a76=(a76+a72); + a72=(a10*a76); + a84=(a34*a74); + a72=(a72+a84); + a11=(a11-a72); + a72=(a26*a67); + a82=(a6*a82); + a72=(a72+a82); + a82=(a27*a15); + a68=(a5*a68); + a82=(a82+a68); + a72=(a72-a82); + a82=(a23*a64); + a81=(a8*a81); + a82=(a82+a81); + a72=(a72+a82); + a82=(a25*a74); + a66=(a10*a66); + a82=(a82+a66); + a72=(a72+a82); + a82=(a37*a72); + a66=(a41*a72); + a72=(a73*a72); + a72=(a38*a72); + a66=(a66+a72); + a66=(a40*a66); + a82=(a82+a66); + a83=(a75*a83); + a77=(a79*a77); + a83=(a83+a77); + a83=(a42*a83); + a82=(a82-a83); + a83=(a8*a82); + a77=(a39*a64); + a83=(a83+a77); + a11=(a11+a83); + a83=(a6*a11); + a62=(a62+a83); + a83=(a44*a15); + a77=(a5*a78); + a66=(a28*a15); + a77=(a77+a66); + a66=(a8*a76); + a72=(a34*a64); + a66=(a66+a72); + a77=(a77+a66); + a66=(a10*a82); + a72=(a39*a74); + a66=(a66+a72); + a77=(a77+a66); + a66=(a5*a77); + a83=(a83+a66); + a62=(a62+a83); + a83=(a45*a64); + a66=(a5*a76); + a72=(a34*a15); + a66=(a66+a72); + a72=(a8*a78); + a81=(a28*a64); + a72=(a72+a81); + a66=(a66-a72); + a72=(a6*a82); + a81=(a39*a67); + a72=(a72+a81); + a66=(a66+a72); + a72=(a8*a66); + a83=(a83+a72); + a62=(a62+a83); + a83=(a46*a74); + a76=(a6*a76); + a72=(a34*a67); + a76=(a76+a72); + a78=(a10*a78); + a72=(a28*a74); + a78=(a78+a72); + a76=(a76+a78); + a82=(a5*a82); + a78=(a39*a15); + a82=(a82+a78); + a76=(a76-a82); + a82=(a10*a76); + a83=(a83+a82); + a62=(a62-a83); + a62=(a62/a16); + a60=(a60-a62); + if (res[1]!=0) res[1][111]=a60; + a60=(a19*a64); + a62=(a8*a69); + a60=(a60+a62); + a62=(a21*a67); + a83=(a6*a71); + a62=(a62+a83); + a60=(a60-a62); + a62=(a20*a15); + a83=(a5*a65); + a62=(a62+a83); + a60=(a60-a62); + a62=(a17*a74); + a83=(a10*a61); + a62=(a62+a83); + a60=(a60+a62); + a62=(a46*a67); + a83=(a6*a76); + a62=(a62+a83); + a83=(a44*a64); + a82=(a8*a77); + a83=(a83+a82); + a62=(a62+a83); + a83=(a45*a15); + a82=(a5*a66); + a83=(a83+a82); + a62=(a62-a83); + a83=(a31*a74); + a82=(a10*a11); + a83=(a83+a82); + a62=(a62+a83); + a62=(a62/a16); + a60=(a60-a62); + if (res[1]!=0) res[1][112]=a60; + a60=(a20*a67); + a65=(a6*a65); + a60=(a60+a65); + a65=(a21*a15); + a71=(a5*a71); + a65=(a65+a71); + a60=(a60-a65); + a65=(a17*a64); + a61=(a8*a61); + a65=(a65+a61); + a60=(a60-a65); + a65=(a19*a74); + a69=(a10*a69); + a65=(a65+a69); + a60=(a60+a65); + a67=(a45*a67); + a66=(a6*a66); + a67=(a67+a66); + a15=(a46*a15); + a76=(a5*a76); + a15=(a15+a76); + a67=(a67+a15); + a64=(a31*a64); + a11=(a8*a11); + a64=(a64+a11); + a67=(a67-a64); + a74=(a44*a74); + a77=(a10*a77); + a74=(a74+a77); + a67=(a67+a74); + a67=(a67/a16); + a60=(a60-a67); + if (res[1]!=0) res[1][113]=a60; + a60=(a51*a70); + a67=(a50*a63); + a74=(a7*a67); + a60=(a60+a74); + a74=(a54*a63); + a77=(a53*a70); + a64=(a9*a77); + a74=(a74+a64); + a60=(a60-a74); + a60=(a60/a52); + a60=(-a60); + if (res[1]!=0) res[1][114]=a60; + a63=(a59*a63); + a60=(a52*a12); + a74=(a9*a60); + a63=(a63+a74); + a74=(a51*a12); + a67=(a4*a67); + a74=(a74+a67); + a63=(a63-a74); + a63=(a63/a53); + a63=(-a63); + if (res[1]!=0) res[1][115]=a63; + a12=(a54*a12); + a77=(a4*a77); + a12=(a12+a77); + a70=(a59*a70); + a60=(a7*a60); + a70=(a70+a60); + a12=(a12-a70); + a12=(a12/a50); + a12=(-a12); + if (res[1]!=0) res[1][116]=a12; + a12=arg[1]? arg[1][124] : 0; + if (res[1]!=0) res[1][117]=a12; + a70=arg[1]? arg[1][125] : 0; + if (res[1]!=0) res[1][118]=a70; + a60=arg[1]? arg[1][126] : 0; + if (res[1]!=0) res[1][119]=a60; + a77=arg[1]? arg[1][127] : 0; + a63=(a5*a77); + a74=arg[1]? arg[1][121] : 0; + a67=(a4*a74); + a63=(a63+a67); + a67=arg[1]? arg[1][128] : 0; + a64=(a8*a67); + a11=arg[1]? arg[1][122] : 0; + a15=(a7*a11); + a64=(a64+a15); + a63=(a63+a64); + a64=arg[1]? arg[1][129] : 0; + a15=(a10*a64); + a76=arg[1]? arg[1][123] : 0; + a66=(a9*a76); + a15=(a15+a66); + a63=(a63+a15); + a63=(a3*a63); + a63=(-a63); + if (res[1]!=0) res[1][120]=a63; + a63=(a6*a77); + a15=arg[1]? arg[1][120] : 0; + a66=(a4*a15); + a63=(a63+a66); + a66=(a10*a67); + a65=(a7*a76); + a66=(a66+a65); + a63=(a63-a66); + a66=(a8*a64); + a65=(a9*a11); + a66=(a66+a65); + a63=(a63+a66); + a63=(a3*a63); + if (res[1]!=0) res[1][121]=a63; + a63=(a6*a67); + a66=(a7*a15); + a63=(a63+a66); + a66=(a10*a77); + a65=(a4*a76); + a66=(a66+a65); + a63=(a63+a66); + a66=(a5*a64); + a65=(a9*a74); + a66=(a66+a65); + a63=(a63-a66); + a63=(a3*a63); + if (res[1]!=0) res[1][122]=a63; + a63=(a5*a67); + a66=(a7*a74); + a63=(a63+a66); + a66=(a8*a77); + a65=(a4*a11); + a66=(a66+a65); + a63=(a63-a66); + a66=(a6*a64); + a65=(a9*a15); + a66=(a66+a65); + a63=(a63+a66); + a63=(a3*a63); + if (res[1]!=0) res[1][123]=a63; + a63=(a17*a15); + a66=(a13*a11); + a65=(a6*a66); + a63=(a63+a65); + a65=(a19*a74); + a69=(a13*a76); + a61=(a5*a69); + a65=(a65+a61); + a63=(a63+a65); + a65=(a20*a11); + a61=(a13*a15); + a71=(a8*a61); + a65=(a65+a71); + a63=(a63+a65); + a65=(a21*a76); + a71=(a13*a74); + a62=(a10*a71); + a65=(a65+a62); + a63=(a63+a65); + a65=(a31*a15); + a62=(a23*a15); + a83=(a6*a12); + a82=(a0*a15); + a83=(a83+a82); + a82=(a10*a70); + a78=(a1*a76); + a82=(a82+a78); + a83=(a83+a82); + a82=(a8*a60); + a78=(a2*a11); + a82=(a82+a78); + a83=(a83-a82); + a82=(a6*a83); + a62=(a62+a82); + a82=(a25*a74); + a78=(a5*a12); + a72=(a0*a74); + a78=(a78+a72); + a72=(a8*a70); + a81=(a1*a11); + a72=(a72+a81); + a78=(a78+a72); + a72=(a10*a60); + a81=(a2*a76); + a72=(a72+a81); + a78=(a78+a72); + a72=(a5*a78); + a82=(a82+a72); + a62=(a62+a82); + a82=(a26*a11); + a72=(a8*a12); + a81=(a0*a11); + a72=(a72+a81); + a81=(a5*a70); + a68=(a1*a74); + a81=(a81+a68); + a72=(a72-a81); + a81=(a6*a60); + a68=(a2*a15); + a81=(a81+a68); + a72=(a72+a81); + a81=(a8*a72); + a82=(a82+a81); + a62=(a62-a82); + a82=(a27*a76); + a70=(a6*a70); + a81=(a1*a15); + a70=(a70+a81); + a12=(a10*a12); + a81=(a0*a76); + a12=(a12+a81); + a70=(a70-a12); + a60=(a5*a60); + a12=(a2*a74); + a60=(a60+a12); + a70=(a70+a60); + a60=(a10*a70); + a82=(a82+a60); + a62=(a62+a82); + a82=(a22*a62); + a60=(a30*a62); + a12=(a14*a62); + a12=(a24*a12); + a60=(a60+a12); + a60=(a29*a60); + a82=(a82+a60); + a60=(a6*a82); + a12=(a28*a15); + a60=(a60+a12); + a12=(a27*a15); + a81=(a6*a70); + a12=(a12+a81); + a81=(a25*a11); + a68=(a8*a78); + a81=(a81+a68); + a12=(a12+a81); + a81=(a26*a74); + a68=(a5*a72); + a81=(a81+a68); + a12=(a12+a81); + a81=(a23*a76); + a68=(a10*a83); + a81=(a81+a68); + a12=(a12-a81); + a81=(a32*a12); + a68=(a36*a12); + a84=(a80*a12); + a84=(a33*a84); + a68=(a68+a84); + a68=(a35*a68); + a81=(a81+a68); + a68=(a10*a81); + a84=(a34*a76); + a68=(a68+a84); + a60=(a60-a68); + a68=(a26*a15); + a72=(a6*a72); + a68=(a68+a72); + a72=(a27*a74); + a70=(a5*a70); + a72=(a72+a70); + a68=(a68-a72); + a72=(a23*a11); + a83=(a8*a83); + a72=(a72+a83); + a68=(a68+a72); + a72=(a25*a76); + a78=(a10*a78); + a72=(a72+a78); + a68=(a68+a72); + a72=(a37*a68); + a78=(a41*a68); + a68=(a73*a68); + a68=(a38*a68); + a78=(a78+a68); + a78=(a40*a78); + a72=(a72+a78); + a62=(a75*a62); + a12=(a79*a12); + a62=(a62+a12); + a62=(a42*a62); + a72=(a72-a62); + a62=(a8*a72); + a12=(a39*a11); + a62=(a62+a12); + a60=(a60+a62); + a62=(a6*a60); + a65=(a65+a62); + a62=(a44*a74); + a12=(a5*a82); + a78=(a28*a74); + a12=(a12+a78); + a78=(a8*a81); + a68=(a34*a11); + a78=(a78+a68); + a12=(a12+a78); + a78=(a10*a72); + a68=(a39*a76); + a78=(a78+a68); + a12=(a12+a78); + a78=(a5*a12); + a62=(a62+a78); + a65=(a65+a62); + a62=(a45*a11); + a78=(a5*a81); + a68=(a34*a74); + a78=(a78+a68); + a68=(a8*a82); + a83=(a28*a11); + a68=(a68+a83); + a78=(a78-a68); + a68=(a6*a72); + a83=(a39*a15); + a68=(a68+a83); + a78=(a78+a68); + a68=(a8*a78); + a62=(a62+a68); + a65=(a65+a62); + a62=(a46*a76); + a81=(a6*a81); + a68=(a34*a15); + a81=(a81+a68); + a82=(a10*a82); + a68=(a28*a76); + a82=(a82+a68); + a81=(a81+a82); + a72=(a5*a72); + a82=(a39*a74); + a72=(a72+a82); + a81=(a81-a72); + a72=(a10*a81); + a62=(a62+a72); + a65=(a65-a62); + a65=(a65/a16); + a63=(a63-a65); + if (res[1]!=0) res[1][124]=a63; + a63=(a19*a11); + a65=(a8*a69); + a63=(a63+a65); + a65=(a21*a15); + a62=(a6*a71); + a65=(a65+a62); + a63=(a63-a65); + a65=(a20*a74); + a62=(a5*a61); + a65=(a65+a62); + a63=(a63-a65); + a65=(a17*a76); + a62=(a10*a66); + a65=(a65+a62); + a63=(a63+a65); + a65=(a46*a15); + a62=(a6*a81); + a65=(a65+a62); + a62=(a44*a11); + a72=(a8*a12); + a62=(a62+a72); + a65=(a65+a62); + a62=(a45*a74); + a72=(a5*a78); + a62=(a62+a72); + a65=(a65-a62); + a62=(a31*a76); + a72=(a10*a60); + a62=(a62+a72); + a65=(a65+a62); + a65=(a65/a16); + a63=(a63-a65); + if (res[1]!=0) res[1][125]=a63; + a63=(a20*a15); + a61=(a6*a61); + a63=(a63+a61); + a61=(a21*a74); + a71=(a5*a71); + a61=(a61+a71); + a63=(a63-a61); + a61=(a17*a11); + a66=(a8*a66); + a61=(a61+a66); + a63=(a63-a61); + a61=(a19*a76); + a69=(a10*a69); + a61=(a61+a69); + a63=(a63+a61); + a15=(a45*a15); + a78=(a6*a78); + a15=(a15+a78); + a74=(a46*a74); + a81=(a5*a81); + a74=(a74+a81); + a15=(a15+a74); + a11=(a31*a11); + a60=(a8*a60); + a11=(a11+a60); + a15=(a15-a11); + a76=(a44*a76); + a12=(a10*a12); + a76=(a76+a12); + a15=(a15+a76); + a15=(a15/a16); + a63=(a63-a15); + if (res[1]!=0) res[1][126]=a63; + a63=(a51*a67); + a15=(a50*a64); + a76=(a7*a15); + a63=(a63+a76); + a76=(a54*a64); + a12=(a53*a67); + a11=(a9*a12); + a76=(a76+a11); + a63=(a63-a76); + a63=(a63/a52); + a63=(-a63); + if (res[1]!=0) res[1][127]=a63; + a64=(a59*a64); + a63=(a52*a77); + a76=(a9*a63); + a64=(a64+a76); + a76=(a51*a77); + a15=(a4*a15); + a76=(a76+a15); + a64=(a64-a76); + a64=(a64/a53); + a64=(-a64); + if (res[1]!=0) res[1][128]=a64; + a77=(a54*a77); + a12=(a4*a12); + a77=(a77+a12); + a67=(a59*a67); + a63=(a7*a63); + a67=(a67+a63); + a77=(a77-a67); + a77=(a77/a50); + a77=(-a77); + if (res[1]!=0) res[1][129]=a77; + a77=arg[1]? arg[1][137] : 0; + if (res[1]!=0) res[1][130]=a77; + a67=arg[1]? arg[1][138] : 0; + if (res[1]!=0) res[1][131]=a67; + a63=arg[1]? arg[1][139] : 0; + if (res[1]!=0) res[1][132]=a63; + a12=arg[1]? arg[1][140] : 0; + a64=(a5*a12); + a76=arg[1]? arg[1][134] : 0; + a15=(a4*a76); + a64=(a64+a15); + a15=arg[1]? arg[1][141] : 0; + a11=(a8*a15); + a60=arg[1]? arg[1][135] : 0; + a74=(a7*a60); + a11=(a11+a74); + a64=(a64+a11); + a11=arg[1]? arg[1][142] : 0; + a74=(a10*a11); + a81=arg[1]? arg[1][136] : 0; + a78=(a9*a81); + a74=(a74+a78); + a64=(a64+a74); + a64=(a3*a64); + a64=(-a64); + if (res[1]!=0) res[1][133]=a64; + a64=(a6*a12); + a74=arg[1]? arg[1][133] : 0; + a78=(a4*a74); + a64=(a64+a78); + a78=(a10*a15); + a61=(a7*a81); + a78=(a78+a61); + a64=(a64-a78); + a78=(a8*a11); + a61=(a9*a60); + a78=(a78+a61); + a64=(a64+a78); + a64=(a3*a64); + if (res[1]!=0) res[1][134]=a64; + a64=(a6*a15); + a78=(a7*a74); + a64=(a64+a78); + a78=(a10*a12); + a61=(a4*a81); + a78=(a78+a61); + a64=(a64+a78); + a78=(a5*a11); + a61=(a9*a76); + a78=(a78+a61); + a64=(a64-a78); + a64=(a3*a64); + if (res[1]!=0) res[1][135]=a64; + a64=(a5*a15); + a78=(a7*a76); + a64=(a64+a78); + a78=(a8*a12); + a61=(a4*a60); + a78=(a78+a61); + a64=(a64-a78); + a78=(a6*a11); + a61=(a9*a74); + a78=(a78+a61); + a64=(a64+a78); + a64=(a3*a64); + if (res[1]!=0) res[1][136]=a64; + a64=(a17*a74); + a78=(a13*a60); + a61=(a6*a78); + a64=(a64+a61); + a61=(a19*a76); + a69=(a13*a81); + a66=(a5*a69); + a61=(a61+a66); + a64=(a64+a61); + a61=(a20*a60); + a66=(a13*a74); + a71=(a8*a66); + a61=(a61+a71); + a64=(a64+a61); + a61=(a21*a81); + a71=(a13*a76); + a65=(a10*a71); + a61=(a61+a65); + a64=(a64+a61); + a61=(a31*a74); + a65=(a23*a74); + a62=(a6*a77); + a72=(a0*a74); + a62=(a62+a72); + a72=(a10*a67); + a82=(a1*a81); + a72=(a72+a82); + a62=(a62+a72); + a72=(a8*a63); + a82=(a2*a60); + a72=(a72+a82); + a62=(a62-a72); + a72=(a6*a62); + a65=(a65+a72); + a72=(a25*a76); + a82=(a5*a77); + a68=(a0*a76); + a82=(a82+a68); + a68=(a8*a67); + a83=(a1*a60); + a68=(a68+a83); + a82=(a82+a68); + a68=(a10*a63); + a83=(a2*a81); + a68=(a68+a83); + a82=(a82+a68); + a68=(a5*a82); + a72=(a72+a68); + a65=(a65+a72); + a72=(a26*a60); + a68=(a8*a77); + a83=(a0*a60); + a68=(a68+a83); + a83=(a5*a67); + a70=(a1*a76); + a83=(a83+a70); + a68=(a68-a83); + a83=(a6*a63); + a70=(a2*a74); + a83=(a83+a70); + a68=(a68+a83); + a83=(a8*a68); + a72=(a72+a83); + a65=(a65-a72); + a72=(a27*a81); + a67=(a6*a67); + a83=(a1*a74); + a67=(a67+a83); + a77=(a10*a77); + a83=(a0*a81); + a77=(a77+a83); + a67=(a67-a77); + a63=(a5*a63); + a77=(a2*a76); + a63=(a63+a77); + a67=(a67+a63); + a63=(a10*a67); + a72=(a72+a63); + a65=(a65+a72); + a72=(a22*a65); + a63=(a30*a65); + a77=(a14*a65); + a77=(a24*a77); + a63=(a63+a77); + a63=(a29*a63); + a72=(a72+a63); + a63=(a6*a72); + a77=(a28*a74); + a63=(a63+a77); + a77=(a27*a74); + a83=(a6*a67); + a77=(a77+a83); + a83=(a25*a60); + a70=(a8*a82); + a83=(a83+a70); + a77=(a77+a83); + a83=(a26*a76); + a70=(a5*a68); + a83=(a83+a70); + a77=(a77+a83); + a83=(a23*a81); + a70=(a10*a62); + a83=(a83+a70); + a77=(a77-a83); + a83=(a32*a77); + a70=(a36*a77); + a84=(a80*a77); + a84=(a33*a84); + a70=(a70+a84); + a70=(a35*a70); + a83=(a83+a70); + a70=(a10*a83); + a84=(a34*a81); + a70=(a70+a84); + a63=(a63-a70); + a70=(a26*a74); + a68=(a6*a68); + a70=(a70+a68); + a68=(a27*a76); + a67=(a5*a67); + a68=(a68+a67); + a70=(a70-a68); + a68=(a23*a60); + a62=(a8*a62); + a68=(a68+a62); + a70=(a70+a68); + a68=(a25*a81); + a82=(a10*a82); + a68=(a68+a82); + a70=(a70+a68); + a68=(a37*a70); + a82=(a41*a70); + a70=(a73*a70); + a70=(a38*a70); + a82=(a82+a70); + a82=(a40*a82); + a68=(a68+a82); + a65=(a75*a65); + a77=(a79*a77); + a65=(a65+a77); + a65=(a42*a65); + a68=(a68-a65); + a65=(a8*a68); + a77=(a39*a60); + a65=(a65+a77); + a63=(a63+a65); + a65=(a6*a63); + a61=(a61+a65); + a65=(a44*a76); + a77=(a5*a72); + a82=(a28*a76); + a77=(a77+a82); + a82=(a8*a83); + a70=(a34*a60); + a82=(a82+a70); + a77=(a77+a82); + a82=(a10*a68); + a70=(a39*a81); + a82=(a82+a70); + a77=(a77+a82); + a82=(a5*a77); + a65=(a65+a82); + a61=(a61+a65); + a65=(a45*a60); + a82=(a5*a83); + a70=(a34*a76); + a82=(a82+a70); + a70=(a8*a72); + a62=(a28*a60); + a70=(a70+a62); + a82=(a82-a70); + a70=(a6*a68); + a62=(a39*a74); + a70=(a70+a62); + a82=(a82+a70); + a70=(a8*a82); + a65=(a65+a70); + a61=(a61+a65); + a65=(a46*a81); + a83=(a6*a83); + a70=(a34*a74); + a83=(a83+a70); + a72=(a10*a72); + a70=(a28*a81); + a72=(a72+a70); + a83=(a83+a72); + a68=(a5*a68); + a72=(a39*a76); + a68=(a68+a72); + a83=(a83-a68); + a68=(a10*a83); + a65=(a65+a68); + a61=(a61-a65); + a61=(a61/a16); + a64=(a64-a61); + if (res[1]!=0) res[1][137]=a64; + a64=(a19*a60); + a61=(a8*a69); + a64=(a64+a61); + a61=(a21*a74); + a65=(a6*a71); + a61=(a61+a65); + a64=(a64-a61); + a61=(a20*a76); + a65=(a5*a66); + a61=(a61+a65); + a64=(a64-a61); + a61=(a17*a81); + a65=(a10*a78); + a61=(a61+a65); + a64=(a64+a61); + a61=(a46*a74); + a65=(a6*a83); + a61=(a61+a65); + a65=(a44*a60); + a68=(a8*a77); + a65=(a65+a68); + a61=(a61+a65); + a65=(a45*a76); + a68=(a5*a82); + a65=(a65+a68); + a61=(a61-a65); + a65=(a31*a81); + a68=(a10*a63); + a65=(a65+a68); + a61=(a61+a65); + a61=(a61/a16); + a64=(a64-a61); + if (res[1]!=0) res[1][138]=a64; + a64=(a20*a74); + a66=(a6*a66); + a64=(a64+a66); + a66=(a21*a76); + a71=(a5*a71); + a66=(a66+a71); + a64=(a64-a66); + a66=(a17*a60); + a78=(a8*a78); + a66=(a66+a78); + a64=(a64-a66); + a66=(a19*a81); + a69=(a10*a69); + a66=(a66+a69); + a64=(a64+a66); + a74=(a45*a74); + a82=(a6*a82); + a74=(a74+a82); + a76=(a46*a76); + a83=(a5*a83); + a76=(a76+a83); + a74=(a74+a76); + a60=(a31*a60); + a63=(a8*a63); + a60=(a60+a63); + a74=(a74-a60); + a81=(a44*a81); + a77=(a10*a77); + a81=(a81+a77); + a74=(a74+a81); + a74=(a74/a16); + a64=(a64-a74); + if (res[1]!=0) res[1][139]=a64; + a64=(a51*a15); + a74=(a50*a11); + a81=(a7*a74); + a64=(a64+a81); + a81=(a54*a11); + a77=(a53*a15); + a60=(a9*a77); + a81=(a81+a60); + a64=(a64-a81); + a64=(a64/a52); + a64=(-a64); + if (res[1]!=0) res[1][140]=a64; + a11=(a59*a11); + a64=(a52*a12); + a81=(a9*a64); + a11=(a11+a81); + a81=(a51*a12); + a74=(a4*a74); + a81=(a81+a74); + a11=(a11-a81); + a11=(a11/a53); + a11=(-a11); + if (res[1]!=0) res[1][141]=a11; + a12=(a54*a12); + a77=(a4*a77); + a12=(a12+a77); + a15=(a59*a15); + a64=(a7*a64); + a15=(a15+a64); + a12=(a12-a15); + a12=(a12/a50); + a12=(-a12); + if (res[1]!=0) res[1][142]=a12; + a12=arg[1]? arg[1][150] : 0; + if (res[1]!=0) res[1][143]=a12; + a15=arg[1]? arg[1][151] : 0; + if (res[1]!=0) res[1][144]=a15; + a64=arg[1]? arg[1][152] : 0; + if (res[1]!=0) res[1][145]=a64; + a77=arg[1]? arg[1][153] : 0; + a11=(a5*a77); + a81=arg[1]? arg[1][147] : 0; + a74=(a4*a81); + a11=(a11+a74); + a74=arg[1]? arg[1][154] : 0; + a60=(a8*a74); + a63=arg[1]? arg[1][148] : 0; + a76=(a7*a63); + a60=(a60+a76); + a11=(a11+a60); + a60=arg[1]? arg[1][155] : 0; + a76=(a10*a60); + a83=arg[1]? arg[1][149] : 0; + a82=(a9*a83); + a76=(a76+a82); + a11=(a11+a76); + a11=(a3*a11); + a11=(-a11); + if (res[1]!=0) res[1][146]=a11; + a11=(a6*a77); + a76=arg[1]? arg[1][146] : 0; + a82=(a4*a76); + a11=(a11+a82); + a82=(a10*a74); + a66=(a7*a83); + a82=(a82+a66); + a11=(a11-a82); + a82=(a8*a60); + a66=(a9*a63); + a82=(a82+a66); + a11=(a11+a82); + a11=(a3*a11); + if (res[1]!=0) res[1][147]=a11; + a11=(a6*a74); + a82=(a7*a76); + a11=(a11+a82); + a82=(a10*a77); + a66=(a4*a83); + a82=(a82+a66); + a11=(a11+a82); + a82=(a5*a60); + a66=(a9*a81); + a82=(a82+a66); + a11=(a11-a82); + a11=(a3*a11); + if (res[1]!=0) res[1][148]=a11; + a11=(a5*a74); + a82=(a7*a81); + a11=(a11+a82); + a82=(a8*a77); + a66=(a4*a63); + a82=(a82+a66); + a11=(a11-a82); + a82=(a6*a60); + a66=(a9*a76); + a82=(a82+a66); + a11=(a11+a82); + a11=(a3*a11); + if (res[1]!=0) res[1][149]=a11; + a11=(a17*a76); + a82=(a13*a63); + a66=(a6*a82); + a11=(a11+a66); + a66=(a19*a81); + a69=(a13*a83); + a78=(a5*a69); + a66=(a66+a78); + a11=(a11+a66); + a66=(a20*a63); + a78=(a13*a76); + a71=(a8*a78); + a66=(a66+a71); + a11=(a11+a66); + a66=(a21*a83); + a71=(a13*a81); + a61=(a10*a71); + a66=(a66+a61); + a11=(a11+a66); + a66=(a31*a76); + a61=(a23*a76); + a65=(a6*a12); + a68=(a0*a76); + a65=(a65+a68); + a68=(a10*a15); + a72=(a1*a83); + a68=(a68+a72); + a65=(a65+a68); + a68=(a8*a64); + a72=(a2*a63); + a68=(a68+a72); + a65=(a65-a68); + a68=(a6*a65); + a61=(a61+a68); + a68=(a25*a81); + a72=(a5*a12); + a70=(a0*a81); + a72=(a72+a70); + a70=(a8*a15); + a62=(a1*a63); + a70=(a70+a62); + a72=(a72+a70); + a70=(a10*a64); + a62=(a2*a83); + a70=(a70+a62); + a72=(a72+a70); + a70=(a5*a72); + a68=(a68+a70); + a61=(a61+a68); + a68=(a26*a63); + a70=(a8*a12); + a62=(a0*a63); + a70=(a70+a62); + a62=(a5*a15); + a67=(a1*a81); + a62=(a62+a67); + a70=(a70-a62); + a62=(a6*a64); + a67=(a2*a76); + a62=(a62+a67); + a70=(a70+a62); + a62=(a8*a70); + a68=(a68+a62); + a61=(a61-a68); + a68=(a27*a83); + a15=(a6*a15); + a62=(a1*a76); + a15=(a15+a62); + a12=(a10*a12); + a62=(a0*a83); + a12=(a12+a62); + a15=(a15-a12); + a64=(a5*a64); + a12=(a2*a81); + a64=(a64+a12); + a15=(a15+a64); + a64=(a10*a15); + a68=(a68+a64); + a61=(a61+a68); + a68=(a22*a61); + a64=(a30*a61); + a12=(a14*a61); + a12=(a24*a12); + a64=(a64+a12); + a64=(a29*a64); + a68=(a68+a64); + a64=(a6*a68); + a12=(a28*a76); + a64=(a64+a12); + a12=(a27*a76); + a62=(a6*a15); + a12=(a12+a62); + a62=(a25*a63); + a67=(a8*a72); + a62=(a62+a67); + a12=(a12+a62); + a62=(a26*a81); + a67=(a5*a70); + a62=(a62+a67); + a12=(a12+a62); + a62=(a23*a83); + a67=(a10*a65); + a62=(a62+a67); + a12=(a12-a62); + a62=(a32*a12); + a67=(a36*a12); + a84=(a80*a12); + a84=(a33*a84); + a67=(a67+a84); + a67=(a35*a67); + a62=(a62+a67); + a67=(a10*a62); + a84=(a34*a83); + a67=(a67+a84); + a64=(a64-a67); + a67=(a26*a76); + a70=(a6*a70); + a67=(a67+a70); + a70=(a27*a81); + a15=(a5*a15); + a70=(a70+a15); + a67=(a67-a70); + a70=(a23*a63); + a65=(a8*a65); + a70=(a70+a65); + a67=(a67+a70); + a70=(a25*a83); + a72=(a10*a72); + a70=(a70+a72); + a67=(a67+a70); + a70=(a37*a67); + a72=(a41*a67); + a67=(a73*a67); + a67=(a38*a67); + a72=(a72+a67); + a72=(a40*a72); + a70=(a70+a72); + a61=(a75*a61); + a12=(a79*a12); + a61=(a61+a12); + a61=(a42*a61); + a70=(a70-a61); + a61=(a8*a70); + a12=(a39*a63); + a61=(a61+a12); + a64=(a64+a61); + a61=(a6*a64); + a66=(a66+a61); + a61=(a44*a81); + a12=(a5*a68); + a72=(a28*a81); + a12=(a12+a72); + a72=(a8*a62); + a67=(a34*a63); + a72=(a72+a67); + a12=(a12+a72); + a72=(a10*a70); + a67=(a39*a83); + a72=(a72+a67); + a12=(a12+a72); + a72=(a5*a12); + a61=(a61+a72); + a66=(a66+a61); + a61=(a45*a63); + a72=(a5*a62); + a67=(a34*a81); + a72=(a72+a67); + a67=(a8*a68); + a65=(a28*a63); + a67=(a67+a65); + a72=(a72-a67); + a67=(a6*a70); + a65=(a39*a76); + a67=(a67+a65); + a72=(a72+a67); + a67=(a8*a72); + a61=(a61+a67); + a66=(a66+a61); + a61=(a46*a83); + a62=(a6*a62); + a67=(a34*a76); + a62=(a62+a67); + a68=(a10*a68); + a67=(a28*a83); + a68=(a68+a67); + a62=(a62+a68); + a70=(a5*a70); + a68=(a39*a81); + a70=(a70+a68); + a62=(a62-a70); + a70=(a10*a62); + a61=(a61+a70); + a66=(a66-a61); + a66=(a66/a16); + a11=(a11-a66); + if (res[1]!=0) res[1][150]=a11; + a11=(a19*a63); + a66=(a8*a69); + a11=(a11+a66); + a66=(a21*a76); + a61=(a6*a71); + a66=(a66+a61); + a11=(a11-a66); + a66=(a20*a81); + a61=(a5*a78); + a66=(a66+a61); + a11=(a11-a66); + a66=(a17*a83); + a61=(a10*a82); + a66=(a66+a61); + a11=(a11+a66); + a66=(a46*a76); + a61=(a6*a62); + a66=(a66+a61); + a61=(a44*a63); + a70=(a8*a12); + a61=(a61+a70); + a66=(a66+a61); + a61=(a45*a81); + a70=(a5*a72); + a61=(a61+a70); + a66=(a66-a61); + a61=(a31*a83); + a70=(a10*a64); + a61=(a61+a70); + a66=(a66+a61); + a66=(a66/a16); + a11=(a11-a66); + if (res[1]!=0) res[1][151]=a11; + a11=(a20*a76); + a78=(a6*a78); + a11=(a11+a78); + a78=(a21*a81); + a71=(a5*a71); + a78=(a78+a71); + a11=(a11-a78); + a78=(a17*a63); + a82=(a8*a82); + a78=(a78+a82); + a11=(a11-a78); + a78=(a19*a83); + a69=(a10*a69); + a78=(a78+a69); + a11=(a11+a78); + a76=(a45*a76); + a72=(a6*a72); + a76=(a76+a72); + a81=(a46*a81); + a62=(a5*a62); + a81=(a81+a62); + a76=(a76+a81); + a63=(a31*a63); + a64=(a8*a64); + a63=(a63+a64); + a76=(a76-a63); + a83=(a44*a83); + a12=(a10*a12); + a83=(a83+a12); + a76=(a76+a83); + a76=(a76/a16); + a11=(a11-a76); + if (res[1]!=0) res[1][152]=a11; + a11=(a51*a74); + a76=(a50*a60); + a83=(a7*a76); + a11=(a11+a83); + a83=(a54*a60); + a12=(a53*a74); + a63=(a9*a12); + a83=(a83+a63); + a11=(a11-a83); + a11=(a11/a52); + a11=(-a11); + if (res[1]!=0) res[1][153]=a11; + a60=(a59*a60); + a11=(a52*a77); + a83=(a9*a11); + a60=(a60+a83); + a83=(a51*a77); + a76=(a4*a76); + a83=(a83+a76); + a60=(a60-a83); + a60=(a60/a53); + a60=(-a60); + if (res[1]!=0) res[1][154]=a60; + a77=(a54*a77); + a12=(a4*a12); + a77=(a77+a12); + a74=(a59*a74); + a11=(a7*a11); + a74=(a74+a11); + a77=(a77-a74); + a77=(a77/a50); + a77=(-a77); + if (res[1]!=0) res[1][155]=a77; + a77=arg[1]? arg[1][163] : 0; + if (res[1]!=0) res[1][156]=a77; + a74=arg[1]? arg[1][164] : 0; + if (res[1]!=0) res[1][157]=a74; + a11=arg[1]? arg[1][165] : 0; + if (res[1]!=0) res[1][158]=a11; + a12=arg[1]? arg[1][166] : 0; + a60=(a5*a12); + a83=arg[1]? arg[1][160] : 0; + a76=(a4*a83); + a60=(a60+a76); + a76=arg[1]? arg[1][167] : 0; + a63=(a8*a76); + a64=arg[1]? arg[1][161] : 0; + a81=(a7*a64); + a63=(a63+a81); + a60=(a60+a63); + a63=arg[1]? arg[1][168] : 0; + a81=(a10*a63); + a62=arg[1]? arg[1][162] : 0; + a72=(a9*a62); + a81=(a81+a72); + a60=(a60+a81); + a60=(a3*a60); + a60=(-a60); + if (res[1]!=0) res[1][159]=a60; + a60=(a6*a12); + a81=arg[1]? arg[1][159] : 0; + a72=(a4*a81); + a60=(a60+a72); + a72=(a10*a76); + a78=(a7*a62); + a72=(a72+a78); + a60=(a60-a72); + a72=(a8*a63); + a78=(a9*a64); + a72=(a72+a78); + a60=(a60+a72); + a60=(a3*a60); + if (res[1]!=0) res[1][160]=a60; + a60=(a6*a76); + a72=(a7*a81); + a60=(a60+a72); + a72=(a10*a12); + a78=(a4*a62); + a72=(a72+a78); + a60=(a60+a72); + a72=(a5*a63); + a78=(a9*a83); + a72=(a72+a78); + a60=(a60-a72); + a60=(a3*a60); + if (res[1]!=0) res[1][161]=a60; + a60=(a5*a76); + a72=(a7*a83); + a60=(a60+a72); + a72=(a8*a12); + a78=(a4*a64); + a72=(a72+a78); + a60=(a60-a72); + a72=(a6*a63); + a78=(a9*a81); + a72=(a72+a78); + a60=(a60+a72); + a60=(a3*a60); + if (res[1]!=0) res[1][162]=a60; + a60=(a17*a81); + a72=(a13*a64); + a78=(a6*a72); + a60=(a60+a78); + a78=(a19*a83); + a69=(a13*a62); + a82=(a5*a69); + a78=(a78+a82); + a60=(a60+a78); + a78=(a20*a64); + a82=(a13*a81); + a71=(a8*a82); + a78=(a78+a71); + a60=(a60+a78); + a78=(a21*a62); + a71=(a13*a83); + a66=(a10*a71); + a78=(a78+a66); + a60=(a60+a78); + a78=(a31*a81); + a66=(a23*a81); + a61=(a6*a77); + a70=(a0*a81); + a61=(a61+a70); + a70=(a10*a74); + a68=(a1*a62); + a70=(a70+a68); + a61=(a61+a70); + a70=(a8*a11); + a68=(a2*a64); + a70=(a70+a68); + a61=(a61-a70); + a70=(a6*a61); + a66=(a66+a70); + a70=(a25*a83); + a68=(a5*a77); + a67=(a0*a83); + a68=(a68+a67); + a67=(a8*a74); + a65=(a1*a64); + a67=(a67+a65); + a68=(a68+a67); + a67=(a10*a11); + a65=(a2*a62); + a67=(a67+a65); + a68=(a68+a67); + a67=(a5*a68); + a70=(a70+a67); + a66=(a66+a70); + a70=(a26*a64); + a67=(a8*a77); + a65=(a0*a64); + a67=(a67+a65); + a65=(a5*a74); + a15=(a1*a83); + a65=(a65+a15); + a67=(a67-a65); + a65=(a6*a11); + a15=(a2*a81); + a65=(a65+a15); + a67=(a67+a65); + a65=(a8*a67); + a70=(a70+a65); + a66=(a66-a70); + a70=(a27*a62); + a74=(a6*a74); + a65=(a1*a81); + a74=(a74+a65); + a77=(a10*a77); + a65=(a0*a62); + a77=(a77+a65); + a74=(a74-a77); + a11=(a5*a11); + a77=(a2*a83); + a11=(a11+a77); + a74=(a74+a11); + a11=(a10*a74); + a70=(a70+a11); + a66=(a66+a70); + a70=(a22*a66); + a11=(a30*a66); + a14=(a14*a66); + a14=(a24*a14); + a11=(a11+a14); + a11=(a29*a11); + a70=(a70+a11); + a11=(a6*a70); + a14=(a28*a81); + a11=(a11+a14); + a14=(a27*a81); + a77=(a6*a74); + a14=(a14+a77); + a77=(a25*a64); + a65=(a8*a68); + a77=(a77+a65); + a14=(a14+a77); + a77=(a26*a83); + a65=(a5*a67); + a77=(a77+a65); + a14=(a14+a77); + a77=(a23*a62); + a65=(a10*a61); + a77=(a77+a65); + a14=(a14-a77); + a77=(a32*a14); + a65=(a36*a14); + a80=(a80*a14); + a80=(a33*a80); + a65=(a65+a80); + a65=(a35*a65); + a77=(a77+a65); + a65=(a10*a77); + a80=(a34*a62); + a65=(a65+a80); + a11=(a11-a65); + a65=(a26*a81); + a67=(a6*a67); + a65=(a65+a67); + a67=(a27*a83); + a74=(a5*a74); + a67=(a67+a74); + a65=(a65-a67); + a67=(a23*a64); + a61=(a8*a61); + a67=(a67+a61); + a65=(a65+a67); + a67=(a25*a62); + a68=(a10*a68); + a67=(a67+a68); + a65=(a65+a67); + a67=(a37*a65); + a68=(a41*a65); + a73=(a73*a65); + a73=(a38*a73); + a68=(a68+a73); + a68=(a40*a68); + a67=(a67+a68); + a75=(a75*a66); + a79=(a79*a14); + a75=(a75+a79); + a75=(a42*a75); + a67=(a67-a75); + a75=(a8*a67); + a79=(a39*a64); + a75=(a75+a79); + a11=(a11+a75); + a75=(a6*a11); + a78=(a78+a75); + a75=(a44*a83); + a79=(a5*a70); + a14=(a28*a83); + a79=(a79+a14); + a14=(a8*a77); + a66=(a34*a64); + a14=(a14+a66); + a79=(a79+a14); + a14=(a10*a67); + a66=(a39*a62); + a14=(a14+a66); + a79=(a79+a14); + a14=(a5*a79); + a75=(a75+a14); + a78=(a78+a75); + a75=(a45*a64); + a14=(a5*a77); + a66=(a34*a83); + a14=(a14+a66); + a66=(a8*a70); + a68=(a28*a64); + a66=(a66+a68); + a14=(a14-a66); + a66=(a6*a67); + a68=(a39*a81); + a66=(a66+a68); + a14=(a14+a66); + a66=(a8*a14); + a75=(a75+a66); + a78=(a78+a75); + a75=(a46*a62); + a77=(a6*a77); + a66=(a34*a81); + a77=(a77+a66); + a70=(a10*a70); + a66=(a28*a62); + a70=(a70+a66); + a77=(a77+a70); + a67=(a5*a67); + a70=(a39*a83); + a67=(a67+a70); + a77=(a77-a67); + a67=(a10*a77); + a75=(a75+a67); + a78=(a78-a75); + a78=(a78/a16); + a60=(a60-a78); + if (res[1]!=0) res[1][163]=a60; + a60=(a19*a64); + a78=(a8*a69); + a60=(a60+a78); + a78=(a21*a81); + a75=(a6*a71); + a78=(a78+a75); + a60=(a60-a78); + a78=(a20*a83); + a75=(a5*a82); + a78=(a78+a75); + a60=(a60-a78); + a78=(a17*a62); + a75=(a10*a72); + a78=(a78+a75); + a60=(a60+a78); + a78=(a46*a81); + a75=(a6*a77); + a78=(a78+a75); + a75=(a44*a64); + a67=(a8*a79); + a75=(a75+a67); + a78=(a78+a75); + a75=(a45*a83); + a67=(a5*a14); + a75=(a75+a67); + a78=(a78-a75); + a75=(a31*a62); + a67=(a10*a11); + a75=(a75+a67); + a78=(a78+a75); + a78=(a78/a16); + a60=(a60-a78); + if (res[1]!=0) res[1][164]=a60; + a60=(a20*a81); + a82=(a6*a82); + a60=(a60+a82); + a82=(a21*a83); + a71=(a5*a71); + a82=(a82+a71); + a60=(a60-a82); + a82=(a17*a64); + a72=(a8*a72); + a82=(a82+a72); + a60=(a60-a82); + a82=(a19*a62); + a69=(a10*a69); + a82=(a82+a69); + a60=(a60+a82); + a81=(a45*a81); + a14=(a6*a14); + a81=(a81+a14); + a83=(a46*a83); + a77=(a5*a77); + a83=(a83+a77); + a81=(a81+a83); + a64=(a31*a64); + a11=(a8*a11); + a64=(a64+a11); + a81=(a81-a64); + a62=(a44*a62); + a79=(a10*a79); + a62=(a62+a79); + a81=(a81+a62); + a81=(a81/a16); + a60=(a60-a81); + if (res[1]!=0) res[1][165]=a60; + a60=(a51*a76); + a81=(a50*a63); + a62=(a7*a81); + a60=(a60+a62); + a62=(a54*a63); + a79=(a53*a76); + a64=(a9*a79); + a62=(a62+a64); + a60=(a60-a62); + a60=(a60/a52); + a60=(-a60); + if (res[1]!=0) res[1][166]=a60; + a63=(a59*a63); + a60=(a52*a12); + a62=(a9*a60); + a63=(a63+a62); + a62=(a51*a12); + a81=(a4*a81); + a62=(a62+a81); + a63=(a63-a62); + a63=(a63/a53); + a63=(-a63); + if (res[1]!=0) res[1][167]=a63; + a12=(a54*a12); + a79=(a4*a79); + a12=(a12+a79); + a76=(a59*a76); + a60=(a7*a60); + a76=(a76+a60); + a12=(a12-a76); + a12=(a12/a50); + a12=(-a12); + if (res[1]!=0) res[1][168]=a12; + a12=arg[2]? arg[2][7] : 0; + if (res[2]!=0) res[2][0]=a12; + a76=arg[2]? arg[2][8] : 0; + if (res[2]!=0) res[2][1]=a76; + a60=arg[2]? arg[2][9] : 0; + if (res[2]!=0) res[2][2]=a60; + a79=arg[2]? arg[2][10] : 0; + a63=(a5*a79); + a62=arg[2]? arg[2][4] : 0; + a81=(a4*a62); + a63=(a63+a81); + a81=arg[2]? arg[2][11] : 0; + a64=(a8*a81); + a11=arg[2]? arg[2][5] : 0; + a83=(a7*a11); + a64=(a64+a83); + a63=(a63+a64); + a64=arg[2]? arg[2][12] : 0; + a83=(a10*a64); + a77=arg[2]? arg[2][6] : 0; + a14=(a9*a77); + a83=(a83+a14); + a63=(a63+a83); + a63=(a3*a63); + a63=(-a63); + if (res[2]!=0) res[2][3]=a63; + a63=(a6*a79); + a83=arg[2]? arg[2][3] : 0; + a14=(a4*a83); + a63=(a63+a14); + a14=(a10*a81); + a82=(a7*a77); + a14=(a14+a82); + a63=(a63-a14); + a14=(a8*a64); + a82=(a9*a11); + a14=(a14+a82); + a63=(a63+a14); + a63=(a3*a63); + if (res[2]!=0) res[2][4]=a63; + a63=(a6*a81); + a14=(a7*a83); + a63=(a63+a14); + a14=(a10*a79); + a82=(a4*a77); + a14=(a14+a82); + a63=(a63+a14); + a14=(a5*a64); + a82=(a9*a62); + a14=(a14+a82); + a63=(a63-a14); + a63=(a3*a63); + if (res[2]!=0) res[2][5]=a63; + a63=(a5*a81); + a14=(a7*a62); + a63=(a63+a14); + a14=(a8*a79); + a82=(a4*a11); + a14=(a14+a82); + a63=(a63-a14); + a14=(a6*a64); + a82=(a9*a83); + a14=(a14+a82); + a63=(a63+a14); + a63=(a3*a63); + if (res[2]!=0) res[2][6]=a63; + a63=(a8/a16); + a14=(a6*a63); + a82=(a10/a16); + a69=(a5*a82); + a14=(a14+a69); + a69=(a6/a16); + a72=(a8*a69); + a14=(a14+a72); + a72=(a5/a16); + a71=(a10*a72); + a14=(a14+a71); + a71=(a17*a83); + a78=(a13*a11); + a75=(a6*a78); + a71=(a71+a75); + a75=(a19*a62); + a67=(a13*a77); + a70=(a5*a67); + a75=(a75+a70); + a71=(a71+a75); + a75=(a20*a11); + a70=(a13*a83); + a66=(a8*a70); + a75=(a75+a66); + a71=(a71+a75); + a75=(a21*a77); + a66=(a13*a62); + a68=(a10*a66); + a75=(a75+a68); + a71=(a71+a75); + a75=(a31*a83); + a68=(a23*a83); + a73=(a6*a12); + a65=(a0*a83); + a73=(a73+a65); + a65=(a10*a76); + a61=(a1*a77); + a65=(a65+a61); + a73=(a73+a65); + a65=(a8*a60); + a61=(a2*a11); + a65=(a65+a61); + a73=(a73-a65); + a65=(a6*a73); + a68=(a68+a65); + a65=(a25*a62); + a61=(a5*a12); + a74=(a0*a62); + a61=(a61+a74); + a74=(a8*a76); + a80=(a1*a11); + a74=(a74+a80); + a61=(a61+a74); + a74=(a10*a60); + a80=(a2*a77); + a74=(a74+a80); + a61=(a61+a74); + a74=(a5*a61); + a65=(a65+a74); + a68=(a68+a65); + a65=(a26*a11); + a74=(a8*a12); + a80=(a0*a11); + a74=(a74+a80); + a80=(a5*a76); + a15=(a1*a62); + a80=(a80+a15); + a74=(a74-a80); + a80=(a6*a60); + a15=(a2*a83); + a80=(a80+a15); + a74=(a74+a80); + a80=(a8*a74); + a65=(a65+a80); + a68=(a68-a65); + a65=(a27*a77); + a76=(a6*a76); + a80=(a1*a83); + a76=(a76+a80); + a12=(a10*a12); + a80=(a0*a77); + a12=(a12+a80); + a76=(a76-a12); + a60=(a5*a60); + a12=(a2*a62); + a60=(a60+a12); + a76=(a76+a60); + a60=(a10*a76); + a65=(a65+a60); + a68=(a68+a65); + a65=(a22*a68); + a60=(a30*a68); + a12=(a24+a24); + a80=(a12*a68); + a80=(a24*a80); + a60=(a60+a80); + a60=(a29*a60); + a65=(a65+a60); + a60=(a6*a65); + a80=(a28*a83); + a60=(a60+a80); + a80=(a27*a83); + a15=(a6*a76); + a80=(a80+a15); + a15=(a25*a11); + a84=(a8*a61); + a15=(a15+a84); + a80=(a80+a15); + a15=(a26*a62); + a84=(a5*a74); + a15=(a15+a84); + a80=(a80+a15); + a15=(a23*a77); + a84=(a10*a73); + a15=(a15+a84); + a80=(a80-a15); + a15=(a32*a80); + a84=(a36*a80); + a85=(a33+a33); + a86=(a85*a80); + a86=(a33*a86); + a84=(a84+a86); + a84=(a35*a84); + a15=(a15+a84); + a84=(a10*a15); + a86=(a34*a77); + a84=(a84+a86); + a60=(a60-a84); + a84=(a26*a83); + a74=(a6*a74); + a84=(a84+a74); + a74=(a27*a62); + a76=(a5*a76); + a74=(a74+a76); + a84=(a84-a74); + a74=(a23*a11); + a73=(a8*a73); + a74=(a74+a73); + a84=(a84+a74); + a74=(a25*a77); + a61=(a10*a61); + a74=(a74+a61); + a84=(a84+a74); + a74=(a37*a84); + a61=(a41*a84); + a73=(a38+a38); + a84=(a73*a84); + a84=(a38*a84); + a61=(a61+a84); + a61=(a40*a61); + a74=(a74+a61); + a61=(a24+a24); + a68=(a61*a68); + a84=(a33+a33); + a80=(a84*a80); + a68=(a68+a80); + a68=(a42*a68); + a74=(a74-a68); + a68=(a8*a74); + a80=(a39*a11); + a68=(a68+a80); + a60=(a60+a68); + a68=(a6*a60); + a75=(a75+a68); + a68=(a44*a62); + a80=(a5*a65); + a76=(a28*a62); + a80=(a80+a76); + a76=(a8*a15); + a86=(a34*a11); + a76=(a76+a86); + a80=(a80+a76); + a76=(a10*a74); + a86=(a39*a77); + a76=(a76+a86); + a80=(a80+a76); + a76=(a5*a80); + a68=(a68+a76); + a75=(a75+a68); + a68=(a45*a11); + a76=(a5*a15); + a86=(a34*a62); + a76=(a76+a86); + a86=(a8*a65); + a87=(a28*a11); + a86=(a86+a87); + a76=(a76-a86); + a86=(a6*a74); + a87=(a39*a83); + a86=(a86+a87); + a76=(a76+a86); + a86=(a8*a76); + a68=(a68+a86); + a75=(a75+a68); + a68=(a46*a77); + a15=(a6*a15); + a86=(a34*a83); + a15=(a15+a86); + a65=(a10*a65); + a86=(a28*a77); + a65=(a65+a86); + a15=(a15+a65); + a74=(a5*a74); + a65=(a39*a62); + a74=(a74+a65); + a15=(a15-a74); + a74=(a10*a15); + a68=(a68+a74); + a75=(a75-a68); + a75=(a75/a16); + a71=(a71-a75); + a14=(a14+a71); + if (res[2]!=0) res[2][7]=a14; + a14=(a8*a82); + a71=(a6*a72); + a14=(a14-a71); + a71=(a5*a69); + a14=(a14-a71); + a71=(a10*a63); + a14=(a14+a71); + a71=(a19*a11); + a75=(a8*a67); + a71=(a71+a75); + a75=(a21*a83); + a68=(a6*a66); + a75=(a75+a68); + a71=(a71-a75); + a75=(a20*a62); + a68=(a5*a70); + a75=(a75+a68); + a71=(a71-a75); + a75=(a17*a77); + a68=(a10*a78); + a75=(a75+a68); + a71=(a71+a75); + a75=(a46*a83); + a68=(a6*a15); + a75=(a75+a68); + a68=(a44*a11); + a74=(a8*a80); + a68=(a68+a74); + a75=(a75+a68); + a68=(a45*a62); + a74=(a5*a76); + a68=(a68+a74); + a75=(a75-a68); + a68=(a31*a77); + a74=(a10*a60); + a68=(a68+a74); + a75=(a75+a68); + a75=(a75/a16); + a71=(a71-a75); + a14=(a14+a71); + if (res[2]!=0) res[2][8]=a14; + a69=(a6*a69); + a72=(a5*a72); + a69=(a69-a72); + a63=(a8*a63); + a69=(a69-a63); + a82=(a10*a82); + a69=(a69+a82); + a82=(a20*a83); + a70=(a6*a70); + a82=(a82+a70); + a70=(a21*a62); + a66=(a5*a66); + a70=(a70+a66); + a82=(a82-a70); + a70=(a17*a11); + a78=(a8*a78); + a70=(a70+a78); + a82=(a82-a70); + a70=(a19*a77); + a67=(a10*a67); + a70=(a70+a67); + a82=(a82+a70); + a83=(a45*a83); + a76=(a6*a76); + a83=(a83+a76); + a62=(a46*a62); + a15=(a5*a15); + a62=(a62+a15); + a83=(a83+a62); + a11=(a31*a11); + a60=(a8*a60); + a11=(a11+a60); + a83=(a83-a11); + a77=(a44*a77); + a80=(a10*a80); + a77=(a77+a80); + a83=(a83+a77); + a83=(a83/a16); + a82=(a82-a83); + a69=(a69+a82); + if (res[2]!=0) res[2][9]=a69; + a18=(a18/a52); + a69=(a51*a81); + a82=(a50*a64); + a83=(a7*a82); + a69=(a69+a83); + a83=(a54*a64); + a77=(a53*a81); + a80=(a9*a77); + a83=(a83+a80); + a69=(a69-a83); + a69=(a69/a52); + a18=(a18-a69); + if (res[2]!=0) res[2][10]=a18; + a43=(a43/a53); + a64=(a59*a64); + a18=(a52*a79); + a69=(a9*a18); + a64=(a64+a69); + a69=(a51*a79); + a82=(a4*a82); + a69=(a69+a82); + a64=(a64-a69); + a64=(a64/a53); + a43=(a43+a64); + a43=(-a43); + if (res[2]!=0) res[2][11]=a43; + a43=(a55/a50); + a79=(a54*a79); + a77=(a4*a77); + a79=(a79+a77); + a81=(a59*a81); + a18=(a7*a18); + a81=(a81+a18); + a79=(a79-a81); + a79=(a79/a50); + a43=(a43+a79); + a43=(-a43); + if (res[2]!=0) res[2][12]=a43; + a43=arg[2]? arg[2][20] : 0; + if (res[2]!=0) res[2][13]=a43; + a79=arg[2]? arg[2][21] : 0; + if (res[2]!=0) res[2][14]=a79; + a81=arg[2]? arg[2][22] : 0; + if (res[2]!=0) res[2][15]=a81; + a18=arg[2]? arg[2][23] : 0; + a77=(a5*a18); + a64=arg[2]? arg[2][17] : 0; + a69=(a4*a64); + a77=(a77+a69); + a69=arg[2]? arg[2][24] : 0; + a82=(a8*a69); + a83=arg[2]? arg[2][18] : 0; + a80=(a7*a83); + a82=(a82+a80); + a77=(a77+a82); + a82=arg[2]? arg[2][25] : 0; + a80=(a10*a82); + a11=arg[2]? arg[2][19] : 0; + a60=(a9*a11); + a80=(a80+a60); + a77=(a77+a80); + a77=(a3*a77); + a77=(-a77); + if (res[2]!=0) res[2][16]=a77; + a77=(a6*a18); + a80=arg[2]? arg[2][16] : 0; + a60=(a4*a80); + a77=(a77+a60); + a60=(a10*a69); + a62=(a7*a11); + a60=(a60+a62); + a77=(a77-a60); + a60=(a8*a82); + a62=(a9*a83); + a60=(a60+a62); + a77=(a77+a60); + a77=(a3*a77); + if (res[2]!=0) res[2][17]=a77; + a77=(a6*a69); + a60=(a7*a80); + a77=(a77+a60); + a60=(a10*a18); + a62=(a4*a11); + a60=(a60+a62); + a77=(a77+a60); + a60=(a5*a82); + a62=(a9*a64); + a60=(a60+a62); + a77=(a77-a60); + a77=(a3*a77); + if (res[2]!=0) res[2][18]=a77; + a77=(a5*a69); + a60=(a7*a64); + a77=(a77+a60); + a60=(a8*a18); + a62=(a4*a83); + a60=(a60+a62); + a77=(a77-a60); + a60=(a6*a82); + a62=(a9*a80); + a60=(a60+a62); + a77=(a77+a60); + a77=(a3*a77); + if (res[2]!=0) res[2][19]=a77; + a77=(a8/a16); + a60=(a6*a77); + a62=(a10/a16); + a15=(a5*a62); + a60=(a60+a15); + a15=(a6/a16); + a76=(a8*a15); + a60=(a60+a76); + a76=(a5/a16); + a70=(a10*a76); + a60=(a60+a70); + a70=(a17*a80); + a67=(a13*a83); + a78=(a6*a67); + a70=(a70+a78); + a78=(a19*a64); + a66=(a13*a11); + a63=(a5*a66); + a78=(a78+a63); + a70=(a70+a78); + a78=(a20*a83); + a63=(a13*a80); + a72=(a8*a63); + a78=(a78+a72); + a70=(a70+a78); + a78=(a21*a11); + a72=(a13*a64); + a14=(a10*a72); + a78=(a78+a14); + a70=(a70+a78); + a78=(a31*a80); + a14=(a23*a80); + a71=(a6*a43); + a75=(a0*a80); + a71=(a71+a75); + a75=(a10*a79); + a68=(a1*a11); + a75=(a75+a68); + a71=(a71+a75); + a75=(a8*a81); + a68=(a2*a83); + a75=(a75+a68); + a71=(a71-a75); + a75=(a6*a71); + a14=(a14+a75); + a75=(a25*a64); + a68=(a5*a43); + a74=(a0*a64); + a68=(a68+a74); + a74=(a8*a79); + a65=(a1*a83); + a74=(a74+a65); + a68=(a68+a74); + a74=(a10*a81); + a65=(a2*a11); + a74=(a74+a65); + a68=(a68+a74); + a74=(a5*a68); + a75=(a75+a74); + a14=(a14+a75); + a75=(a26*a83); + a74=(a8*a43); + a65=(a0*a83); + a74=(a74+a65); + a65=(a5*a79); + a86=(a1*a64); + a65=(a65+a86); + a74=(a74-a65); + a65=(a6*a81); + a86=(a2*a80); + a65=(a65+a86); + a74=(a74+a65); + a65=(a8*a74); + a75=(a75+a65); + a14=(a14-a75); + a75=(a27*a11); + a79=(a6*a79); + a65=(a1*a80); + a79=(a79+a65); + a43=(a10*a43); + a65=(a0*a11); + a43=(a43+a65); + a79=(a79-a43); + a81=(a5*a81); + a43=(a2*a64); + a81=(a81+a43); + a79=(a79+a81); + a81=(a10*a79); + a75=(a75+a81); + a14=(a14+a75); + a75=(a22*a14); + a81=(a30*a14); + a43=(a12*a14); + a43=(a24*a43); + a81=(a81+a43); + a81=(a29*a81); + a75=(a75+a81); + a81=(a6*a75); + a43=(a28*a80); + a81=(a81+a43); + a43=(a27*a80); + a65=(a6*a79); + a43=(a43+a65); + a65=(a25*a83); + a86=(a8*a68); + a65=(a65+a86); + a43=(a43+a65); + a65=(a26*a64); + a86=(a5*a74); + a65=(a65+a86); + a43=(a43+a65); + a65=(a23*a11); + a86=(a10*a71); + a65=(a65+a86); + a43=(a43-a65); + a65=(a32*a43); + a86=(a36*a43); + a87=(a85*a43); + a87=(a33*a87); + a86=(a86+a87); + a86=(a35*a86); + a65=(a65+a86); + a86=(a10*a65); + a87=(a34*a11); + a86=(a86+a87); + a81=(a81-a86); + a86=(a26*a80); + a74=(a6*a74); + a86=(a86+a74); + a74=(a27*a64); + a79=(a5*a79); + a74=(a74+a79); + a86=(a86-a74); + a74=(a23*a83); + a71=(a8*a71); + a74=(a74+a71); + a86=(a86+a74); + a74=(a25*a11); + a68=(a10*a68); + a74=(a74+a68); + a86=(a86+a74); + a74=(a37*a86); + a68=(a41*a86); + a86=(a73*a86); + a86=(a38*a86); + a68=(a68+a86); + a68=(a40*a68); + a74=(a74+a68); + a14=(a61*a14); + a43=(a84*a43); + a14=(a14+a43); + a14=(a42*a14); + a74=(a74-a14); + a14=(a8*a74); + a43=(a39*a83); + a14=(a14+a43); + a81=(a81+a14); + a14=(a6*a81); + a78=(a78+a14); + a14=(a44*a64); + a43=(a5*a75); + a68=(a28*a64); + a43=(a43+a68); + a68=(a8*a65); + a86=(a34*a83); + a68=(a68+a86); + a43=(a43+a68); + a68=(a10*a74); + a86=(a39*a11); + a68=(a68+a86); + a43=(a43+a68); + a68=(a5*a43); + a14=(a14+a68); + a78=(a78+a14); + a14=(a45*a83); + a68=(a5*a65); + a86=(a34*a64); + a68=(a68+a86); + a86=(a8*a75); + a71=(a28*a83); + a86=(a86+a71); + a68=(a68-a86); + a86=(a6*a74); + a71=(a39*a80); + a86=(a86+a71); + a68=(a68+a86); + a86=(a8*a68); + a14=(a14+a86); + a78=(a78+a14); + a14=(a46*a11); + a65=(a6*a65); + a86=(a34*a80); + a65=(a65+a86); + a75=(a10*a75); + a86=(a28*a11); + a75=(a75+a86); + a65=(a65+a75); + a74=(a5*a74); + a75=(a39*a64); + a74=(a74+a75); + a65=(a65-a74); + a74=(a10*a65); + a14=(a14+a74); + a78=(a78-a14); + a78=(a78/a16); + a70=(a70-a78); + a60=(a60+a70); + if (res[2]!=0) res[2][20]=a60; + a60=(a8*a62); + a70=(a6*a76); + a60=(a60-a70); + a70=(a5*a15); + a60=(a60-a70); + a70=(a10*a77); + a60=(a60+a70); + a70=(a19*a83); + a78=(a8*a66); + a70=(a70+a78); + a78=(a21*a80); + a14=(a6*a72); + a78=(a78+a14); + a70=(a70-a78); + a78=(a20*a64); + a14=(a5*a63); + a78=(a78+a14); + a70=(a70-a78); + a78=(a17*a11); + a14=(a10*a67); + a78=(a78+a14); + a70=(a70+a78); + a78=(a46*a80); + a14=(a6*a65); + a78=(a78+a14); + a14=(a44*a83); + a74=(a8*a43); + a14=(a14+a74); + a78=(a78+a14); + a14=(a45*a64); + a74=(a5*a68); + a14=(a14+a74); + a78=(a78-a14); + a14=(a31*a11); + a74=(a10*a81); + a14=(a14+a74); + a78=(a78+a14); + a78=(a78/a16); + a70=(a70-a78); + a60=(a60+a70); + if (res[2]!=0) res[2][21]=a60; + a15=(a6*a15); + a76=(a5*a76); + a15=(a15-a76); + a77=(a8*a77); + a15=(a15-a77); + a62=(a10*a62); + a15=(a15+a62); + a62=(a20*a80); + a63=(a6*a63); + a62=(a62+a63); + a63=(a21*a64); + a72=(a5*a72); + a63=(a63+a72); + a62=(a62-a63); + a63=(a17*a83); + a67=(a8*a67); + a63=(a63+a67); + a62=(a62-a63); + a63=(a19*a11); + a66=(a10*a66); + a63=(a63+a66); + a62=(a62+a63); + a80=(a45*a80); + a68=(a6*a68); + a80=(a80+a68); + a64=(a46*a64); + a65=(a5*a65); + a64=(a64+a65); + a80=(a80+a64); + a83=(a31*a83); + a81=(a8*a81); + a83=(a83+a81); + a80=(a80-a83); + a11=(a44*a11); + a43=(a10*a43); + a11=(a11+a43); + a80=(a80+a11); + a80=(a80/a16); + a62=(a62-a80); + a15=(a15+a62); + if (res[2]!=0) res[2][22]=a15; + a47=(a47/a52); + a15=(a51*a69); + a62=(a50*a82); + a80=(a7*a62); + a15=(a15+a80); + a80=(a54*a82); + a11=(a53*a69); + a43=(a9*a11); + a80=(a80+a43); + a15=(a15-a80); + a15=(a15/a52); + a47=(a47-a15); + if (res[2]!=0) res[2][23]=a47; + a56=(a56/a53); + a82=(a59*a82); + a47=(a52*a18); + a15=(a9*a47); + a82=(a82+a15); + a15=(a51*a18); + a62=(a4*a62); + a15=(a15+a62); + a82=(a82-a15); + a82=(a82/a53); + a56=(a56+a82); + a56=(-a56); + if (res[2]!=0) res[2][24]=a56; + a56=(a55/a50); + a18=(a54*a18); + a11=(a4*a11); + a18=(a18+a11); + a69=(a59*a69); + a47=(a7*a47); + a69=(a69+a47); + a18=(a18-a69); + a18=(a18/a50); + a56=(a56+a18); + a56=(-a56); + if (res[2]!=0) res[2][25]=a56; + a56=arg[2]? arg[2][33] : 0; + if (res[2]!=0) res[2][26]=a56; + a18=arg[2]? arg[2][34] : 0; + if (res[2]!=0) res[2][27]=a18; + a69=arg[2]? arg[2][35] : 0; + if (res[2]!=0) res[2][28]=a69; + a47=arg[2]? arg[2][36] : 0; + a11=(a5*a47); + a82=arg[2]? arg[2][30] : 0; + a15=(a4*a82); + a11=(a11+a15); + a15=arg[2]? arg[2][37] : 0; + a62=(a8*a15); + a80=arg[2]? arg[2][31] : 0; + a43=(a7*a80); + a62=(a62+a43); + a11=(a11+a62); + a62=arg[2]? arg[2][38] : 0; + a43=(a10*a62); + a83=arg[2]? arg[2][32] : 0; + a81=(a9*a83); + a43=(a43+a81); + a11=(a11+a43); + a11=(a3*a11); + a11=(-a11); + if (res[2]!=0) res[2][29]=a11; + a11=(a6*a47); + a43=arg[2]? arg[2][29] : 0; + a81=(a4*a43); + a11=(a11+a81); + a81=(a10*a15); + a64=(a7*a83); + a81=(a81+a64); + a11=(a11-a81); + a81=(a8*a62); + a64=(a9*a80); + a81=(a81+a64); + a11=(a11+a81); + a11=(a3*a11); + if (res[2]!=0) res[2][30]=a11; + a11=(a6*a15); + a81=(a7*a43); + a11=(a11+a81); + a81=(a10*a47); + a64=(a4*a83); + a81=(a81+a64); + a11=(a11+a81); + a81=(a5*a62); + a64=(a9*a82); + a81=(a81+a64); + a11=(a11-a81); + a11=(a3*a11); + if (res[2]!=0) res[2][31]=a11; + a11=(a5*a15); + a81=(a7*a82); + a11=(a11+a81); + a81=(a8*a47); + a64=(a4*a80); + a81=(a81+a64); + a11=(a11-a81); + a81=(a6*a62); + a64=(a9*a43); + a81=(a81+a64); + a11=(a11+a81); + a11=(a3*a11); + if (res[2]!=0) res[2][32]=a11; + a11=(a8/a16); + a81=(a6*a11); + a64=(a10/a16); + a65=(a5*a64); + a81=(a81+a65); + a65=(a6/a16); + a68=(a8*a65); + a81=(a81+a68); + a68=(a5/a16); + a63=(a10*a68); + a81=(a81+a63); + a63=(a17*a43); + a66=(a13*a80); + a67=(a6*a66); + a63=(a63+a67); + a67=(a19*a82); + a72=(a13*a83); + a77=(a5*a72); + a67=(a67+a77); + a63=(a63+a67); + a67=(a20*a80); + a77=(a13*a43); + a76=(a8*a77); + a67=(a67+a76); + a63=(a63+a67); + a67=(a21*a83); + a76=(a13*a82); + a60=(a10*a76); + a67=(a67+a60); + a63=(a63+a67); + a67=(a31*a43); + a60=(a23*a43); + a70=(a6*a56); + a78=(a0*a43); + a70=(a70+a78); + a78=(a10*a18); + a14=(a1*a83); + a78=(a78+a14); + a70=(a70+a78); + a78=(a8*a69); + a14=(a2*a80); + a78=(a78+a14); + a70=(a70-a78); + a78=(a6*a70); + a60=(a60+a78); + a78=(a25*a82); + a14=(a5*a56); + a74=(a0*a82); + a14=(a14+a74); + a74=(a8*a18); + a75=(a1*a80); + a74=(a74+a75); + a14=(a14+a74); + a74=(a10*a69); + a75=(a2*a83); + a74=(a74+a75); + a14=(a14+a74); + a74=(a5*a14); + a78=(a78+a74); + a60=(a60+a78); + a78=(a26*a80); + a74=(a8*a56); + a75=(a0*a80); + a74=(a74+a75); + a75=(a5*a18); + a86=(a1*a82); + a75=(a75+a86); + a74=(a74-a75); + a75=(a6*a69); + a86=(a2*a43); + a75=(a75+a86); + a74=(a74+a75); + a75=(a8*a74); + a78=(a78+a75); + a60=(a60-a78); + a78=(a27*a83); + a18=(a6*a18); + a75=(a1*a43); + a18=(a18+a75); + a56=(a10*a56); + a75=(a0*a83); + a56=(a56+a75); + a18=(a18-a56); + a69=(a5*a69); + a56=(a2*a82); + a69=(a69+a56); + a18=(a18+a69); + a69=(a10*a18); + a78=(a78+a69); + a60=(a60+a78); + a78=(a22*a60); + a69=(a30*a60); + a56=(a12*a60); + a56=(a24*a56); + a69=(a69+a56); + a69=(a29*a69); + a78=(a78+a69); + a69=(a6*a78); + a56=(a28*a43); + a69=(a69+a56); + a56=(a27*a43); + a75=(a6*a18); + a56=(a56+a75); + a75=(a25*a80); + a86=(a8*a14); + a75=(a75+a86); + a56=(a56+a75); + a75=(a26*a82); + a86=(a5*a74); + a75=(a75+a86); + a56=(a56+a75); + a75=(a23*a83); + a86=(a10*a70); + a75=(a75+a86); + a56=(a56-a75); + a75=(a32*a56); + a86=(a36*a56); + a71=(a85*a56); + a71=(a33*a71); + a86=(a86+a71); + a86=(a35*a86); + a75=(a75+a86); + a86=(a10*a75); + a71=(a34*a83); + a86=(a86+a71); + a69=(a69-a86); + a86=(a26*a43); + a74=(a6*a74); + a86=(a86+a74); + a74=(a27*a82); + a18=(a5*a18); + a74=(a74+a18); + a86=(a86-a74); + a74=(a23*a80); + a70=(a8*a70); + a74=(a74+a70); + a86=(a86+a74); + a74=(a25*a83); + a14=(a10*a14); + a74=(a74+a14); + a86=(a86+a74); + a74=(a37*a86); + a14=(a41*a86); + a86=(a73*a86); + a86=(a38*a86); + a14=(a14+a86); + a14=(a40*a14); + a74=(a74+a14); + a60=(a61*a60); + a56=(a84*a56); + a60=(a60+a56); + a60=(a42*a60); + a74=(a74-a60); + a60=(a8*a74); + a56=(a39*a80); + a60=(a60+a56); + a69=(a69+a60); + a60=(a6*a69); + a67=(a67+a60); + a60=(a44*a82); + a56=(a5*a78); + a14=(a28*a82); + a56=(a56+a14); + a14=(a8*a75); + a86=(a34*a80); + a14=(a14+a86); + a56=(a56+a14); + a14=(a10*a74); + a86=(a39*a83); + a14=(a14+a86); + a56=(a56+a14); + a14=(a5*a56); + a60=(a60+a14); + a67=(a67+a60); + a60=(a45*a80); + a14=(a5*a75); + a86=(a34*a82); + a14=(a14+a86); + a86=(a8*a78); + a70=(a28*a80); + a86=(a86+a70); + a14=(a14-a86); + a86=(a6*a74); + a70=(a39*a43); + a86=(a86+a70); + a14=(a14+a86); + a86=(a8*a14); + a60=(a60+a86); + a67=(a67+a60); + a60=(a46*a83); + a75=(a6*a75); + a86=(a34*a43); + a75=(a75+a86); + a78=(a10*a78); + a86=(a28*a83); + a78=(a78+a86); + a75=(a75+a78); + a74=(a5*a74); + a78=(a39*a82); + a74=(a74+a78); + a75=(a75-a74); + a74=(a10*a75); + a60=(a60+a74); + a67=(a67-a60); + a67=(a67/a16); + a63=(a63-a67); + a81=(a81+a63); + if (res[2]!=0) res[2][33]=a81; + a81=(a8*a64); + a63=(a6*a68); + a81=(a81-a63); + a63=(a5*a65); + a81=(a81-a63); + a63=(a10*a11); + a81=(a81+a63); + a63=(a19*a80); + a67=(a8*a72); + a63=(a63+a67); + a67=(a21*a43); + a60=(a6*a76); + a67=(a67+a60); + a63=(a63-a67); + a67=(a20*a82); + a60=(a5*a77); + a67=(a67+a60); + a63=(a63-a67); + a67=(a17*a83); + a60=(a10*a66); + a67=(a67+a60); + a63=(a63+a67); + a67=(a46*a43); + a60=(a6*a75); + a67=(a67+a60); + a60=(a44*a80); + a74=(a8*a56); + a60=(a60+a74); + a67=(a67+a60); + a60=(a45*a82); + a74=(a5*a14); + a60=(a60+a74); + a67=(a67-a60); + a60=(a31*a83); + a74=(a10*a69); + a60=(a60+a74); + a67=(a67+a60); + a67=(a67/a16); + a63=(a63-a67); + a81=(a81+a63); + if (res[2]!=0) res[2][34]=a81; + a65=(a6*a65); + a68=(a5*a68); + a65=(a65-a68); + a11=(a8*a11); + a65=(a65-a11); + a64=(a10*a64); + a65=(a65+a64); + a64=(a20*a43); + a77=(a6*a77); + a64=(a64+a77); + a77=(a21*a82); + a76=(a5*a76); + a77=(a77+a76); + a64=(a64-a77); + a77=(a17*a80); + a66=(a8*a66); + a77=(a77+a66); + a64=(a64-a77); + a77=(a19*a83); + a72=(a10*a72); + a77=(a77+a72); + a64=(a64+a77); + a43=(a45*a43); + a14=(a6*a14); + a43=(a43+a14); + a82=(a46*a82); + a75=(a5*a75); + a82=(a82+a75); + a43=(a43+a82); + a80=(a31*a80); + a69=(a8*a69); + a80=(a80+a69); + a43=(a43-a80); + a83=(a44*a83); + a56=(a10*a56); + a83=(a83+a56); + a43=(a43+a83); + a43=(a43/a16); + a64=(a64-a43); + a65=(a65+a64); + if (res[2]!=0) res[2][35]=a65; + a48=(a48/a52); + a65=(a51*a15); + a64=(a50*a62); + a43=(a7*a64); + a65=(a65+a43); + a43=(a54*a62); + a83=(a53*a15); + a56=(a9*a83); + a43=(a43+a56); + a65=(a65-a43); + a65=(a65/a52); + a48=(a48-a65); + if (res[2]!=0) res[2][36]=a48; + a57=(a57/a53); + a62=(a59*a62); + a48=(a52*a47); + a65=(a9*a48); + a62=(a62+a65); + a65=(a51*a47); + a64=(a4*a64); + a65=(a65+a64); + a62=(a62-a65); + a62=(a62/a53); + a57=(a57+a62); + a57=(-a57); + if (res[2]!=0) res[2][37]=a57; + a57=(a55/a50); + a47=(a54*a47); + a83=(a4*a83); + a47=(a47+a83); + a15=(a59*a15); + a48=(a7*a48); + a15=(a15+a48); + a47=(a47-a15); + a47=(a47/a50); + a57=(a57-a47); + if (res[2]!=0) res[2][38]=a57; + a57=arg[2]? arg[2][46] : 0; + if (res[2]!=0) res[2][39]=a57; + a47=arg[2]? arg[2][47] : 0; + if (res[2]!=0) res[2][40]=a47; + a15=arg[2]? arg[2][48] : 0; + if (res[2]!=0) res[2][41]=a15; + a48=arg[2]? arg[2][49] : 0; + a83=(a5*a48); + a62=arg[2]? arg[2][43] : 0; + a65=(a4*a62); + a83=(a83+a65); + a65=arg[2]? arg[2][50] : 0; + a64=(a8*a65); + a43=arg[2]? arg[2][44] : 0; + a56=(a7*a43); + a64=(a64+a56); + a83=(a83+a64); + a64=arg[2]? arg[2][51] : 0; + a56=(a10*a64); + a80=arg[2]? arg[2][45] : 0; + a69=(a9*a80); + a56=(a56+a69); + a83=(a83+a56); + a83=(a3*a83); + a83=(-a83); + if (res[2]!=0) res[2][42]=a83; + a83=(a6*a48); + a56=arg[2]? arg[2][42] : 0; + a69=(a4*a56); + a83=(a83+a69); + a69=(a10*a65); + a82=(a7*a80); + a69=(a69+a82); + a83=(a83-a69); + a69=(a8*a64); + a82=(a9*a43); + a69=(a69+a82); + a83=(a83+a69); + a83=(a3*a83); + if (res[2]!=0) res[2][43]=a83; + a83=(a6*a65); + a69=(a7*a56); + a83=(a83+a69); + a69=(a10*a48); + a82=(a4*a80); + a69=(a69+a82); + a83=(a83+a69); + a69=(a5*a64); + a82=(a9*a62); + a69=(a69+a82); + a83=(a83-a69); + a83=(a3*a83); + if (res[2]!=0) res[2][44]=a83; + a83=(a5*a65); + a69=(a7*a62); + a83=(a83+a69); + a69=(a8*a48); + a82=(a4*a43); + a69=(a69+a82); + a83=(a83-a69); + a69=(a6*a64); + a82=(a9*a56); + a69=(a69+a82); + a83=(a83+a69); + a3=(a3*a83); + if (res[2]!=0) res[2][45]=a3; + a3=(a8/a16); + a83=(a6*a3); + a69=(a10/a16); + a82=(a5*a69); + a83=(a83+a82); + a82=(a6/a16); + a75=(a8*a82); + a83=(a83+a75); + a75=(a5/a16); + a14=(a10*a75); + a83=(a83+a14); + a14=(a17*a56); + a77=(a13*a43); + a72=(a6*a77); + a14=(a14+a72); + a72=(a19*a62); + a66=(a13*a80); + a76=(a5*a66); + a72=(a72+a76); + a14=(a14+a72); + a72=(a20*a43); + a76=(a13*a56); + a11=(a8*a76); + a72=(a72+a11); + a14=(a14+a72); + a72=(a21*a80); + a13=(a13*a62); + a11=(a10*a13); + a72=(a72+a11); + a14=(a14+a72); + a72=(a31*a56); + a11=(a23*a56); + a68=(a6*a57); + a81=(a0*a56); + a68=(a68+a81); + a81=(a10*a47); + a63=(a1*a80); + a81=(a81+a63); + a68=(a68+a81); + a81=(a8*a15); + a63=(a2*a43); + a81=(a81+a63); + a68=(a68-a81); + a81=(a6*a68); + a11=(a11+a81); + a81=(a25*a62); + a63=(a5*a57); + a67=(a0*a62); + a63=(a63+a67); + a67=(a8*a47); + a60=(a1*a43); + a67=(a67+a60); + a63=(a63+a67); + a67=(a10*a15); + a60=(a2*a80); + a67=(a67+a60); + a63=(a63+a67); + a67=(a5*a63); + a81=(a81+a67); + a11=(a11+a81); + a81=(a26*a43); + a67=(a8*a57); + a60=(a0*a43); + a67=(a67+a60); + a60=(a5*a47); + a74=(a1*a62); + a60=(a60+a74); + a67=(a67-a60); + a60=(a6*a15); + a74=(a2*a56); + a60=(a60+a74); + a67=(a67+a60); + a60=(a8*a67); + a81=(a81+a60); + a11=(a11-a81); + a81=(a27*a80); + a47=(a6*a47); + a1=(a1*a56); + a47=(a47+a1); + a57=(a10*a57); + a0=(a0*a80); + a57=(a57+a0); + a47=(a47-a57); + a15=(a5*a15); + a2=(a2*a62); + a15=(a15+a2); + a47=(a47+a15); + a15=(a10*a47); + a81=(a81+a15); + a11=(a11+a81); + a22=(a22*a11); + a30=(a30*a11); + a12=(a12*a11); + a24=(a24*a12); + a30=(a30+a24); + a29=(a29*a30); + a22=(a22+a29); + a29=(a6*a22); + a30=(a28*a56); + a29=(a29+a30); + a30=(a27*a56); + a24=(a6*a47); + a30=(a30+a24); + a24=(a25*a43); + a12=(a8*a63); + a24=(a24+a12); + a30=(a30+a24); + a24=(a26*a62); + a12=(a5*a67); + a24=(a24+a12); + a30=(a30+a24); + a24=(a23*a80); + a12=(a10*a68); + a24=(a24+a12); + a30=(a30-a24); + a32=(a32*a30); + a36=(a36*a30); + a85=(a85*a30); + a33=(a33*a85); + a36=(a36+a33); + a35=(a35*a36); + a32=(a32+a35); + a35=(a10*a32); + a36=(a34*a80); + a35=(a35+a36); + a29=(a29-a35); + a26=(a26*a56); + a67=(a6*a67); + a26=(a26+a67); + a27=(a27*a62); + a47=(a5*a47); + a27=(a27+a47); + a26=(a26-a27); + a23=(a23*a43); + a68=(a8*a68); + a23=(a23+a68); + a26=(a26+a23); + a25=(a25*a80); + a63=(a10*a63); + a25=(a25+a63); + a26=(a26+a25); + a37=(a37*a26); + a41=(a41*a26); + a73=(a73*a26); + a38=(a38*a73); + a41=(a41+a38); + a40=(a40*a41); + a37=(a37+a40); + a61=(a61*a11); + a84=(a84*a30); + a61=(a61+a84); + a42=(a42*a61); + a37=(a37-a42); + a42=(a8*a37); + a61=(a39*a43); + a42=(a42+a61); + a29=(a29+a42); + a42=(a6*a29); + a72=(a72+a42); + a42=(a44*a62); + a61=(a5*a22); + a84=(a28*a62); + a61=(a61+a84); + a84=(a8*a32); + a30=(a34*a43); + a84=(a84+a30); + a61=(a61+a84); + a84=(a10*a37); + a30=(a39*a80); + a84=(a84+a30); + a61=(a61+a84); + a84=(a5*a61); + a42=(a42+a84); + a72=(a72+a42); + a42=(a45*a43); + a84=(a5*a32); + a30=(a34*a62); + a84=(a84+a30); + a30=(a8*a22); + a11=(a28*a43); + a30=(a30+a11); + a84=(a84-a30); + a30=(a6*a37); + a11=(a39*a56); + a30=(a30+a11); + a84=(a84+a30); + a30=(a8*a84); + a42=(a42+a30); + a72=(a72+a42); + a42=(a46*a80); + a32=(a6*a32); + a34=(a34*a56); + a32=(a32+a34); + a22=(a10*a22); + a28=(a28*a80); + a22=(a22+a28); + a32=(a32+a22); + a37=(a5*a37); + a39=(a39*a62); + a37=(a37+a39); + a32=(a32-a37); + a37=(a10*a32); + a42=(a42+a37); + a72=(a72-a42); + a72=(a72/a16); + a14=(a14-a72); + a83=(a83+a14); + if (res[2]!=0) res[2][46]=a83; + a83=(a8*a69); + a14=(a6*a75); + a83=(a83-a14); + a14=(a5*a82); + a83=(a83-a14); + a14=(a10*a3); + a83=(a83+a14); + a14=(a19*a43); + a72=(a8*a66); + a14=(a14+a72); + a72=(a21*a56); + a42=(a6*a13); + a72=(a72+a42); + a14=(a14-a72); + a72=(a20*a62); + a42=(a5*a76); + a72=(a72+a42); + a14=(a14-a72); + a72=(a17*a80); + a42=(a10*a77); + a72=(a72+a42); + a14=(a14+a72); + a72=(a46*a56); + a42=(a6*a32); + a72=(a72+a42); + a42=(a44*a43); + a37=(a8*a61); + a42=(a42+a37); + a72=(a72+a42); + a42=(a45*a62); + a37=(a5*a84); + a42=(a42+a37); + a72=(a72-a42); + a42=(a31*a80); + a37=(a10*a29); + a42=(a42+a37); + a72=(a72+a42); + a72=(a72/a16); + a14=(a14-a72); + a83=(a83+a14); + if (res[2]!=0) res[2][47]=a83; + a82=(a6*a82); + a75=(a5*a75); + a82=(a82-a75); + a3=(a8*a3); + a82=(a82-a3); + a69=(a10*a69); + a82=(a82+a69); + a20=(a20*a56); + a76=(a6*a76); + a20=(a20+a76); + a21=(a21*a62); + a13=(a5*a13); + a21=(a21+a13); + a20=(a20-a21); + a17=(a17*a43); + a77=(a8*a77); + a17=(a17+a77); + a20=(a20-a17); + a19=(a19*a80); + a66=(a10*a66); + a19=(a19+a66); + a20=(a20+a19); + a45=(a45*a56); + a6=(a6*a84); + a45=(a45+a6); + a46=(a46*a62); + a5=(a5*a32); + a46=(a46+a5); + a45=(a45+a46); + a31=(a31*a43); + a8=(a8*a29); + a31=(a31+a8); + a45=(a45-a31); + a44=(a44*a80); + a10=(a10*a61); + a44=(a44+a10); + a45=(a45+a44); + a45=(a45/a16); + a20=(a20-a45); + a82=(a82+a20); + if (res[2]!=0) res[2][48]=a82; + a49=(a49/a52); + a82=(a51*a65); + a20=(a50*a64); + a45=(a7*a20); + a82=(a82+a45); + a45=(a54*a64); + a16=(a53*a65); + a44=(a9*a16); + a45=(a45+a44); + a82=(a82-a45); + a82=(a82/a52); + a49=(a49-a82); + if (res[2]!=0) res[2][49]=a49; + a58=(a58/a53); + a64=(a59*a64); + a52=(a52*a48); + a9=(a9*a52); + a64=(a64+a9); + a51=(a51*a48); + a20=(a4*a20); + a51=(a51+a20); + a64=(a64-a51); + a64=(a64/a53); + a58=(a58+a64); + a58=(-a58); + if (res[2]!=0) res[2][50]=a58; + a55=(a55/a50); + a54=(a54*a48); + a4=(a4*a16); + a54=(a54+a4); + a59=(a59*a65); + a7=(a7*a52); + a59=(a59+a7); + a54=(a54-a59); + a54=(a54/a50); + a55=(a55-a54); + if (res[2]!=0) res[2][51]=a55; + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_forw_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_forw_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_vde_forw_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_forw_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_vde_forw_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_vde_forw_incref(void) { +} + +CASADI_SYMBOL_EXPORT void drone_model_expl_vde_forw_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_expl_vde_forw_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int drone_model_expl_vde_forw_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real drone_model_expl_vde_forw_default_in(casadi_int i){ + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_expl_vde_forw_name_in(casadi_int i){ + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* drone_model_expl_vde_forw_name_out(casadi_int i){ + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_expl_vde_forw_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + case 4: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* drone_model_expl_vde_forw_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int drone_model_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_forw.o b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_forw.o new file mode 100644 index 0000000..cb6d686 Binary files /dev/null and b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_expl_vde_forw.o differ diff --git a/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_model.h b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_model.h new file mode 100644 index 0000000..45a2fdf --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/acados/drone_model_model/drone_model_model.h @@ -0,0 +1,74 @@ +/* + * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, + * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, + * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, + * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +#ifndef drone_model_MODEL +#define drone_model_MODEL + +#ifdef __cplusplus +extern "C" { +#endif + + +/* explicit ODE */ + +// explicit ODE +int drone_model_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_expl_ode_fun_work(int *, int *, int *, int *); +const int *drone_model_expl_ode_fun_sparsity_in(int); +const int *drone_model_expl_ode_fun_sparsity_out(int); +int drone_model_expl_ode_fun_n_in(void); +int drone_model_expl_ode_fun_n_out(void); + +// explicit forward VDE +int drone_model_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_expl_vde_forw_work(int *, int *, int *, int *); +const int *drone_model_expl_vde_forw_sparsity_in(int); +const int *drone_model_expl_vde_forw_sparsity_out(int); +int drone_model_expl_vde_forw_n_in(void); +int drone_model_expl_vde_forw_n_out(void); + +// explicit adjoint VDE +int drone_model_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int drone_model_expl_vde_adj_work(int *, int *, int *, int *); +const int *drone_model_expl_vde_adj_sparsity_in(int); +const int *drone_model_expl_vde_adj_sparsity_out(int); +int drone_model_expl_vde_adj_n_in(void); +int drone_model_expl_vde_adj_n_out(void); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // drone_model_MODEL diff --git a/src/agilicious/agilib/src/controller/mpc/cog_filter.cpp b/src/agilicious/agilib/src/controller/mpc/cog_filter.cpp new file mode 100644 index 0000000..8aa6a99 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/cog_filter.cpp @@ -0,0 +1,175 @@ +#include "agilib/controller/mpc/cog_filter.hpp" + +namespace agi { + +CogFilter::CogFilter(const Quadrotor& quad, const Matrix& Q_init, + const Matrix& Q, const Matrix& R) + : quad_(quad), Q_init_(Q_init), Q_(Q), R_(R) { + reset(); +} + +void CogFilter::reset() { + imus_.clear(); + commands_.clear(); + + x_.setZero(); + P_ = Q_init_; +} + +bool CogFilter::addImu(const ImuSample& sample) { + if (!sample.valid()) { + logger_.warn("Got invalid IMU sample!"); + return false; + } + + std::lock_guard lock(mutex_); + imus_.push_back(sample); + if ((int)imus_.size() > N_max_samples_) imus_.pop_front(); + + return true; +} +bool CogFilter::addCommand(const Command& command) { + if (!command.isSingleRotorThrusts()) { + logger_.warn("Got invalid command!"); + return false; + } + + std::lock_guard lock(mutex_); + commands_.push_back(command); + if ((int)commands_.size() > N_max_samples_) commands_.pop_front(); + return true; +} + +bool CogFilter::update() { + // Necessary for prediction + + if (imus_.empty() || commands_.empty()) return true; + + std::lock_guard lock(mutex_); + // logger_.info("Updating: IMU queue: %zu, Command queue: %zu", + // imus_.size(), + // commands_.size()); + + std::deque::iterator imu_it = imus_.begin(); + std::deque::iterator command_it = commands_.begin(); + + // Purge IMU sample swithout command. + while (imu_it->t < command_it->t && imu_it < imus_.end()) { + // logger_.info("Cleared an IMU sample at %1.6f", imu_it->t); + imu_it++; + } + if (imu_it >= imus_.end()) return true; + + // Pull state forward to oldest IMU sample. + // If the state was recently updated, t_ = imut_it->t and the if is jumped. + // This is because, as above, the first IMU sample should be the last + // processed one. + if (!std::isfinite(t_) || t_ < imu_it->t) { + x_.head(NOMEGA) = imu_it->omega.head(NOMEGA); + t_ = imu_it->t; + // logger_.info("Pulled state to %1.3f", t_); + } + + // Forward imu_it to the first sample that has to be processed. + std::deque::iterator previous_imu = imu_it; + while (imu_it->t <= t_ && imu_it < imus_.end()) { + previous_imu = imu_it; + imu_it++; + } + if (imu_it >= imus_.end()) return true; + + // Iterate over all IMU samples that have to be processed. + bool success = true; + std::deque::iterator previous_command = command_it; + const Scalar t_most_recent_command = commands_.back().t; + + while (imu_it < imus_.end() && command_it < commands_.end()) { + // If the IMU is newer than the latest command, keep the last and exit. + const Scalar t_target = imu_it->t; + if (t_target > t_most_recent_command) break; + + + // Advance to the first relevant command sample + while (command_it->t < t_ && command_it < commands_.end()) { + previous_command = command_it; + command_it++; + } + + // Predict forward to t_target; + while (t_ < t_target && command_it < commands_.end()) { + const Scalar t_new = std::min(command_it->t, t_target); + const Scalar dt = std::max(t_new - t_, 0.0); + + Matrix F = Matrix::Zero(); + F(0, 3) = previous_command->thrusts.sum() / quad_.J_(0, 0); + F(1, 2) = -previous_command->thrusts.sum() / quad_.J_(1, 1); + + x_ += dt * F * x_ + dt * B_ * previous_command->thrusts; + const Matrix IdtF = Matrix::Identity() + dt * F; + P_ = IdtF * P_ * IdtF.transpose() + dt * dt * Q_; + P_ = 0.5 * (P_ + P_.transpose()); + // logger_.info("Predicted from %1.3f to %1.3f over %1.3f", t_, t_new, + // dt); logger_.info("with target %1.3f and command %1.3f", t_target, + // command_it->t); + // logger_ << "P prior" << std::endl << P_ << std::endl; + t_ = t_new; + if (t_ < t_target) { + previous_command = command_it; + command_it++; + } + } + + // Check if we predicted sufficiently far. + if (t_ != t_target) { + // logger_.info("Did not reach target %1.3f of %1.3f", t_target, t_); + break; + } + + // Perform posterior update + const Vector z = imu_it->omega.head(NOMEGA) - H_ * x_; + const Matrix S = H_ * P_ * H_.transpose() + R_; + bool invertible = false; + Matrix S_inv; + S.computeInverseWithCheck(S_inv, invertible); + if (!invertible) { + logger_.warn("Could not compute matrix inverse!"); + success = false; + break; + } + + const Matrix K = P_ * H_.transpose() * S.inverse(); + // logger_ << "H" << std::endl << H_ << std::endl; + // logger_ << "P" << std::endl << P_ << std::endl; + // logger_ << "S" << std::endl << S << std::endl; + // logger_ << "K" << std::endl << K << std::endl; + // logger_ << "z" << std::endl << z << std::endl; + x_ += K * z; + P_ -= K * H_ * P_; + P_ = 0.5 * (P_ + P_.transpose()); + + // logger_.info("Updated at %1.3f", t_); + // logger_ << x_.transpose() << std::endl; + + // Ensure all commands are used until their time. + command_it = previous_command; + + // Advance IMU iterator. + previous_imu = imu_it; + imu_it++; + } + + // Clear the queue up to the previous samples. + if (!imus_.empty()) imus_.erase(imus_.begin(), previous_imu); + if (!commands_.empty()) commands_.erase(commands_.begin(), previous_command); + + return success; +} + +Vector<2> CogFilter::getLengthCorrection() const { return x_.tail(NL); } + +Matrix<3, 4> CogFilter::getAbsolutLengths() const { + const Vector<3> dl(x_(2), x_(3), 0); + return quad_.t_BM_ + dl.replicate(1, 4); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/mpc/controller_mpc.cpp b/src/agilicious/agilib/src/controller/mpc/controller_mpc.cpp new file mode 100644 index 0000000..67aed04 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/controller_mpc.cpp @@ -0,0 +1,254 @@ +#include "agilib/controller/mpc/controller_mpc.hpp" + +namespace agi { + +MpcController::MpcController(const Quadrotor& quad, + const std::shared_ptr& params, + const Scalar exec_dt) + : ControllerBase("MPC", exec_dt), + quad_(quad), + params_(params), + cog_filter_( + quad_, + (Vector<4>() << params_->Q_cog_omega_init_, params_->Q_cog_lengths_init_) + .finished() + .asDiagonal(), + (Vector<4>() << params_->Q_cog_omega_, params_->Q_cog_lengths_) + .finished() + .asDiagonal(), + params_->R_cog_.asDiagonal()) { + updateParameters(quad_, params_); + + pred_dt_ = wrapper_.getDt(); + horizon_length_ = Wrapper::N + 1; + logger_.advertisePublishingVariable("timing_update_ms"); + + // Reset controller + reset(); +} + + +bool MpcController::getCommand(const QuadState& state, + const SetpointVector& reference, + SetpointVector* const setpoints) { + if (setpoints == nullptr) return false; + timing_update_.tic(); + + if (!state.valid() || reference.empty() || !reference.front().input.valid()) { + logger_.error("Control inputs are not valid!"); + logger_.error("State is valid: [%d]!", state.valid()); + logger_.error("References are empty: [%d]!", reference.empty()); + logger_.error("Reference is valid: [%d]!", reference.front().input.valid()); + logger_ << reference.front().input; + return false; + } + + QuadState limited_state = state; + limited_state.w = quad_.clampBodyrates(state.w); + + + Matrix reference_states = + Matrix::Zero(); + Matrix reference_inputs = + hover_input_.replicate<1, Wrapper::N>(); + + const int last_setpoint_idx = reference.size() - 1; + for (int i = 0; i < Wrapper::N + 1; ++i) { + const Setpoint& setpoint = reference[std::min(i, last_setpoint_idx)]; + reference_states.col(i) = setpoint.state.x.head(); + if (i < Wrapper::N) { + if (setpoint.input.isSingleRotorThrusts()) { + reference_inputs.col(i) = setpoint.input.thrusts; + } else if (setpoint.input.isRatesThrust()) { + reference_inputs.col(i) = + setpoint.input.collective_thrust * + Vector::Constant(quad_.m_ / (Scalar)Wrapper::NU); + reference_states.block<3, 1>(Wrapper::STATEOME, i) = + setpoint.input.omega; + } else if (setpoint.state.a.allFinite()) { + reference_inputs.col(i) = + Vector::Constant(setpoint.state.a.norm() / Wrapper::NU); + } + } + } + + wrapper_.setReferences(reference_states.block(0, 0), + reference_inputs.block(0, 0)); + wrapper_.setReferenceN(reference_states.col(Wrapper::N)); + + timing_solver_.tic(); + const int status_acados = + wrapper_.update(limited_state.x.head()); + timing_solver_.toc(); + if (status_acados != acados::ACADOS_SUCCESS) { + logger_.error("Acados error solving!"); + timing_update_.toc(); + return false; + } + + + setpoints->clear(); + setpoints->reserve(Wrapper::N + 1); + for (int i = 0; i < Wrapper::N + 1; ++i) { + Setpoint setpoint; + setpoint.state.t = state.t + i * pred_dt_; + setpoint.state.p = + wrapper_.getState(i).segment<3>(Wrapper::STATEIDX::STATEPOS); + setpoint.state.qx(0) = + wrapper_.getState(i)(Wrapper::STATEIDX::STATEATT + 0); + setpoint.state.qx(1) = + wrapper_.getState(i)(Wrapper::STATEIDX::STATEATT + 1); + setpoint.state.qx(2) = + wrapper_.getState(i)(Wrapper::STATEIDX::STATEATT + 2); + setpoint.state.qx(3) = + wrapper_.getState(i)(Wrapper::STATEIDX::STATEATT + 3); + setpoint.state.w = + wrapper_.getState(i).segment<3>(Wrapper::STATEIDX::STATEOME); + setpoint.state.v = + wrapper_.getState(i).segment<3>(Wrapper::STATEIDX::STATEVEL); + if (i < Wrapper::N) { + setpoint.input.t = setpoint.state.t; + setpoint.input.thrusts = wrapper_.getInput(i); + setpoint.input.collective_thrust = + setpoint.input.thrusts.sum() / quad_.m_; + setpoint.input.omega = setpoint.state.w; + } + + setpoint.state.tau = + quad_.J_inv_ * + (-setpoint.state.w.cross(quad_.J_ * setpoint.state.w) + + (quad_.getAllocationMatrix() * setpoint.input.thrusts).tail(3)); + + setpoints->push_back(setpoint); + } + + setpoints->at(0).input.omega = setpoints->at(1).input.omega; + + timing_update_.toc(); + + if (params_->cog_enable_) { + cog_filter_.addCommand(setpoints->front().input); + if (state.p.z() > params_->cog_height_limit_ && + state.v.norm() < params_->cog_abs_velocity_limit_ && + state.w.norm() < params_->cog_abs_omega_limit_ && + ((setpoints->front().input.thrusts - hover_input_).array().abs() / + hover_input_.array() < + params_->cog_rel_hover_thrust_limit_) + .all()) { + if (cog_filter_.update()) { + quad_.t_BM_ = cog_filter_.getAbsolutLengths(); + updateParameters(quad_); + } else { + logger_.warn("Could not udpate CoG filter!"); + } + } + } + + return true; +} + +bool MpcController::reset() { return reset(hover_state_); } + +bool MpcController::reset(const QuadState& state) { + if (!state.valid()) return false; + return reset(state.x.head()); +} + +bool MpcController::reset(const Vector& state) { + std::lock_guard guard(acados_mutex_); + wrapper_.setInitialState(state); + wrapper_.setReferences(state.replicate(1, Wrapper::N), + hover_input_.replicate(1, Wrapper::N)); + wrapper_.setReferenceN(state); + wrapper_.setStatesPred(state.replicate(1, Wrapper::N + 1)); + wrapper_.setInputsPred(hover_input_.replicate(1, Wrapper::N)); + + return wrapper_.update(state) == acados::ACADOS_SUCCESS; +} + +void MpcController::addImuSample(const ImuSample& sample) { + if (params_->cog_enable_) { + if (!cog_filter_.addImu(sample)) + logger_.warn("Could not add IMU sample to CoG Filter!"); + } +} + +void MpcController::logTiming() const { + logger_.addPublishingVariable( + "timing_update_ms", + 1000.0 * Vector<3>(timing_update_.mean(), timing_update_.min(), + timing_update_.max())); +} + +void MpcController::printTiming() const { + logger_ << timing_update_; + logger_ << timing_solver_; +} + +bool MpcController::updateParameters( + const Quadrotor& quad, const std::shared_ptr& params) { + return updateParameters(quad) && updateParameters(params); +} + +bool MpcController::updateParameters(const Quadrotor& quad) { + if (!quad.valid()) { + logger_.error("Invalid Quadrotor model passed and not applied!"); + logger_ << quad; + return false; + } + + quad_ = quad; + hover_input_ = quad_.m_ * hover_input_acc_; + + std::lock_guard guard(acados_mutex_); + // Parameters + wrapper_.setMass(Vector().setConstant(quad_.m_)); + wrapper_.setAeroCoeffs( + quad_.aero_coeff_1_.replicate(1, Wrapper::N + 1), + quad_.aero_coeff_3_.replicate(1, Wrapper::N + 1), + Vector().setConstant(quad_.aero_coeff_h_)); + wrapper_.setArmLengths(quad_.t_BM_); + wrapper_.setKappa(Vector().setConstant(quad_.kappa_)); + wrapper_.setInertia(quad_.J_.diagonal()); + + // Constraints + wrapper_.setBodyRateConstraints(-quad_.omega_max_, quad_.omega_max_); + wrapper_.setThrustConstraints( + Vector::Constant(quad_.thrust_min_), + Vector::Constant(quad_.thrust_max_)); + + + return true; +} + +bool MpcController::updateParameters( + const std::shared_ptr& params) { + if (!params->valid()) { + logger_.error("Invalid MPC Parameters passed. Will not apply any changes!"); + return false; + } + + params_ = params; + const Matrix Q = + (Vector() << params_->Q_pos_, params_->Q_att_, params_->Q_vel_, + params_->Q_omega_xy_, params_->Q_omega_z_) + .finished() + .asDiagonal(); + + const Matrix R = params_->R_.asDiagonal(); + Matrix W; + W.topLeftCorner(Wrapper::NY - Wrapper::NU, Wrapper::NY - Wrapper::NU) = Q; + W.bottomRightCorner(Wrapper::NU, Wrapper::NU) = R; + + std::lock_guard guard(acados_mutex_); + wrapper_.setCosts(W.replicate(1, Wrapper::N)); + wrapper_.setCostN(Q); + + return true; +} + +std::shared_ptr MpcController::getParameters() { + return params_; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/mpc/mpc_params.cpp b/src/agilicious/agilib/src/controller/mpc/mpc_params.cpp new file mode 100644 index 0000000..ccb829f --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/mpc_params.cpp @@ -0,0 +1,129 @@ +#include "agilib/controller/mpc/mpc_params.hpp" + +namespace agi { + +MpcParameters::MpcParameters() + : threaded_preparation_(false), + timing_{true}, + max_wait_time_before_preparation_{0.1}, + max_wait_time_after_preparation_{0.01}, + Q_pos_(200, 200, 500), + Q_att_(5, 5, 200), + Q_vel_(Vector<3>::Constant(1)), + Q_omega_xy_(Vector<2>::Constant(1)), + Q_omega_z_(1), + R_(Vector<4>::Constant(6)), + exp_decay_(1.0), + cog_enable_(false), + cog_abs_velocity_limit_(0.25), + cog_abs_omega_limit_(0.5), + cog_rel_hover_thrust_limit_(0.5), + cog_height_limit_(0.5), + Q_cog_omega_(Vector<2>::Constant(1e-0)), + Q_cog_lengths_(Vector<2>::Constant(1e-9)), + Q_cog_omega_init_(Vector<2>::Constant(1e+2)), + Q_cog_lengths_init_(Vector<2>::Constant(1e-10)), + R_cog_(Vector<2>::Constant(1e-1)) {} + +bool MpcParameters::load(const Yaml& node) { + if (node.isNull()) { + return false; + } + + threaded_preparation_ = node["threaded_preparation"].as(); + timing_ = node["timing"].as(); + + Q_pos_(0) = node["Q_pos_x"].as(); + Q_pos_(1) = node["Q_pos_y"].as(); + Q_pos_(2) = node["Q_pos_z"].as(); + Q_att_(0) = node["Q_att_x"].as(); + Q_att_(1) = node["Q_att_y"].as(); + Q_att_(2) = node["Q_att_z"].as(); + node["Q_vel"] >> Q_vel_; + node["Q_omega_xy"] >> Q_omega_xy_; + Q_omega_z_ = node["Q_omega_z"].as(); + node["R"] >> R_; + + + cog_enable_ = node["cog_enable"].as(); + cog_abs_velocity_limit_ = node["cog_abs_velocity_limit"].as(); + cog_abs_omega_limit_ = node["cog_abs_omega_limit"].as(); + cog_rel_hover_thrust_limit_ = node["cog_rel_hover_thrust_limit"].as(); + cog_height_limit_ = node["cog_height_limit"].as(); + Q_cog_omega_ = Vector<2>::Constant(node["Q_cog_omega"].as()); + Q_cog_lengths_ = Vector<2>::Constant(node["Q_cog_legnths"].as()); + Q_cog_omega_init_ = + Vector<2>::Constant(node["Q_cog_omega_init"].as()); + Q_cog_lengths_init_ = + Vector<2>::Constant(node["Q_cog_legnths_init"].as()); + R_cog_ = Vector<2>::Constant(node["R_cog"].as()); + + exp_decay_ = node["exp_decay"].as(); + + max_wait_time_before_preparation_ = + node["max_wait_time_before_preparation"].as(); + max_wait_time_after_preparation_ = + node["max_wait_time_after_preparation"].as(); + + return valid(); +} + +bool MpcParameters::valid() const { + bool check = true; + check &= Q_pos_.allFinite() && (Q_pos_.array() >= 0.0).all(); + check &= Q_att_.allFinite() && (Q_att_.array() >= 0.0).all(); + check &= Q_vel_.allFinite() && (Q_vel_.array() >= 0.0).all(); + check &= Q_omega_xy_.allFinite() && (Q_omega_xy_.array() >= 0.0).all(); + check &= std::isfinite(Q_omega_z_); + check &= R_.allFinite() && (R_.array() >= 0.0).all(); + check &= std::isfinite(exp_decay_); + check &= max_wait_time_before_preparation_ >= 0.0; + check &= max_wait_time_after_preparation_ >= 0.0; + + return check; +} + +std::ostream& operator<<(std::ostream& os, const MpcParameters& params) { + os << "MPC Parameters\n"; + os << "threaded_preparation: " << params.threaded_preparation_ + << '\n'; + os << "timing: " << params.timing_ << '\n'; + os << "max_wait_time_before_preparation: " + << params.max_wait_time_before_preparation_ << '\n'; + os << "max_wait_time_after_preparation: " + << params.max_wait_time_after_preparation_ << '\n'; + os << "Q_pos: " << params.Q_pos_.transpose() + << '\n'; + os << "Q_att: " << params.Q_att_.transpose() + << '\n'; + os << "Q_vel: " << params.Q_vel_.transpose() + << '\n'; + os << "Q_omega_xy: " << params.Q_omega_xy_.transpose() + << '\n'; + os << "Q_omega_z: " << params.Q_omega_z_ << '\n'; + os << "R: " << params.R_.transpose() << '\n'; + os << "exp_decay: " << params.exp_decay_; + os << "cog_enable: " << params.cog_enable_ << '\n'; + os << "cog_abs_velocity_limit: " << params.cog_abs_velocity_limit_ + << '\n'; + os << "cog_abs_omega_limit: " << params.cog_abs_omega_limit_ + << '\n'; + os << "cog_rel_hover_thrust_limit: " + << params.cog_rel_hover_thrust_limit_ << '\n'; + os << "cog_height_limit_: " << params.cog_height_limit_ + << '\n'; + os << "Q_cog_omega: " + << params.Q_cog_omega_.transpose() << '\n'; + os << "Q_cog_lengths: " + << params.Q_cog_lengths_.transpose() << '\n'; + os << "Q_cog_omega_init: " + << params.Q_cog_omega_init_.transpose() << '\n'; + os << "Q_cog_lengths_init: " + << params.Q_cog_lengths_init_.transpose() << '\n'; + os << "R_cog: " << params.R_cog_.transpose() + << '\n'; + + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/mpc/wrapper.cpp b/src/agilicious/agilib/src/controller/mpc/wrapper.cpp new file mode 100644 index 0000000..0fac821 --- /dev/null +++ b/src/agilicious/agilib/src/controller/mpc/wrapper.cpp @@ -0,0 +1,301 @@ +#include "agilib/controller/mpc/wrapper.hpp" + +#include + +namespace agi { + +namespace acados { +MpcWrapper::MpcWrapper() + : online_params_((Vector() << 0.752, // initial mass + 1.0, 0.0, 0.0, 0.0, // initial quat reference + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, // initial cds + 0.075, -0.075, -0.075, 0.075, // Initial lxs + -0.1, 0.1, -0.1, 0.1, // Initial lys + 0.022, // kappa + 0.0025, 0.0021, 0.0043) // inertias + .finished() + .replicate(1, N + 1)), + lbx_((Vector() << -10.0, -10.0, -4.0) // initial z, omega lb + .finished() + .replicate(1, N)), + ubx_((Vector() << 10.0, 10.0, 4.0) // initial z, omega ub + .finished() + .replicate(1, N)), + lbu_((Vector() << 0.0, 0.0, 0.0, 0.0 // initial thrusts lb + ) + .finished() + .replicate(1, N)), + ubu_((Vector() << 8.5, 8.5, 8.5, 8.5 // initial thrusts ub + ) + .finished() + .replicate(1, N)), + dt_(0.05), + logger_("wrapper") { + p_acados_ocp_capsule_ = drone_model_acados_create_capsule(); + const int status = drone_model_acados_create(p_acados_ocp_capsule_); + if (status) { + logger_.fatal("Could not create acados! Returned %d", status); + } + + p_nlp_config_ = drone_model_acados_get_nlp_config(p_acados_ocp_capsule_); + p_nlp_dims_ = drone_model_acados_get_nlp_dims(p_acados_ocp_capsule_); + p_nlp_in_ = drone_model_acados_get_nlp_in(p_acados_ocp_capsule_); + p_nlp_out_ = drone_model_acados_get_nlp_out(p_acados_ocp_capsule_); + p_nlp_solver_ = drone_model_acados_get_nlp_solver(p_acados_ocp_capsule_); + p_nlp_opts_ = drone_model_acados_get_nlp_opts(p_acados_ocp_capsule_); + + dt_ = p_nlp_in_->Ts[0]; +} + +MpcWrapper::~MpcWrapper() { + // Free solver + const int status_free_model = drone_model_acados_free(p_acados_ocp_capsule_); + if (status_free_model) { + logger_.info("drone_model_acados_free() returned status %d. \n", + status_free_model); + } + // Free capsule + const int status_free_capsule = + drone_model_acados_free_capsule(p_acados_ocp_capsule_); + if (status_free_capsule) { + logger_.info("drone_model_acados_free_capsule() returned status %d. \n", + status_free_capsule); + } +} + +void MpcWrapper::setInitialState(const Vector& state) { + setStateConstraint(state, state, 0); +} + +void MpcWrapper::setBodyRateConstraints(const Vector<3>& lower_bound, + const Vector<3>& upper_bound) { + lbx_.block<3, N>(STATECONSTR::OMEGA_X, 0) = lower_bound.replicate(1, N); + ubx_.block<3, N>(STATECONSTR::OMEGA_X, 0) = upper_bound.replicate(1, N); +} + +void MpcWrapper::setThrustConstraints(const Vector& lower_bound, + const Vector& upper_bound) { + lbu_.block<4, N>(INPUTCONSTR::T_0, 0) = lower_bound.replicate(1, N); + ubu_.block<4, N>(INPUTCONSTR::T_0, 0) = upper_bound.replicate(1, N); +} + +void MpcWrapper::updateInputConstraints() { + for (int i = 0; i < N; ++i) { + setInputConstraint(lbu_.col(i), ubu_.col(i), i); + } +} + +void MpcWrapper::updateStateConstraints() { + for (int i = 0; i < N; ++i) { + setStateConstraint(lbx_.col(i), ubx_.col(i), i + 1, constr_idx_x_); + } +} + +void MpcWrapper::setStateConstraint(const Vector<>& state_lb, + const Vector<>& state_ub, const int index, + const VectorInt<>& indexes_constr) { + if (index < 0 || index > N) { + std::cout << "State constraint index out of bounds" << std::endl; + return; + } + assert(state_lb.size() == state_ub.size()); + assert(state_lb.size() == indexes_constr.size()); + const int n_constraints = state_lb.size(); + + double lbx[n_constraints]; + double ubx[n_constraints]; + int idxbx[n_constraints]; + + Map>(&lbx[0], n_constraints, 1) = state_lb; + Map>(&ubx[0], n_constraints, 1) = state_ub; + Map>(&idxbx[0], n_constraints, 1) = indexes_constr; + + + ocp_nlp_constraints_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, index, + "idxbx", idxbx); + + ocp_nlp_constraints_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, index, + "lbx", lbx); + ocp_nlp_constraints_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, index, + "ubx", ubx); +} + +void MpcWrapper::setInputConstraint(const Vector<>& input_lb, + const Vector<>& input_ub, const int index, + const VectorInt<>& indexes_constr) { + if (index < 0 || index >= N) { + std::cout << "Input constraint index out of bounds" << std::endl; + return; + } + assert(input_lb.size() == input_ub.size()); + assert(input_lb.size() == indexes_constr.size()); + const int n_constraints = input_lb.size(); + + double lbu[n_constraints]; + double ubu[n_constraints]; + int idxbu[n_constraints]; + + Map>(&lbu[0], n_constraints, 1) = input_lb; + Map>(&ubu[0], n_constraints, 1) = input_ub; + Map>(&idxbu[0], n_constraints, 1) = indexes_constr; + + + ocp_nlp_constraints_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, index, + "idxbu", idxbu); + + ocp_nlp_constraints_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, index, + "lbu", lbu); + ocp_nlp_constraints_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, index, + "ubu", ubu); +} + +int MpcWrapper::update(const Vector& state) { + updateOnlineParams(); // First of all, update online parameters + updateInputConstraints(); + updateStateConstraints(); + // In case we would want to separate separating and feedback phases: + int rti_phase = 0; // 1-> preparation, 2-> feedback, 0->both + ocp_nlp_solver_opts_set(p_nlp_config_, p_nlp_opts_, "rti_phase", &rti_phase); + + // Set next state + setInitialState(state); + + // solve + const int status = drone_model_acados_solve(p_acados_ocp_capsule_); + double x_pred[NX * (N + 1)]; + double u_pred[NU * N]; + + for (int ii = 0; ii < N + 1; ii++) { + ocp_nlp_out_get(p_nlp_config_, p_nlp_dims_, p_nlp_out_, ii, "x", + &x_pred[ii * NX]); + if (ii < N) { + ocp_nlp_out_get(p_nlp_config_, p_nlp_dims_, p_nlp_out_, ii, "u", + &u_pred[ii * NU]); + } + } + + // Update state and input predictions + states_pred_ = Map>(&x_pred[0], NX, N + 1); + inputs_pred_ = Map>(&u_pred[0], NU, N); + + int sqp_iter; + double time_lin, time_qp_sol, time_tot; + + ocp_nlp_get(p_nlp_config_, p_nlp_solver_, "sqp_iter", &sqp_iter); + ocp_nlp_get(p_nlp_config_, p_nlp_solver_, "time_tot", &time_tot); + ocp_nlp_get(p_nlp_config_, p_nlp_solver_, "time_qp_sol", &time_qp_sol); + ocp_nlp_get(p_nlp_config_, p_nlp_solver_, "time_lin", &time_lin); + + // printf( + // "iters %d, time (total %f, lineariz. %f, qp_sol. %f) " + // "ms\n", + // sqp_iter, time_tot * 1e3, time_lin * 1e3, time_qp_sol * 1e3); + + return status; +} + +void MpcWrapper::setReferences(const Matrix& state_refs, + const Matrix& input_refs) { + for (int ii = 0; ii < N; ++ii) { + setReference(state_refs.col(ii), input_refs.col(ii), ii); + } +} + +void MpcWrapper::setReference(const Vector& state_ref, + const Vector& input_ref, const int i) { + double y_ref[NY]; + Vector state_ref_corrected; + state_ref_corrected.segment<3>(REFIDX::REFPOS) = + state_ref.segment<3>(STATEIDX::STATEPOS); + state_ref_corrected.segment<3>(REFIDX::REFATT) = Vector<3>::Zero(); + state_ref_corrected.segment<3>(REFIDX::REFVEL) = + state_ref.segment<3>(STATEIDX::STATEVEL); + state_ref_corrected.segment<3>(REFIDX::REFOME) = + state_ref.segment<3>(STATEIDX::STATEOME); + setQuaternionReference(state_ref.segment<4>(STATEIDX::STATEATT), i); + + Map>(&y_ref[0], NQ, 1) = state_ref_corrected; + Map>(&y_ref[NQ], NU, 1) = input_ref; + + ocp_nlp_cost_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, i, "yref", + &y_ref); +} + +void MpcWrapper::setReferenceN(const Vector& state_ref_N) { + double y_ref_N[NYN]; + Vector state_ref_N_corrected; + state_ref_N_corrected.segment<3>(REFIDX::REFPOS) = + state_ref_N.segment<3>(STATEIDX::STATEPOS); + state_ref_N_corrected.segment<3>(REFIDX::REFATT) = Vector<3>::Zero(); + state_ref_N_corrected.segment<3>(REFIDX::REFVEL) = + state_ref_N.segment<3>(STATEIDX::STATEVEL); + state_ref_N_corrected.segment<3>(REFIDX::REFOME) = + state_ref_N.segment<3>(STATEIDX::STATEOME); + setQuaternionReference(state_ref_N.segment<4>(STATEIDX::STATEATT), N); + Map>(&y_ref_N[0], NQ, 1) = state_ref_N_corrected; + ocp_nlp_cost_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, N, "yref", + &y_ref_N); +} + +void MpcWrapper::setCosts(const Matrix Ws, const Scalar gamma) { + for (int ii = 0; ii < N; ++ii) { + setCost(pow(gamma, ii) * Ws.block(0, ii * NY), ii); + } +} + +void MpcWrapper::setCostN(const Matrix& W_N, const Scalar gamma) { + double wn_c[NYN * NYN]; + Map>(&wn_c[0], NYN, NYN) = W_N * pow(gamma, N); + ocp_nlp_cost_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, N, "W", wn_c); +} + +void MpcWrapper::setCost(const Matrix& W, const int i) { + double w_c[NY * NY]; + Map>(&w_c[0], NY, NY) = W; + ocp_nlp_cost_model_set(p_nlp_config_, p_nlp_dims_, p_nlp_in_, i, "W", w_c); +} + +void MpcWrapper::setQuaternionReference(const Vector<4>& q_ref, const int i) { + online_params_.block<4, 1>(ONLPARAMIDX::Q_REF_0, i) = q_ref; +} + +void MpcWrapper::setMass(const Vector& mass) { + online_params_.row(ONLPARAMIDX::MASS) = mass; +} + +void MpcWrapper::setAeroCoeffs(const Matrix<3, N + 1>& aero_coeff_1, + const Matrix<3, N + 1>& aero_coeff_3, + const Vector& aero_coeff_h) { + online_params_.block<3, N + 1>(ONLPARAMIDX::CDX1, 0) = aero_coeff_1; + online_params_.block<3, N + 1>(ONLPARAMIDX::CDX3, 0) = aero_coeff_3; + online_params_.row(ONLPARAMIDX::CDZH) = aero_coeff_h; +} + +void MpcWrapper::setArmLengths(const Matrix<3, 4>& t_BM) { + online_params_.block<4, N + 1>(ONLPARAMIDX::L_X_0, 0) = + t_BM.row(0).transpose().replicate(1, N + 1); + online_params_.block<4, N + 1>(ONLPARAMIDX::L_Y_0, 0) = + t_BM.row(1).transpose().replicate(1, N + 1); +} + +void MpcWrapper::setKappa(const Vector& kappa) { + online_params_.row(ONLPARAMIDX::KAPPA) = kappa; +} + +void MpcWrapper::setInertia(const Vector<3>& inertia) { + online_params_.block<3, N + 1>(ONLPARAMIDX::I_XX, 0) = + inertia.replicate(1, N + 1); +} + + +void MpcWrapper::updateOnlineParams() { + double params_c[NP * (N + 1)]; + Map>(¶ms_c[0], NP, N + 1) = online_params_; + + for (int ii = 0; ii < N + 1; ++ii) { + drone_model_acados_update_params(p_acados_ocp_capsule_, ii, + ¶ms_c[ii * NP], NP); + } +} +} // namespace acados +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/pid/controller_pid.cpp b/src/agilicious/agilib/src/controller/pid/controller_pid.cpp new file mode 100644 index 0000000..5247835 --- /dev/null +++ b/src/agilicious/agilib/src/controller/pid/controller_pid.cpp @@ -0,0 +1,97 @@ +#include "agilib/controller/pid/controller_pid.hpp" + +namespace agi { + +PidController::PidController(const Quadrotor& quad, + const std::shared_ptr& params) + : ControllerBase("PID"), + quad_(quad), + params_(params), + filterGyr_(params->filter_cutoff_frequency_, + params->filter_sampling_frequency_, 0.0), + t_last_(0.0), + omega_err_int_(0.0, 0.0, 0.0), + G_inv_(quad_.getAllocationMatrix().inverse()) {} + +PidController::~PidController() {} + +bool PidController::getCommand(const QuadState& state, + const SetpointVector& references, + SetpointVector* const setpoints) { + if (setpoints == nullptr) return false; + setpoints->clear(); + + if (!state.valid() || references.empty()) { + logger_.error("Control inputs are not valid!"); + logger_.error("State is valid: [%d]!", state.valid()); + logger_.error("Setpoints are empty: [%d]!", references.empty()); + logger_.error("Setpoint is valid: [%d]!", references.front().input.valid()); + logger_ << references.front().input; + return false; + } + + const Vector<3> omega_f = filterGyr_.add(state.w); + const Vector<3> omega_f_dot = filterGyr_.derivative(); + + const Vector<3> omega_err = references.front().input.omega - omega_f; + + if (t_last_ > 0.0) { + const Scalar dt = state.t - t_last_; + omega_err_int_ += omega_err * dt; + omega_err_int_ = omega_err_int_.cwiseMax(-params_->integration_max_) + .cwiseMin(params_->integration_max_); + } + t_last_ = state.t; + + + const Vector<3> alpha_cmd = params_->kp_rate_.cwiseProduct(omega_err) - + params_->kd_rate_.cwiseProduct(omega_f_dot) + + params_->ki_rate_.cwiseProduct(omega_err_int_); + + Vector<4> mu; + mu(0) = references.front().input.collective_thrust * quad_.m_; + mu.tail(3) = quad_.J_ * alpha_cmd + state.w.cross(quad_.J_ * state.w); + + Command command; + command.t = state.t; + command.thrusts = G_inv_ * mu; + command.collective_thrust = command.thrusts.sum(); + setpoints->push_back({state, command}); + + return true; +} + +bool PidController::updateParameters( + const Quadrotor& quad, const std::shared_ptr params) { + return updateParameters(quad) && updateParameters(params); +} + +bool PidController::updateParameters(const Quadrotor& quad) { + if (!quad.valid()) { + logger_.error("Invalid Quadrotor model passed and not applied!"); + logger_ << quad; + return false; + } + + quad_ = quad; + + return true; +} + +bool PidController::updateParameters( + const std::shared_ptr params) { + if (!params->valid()) { + logger_.error("Invalid PID Parameters passed. Will not apply any changes!"); + return false; + } + + params_ = params; + + return true; +} + +std::shared_ptr PidController::getParameters() { + return params_; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/controller/pid/pid_params.cpp b/src/agilicious/agilib/src/controller/pid/pid_params.cpp new file mode 100644 index 0000000..f17f678 --- /dev/null +++ b/src/agilicious/agilib/src/controller/pid/pid_params.cpp @@ -0,0 +1,37 @@ +#include "agilib/controller/pid/pid_params.hpp" + +#include +namespace agi { + +PidParameters::PidParameters() + : kp_rate_(20.0, 20.0, 4.0), + kd_rate_(0.2, 0.2, 0.0), + ki_rate_(0.0, 0.0, 0.0), + integration_max_(10.0, 10.0, 5.0), + filter_sampling_frequency_(1000), + filter_cutoff_frequency_(40) {} + +bool PidParameters::load(const Yaml& node) { + node["kp_rate"] >> kp_rate_; + node["kd_rate"] >> kd_rate_; + node["ki_rate"] >> ki_rate_; + node["integration_max"] >> integration_max_; + filter_sampling_frequency_ = node["filter_sampling_frequency"].as(); + filter_cutoff_frequency_ = node["filter_cutoff_frequency"].as(); + return valid(); +} + +bool PidParameters::valid() const { + bool check = true; + check &= (filter_sampling_frequency_ > 2.0 * filter_cutoff_frequency_); + check &= (filter_cutoff_frequency_ > 0.0); + check &= kp_rate_.allFinite() && (kp_rate_.array() >= 0.0).all(); + check &= kd_rate_.allFinite() && (kd_rate_.array() >= 0.0).all(); + check &= ki_rate_.allFinite() && (ki_rate_.array() >= 0.0).all(); + check &= + integration_max_.allFinite() && (integration_max_.array() >= 0.0).all(); + + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/ekf/ekf.cpp b/src/agilicious/agilib/src/estimator/ekf/ekf.cpp new file mode 100644 index 0000000..2f944b0 --- /dev/null +++ b/src/agilicious/agilib/src/estimator/ekf/ekf.cpp @@ -0,0 +1,399 @@ +#include "agilib/estimator/ekf/ekf.hpp" + +#include + +#include "agilib/math/gravity.hpp" + +namespace agi { + +Ekf::Ekf(const Quadrotor& quad, const std::shared_ptr& params) + : EstimatorBase("EKF"), + quad_(quad), + integrator_(quad_.getDynamicsFunction()) { + if (!updateParameters(params)) logger_.error("Could not load parameters!"); +} + + +Ekf::~Ekf() { printTimings(); } + +bool Ekf::getAt(const Scalar t, QuadState* const state) { + if (state == nullptr) return false; + if (std::isnan(t)) return false; + if (!posterior_.valid()) return false; + + std::lock_guard lock(mutex_); + if (params_->update_on_get) process(); + + // Catch trivial cases... + if (t <= prior_.t) { // ...request at prior + *state = prior_; + state->mot = motor_speeds_; + return true; + } + + const bool ret = propagatePrior(t); + *state = prior_; + state->mot = motor_speeds_; + return ret; +} + +bool Ekf::initialize(const QuadState& state) { + std::lock_guard lock(mutex_); + return init(state); +} + +bool Ekf::init(const QuadState& state) { + if (!state.valid()) return false; + + if (!poses_.empty()) { + const std::deque::iterator first_valid_pose = std::lower_bound( + poses_.begin(), poses_.end(), state.t, + [](const Pose& pose, const Scalar t) { return pose.t < t; }); + + poses_.erase(poses_.begin(), first_valid_pose); + } + + if (!imus_.empty()) { + const std::deque::iterator first_valid_imu = std::lower_bound( + imus_.begin(), imus_.end(), state.t, + [](const ImuSample& imu, const Scalar t) { return imu.t < t; }); + + imus_.erase(imus_.begin(), first_valid_imu); + } + + prior_ = state; + posterior_ = state; + P_ = Q_init_; + + return true; +} + +bool Ekf::initSteady(const QuadState& state) { + const QuadState steady_state(state.t, state.p, state.getYaw()); + return init(steady_state); +} + +bool Ekf::addPose(const Pose& pose) { + if (!pose.valid()) return false; + + std::lock_guard lock(mutex_); + + if (!posterior_.valid()) { + posterior_.setZero(); + posterior_.t = pose.t; + posterior_.p = pose.position; + posterior_.q(pose.attitude); + return init(posterior_); + } + + if (pose.t <= posterior_.t) return false; + + poses_.push_back(pose); + t_last_pose_ = pose.t; + + while ((int)poses_.size() > MAX_QUEUE_SIZE) poses_.pop_front(); + + // logger_.info("Added Pose at %1.6fs!", pose.t); + + process(); + return true; +} + +bool Ekf::addState(const QuadState& state) { + return addPose({state.t, state.p, state.q()}); +} + +bool Ekf::addImu(const ImuSample& imu) { + if (!params_->use_imu) return false; + if (!imu.valid()) return false; + + std::lock_guard lock(mutex_); + + if (imu.t < posterior_.t) return false; + + imus_.push_back(imu); + t_last_imu_ = imu.t; + while ((int)imus_.size() > MAX_QUEUE_SIZE) imus_.pop_front(); + + // logger_.info("Added IMU at %1.6fs!", imu.t); + + process(); + return true; +} + +bool Ekf::addMotorSpeeds(const Vector<4>& speeds) { + motor_speeds_ = speeds; + return true; +} + +bool Ekf::healthy() const { return posterior_.valid() && prior_.valid(); } + +void Ekf::logTiming() const { + logger_.addPublishingVariable( + "timer_process_ms", + 1000.0 * Vector<3>(timer_process_.mean(), timer_process_.min(), + timer_process_.max())); +} + +void Ekf::printTimings(const bool all) const { + logger_ << timer_process_; + if (all) { + logger_ << timer_update_pose_; + logger_ << timer_update_imu_; + logger_ << timer_compute_gain_; + logger_ << timer_propagation_; + logger_ << timer_jacobian_; + } +} + +bool Ekf::process() { + if (params_->enable_timing) timer_process_.tic(); + std::deque::iterator imu = imus_.begin(); + std::deque::iterator pose = poses_.begin(); + if (!params_->use_imu) t_last_imu_ = NAN; + + // logger_.info("Queue Size: IMU: %03zu Pose: %03zu", imus_.size(), + // poses_.size()); + + while (pose < poses_.end()) { // Iterator over all poses in queue + while (imu < imus_.end() && + imu->t <= pose->t) { // iterate over earlier IMUs in queue + if (imu->t >= posterior_.t) { + if (!updateImu(*imu)) + logger_.error("Could not perform IMU update at %1.3f", + imus_.front().t); + } + imu++; + } + + if (std::isnan(t_last_imu_) || pose->t < t_last_imu_) { + if (!updatePose(*pose)) + logger_.error("Could not perform pose update at %1.3f", + imus_.front().t); + + // Pedantic: exit if queues have been emptied in possible filter re-init. + if (poses_.empty() || (params_->use_imu && imus_.empty())) return true; + pose++; + } else if (pose->t > t_last_imu_ + params_->max_update_wait_time) { + imus_.clear(); + t_last_imu_ = NAN; + } else { + break; + } + } + + // Remove what was processed, pedantic checking for end-iterator change. + if (imu > imus_.end()) imu = imus_.end(); + if (pose > poses_.end()) pose = poses_.end(); + imus_.erase(imus_.begin(), imu); + poses_.erase(poses_.begin(), pose); + + if (params_->enable_timing) timer_process_.toc(); + return true; +} + +bool Ekf::updatePose(const Pose& pose) { + if (params_->enable_timing) timer_update_pose_.tic(); + if (!propagatePriorAndJacobian(pose.t)) { + logger_.error("Could not propagate to %1.3f", pose.t); + return false; + } + + if (params_->jump_pos_threshold > 0.0 || params_->jump_att_threshold > 0.0) { + const Vector<3> d_pos = pose.position - prior_.p; + const Quaternion d_q = pose.attitude * prior_.q().conjugate(); + const Quaternion d_q_corrected = + d_q.w() > 0.0 ? d_q : Quaternion(-d_q.w(), -d_q.x(), -d_q.y(), -d_q.z()); + const Scalar d_angle = + d_q_corrected.w() < 0.99 ? 2.0 * acos(d_q_corrected.w()) : 0.0; + const bool pos_jump = params_->jump_pos_threshold > 0.0 && + d_pos.norm() > params_->jump_pos_threshold; + const bool att_jump = params_->jump_att_threshold > 0.0 && + d_angle > params_->jump_att_threshold; + if (pos_jump || att_jump) { + logger_.warn( + "Detected jump in pose measurement!\n" + "Time: %1.3f\n" + "Position: %1.1f m\n" + "Angle: %1.1f rad\n", + pose.t, d_pos.norm(), d_angle); + if (pos_jump) { + logger_ << "Prior Pos: " << prior_.p.transpose() << std::endl; + logger_ << "Meas Pos: " << pose.position.transpose() << std::endl; + } + if (att_jump) { + const Quaternion q(prior_.qx(0), prior_.qx(1), prior_.qx(2), + prior_.qx(3)); + logger_ << "Prior Att: " << q.coeffs().transpose() << std::endl; + logger_ << "Meas Att: " << pose.attitude.coeffs().transpose() + << std::endl; + } + posterior_.setZero(); + posterior_.t = pose.t; + posterior_.p = pose.position; + posterior_.q(pose.attitude); + return init(posterior_); + } + } + + // logger_.info("Processing pose at %1.6f", pose.t); + + // Pose update residual and jacobian. + const Vector y = (Vector() << prior_.p - pose.position, + (pose.attitude.conjugate() * prior_.q()).vec()) + .finished(); + + Matrix H = Matrix::Zero(); + H.block<3, 3>(0, QS::IDX::POS) = Matrix<3, 3>::Identity(); + H.block<3, 4>(3, QS::IDX::ATT) = + Q_left(pose.attitude.conjugate()).bottomRows<3>(); + + const bool check = update(y, H, R_pose_); + if (params_->enable_timing) timer_update_pose_.toc(); + return check; +} + + +bool Ekf::updateImu(const ImuSample& imu) { + if (params_->enable_timing) timer_update_imu_.tic(); + if (!propagatePriorAndJacobian(imu.t)) { + logger_.error("Could not propagate to %1.3f", imu.t); + return false; + } + + // logger_.info("Processing IMU at %1.6f", imu.t); + + // Pose update residual and jacobian. + const Matrix<3, 3> R_BI = prior_.R().transpose(); + const Vector y = (Vector() << prior_.w + prior_.bw - imu.omega, + R_BI * (prior_.a - GVEC) + prior_.ba - imu.acc) + .finished(); + + Matrix H = Matrix::Zero(); + H.block<3, 3>(0, QS::IDX::OME) = Matrix<3, 3>::Identity(); + H.block<3, 3>(0, QS::IDX::BOME) = Matrix<3, 3>::Identity(); + H.block<3, 3>(3, QS::IDX::ACC) = R_BI; + H.block<3, 3>(3, QS::IDX::BACC) = Matrix<3, 3>::Identity(); + + const bool check = update(y, H, R_imu_); + if (params_->enable_timing) timer_update_imu_.toc(); + return check; +} + +bool Ekf::propagatePrior(const Scalar t) { + if (std::isnan(t)) return false; + + if (params_->enable_timing) timer_propagation_.tic(); + + if (t < prior_.t) { + if (t < posterior_.t) return false; + prior_ = posterior_; + } + + const QuadState initial = prior_; + prior_.t = t; + integrator_.integrate(initial, &prior_); + sanitize(prior_); + + if (params_->enable_timing) timer_propagation_.toc(); + return true; +} + +bool Ekf::propagatePriorAndJacobian(const Scalar t) { + if (std::isnan(t) || t < posterior_.t) return false; + + if (params_->enable_timing) timer_jacobian_.tic(); + + prior_ = posterior_; + + sanitize(prior_); + + const Scalar dt_max = integrator_.dtMax(); + Scalar dt_remaining = t - prior_.t; + Vector propagated_state; + SparseMatrix F(QS::SIZE, QS::SIZE); + + while (dt_remaining > 0.0) { + const Scalar dt = std::min(dt_remaining, dt_max); + + quad_.jacobian(prior_.x, F); + const Matrix P = P_; + F *= dt; + P_ += F * P; + P_ += P * F.transpose(); + P_ += dt * Q_; + + integrator_.step(prior_.x, dt, propagated_state); + + prior_.x = propagated_state; + prior_.t += dt; + sanitize(prior_); + dt_remaining -= dt; + } + + prior_.t = t; + sanitize(prior_); + ; + + if (params_->enable_timing) timer_jacobian_.toc(); + return true; +} + +void Ekf::sanitize(QuadState& state) { + state.tau.setZero(); + state.j.setZero(); + state.s.setZero(); + state.mot.setZero(); + state.motdes.setZero(); + if (!params_->use_imu) { + state.bw.setZero(); + state.ba.setZero(); + } + state.linearize(); +} + +bool Ekf::updateParameters(const std::shared_ptr& params) { + if (!params || !params->valid()) return false; + + std::lock_guard lock(mutex_); + + params_ = params; + + Q_.setZero(); + R_pose_.setZero(); + R_imu_.setZero(); + + const Vector<> q = + (Vector() << params_->Q_pos, params_->Q_att, params_->Q_vel, + params_->Q_ome, params_->Q_acc, Vector::Zero(), + Vector::Zero(), Vector::Zero(), + params_->Q_bome, params_->Q_bacc) + .finished(); + + Matrix Q = Matrix::Zero(); + Q.topLeftCorner(q.rows(), q.rows()) = q.asDiagonal(); + Q_ = Q.sparseView(); + + const Vector<> q_init = + (Vector() << params_->Q_init_pos, params_->Q_init_att, + params_->Q_init_vel, params_->Q_init_ome, params_->Q_init_acc, + Vector::Zero(), Vector::Zero(), + Vector::Zero(), params_->Q_init_bome, + params_->Q_init_bacc) + .finished(); + + Matrix Q_init = Matrix::Zero(); + Q_init.topLeftCorner(q_init.rows(), q_init.rows()) = q_init.asDiagonal(); + Q_init_ = Q_init.sparseView(); + + R_pose_ = (Vector() << params_->R_pos, params_->R_att) + .finished() + .asDiagonal(); + R_imu_ = (Vector() << params_->R_acc, params_->R_omega) + .finished() + .asDiagonal(); + + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/ekf/ekf_params.cpp b/src/agilicious/agilib/src/estimator/ekf/ekf_params.cpp new file mode 100644 index 0000000..a4c10cb --- /dev/null +++ b/src/agilicious/agilib/src/estimator/ekf/ekf_params.cpp @@ -0,0 +1,92 @@ +#include "agilib/estimator/ekf/ekf_params.hpp" + +namespace agi { + +EkfParameters::EkfParameters() + : enable_timing(true), + use_imu(true), + max_update_wait_time(0.050), + update_on_get(false), + jump_pos_threshold(0.0), + jump_att_threshold(0.0 * M_PI), + R_pos(Vector<3>::Constant(1e-6)), + R_att(Vector<3>::Constant(1e-6)), + R_acc(Vector<3>::Constant(1e-1)), + R_omega(Vector<3>::Constant(1e-2)), + Q_pos(Vector<3>::Constant(1e-6)), + Q_att(Vector<4>::Constant(1e-6)), + Q_vel(Vector<3>::Constant(1e-3)), + Q_ome(Vector<3>::Constant(1e-3)), + Q_acc(Vector<3>::Constant(1e-2)), + Q_bome(Vector<3>::Constant(1e-9)), + Q_bacc(Vector<3>::Constant(1e-9)), + Q_init_pos(Vector<3>::Constant(1e-6)), + Q_init_att(Vector<4>::Constant(1e-6)), + Q_init_vel(Vector<3>::Constant(1e-3)), + Q_init_ome(Vector<3>::Constant(1e-3)), + Q_init_acc(Vector<3>::Constant(1e-3)), + Q_init_bome(Vector<3>::Constant(1e-6)), + Q_init_bacc(Vector<3>::Constant(1e-6)) {} + + +bool EkfParameters::load(const Yaml& node) { + if (node.isNull()) return false; + + enable_timing = node["enable_timing"].as(); + use_imu = node["use_imu"].as(); + max_update_wait_time = node["max_update_wait_time"].as(); + update_on_get = node["update_on_get"].as(); + jump_pos_threshold = node["jump_pos_threshold"].as(); + jump_att_threshold = node["jump_att_threshold"].as(); + node["R_pos"] >> R_pos; + node["R_att"] >> R_att; + node["R_acc"] >> R_acc; + node["R_omega"] >> R_omega; + node["Q_pos"] >> Q_pos; + node["Q_att"] >> Q_att; + node["Q_vel"] >> Q_vel; + node["Q_ome"] >> Q_ome; + node["Q_acc"] >> Q_acc; + node["Q_bome"] >> Q_bome; + node["Q_bacc"] >> Q_bacc; + node["Q_init_pos"] >> Q_init_pos; + node["Q_init_att"] >> Q_init_att; + node["Q_init_vel"] >> Q_init_vel; + node["Q_init_ome"] >> Q_init_ome; + node["Q_init_acc"] >> Q_init_acc; + node["Q_init_bome"] >> Q_init_bome; + node["Q_init_bacc"] >> Q_init_bacc; + + return valid(); +} + +bool EkfParameters::valid() const { + bool check = true; + + check &= std::isfinite(max_update_wait_time); + + check &= R_pos.allFinite(); + check &= R_att.allFinite(); + check &= R_acc.allFinite(); + check &= R_omega.allFinite(); + + check &= Q_pos.allFinite(); + check &= Q_att.allFinite(); + check &= Q_vel.allFinite(); + check &= Q_ome.allFinite(); + check &= Q_acc.allFinite(); + check &= Q_bome.allFinite(); + check &= Q_bacc.allFinite(); + + check &= Q_init_pos.allFinite(); + check &= Q_init_att.allFinite(); + check &= Q_init_vel.allFinite(); + check &= Q_init_ome.allFinite(); + check &= Q_init_acc.allFinite(); + check &= Q_init_bome.allFinite(); + check &= Q_init_bacc.allFinite(); + + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/ekf_imu/ekf_imu.cpp b/src/agilicious/agilib/src/estimator/ekf_imu/ekf_imu.cpp new file mode 100644 index 0000000..bd0211e --- /dev/null +++ b/src/agilicious/agilib/src/estimator/ekf_imu/ekf_imu.cpp @@ -0,0 +1,534 @@ +#include "agilib/estimator/ekf_imu/ekf_imu.hpp" + +#include + +#include "agilib/math/gravity.hpp" + +namespace agi { + +EkfImu::EkfImu(const std::shared_ptr& params) + : EstimatorBase("EKF"), imu_last_(NAN, -GVEC, Vector<3>::Zero()) { + if (!params) { + params_ = std::make_shared(); + } else { + params_ = params; + } + + if (!updateParameters(params_)) logger_.error("Could not load parameters!"); +} + + +EkfImu::~EkfImu() { printTimings(); } + +bool EkfImu::getAt(const Scalar t, QuadState* const state) { + if (state == nullptr) return false; + if (std::isnan(t)) return false; + + const Vector<4> motors = motor_speeds_; + const Vector<4> motor_des = state->motdes; + state->setZero(); + state->t = t; + + std::lock_guard lock(mutex_); + if (params_->update_on_get) process(); + + // Catch trivial cases... + if (t <= t_posterior_) { + return vectorToState(t_posterior_, posterior_, state); + } + + bool ret = true; + ret &= propagatePrior(t); + ret &= vectorToState(t_prior_, prior_, state); + + if (motors.allFinite()) state->mot = motors; + if (motor_des.allFinite()) state->motdes = motor_des; + + return ret; +} + +bool EkfImu::initialize(const QuadState& state) { + std::lock_guard lock(mutex_); + return init(state); +} + +bool EkfImu::init(const QuadState& state) { + if (!state.valid()) return false; + + if (!poses_.empty()) { + const auto first_valid_pose = std::lower_bound( + poses_.begin(), poses_.end(), state.t, + [](const Pose& pose, const Scalar t) { return pose.t < t; }); + + poses_.erase(poses_.begin(), first_valid_pose); + } + + if (!imus_.empty()) { + const auto first_valid_imu = std::lower_bound( + imus_.begin(), imus_.end(), state.t, + [](const ImuSample& imu, const Scalar t) { return imu.t < t; }); + + imus_.erase(imus_.begin(), first_valid_imu); + } + + stateToVector(state, &t_posterior_, &posterior_); + t_prior_ = t_posterior_; + prior_ = posterior_; + + return true; +} + +bool EkfImu::addPose(const Pose& pose) { + if (!pose.valid()) return false; + + std::lock_guard lock(mutex_); + + if (!std::isfinite(t_posterior_)) { + QuadState state; + state.setZero(); + state.t = pose.t; + state.p = pose.position; + state.q(pose.attitude); + return init(state); + } + + if (pose.t <= t_posterior_) return false; + + poses_.push_back(pose); + + while ((int)poses_.size() > MAX_QUEUE_SIZE) poses_.pop_front(); + + process(); + return true; +} + +bool EkfImu::addState(const QuadState& state) { + return addPose({state.t, state.p, state.q()}); +} + +bool EkfImu::addImu(const ImuSample& imu) { + if (!imu.valid()) return false; + + std::lock_guard lock(mutex_); + + if (imu.t < t_posterior_) return false; + + imu_last_ = imu; + imus_.push_back(imu); + while ((int)imus_.size() > MAX_QUEUE_SIZE) imus_.pop_front(); + + process(); + return true; +} + +bool EkfImu::addMotorSpeeds(const Vector<4>& speeds) { + motor_speeds_ = speeds; + return true; +} + +bool EkfImu::healthy() const { + return std::isfinite(t_posterior_) && std::isfinite(t_prior_); +} + +void EkfImu::logTiming() const { + logger_.addPublishingVariable( + "timer_process_ms", + 1000.0 * Vector<3>(timer_process_.mean(), timer_process_.min(), + timer_process_.max())); +} + +void EkfImu::printTimings(const bool all) const { + logger_ << timer_process_; + if (all) { + logger_ << timer_update_pose_; + logger_ << timer_compute_gain_; + logger_ << timer_propagation_; + logger_ << timer_jacobian_; + } +} + +bool EkfImu::process() { + if (imus_.empty()) return true; + + ScopedTicToc timer_process_tictoc(timer_process_); + + Scalar t_last_processed_pose = NAN; + + for (const Pose& pose : poses_) { + if (pose.t < t_posterior_) { + logger_.warn("Missed Pose update at %1.3g\n", pose.t); + continue; + } + + if (pose.t > imus_.back().t) break; + + propagatePriorAndCovariance(pose.t); + t_posterior_ = t_prior_; + posterior_ = prior_; + updatePose(pose); + t_last_processed_pose = pose.t; + + // Pedantic: exit if queues have been emptied in possible filter re-init. + if (poses_.empty()) break; + } + + if (!std::isfinite(t_last_processed_pose)) return true; + + // Remove what was processed + const auto imu_erase_to_ptr = std::lower_bound( + imus_.begin(), imus_.end(), t_posterior_, + [](const ImuSample& imu, const Scalar tt) { return imu.t <= tt; }); + + imus_.erase(imus_.begin(), imu_erase_to_ptr); + + const auto pose_erase_to_ptr = std::lower_bound( + poses_.begin(), poses_.end(), t_last_processed_pose, + [](const Pose& pose, const Scalar tt) { return pose.t <= tt; }); + + poses_.erase(poses_.begin(), pose_erase_to_ptr); + + return true; +} + +bool EkfImu::updatePose(const Pose& pose) { + ScopedTicToc timer_update_tictoc(timer_update_pose_); + + if (!propagatePriorAndCovariance(pose.t)) { + logger_.error("Could not propagate to %1.6gs", pose.t); + logger_.error("Prior at %1.6gs", t_prior_); + logger_.error("Posterior at %1.6gs", t_posterior_); + logger_.error("IMU queue has %zu samples from %1.6gs to %1.6gs", + imus_.size(), imus_.front().t, imus_.back().t); + logger_.error("Pose queue has %zu samples from %1.6gs to %1.6gs", + poses_.size(), poses_.front().t, poses_.back().t); + return false; + } + + const Vector<3> p = prior_.segment(IDX::POS); + const Quaternion q{prior_(IDX::ATTW), prior_(IDX::ATTX), prior_(IDX::ATTY), + prior_(IDX::ATTZ)}; + + if (params_->jump_pos_threshold > 0.0 || params_->jump_att_threshold > 0.0) { + const Vector<3> d_pos = pose.position - p; + const Quaternion d_q = pose.attitude * q.conjugate(); + const Quaternion d_q_corrected = + d_q.w() > 0.0 ? d_q : Quaternion(-d_q.w(), -d_q.x(), -d_q.y(), -d_q.z()); + const Scalar d_angle = + d_q_corrected.w() < 0.99 ? 2.0 * acos(d_q_corrected.w()) : 0.0; + const bool pos_jump = params_->jump_pos_threshold > 0.0 && + d_pos.norm() > params_->jump_pos_threshold; + const bool att_jump = params_->jump_att_threshold > 0.0 && + d_angle > params_->jump_att_threshold; + if (pos_jump || att_jump) { + logger_.warn( + "Detected jump in pose measurement!\n" + "Time: %1.3f\n" + "Position: %1.1f m\n" + "Angle: %1.1f rad\n", + pose.t, d_pos.norm(), d_angle); + if (pos_jump) { + logger_ << "Prior Pos: " << p.transpose() << std::endl; + logger_ << "Meas Pos: " << pose.position.transpose() << std::endl; + } + if (att_jump) { + logger_ << "Prior Att: " << q.coeffs().transpose() << std::endl; + logger_ << "Meas Att: " << pose.attitude.coeffs().transpose() + << std::endl; + } + static int n_jumps = 0; + ++n_jumps; + if (n_jumps < 10) { + return true; + } else { + n_jumps = 0; + logger_.warn("Reset state due to too many jumps!"); + QuadState state; + state.setZero(); + state.t = pose.t; + state.p = pose.position; + state.q(pose.attitude); + return init(state); + } + } + } + + // Pose update residual and jacobian. + const Vector y = (Vector() << p - pose.position, + (pose.attitude.conjugate() * q).vec()) + .finished(); + + Matrix H = Matrix::Zero(); + H.block<3, 3>(0, IDX::POS) = Matrix<3, 3>::Identity(); + H.block<3, 4>(3, IDX::ATT) = + Q_left(pose.attitude.conjugate()).bottomRows<3>(); + + // Compute Gain + ScopedTicToc timer_gain_tictoc(timer_compute_gain_); + + const StateMatrix P = 0.5 * (P_ + P_.transpose()); + const Matrix HP = H * P; + const Matrix S = HP * H.transpose() + R_pose_; + const Matrix S_inv = S.inverse(); + + if (!S_inv.allFinite()) return false; + + const Matrix K = P * H.transpose() * S_inv; + StateVector new_posterior = prior_ - K * y; + new_posterior.segment(IDX::ATT).normalize(); + const StateMatrix P_new = P - K * HP; + + if (!new_posterior.allFinite()) return false; + + t_posterior_ = t_prior_; + posterior_ = new_posterior; + prior_ = new_posterior; + P_ = 0.5 * (P_new + P_new.transpose()); + + return true; +} + +bool EkfImu::propagatePrior(const Scalar t) { + if (std::isnan(t)) return false; + + ScopedTicToc timer_propagation_tictoc(timer_propagation_); + + if (t < t_prior_) { + if (t < t_posterior_) return false; + t_prior_ = t_posterior_; + prior_ = posterior_; + } + + auto imu_ptr = std::lower_bound( + imus_.begin(), imus_.end(), t_prior_, + [](const ImuSample& imu, const Scalar tt) { return imu.t <= tt; }); + + Vector imu_data = Vector::Zero(); + Scalar t_target = t; + + if (imu_ptr < imus_.end()) { + t_target = std::min(imu_ptr->t, t); + imu_data.head(3) = imu_ptr->omega; + imu_data.tail(3) = imu_ptr->acc; + } else { + imu_data.head(3) = imu_last_.omega; + imu_data.tail(3) = imu_last_.acc; + } + + static constexpr Scalar dt_max = 1e-4; + while (t_prior_ < t) { + if (imu_ptr < imus_.end()) { + if (imu_ptr->t <= t_prior_) ++imu_ptr; + if (imu_ptr < imus_.end()) { + t_target = std::min(imu_ptr->t, t); + imu_data.head(3) = imu_ptr->omega; + imu_data.tail(3) = imu_ptr->acc; + } else { + t_target = t; + } + } + + while (t_prior_ < t_target) { + const Scalar dt = std::min(t_target - t_prior_, dt_max); + + const Quaternion q{prior_(IDX::ATTW), prior_(IDX::ATTX), + prior_(IDX::ATTY), prior_(IDX::ATTZ)}; + const Vector<3> omega = + imu_data.head(3) - prior_.segment(IDX::BOME); + const Vector<3> acc = + imu_data.tail(3) - prior_.segment(IDX::BACC); + + prior_.segment(IDX::POS) += + 0.5 * dt * prior_.segment(IDX::VEL); + prior_.segment(IDX::VEL) += + dt * (GVEC + q.toRotationMatrix() * acc); + prior_.segment(IDX::POS) += + 0.5 * dt * prior_.segment(IDX::VEL); + + prior_.segment(IDX::ATT) += + 0.5 * dt * Q_left(q) * Vector<4>(0, omega.x(), omega.y(), omega.z()); + prior_.segment(IDX::ATT).normalize(); + + t_prior_ += dt; + if (dt < dt_max) break; + } + t_prior_ = t_target; + } + + return true; +} + +bool EkfImu::propagatePriorAndCovariance(const Scalar t) { + if (std::isnan(t)) return false; + + ScopedTicToc timer_propagation_tictoc(timer_propagation_); + + if (t < t_prior_) { + if (t < t_posterior_) return false; + t_prior_ = t_posterior_; + prior_ = posterior_; + } + + auto imu_ptr = std::lower_bound( + imus_.begin(), imus_.end(), t_prior_, + [](const ImuSample& imu, const Scalar tt) { return imu.t <= tt; }); + + Vector imu_data = Vector::Zero(); + Scalar t_target = t; + + if (imu_ptr < imus_.end()) { + t_target = std::min(imu_ptr->t, t); + imu_data.head(3) = imu_ptr->omega; + imu_data.tail(3) = imu_ptr->acc; + } else { + imu_data.head(3) = imu_last_.omega; + imu_data.tail(3) = imu_last_.acc; + } + + static constexpr Scalar dt_max = 1e-4; + + while (t_prior_ < t) { + if (imu_ptr < imus_.end()) { + if (imu_ptr->t <= t_prior_) ++imu_ptr; + if (imu_ptr < imus_.end()) { + t_target = std::min(imu_ptr->t, t); + imu_data.head(3) = imu_ptr->omega; + imu_data.tail(3) = imu_ptr->acc; + } else { + t_target = t; + } + } + + while (t_prior_ < t_target) { + const Scalar dt = std::min(t_target - t_prior_, dt_max); + + const Quaternion q{prior_(IDX::ATTW), prior_(IDX::ATTX), + prior_(IDX::ATTY), prior_(IDX::ATTZ)}; + const Vector<3> omega = + imu_data.head(3) - prior_.segment(IDX::BOME); + const Vector<3> acc = + imu_data.tail(3) - prior_.segment(IDX::BACC); + + const Matrix<4, 4> Qleftq = Q_left(q); + const Matrix<3, 3> R = q.toRotationMatrix(); + + StateMatrix F = StateMatrix::Zero(); + Matrix G = Matrix::Zero(); + + // d/dv p_dot + F.block(IDX::POS, IDX::VEL) = + Matrix<3, 3>::Identity(); + + // d/dq q_dot + const Quaternion qomega{0, omega.x(), omega.y(), omega.z()}; + F.block(IDX::ATT, IDX::ATT) = 0.5 * Q_right(qomega); + + // d/dbw q_dot + F.block(IDX::ATT, IDX::BOME) = + -0.5 * Qleftq.rightCols(3); + + // d/dw q_dot + G.block(IDX::ATT, 0) = 0.5 * Qleftq.rightCols(3); + + // d/dq v_dot + const Quaternion qacc{0, acc.x(), acc.y(), acc.z()}; + const Vector<4> v_QrTqa = + Q_right(q).transpose() * Vector<4>(0, acc.x(), acc.y(), acc.z()); + F.block(IDX::VEL, IDX::ATT) = + (Q_right(Quaternion(v_QrTqa(0), v_QrTqa(1), v_QrTqa(2), v_QrTqa(3))) + + Qleftq * Q_left(qacc) * qConjugateJacobian()) + .bottomRows(3); + + // d/dba v_dot + F.block(IDX::VEL, IDX::BACC) = -R; + + // d/da v_dot + G.block(IDX::VEL, 3) = R; + + + const StateMatrix IdtF = StateMatrix::Identity() + dt * F; + const Matrix dtG = dt * G; + + prior_.segment(IDX::POS) += + 0.5 * dt * prior_.segment(IDX::VEL); + prior_.segment(IDX::VEL) += dt * (GVEC + R * acc); + prior_.segment(IDX::POS) += + 0.5 * dt * prior_.segment(IDX::VEL); + + prior_.segment(IDX::ATT) += + 0.5 * dt * Qleftq * Vector<4>(0, omega.x(), omega.y(), omega.z()); + prior_.segment(IDX::ATT).normalize(); + + StateMatrix P = IdtF * P_ * IdtF.transpose(); + P.noalias() += dtG * R_imu_ * dtG.transpose(); + P.noalias() += (dt * dt) * Q_; + + P_ = 0.5 * (P + P.transpose()); + + t_prior_ += dt; + if (dt < dt_max) break; + } + t_prior_ = t_target; + } + + return true; +} + +bool EkfImu::updateParameters(const std::shared_ptr& params) { + if (!params || !params->valid()) return false; + + std::lock_guard lock(mutex_); + + params_ = params; + + Q_ = (StateVector() << params_->Q_pos, params_->Q_att, params_->Q_vel, + params_->Q_bome, params_->Q_bacc) + .finished() + .asDiagonal(); + + Q_init_ = (StateVector() << params_->Q_init_pos, params_->Q_init_att, + params_->Q_init_vel, params_->Q_init_bome, params_->Q_init_bacc) + .finished() + .asDiagonal(); + + R_pose_ = (Vector() << params_->R_pos, params_->R_att) + .finished() + .asDiagonal(); + R_imu_ = (Vector() << params_->R_acc, params_->R_omega) + .finished() + .asDiagonal(); + + return true; +} + +bool EkfImu::vectorToState(const Scalar t, const StateVector& x, + QuadState* const state) const { + if (!std::isfinite(t) || !x.allFinite() || state == nullptr) return false; + state->t = t; + state->p = x.segment(IDX::POS); + state->qx = x.segment(IDX::ATT); + state->v = x.segment(IDX::VEL); + state->w = imu_last_.omega; + state->a = GVEC + state->R() * imu_last_.acc; + state->bw = x.segment(IDX::BOME); + state->ba = x.segment(IDX::BACC); + state->qx.normalize(); + state->mot = motor_speeds_; + + return true; +} + +bool EkfImu::stateToVector(const QuadState& state, Scalar* const t, + StateVector* const x) const { + if (!state.valid() || t == nullptr || x == nullptr) return false; + + *t = state.t; + x->segment(IDX::POS) = state.p; + x->segment(IDX::ATT) = state.qx; + x->segment(IDX::VEL) = state.v; + x->segment(IDX::BOME) = state.bw; + x->segment(IDX::BACC) = state.ba; + + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/ekf_imu/ekf_imu_params.cpp b/src/agilicious/agilib/src/estimator/ekf_imu/ekf_imu_params.cpp new file mode 100644 index 0000000..e5be849 --- /dev/null +++ b/src/agilicious/agilib/src/estimator/ekf_imu/ekf_imu_params.cpp @@ -0,0 +1,96 @@ +#include "agilib/estimator/ekf_imu/ekf_imu_params.hpp" + +namespace agi { + +EkfImuParameters::EkfImuParameters() + : jump_pos_threshold(0.0), + jump_att_threshold(0.0 * M_PI), + R_pos(Vector<3>::Constant(1e-6)), + R_att(Vector<3>::Constant(1e-6)), + R_acc(Vector<3>::Constant(1e-1)), + R_omega(Vector<3>::Constant(1e-2)), + Q_pos(Vector<3>::Constant(1e-6)), + Q_att(Vector<4>::Constant(1e-6)), + Q_vel(Vector<3>::Constant(1e-3)), + Q_bome(Vector<3>::Constant(1e-9)), + Q_bacc(Vector<3>::Constant(1e-9)), + Q_init_pos(Vector<3>::Constant(1e-6)), + Q_init_att(Vector<4>::Constant(1e-6)), + Q_init_vel(Vector<3>::Constant(1e-3)), + Q_init_bome(Vector<3>::Constant(1e-6)), + Q_init_bacc(Vector<3>::Constant(1e-6)), + update_on_get(false) {} + +bool EkfImuParameters::load(const Yaml& node) { + if (node.isNull()) return false; + + update_on_get = node["update_on_get"].as(); + jump_pos_threshold = node["jump_pos_threshold"].as(); + jump_att_threshold = node["jump_att_threshold"].as(); + node["R_pos"] >> R_pos; + node["R_att"] >> R_att; + node["R_acc"] >> R_acc; + node["R_omega"] >> R_omega; + node["Q_pos"] >> Q_pos; + node["Q_att"] >> Q_att; + node["Q_vel"] >> Q_vel; + node["Q_bome"] >> Q_bome; + node["Q_bacc"] >> Q_bacc; + node["Q_init_pos"] >> Q_init_pos; + node["Q_init_att"] >> Q_init_att; + node["Q_init_vel"] >> Q_init_vel; + node["Q_init_bome"] >> Q_init_bome; + node["Q_init_bacc"] >> Q_init_bacc; + + return valid(); +} + +bool EkfImuParameters::valid() const { + bool check = true; + + check &= R_pos.allFinite(); + check &= R_att.allFinite(); + check &= R_acc.allFinite(); + check &= R_omega.allFinite(); + + check &= Q_pos.allFinite(); + check &= Q_att.allFinite(); + check &= Q_vel.allFinite(); + check &= Q_bome.allFinite(); + check &= Q_bacc.allFinite(); + + check &= Q_init_pos.allFinite(); + check &= Q_init_att.allFinite(); + check &= Q_init_vel.allFinite(); + check &= Q_init_bome.allFinite(); + check &= Q_init_bacc.allFinite(); + + return check; +} + +std::ostream& operator<<(std::ostream& os, const EkfImuParameters& params) { + os << "EKF IMU Parameters:\n"; + + os << "R_pos: " << params.R_pos.transpose() << '\n'; + os << "R_att: " << params.R_att.transpose() << '\n'; + os << "R_acc: " << params.R_acc.transpose() << '\n'; + os << "R_omega: " << params.R_omega.transpose() << '\n'; + os << "Q_pos: " << params.Q_pos.transpose() << '\n'; + os << "Q_att: " << params.Q_att.transpose() << '\n'; + os << "Q_vel: " << params.Q_vel.transpose() << '\n'; + os << "Q_bome: " << params.Q_bome.transpose() << '\n'; + os << "Q_bacc: " << params.Q_bacc.transpose() << '\n'; + os << "Q_init_pos: " << params.Q_init_pos.transpose() << '\n'; + os << "Q_init_att: " << params.Q_init_att.transpose() << '\n'; + os << "Q_init_vel: " << params.Q_init_vel.transpose() << '\n'; + os << "Q_init_bome: " << params.Q_init_bome.transpose() << '\n'; + os << "Q_init_bacc: " << params.Q_init_bacc.transpose() << '\n'; + + os << "update_on_get: " << params.update_on_get << '\n'; + os << "jump_pos_threshold: " << params.jump_pos_threshold << '\n'; + os << "jump_att_threshold: " << params.jump_att_threshold << '\n'; + + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/estimator_base.cpp b/src/agilicious/agilib/src/estimator/estimator_base.cpp new file mode 100644 index 0000000..1f68b00 --- /dev/null +++ b/src/agilicious/agilib/src/estimator/estimator_base.cpp @@ -0,0 +1,25 @@ +#include "agilib/estimator/estimator_base.hpp" + +namespace agi { + +EstimatorBase::EstimatorBase(const std::string& name) : Module(name) {} + +EstimatorBase::~EstimatorBase() {} + +bool EstimatorBase::getState(QuadState* const state) { + if (state == nullptr) return false; + return getAt(state->t, state); +} + +bool EstimatorBase::getRecent(QuadState* const state) { + if (state == nullptr) return false; + return getAt(-1.0, state); +} + +QuadState EstimatorBase::getRecent() { + QuadState state; + getAt(-1.0, &state); + return state; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/feedthrough/feedthrough_estimator.cpp b/src/agilicious/agilib/src/estimator/feedthrough/feedthrough_estimator.cpp new file mode 100644 index 0000000..5c0316c --- /dev/null +++ b/src/agilicious/agilib/src/estimator/feedthrough/feedthrough_estimator.cpp @@ -0,0 +1,66 @@ +#include "agilib/estimator/feedthrough/feedthrough_estimator.hpp" + +#include "agilib/math/math.hpp" + +namespace agi { + +FeedthroughEstimator::FeedthroughEstimator( + const std::shared_ptr& params) + : EstimatorBase("Feedthrough Estimator") { + if (!params) { + params_ = std::make_shared(); + } else { + params_ = params; + } +} + +bool FeedthroughEstimator::initialize(const QuadState& state) { + const Vector<4> keep_motor_speeds = state_.mot; + state_ = state; + if (keep_motor_speeds.allFinite()) state_.mot = keep_motor_speeds; + return state_.valid(); +} + +bool FeedthroughEstimator::addState(const QuadState& state) { + state_ = params_->transform_enabled_ ? transform(state) : state; + return state_.valid(); +} + +bool FeedthroughEstimator::addMotorSpeeds(const Vector<4>& speeds) { + state_.mot = !speeds.allFinite() ? Vector<4>::Zero() : speeds; + return true; +} + +bool FeedthroughEstimator::addImu(const ImuSample& imu) { + state_.w = imu.omega; + return state_.valid(); +} + +bool FeedthroughEstimator::getAt(const Scalar t, QuadState* const state) { + if (state == nullptr) return false; + if (state_.valid()) { + *state = state_; + return true; + } else { + return false; + } +} + +QuadState FeedthroughEstimator::transform(const QuadState& state_in) { + const Eigen::AngleAxisd rollAngle(params_->roll_, Vector<3>::UnitX()); + const Eigen::AngleAxisd pitchAngle(params_->pitch_, Vector<3>::UnitY()); + const Eigen::AngleAxisd yawAngle(params_->yaw_, Vector<3>::UnitZ()); + const Quaternion q_inv = (rollAngle * pitchAngle * yawAngle).inverse(); + + QuadState state_out(state_in); + state_out.p = state_in.p + params_->pos_offset_; + state_out.v = q_inv * state_in.v; + state_out.qx = Q_right(q_inv) * state_in.qx; + state_out.w = q_inv * state_in.w; + + return state_out; +} + +bool FeedthroughEstimator::healthy() const { return state_.valid(); } + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/feedthrough/feedthrough_params.cpp b/src/agilicious/agilib/src/estimator/feedthrough/feedthrough_params.cpp new file mode 100644 index 0000000..31d413c --- /dev/null +++ b/src/agilicious/agilib/src/estimator/feedthrough/feedthrough_params.cpp @@ -0,0 +1,35 @@ +#include "agilib/estimator/feedthrough/feedthrough_params.hpp" + +namespace agi { + +FeedthroughParameters::FeedthroughParameters() + : transform_enabled_(false), + roll_(0.0), + pitch_(0.0), + yaw_(0.0), + pos_offset_(Vector<3>::Zero()) {} + + +bool FeedthroughParameters::load(const Yaml& node) { + if (node.isNull()) return false; + + transform_enabled_ = node["transform_enabled"].as(); + roll_ = node["roll"].as() * M_PI / 180.0; + pitch_ = node["pitch"].as() * M_PI / 180.0; + yaw_ = node["yaw"].as() * M_PI / 180.0; + node["pos_offset"] >> pos_offset_; + + return valid(); +} + +bool FeedthroughParameters::valid() const { + bool check = true; + check &= std::isfinite(transform_enabled_); + check &= std::isfinite(roll_); + check &= std::isfinite(pitch_); + check &= std::isfinite(yaw_); + check &= pos_offset_.allFinite(); + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/mock_vio/mock_vio.cpp b/src/agilicious/agilib/src/estimator/mock_vio/mock_vio.cpp new file mode 100644 index 0000000..941e37f --- /dev/null +++ b/src/agilicious/agilib/src/estimator/mock_vio/mock_vio.cpp @@ -0,0 +1,302 @@ +#include "agilib/estimator/mock_vio/mock_vio.hpp" + +#include "agilib/math/gravity.hpp" + +namespace agi { + +MockVio::MockVio(const Quadrotor& quad, + const std::shared_ptr& params) + : EstimatorBase("Mock VIO"), + params_(params), + quad_(quad), + integrator_(quad_.getDynamicsFunction()) { + state_.setZero(); + last_vio_state_.setZero(); +} + +bool MockVio::initialize(const QuadState& state) { + state_ = state; + last_vio_state_ = state; + return state_.valid(); +} + +bool MockVio::addState(const QuadState& state) { + if (!state.valid()) return false; + + if (!state_.valid()) return initialize(state); + + std::lock_guard lock(states_mtx_); + + const Scalar dt = state.t - t_last_state_received_; + + const Scalar dt_sqrt = sqrt(dt); + if (!states_.empty() && !params_->vio_pos_static_drift.isZero()) { + vio_pos_drift_static_vel_ += + dt_sqrt * randomVector(params_->vio_pos_static_drift); + vio_pos_drift_static_vel_.array() *= + (1.0 - 1e-2 * params_->vio_pos_static_drift.array()); + vio_pos_drift_ += dt * vio_pos_drift_static_vel_; + } + + if (!states_.empty() && !params_->vio_pos_dynamic_drift.isZero()) { + vio_pos_drift_dynamic_vel_ += + dt_sqrt * state.v.norm() * randomVector(params_->vio_pos_dynamic_drift); + vio_pos_drift_dynamic_vel_.array() *= + (1.0 - 1e-2 * params_->vio_pos_dynamic_drift.array()); + vio_pos_drift_ += dt * vio_pos_drift_dynamic_vel_; + } + + if (params_->image_dt > 0.0 && dt < params_->image_dt) return true; + t_last_state_received_ = state.t; + states_.push_back(state); + states_.back().bw = last_imu_sample_.omega_bias; + states_.back().ba = last_imu_sample_.acc_bias; + if (!params_->vio_omega_bias_noise.isZero()) + states_.back().bw += randomVector(params_->vio_omega_bias_noise); + if (!params_->vio_acc_bias_noise.isZero()) + states_.back().ba += randomVector(params_->vio_acc_bias_noise); + + if ((int)states_.size() > BUFFERSIZE) logger_.warn("State queue full!"); + while ((int)states_.size() > BUFFERSIZE) states_.pop_front(); + + return true; +} + +bool MockVio::addImu(const ImuSample& imu) { + if (!imu.valid()) return false; + if (imu.t < last_imu_sample_.t + params_->imu_dt) return true; + + // Prepare measurement and add noise and bias. + const Scalar t_last_imu = last_imu_sample_.t; + last_imu_sample_.t = imu.t; + last_imu_sample_.acc = imu.acc; + last_imu_sample_.omega = imu.omega; + + if (!params_->imu_omega_noise.isZero()) + last_imu_sample_.omega += randomVector(params_->imu_omega_noise); + + if (!params_->imu_acc_noise.isZero()) + last_imu_sample_.acc += randomVector(params_->imu_acc_noise); + + const Scalar dt_sqrt = sqrt(imu.t - t_last_imu); + if (!params_->imu_omega_bias.isZero()) { + if (std::isfinite(t_last_imu)) + last_imu_sample_.omega_bias += + dt_sqrt * randomVector(params_->imu_omega_bias); + } + + if (!params_->imu_acc_bias.isZero()) { + if (std::isfinite(t_last_imu)) + last_imu_sample_.acc_bias += + dt_sqrt * randomVector(params_->imu_acc_bias); + } + + // Add to queue. + if (!params_->use_imu) return true; + imus_.push_back(last_imu_sample_); + + if ((int)imus_.size() > BUFFERSIZE) { + logger_.warn("IMU queue full!"); + std::lock_guard lock(imus_mtx_); + while ((int)imus_.size() > BUFFERSIZE) imus_.pop_front(); + } + + return true; +} + +bool MockVio::getAt(const Scalar t, QuadState* const state) { + if (state == nullptr) return false; + + if (t <= state_.t) { + *state = state_; + return true; + } + const bool updated_vio_state = updateVioStateWithLatency(t); + updateStateWithImu(t, updated_vio_state); + + if (!state_.valid()) { + logger_.warn("State not valid!\n"); + logger_ << state_; + return false; + } + + *state = state_; + + return true; +} + +bool MockVio::updateVioStateWithLatency(const Scalar t) { + if (t < t_last_vio_update_ + params_->vio_dt) return false; + + if (params_->rise <= 0.0) { + updateVioState(t); + } else { + updateRiseState(t); + } + + if (!params_->vio_pos_noise.isZero()) + last_vio_state_.p += randomVector(params_->vio_pos_noise); + + if (!params_->vio_vel_noise.isZero()) + last_vio_state_.v += randomVector(params_->vio_vel_noise); + + if (!params_->vio_att_noise.isZero()) { + const Vector<3> qe = randomVector(params_->vio_att_noise); + const Quaternion qrand(sqrt(1.0 - qe.transpose() * qe), qe.x(), qe.y(), + qe.z()); + last_vio_state_.q(last_vio_state_.q() * qrand); + } + + last_vio_state_.p += vio_pos_drift_; + + return true; +} + +bool MockVio::updateVioState(const Scalar t) { + const Scalar t_vio = t - params_->vio_latency; + + std::lock_guard lock(states_mtx_); + + if (states_.empty()) return false; + + auto next_vio_state = std::lower_bound(states_.begin(), states_.end(), t_vio); + + if (next_vio_state > states_.begin()) --next_vio_state; + if (next_vio_state >= states_.end()) return false; + + if (next_vio_state->t > t_vio) return false; + + last_vio_state_ = *next_vio_state; + t_last_vio_update_ = t; + states_.erase(states_.begin(), next_vio_state); + + return true; +} + +bool MockVio::updateRiseState(const Scalar t) { + const Scalar t_vio = t - params_->vio_latency; + + std::lock_guard lock(states_mtx_); + + if (states_.empty()) return false; + + auto state_ptr = states_.begin(); + const auto first_state_after_latency = + std::lower_bound(states_.begin(), states_.end(), t_vio); + for (; t_last_vio_update_ <= t;) { + auto next_state_ptr = std::lower_bound(state_ptr, first_state_after_latency, + t_last_vio_update_); + if (next_state_ptr > state_ptr) --next_state_ptr; + + last_vio_state_.t = next_state_ptr->t; + last_vio_state_.p += + params_->rise * (next_state_ptr->p - last_vio_state_.p); + last_vio_state_.v += + params_->rise * (next_state_ptr->v - last_vio_state_.v); + last_vio_state_.q( + last_vio_state_.q().slerp(params_->rise, next_state_ptr->q())); + last_vio_state_.bw += + params_->rise * (next_state_ptr->bw - last_vio_state_.bw); + last_vio_state_.ba += + params_->rise * (next_state_ptr->ba - last_vio_state_.ba); + + t_last_vio_update_ += params_->vio_dt; + state_ptr = next_state_ptr; + } + + states_.erase(states_.begin(), state_ptr); + + return true; +} + +bool MockVio::updateStateWithImu(const Scalar t, const bool repropagate) { + // No propagation with IMU. + if (!params_->use_imu) { + state_ = last_vio_state_; + state_.t = t; + if (last_imu_sample_.valid()) { + state_.w = last_imu_sample_.omega; + state_.a = state_.R() * last_imu_sample_.acc + GVEC; + } + return true; + } + + static std::deque imus; + { + std::lock_guard lock(imus_mtx_); + imus = imus_; + } + + // Now with propagation. If need to repropagate, reset state_ and start. + if (repropagate) state_ = last_vio_state_; + + // First relevant sample. + const Scalar t_start = state_.t; + auto imu_ptr = std::lower_bound( + imus.begin(), imus.end(), state_.t, + [](const ImuSampleWithBias& imu, const Scalar tt) { return imu.t <= tt; }); + + // Propagate using all relevant IMU samples. + while (state_.t < t) { + QuadState init_state = state_; + + if (imu_ptr < imus.end()) { + state_.t = std::min(imu_ptr->t, t); + init_state.w = imu_ptr->omega + imu_ptr->omega_bias - state_.bw; + init_state.a = + state_.R() * (imu_ptr->acc + imu_ptr->acc_bias - state_.ba) + GVEC; + } else { + state_.t = t; + } + + integrator_.integrate(init_state, &state_); + + if (imu_ptr < imus.end() && imu_ptr->t < t) ++imu_ptr; + } + + // Set omega and acc directly, since those are measured quantities. + if (last_imu_sample_.valid()) { + state_.w = last_imu_sample_.omega; + state_.a = state_.R() * (last_imu_sample_.acc) + GVEC; + } + + // If we repropagated, we can forget about old IMU samples. + if (repropagate) { + std::lock_guard lock(imus_mtx_); + const auto delete_to_ptr = + std::lower_bound(imus_.begin(), imus_.end(), t_start); + imus_.erase(imus_.begin(), delete_to_ptr); + } + + return true; +} + +void MockVio::reset() { + std::lock_guard lock_states(states_mtx_); + std::lock_guard lock_imus(imus_mtx_); + + last_vio_state_ = QuadState(); + state_ = QuadState(); + t_last_vio_update_ = 0.0; + t_last_state_received_ = 0.0; + + vio_pos_drift_.setZero(); + vio_pos_drift_dynamic_vel_.setZero(); + vio_pos_drift_static_vel_.setZero(); + + last_imu_sample_ = ImuSampleWithBias(); + + states_.clear(); + imus_.clear(); +} + +bool MockVio::healthy() const { return state_.valid(); } + +Vector<3> MockVio::randomVector(const Vector<3>& standard_deviation) { + return Vector<3>( + std::normal_distribution(0.0, standard_deviation(0))(gen_), + std::normal_distribution(0.0, standard_deviation(1))(gen_), + std::normal_distribution(0.0, standard_deviation(2))(gen_)); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/estimator/mock_vio/mock_vio_params.cpp b/src/agilicious/agilib/src/estimator/mock_vio/mock_vio_params.cpp new file mode 100644 index 0000000..d82330f --- /dev/null +++ b/src/agilicious/agilib/src/estimator/mock_vio/mock_vio_params.cpp @@ -0,0 +1,84 @@ +#include "agilib/estimator/mock_vio/mock_vio_params.hpp" + +namespace agi { + +MockVioParams::MockVioParams() + : use_imu(true), + rise(0.0), + image_dt(0.0), + vio_dt(1.0 / 30.0), + vio_latency(vio_dt), + vio_pos_static_drift(Vector<3>::Zero()), + vio_pos_dynamic_drift(Vector<3>::Zero()), + vio_pos_noise(Vector<3>::Zero()), + vio_att_noise(Vector<3>::Zero()), + vio_vel_noise(Vector<3>::Zero()), + vio_omega_bias_noise(Vector<3>::Zero()), + vio_acc_bias_noise(Vector<3>::Zero()), + imu_dt(0.0), + imu_omega_noise(Vector<3>::Zero()), + imu_acc_noise(Vector<3>::Zero()), + imu_omega_bias(Vector<3>::Zero()), + imu_acc_bias(Vector<3>::Zero()) {} + + +bool MockVioParams::load(const Yaml& node) { + if (node.isNull()) return false; + + use_imu = node["use_imu"].as(); + vio_dt = node["vio_dt"].as(); + + vio_latency = vio_dt; + node["vio_latency"].getIfDefined(vio_latency); + + node["rise"].getIfDefined(rise); + node["image_dt"].getIfDefined(image_dt); + + node["vio_pos_static_drift"].getIfDefined(vio_pos_static_drift); + node["vio_pos_dynamic_drift"].getIfDefined(vio_pos_dynamic_drift); + node["vio_pos_noise"].getIfDefined(vio_pos_noise); + node["vio_vel_noise"].getIfDefined(vio_vel_noise); + node["vio_att_noise"].getIfDefined(vio_att_noise); + node["vio_omega_bias_noise"].getIfDefined(vio_omega_bias_noise); + node["vio_acc_bias_noise"].getIfDefined(vio_acc_bias_noise); + + node["imu_dt"].getIfDefined(imu_dt); + node["imu_omega_noise"].getIfDefined(imu_omega_noise); + node["imu_acc_noise"].getIfDefined(imu_acc_noise); + node["imu_omega_bias"].getIfDefined(imu_omega_bias); + node["imu_acc_bias"].getIfDefined(imu_acc_bias); + + return valid(); +} + +bool MockVioParams::valid() const { + bool check = true; + + check &= rise >= 0.0; + check &= image_dt >= 0.0; + check &= vio_dt > 0.0; + check &= vio_latency >= 0.0; + + check &= vio_pos_static_drift.allFinite() && + (vio_pos_static_drift.array() >= 0.0).all(); + check &= vio_pos_dynamic_drift.allFinite() && + (vio_pos_dynamic_drift.array() >= 0.0).all(); + check &= vio_pos_noise.allFinite() && (vio_pos_noise.array() >= 0.0).all(); + check &= vio_att_noise.allFinite() && (vio_att_noise.array() >= 0.0).all(); + check &= vio_vel_noise.allFinite() && (vio_vel_noise.array() >= 0.0).all(); + check &= vio_omega_bias_noise.allFinite() && + (vio_omega_bias_noise.array() >= 0.0).all(); + check &= + vio_acc_bias_noise.allFinite() && (vio_acc_bias_noise.array() >= 0.0).all(); + + check &= imu_dt >= 0.0; + check &= + imu_omega_noise.allFinite() && (imu_omega_noise.array() >= 0.0).all(); + check &= imu_acc_noise.allFinite() && (imu_acc_noise.array() >= 0.0).all(); + check &= imu_omega_bias.allFinite() && (imu_omega_bias.array() >= 0.0).all(); + check &= imu_acc_bias.allFinite() && (imu_acc_bias.array() >= 0.0).all(); + + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/guard/guard_base.cpp b/src/agilicious/agilib/src/guard/guard_base.cpp new file mode 100644 index 0000000..f31d83d --- /dev/null +++ b/src/agilicious/agilib/src/guard/guard_base.cpp @@ -0,0 +1,7 @@ +#include "agilib/guard/guard_base.hpp" + +namespace agi { +GuardBase::GuardBase(const std::string& name) + : Module(name), guard_state_(GuardState::NOT_INIT) {} + +} // namespace agi diff --git a/src/agilicious/agilib/src/guard/position_guard.cpp b/src/agilicious/agilib/src/guard/position_guard.cpp new file mode 100644 index 0000000..a099570 --- /dev/null +++ b/src/agilicious/agilib/src/guard/position_guard.cpp @@ -0,0 +1,59 @@ +#include "agilib/guard/position_guard.hpp" + +#include "agilib/utils/throttler.hpp" + +namespace agi { + +PositionGuard::PositionGuard(const PositionGuardParams ¶ms) + : params_(params) {} + +bool PositionGuard::evaluateState(const QuadState &state) { + if (!state.valid()) { + return false; + } + + const bool should_trigger = + externally_triggered_ || + (state.p.array() < params_.pos_lower_bound_.array()).any() || + (state.p.array() > params_.pos_upper_bound_.array()).any(); + + return should_trigger; +} + +bool PositionGuard::update(const QuadState &state) { + if (!state.valid()) { + return false; + } + + const bool should_trigger = evaluateState(state); + + switch (guard_state_) { + case GuardState::NOT_INIT: + if (!should_trigger) { + guard_state_ = GuardState::ACTIVE; + } else if (externally_triggered_) { + static Throttler throttler(logger_, 1.0); + throttler(&Logger::error, "Guard not initialized!"); + } + break; + case GuardState::ACTIVE: + if (should_trigger) { + guard_state_ = GuardState::TRIGGERED; + } + break; + case GuardState::TRIGGERED: + // Do nothing, stuck here until reset + break; + default: + break; + } + + return guard_state_ == GuardState::TRIGGERED; +} + +void PositionGuard::reset() { + guard_state_ = GuardState::NOT_INIT; + externally_triggered_ = false; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/guard/position_guard_params.cpp b/src/agilicious/agilib/src/guard/position_guard_params.cpp new file mode 100644 index 0000000..4f62532 --- /dev/null +++ b/src/agilicious/agilib/src/guard/position_guard_params.cpp @@ -0,0 +1,23 @@ +#include "agilib/guard/position_guard_params.hpp" + +namespace agi { + +bool PositionGuardParams::load(const Yaml& node) { + if (node.isNull()) { + std::printf("failed to load.\n"); + return false; + } + node["pos_lower_bound"] >> pos_lower_bound_; + node["pos_upper_bound"] >> pos_upper_bound_; + + return valid(); +} + +bool PositionGuardParams::valid() const { + bool check = true; + check &= pos_lower_bound_.allFinite() && pos_upper_bound_.allFinite(); + + return check; +} + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/src/math/integrator_base.cpp b/src/agilicious/agilib/src/math/integrator_base.cpp new file mode 100644 index 0000000..8d8d910 --- /dev/null +++ b/src/agilicious/agilib/src/math/integrator_base.cpp @@ -0,0 +1,35 @@ +#include "agilib/math/integrator_base.hpp" + +namespace agi { + +IntegratorBase::IntegratorBase(DynamicsFunction function, const Scalar dt_max) + : dynamics_(function), dt_max_(dt_max) {} + +bool IntegratorBase::integrate(const QuadState& initial_state, + QuadState* const final_state) const { + if (final_state == nullptr) return false; + if (std::isnan(initial_state.t) || std::isnan(final_state->t)) return false; + if (initial_state.t >= final_state->t) return false; + return integrate(initial_state.x, final_state->t - initial_state.t, + final_state->x); +} + +bool IntegratorBase::integrate(const Ref> initial_state, + const Scalar dt, + Ref> final_state) const { + Scalar dt_remaining = dt; + Vector<> state = initial_state; + + do { + const Scalar dt_this = std::min(dt_remaining, dt_max_); + if (!step(state, dt_this, final_state)) return false; + state = final_state; + dt_remaining -= dt_this; + } while (dt_remaining > 0.0); + + return true; +} + +Scalar IntegratorBase::dtMax() const { return dt_max_; } + +} // namespace agi diff --git a/src/agilicious/agilib/src/math/integrator_euler.cpp b/src/agilicious/agilib/src/math/integrator_euler.cpp new file mode 100644 index 0000000..94bb21a --- /dev/null +++ b/src/agilicious/agilib/src/math/integrator_euler.cpp @@ -0,0 +1,15 @@ +#include "agilib/math/integrator_euler.hpp" + +namespace agi { + +bool IntegratorEuler::step(const Ref> initial_state, + const Scalar dt, Ref> final_state) const { + Vector<> derivative(initial_state.rows()); + if (!this->dynamics_(initial_state, derivative)) return false; + + final_state = initial_state + dt * derivative; + + return true; +} + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/src/math/integrator_rk4.cpp b/src/agilicious/agilib/src/math/integrator_rk4.cpp new file mode 100644 index 0000000..339509f --- /dev/null +++ b/src/agilicious/agilib/src/math/integrator_rk4.cpp @@ -0,0 +1,34 @@ +#include "agilib/math/integrator_rk4.hpp" + +namespace agi { + +bool IntegratorRK4::step(const Ref> initial_state, + const Scalar dt, Ref> final_state) const { + static const Vector<4> rk4_sum_vec{1.0 / 6.0, 2.0 / 6.0, 2.0 / 6.0, + 1.0 / 6.0}; + Matrix<> k = Matrix<>::Zero(initial_state.rows(), 4); + + final_state = initial_state; + + // k_1 + if (!this->dynamics_(final_state, k.col(0))) return false; + + // k_2 + final_state = initial_state + 0.5 * dt * k.col(0); + if (!this->dynamics_(final_state, k.col(1))) return false; + + // k_3 + final_state = initial_state + 0.5 * dt * k.col(1); + if (!this->dynamics_(final_state, k.col(2))) return false; + + // k_4 + final_state = initial_state + dt * k.col(2); + if (!this->dynamics_(final_state, k.col(3))) return false; + + + final_state = initial_state + dt * k * rk4_sum_vec; + + return true; +} + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/src/math/integrator_symplectic_euler.cpp b/src/agilicious/agilib/src/math/integrator_symplectic_euler.cpp new file mode 100644 index 0000000..5a65d6c --- /dev/null +++ b/src/agilicious/agilib/src/math/integrator_symplectic_euler.cpp @@ -0,0 +1,36 @@ +#include "agilib/math/integrator_symplectic_euler.hpp" + +namespace agi { + +bool IntegratorSymplecticEuler::step(const Ref> initial_state, + const Scalar dt, + Ref> final_state) const { + Vector<> derivative(initial_state.rows()); + final_state = initial_state; + + if (!this->dynamics_(final_state, derivative)) return false; + + final_state.segment(QS::VEL) = + initial_state.segment(QS::VEL) + + dt * derivative.segment(QS::VEL); + final_state.segment(QS::OME) = + initial_state.segment(QS::OME) + + dt * derivative.segment(QS::OME); + final_state.segment(QS::MOT) = + initial_state.segment(QS::MOT) + + dt * derivative.segment(QS::MOT); + + if (!this->dynamics_(final_state, derivative)) { + return false; + } + final_state.segment(QS::POS) = + initial_state.segment(QS::POS) + + dt * derivative.segment(QS::POS); + final_state.segment(QS::ATT) = + initial_state.segment(QS::ATT) + + dt * derivative.segment(QS::ATT); + + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/math/math.cpp b/src/agilicious/agilib/src/math/math.cpp new file mode 100644 index 0000000..c257706 --- /dev/null +++ b/src/agilicious/agilib/src/math/math.cpp @@ -0,0 +1,138 @@ +#include "agilib/math/math.hpp" + +namespace agi { + +Matrix<3, 3> skew(const Vector<3>& v) { + return (Matrix<3, 3>() << 0, -v.z(), v.y(), v.z(), 0, -v.x(), -v.y(), v.x(), + 0) + .finished(); +} + +Matrix<4, 4> Q_left(const Quaternion& q) { + return (Matrix<4, 4>() << q.w(), -q.x(), -q.y(), -q.z(), q.x(), q.w(), -q.z(), + q.y(), q.y(), q.z(), q.w(), -q.x(), q.z(), -q.y(), q.x(), q.w()) + .finished(); +} + +Matrix<4, 4> Q_right(const Quaternion& q) { + return (Matrix<4, 4>() << q.w(), -q.x(), -q.y(), -q.z(), q.x(), q.w(), q.z(), + -q.y(), q.y(), -q.z(), q.w(), q.x(), q.z(), q.y(), -q.x(), q.w()) + .finished(); +} + +Matrix<4, 3> qFromQeJacobian(const Quaternion& q) { + return (Matrix<4, 3>() << -1.0 / q.w() * q.vec().transpose(), + Matrix<3, 3>::Identity()) + .finished(); +} + +Matrix<4, 4> qConjugateJacobian() { + return Matrix<4, 1>(1, -1, -1, -1).asDiagonal(); +} + +Matrix<3, 3> qeRotJacobian(const Quaternion& q, const Matrix<3, 1>& t) { + return 2.0 * + (Matrix<3, 3>() << (q.y() + q.z() * q.x() / q.w()) * t.y() + + (q.z() - q.y() * q.x() / q.w()) * + t.z(), // entry 0,0 + -2.0 * q.y() * t.x() + (q.x() + q.z() * q.y() / q.w()) * t.y() + + (q.w() - q.y() * q.y() / q.w()) * t.z(), // entry 0,1 + -2.0 * q.z() * t.x() + (-q.w() + q.z() * q.z() / q.w()) * t.y() + + (q.x() - q.y() * q.z() / q.w()) * t.z(), // entry 0,2 + + (q.y() - q.z() * q.x() / q.w()) * t.x() + (-2.0 * q.x()) * t.y() + + (-q.w() + q.x() * q.x() / q.w()) * t.z(), // entry 1,0 + (q.x() - q.z() * q.y() / q.w()) * t.x() + + (q.z() + q.x() * q.y() / q.w()) * t.z(), // entry 1,1 + (q.w() - q.z() * q.z() / q.w()) * t.x() + (-2.0 * q.z()) * t.y() + + (q.y() + q.x() * q.z() / q.w()) * t.z(), // entry 1,2 + + (q.z() + q.y() * q.x() / q.w()) * t.x() + + (q.w() - q.x() * q.x() / q.w()) * t.y() + + (-2.0 * q.x()) * t.z(), // entry 2,0 + (-q.w() + q.y() * q.y() / q.w()) * t.x() + + (q.z() - q.x() * q.y() / q.w()) * t.y() + + (-2.0 * q.y()) * t.z(), // entry 2,1 + (q.x() + q.y() * q.z() / q.w()) * t.x() + + (q.y() - q.x() * q.z() / q.w()) * t.y() // entry 2,2 + ) + .finished(); +} + +Matrix<3, 3> qeInvRotJacobian(const Quaternion& q, const Matrix<3, 1>& t) { + return 2.0 * (Matrix<3, 3>() + << (q.y() - q.z() * q.x() / q.w()) * t.y() + + (q.z() + q.y() * q.x() / q.w()) * t.z(), // entry 0,0 + -2.0 * q.y() * t.x() + (q.x() - q.z() * q.y() / q.w()) * t.y() - + (q.w() - q.y() * q.y() / q.w()) * t.z(), // entry 0,1 + -2.0 * q.z() * t.x() + (q.w() - q.z() * q.z() / q.w()) * t.y() + + (q.x() + q.y() * q.z() / q.w()) * t.z(), // entry 0,2 + + (q.y() + q.z() * q.x() / q.w()) * t.x() - 2.0 * q.x() * t.y() + + (q.w() - q.x() * q.x() / q.w()) * t.z(), // entry 1,0 + (q.x() + q.z() * q.y() / q.w()) * t.x() + + (q.z() - q.x() * q.y() / q.w()) * t.z(), // entry 1,1 + -(q.w() - q.z() * q.z() / q.w()) * t.x() - 2.0 * q.z() * t.y() + + (q.y() - q.x() * q.z() / q.w()) * t.z(), // entry 1,2 + + (q.z() - q.y() * q.x() / q.w()) * t.x() - + (q.w() - q.x() * q.x() / q.w()) * t.y() - + 2.0 * q.x() * t.z(), // entry 2,0 + (q.w() - q.y() * q.y() / q.w()) * t.x() + + (q.z() + q.x() * q.y() / q.w()) * t.y() - + 2.0 * q.y() * t.z(), // entry 2,1 + (q.x() - q.y() * q.z() / q.w()) * t.x() + + (q.y() + q.x() * q.z() / q.w()) * t.y() // entry 2,2 + ) + .finished(); +} + +void matrixToTripletList(const SparseMatrix& matrix, + std::vector* const list, + const int row_offset, const int col_offset) { + list->reserve((size_t)matrix.nonZeros() + list->size()); + + for (int i = 0; i < matrix.outerSize(); i++) { + for (typename SparseMatrix::InnerIterator it(matrix, i); it; ++it) { + list->emplace_back(it.row() + row_offset, it.col() + col_offset, + it.value()); + } + } +} + +void matrixToTripletList(const Matrix& matrix, + std::vector* const list, + const int row_offset, const int col_offset) { + const SparseMatrix sparse = matrix.sparseView(); + matrixToTripletList(sparse, list, row_offset, col_offset); +} + +void insert(const SparseMatrix& from, SparseMatrix* const into, + const int row_offset, const int col_offset) { + if (into == nullptr) return; // TODO: Handle exception + std::vector v; + matrixToTripletList(*into, &v); + matrixToTripletList(from, &v, row_offset, col_offset); + + into->setFromTriplets( + v.begin(), v.end(), + [](const Scalar& older, const Scalar& newer) { return newer; }); +} + +void insert(const Matrix<>& from, SparseMatrix* const into, + const int row_offset, const int col_offset) { + if (into == nullptr) return; // TODO: Handle exception + const SparseMatrix from_sparse = from.sparseView(); + insert(from_sparse, into, row_offset, col_offset); +} + +inline void insert(const Matrix<>& from, Matrix<>* const into, + const int row_offset, const int col_offset) { + into->block(row_offset, col_offset, from.rows(), from.cols()) = from; +} + +Vector<> clip(const Vector<>& v, const Vector<>& bound) { + return v.cwiseMin(bound).cwiseMax(-bound); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/pilot/pilot.cpp b/src/agilicious/agilib/src/pilot/pilot.cpp new file mode 100644 index 0000000..fee5279 --- /dev/null +++ b/src/agilicious/agilib/src/pilot/pilot.cpp @@ -0,0 +1,1012 @@ +#include "agilib/pilot/pilot.hpp" + +#include "agilib/controller/mpc/controller_mpc.hpp" +#include "agilib/estimator/ekf/ekf.hpp" +#include "agilib/estimator/feedthrough/feedthrough_estimator.hpp" +#include "agilib/guard/position_guard_params.hpp" +#include "agilib/reference/hover_reference.hpp" +#include "agilib/reference/trajectory_reference/polynomial_trajectory.hpp" +#include "agilib/reference/trajectory_reference/sampled_trajectory.hpp" +#include "agilib/utils/logger.hpp" +#include "agilib/utils/throttler.hpp" + +namespace agi { + +Pilot::Pilot(const PilotParams& params, const TimeFunction time_function) + : time_(time_function), params_(params) { + // Load modules in pipeline. + params_.createPipeline(&pipeline_); + + debug_bridge_ = std::make_shared("DebugBridge", time_function); + if (params_.createBridge(bridge_, time_function)) { + registerFeedbackCallbacks(bridge_); + } else { + logger_.warn( + "Did not create bridge '%s'.\nUsing debug bridge, register externally!", + params_.pipeline_cfg_.bridge_cfg.type.c_str()); + bridge_ = debug_bridge_; + } + + pipeline_.bridge_ = debug_bridge_; + + // Create guard and safety pipeline. + params_.createGuard(guard_); + + if (guard_) { + params_.createSafetyPipeline(&safety_pipeline_); + safety_pipeline_.bridge_ = debug_bridge_; + } else { + logger_.warn("Flying without Guard!"); + } +} + +Pilot::~Pilot() { + if (pipeline_thread_.joinable()) { + shutdown_ = true; + pipeline_thread_.join(); + } + shutdown_ = true; +} + +void Pilot::launchPipeline() { + pipeline_thread_ = std::thread(&Pilot::pipelineThread, this); +} + +void Pilot::runPipeline() { runPipeline(time_()); } + +void Pilot::runPipeline(const Scalar t) { + if (guard_ && guard_->triggered()) { + safety_pipeline_.run(time_()); + } else if (guard_ && + guard_->update(safety_pipeline_.estimator_->getRecent())) { + logger_.warn("Guard in control!"); + logger_.info("Inserting Hover reference to safety pipeline."); + const QuadState curr_state = safety_pipeline_.estimator_->getRecent(); + if (!curr_state.valid()) { + logger_.error("Could not get valid state for force hover!"); + off(); + return; + } + safety_pipeline_.insertReference( + std::make_shared(curr_state)); + safety_pipeline_.run(time_()); + } else { + pipeline_.run(time_()); + } +} + +void Pilot::triggerGuard() { + if (guard_) { + guard_->trigger(); + } else { + logger_.warn("No guard available, not triggering!"); + }; +} + +bool Pilot::addHover(const Vector<3>& hover_pos, Scalar yaw, Scalar start_time, + Scalar duration) { + logger_.info("Add Hover reference."); + const QuadState state = pipeline_.getState(); + if (!std::isfinite(yaw)) yaw = state.getYaw(); + if (!std::isfinite(yaw)) yaw = 0.0; + if (!std::isfinite(start_time)) + start_time = pipeline_.references_.back()->getEndTime(); + if (!std::isfinite(start_time)) start_time = state.t; + if (!std::isfinite(duration)) duration = INF; + + QuadState hover_state(start_time, hover_pos, yaw); + pipeline_.appendReference(std::make_shared(hover_state)); + + return true; +} + +bool Pilot::setVelocityReference(const Vector<3>& velocity, + const Scalar yaw_rate) { + static std::shared_ptr reference; + if (isInVelocityReference()) { + if (!reference->update(velocity, yaw_rate)) { + logger_.warn("Could not update velocity reference!"); + return false; + } + } else { + if (pipeline_.references_.size() > 1) { + logger_.warn("More references set, won't switch to velocity reference!"); + return false; + } + if (!isInHover()) { + logger_.warn("Not in hover, won't switch to velocity reference!"); + return false; + } + + QuadState state; + if (!pipeline_.estimator_->getRecent(&state)) { + logger_.warn( + "Could not get reference state, wont't switch to velocity reference!"); + return false; + } + + reference = std::make_shared(state); + logger_.info("state t: %2f", state.t); + reference->update(velocity, yaw_rate); + pipeline_.appendReference(reference); + } + + return true; +} + +bool Pilot::isInHover() const { + return pipeline_.references_.front()->isHover(); +} + +bool Pilot::isInVelocityReference() const { + return pipeline_.references_.front()->isVelocityRefernce(); +} + +bool Pilot::start() { + if (!pipeline_.isEstimatorSet()) { + logger_.error("No estimator set, will not start!"); + return false; + } + + QuadState curr_state; + if (!pipeline_.estimator_->getRecent(&curr_state)) { + logger_.error("No valid state estimate, will not start!"); + return false; + } + + QuadState state = curr_state.getHoverState(); + + if (curr_state.p[2] > params_.takeoff_threshold_) { + logger_.info( + "Z-position larger than takeoff threshold, assuming handheld start!"); + pipeline_.appendReference(std::make_shared(state)); + } else { + logger_.info("Z-position smaller than takeoff height, taking off!"); + QuadState hover_state = state; + hover_state.t += params_.takeoff_heigth_ / params_.start_land_speed_; + hover_state.p[2] += params_.takeoff_heigth_; + MinSnapTrajectory start_trajectory(curr_state, hover_state); + if (!start_trajectory.valid()) { + logger_.warn("Could not find start trajectory!"); + return false; + } + pipeline_.appendReference( + std::make_shared(start_trajectory)); + } + + return true; +} + +bool Pilot::land() { + Pipeline& active_pipeline = getActivePipeline(); + // check if we are close to hover + if (!active_pipeline.references_.front()->isHover()) { + logger_.warn( + "Cannot land (yet) when not in hover! Initiating force hover!"); + forceHover(); + return false; + } + + // compute landing trajectory + const QuadState current_hover_state = + active_pipeline.getState().getHoverState(); + if (!current_hover_state.valid()) { + logger_.warn("Could not get valid hover state for landing!"); + return false; + } + + QuadState land_state = current_hover_state; + land_state.p.z() = 0.0; + land_state.t += std::abs(land_state.p.z() - current_hover_state.p.z()) / + params_.start_land_speed_; + MinJerkTrajectory land_trajectory(current_hover_state, land_state); + active_pipeline.insertReference( + std::make_shared(current_hover_state, land_state)); + return true; +} + +bool Pilot::forceHover() { + Pipeline& active_pipeline = getActivePipeline(); + const QuadState curr_state = active_pipeline.getState(); + if (!curr_state.valid()) { + logger_.warn("Could not get valid state for force hover!"); + return false; + } + + active_pipeline.insertReference(std::make_shared(curr_state)); + + return true; +} + +bool Pilot::goToPose(const QuadState& end_state) { + Pipeline& active_pipeline = getActivePipeline(); + const QuadState curr_state = active_pipeline.getState(); + + // if guard is activated, the end_state can only be in the allowed volume + if (guard_ && guard_->triggered()) { + if (guard_->evaluateState(end_state)) { + logger_.warn("Requested end state is not allowed by guard!"); + return false; + } + } + + if (!curr_state.valid()) { + logger_.warn("Could not get valid state for go-to-pose!"); + return false; + } + + // Set minimum duration of 1.5 seconds to avoid big jumps in the reference + const Scalar duration = std::max( + (end_state.p - curr_state.p).norm() / params_.go_to_pose_mean_vel_, 1.5); + addPolynomialTrajectory(end_state.getHoverState(), duration); + return true; +} + +Quaternion Pilot::EularToquaternion(const Vector<3> euler) { + double cy = std::cos(euler.z() * 0.5); + double sy = std::sin(euler.z() * 0.5); + double cp = std::cos(euler.y() * 0.5); + double sp = std::sin(euler.y() * 0.5); + double cr = std::cos(euler.x() * 0.5); + double sr = std::sin(euler.x() * 0.5); + Quaternion quat; + quat.w() = cy * cp * cr + sy * sp * sr; + quat.x() = cy * cp * sr - sy * sp * cr; + quat.y() = sy * cp * sr + cy * sp * cr; + quat.z() = sy * cp * cr - cy * sp * sr; + return quat; +} + +bool Pilot::setAccelerationCommand(const Vector<3>& acceleration, + const Scalar yaw_rate, const Scalar delta_t, const Scalar new_time) { + Pipeline& active_pipeline = getActivePipeline(); + const QuadState curr_state = active_pipeline.getState(); + QuadState end_state_prev_traj = + active_pipeline.references_.back()->getEndSetpoint().state; + std::cout << "end_state_prev_traj: " << end_state_prev_traj.p.transpose()<<" "<< end_state_prev_traj.v.transpose() << std::endl; + QuadState end_state; + end_state.setZero(); + end_state.p = end_state_prev_traj.p + end_state_prev_traj.v * delta_t + + 0.5 * acceleration * delta_t * delta_t; + end_state.v = end_state_prev_traj.v + acceleration * delta_t; + // end_state.a = acceleration; + // end_state.applyYaw(end_state_prev_traj.getYaw() + yaw_rate * delta_t); + // std::cout<<"end_state: "<triggered()) { + if (guard_->evaluateState(end_state)) { + logger_.warn("Requested end state is not allowed by guard!"); + return false; + } + } + + addPolynomialTrajectory(end_state, delta_t, new_time); + return true; +} + +bool Pilot::setAccelerationCommand(const std::vector>& acceleration, + const std::vector& yaw_rate, const Scalar delta_t, const Scalar new_time) { + Pipeline& active_pipeline = getActivePipeline(); + const QuadState curr_state = active_pipeline.getState(); + logger_ << "current state:" << std::endl << curr_state; + + QuadState end_state, middle_state; + std::vector waypoints_state; + end_state.setZero(); + QuadState end_state_prev_traj = + active_pipeline.references_.back()->getSetpoint(end_state, new_time).state; + end_state.p = end_state_prev_traj.p; + end_state.v = end_state_prev_traj.v; + end_state.a = end_state_prev_traj.a; + end_state.q(end_state_prev_traj.q()); + end_state.t = new_time; + end_state_prev_traj.t = new_time; + int points_num = acceleration.size(); + Vector<> ts; + + ts.resize(points_num); + for (int i = 0; i < points_num; i++) + { + end_state.p = end_state.p + end_state.v * delta_t + + 0.5 * acceleration[i] * delta_t * delta_t; + end_state.v = end_state.v + acceleration[i] * delta_t; + end_state.a = acceleration[i]; + end_state.q(end_state.q() * Eigen::AngleAxis(yaw_rate[i] * delta_t, Vector<3>::UnitZ())); + waypoints_state.push_back(end_state); + ts[i] = new_time + delta_t * (i+1); + } + + + // ts.resize(2*points_num); + // for (int i=0; i0) + addPolynomialTrajectory(end_state_prev_traj, end_state, waypoints_state, ts); + else + addPolynomialTrajectory(end_state, delta_t, new_time); + + if (!curr_state.valid()) { + logger_.warn("Could not get valid state for acceleration command!"); + return false; + } + + if (guard_ && guard_->triggered()) { + if (guard_->evaluateState(end_state)) { + logger_.warn("Requested end state is not allowed by guard!"); + return false; + } + } + + return true; +} + +bool Pilot::setRLtrajectoryCommand(const SetpointVector& sampled_trajectory, const QuadState& inference, + const Scalar time_received_prediction, const std::string frame_type) +{ + time_received_prediction_ = time_received_prediction; + SetpointVector trajectory_world_frame; + convertTrajectoryToWorldFrame(sampled_trajectory, inference, &trajectory_world_frame, frame_type); + SetpointVector network_traj; + QuadState state_est_point; + state_est_point.setZero(); + QuadState curr_state = pipeline_.getState(); + if(reference_ready_) { + state_est_point.t = time_received_prediction_; + if (frame_type != "world") + state_est_point.p = inference.p; + else + state_est_point.p = sampled_trajectory.front().state.p; + state_est_point.v = curr_state.v; + state_est_point.a = curr_reference_.a; + state_est_point.j = curr_reference_.j; + } else { + state_est_point.t = time_received_prediction_; + state_est_point.p = curr_state.p; + state_est_point.v = curr_state.v; + state_est_point.a = Eigen::Vector3d::Zero(); + } + Pipeline& active_pipeline = getActivePipeline(); + active_pipeline.appendReference(std::make_shared(trajectory_world_frame, FrameID::World, state_est_point, + trajectory_world_frame.back().state.t - time_received_prediction_, "network_traj")); + + return true; +} + +void Pilot::convertTrajectoryToWorldFrame( + const SetpointVector& trajectory, const QuadState& odom_at_inference, + SetpointVector* trajectory_world_frame, const std::string frame_type) { + if (frame_type != "world") + { + Eigen::Matrix R_W_S = odom_at_inference.R(); + for (auto point : trajectory) + { + Setpoint point_world_frame; + point_world_frame.state.setZero(); + point_world_frame.state.t = point.state.t; + point_world_frame.state.p = R_W_S * point.state.p + odom_at_inference.p; + point_world_frame.state.q(odom_at_inference.q() * point.state.q()); + // point_world_frame.state.v = R_W_S * point.state.v + odom_at_inference.v; + // point_world_frame.state.w = R_W_S * point.state.w; + // point_world_frame.state.a = R_W_S * point.state.a; + trajectory_world_frame->push_back(point_world_frame); + } + } + else + { + for (auto point : trajectory) + { + Setpoint point_world_frame; + point_world_frame.state.setZero(); + point_world_frame.state.t = point.state.t; + point_world_frame.state.p = point.state.p; + point_world_frame.state.q(point.state.q()); + // point_world_frame.state.v = point.state.v; + // point_world_frame.state.w = point.state.w; + // point_world_frame.state.a = point.state.a; + trajectory_world_frame->push_back(point_world_frame); + } + } +} + +bool Pilot::off() { + pipeline_.bridge_->deactivate(); + pipeline_.references_.clear(); + pipeline_.bridge_->reset(); + + if (guard_) { + guard_->reset(); + } + return true; +} + +bool Pilot::appendTrajectory(const QuadState& start_state, + const QuadState& end_state) { + Pipeline& active_pipeline = getActivePipeline(); + if (params_.traj_type_ == "poly_min_snap") { + active_pipeline.appendReference( + std::make_shared(start_state, end_state)); + } else if (params_.traj_type_ == "poly_min_jerk") { + active_pipeline.appendReference( + std::make_shared(start_state, end_state)); + } else { + logger_.info( + "# Trajectory type param did not match any trajectory candidate: %s", + params_.traj_type_.c_str()); + return false; + } + + return true; +} + +bool Pilot::addPolynomialTrajectory(const QuadState& end_state, + const Scalar duration) { + logger_ << std::string(80, '=') << std::endl; + logger_.info("Add polynomial trajectory."); + Pipeline& active_pipeline = getActivePipeline(); + if (active_pipeline.references_.empty()) { + logger_.error("Cannot add trajectory when not in flight yet!"); + return false; + } + + if (!end_state.valid()) { + logger_.error("End state is not valid!"); + return false; + } + + // generate fully constrained polynomial trajectory + QuadState end_state_prev_traj = + active_pipeline.references_.back()->getEndSetpoint().state.getHoverState(); + + const Scalar t_curr = active_pipeline.getState().t; + if (!std::isfinite(end_state_prev_traj.t) || end_state_prev_traj.t < t_curr) + end_state_prev_traj.t = t_curr; + + QuadState end_state_poly_traj = end_state; + end_state_poly_traj.t = end_state_prev_traj.t + duration; + + logger_.info("computing trajectory from t = %.2f to t = %.2f", + end_state_prev_traj.t, end_state_poly_traj.t); + + if (!appendTrajectory(end_state_prev_traj, end_state_poly_traj)) { + return false; + } + + return true; +} + +bool Pilot::addPolynomialTrajectory(const QuadState& end_state, + const Scalar duration, const Scalar new_time) { + logger_ << std::string(80, '=') << std::endl; + logger_.info("Add polynomial trajectory."); + Pipeline& active_pipeline = getActivePipeline(); + if (active_pipeline.references_.empty()) { + logger_.error("Cannot add trajectory when not in flight yet!"); + return false; + } + + if (!end_state.valid()) { + logger_.error("End state is not valid!"); + return false; + } + + // generate fully constrained polynomial trajectory + QuadState end_state_prev_traj = + active_pipeline.references_.back()->getEndSetpoint().state; + + // const Scalar t_curr = active_pipeline.getState().t; + if (!std::isfinite(end_state_prev_traj.t) || end_state_prev_traj.t < new_time) + end_state_prev_traj.t = new_time; + + QuadState end_state_poly_traj = end_state; + end_state_poly_traj.t = end_state_prev_traj.t + duration; + + logger_.info("computing trajectory from t = %.2f to t = %.2f", + end_state_prev_traj.t, end_state_poly_traj.t); + + if (!appendTrajectory(end_state_prev_traj, end_state_poly_traj)) { + return false; + } + + return true; +} + +bool Pilot::addPolynomialTrajectory(const QuadState& start, + const QuadState& end, + const std::vector& waypoints, + const Vector<> t, + const Scalar limit_scale) { + const int n = (int)waypoints.size(); + logger_.info("Got %d waypoints!", n); + + if (!start.p.allFinite()) { + logger_.warn("Need valid start position!"); + return false; + } + if (!end.p.allFinite()) { + logger_.warn("Need valid end position!"); + return false; + } + + std::vector states; + states.reserve(2 + n); + QuadState start_state; + QuadState end_state; + + // const Scalar t_last = pipeline_.references_.back()->getEndTime(); + + // start_state.t = std::max(start.t, std::isfinite(t_last) ? t_last : start.t); + start_state.t = start.t; + start_state.p = start.p; + start_state.v = start.v.array().isFinite().select(start.v, 0.0); + start_state.a = start.a.array().isFinite().select(start.a, 0.0); + start_state.q(start.q().coeffs().allFinite() ? start.q() + : Quaternion(1, 0, 0, 0)); + start_state.w = start.w.array().isFinite().select(start.w, 0.0); + + end_state.p = end.p; + end_state.v = end.v.array().isFinite().select(end.v, 0.0); + end_state.a = end.a.array().isFinite().select(end.a, 0.0); + // end_state.q(end.q().coeffs().allFinite() ? end.q() : Quaternion(1, 0, 0, 0)); + end_state.w = end.w.array().isFinite().select(end.w, 0.0); + + int order = 13; + // Vector<> dists = Vector<>::Zero(n + 1); + + // { + // Vector<3> last_pos = start.p; + // for (int i = 0; i < n; ++i) { + // const Vector<> p = waypoints[i].p; + // if (!p.allFinite()) { + // logger_.warn("Need valid waypoint positions!"); + // return false; + // } + // dists(i) = dists(std::max(0, i - 1)) + (p - last_pos).norm(); + // last_pos = p; + // } + // dists(n) = dists(n - 1) + (end.p - last_pos).norm(); + // } + + // const Vector<> t = start_state.t + (1.0 / speed) * dists.array(); + + logger_.info("Total duration: %1.3fs", t(n) - t(0)); + + logger_ << "Adding start state:" << std::endl << start_state; + states.push_back(start_state); + + for (int i = 0; i < n; ++i) { + const QuadState& state = waypoints[i]; + QuadState new_state; + new_state.t = t(i); + new_state.p = state.p; + // new_state.v = state.v; + // new_state.w = state.w; + new_state.q(state.q()); + + order += (int)state.p.allFinite() + (int)state.v.allFinite(); + logger_ << "Adding waypoint " << i << ":" << std::endl << new_state; + states.push_back(new_state); + } + + end_state.t = t(n); + logger_ << "Adding end state:" << std::endl << end_state; + states.push_back(end_state); + + logger_.info("Trying to compute with order %d", order); + const Vector<4> weights(0.0, 0.0, 0.0, 1.0); + PolynomialTrajectory<> traj(states, weights, order); + if (!traj.valid()) { + logger_.warn("Could not compute trajectory through waypoints!"); + return false; + } + + if (limit_scale > 0.0) { + logger_.info("Rescaling to quad limit scaled by %1.3f", limit_scale); + logger_.info("Start at %1.3fs", traj.getDuration()); + traj.scaleToLimits(limit_scale * params_.quad_.collective_thrust_max() / + params_.quad_.m_); + logger_.info("Rescaling to %1.3fs", traj.getDuration()); + } + + if (!pipeline_.appendReference( + std::make_shared>(traj))) { + logger_.warn("Could not append trajectory through waypoints!"); + return false; + } + + return true; +} + +bool Pilot::addPolynomialTrajectory(const QuadState& start, + const QuadState& end, + const std::vector& waypoints, + const Scalar speed, + const Scalar limit_scale) { + const int n = (int)waypoints.size(); + logger_.info("Got %d waypoints!", n); + + if (!start.p.allFinite()) { + logger_.warn("Need valid start position!"); + return false; + } + if (!end.p.allFinite()) { + logger_.warn("Need valid end position!"); + return false; + } + + std::vector states; + states.reserve(2 + n); + QuadState start_state; + QuadState end_state; + + // const Scalar t_last = pipeline_.references_.back()->getEndTime(); + + start_state.t = start.t; + + start_state.p = start.p; + start_state.v = start.v.array().isFinite().select(start.v, 0.0); + start_state.a = start.a.array().isFinite().select(start.a, 0.0); + start_state.q(start.q().coeffs().allFinite() ? start.q() + : Quaternion(1, 0, 0, 0)); + start_state.w = start.w.array().isFinite().select(start.w, 0.0); + + end_state.p = end.p; + end_state.v = end.v.array().isFinite().select(end.v, 0.0); + // end_state.a = end.a.array().isFinite().select(end.a, 0.0); + // end_state.q(end.q().coeffs().allFinite() ? end.q() : Quaternion(1, 0, 0, 0)); + // end_state.w = end.w.array().isFinite().select(end.w, 0.0); + + int order = 8; + Vector<> dists = Vector<>::Zero(n + 1); + + { + Vector<3> last_pos = start.p; + for (int i = 0; i < n; ++i) { + const Vector<> p = waypoints[i].p; + if (!p.allFinite()) { + logger_.warn("Need valid waypoint positions!"); + return false; + } + dists(i) = dists(std::max(0, i - 1)) + (p - last_pos).norm(); + last_pos = p; + } + dists(n) = dists(n - 1) + (end.p - last_pos).norm(); + } + std::cout<<"dists: "< t = start_state.t + (1.0 / speed) * dists.array(); + + logger_.info("Total duration: %1.3fs", t(n) - t(0)); + + logger_ << "Adding start state:" << std::endl << start_state; + states.push_back(start_state); + + for (int i = 0; i < n; ++i) { + const QuadState& state = waypoints[i]; + QuadState new_state; + new_state.t = t(i); + new_state.p = state.p; + // new_state.v = state.v; + // new_state.w = state.w; + // new_state.q(state.q()); + + order += (int)state.p.allFinite() + (int)state.v.allFinite(); + // logger_ << "Adding waypoint " << i << ":" << std::endl << new_state; + states.push_back(new_state); + } + + end_state.t = t(n); + logger_ << "Adding end state:" << std::endl << end_state; + states.push_back(end_state); + + logger_.info("Trying to compute with order %d", order); + const Vector<4> weights(0.0, 0.0, 0.0, 1.0); + PolynomialTrajectory<> traj(states, weights, order); + if (!traj.valid()) { + logger_.warn("Could not compute trajectory through waypoints!"); + return false; + } + + if (limit_scale > 0.0) { + logger_.info("Rescaling to quad limit scaled by %1.3f", limit_scale); + logger_.info("Start at %1.3fs", traj.getDuration()); + traj.scaleToLimits(limit_scale * params_.quad_.collective_thrust_max() / + params_.quad_.m_); + logger_.info("Rescaling to %1.3fs", traj.getDuration()); + } + + if (!pipeline_.appendReference( + std::make_shared>(traj))) { + logger_.warn("Could not append trajectory through waypoints!"); + return false; + } + + return true; +} + + +bool Pilot::addSampledTrajectory(const SetpointVector& setpoints) { + logger_.info("Add sampled trajectory."); + if (setpoints.empty()) { + logger_.error("Received empty trajectory!"); + return false; + } + + pipeline_.appendReference(std::make_shared(setpoints)); + return true; +} + +bool Pilot::setFeedthroughCommand(const Command& command) { + return pipeline_.setFeedthroughCommand(command); +} + +bool Pilot::getReference(const int idx, ReferenceBase* const reference) const { + if (reference == nullptr) return false; + return false; +} + +bool Pilot::getActiveReference(const QuadState& curr_state, + SetpointVector* const setpoints) const { + if (!pipeline_.isReferenceSet()) return false; + return pipeline_.sampler_->getAt(curr_state, pipeline_.references_, + setpoints); +} + +int Pilot::getAllReferences(ReferenceVector* const references) const { + references->clear(); + for (auto& reference : pipeline_.references_) { + references->push_back(reference); + } + return references->size(); +} + +bool Pilot::registerExternalEstimator( + const std::shared_ptr& estimator) { + if (!estimator) return false; + + if (pipeline_.bridge_->active()) return false; + + pipeline_.estimator_ = estimator; + + return true; +} + +bool Pilot::registerExternalBridge(const std::shared_ptr& bridge) { + if (!bridge) return false; + + const bool was_used = pipeline_.bridge_ == bridge_; + const bool was_active = was_used && pipeline_.bridge_->active(); + + logger_.info("Register external bridge: %s\n which was %sactive and %sused.", + bridge->name().c_str(), was_active ? "" : "not ", + was_used ? "" : "not "); + + if (was_active) pipeline_.bridge_->deactivate(); + + bridge_ = bridge; + + if (was_used) pipeline_.bridge_ = bridge_; + if (was_active) pipeline_.bridge_->activate(); + + if (guard_) { + safety_pipeline_.bridge_ = pipeline_.bridge_; + } + + return true; +} + +bool Pilot::registerExternalDebugBridge( + const std::shared_ptr& bridge) { + if (!bridge) return false; + + const bool was_used = pipeline_.bridge_ == debug_bridge_; + + debug_bridge_ = bridge; + + if (was_used) pipeline_.bridge_ = debug_bridge_; + + return true; +} + +bool Pilot::registerFeedbackCallbacks( + const std::shared_ptr& bridge) const { + if (!bridge) return false; + bridge->registerFeedbackCallback([&](const Feedback& feedback) { + pipeline_.estimator_->addImu(feedback.imu); + if (feedback.rotor_speed_rads.allFinite()) + pipeline_.estimator_->addMotorSpeeds(feedback.rotor_speed_rads); + pipeline_.outer_controller_->addImuSample(feedback.imu); + if (pipeline_.isInnerControllerSet()) + pipeline_.inner_controller_->addImuSample(feedback.imu); + }); + + return true; +} + +bool Pilot::registerFeedbackCallback(const FeedbackCallbackFunction& function) { + if (!bridge_) return false; + bridge_->registerFeedbackCallback(function); + + return true; +} + +void Pilot::registerPipelineCallback( + const Pipeline::PipelineCallbackFunction& function) { + pipeline_.registerCallback(function); + if (guard_) { + safety_pipeline_.registerCallback(function); + } +} + +void Pilot::odometryCallback(const Pose& pose) { + pipeline_.estimator_->addPose(pose); +} + +void Pilot::odometryCallback(const QuadState& state) { + if (params_.velocity_in_bodyframe_) { + QuadState state_world_frame = state; + state_world_frame.v = state.q() * state.v; + pipeline_.estimator_->addState(state_world_frame); + } else { + pipeline_.estimator_->addState(state); + } + if( !pipeline_.references_.empty() ) { + curr_reference_ = pipeline_.references_.front()->getSetpoint(state, state.t).state; + // std::cout<<"current reference: "<addPose(pose); + } +} + +void Pilot::guardOdometryCallback(const QuadState& state) { + if (guard_) { + if (params_.velocity_in_bodyframe_) { + QuadState state_world_frame = state; + state_world_frame.v = state.q() * state.v; + safety_pipeline_.estimator_->addState(state_world_frame); + } else { + safety_pipeline_.estimator_->addState(state); + } + } +} + +void Pilot::voltageCallback(const Scalar voltage) { + bridge_->setVoltage(voltage); +} + +void Pilot::ctrActivateCallback(const bool activate) { + if (activate) { + logger_.info("Activating ctr!"); + pipeline_.bridge_->activate(); + forceHover(); + } else { + pipeline_.bridge_->deactivate(); + } +} + +void Pilot::imuCallback(const ImuSample& imu) { + if (pipeline_.estimator_) pipeline_.estimator_->addImu(imu); + if (pipeline_.outer_controller_) + pipeline_.outer_controller_->addImuSample(imu); + if (pipeline_.inner_controller_) + pipeline_.inner_controller_->addImuSample(imu); +} + +void Pilot::motorSpeedCallback(const Vector<4>& mot) { + if (pipeline_.estimator_) pipeline_.estimator_->addMotorSpeeds(mot); +} + +void Pilot::pipelineThread() { + while (!shutdown_) { + pipeline_timer_.tic(); + if (guard_ && guard_->triggered()) { + safety_pipeline_.run(time_()); + } else if (guard_ && + guard_->update(safety_pipeline_.estimator_->getRecent())) { + logger_.warn("Guard in control!"); + safety_pipeline_.run(time_()); + } else { + pipeline_.run(time_()); + } + const Scalar dt_last = pipeline_timer_.toc(); + + const Scalar remainder = dt_last - params_.dt_min_; + if (remainder < 0.0) { + std::this_thread::sleep_for( + std::chrono::nanoseconds((int)(-1e9 * remainder))); + } else { + logger_.info("Pipeline too slow by %1.3fms with %1.3fms!", + 1e3 * remainder, 1e3 * dt_last); + } + } +} + +Command Pilot::getCommand() const { + if (guard_ && guard_->triggered()) { + return safety_pipeline_.getCommand(); + } else { + return pipeline_.getCommand(); + } +} + +const SetpointVector Pilot::getOuterSetpoints() const { + return pipeline_.getOuterSetpoints(); +} + +const SetpointVector Pilot::getInnerSetpoints() const { + return pipeline_.getInnerSetpoints(); +} + +QuadState Pilot::getRecentState() const { + QuadState state; + if (!pipeline_.estimator_->getRecent(&state)) + logger_.warn("Could not get recent state!"); + return state; +} + +Scalar Pilot::getVoltage() const { return bridge_->getVoltage(); } + +void Pilot::enable(bool enable) { + if (enable) { + pipeline_.bridge_->deactivate(); + if (!bridge_->active()) bridge_->activate(); + pipeline_.bridge_ = bridge_; + } else { + pipeline_.bridge_->deactivate(); + pipeline_.bridge_ = debug_bridge_; + pipeline_.bridge_->activate(); + } + + if (guard_) { + safety_pipeline_.bridge_ = pipeline_.bridge_; + } +} + +bool Pilot::enabled() { + return pipeline_.bridge_ != debug_bridge_ && pipeline_.bridge_->active(); +} + +std::string Pilot::getActiveBridgeType() { return pipeline_.bridge_->name(); } + +bool Pilot::getFeedback(Feedback* const feedback) const { + return bridge_->getFeedback(feedback); +} + +bool Pilot::getQuadrotor(Quadrotor* const quad) const { + if (!params_.quad_.valid()) return false; + *quad = params_.quad_; + return true; +} + +Pipeline& Pilot::getActivePipeline() { + if (guard_ && guard_->triggered()) { + return safety_pipeline_; + } else { + return pipeline_; + } +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/pilot/pilot_params.cpp b/src/agilicious/agilib/src/pilot/pilot_params.cpp new file mode 100644 index 0000000..78e6160 --- /dev/null +++ b/src/agilicious/agilib/src/pilot/pilot_params.cpp @@ -0,0 +1,359 @@ +#include "agilib/pilot/pilot_params.hpp" + +#include + +#include +#include + +#include "agilib/base/parameter_base.hpp" +#include "agilib/bridge/ctrl/ctrl_bridge.hpp" +#include "agilib/bridge/ctrl/ctrl_bridge_params.hpp" +#include "agilib/bridge/debug_bridge.hpp" +#include "agilib/bridge/laird/laird_bridge.hpp" +#include "agilib/bridge/laird/laird_bridge_params.hpp" +#include "agilib/bridge/msp/msp_bridge.hpp" +#include "agilib/bridge/msp/msp_bridge_params.hpp" +#include "agilib/bridge/sbus/sbus_bridge.hpp" +#include "agilib/bridge/sbus/sbus_bridge_params.hpp" +#include "agilib/controller/geometric/controller_geo.hpp" +#include "agilib/controller/geometric/geo_params.hpp" +#include "agilib/controller/indi/controller_indi.hpp" +#include "agilib/controller/indi/indi_params.hpp" +#include "agilib/controller/mpc/controller_mpc.hpp" +#include "agilib/controller/mpc/mpc_params.hpp" +#include "agilib/controller/pid/controller_pid.hpp" +#include "agilib/controller/pid/pid_params.hpp" +#include "agilib/estimator/ekf/ekf.hpp" +#include "agilib/estimator/ekf/ekf_params.hpp" +#include "agilib/estimator/ekf_imu/ekf_imu.hpp" +#include "agilib/estimator/ekf_imu/ekf_imu_params.hpp" +#include "agilib/estimator/feedthrough/feedthrough_estimator.hpp" +#include "agilib/estimator/feedthrough/feedthrough_params.hpp" +#include "agilib/estimator/mock_vio/mock_vio.hpp" +#include "agilib/estimator/mock_vio/mock_vio_params.hpp" +#include "agilib/guard/position_guard.hpp" +#include "agilib/guard/position_guard_params.hpp" +#include "agilib/pilot/pipeline_config.hpp" +#include "agilib/sampler/position_based/position_sampler.hpp" +#include "agilib/sampler/position_based/position_sampler_params.hpp" +#include "agilib/sampler/time_based/time_sampler.hpp" +#include "agilib/utils/file_utils.hpp" + +namespace agi { + +PilotParams::PilotParams(const fs::path& filename, const fs::path& directory, + const fs::path& quad_file) + : directory_(directory), quad_file_(quad_file) { + fs::path full_filename = filename; + if (!checkFile(directory_, &full_filename)) + throw ParameterException("Pilot Config file not found!\n" + + filename.string() + "\n" + full_filename.string()); + + logger_.info("Loading Pilot parameters from [%s].", full_filename.c_str()); + if (!ParameterBase::load(full_filename)) + throw ParameterException(full_filename); +} + +bool PilotParams::load(const Yaml& yaml) { + if (directory_.empty()) { + static constexpr int PATH_LEN = 2048; + char path_cstr[PATH_LEN]; + if (readlink("/proc/self/exe", path_cstr, PATH_LEN)) { + const fs::path agidir(path_cstr); + + fs::path::iterator start_it = agidir.begin(); + fs::path::iterator end_it = + std::lower_bound(start_it, agidir.end(), std::string("agilicious")); + + if (end_it == agidir.end()) { + throw ParameterException( + "No directory provided and agilicious directory not found!"); + } else { + for (fs::path::iterator it = agidir.begin(); it != end_it; it++) + directory_ /= *it; + directory_ = directory_ / "agilicious" / "agilib" / "params"; + } + } + } + pipeline_cfg_.load(yaml["pipeline"], directory_); + + // Load Guard Parameters + if (guard_cfg_.loadIfUndefined(yaml["guard"])) { + if (!guard_cfg_.file.empty() && !checkFile(directory_, &guard_cfg_.file)) + throw ParameterException("Could not find guard config file!"); + safety_pipeline_cfg_.load(yaml["guard"]["pipeline"], directory_); + } + + // Quadrotor + quad_file_ = getQuadFile(yaml, quad_file_, directory_); + if (!quad_.load(quad_file_) || !quad_.valid()) + throw ParameterException("Could not load Quadrotor parameters from: " + + quad_file_.string()); + + // Pilot Params + dt_min_ = yaml["dt_min"].as(); + yaml["outerloop_divisor"].getIfDefined(outerloop_divisor_); + dt_telemetry_ = yaml["dt_telemetry"].as(); + traj_type_ = yaml["traj_type"].as(); + + yaml["velocity_in_bodyframe"].getIfDefined(velocity_in_bodyframe_); + yaml["takeoff_height"].getIfDefined(takeoff_heigth_); + yaml["takeoff_threshold"].getIfDefined(takeoff_threshold_); + yaml["start_land_speed"].getIfDefined(start_land_speed_); + yaml["brake_deceleration"].getIfDefined(brake_deceleration_); + yaml["go_to_pose_mean_vel"].getIfDefined(go_to_pose_mean_vel_); + yaml["stop_after_feedthrough"].getIfDefined(stop_after_feedthrough_); + yaml["feedthrough_timeout"].getIfDefined(feedthrough_timeout_); + + yaml["viz_sampler_dt"].getIfDefined(traj_viz_dt_); + yaml["sphere_size"].getIfDefined(traj_viz_sphere_size_); + yaml["pub_log_var"].getIfDefined(publish_log_var_); + + return valid(); +} + +bool PilotParams::valid() const { return quad_.valid(); } + +bool PilotParams::createEstimator(std::shared_ptr& estimator, + const ModuleConfig& config) const { + try { + if (config.type == "EKF") { + std::shared_ptr params = std::make_shared(); + if (!config.file.empty() && !params->load(config.file)) + throw ParameterException(); + estimator = std::make_shared(quad_, params); + return true; + } else if (config.type == "EKFIMU") { + std::shared_ptr params = + std::make_shared(); + if (!config.file.empty() && !params->load(config.file)) + throw ParameterException(); + estimator = std::make_shared(params); + return true; + } else if (config.type == "Feedthrough") { + std::shared_ptr params = + std::make_shared(); + if (!config.file.empty() && !params->load(config.file)) + throw ParameterException(); + estimator = std::make_shared(params); + return true; + } else if (config.type == "MockVIO") { + std::shared_ptr params = std::make_shared(); + if (!config.file.empty() && !params->load(config.file)) + throw ParameterException(); + estimator = std::make_shared(quad_, params); + return true; + } + } catch (const ParameterException& e) { + throw ParameterException("Could not load estimator " + config.type + + " from parameter file \'" + config.file.string() + + "\':\n" + e.what()); + } + + return false; +} + +bool PilotParams::createController(std::shared_ptr& controller, + const ModuleConfig& config) const { + try { + if (config.type == "MPC") { + std::shared_ptr params = std::make_shared(); + if (!config.file.empty() && !params->load(config.file)) + throw ParameterException(); + std::cout<<"dt_min_: "<(quad_, params, dt_min_); + return true; + } else if (config.type == "INDI") { + std::shared_ptr params = + std::make_shared(); + if (!config.file.empty() && !params->load(config.file)) + throw ParameterException(); + controller = std::make_shared(quad_, params); + return true; + } else if (config.type == "GEO") { + std::shared_ptr params = + std::make_shared(); + if (!config.file.empty() && !params->load(config.file)) + throw ParameterException(); + controller = std::make_shared(quad_, params); + return true; + } else if (config.type == "PID") { + std::shared_ptr params = std::make_shared(); + if (!config.file.empty() && !params->load(config.file)) + throw ParameterException(); + controller = std::make_shared(quad_, params); + return true; + } + } catch (const ParameterException& e) { + throw ParameterException("Could not load controller " + config.type + + " from parameter file \'" + config.file.string() + + "\':\n" + e.what()); + } + + return false; +} + +bool PilotParams::createBridge(std::shared_ptr& bridge, + const TimeFunction& time_function, + const ModuleConfig& config) const { + try { + if (config.type == "SBUS") { + SbusParams params; + if (!config.file.empty() && !params.load(config.file)) + throw ParameterException(); + bridge = std::make_shared(quad_, params, time_function); + return true; + } else if (config.type == "Laird") { + LairdParams params; + if (!config.file.empty() && !params.load(config.file)) + throw ParameterException(); + bridge = std::make_shared(params, time_function); + return true; + } else if (config.type == "Debug") { + bridge = std::make_shared("DebugBridge", time_function); + return true; + } else if (config.type == "MSP") { + MspParams params; + if (!config.file.empty() && !params.load(config.file)) + throw ParameterException(); + bridge = std::make_shared(quad_, params, time_function); + return true; + } else if (config.type == "CTRL") { + CtrlParams params; + if (!config.file.empty() && !params.load(config.file)) + throw ParameterException(); + bridge = std::make_shared(quad_, params, time_function); + return true; + } + } catch (const ParameterException& e) { + throw ParameterException("Could not load bridge " + config.type + + " from parameter file \'" + config.file.string() + + "\':\n" + e.what()); + } + + return false; +} + +bool PilotParams::createBridge(std::shared_ptr& bridge, + const TimeFunction& time_function) const { + return createBridge(bridge, time_function, pipeline_cfg_.bridge_cfg); +} + +bool PilotParams::createSampler( + std::shared_ptr& sampler, + const std::shared_ptr& controller, + const ModuleConfig& config) const { + if (!controller) return false; + try { + if (config.type == "Time") { + std::cout<<"controller->dt(): "<dt()<(controller->horizonLength(), + controller->dt()); + return true; + } else if (config.type == "Position") { + PositionSamplerParameters params; + if (!config.file.empty() && !params.load(config.file)) + throw ParameterException(); + sampler = std::make_shared( + params, controller->horizonLength(), controller->dt()); + return true; + } + } catch (const ParameterException& e) { + throw ParameterException("Could not load sampler " + config.type + + " from parameter file \'" + config.file.string() + + "\':\n" + e.what()); + } + + return false; +} + +bool PilotParams::createPipeline(Pipeline* const pipeline, + const PipelineConfig& config) const { + if (pipeline == nullptr) return false; + pipeline->setOuterloopDivisor(outerloop_divisor_); + pipeline->setStopAfterFeedthrough(stop_after_feedthrough_); + pipeline->setFeedthroughTimeout(feedthrough_timeout_); + + if (!createEstimator(pipeline->estimator_, pipeline_cfg_.estimator_cfg)) + logger_.warn("Did not create estimator '%s'!", + pipeline_cfg_.estimator_cfg.type.c_str()); + if (!createController(pipeline->outer_controller_, + pipeline_cfg_.outer_controller_cfg)) + logger_.warn("Did not create outer controller '%s'!", + pipeline_cfg_.outer_controller_cfg.type.c_str()); + if (!createController(pipeline->inner_controller_, + pipeline_cfg_.inner_controller_cfg)) + logger_.warn("Did not create inner controller '%s'!", + pipeline_cfg_.inner_controller_cfg.type.c_str()); + if (!createSampler(pipeline->sampler_, pipeline->outer_controller_, + pipeline_cfg_.sampler_cfg)) + logger_.warn("Did not create sampler '%s'!", + pipeline_cfg_.sampler_cfg.type.c_str()); + + return true; +} + +bool PilotParams::createPipeline(Pipeline* const pipeline) const { + return createPipeline(pipeline, pipeline_cfg_); +} + +bool PilotParams::createSafetyPipeline(Pipeline* safety_pipeline) const { + return createPipeline(safety_pipeline, safety_pipeline_cfg_); +} + +bool PilotParams::createGuard(std::shared_ptr& guard) const { + try { + if (guard_cfg_.type == "Position") { + PositionGuardParams params; + if (!guard_cfg_.file.empty() && !params.load(guard_cfg_.file)) + throw ParameterException(); + guard = std::make_shared(params); + return true; + } else if (guard_cfg_.type == "None") { + return true; + } + } catch (const ParameterException& e) { + throw ParameterException("Could not load guard " + guard_cfg_.type + + " from parameter file \'" + + guard_cfg_.file.string() + "\':\n" + e.what()); + } + + return false; +} + +std::ostream& operator<<(std::ostream& os, const PilotParams& params) { + os << "Pilot Parameters:\n"; + os << "Directory: " << params.directory_ << '\n'; + os << '\n'; + os << "Quad File: " << params.quad_file_ << '\n'; + os << '\n'; + os << "Pipeline:\n" << params.pipeline_cfg_; + os << '\n'; + os << "Safety Pipeline:\n" << params.safety_pipeline_cfg_; + os << '\n'; + os << "Guard\n" << params.guard_cfg_; + os << '\n'; + + os << "Trajectory Type: " << params.traj_type_ << '\n'; + os << "dt min: " << params.dt_min_ << '\n'; + os << "dt telemetry: " << params.dt_telemetry_ << '\n'; + os << "outerloop divisor: " << params.outerloop_divisor_ << '\n'; + os << "velocity in bodyframe: " << params.velocity_in_bodyframe_ + << '\n'; + os << "takeoff height: " << params.takeoff_heigth_ << '\n'; + os << "takeoff threshold: " << params.takeoff_threshold_ << '\n'; + os << "start land speed: " << params.start_land_speed_ << '\n'; + os << "brake deceleration: " << params.brake_deceleration_ << '\n'; + os << "go to pose velocity: " << params.go_to_pose_mean_vel_ << '\n'; + os << "stop after feedthough: " << params.stop_after_feedthrough_ + << '\n'; + os << "trajectory visualization dt: " << params.traj_viz_dt_ << '\n'; + os << "trajectory sphere size: " << params.traj_viz_sphere_size_ + << '\n'; + os << "publish log variables: " << params.publish_log_var_ << '\n'; + + + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/pilot/pipeline_config.cpp b/src/agilicious/agilib/src/pilot/pipeline_config.cpp new file mode 100644 index 0000000..847c6b4 --- /dev/null +++ b/src/agilicious/agilib/src/pilot/pipeline_config.cpp @@ -0,0 +1,38 @@ +#include "agilib/pilot/pipeline_config.hpp" + +#include + +#include "agilib/base/parameter_base.hpp" +#include "agilib/utils/file_utils.hpp" + +namespace agi { + + +void PipelineConfig::load(const Yaml& yaml, const std::string& directory) { + estimator_cfg.loadIfUndefined(yaml["estimator"]); + checkFile(directory, &estimator_cfg.file); + + sampler_cfg.loadIfUndefined(yaml["sampler"]); + checkFile(directory, &sampler_cfg.file); + + if (!outer_controller_cfg.loadIfUndefined(yaml["outer_controller"])) + outer_controller_cfg.loadIfUndefined(yaml["controller"]); + checkFile(directory, &outer_controller_cfg.file); + + inner_controller_cfg.loadIfUndefined(yaml["inner_controller"]); + checkFile(directory, &inner_controller_cfg.file); + + bridge_cfg.loadIfUndefined(yaml["bridge"]); + checkFile(directory, &bridge_cfg.file); +} + +std::ostream& operator<<(std::ostream& os, const PipelineConfig& config) { + os << "Estimator:\n" << config.estimator_cfg; + os << "Sampler:\n" << config.sampler_cfg; + os << "Outer Controller:\n" << config.outer_controller_cfg; + os << "Inner Controller:\n" << config.inner_controller_cfg; + os << "Bridge:\n" << config.bridge_cfg; + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/reference/hover_reference.cpp b/src/agilicious/agilib/src/reference/hover_reference.cpp new file mode 100644 index 0000000..0566f4c --- /dev/null +++ b/src/agilicious/agilib/src/reference/hover_reference.cpp @@ -0,0 +1,20 @@ +#include "agilib/reference/hover_reference.hpp" + +#include "agilib/math/gravity.hpp" + +namespace agi { + +HoverReference::HoverReference(const QuadState& state, const Scalar duration) + : ReferenceBase(state.getHoverState(), duration, "Hover Reference") {} + + +Setpoint HoverReference::getSetpoint(const QuadState& state, const Scalar t) { + Setpoint setpoint; + setpoint.state = start_state_; + setpoint.state.t = t; + setpoint.input = Command(t, G, Vector<3>::Zero()); + + return setpoint; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/reference/nw_poly_trajectory_reference.cpp b/src/agilicious/agilib/src/reference/nw_poly_trajectory_reference.cpp new file mode 100644 index 0000000..1875319 --- /dev/null +++ b/src/agilicious/agilib/src/reference/nw_poly_trajectory_reference.cpp @@ -0,0 +1,408 @@ +#include "agilib/reference/nw_poly_trajectory_reference.hpp" + +#include "agilib/math/gravity.hpp" + +// a sign function that returns 0 for 0, -1 for negative numbers and 1 for positive numbers +template int sgn(T val) { + return (T(0) < val) - (val < T(0)); +} + +namespace agi { + +TrajectoryExt::TrajectoryExt() { + poly_order_ = 4; + frame_id_ = FrameID::World; +} + +TrajectoryExt::TrajectoryExt(const SetpointVector& trajectory, const FrameID& frame_id, + const QuadState& start_state, const Scalar duration, + const std::string& name) + : ReferenceBase(start_state, duration, name), frame_id_(frame_id) { + + poly_order_ = 4; + continuity_order_ = 1; + + double first_timestamp = trajectory.front().state.t; + for (auto point : trajectory) + { + TrajectoryExtPoint trajectory_point; + trajectory_point.position = point.state.p; + trajectory_point.velocity = point.state.v; + trajectory_point.acceleration = point.state.a; + trajectory_point.attitude = point.state.q(); + trajectory_point.bodyrates = point.state.w; + trajectory_point.collective_thrust = 0.0; + trajectory_point.time_from_start = point.state.t - first_timestamp; + points_.push_back(trajectory_point); + // std::cout<<"point.state.p: "<(5), 0.1); +} + +void TrajectoryExt::fitPolynomialCoeffs(const unsigned int poly_order, + const unsigned int continuity_order) { + poly_order_ = poly_order; + continuity_order_ = continuity_order; + poly_coeff_.clear(); + + if (points_.front().time_from_start != 0.0) { + std::printf( + "Cannot fit polynomial when first point does not start from zero!\n"); + return; + } + + double scaling[4] = {1.0, 1.0, 0.5, 1.0 / 6.0}; + for (unsigned i = 0; i <= poly_order_; i++) { + poly_coeff_.push_back(Eigen::Vector3d::Zero()); + } + // constraint at beginning + for (int axis = 0; axis < 3; axis++) { + for (unsigned int cont_idx = 0; cont_idx <= continuity_order_; cont_idx++) { + switch (cont_idx) { + case 0: { + poly_coeff_.at(cont_idx)[axis] = + scaling[cont_idx] * points_.front().position[axis]; + break; + } + case 1: { + poly_coeff_.at(cont_idx)[axis] = + scaling[cont_idx] * points_.front().velocity[axis]; + if (points_.front().velocity.norm() < 0.1 && axis == 0) { + poly_coeff_.at(cont_idx)[axis] += 0.2; + } + break; + } + case 2: { + poly_coeff_.at(cont_idx)[axis] = + scaling[cont_idx] * points_.front().acceleration[axis]; + break; + } + case 3: { + poly_coeff_.at(cont_idx)[axis] = + scaling[cont_idx] * points_.front().jerk[axis]; + break; + } + } + } + } + if (points_.size() < 3) { + printf("Trajectory of length [%lu] too short to compute meaningful fit!\n", + points_.size()); + return; + } + + Eigen::MatrixXd A = Eigen::MatrixXd::Zero(points_.size() - 1, + poly_order_ - continuity_order_); + Eigen::MatrixXd b = Eigen::MatrixXd::Zero(points_.size() - 1, 1); + + for (int axis = 0; axis < 3; axis++) { + for (unsigned i = 1; i < points_.size(); i++) { + double t = points_.at(i).time_from_start; + for (unsigned int j = continuity_order_ + 1; j <= poly_order_; j++) { + A(i - 1, j - (continuity_order_ + 1)) = + std::pow(t, static_cast(j)); + } + b(i - 1) = points_.at(i).position[axis]; + for (unsigned int cont_idx = 0; cont_idx <= continuity_order_; + cont_idx++) { + b(i - 1) -= poly_coeff_.at(cont_idx)[axis] * + std::pow(t, static_cast(cont_idx)); + } + } + Eigen::MatrixXd x_coeff = + A.bdcSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(b); + for (unsigned int j = (continuity_order_ + 1); j <= poly_order_; j++) { + poly_coeff_.at(j)[axis] = x_coeff(j - (continuity_order_ + 1)); + } + } +} + +void TrajectoryExt::enableYawing(const bool enable_yawing) { + yawing_enabled_ = enable_yawing; +} + +void TrajectoryExt::resamplePointsFromPolyCoeffs() { + for (auto &traj_point : points_) { + traj_point.position = evaluatePoly(traj_point.time_from_start, 0); + traj_point.velocity = evaluatePoly(traj_point.time_from_start, 1); + traj_point.acceleration = evaluatePoly(traj_point.time_from_start, 2); + traj_point.jerk = evaluatePoly(traj_point.time_from_start, 3); + // std::cout<<"traj_point.position: "< 0.0) { + angular_rates_wf = + std::acos(std::min(1.0, std::max(-1.0, thrust_1.dot(thrust_2)))) / + time_step * crossProd / (crossProd.norm() + 1.0e-5); + } + traj_point.bodyrates = q_att.inverse() * angular_rates_wf; + } +} + +Eigen::Vector3d TrajectoryExt::evaluatePoly(const double dt, + const int derivative) { + Eigen::Vector3d result = Eigen::Vector3d::Zero(); + switch (derivative) { + case 0: { + for (unsigned int j = 0; j <= poly_order_; j++) { + result += poly_coeff_.at(j) * std::pow(dt, j); + } + break; + } + case 1: { + for (unsigned int j = derivative; j <= poly_order_; j++) { + result += j * poly_coeff_.at(j) * std::pow(dt, j - derivative); + } + break; + } + case 2: { + for (unsigned int j = derivative; j <= poly_order_; j++) { + result += + j * (j - 1) * poly_coeff_.at(j) * std::pow(dt, j - derivative); + } + break; + } + case 3: { + for (unsigned int j = 3; j <= poly_order_; j++) { + result += (j) * (j - 1) * (j - 2) * poly_coeff_.at(j) * + std::pow(dt, j - derivative); + } + break; + } + } + + return result; +} + +bool TrajectoryExt::feasibilityResampling(const double &acc) +{ + if (poly_coeff_.empty()) { + std::printf("polynomial coefficients unknown!"); + return false; + } + Eigen::Vector3d acc_prev; + + for(int iter = 0; iter < 3; iter++) + { + for(unsigned int i = 1; i acc) + points_.at(i).position[axis] = points_.at(i-1).position[axis] + + points_.at(i-1).velocity[axis] * dt + 0.5 * sgn(acc_prev[axis]) * 0.5 * acc * dt * dt; + } + } + } + + fitPolynomialCoeffs(4, 1); + resamplePointsFromPolyCoeffs(); + return true; +} + +bool TrajectoryExt::setConstantArcLengthSpeed(const double &speed, + const int &traj_len, + const double &traj_dt) { + // std::printf("setConstantArcLengthSpeed\n"); + // this only works when the trajectory is already fitted with a polynomial + // (workaround...?) + if (poly_coeff_.empty()) { + std::printf("polynomial coefficients unknown!"); + return false; + } + + // we can reuse the previous first point + // this assumes that the first point already correctly fulfills the continuity + // constraints + std::vector new_points; + new_points.push_back(points_.front()); + // iterate through the polynomial, find points that are equally spaced + double start_time = 0.0; + double end_time = points_.back().time_from_start; + int steps = 100; + double dt = (end_time - start_time) / steps; + + int j = 1; // this index iterates through the evaluation points + + double t_curr = start_time + dt; + Eigen::Vector3d pos_prev = evaluatePoly(t_curr, 0); + Eigen::Vector3d pos_curr; + double acc_arc_length = 0.0; + while (t_curr <= end_time) { + // finely sample the polynomial + // as soon as point is found that has accumulated arc length of x, add it to + // the points + pos_curr = evaluatePoly(t_curr, 0); + + acc_arc_length += (pos_curr - pos_prev).norm(); + if (acc_arc_length >= speed * j * traj_dt) { + // add this point to the resampled points + TrajectoryExtPoint temp_point; + temp_point.time_from_start = j * traj_dt; + temp_point.position = pos_curr; + new_points.push_back(temp_point); + j += 1; + } + if (new_points.size() >= points_.size()) { + break; + } + pos_prev = pos_curr; + t_curr += dt; + } + + // in case we don't have enough points, extrapolate with constant velocity + if (j < 2) { + std::printf("not enough points to extrapolate, won't adapt trajectory!\n"); + return false; + } + + while (new_points.size() < points_.size()) { + TrajectoryExtPoint temp_point; + temp_point.time_from_start = j * traj_dt; + temp_point.position = + new_points.at(j - 1).position + + (new_points.at(j - 1).position - new_points.at(j - 2).position); + new_points.push_back(temp_point); + j += 1; + } + // refit the polynomial coefficients to these points + points_.clear(); + for (auto &point : new_points) { + points_.push_back(point); + } + fitPolynomialCoeffs(poly_order_, continuity_order_); + resamplePointsFromPolyCoeffs(); + return true; +} + +void TrajectoryExt::getTrajectory(SetpointVector* trajectory) +{ + trajectory->clear(); + for (auto point : points_) { + Setpoint traj_point; + traj_point.state.t = point.time_from_start; + traj_point.state.p = point.position; + traj_point.state.v = point.velocity; + traj_point.state.a = point.acceleration; + traj_point.state.j = point.jerk; + traj_point.state.s = point.snap; + + traj_point.state.q(point.attitude); + traj_point.state.w = point.bodyrates; + + trajectory->push_back(traj_point); + } +} + +Setpoint TrajectoryExt::getSetpoint(const QuadState& state, + const Scalar time) { + Scalar t = std::isfinite(time) ? std::max(state.t, time) : state.t; + t = std::clamp(t, start_state_.t, start_state_.t + points_.back().time_from_start); + + Setpoint setpoint; + setpoint.state.setZero(); + if (!std::isfinite(t)) return setpoint; + + setpoint.state.p = evaluatePoly(t-start_state_.t, 0); + setpoint.state.v = evaluatePoly(t-start_state_.t, 1); + setpoint.state.a = evaluatePoly(t-start_state_.t, 2); + setpoint.state.j = evaluatePoly(t-start_state_.t, 3); + setpoint.state.s = Eigen::Vector3d::Zero(); + // std::cout<<"setpoint.state.p: "< 0.0) { + angular_rates_wf = + std::acos(std::min(1.0, std::max(-1.0, thrust_1.dot(thrust_2)))) / + time_step * crossProd / (crossProd.norm() + 1.0e-5); + } + setpoint.state.w = q_att.inverse() * angular_rates_wf; + + // Inputs + setpoint.input.collective_thrust = thrust.norm(); + setpoint.input.t = t; + setpoint.input.omega = setpoint.state.w; + return setpoint; +} + +Setpoint TrajectoryExt::getStartSetpoint() { + return getSetpoint(start_state_); +} + +Setpoint TrajectoryExt::getEndSetpoint() { + return getSetpoint(points_.back().time_from_start); +} + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/src/reference/reference_base.cpp b/src/agilicious/agilib/src/reference/reference_base.cpp new file mode 100644 index 0000000..30d33e9 --- /dev/null +++ b/src/agilicious/agilib/src/reference/reference_base.cpp @@ -0,0 +1,82 @@ +#include "agilib/reference/reference_base.hpp" + +#include +#include + +#include "agilib/math/gravity.hpp" + +namespace agi { + +ReferenceBase::ReferenceBase(const std::string& name) : name_(name) {} + +ReferenceBase::ReferenceBase(const QuadState& state, const Scalar duration, + const std::string& name) + : start_state_(state), + duration_(duration), + name_(name) {} // TODO: , logger_(name) {} + +ReferenceBase::~ReferenceBase() {} + +Setpoint ReferenceBase::getSetpoint(const Scalar t, const Scalar heading) { + QuadState query_state; + query_state.t = t; + if (std::isfinite(heading)) query_state.q(heading); + return getSetpoint(query_state, t); +} + +Setpoint ReferenceBase::getSetpoint(const QuadState& state) { + return getSetpoint(state, state.t); +} + +Setpoint ReferenceBase::getStartSetpoint() { + Setpoint setpoint; + setpoint.state = start_state_; + setpoint.input = Command(start_state_.t, G, Vector<3>::Zero()); + return setpoint; +} + +Setpoint ReferenceBase::getEndSetpoint() { + Setpoint setpoint; + setpoint.state = start_state_; + setpoint.state.t = start_state_.t + duration_; + setpoint.input = Command(start_state_.t + duration_, G, Vector<3>::Zero()); + return setpoint; +} + +bool ReferenceBase::truncate(const Scalar& t) { + if (t <= start_state_.t) return false; + duration_ = t - start_state_.t; + return true; +} + +bool ReferenceBase::isTimeInRange(const Scalar time) const { + return time >= getStartTime() && time <= getEndTime(); +} + +std::string ReferenceBase::time_in_HH_MM_SS_MMM(const Scalar time) const { + if (!std::isfinite(time)) return "inf"; + + const unsigned int ms = fmod(time, 1000.0); + + // convert to std::time_t in order to convert to std::tm (broken time) + std::time_t timer = (std::time_t)(time); + + // convert to broken time + std::tm bt = *std::localtime(&timer); + + std::ostringstream oss; + + oss << std::put_time(&bt, "%H:%M:%S"); // HH:MM:SS + oss << '.' << std::setfill('0') << std::setw(3) << ms; + + return oss.str(); +} + +std::ostream& operator<<(std::ostream& os, const ReferenceBase& ref) { + os << std::setw(30) << std::left << ref.name() << " | " + << ref.time_in_HH_MM_SS_MMM(ref.getStartTime()) << " --> " + << ref.getDuration() << "s --> " + << ref.time_in_HH_MM_SS_MMM(ref.getEndTime()) << " |" << std::endl; + return os; +} +} // namespace agi diff --git a/src/agilicious/agilib/src/reference/trajectory_reference/polynomial.cpp b/src/agilicious/agilib/src/reference/trajectory_reference/polynomial.cpp new file mode 100644 index 0000000..e5f22f8 --- /dev/null +++ b/src/agilicious/agilib/src/reference/trajectory_reference/polynomial.cpp @@ -0,0 +1,299 @@ +#include "agilib/reference/trajectory_reference/polynomial.hpp" + +#include + +namespace agi { + +/* Create exponents as in +/ derivative_order = 0: [ 0 1 2 3 4 ... N] +/ derivative_order = 1: [ 0 0 1 2 3 ... N-1] +/ derivative_order = 2: [ 0 0 0 1 2 ... N-2] +/ ... +*/ +Array<> createExponents(const int order) { + const int N = order + 1; + Array<> P = Array<>::Zero(N, N); + P.col(0) = ArrayVector<>::LinSpaced(N, 0, order); + + for (int i = 1; i < N; ++i) + P.col(i) << ArrayVector<>::Zero(i), P.col(0).head(N - i); + + return P; +} + +/* Create derivative coefficients as in +/ derivative_order = 0: [ 1 1 1 1 1 ...] +/ derivative_order = 1: [ 0 1 2 3 4 ...] +/ derivative_order = 2: [ 0 0 2 6 12 ...] +/ ... +*/ +Array<> createAlpha(const int order) { + const int N = order + 1; + const ArrayVector<> p = ArrayVector<>::LinSpaced(N, 0, order); + + Array<> alpha = Array<>::Ones(N, N); + + for (int i = 1; i < N; ++i) { + alpha.block(i - 1, i, N + 1 - i, N - i) *= + p.head(N + 1 - i).replicate(1, N - i); + } + + return alpha; +} + +template +Polynomial::Polynomial() + : order_(11), + continuity_(-1), + c_(Vector<>::Constant(12, NAN)), + exponents_(createExponents(11)), + alpha_(createAlpha(11)), + weights_(Vector<4>(0, 0, 0, 1)) {} + +template +Polynomial::Polynomial(const int order, const Vector<>& weights, + const int continuity) + : order_(order), + continuity_(continuity), + c_(Vector<>::Constant(order + 1, NAN)), + exponents_(createExponents(order)), + alpha_(createAlpha(order)), + weights_(weights) {} + +template<> +Polynomial::Polynomial() + : order_(5), + continuity_(3), + c_(Vector<>::Constant(6, NAN)), + exponents_(createExponents(5)), + alpha_(createAlpha(5)), + weights_(Vector<3>(0, 0, 1)), + b_(Vector<>::Constant(6, NAN)) {} + +template +bool Polynomial::scale(const Scalar start_time, const Scalar duration) { + bool success = false; + if (std::isfinite(start_time)) { + t_offset_ = start_time; + success = true; + } + + if (std::isfinite(duration)) { + if (duration > 0.0) { + t_scale_ = 1.0 / duration; + } else { + success = false; + } + } + + return success; +} + +template +int Polynomial::addConstraint(const Scalar time, + const Vector<>& constraint) { + const ArrayVector<> constraints = + continuity_ > 0 + ? constraint.head(std::min((int)constraint.size(), continuity_ + 1)) + : constraint; + const int n = constraints.isFinite().cast().sum(); + if (n < 1) return 0; + + const Scalar tau = tauFromTime(time); + + const int n_old = A_.allFinite() ? A_.rows() : 0; + + if (n_old > 0) { + const Matrix<> A_old = A_; + const Vector<> b_old = b_; + + A_.resize(n_old + n, size()); + b_.resize(n_old + n); + + A_.topRows(n_old) = A_old; + b_.head(n_old) = b_old; + } else { + A_.resize(n, size()); + b_.resize(n); + } + + int idx = n_old; + for (int i = 0; i < constraints.size(); ++i) { + if (std::isfinite(constraints(i))) { + A_.row(idx) = + std::pow(t_scale_, i) * alpha_.col(i) * tauVector(tau, i).array(); + b_(idx) = constraints(i); + ++idx; + } + } + + return n; +} + +template<> +int Polynomial::addConstraint(const Scalar time, + const Vector<>& constraint) { + if (constraint.rows() < 3) { + std::cout << "Closed form polynomial constraints must be of size 3!" + << std::endl; + return 0; + } + + if (std::abs(time - t_offset_) < 1e-3) { + b_.head<3>() = constraint.head<3>(); + } else if (std::abs(time - t_offset_ - 1.0 / t_scale_) < 1e-3) { + b_.tail<3>() = constraint.head<3>(); + } else { + std::cout + << "Closed form polynomial constraints must be at start or end time!" + << std::endl; + return 0; + } + + return 3; +} + +template +Scalar Polynomial::tauFromTime(const Scalar t) const { + return t_scale_ * (t - t_offset_); +} + +template +Vector<> Polynomial::tauVector(const Scalar tau, + const int order) const { + return ArrayVector<>::Constant(size(), tau).pow(exponents_.col(order)); +} + +template +Vector<> Polynomial::tauVectorFromTime(const Scalar time, + const int order) const { + return tauVector(tauFromTime(time), order); +} + +template +Matrix<> Polynomial::polyMatrix(const Scalar tau, + const int order) const { + const ArrayVector<> tau_vec = tauVector(tau); + + const int N = size(); + Array<> M = alpha_.block(0, 0, N, order); + + for (int i = 0; i < order; ++i) + M.block(i, i, N - i, 1) *= tau_vec.head(N - i); + + return M.transpose(); +} + +template +Matrix<> Polynomial::polyMatrixFromTime(const Scalar time, + const int order) const { + return polyMatrix(tauFromTime(time), order); +} + +template +void Polynomial::reset() { + H_ = Matrix<>::Constant(1, order_, NAN); + A_ = Matrix<>::Constant(1, order_, NAN); + b_ = Vector<>::Constant(1, NAN); +} + +template +Matrix<> Polynomial::createH(const Vector<>& weights) const { + const int nW = std::min((int)weights.rows(), order_); + const Matrix<> W = weights.head(nW).asDiagonal(); + + const Vector<> time_scales = ArrayVector<>::Constant(nW, t_scale_) + .pow(ArrayVector<>::LinSpaced(nW, 2, 2 * nW)); + + const int n = size(); + Array<> H = Array<>::Zero(n, n); + + for (int i = 0; i < nW; ++i) { + if (weights(i) <= 0.0) continue; + const Vector<> alpha = alpha_.col(i + 1); + const Array<> denom = exponents_.col(i + 1).replicate(1, n); + const Array<> alpha_outer = alpha * alpha.transpose(); + const Array<> denom_outer = (denom + denom.transpose() + 1).max(1.0); + H += time_scales(i) * weights(i) * alpha_outer / denom_outer; + } + return H; +} + +template +bool Polynomial::solve() { + if (A_.rows() < 2) return false; // Cant solve without constraints. + + H_ = createH(weights_); + return solve(H_, A_, b_); +} + +template +bool Polynomial::solve(const Matrix<>& H, const Matrix<>& A, + const Vector<>& b) { + if (H.cols() != size()) return false; + if (A.rows() != b.size() || A.cols() != size()) return false; + + const int n = H.rows(); + const int m = A.rows(); + + const Matrix<> S = + (Matrix<>(n + m, n + m) << 2.0 * H, A.transpose(), A, Matrix<>::Zero(m, m)) + .finished(); + const Vector<> s = (Vector<>(m + n) << Vector<>::Zero(n), b).finished(); + + Solver solver(S); + const Vector<> x = solver.solve(s); + c_ = x.head(n); + + return true; +} + +template<> +bool Polynomial::solve() { + if (!b_.allFinite()) return false; + + // Hardcoded Matrix inversion for the end state constraints. + // This is the inverse of the right half of the coeffcient matrix + // [ 1 1 1 1 1 1 ] + // [ 0 1 1 3 4 5 ] + // [ 0 0 2 6 12 20] + // also known as alpha within this implementation. + static const Matrix<3, 3> A_inv = + (Matrix<3, 3>() << 10, -4, 0.5, -15, 7, -1, 6, -3, 0.5).finished(); + + const ArrayVector<3> t_vec = ArrayVector<3>::Constant(1.0 / t_scale_) + .pow(ArrayVector<3>::LinSpaced(0, 2)); + + c_.head<3>() = t_vec * b_.array().head<3>(); + c_(2) *= 0.5; + c_.tail<3>() = t_vec * b_.array().tail<3>(); + + const Matrix<3, 3> alpha_012 = alpha_.topLeftCorner(3, 3).transpose(); + const Vector<3> b_delta = c_.tail<3>() - alpha_012 * c_.head<3>(); + c_.tail<3>() = A_inv * b_delta; + + return true; +} + + +template +bool Polynomial::eval(const Scalar time, Ref> state) const { + const int n = state.rows(); + const Vector<> time_scales = ArrayVector<>::Constant(n, t_scale_) + .pow(ArrayVector<>::LinSpaced(n, 0, n - 1)); + state = time_scales.asDiagonal() * polyMatrixFromTime(time, n) * c_; + + return true; +} + +template +Scalar Polynomial::operator()(const Scalar time, + const int order) const { + return std::pow(t_scale_, order) * c_.transpose() * + (tauVectorFromTime(time, order).array() * alpha_.col(order)).matrix(); +} + +template class Polynomial>>; +template class Polynomial; + +} // namespace agi diff --git a/src/agilicious/agilib/src/reference/trajectory_reference/polynomial_trajectory.cpp b/src/agilicious/agilib/src/reference/trajectory_reference/polynomial_trajectory.cpp new file mode 100644 index 0000000..73891a9 --- /dev/null +++ b/src/agilicious/agilib/src/reference/trajectory_reference/polynomial_trajectory.cpp @@ -0,0 +1,337 @@ +#include "agilib/reference/trajectory_reference/polynomial_trajectory.hpp" + +#include "agilib/math/gravity.hpp" + + +namespace agi { + +template +PolynomialTrajectory::PolynomialTrajectory( + const QuadState& start_state, const QuadState& end_state, + const Vector<>& weights, const int order, const int continuity, + const std::string& name) + : ReferenceBase(start_state, end_state.t - start_state.t, name), + end_state_(end_state), + x_(order, weights, continuity), + y_(order, weights, continuity), + z_(order, weights, continuity), + yaw_(5, Vector<3>(0, 0, 1)), + states_({start_state, end_state}) { + yaw_last_ = start_state_.getYaw(); + + x_.scale(start_state_.t, duration_); + y_.scale(start_state_.t, duration_); + z_.scale(start_state_.t, duration_); + yaw_.scale(start_state_.t, duration_); + addStateConstraint(start_state_); + addStateConstraint(end_state_); + + x_.solve(); + y_.solve(); + z_.solve(); + yaw_.solve(); +} + +template<> +PolynomialTrajectory::PolynomialTrajectory( + const QuadState& start_state, const QuadState& end_state, + const Vector<>& weights, const int order, const int continuity, + const std::string& name) + : ReferenceBase(start_state, end_state.t - start_state.t, name), + end_state_(end_state) { + yaw_last_ = start_state_.getYaw(); + + x_.scale(start_state_.t, duration_); + y_.scale(start_state_.t, duration_); + z_.scale(start_state_.t, duration_); + yaw_.scale(start_state_.t, duration_); + + addStateConstraint(start_state_); + addStateConstraint(end_state_); + + x_.solve(); + y_.solve(); + z_.solve(); + yaw_.solve(); +} + +template +PolynomialTrajectory::PolynomialTrajectory( + const std::vector& states, const Vector<>& weights, + const int order, const std::string& name) + : ReferenceBase(states.front(), states.back().t - states.front().t, name), + end_state_(states.back()), + x_(order, weights, -1), + y_(order, weights, -1), + z_(order, weights, -1), + yaw_(5, Vector<3>(0, 0, 1)), + states_(states) { + yaw_last_ = start_state_.getYaw(); + + x_.scale(start_state_.t, duration_); + y_.scale(start_state_.t, duration_); + z_.scale(start_state_.t, duration_); + yaw_.scale(start_state_.t, duration_); + + for (const QuadState& state : states_) addStateConstraint(state); + + if (!x_.solve()) std::cout << "Could not solve x-axis!" << std::endl; + if (!y_.solve()) std::cout << "Could not solve y-axis!" << std::endl; + if (!z_.solve()) std::cout << "Could not solve z-axis!" << std::endl; + if (!yaw_.solve()) std::cout << "Could not solve yaw!" << std::endl; + + start_state_ = getState(start_state_.t); + if (!start_state_.valid()) + std::cout << "Could not fill start state!" << std::endl; + + end_state_ = getState(end_state_.t); + if (!end_state_.valid()) + std::cout << "Could not fill end state!" << std::endl; +} + +template +bool PolynomialTrajectory::addStateConstraint( + const QuadState& state) { + if (!std::isfinite(state.t)) return false; + Matrix<> constraints = Matrix<>::Constant(3, 5, NAN); + + constraints.col(0) = state.p; + constraints.col(1) = state.v; + constraints.col(2) = state.a; + constraints.col(3) = state.j; + constraints.col(4) = state.s; + + x_.addConstraint(state.t, constraints.row(0).transpose()); + y_.addConstraint(state.t, constraints.row(1).transpose()); + z_.addConstraint(state.t, constraints.row(2).transpose()); + + // ToDo: Yaw relative to initial yaw. + const Scalar yaw_angle = state.getYaw(); + if (std::isfinite(yaw_angle)) + yaw_.addConstraint(state.t, Vector<3>(yaw_angle, state.w.z(), 0)); + + return true; +} + +template +Setpoint PolynomialTrajectory::getSetpoint(const QuadState& state, + const Scalar time) { + const Scalar t = std::isfinite(time) ? std::max(state.t, time) : state.t; + Setpoint setpoint; + if (!std::isfinite(t)) return setpoint; + + setpoint.state = getState(t); + setpoint.input.t = time; + setpoint.input.collective_thrust = (setpoint.state.a - GVEC).norm(); + setpoint.input.omega = setpoint.state.w; + // std::cout<<"setpoint.state.p: "< +QuadState PolynomialTrajectory::getState(const Scalar time) const { + QuadState state; + if (!valid()) return state; + + const Scalar t = std::clamp(time, start_state_.t, end_state_.t); + + Matrix<> x = Matrix<>::Zero(5, 3); + Vector<> yaw = Vector<>::Zero(3); + + x_.eval(t, x.col(0)); + y_.eval(t, x.col(1)); + z_.eval(t, x.col(2)); + + state.setZero(); + state.t = t; + state.p = x.row(0).transpose(); + state.v = x.row(1).transpose(); + state.a = x.row(2).transpose(); + state.j = x.row(3).transpose(); + state.s = x.row(4).transpose(); + + const Vector<3> thrust_vec = state.a - GVEC; + const Scalar thrust = thrust_vec.norm(); + const Quaternion q_pitch_roll = + thrust > 1e-3 ? Quaternion::FromTwoVectors(Vector<3>::UnitZ(), thrust_vec) + : q_pitch_roll_last_; + q_pitch_roll_last_ = q_pitch_roll; + + if (forward_heading_) { + const Vector<3> v_body = q_pitch_roll.inverse() * state.v; + if ((v_body.x() * v_body.x() + v_body.y() * v_body.y()) < 1e-6) { + yaw(0) = std::atan2(v_body.y(), v_body.x()); + } else { + yaw(0) = yaw_last_; + } + } else { + yaw_.eval(t, yaw); + } + + yaw_last_ = yaw(0); + + const Quaternion q_heading = + Quaternion(Eigen::AngleAxis(yaw(0), Vector<3>::UnitZ())); + const Quaternion q_att = q_pitch_roll * q_heading; + state.q(q_att.normalized()); + + // compute bodyrates + const Vector<3> body_jerk = q_att.inverse() * state.j; + state.w = Vector<3>(-1.0 / thrust * body_jerk[1], 1.0 / thrust * body_jerk[0], + yaw(1)); + + return state; +} + +template +Setpoint PolynomialTrajectory::getStartSetpoint() { + return getSetpoint(start_state_); +} + +template +Setpoint PolynomialTrajectory::getEndSetpoint() { + return getSetpoint(end_state_); +} + +template +bool PolynomialTrajectory::solved() const { + if (!x_.solved()) std::cout << "Could not solve x-axis!" << std::endl; + if (!y_.solved()) std::cout << "Could not solve y-axis!" << std::endl; + if (!z_.solved()) std::cout << "Could not solve z-axis!" << std::endl; + if (!yaw_.solved()) std::cout << "Could not solve yaw!" << std::endl; + return x_.solved() && y_.solved() && z_.solved() && yaw_.solved(); +} + +template +bool PolynomialTrajectory::valid() const { + return x_.solved() && y_.solved() && z_.solved() && yaw_.solved(); +} + +template +Vector<> PolynomialTrajectory::evalTranslation( + const Scalar time, const int order) const { + return Vector<3>(x_(time, order), y_(time, order), z_(time, order)); +} + +template +void PolynomialTrajectory::scale(const Scalar start_time, + const Scalar duration) { + if (std::isfinite(start_time)) { + start_state_.t = start_time; + end_state_.t = start_time + duration_; + } + + if (std::isfinite(duration)) { + duration_ = duration; + end_state_.t = start_state_.t + duration_; + } + + x_.scale(start_state_.t, duration_); + y_.scale(start_state_.t, duration_); + z_.scale(start_state_.t, duration_); + yaw_.scale(start_state_.t, duration_); +} + +template +Scalar PolynomialTrajectory::scaleToLimits(const Quadrotor& quad, + const int iterations, + const Scalar tolerance) { + return scaleToLimits(quad.collective_thrust_max() / quad.m_, iterations, + tolerance); +} + +template +Scalar PolynomialTrajectory::scaleToLimits(const Scalar acc_limit, + const int iterations, + const Scalar tolerance) { + if (!std::isfinite(acc_limit) || acc_limit <= 0.0) return duration_; + + for (int k = 0; k < iterations; ++k) { + const Scalar t_max_acc = findTimeMaxAcc(); + const Scalar max_acc = (evalTranslation(t_max_acc, 2) - GVEC).norm(); + const Scalar acc_ratio = max_acc / acc_limit; + const Scalar acc_scale = std::pow(acc_ratio, 0.5); + + // Catch zero acceleration case. + if (max_acc < 1e-3) break; + + duration_ *= acc_scale; + end_state_.t = start_state_.t + duration_; + x_.scale(NAN, duration_); + y_.scale(NAN, duration_); + z_.scale(NAN, duration_); + yaw_.scale(NAN, duration_); + if (std::abs(acc_scale - 1.0) < tolerance) break; + } + + return duration_; +} + +template +Scalar PolynomialTrajectory::findTimeMaxAcc( + const Scalar precision) const { + return findTimeMaxAcc(NAN, NAN, precision); +} + +template +Scalar PolynomialTrajectory::findTimeMaxAcc( + const Scalar t_start, const Scalar t_end, const Scalar precision) const { + return findTime( + getDuration() / 100, precision, t_start, t_end, + [&](const Scalar t) { return (evalTranslation(t, 2) - GVEC).norm(); }, + [](const Scalar x, const Scalar x_max) { return x > x_max; }); +} + +template +Scalar PolynomialTrajectory::findTimeMaxOmega( + const Scalar precision) const { + return findTimeMaxOmega(NAN, NAN, precision); +} + +template +Scalar PolynomialTrajectory::findTimeMaxOmega( + const Scalar t_start, const Scalar t_end, const Scalar precision) const { + return findTime( + getDuration() / 100, precision, t_start, t_end, + [this](const Scalar t) { + const QuadState state = this->getState(t); + return std::max(std::abs(state.w.x()), std::abs(state.w.y())); + }, + [](const Scalar x, const Scalar x_max) { return x > x_max; }); +} + +template +void PolynomialTrajectory::setForwardHeading(const bool forward) { + forward_heading_ = forward; +} + +template +template +Scalar PolynomialTrajectory::findTime( + const Scalar dt, const Scalar dt_min, const Scalar t_start, + const Scalar t_end, EvalFunc eval, CompFunc comp) const { + const Scalar start = std::isfinite(t_start) ? t_start : getStartTime(); + const Scalar end = std::isfinite(t_end) ? t_end : getEndTime(); + Scalar t_max = start; + Scalar x_max = eval(t_max); + + // Sample between bounds [t_start, t_end]. + for (Scalar t = t_max + dt; t <= end; t += dt) { + const Scalar x = eval(t); + if (comp(x, x_max)) { + x_max = x; + t_max = t; + } + } + + // Recursion: search deeper until dt is less or equal dt_min. + return dt <= dt_min ? t_max + : findTime(0.1 * dt, dt_min, std::max(t_max - dt, start), + std::min(t_max + dt, end), eval, comp); +} + +template class PolynomialTrajectory>; +template class PolynomialTrajectory; + +} // namespace agi diff --git a/src/agilicious/agilib/src/reference/trajectory_reference/sampled_trajectory.cpp b/src/agilicious/agilib/src/reference/trajectory_reference/sampled_trajectory.cpp new file mode 100644 index 0000000..32c314d --- /dev/null +++ b/src/agilicious/agilib/src/reference/trajectory_reference/sampled_trajectory.cpp @@ -0,0 +1,75 @@ +#include "agilib/reference/trajectory_reference/sampled_trajectory.hpp" + +namespace agi { + +SampledTrajectory::SampledTrajectory(const SetpointVector& setpoints) + : ReferenceBase(setpoints.front().state, + (setpoints.back().state.t - setpoints.front().state.t), + "Sampled Trajectory") { + setpoints_ = setpoints; +} + +Setpoint SampledTrajectory::getSetpoint(const QuadState& state, + const Scalar t) { + // find first point with timestamp larger than query: + SetpointVector::const_iterator upper_setpoint = + std::lower_bound(setpoints_.begin(), setpoints_.end(), t, + [](const Setpoint& setpoint, const Scalar t) -> bool { + return setpoint.state.t <= t; + }); + + // If query time is beyond trajectory, return last available state instead + if (upper_setpoint == setpoints_.end()) return setpoints_.back(); + + // If query time is earlier than reference, return first point + if (upper_setpoint == setpoints_.begin()) return setpoints_.front(); + + SetpointVector::const_iterator lower_setpoint = std::prev(upper_setpoint); + + // interpolate between closest points in SetpointVector + // setpoint = (1 - a) * lower_setpoint + a * upper_setpoint + const double x = (t - lower_setpoint->state.t) / + (upper_setpoint->state.t - lower_setpoint->state.t); + return interpolateSetpoints(*lower_setpoint, *upper_setpoint, x); +} + +Setpoint SampledTrajectory::getStartSetpoint() { return setpoints_.front(); } + +Setpoint SampledTrajectory::getEndSetpoint() { return setpoints_.back(); } + +/// setpoint = (1 - a) * setpoint_1 + a * setpoint_2 +Setpoint SampledTrajectory::interpolateSetpoints(const Setpoint& setpoint_1, + const Setpoint& setpoint_2, + const Scalar x) const { + if (!setpoint_1.state.valid() || !setpoint_2.state.valid() || + !setpoint_1.input.valid() || !setpoint_2.input.valid()) { + return Setpoint{}; + } + + const Scalar x_comp = 1.0 - x; + + // State + Setpoint setpoint; + setpoint.state.t = x_comp * setpoint_1.state.t + x * setpoint_2.state.t; + setpoint.state.x = x_comp * setpoint_1.state.x + x * setpoint_2.state.x; + setpoint.state.q(setpoint_1.state.q().slerp(x, setpoint_2.state.q())); + + // Inputs + setpoint.input.t = x_comp * setpoint_1.input.t + x * setpoint_2.input.t; + if (setpoint_1.input.isRatesThrust()) { + setpoint.input.collective_thrust = + x_comp * setpoint_1.input.collective_thrust + + x * setpoint_2.input.collective_thrust; + setpoint.input.omega = + x_comp * setpoint_1.input.omega + x * setpoint_2.input.omega; + setpoint.input.thrusts.setConstant(NAN); + } else { + setpoint.input.thrusts = + x_comp * setpoint_1.input.thrusts + x * setpoint_2.input.thrusts; + setpoint.input.collective_thrust = NAN; + setpoint.input.omega.setConstant(NAN); + } + + return setpoint; +} +} // namespace agi diff --git a/src/agilicious/agilib/src/reference/velocity_reference.cpp b/src/agilicious/agilib/src/reference/velocity_reference.cpp new file mode 100644 index 0000000..961ff8d --- /dev/null +++ b/src/agilicious/agilib/src/reference/velocity_reference.cpp @@ -0,0 +1,79 @@ +#include "agilib/reference/velocity_reference.hpp" + +#include "agilib/math/gravity.hpp" + +namespace agi { + +VelocityReference::VelocityReference(const QuadState& state, + const bool update_from_estimate, + const Scalar timeout) + : ReferenceBase(state.getHoverState(), INF, "Velocity Reference"), + update_from_estimate_(update_from_estimate), + yaw_last_(start_state_.getYaw()), + timeout_(timeout) {} + + +Setpoint VelocityReference::getSetpoint(const QuadState& state, + const Scalar t) { + Setpoint setpoint; + if (!std::isfinite(state.t)) return setpoint; + const Scalar t_query = std::isfinite(t) ? t : state.t; + if (t_query < state.t) return setpoint; + + if (t == state.t) { // If requested at the query state... + updateTo(state); + setpoint.state = start_state_; + } else { // .. or if prediction requested. + const Scalar dt = t_query - start_state_.t; + + setpoint.state = start_state_; + setpoint.state.t = t_query; + setpoint.state.p += dt * v_; + setpoint.state.v = v_; + setpoint.state.q(yaw_last_ + dt * yaw_rate_); + setpoint.state.w.z() = yaw_rate_; + } + + setpoint.input = Command(t, G, Vector<3>(0, 0, yaw_rate_)); + return setpoint; +} + +void VelocityReference::updateTo(const QuadState& state) { + if (!state.valid()) return; + if (state.t <= start_state_.t) return; + + if (std::isnan(t_last_update_)) t_last_update_ = state.t; + if (state.t - t_last_update_ > timeout_) { + v_.setZero(); + yaw_rate_ = 0.0; + } + + if (update_from_estimate_) { + start_state_ = state.getHoverState(); + const Scalar new_yaw = start_state_.getYaw(); + if (std::isfinite(new_yaw)) yaw_last_ = new_yaw; + start_state_.q(yaw_last_); + start_state_.v = v_; + start_state_.w.z() = yaw_rate_; + } else { + const Scalar dt = state.t - start_state_.t; + start_state_.t = state.t; + start_state_.p += dt * v_; + start_state_.v = v_; + yaw_last_ += dt * yaw_rate_; + start_state_.q(yaw_last_); + start_state_.w = Vector<3>(0.0, 0.0, yaw_rate_); + } +} + +bool VelocityReference::update(const Vector<3>& velocity, + const Scalar yaw_rate) { + if (!velocity.allFinite() || !std::isfinite(yaw_rate)) return false; + + v_ = velocity; + yaw_rate_ = yaw_rate; + t_last_update_ = start_state_.t; + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/sampler/position_based/position_sampler.cpp b/src/agilicious/agilib/src/sampler/position_based/position_sampler.cpp new file mode 100644 index 0000000..5b8c698 --- /dev/null +++ b/src/agilicious/agilib/src/sampler/position_based/position_sampler.cpp @@ -0,0 +1,109 @@ +#include "agilib/sampler/position_based/position_sampler.hpp" + +namespace agi { +PositionSampler::PositionSampler(const PositionSamplerParameters ¶ms, + const int horizon_len, const Scalar horizon_dt) + : SamplerBase("Position Sampler", horizon_len, horizon_dt), params_(params) {} + +PositionSampler::~PositionSampler() {} + +bool PositionSampler::getAt( + const QuadState &state, + const std::vector> &references, + SetpointVector *const setpoints, int horizon_len) const { + // some sanity checks of inputs + if (!state.valid() || setpoints == nullptr) return false; + + setpoints->clear(); + + if (horizon_len < 0) { + horizon_len = horizon_len_; + } + setpoints->reserve((size_t)horizon_len); + + std::vector>::const_iterator active_reference; + + if (!std::isfinite(prev_query_time_)) { + active_reference = references.begin(); + } else { + active_reference = std::lower_bound( + references.begin(), references.end(), prev_query_time_, + [](const std::shared_ptr &ref, const Scalar t) -> bool { + return ref.get()->getEndTime() <= t; + }); + } + + Scalar t_curr = state.t; + if (active_reference == references.end()) { + Setpoint setpoint = references.back()->getSetpoint(state); + for (int i = 0; i < horizon_len; ++i) { + setpoint.state.t += t_curr; + setpoint.input.t += t_curr; + setpoints->push_back(setpoint); + t_curr += horizon_dt_; + } + return true; + } + + // search closest point on trajectory + Setpoint curr_setpoint, next_setpoint; + if (!std::isfinite(prev_query_time_)) { + curr_setpoint = (*active_reference)->getStartSetpoint(); + } else { + curr_setpoint = (*active_reference)->getSetpoint(prev_query_time_); + } + + Scalar curr_dist = + params_.axis_weights_sqrt_.cwiseProduct(curr_setpoint.state.p - state.p) + .norm(); + Scalar next_dist = 0.0; + Scalar t_ref_end = (*active_reference)->getEndTime(); + while (next_dist <= curr_dist + params_.search_tol_) { + const Scalar next_time = curr_setpoint.state.t + params_.search_dt_; + + if (next_time >= t_ref_end) { + if (++active_reference >= references.end()) { + active_reference = std::prev(active_reference); + break; + } + t_ref_end = (*active_reference)->getEndTime(); + } + + next_setpoint = (*active_reference)->getSetpoint(next_time); + next_dist = + params_.axis_weights_sqrt_.cwiseProduct(next_setpoint.state.p - state.p) + .norm(); + if (next_dist <= curr_dist + params_.search_tol_) { + curr_setpoint = next_setpoint; + } + } + + // closest point is found, now fill the horizon as for the time sampler + prev_query_time_ = curr_setpoint.state.t; + t_curr = curr_setpoint.state.t; + + t_ref_end = (*active_reference)->getEndTime(); + for (int i = 0; i < horizon_len; i++) { + Setpoint setpoint; + if (t_curr >= t_ref_end) { + if (++active_reference >= references.end()) + active_reference = std::prev(active_reference); + t_ref_end = (*active_reference)->getEndTime(); + } + + setpoints->emplace_back( + (*active_reference)->getSetpoint(curr_setpoint.state, t_curr)); + t_curr += horizon_dt_; + } + + // update the setpoint timestamps + for (auto &setpoint : *setpoints) { + setpoint.state.t += state.t - prev_query_time_; + setpoint.input.t += state.t - prev_query_time_; + } + + return true; +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/sampler/position_based/position_sampler_params.cpp b/src/agilicious/agilib/src/sampler/position_based/position_sampler_params.cpp new file mode 100644 index 0000000..3693b8d --- /dev/null +++ b/src/agilicious/agilib/src/sampler/position_based/position_sampler_params.cpp @@ -0,0 +1,27 @@ +#include "agilib/sampler/position_based/position_sampler_params.hpp" + +namespace agi { + +bool PositionSamplerParameters::load(const Yaml& node) { + if (node.isNull()) { + return false; + } + node["axis_weights"] >> axis_weights_sqrt_; + axis_weights_sqrt_ = axis_weights_sqrt_.array().sqrt(); + search_dt_ = node["search_dt"].as(); + search_tol_ = node["search_tol"].as(); + + return valid(); +} + +bool PositionSamplerParameters::valid() const { + bool check = true; + check &= + axis_weights_sqrt_.allFinite() && (axis_weights_sqrt_.array() >= 0.0).all(); + check &= search_tol_ >= 0.0; + check &= search_dt_ > 0.0; + + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/sampler/sampler_base.cpp b/src/agilicious/agilib/src/sampler/sampler_base.cpp new file mode 100644 index 0000000..f927ac5 --- /dev/null +++ b/src/agilicious/agilib/src/sampler/sampler_base.cpp @@ -0,0 +1,36 @@ +#include "agilib/sampler/sampler_base.hpp" + +namespace agi { + +SamplerBase::SamplerBase(const std::string& name, const int horizon_len, + const Scalar horizon_dt) + : Module(name), horizon_len_(horizon_len), horizon_dt_(horizon_dt) {} + +SamplerBase::~SamplerBase() {} + +int SamplerBase::getHorizonLength() const { return horizon_len_; } + +Scalar SamplerBase::getHorizonDt() const { return horizon_dt_; } + +bool SamplerBase::getFull(const std::shared_ptr& trajectory, + SetpointVector* const setpoints) const { + // some sanity checks of inputs + if (setpoints == nullptr) { + return false; + } + setpoints->clear(); + + QuadState query_state = trajectory->getStartSetpoint().state; + if (trajectory->isHover() || std::isinf(trajectory->getEndTime())) { + setpoints->emplace_back(trajectory->getSetpoint(query_state)); + } else { + for (; query_state.t <= trajectory->getEndTime(); + query_state.t += horizon_dt_) { + setpoints->emplace_back(trajectory->getSetpoint(query_state)); + } + } + + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/sampler/time_based/time_sampler.cpp b/src/agilicious/agilib/src/sampler/time_based/time_sampler.cpp new file mode 100644 index 0000000..b735f1e --- /dev/null +++ b/src/agilicious/agilib/src/sampler/time_based/time_sampler.cpp @@ -0,0 +1,58 @@ +#include "agilib/sampler/time_based/time_sampler.hpp" + +namespace agi { +TimeSampler::TimeSampler(const int horizon_len, const Scalar horizon_dt) + : SamplerBase("Time Sampler", horizon_len, horizon_dt) {} + +TimeSampler::~TimeSampler() {} + +bool TimeSampler::getAt(const QuadState &state, + const ReferenceVector &references, + SetpointVector *const setpoints, + int horizon_len) const { + // some sanity checks of inputs + if (!state.valid() || setpoints == nullptr) return false; + + setpoints->clear(); + + if (horizon_len < 0) { + horizon_len = horizon_len_; + } + setpoints->reserve((size_t)horizon_len); + + ReferenceVector::const_iterator active_reference = std::lower_bound( + references.begin(), references.end(), state.t, + [](const std::shared_ptr &ref, const Scalar t) -> bool { + return ref.get()->getEndTime() <= t; + }); + + Scalar t_curr = state.t; + if (active_reference == references.end()) { + Setpoint setpoint = references.back()->getSetpoint(state); + for (int i = 0; i < horizon_len; ++i) { + setpoint.state.t += t_curr; + setpoint.input.t += t_curr; + setpoints->push_back(setpoint); + t_curr += horizon_dt_; + } + return true; + } + + Scalar t_ref_end = (*active_reference)->getEndTime(); + for (int i = 0; i < horizon_len; i++) { + Setpoint setpoint; + if (t_curr >= t_ref_end) { + if (++active_reference >= references.end()) + active_reference = std::prev(active_reference); + t_ref_end = (*active_reference)->getEndTime(); + } + + setpoints->emplace_back((*active_reference)->getSetpoint(state, t_curr)); + t_curr += horizon_dt_; + } + + return true; +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/serial/serial.cpp b/src/agilicious/agilib/src/serial/serial.cpp new file mode 100644 index 0000000..143c644 --- /dev/null +++ b/src/agilicious/agilib/src/serial/serial.cpp @@ -0,0 +1,249 @@ +#include "agilib/serial/serial.hpp" + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace agi { + +SerialPort::SerialPort(const SerialSettings& settings) : settings_(settings) { + start(); +} + +SerialPort::~SerialPort() { stop(); } + +bool SerialPort::start() { + serial_fd_ = open(settings_.port.c_str(), O_RDWR | O_NOCTTY); + usleep(10000); + + if (serial_fd_ == -1) { + logger_.error("Could not open port %s!", settings_.port.c_str()); + return false; + } + + if (!configure(settings_.baudrate)) { + logger_.error("[%s] Could not configure serial port %s with baudrate %d", + settings_.port.c_str(), settings_.baudrate); + return false; + } + + // Clear buffer brute force way. + char trash_buffer[BS]; + while (read(serial_fd_, trash_buffer, BUFFER_SIZE) > 0) { + } + + should_exit_ = false; + + if (settings_.serial_mode != SerialMode::Write) + serial_thread_ = std::thread(&SerialPort::serialThread, this); + + return true; +} + +bool SerialPort::stop() { + if (serial_thread_.joinable()) { + should_exit_ = true; + serial_thread_.join(); + } + should_exit_ = true; + + if (serial_fd_) close(serial_fd_); + + return true; +} + +bool SerialPort::isOpen() const { + return fcntl(serial_fd_, F_GETFD) != -1 || errno != EBADF; +} + +bool SerialPort::configure(const int baudrate) { + // clear config + fcntl(serial_fd_, F_SETFL, 0); + // read non blocking + fcntl(serial_fd_, F_SETFL, FNDELAY); + + struct termios2 uart_config; + + // Get config + ioctl(serial_fd_, TCGETS2, &uart_config); + + // Output flags - Turn off output processing + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + uart_config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | ONOCR | OFILL | OPOST); + + // Input flags - Turn off input processing + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + uart_config.c_iflag &= + ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); + + // No line processing: + // echo off + // echo newline off + // canonical mode off, + // extended input processing off + // signal chars off + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + // For custom baudrate and SBUS + // clear current char size mask, no parity checking, + uart_config.c_cflag &= ~(CSIZE | PARENB); + // No output processing, force 8 bit input + uart_config.c_cflag |= CS8; + // Set two stop bits, rather than one. + uart_config.c_cflag |= CSTOPB; + if (settings_.sbus) { + // Enable parity generation on output and parity checking for input. + uart_config.c_cflag |= PARENB; + } + + // Enable a non standard baud rate + uart_config.c_cflag &= ~CBAUD; + uart_config.c_cflag |= BOTHER; + uart_config.c_ispeed = baudrate; + uart_config.c_ospeed = baudrate; + + // Finally, apply the configuration + if (ioctl(serial_fd_, TCSETS2, &uart_config) < 0) { + logger_.error("Could not set configuration of serial port!"); + return false; + } + return true; +} + +void SerialPort::serialThread() { + while (!should_exit_) { + size_t last_length = received_length_; + const ssize_t bytes_read = read( + serial_fd_, &receive_buffer_[received_length_], BS - received_length_); + + if (bytes_read > 0) received_length_ += bytes_read; + if (received_length_ <= (size_t)(settings_.use_delimiter)) continue; + + if (received_message_length_ >= BS - received_length_) + received_message_length_ = 0; + + if (settings_.use_delimiter) { + // If we don't have a container start yet, move to the first delimiter. + for (size_t idx = 0; idx < received_length_; ++idx) { + // If we have a delimiter... + if (receive_buffer_[idx] == settings_.start_delimiter) { + if (settings_.check_multiple_delimiters) { + // ... and catch the double delimiter case + while ((idx + 1) < received_length_ && + receive_buffer_[idx + 1] == settings_.start_delimiter) { + ++idx; + } + } + char tmp[BS]; + received_length_ -= idx; + last_length = 0u; + memcpy(tmp, &receive_buffer_[idx], received_length_); + memcpy(receive_buffer_, tmp, received_length_); + break; + } + } + + // If there is nothing to do, poll again. + if (received_length_ == 0u) continue; + + // If we haven't found a start, trash all received data + if (receive_buffer_[0] != settings_.start_delimiter) { + received_length_ = 0u; + continue; + } + + // Now we have a delimiter at the beginning and can search for the end + for (size_t idx = std::max((size_t)1, last_length); + idx < received_length_; ++idx) { + if (receive_buffer_[idx] == settings_.end_delimiter) { + // End found, copy into output buffer and notify possible receiver. + const std::lock_guard guard(buffer_mtx); + memcpy(received_message_, &receive_buffer_[1], idx - 1u); + received_message_length_ = idx - 1u; + rc_cv_.notify_all(); + + char tmp[BS]; + received_length_ -= idx; + last_length = 0u; + memcpy(tmp, &receive_buffer_[idx], received_length_); + memcpy(receive_buffer_, tmp, received_length_); + break; + } + } + } else { + memcpy(&received_message_[received_message_length_], &receive_buffer_, + received_length_); + received_message_length_ += received_length_; + received_length_ = 0u; + } + + if (received_message_length_ > 0u && receive_callback_) { + receive_callback_(received_message_, received_message_length_); + received_message_length_ = 0u; + continue; + } + + // If we have a start but no end in a full buffer, something went wrong. + // We trash the data and wait for new data. + if (received_length_ == BS) { + received_length_ = 0; + continue; + } + std::unique_lock lck(proc_mtx_); + proc_cv_.wait_for(lck, std::chrono::microseconds(50)); + } +} + +int SerialPort::send(const char* const buffer, const int length) { + const ssize_t bytes_written = write(serial_fd_, buffer, (size_t)length); + if (bytes_written < 0) { + logger_.error("Could not write to serial port!"); + } else if ((int)bytes_written < length) { + logger_.error("Could only write %d of %d bytes!", (int)bytes_written, + length); + } + + return (int)bytes_written; +} + +int SerialPort::receive(char* const buffer) { + if (settings_.serial_mode == SerialMode::Write) return -1; + + if (!received_message_length_) { + std::unique_lock lck(rc_mtx_); + rc_cv_.wait_for(lck, std::chrono::milliseconds(2)); + } + + const size_t return_length = received_message_length_; + if (received_message_length_) { + const std::lock_guard guard(buffer_mtx); + memcpy(buffer, received_message_, received_message_length_); + received_message_length_ = 0u; + } + + proc_cv_.notify_all(); + return (int)return_length; +} + +bool SerialPort::addReceiveCallback( + std::function function) { + if (settings_.serial_mode == SerialMode::Write) return false; + receive_callback_ = function; + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/bem/functions.cpp b/src/agilicious/agilib/src/simulator/bem/functions.cpp new file mode 100644 index 0000000..a2b46b5 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/bem/functions.cpp @@ -0,0 +1,96 @@ +#include "agilib/simulator/bem/functions.hpp" + +namespace agi { + +Array IntegrandPsi::evaluate(const Ref> psi, + const void* const param) const { + const Scalar r = ((IntegrandParam*)param)->radius; + const ArrayVector vind = ((IntegrandParam*)param)->vind; + const Matrix<1, 15> s_psi = psi.sin(); + const Matrix<1, 15> c_psi = psi.cos(); + const Array beta = + (-(pstate_->a1s_ * c_psi + pstate_->b1s_ * s_psi)).colwise() + pstate_->a0_; + + const Array u_t = + (r + pstate_->param_.r_prop_ * (pstate_->mu_ * s_psi).array()).colwise() * + pstate_->omega_mot_; + + const Array u_p = + (-((pstate_->vver_ * c_psi).array() * beta + + (pstate_->a1s_ * s_psi + pstate_->b1s_ * c_psi).array().colwise() * + pstate_->omega_mot_ * r)) + .array() + .colwise() + + (pstate_->vver_.array() - vind); + + const Array phi = + u_p.array().binaryExpr(u_t.array(), ApproxAtan2()); + + const Array alpha = + pstate_->param_.theta0_ + + pstate_->param_.theta1_ * r / pstate_->param_.r_prop_ + phi; + const Array s_alpha = alpha.sin(); + const Array c_alpha = alpha.cos(); + const Array cl = + pstate_->param_.cl_ * (s_alpha * c_alpha + 0.07); + const Array cd = pstate_->param_.cd_ * s_alpha.square(); + + const Scalar c = + pstate_->param_.ci_ + + r / pstate_->param_.r_prop_ * (pstate_->param_.co_ - pstate_->param_.ci_); + const Array u_sqr = u_t.square() + u_p.square(); + const Array d_lift = u_sqr * cl * c; + const Array d_drag = u_sqr * cd * c; + + switch (type_) { + case THRUST: + return d_lift * phi.cos() + d_drag * phi.sin(); + case TORQUE: + return r * (-d_lift * phi.sin() + d_drag * phi.cos()); + case HFORCE: + return (-d_lift * phi.sin() + d_drag * phi.cos()).rowwise() * + s_psi.array(); + default: + return Array::Zero(); + } +} + + +Array<4, 15> IntegrandR::evaluate(const Ref> r, + const void* const param) const { + IntegrandParam int_param; + if (param == nullptr) { + int_param.vind = pstate_->vind_; + } else { + int_param.vind = ((IntegrandParam*)param)->vind; + } + + Array<4, 15> retVal = Array<4, 15>::Zero(); + +#pragma omp parallel for default(none) shared(retVal, r, gk_) \ + firstprivate(int_param) num_threads(5) proc_bind(spread) schedule(static) + for (int i = 0; i < 15; ++i) { + int_param.radius = r(i); + retVal.col(i) = + gk_.integrate(*fPsi_, 0, 2 * M_PI, (const void* const) & int_param) + .result_; + } + return pstate_->param_.b_ * pstate_->param_.rho_ / (4 * M_PI) * retVal; +} + + +ArrayVector<4> ThrustFunction::evaluate( + const Ref> vind) const { + IntegrandParam int_param{vind, 0}; + const ArrayVector<4> t_bem = gk_ + .integrate(*fR_, 0, pstate_->param_.r_prop_, + (const void* const) & int_param) + .result_; + const ArrayVector<4> tmp = pstate_->vver_.array() - vind; + const ArrayVector<4> t_mom = + 2 * pstate_->param_.rho_ * pstate_->param_.prop_area_ * vind * + (pstate_->vhor_.array() * pstate_->vhor_.array() + tmp * tmp).sqrt(); + return t_bem - t_mom; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/bem/propeller_data.cpp b/src/agilicious/agilib/src/simulator/bem/propeller_data.cpp new file mode 100644 index 0000000..802bd66 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/bem/propeller_data.cpp @@ -0,0 +1,63 @@ +#include "agilib/simulator/bem/propeller_data.hpp" + +namespace agi { + +bool PropellerData::update() { + if (!valid()) { + return false; + } + prop_area_ = M_PI * r_prop_ * r_prop_; // Propeller Area [m^2] + e_ = ef_ * r_prop_; // Hinge offset [m] + inertia_blade_ = + mb_ * cg_ * cg_ + 0.25 * r_prop_ * r_prop_ / 12; // Inertia of one blade + moment_blade_ = mb_ * cg_ * G; // Moment of blade around the hinge + return true; +} + + +bool PropellerData::valid() const { + bool check = true; + check &= (rho_ > 0.0); + check &= (r_prop_ > 0.0); + check &= (ef_ >= 0.0) && (ef_ <= 1.0); + check &= (sigma_ > 0.0) && (sigma_ < 1.0); + check &= (theta0_ > 0.0) && (theta0_ < M_PI_2); + check &= (std::fabs(theta1_) < M_PI_2); + check &= (b_ > 0.0); + check &= (mb_ > 0.0) && (mb_ < 1.0); + check &= (cg_ > 0.0) && (cg_ < 1.0); + check &= (cd_ >= 0.0); + check &= (cl_ >= 0.0); + check &= (ci_ >= 0.0) && (ci_ < 0.1); + check &= (co_ >= 0.0) && (co_ < 0.1); + check &= (k_spring_ >= 0.0); + return check; +} + + +std::ostream& operator<<(std::ostream& os, const PropellerData& p) { + os.precision(3); + os << std::scientific; + os << "PropellerData:\n" + << "Air Density " << p.rho_ << "\n" + << "Radius " << p.r_prop_ << "\n" + << "Propeller Area " << p.prop_area_ << "\n" + << "Relative hinge offset " << p.ef_ << "\n" + << "Hinge offset " << p.e_ << "\n" + << "Inner chord length " << p.ci_ << "\n" + << "Outer chord length " << p.co_ << "\n" + << "Solidity ratio " << p.sigma_ << "\n" + << "Pitch " << p.theta0_ << "\n" + << "Twist " << p.theta1_ << "\n" + << "Number of blades " << p.b_ << "\n" + << "Mass of one blade " << p.mb_ << "\n" + << "CoG Distance " << p.cg_ << "\n" + << "Drag coefficient " << p.cd_ << "\n" + << "Lift coefficient " << p.cl_ << "\n" + << "Spring constant " << p.k_spring_ << std::endl; + os.precision(); + os.unsetf(std::ios::scientific); + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/bem/propeller_state.cpp b/src/agilicious/agilib/src/simulator/bem/propeller_state.cpp new file mode 100644 index 0000000..15f3c13 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/bem/propeller_state.cpp @@ -0,0 +1,168 @@ +#include "agilib/simulator/bem/propeller_state.hpp" + +namespace agi { + +PropellerState::PropellerState(const BEMParameters& params) : param_(params) {} + +void PropellerState::update(const Ref>& state, + const Ref>& t_BM) + +{ + // Extract motor speeds, angular rates and linear velocity + omega_mot_ = state.segment(QS::MOT).cwiseMax(10); + vel_ = state.segment(QS::VEL).array() * flu_conv_frd_; + w_ = state.segment(QS::OME).array() * flu_conv_frd_; + + // Rotation matrix from body to inertial frame + rot_ = Quaternion(state(QS::ATTW), state(QS::ATTX), state(QS::ATTY), + state(QS::ATTZ)) + .toRotationMatrix(); + + // 1. Flow state around each propeller + // note the minus sign due to a x b = -b x a + velocity_ = (flu_conv_frd_.matrix().asDiagonal() * rot_.transpose() * + state.segment(QS::VEL).matrix()) + .replicate<1, 4>() - + (t_BM.colwise().cross(w_)); + + // Horizontal (in-plane) velocity + vhor_ = velocity_.block<2, QS::NMOT>(0, 0).colwise().norm().array() + 1E-6; + + // Vertical (perpendicular to plane) velocity + // downwards is positive + vver_ = velocity_.block<1, QS::NMOT>(2, 0).array(); + + // Total velocity + vtot_ = velocity_.colwise().norm().array() + 1E-6; + + // Angle of attack of the propeller shaft + alpha_s_ = vver_.array().binaryExpr(vhor_.array(), ApproxAtan2()); + + // Advance Ratio of the propeller tip + mu_ = vhor_.array() / (omega_mot_.array() * param_.r_prop_); + + // Disable Thrust Distortion + K_ = Vector::Zero(); + a0_.setZero(); + a1s_.setZero(); + b1s_.setZero(); +} + +std::ostream& operator<<(std::ostream& os, const PropellerState& s) { + os.precision(3); + os << std::scientific; + os << "PropellerState: \n" + << "Body Velocity " << s.vel_.transpose() << "\n" + << "Body Angular Rates " << s.w_.transpose() << "\n" + << "Propeller Speed " << s.omega_mot_.transpose() << "\n" + << "Propeller Air Velocity " << s.velocity_ << "\n" + << "Horizontal Velocity " << s.vhor_.transpose() << "\n" + << "Vertical Velocity " << s.vver_.transpose() << "\n" + << "Induced Velocity " << s.vind_.transpose() << "\n" + << "Advance Ratio " << s.mu_.transpose() << "\n" + << "Coning Angle " << s.a0_.transpose() << "\n" + << "Lateral Flappling " << s.b1s_.transpose() << "\n" + << "Longitudinal Flapping " << s.a1s_.transpose() << "\n" + << "Thrust " << s.thrust_.transpose() << "\n" + << "Torque " << s.torque_.transpose() << "\n" + << "Hforce " << s.hforce_.transpose() << std::endl + << s.param_ << std::endl; + os.precision(); + os.unsetf(std::ios::scientific); + return os; +} + +void PropellerState::calculateFlapping() { + Array mu = Array::Ones(); + Array omega_mot = Array::Ones(); + const Scalar p = w_[0]; + const Scalar q = w_[1]; + + for (int i = 1; i < 7; ++i) { + mu.col(i) *= mu.col(i - 1) * this->mu_.array(); + omega_mot.col(i) *= omega_mot.col(i - 1) * this->omega_mot_.array(); + } + + a0_ = (17860.69768 - 9.085245727e-8 * omega_mot.col(3) * mu.col(1) * q + + 5.075429983e-14 * omega_mot.col(5) * mu.col(2) * vind_.array() - + 1.201149295e-15 * omega_mot.col(5) * mu.col(3) * p - + 3.287355978e-15 * omega_mot.col(6) * alpha_s_ * mu.col(3) - + 8.012930184e-15 * omega_mot.col(6) * alpha_s_ * mu.col(1) + + 1.011494156e-15 * omega_mot.col(6) * alpha_s_ * mu.col(5) - + 8.680285403 * omega_mot.col(1) * mu.col(1) * p - + 17.36057081 * omega_mot.col(2) * alpha_s_ * mu.col(1) + + 1.517241217e-15 * omega_mot.col(5) * mu.col(5) * p - + 5.958332683e-15 * omega_mot.col(5) * mu.col(1) * p - + 1.561670740e-14 * omega_mot.col(5) * mu.col(4) * vind_.array() - + 3.121900413e-12 * omega_mot.col(4) * mu.col(4) + + 1.237136043e-13 * omega_mot.col(5) * vind_.array() - + 3.157428176e-15 * omega_mot.col(6) * mu.col(2) + + 6.274197178e-16 * omega_mot.col(6) * mu.col(6) - + 2.031302206e-16 * omega_mot.col(6) * mu.col(4) + + 268.0341334 * omega_mot.col(1) * vind_.array() - + 3.589529587 * omega_mot.col(2) * mu.col(2) - + 1.902162223e-15 * omega_mot.col(6) + + 8.243768249e-12 * omega_mot.col(4) - 4.121166794 * omega_mot.col(2)) / + (-4.377059028e8 - 1.147609987e-7 * omega_mot.col(4) * mu.col(2) + + 7.650732730e-8 * omega_mot.col(4) * mu.col(4) + + 1.135865755e-14 * omega_mot.col(6) * mu.col(4) - + 2.999395522e-14 * omega_mot.col(6) - + 2.020271598e-7 * omega_mot.col(4) - 64.98399099 * omega_mot.col(2)); + + b1s_ = 3.034482349e-15 * omega_mot.col(1) * + (14.44639117 * omega_mot.col(4) * q + + 0.6202900305 * omega_mot.col(5) * mu.col(5) + + 1.177725817e17 * mu.col(1) * vind_.array() - + 1.208793256 * omega_mot.col(5) * mu.col(3) - + 1.157259683 * omega_mot.col(5) * mu.col(1) + + 9.730505319e7 * omega_mot.col(2) * q - + 3.482171723e15 * omega_mot.col(1) * mu.col(1) - + 3086.424696 * omega_mot.col(3) * mu.col(3) - + 5.169754829e8 * omega_mot.col(3) * mu.col(1) - + 6.724278493e8 * omega_mot.col(2) * p - + 5.988003267e7 * omega_mot.col(2) * mu.col(2) * q + + 1.500000041 * omega_mot.col(4) * mu.col(4) * p - + 8.890086873 * omega_mot.col(4) * mu.col(2) * q - + 7.628130118e15 * omega_mot.col(1) * alpha_s_ * mu.col(2) - + 4.529202255e15 * p - + 15.43924687 * omega_mot.col(4) * mu.col(3) * vind_.array() + + 1.748510208e10 * omega_mot.col(2) * mu.col(1) * vind_.array() + + 75.26632912 * omega_mot.col(4) * mu.col(1) * vind_.array() + + 0.9999999999 * omega_mot.col(5) * alpha_s_ * mu.col(4) - + 4.875000134 * omega_mot.col(5) * alpha_s_ * mu.col(2) - + 3.625000097 * omega_mot.col(4) * mu.col(2) * p - + 1.132510062e9 * omega_mot.col(3) * alpha_s_ * mu.col(2)) / + (-4.377059028e8 - 1.147609987e-7 * omega_mot.col(4) * mu.col(2) + + 7.650732720e-8 * omega_mot.col(4) * mu.col(4) + + 1.135865756e-14 * omega_mot.col(6) * mu.col(4) - + 2.999395520e-14 * omega_mot.col(6) - + 2.020271601e-7 * omega_mot.col(4) - 64.98399099 * omega_mot.col(2)); + + a1s_ = 4.543463022e-14 * + (0.4564908655 * omega_mot.col(5) * mu.col(3) + + 0.7417976561 * omega_mot.col(5) * mu.col(1) + + 4.491002632e7 * omega_mot.col(2) * q + + 0.9648437489 * omega_mot.col(4) * p + + 1.559168274e10 * omega_mot.col(1) * mu.col(1) - + 58779.37391 * omega_mot.col(3) * mu.col(3) + + 1.398833618e6 * omega_mot.col(3) * mu.col(1) + + 6.498797591e6 * omega_mot.col(2) * p + 3.024957887e14 * q - + 15.43924657 * omega_mot.col(4) * mu.col(3) * vind_.array() - + 3.578285830e6 * omega_mot.col(2) * mu.col(2) * p + + 6.499534432e7 * omega_mot.col(2) * mu.col(1) * vind_.array() - + 25.08877564 * omega_mot.col(4) * mu.col(1) * vind_.array() - + 1.039925259e8 * omega_mot.col(2) * mu.col(3) * vind_.array() + + omega_mot.col(5) * alpha_s_ * mu.col(4) + + 1.625000001 * omega_mot.col(5) * alpha_s_ * mu.col(2) + + 0.5937500002 * omega_mot.col(4) * mu.col(2) * p + + 6.735595891e6 * omega_mot.col(3) * alpha_s_ * mu.col(4) - + 4.209748462e6 * omega_mot.col(3) * alpha_s_ * mu.col(2)) * + omega_mot.col(1) / + (-4.377059028e8 - 1.147609987e-7 * omega_mot.col(4) * mu.col(2) + + 7.650732720e-8 * omega_mot.col(4) * mu.col(4) + + 1.135865755e-14 * omega_mot.col(6) * mu.col(4) - + 2.999395520e-14 * omega_mot.col(6) - + 2.020271610e-7 * omega_mot.col(4) - 64.98399099 * omega_mot.col(2)); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/low_level_controller_base.cpp b/src/agilicious/agilib/src/simulator/low_level_controller_base.cpp new file mode 100644 index 0000000..8f244b3 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/low_level_controller_base.cpp @@ -0,0 +1,50 @@ +#include "agilib/simulator/low_level_controller_base.hpp" + +namespace agi { + +LowLevelControllerBase::LowLevelControllerBase(const Quadrotor& quad, + const Scalar ctrl_dt, + const std::string& name) + : Module(name), ctrl_dt_(ctrl_dt), quad_(quad) { + state_.setZero(); + motor_omega_des_.setZero(); +} + + +bool LowLevelControllerBase::setState(const QuadState& state) { + if (!state.valid()) return false; + state_ = state; + return true; +} + + +bool LowLevelControllerBase::setCommand(const Command& cmd) { + if (!cmd.valid()) return false; + cmd_ = cmd; + return true; +} + + +bool LowLevelControllerBase::getMotorCommand(Ref> motor_omega) { + run(); + if (!motor_omega_des_.allFinite()) return false; + motor_omega = motor_omega_des_; + return true; +} + + +bool LowLevelControllerBase::updateQuad(const Quadrotor& quad) { + if (!quad.valid()) return false; + quad_ = quad; + return true; +} + +bool LowLevelControllerBase::setParamDir(const fs::path& param_dir) { + if (!fs::exists(param_dir)) { + return false; + } + param_dir_ = param_dir; + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/low_level_controller_betaflight.cpp b/src/agilicious/agilib/src/simulator/low_level_controller_betaflight.cpp new file mode 100644 index 0000000..6f71915 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/low_level_controller_betaflight.cpp @@ -0,0 +1,97 @@ +#include "agilib/simulator/low_level_controller_betaflight.hpp" + +namespace agi { + +LowLevelControllerBetaflight::LowLevelControllerBetaflight( + Quadrotor quad, const Scalar ctrl_dt, + const LowLevelControllerBetaflightParams& params, const std::string& name) + : LowLevelControllerBase(quad, ctrl_dt, name), params_(params) { + updateQuad(quad); +} + + +bool LowLevelControllerBetaflight::updateQuad(const Quadrotor& quad) { + gyro_lpf_ = std::make_shared>(params_.freq_lpf_gyro_, + 1. / ctrl_dt_, 0); + dterm_lpf_ = std::make_shared>(params_.freq_lpf_dterm, + 1. / ctrl_dt_, 0); + error_integral_.setZero(); + quad_ = quad; + return true; +} + + +bool LowLevelControllerBetaflight::setCommand(const Command& cmd) { + if (!cmd.valid()) return false; + + if (cmd.isRatesThrust()) { + cmd_ = cmd; + cmd_.collective_thrust = + quad_.clampCollectiveThrust(cmd_.collective_thrust); + cmd_.omega = quad_.clampBodyrates(cmd_.omega); + } else { + cmd_ = cmd; + cmd_.thrusts = quad_.clampThrust(cmd.thrusts); + } + + return true; +} + + +bool LowLevelControllerBetaflight::setState(const QuadState& state) { + if (!state.valid()) return false; + state_ = state; + return true; +} + + +void LowLevelControllerBetaflight::run() { + // If command is invalid, just switch off motors + if (!cmd_.valid()) { + motor_omega_des_.setZero(); + return; + } + + if (!cmd_.isRatesThrust()) { + Vector<4> motor_thrusts; + motor_thrusts = cmd_.thrusts; + motor_thrusts = quad_.clampThrust(motor_thrusts); + motor_omega_des_ = quad_.motorThrustToOmega(motor_thrusts); + return; + } + + const Scalar sbus = + params_.tmap_.map(cmd_.collective_thrust * quad_.m_, voltage_); + const Scalar throttle = + (sbus - params_.SBUS_MIN_VAL) / params_.SBUS_VAL_RANGE; + + // PID Controller + const ArrayVector<3> omega_des = cmd_.omega; + const ArrayVector<3> error_proptional = omega_des - state_.w.array(); + error_integral_ += (omega_des - state_.w.array()) * ctrl_dt_; + error_integral_ = error_integral_.cwiseMax(-params_.i_gain_limit) + .cwiseMin(params_.i_gain_limit); + const ArrayVector<3> error_derivative = + dterm_lpf_->add(gyro_lpf_->derivative()); + const Vector<3> body_torque_des = + params_.kp_ * error_proptional * params_.p_gain_scaling + + params_.ki_ * error_integral_ * params_.i_gain_scaling + + params_.kd_ * error_derivative * params_.d_gain_scaling; + + const Vector<4> tlmn(throttle, body_torque_des.x(), body_torque_des.y(), + body_torque_des.z()); + const Vector<4> motor_throttle = B_allocation_ * tlmn; + const Vector<4> motor_dshot_command = + params_.getDSHOT(motor_throttle).cwiseMax(0); + + for (int i = 0; i < 4; ++i) { + motor_omega_des_(i) = + params_.omega_offset + params_.omega_volt * voltage_ + + params_.omega_cmd_lin * motor_dshot_command(i) + + params_.omega_cmd_sqrt * std::sqrt(motor_dshot_command(i)); + } + motor_omega_des_ = motor_omega_des_.cwiseMax(quad_.motor_omega_min_) + .cwiseMin(quad_.motor_omega_max_); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/low_level_controller_betaflight_params.cpp b/src/agilicious/agilib/src/simulator/low_level_controller_betaflight_params.cpp new file mode 100644 index 0000000..7652f16 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/low_level_controller_betaflight_params.cpp @@ -0,0 +1,82 @@ +#include "agilib/simulator/low_level_controller_betaflight_params.hpp" + +namespace agi { + +LowLevelControllerBetaflightParams::LowLevelControllerBetaflightParams() {} + +Vector<4> LowLevelControllerBetaflightParams::getDSHOT(const Vector<4>& thr) { + const Scalar min_throttle = (bfl_min_throttle_ - PWM_MIN_VAL) / PWM_RANGE; + const Scalar max_throttle = (bfl_max_throttle_ - PWM_MIN_VAL) / PWM_RANGE; + const Scalar dshot_offset = bfl_dshot_offset_ * DSHOT_RANGE + DSHOT_MIN_VAL; + const Scalar dshot_slope = DSHOT_MAX_VAL - dshot_offset; + + const ArrayVector<4> throttle = + thr.cwiseMax(min_throttle).cwiseMin(max_throttle); + return throttle * dshot_slope + dshot_offset; +} + +bool LowLevelControllerBetaflightParams::load(const Yaml& node) { + if (node.isNull()) return false; + + kp_ << node["PID"]["kp_roll"].as(), + node["PID"]["kp_pitch"].as(), node["PID"]["kp_yaw"].as(); + ki_ << node["PID"]["ki_roll"].as(), + node["PID"]["ki_pitch"].as(), node["PID"]["ki_yaw"].as(); + kd_ << node["PID"]["kd_roll"].as(), + node["PID"]["kd_pitch"].as(), node["PID"]["kd_yaw"].as(); + bfl_min_throttle_ = node["Throttle"]["min_throttle_pwm"].as(); + bfl_max_throttle_ = node["Throttle"]["max_throttle_pwm"].as(); + bfl_dshot_offset_ = node["Throttle"]["dshot_offset"].as(); + freq_lpf_gyro_ = node["Filter"]["gyro_lowpass_freq"].as(); + freq_lpf_dterm = node["Filter"]["dterm_lowpass_freq"].as(); + + tmap_file_ = node["thrust_map"].as(); + + return valid(); +} + +bool LowLevelControllerBetaflightParams::loadThrustMap( + const fs::path& agi_param_dir) { + fs::path thrust_map_file = agi_param_dir / tmap_file_; + if (!tmap_.load(thrust_map_file)) { + logger_.error("Failed to load thrust map from [%s].", + thrust_map_file.c_str()); + return false; + } + logger_.info("Loaded thrust map from [%s].", thrust_map_file.c_str()); + return true; +} + +bool LowLevelControllerBetaflightParams::valid() const { + bool check = true; + + check &= bfl_min_throttle_ >= PWM_MIN_VAL; + check &= bfl_max_throttle_ <= PWM_MAX_VAL; + check &= bfl_min_throttle_ < bfl_max_throttle_; + check &= bfl_dshot_offset_ >= 0; + check &= bfl_dshot_offset_ <= 1; + check &= freq_lpf_dterm > 0; + check &= freq_lpf_gyro_ > 0; + + return check; +} + +std::ostream& operator<<(std::ostream& os, + const LowLevelControllerBetaflightParams& p) { + os.precision(3); + os << std::scientific; + os << "P Gains " << p.kp_.transpose() << std::endl + << "I Gains " << p.ki_.transpose() << std::endl + << "D Gains " << p.kd_.transpose() << std::endl + << "Throttle Range " + << "[" << p.bfl_min_throttle_ << " " << p.bfl_max_throttle_ << "]" + << std::endl + << "DSHOT Offset " << p.bfl_dshot_offset_ << std::endl + << "Gyro LPFs " << p.freq_lpf_gyro_ << std::endl + << "DTerm LPF " << p.freq_lpf_dterm << std::endl; + os.precision(); + os.unsetf(std::ios::scientific); + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/low_level_controller_simple.cpp b/src/agilicious/agilib/src/simulator/low_level_controller_simple.cpp new file mode 100644 index 0000000..eadfcba --- /dev/null +++ b/src/agilicious/agilib/src/simulator/low_level_controller_simple.cpp @@ -0,0 +1,63 @@ +#include "agilib/simulator/low_level_controller_simple.hpp" + +namespace agi { + +LowLevelControllerSimple::LowLevelControllerSimple( + Quadrotor quad, const Scalar ctrl_dt, + const LowLevelControllerSimpleParams& params, const std::string& name) + : LowLevelControllerBase(quad, ctrl_dt, name), params_(params) { + updateQuad(quad); +} + +bool LowLevelControllerSimple::updateQuad(const Quadrotor& quad) { + quad_ = quad; + B_allocation_ = quad.getAllocationMatrix(); + const Matrix<> B_allocation_dyn = B_allocation_; + B_allocation_inv_ = B_allocation_dyn.inverse(); + return true; +} + +bool LowLevelControllerSimple::setCommand(const Command& cmd) { + if (!cmd.valid()) return false; + cmd_ = cmd; + + if (cmd_.isRatesThrust()) { + cmd_.collective_thrust = + quad_.clampCollectiveThrust(cmd_.collective_thrust); + cmd_.omega = quad_.clampBodyrates(cmd_.omega); + } + + if (cmd_.isSingleRotorThrusts()) + cmd_.thrusts = quad_.clampThrust(cmd_.thrusts); + + return true; +} + + +void LowLevelControllerSimple::run() { + // If command is invalid, just switch of motors + if (!cmd_.valid()) { + motor_omega_des_.setZero(); + return; + } + + Vector<4> motor_thrusts; + if (!cmd_.isSingleRotorThrusts()) { + const Scalar force = quad_.m_ * cmd_.collective_thrust; + const Vector<3> omega_err = cmd_.omega - state_.w; + const Vector<3> body_torque_des = + quad_.J_ * params_.Kinv_ang_vel_tau * omega_err + + state_.w.cross(quad_.J_ * state_.w); + const Vector<4> thrust_torque(force, body_torque_des.x(), + body_torque_des.y(), body_torque_des.z()); + + motor_thrusts = B_allocation_inv_ * thrust_torque; + } else { + motor_thrusts = cmd_.thrusts; + } + + motor_thrusts = quad_.clampThrust(motor_thrusts); + motor_omega_des_ = quad_.motorThrustToOmega(motor_thrusts); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/low_level_controller_simple_params.cpp b/src/agilicious/agilib/src/simulator/low_level_controller_simple_params.cpp new file mode 100644 index 0000000..a0bc0f0 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/low_level_controller_simple_params.cpp @@ -0,0 +1,27 @@ +#include "agilib/simulator/low_level_controller_simple_params.hpp" + +namespace agi { + +LowLevelControllerSimpleParams::LowLevelControllerSimpleParams() + : Kinv_ang_vel_tau(Vector<3>(20.0, 20.0, 40.0).asDiagonal()) {} + +bool LowLevelControllerSimpleParams::load(const Yaml& node) { + if (node.isNull()) return false; + + Kinv_ang_vel_tau = + Vector<3>(node["p_roll"].as(), node["p_pitch"].as(), + node["p_yaw"].as()) + .asDiagonal(); + + return valid(); +} + +bool LowLevelControllerSimpleParams::valid() const { + bool check = true; + + check &= Kinv_ang_vel_tau.allFinite(); + + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_base.cpp b/src/agilicious/agilib/src/simulator/model_base.cpp new file mode 100644 index 0000000..3ca3448 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_base.cpp @@ -0,0 +1,13 @@ +#include "agilib/simulator/model_base.hpp" + +namespace agi { + +ModelBase::ModelBase(Quadrotor& quad) : quad_(quad) {} + +bool ModelBase::updateQuad(const Quadrotor& quad) { + if (!quad.valid()) return false; + quad_ = quad; + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_body_drag.cpp b/src/agilicious/agilib/src/simulator/model_body_drag.cpp new file mode 100644 index 0000000..b65a1d2 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_body_drag.cpp @@ -0,0 +1,29 @@ +#include "agilib/simulator/model_body_drag.hpp" + +namespace agi { + +ModelBodyDrag::ModelBodyDrag(Quadrotor quad, const BodyDragParameters& params) + : ModelBase(quad), params_(params) {} + +bool ModelBodyDrag::run(const Ref> state, + Ref> derivative) const { + const Matrix<3, 3> R = Quaternion(state(QS::ATTW), state(QS::ATTX), + state(QS::ATTY), state(QS::ATTZ)) + .toRotationMatrix(); + + const Vector<3> velocity_body = + R.transpose() * state.segment(QS::VEL); + const Vector<3> coeff{0.5 * params_.cxy_ * params_.rho_ * params_.ax_, + 0.5 * params_.cxy_ * params_.rho_ * params_.ay_, + 0.5 * params_.cz_ * params_.rho_ * params_.az_}; + const Vector<3> force = + -velocity_body.array() * velocity_body.array().abs() * coeff.array(); + + // Set up the derivative + derivative.segment(QS::VEL) += R * force; + + return true; +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_body_drag_params.cpp b/src/agilicious/agilib/src/simulator/model_body_drag_params.cpp new file mode 100644 index 0000000..6348ade --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_body_drag_params.cpp @@ -0,0 +1,33 @@ +#include "agilib/simulator/model_body_drag_params.hpp" + +namespace agi { + +BodyDragParameters::BodyDragParameters() + : cxy_(1.0), cz_(1.0), ax_(1.5e-2), ay_(1.5e-2), az_(3.0e-2), rho_(1.204) {} + + +bool BodyDragParameters::load(const Yaml& node) { + if (node.isNull()) return false; + + cxy_ = node["horizontal_drag_coefficient"].as(); + cz_ = node["vertical_drag_coefficient"].as(); + ax_ = node["frontarea_x"].as(); + ay_ = node["frontarea_y"].as(); + az_ = node["frontarea_z"].as(); + rho_ = node["air_density"].as(); + + return valid(); +} + +bool BodyDragParameters::valid() const { + bool check = true; + check &= cxy_ > 0; + check &= cz_ > 0; + check &= ax_ > 0; + check &= ay_ > 0; + check &= az_ > 0; + check &= rho_ > 0; + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_init.cpp b/src/agilicious/agilib/src/simulator/model_init.cpp new file mode 100644 index 0000000..902ae10 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_init.cpp @@ -0,0 +1,16 @@ +#include "agilib/simulator/model_init.hpp" + +namespace agi { + + +bool ModelInit::run(const Ref> state, + Ref> derivative) const { + if (!state.segment(0).allFinite()) return false; + + // The derivative must be zeroed at first + derivative.setZero(); + return true; +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_lin_cub_drag.cpp b/src/agilicious/agilib/src/simulator/model_lin_cub_drag.cpp new file mode 100644 index 0000000..3a522d9 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_lin_cub_drag.cpp @@ -0,0 +1,34 @@ +#include "agilib/simulator/model_lin_cub_drag.hpp" + +namespace agi { + +ModelLinCubDrag::ModelLinCubDrag(Quadrotor quad, + const LinCubDragParameters& params) + : ModelBase(quad), params_(params) {} + +bool ModelLinCubDrag::run(const Ref> state, + Ref> derivative) const { + const Matrix<3, 3> R = Quaternion(state(QS::ATTW), state(QS::ATTX), + state(QS::ATTY), state(QS::ATTZ)) + .toRotationMatrix(); + + const Ref> vel = state.segment(QS::VEL); + + const Vector<3> velocity_body = R.transpose() * vel; + + Vector<3> force = -velocity_body.array() * params_.lin_drag_coeff_.array() - + velocity_body.array() * velocity_body.array() * + velocity_body.array() * params_.cub_drag_coeff_.array(); + + const Vector<3> ind_lift{ + 0.0, 0.0, + params_.induced_lift_coeff_ * velocity_body.segment(0, 2).squaredNorm()}; + + // Set up the derivative + derivative.segment(QS::VEL) += R * (force + ind_lift) / quad_.m_; + + return true; +} + + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/src/simulator/model_lin_cub_drag_params.cpp b/src/agilicious/agilib/src/simulator/model_lin_cub_drag_params.cpp new file mode 100644 index 0000000..d14622b --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_lin_cub_drag_params.cpp @@ -0,0 +1,31 @@ +#include "agilib/simulator/model_lin_cub_drag_params.hpp" + +namespace agi { + +LinCubDragParameters::LinCubDragParameters() + : lin_drag_coeff_(Vector<3>::Zero()), + cub_drag_coeff_(Vector<3>::Zero()), + induced_lift_coeff_(0.0) {} + + +bool LinCubDragParameters::load(const Yaml& node) { + if (node.isNull()) return false; + + node["lin_drag_coeff"] >> lin_drag_coeff_; + node["cub_drag_coeff"] >> cub_drag_coeff_; + induced_lift_coeff_ = node["induced_lift_coeff"].as(); + + return valid(); +} + +bool LinCubDragParameters::valid() const { + bool check = true; + + check &= lin_drag_coeff_.allFinite(); + check &= cub_drag_coeff_.allFinite(); + check &= induced_lift_coeff_ >= 0.0; + + return check; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_motor.cpp b/src/agilicious/agilib/src/simulator/model_motor.cpp new file mode 100644 index 0000000..5a27c2d --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_motor.cpp @@ -0,0 +1,19 @@ +#include "agilib/simulator/model_motor.hpp" + +namespace agi { + + +bool ModelMotor::run(const Ref> state, + Ref> derivative) const { + // first order system model + if (!std::isfinite(quad_.motor_tau_inv_)) { + derivative.segment(QS::MOT).setZero(); + } else { + derivative.segment(QS::MOT) = + quad_.motor_tau_inv_ * (state.segment(QS::MOTDES) - + state.segment(QS::MOT)); + } + + return true; +} +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_propeller_bem.cpp b/src/agilicious/agilib/src/simulator/model_propeller_bem.cpp new file mode 100644 index 0000000..47e1b7a --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_propeller_bem.cpp @@ -0,0 +1,133 @@ +#include "agilib/simulator/model_propeller_bem.hpp" + +namespace agi { + +ModelPropellerBEM::ModelPropellerBEM(Quadrotor quad, + const BEMParameters& params) + : ModelBase(quad), + prop_state_(std::make_shared(params)), + f_psi_thrust_(std::make_shared(IntegrandPsi::THRUST)), + f_psi_torque_(std::make_shared(IntegrandPsi::TORQUE)), + f_psi_hforce_(std::make_shared(IntegrandPsi::HFORCE)), + f_r_thrust_(std::make_shared()), + f_r_torque_(std::make_shared()), + f_r_hforce_(std::make_shared()), + f_v1_(std::make_shared()), + vind_solver_() { + updateQuad(quad); + vind_ = Vector::Zero(); + vind_h_ = Vector::Zero(); + // Order: 1 - front right (beta 2) + // 2 - back left (beta 3) + // 3 - back right (beta 1) + // 4 - front left (beta 4) +} + + +ModelPropellerBEM::~ModelPropellerBEM() { logger_.debug() << timer_; } + + +bool ModelPropellerBEM::run(const Ref> state, + Ref> derivative) const { + if (!state.segment(0).allFinite()) return false; + + ScopedTicToc tictoc(timer_); + + // Everything is calculated in FRD + prop_state_->update(state, quad_.t_BM_); + f_psi_thrust_->setState(prop_state_); + f_psi_torque_->setState(prop_state_); + f_psi_hforce_->setState(prop_state_); + + f_r_thrust_->setState(prop_state_, f_psi_thrust_); + f_r_torque_->setState(prop_state_, f_psi_torque_); + f_r_hforce_->setState(prop_state_, f_psi_hforce_); + f_v1_->setState(prop_state_, f_r_thrust_); + vind_solver_.find_root(*f_v1_, -20, 30, vind_, true, vind_); + prop_state_->vind_ = vind_; + + ArrayVector<4> tmp = prop_state_->vver_.array() / prop_state_->vind_.array(); + if ((tmp >= 0.01).any() && (tmp <= 2).any()) { + const Scalar k0 = 1; + const Scalar k1 = -1.125; + const Scalar k2 = -1.372; + const Scalar k3 = -1.718; + const Scalar k4 = -0.655; + const ArrayVector<4> vz = -prop_state_->vver_; + const ArrayVector<4> vtot_old = prop_state_->vtot_; + + prop_state_->vtot_ = prop_state_->vhor_; + prop_state_->vver_.setZero(); + f_v1_->setState(prop_state_, f_r_thrust_); + vind_solver_.find_root(*f_v1_, -20, 30, vind_h_, true, vind_h_); + const ArrayVector<4> vzvh = vz / vind_h_; + const ArrayVector<4> vind2 = + vind_h_ * + (k0 + k1 * vzvh + k2 * vzvh * vzvh + k3 * vzvh.pow(3) + k4 * vzvh.pow(4)); + + prop_state_->vind_ = prop_state_->vind_.array().max(vind2); + prop_state_->vver_ = -vz; + prop_state_->vtot_ = vtot_old; + for (int i = 0; i < QS::NMOT; ++i) + if (tmp(i) >= 0.01 && tmp(i) <= 2) { + prop_state_->vind_(i) = + std::fmin(prop_state_->vind_(i), 2 * vind_h_(i)); + } + } + + prop_state_->thrust_ = + gk_.integrate(*f_r_thrust_, 0, prop_state_->param_.r_prop_).result_; + prop_state_->torque_ = + gk_.integrate(*f_r_torque_, 0, prop_state_->param_.r_prop_).result_; + // For a single propeller, the BEM is accurate (verified against published + // wind-tunnel data, Gill et al. "Propeller Thrust and Drag in Forward + // Flight"). For the drone, the BEM underestimates the drag which is corrected + // by the factor 3.0. The factor was identified using real-world flight data. + prop_state_->hforce_ = + gk_.integrate(*f_r_hforce_, 0, prop_state_->param_.r_prop_).result_ * 3.0; + prop_state_->calculateFlapping(); + + // Combine all four propellers in FLU frame! + Scalar power = 0; + Vector<3> force; + Vector<3> torque; + force.setZero(); + torque.setZero(); + for (int i = 0; i < QS::NMOT; ++i) { + Matrix<3, 3> mot_rot = + Eigen::AngleAxisd{ + std::atan2(prop_state_->velocity_(1, i), prop_state_->velocity_(0, i)), + Eigen::Vector3d::UnitZ()} + .toRotationMatrix(); + const int cw = (i >= 2 ? 1 : -1); + const Scalar pthrust = prop_state_->thrust_(i); + const Vector<3> f = + mot_rot * Vector<3>{-(prop_state_->hforce_(i) + + std::sin(prop_state_->a1s_(i)) * pthrust), + cw * std::sin(prop_state_->b1s_(i)) * pthrust, + -std::cos(prop_state_->a0_(i)) * pthrust}; + mot_rot* Vector<3>{0, 0, -std::cos(prop_state_->a0_(i)) * pthrust}; + force += (f.array() * prop_state_->flu_conv_frd_).matrix(); + + const Scalar ptorque = prop_state_->torque_(i); + power += std::abs(ptorque * state.segment(QS::MOT)(i)); + const Vector<3> t = + mot_rot * + Vector<3>{cw * prop_state_->param_.k_spring_ * prop_state_->b1s_(i), + prop_state_->param_.k_spring_ * prop_state_->a1s_(i), + -cw * ptorque}; + torque += (t.array() * prop_state_->flu_conv_frd_).matrix() + + quad_.t_BM_.col(i).cross( + (f.array() * prop_state_->flu_conv_frd_).matrix()); + } + force.z() = force.z() * thrust_scale_; + + // Convert force and torque to acceleration and omega_dot + derivative.segment(QS::VEL) += + prop_state_->rot_ * force / quad_.m_ + GVEC; + derivative.segment(QS::OME) += quad_.J_inv_ * torque; + + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_propeller_bem_params.cpp b/src/agilicious/agilib/src/simulator/model_propeller_bem_params.cpp new file mode 100644 index 0000000..a2e04db --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_propeller_bem_params.cpp @@ -0,0 +1,91 @@ +#include "agilib/simulator/model_propeller_bem_params.hpp" + +#include "agilib/math/math.hpp" + +namespace agi { + +BEMParameters::BEMParameters() + : rho_(1.204), + r_prop_(6.477e-2), + ef_(0.1), + sigma_(0.215), + theta0_(0.40055306), + theta1_(-0.139626), + b_(3.0), + ci_(1.7e-2), + co_(0.8e-2), + mb_(1.22e-3), + cg_(2.7e-2), + cd_(4.168863), + cl_(4.797071), + k_spring_(5.89) { + prop_area_ = M_PI * r_prop_ * r_prop_; // Propeller Area [m^2] + e_ = ef_ * r_prop_; // Hinge offset [m] +} + +bool BEMParameters::load(const Yaml& node) { + if (node.isNull()) return false; + + rho_ = node["air_density"].as(); + r_prop_ = node["radius"].as(); + theta0_ = toRad(node["pitch"].as()); + theta1_ = toRad(node["twist"].as()); + sigma_ = node["solidity"].as(); + cg_ = node["distance_cog"].as(); + b_ = node["num_blades"].as(); + mb_ = node["mass_blade"].as(); + ef_ = node["rel_hinge_offset"].as(); + cd_ = node["drag_coefficient"].as(); + cl_ = node["lift_coefficient"].as(); + co_ = node["chord_outer"].as(); + ci_ = node["chord_inner"].as(); + k_spring_ = node["hinge_spring_constant"].as(); + + return valid(); +} + +bool BEMParameters::valid() const { + bool check = true; + check &= (rho_ > 0.0); + check &= (r_prop_ > 0.0); + check &= (ef_ >= 0.0) && (ef_ <= 1.0); + check &= (sigma_ > 0.0) && (sigma_ < 1.0); + check &= (theta0_ > 0.0) && (theta0_ < M_PI_2); + check &= (std::fabs(theta1_) < M_PI_2); + check &= (b_ > 0.0); + check &= (mb_ > 0.0) && (mb_ < 1.0); + check &= (cg_ > 0.0) && (cg_ < 1.0); + check &= (cd_ >= 0.0); + check &= (cl_ >= 0.0); + check &= (ci_ >= 0.0) && (ci_ < 0.1); + check &= (co_ >= 0.0) && (co_ < 0.1); + check &= (k_spring_ >= 0.0); + return check; +} + +std::ostream& operator<<(std::ostream& os, const BEMParameters& p) { + os.precision(3); + os << std::scientific; + os << "BEMParameters:\n" + << "Air Density " << p.rho_ << "\n" + << "Radius " << p.r_prop_ << "\n" + << "Propeller Area " << p.prop_area_ << "\n" + << "Relative hinge offset " << p.ef_ << "\n" + << "Hinge offset " << p.e_ << "\n" + << "Inner chord length " << p.ci_ << "\n" + << "Outer chord length " << p.co_ << "\n" + << "Solidity ratio " << p.sigma_ << "\n" + << "Pitch " << p.theta0_ << "\n" + << "Twist " << p.theta1_ << "\n" + << "Number of blades " << p.b_ << "\n" + << "Mass of one blade " << p.mb_ << "\n" + << "CoG Distance " << p.cg_ << "\n" + << "Drag coefficient " << p.cd_ << "\n" + << "Lift coefficient " << p.cl_ << "\n" + << "Spring constant " << p.k_spring_ << std::endl; + os.precision(); + os.unsetf(std::ios::scientific); + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_rigid_body.cpp b/src/agilicious/agilib/src/simulator/model_rigid_body.cpp new file mode 100644 index 0000000..2428cbc --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_rigid_body.cpp @@ -0,0 +1,21 @@ +#include "agilib/simulator/model_rigid_body.hpp" + +namespace agi { + +bool ModelRigidBody::run(const Ref> state, + Ref> derivative) const { + const Vector<3> omega(state(QS::OMEX), state(QS::OMEY), state(QS::OMEZ)); + const Quaternion q_omega(0, omega.x(), omega.y(), omega.z()); + + // Set up the derivative + derivative.segment(QS::POS) = state.segment(QS::VEL); + derivative.segment(QS::ATT) = + 0.5 * Q_right(q_omega) * state.segment(QS::ATT); + derivative.segment(QS::OME) += + -quad_.J_inv_ * omega.cross(quad_.J_ * omega); + + return true; +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/model_thrust_torque_simple.cpp b/src/agilicious/agilib/src/simulator/model_thrust_torque_simple.cpp new file mode 100644 index 0000000..fd595c9 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/model_thrust_torque_simple.cpp @@ -0,0 +1,43 @@ +#include "agilib/simulator/model_thrust_torque_simple.hpp" + +#include +namespace agi { + +ModelThrustTorqueSimple::ModelThrustTorqueSimple(Quadrotor quad) + : ModelBase(quad) { + updateQuad(quad); +} + +bool ModelThrustTorqueSimple::updateQuad(const Quadrotor& quad) { + if (!quad.valid()) return false; + quad_ = quad; + B_allocation_ = quad.getAllocationMatrix(); + return true; +} + + +bool ModelThrustTorqueSimple::run(const Ref> state, + Ref> derivative) const { + // Compute force and body torque in body frame + const Vector<4> thrusts = + quad_.motorOmegaToThrust(state.segment(QS::MOT)); + const Vector<4> force_torques = B_allocation_ * thrusts; + + + // Convert force and torque to acceleration and omega_dot + const Vector<3> force(0.0, 0.0, force_torques[0]); + const Matrix<3, 3> R = Quaternion(state(QS::ATTW), state(QS::ATTX), + state(QS::ATTY), state(QS::ATTZ)) + .toRotationMatrix(); + const Vector<3> omega(state(QS::OMEX), state(QS::OMEY), state(QS::OMEZ)); + + + derivative.segment(QS::VEL) += R * force / quad_.m_ + GVEC; + derivative.segment(QS::OME) += + quad_.J_inv_ * force_torques.segment<3>(1); + + return true; +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/quadrotor_simulator.cpp b/src/agilicious/agilib/src/simulator/quadrotor_simulator.cpp new file mode 100644 index 0000000..fc98b20 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/quadrotor_simulator.cpp @@ -0,0 +1,152 @@ +#include "agilib/simulator/quadrotor_simulator.hpp" + +#include "agilib/math/gravity.hpp" + +namespace agi { + +QuadrotorSimulator::QuadrotorSimulator(const Quadrotor &quadrotor) + : QuadrotorSimulator(SimulatorParams(quadrotor)) {} + +QuadrotorSimulator::QuadrotorSimulator(const SimulatorParams ¶ms) + : SimulatorBase("Quadrotor Simulator"), params_(params) { + params_.createLowLevelController(ctrl_); + params_.createModelPipeline(model_pipeline_); + params_.createIntegrator(integrator_ptr_, this->getDynamics()); + + reset(); +} + +bool QuadrotorSimulator::run(const Command &cmd, const Scalar ctl_dt) { + if (!setCommand(cmd)) return false; + return run(ctl_dt); +} + +bool QuadrotorSimulator::run(const Scalar ctl_dt) { + if (!state_.valid()) return false; + + QuadState next_state = state_; + const Scalar max_dt = integrator_ptr_->dtMax(); + Scalar remain_ctl_dt = ctl_dt; + + // simulation loop + while (remain_ctl_dt > 0.0) { + const Scalar sim_dt = std::min(remain_ctl_dt, max_dt); + // check if we need to update the reference command for the controller + if (!cmd_queue_.empty() && + (state_.t >= cmd_queue_.front().t + params_.delay_)) { + if (!ctrl_->setCommand(cmd_queue_.front())) { + logger_.error("Could not set command."); + return false; + } + cmd_queue_.pop(); + } + ctrl_->setState(state_); + ctrl_->getMotorCommand(state_.motdes); + + if (!std::isfinite(params_.quadrotor_.motor_tau_inv_)) { + state_.mot = state_.motdes; + } + + integrator_ptr_->step(state_.x, sim_dt, next_state.x); + updateState(next_state, sim_dt); + + if (state_.p.z() <= 0.0) { + state_.p.z() = 0.0; + state_.v.z() = 0.0; + state_.a.z() = 0.0; + } + + remain_ctl_dt -= sim_dt; + } + + state_.qx.normalize(); + + state_.t += ctl_dt; + return true; +} + +bool QuadrotorSimulator::reset(const bool &reset_time) { + state_.setZero(reset_time); + while (!cmd_queue_.empty()) cmd_queue_.pop(); + return true; +} + +bool QuadrotorSimulator::reset(const QuadState &state) { + if (!state.valid()) return false; + state_ = state; + while (!cmd_queue_.empty()) cmd_queue_.pop(); + return true; +} + +bool QuadrotorSimulator::computeDynamics( + const Ref> state, + Ref> derivative) const { + for (auto &m : model_pipeline_) { + m->run(state, derivative); + } + return true; +} + +void QuadrotorSimulator::updateState(const QuadState &next_state, + Scalar sim_dt) { + // Calculate mean acceleration and body torque over time step + const Vector<3> delta_vel = next_state.v - state_.v; + + state_ = next_state; + state_.a = delta_vel / sim_dt; +} + +bool QuadrotorSimulator::setCommand(const Command &cmd) { + cmd_queue_.push(cmd); + return true; +} + +bool QuadrotorSimulator::setState(const QuadState &state) { + if (!state.valid()) return false; + state_ = state; + return true; +} + +bool QuadrotorSimulator::getState(QuadState *const state) const { + if (!state_.valid()) return false; + *state = state_; + return true; +} + +bool QuadrotorSimulator::getQuadrotor(Quadrotor *const quad) const { + if (quad == nullptr || !params_.quadrotor_.valid()) return false; + *quad = params_.quadrotor_; + return true; +} + +const Quadrotor &QuadrotorSimulator::getQuadrotor() const { + return params_.quadrotor_; +} + +const std::shared_ptr +QuadrotorSimulator::getLowLevelController() const { + return ctrl_; +} + +DynamicsFunction QuadrotorSimulator::getDynamics() const { + return std::bind( + static_cast>, + Ref>) const>( + &QuadrotorSimulator::computeDynamics), + this, std::placeholders::_1, std::placeholders::_2); +} + +bool QuadrotorSimulator::updateQuad(const Quadrotor &quad) { + if (!quad.valid()) { + return false; + } + params_.quadrotor_ = quad; + ctrl_->updateQuad(quad); + + for (auto &m : model_pipeline_) m->updateQuad(quad); + params_.createIntegrator(integrator_ptr_, this->getDynamics()); + + return true; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/simulator_base.cpp b/src/agilicious/agilib/src/simulator/simulator_base.cpp new file mode 100644 index 0000000..e774367 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/simulator_base.cpp @@ -0,0 +1,9 @@ +#include "agilib/simulator/simulator_base.hpp" + +namespace agi { + +SimulatorBase::SimulatorBase(const std::string& name) : Module(name) {} + +SimulatorBase::~SimulatorBase() {} + +} // namespace agi diff --git a/src/agilicious/agilib/src/simulator/simulator_params.cpp b/src/agilicious/agilib/src/simulator/simulator_params.cpp new file mode 100644 index 0000000..f395592 --- /dev/null +++ b/src/agilicious/agilib/src/simulator/simulator_params.cpp @@ -0,0 +1,236 @@ +#include "agilib/simulator/simulator_params.hpp" + +#include + +#include "agilib/math/integrator_euler.hpp" +#include "agilib/math/integrator_rk4.hpp" +#include "agilib/math/integrator_symplectic_euler.hpp" +#include "agilib/simulator/low_level_controller_betaflight.hpp" +#include "agilib/simulator/low_level_controller_simple.hpp" +#include "agilib/simulator/model_body_drag.hpp" +#include "agilib/simulator/model_init.hpp" +#include "agilib/simulator/model_lin_cub_drag.hpp" +#include "agilib/simulator/model_motor.hpp" +#include "agilib/simulator/model_propeller_bem.hpp" +#include "agilib/simulator/model_rigid_body.hpp" +#include "agilib/simulator/model_thrust_torque_simple.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/utils/file_utils.hpp" +#include "agilib/utils/module_config.hpp" + +namespace agi { + +SimulatorParams::SimulatorParams(const Quadrotor& quadrotor) + : sim_dt_(0.001), delay_(0.0), quadrotor_(quadrotor) { + // default simulator config +} + +SimulatorParams::SimulatorParams(const fs::path& filename, + const fs::path& agi_param_directory, + const fs::path& ros_param_directory) + : agi_param_directory_(agi_param_directory), + ros_param_directory_(ros_param_directory), + quad_file_(fs::path(ros_param_directory) / "quads" / "") { + fs::path full_filename = filename; + if (!checkFile(agi_param_directory_, &full_filename)) + throw ParameterException("Simulation config file not found!\n" + + filename.string() + "\n" + full_filename.string()); + + if (!ParameterBase::load(full_filename)) + throw ParameterException(full_filename); +} +bool SimulatorParams::load(const Yaml& yaml) { + if (agi_param_directory_.empty()) { + static constexpr int PATH_LEN = 2048; + char path_cstr[PATH_LEN]; + if (readlink("/proc/self/exe", path_cstr, PATH_LEN)) { + const fs::path agidir(path_cstr); + + fs::path::iterator start_it = agidir.begin(); + fs::path::iterator end_it = + std::lower_bound(start_it, agidir.end(), std::string("agilicious")); + + if (end_it == agidir.end()) { + throw ParameterException( + "No directory provided and agilicious directory not found!"); + } else { + for (fs::path::iterator it = agidir.begin(); it != end_it; it++) + agi_param_directory_ /= *it; + agi_param_directory_ = + agi_param_directory_ / "agilicious" / "agilib" / "params"; + } + } + } + + // Quadrotor + quad_file_ = getQuadFile(yaml, quad_file_, agi_param_directory_); + + if (!quadrotor_.load(quad_file_) || !quadrotor_.valid()) + throw ParameterException("Could not load Quadrotor parameters from: " + + quad_file_.string()); + + delay_ = yaml["delay"].as(); + controller_name_ = yaml["controller"]["name"].as(); + controller_file_ = yaml["controller"]["file"].as(); + integrator_name_ = yaml["integrator"]["name"].as(); + sim_dt_ = yaml["integrator"]["step_size"].as(); + + const int num_models = yaml["model_pipeline"].size(); + model_configs_.clear(); + for (int i = 0; i < num_models; i++) { + ModuleConfig model_config; + model_config.loadIfUndefined(yaml["model_pipeline"][i]); + model_configs_.push_back(model_config); + } + + return valid(); +} + +bool SimulatorParams::valid() const { + bool check = true; + + check &= std::isfinite(delay_) && delay_ >= 0.0; + check &= quadrotor_.valid(); + + return check; +} + +bool SimulatorParams::createModelPipeline( + std::vector>& model_pipeline) const { + logger_.info("Creating model pipeline!"); + + model_pipeline.clear(); + + if (model_configs_.empty()) { + // default dynamics simulation + model_pipeline.emplace_back( + std::make_shared(ModelInit{quadrotor_})); + model_pipeline.emplace_back( + std::make_shared(ModelMotor{quadrotor_})); + model_pipeline.emplace_back(std::make_shared( + ModelThrustTorqueSimple{quadrotor_})); + model_pipeline.emplace_back( + std::make_shared(ModelRigidBody{quadrotor_})); + return true; + } + + for (auto model_config : model_configs_) { + logger_.info("Loading dynamics model [%s] from [%s].", + model_config.type.c_str(), model_config.file.string().c_str()); + + if (model_config.type == "ModelInit") { + model_pipeline.emplace_back( + std::make_shared(ModelInit{quadrotor_})); + } else if (model_config.type == "ModelMotor") { + model_pipeline.emplace_back( + std::make_shared(ModelMotor{quadrotor_})); + } else if (model_config.type == "ModelRotorSimple") { + model_pipeline.emplace_back(std::make_shared( + ModelThrustTorqueSimple{quadrotor_})); + } else if (model_config.type == "ModelRotorBEM") { + BEMParameters bem_params; + bem_params.load(agi_param_directory_ / "dynamics_models" / + model_config.file); + model_pipeline.emplace_back(std::make_shared( + ModelPropellerBEM{quadrotor_, bem_params})); + } else if (model_config.type == "ModelBodyDrag") { + BodyDragParameters body_drag_params; + body_drag_params.load(agi_param_directory_ / "dynamics_models" / + model_config.file); + model_pipeline.emplace_back(std::make_shared( + ModelBodyDrag{quadrotor_, body_drag_params})); + } else if (model_config.type == "ModelLinCubDragIndLift") { + LinCubDragParameters lin_cub_drag_params; + lin_cub_drag_params.load(agi_param_directory_ / "dynamics_models" / + model_config.file); + model_pipeline.emplace_back(std::make_shared( + ModelLinCubDrag{quadrotor_, lin_cub_drag_params})); + } else if (model_config.type == "ModelRigidBody") { + model_pipeline.emplace_back( + std::make_shared(ModelRigidBody{quadrotor_})); + } + } + + return true; +} + +bool SimulatorParams::createLowLevelController( + std::shared_ptr& ctrl) const { + if (controller_name_.empty()) { + // default low level controller + LowLevelControllerSimpleParams params; + ctrl = + std::make_shared(quadrotor_, sim_dt_, params); + logger_.info("Enabled simple low level controller."); + return true; + } else { + try { + if (controller_name_ == "Simple") { + LowLevelControllerSimpleParams params; + if (!controller_file_.empty() && + !params.load(agi_param_directory_ / "low_level_controllers" / + controller_file_)) + throw ParameterException(); + ctrl = std::make_shared(quadrotor_, sim_dt_, + params); + logger_.info("Enabled simple low level controller."); + return true; + } else if (controller_name_ == "Betaflight") { + LowLevelControllerBetaflightParams params; + logger_.info("controller_file_: %s", controller_file_.string().c_str()); + if (controller_file_.empty() || + !params.load(agi_param_directory_ / "low_level_controllers" / + controller_file_) || + !params.loadThrustMap(agi_param_directory_)) + throw ParameterException(); + ctrl = std::make_shared(quadrotor_, + sim_dt_, params); + logger_.info("Enabled Betaflight low level controller."); + return true; + } + } catch (const ParameterException& e) { + throw ParameterException("Could not load low level controller " + + controller_name_ + " from parameter file \'" + + controller_file_.string() + "\':\n" + e.what()); + } + } + + return false; +} + +bool SimulatorParams::createIntegrator( + std::shared_ptr& integrator, + DynamicsFunction dynamics_function) const { + if (integrator_name_.empty()) { + // default integrator + LowLevelControllerSimpleParams params; + integrator = std::make_shared(dynamics_function, sim_dt_); + return true; + } else { + if (integrator_name_ == "Euler") { + integrator = + std::make_shared(dynamics_function, sim_dt_); + logger_.info("Enabled Euler integrator with a step size of %.4f seconds.", + sim_dt_); + return true; + } else if (integrator_name_ == "RK4") { + integrator = std::make_shared(dynamics_function, sim_dt_); + logger_.info("Enabled RK4 integrator with a step size of %.4f seconds.", + sim_dt_); + return true; + } else if (integrator_name_ == "SymplecticEuler") { + integrator = + std::make_shared(dynamics_function, sim_dt_); + logger_.info( + "Enabled SymplecticEuler integrator with a step size of %.4f seconds.", + sim_dt_); + return true; + } else { + logger_.error("Unknown integrator specified: [%s]", + integrator_name_.c_str()); + return false; + } + } +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/types/command.cpp b/src/agilicious/agilib/src/types/command.cpp new file mode 100644 index 0000000..c988970 --- /dev/null +++ b/src/agilicious/agilib/src/types/command.cpp @@ -0,0 +1,61 @@ +#include "agilib/types/command.hpp" + +#include + +namespace agi { + +Command::Command() {} + +Command::Command(const Scalar t, const Scalar thrust, const Vector<3>& omega) + : t(t), collective_thrust(thrust), omega(omega) {} + +Command::Command(const Scalar t, const Vector<4>& thrusts) + : t(t), thrusts(thrusts) {} + +Command::Command(const Scalar t) + : t(t), + collective_thrust(0.0), + omega(Vector<3>::Zero()), + thrusts(Vector<4>::Zero()) {} + +bool Command::valid() const { + return std::isfinite(t) && + ((std::isfinite(collective_thrust) && omega.allFinite()) || + thrusts.allFinite()); +} + +bool Command::isSingleRotorThrusts() const { + return std::isfinite(t) && thrusts.allFinite(); +} + +bool Command::isRatesThrust() const { + return std::isfinite(t) && std::isfinite(collective_thrust) && + omega.allFinite(); +} + +std::ostream& operator<<(std::ostream& os, const Command& command) { + os.precision(3); + os << std::scientific; + os << "Command at " << command.t << "s:\n" + << "collective_thrust = [" << command.collective_thrust << "]\n" + << "omega = [" << command.omega.transpose() << "]\n" + << "thrusts = [" << command.thrusts.transpose() << "]" << std::endl; + os.precision(); + os.unsetf(std::ios::scientific); + return os; +} + +bool Command::operator==(const Command& rhs) const { + if (t != rhs.t) { + return false; + } + if (isRatesThrust()) { + return (collective_thrust == rhs.collective_thrust && + omega.isApprox(rhs.omega, 1e-3)); + } else { + return (thrusts.isApprox(rhs.thrusts, 1e-3)); + } +} + + +} // namespace agi diff --git a/src/agilicious/agilib/src/types/quad_state.cpp b/src/agilicious/agilib/src/types/quad_state.cpp new file mode 100644 index 0000000..2c3158e --- /dev/null +++ b/src/agilicious/agilib/src/types/quad_state.cpp @@ -0,0 +1,112 @@ +#include "agilib/types/quad_state.hpp" + +namespace agi { + +QuadState::QuadState() {} + +QuadState::QuadState(const Scalar t, const Vector& x) : x(x), t(t) {} + +QuadState::QuadState(const Scalar t, const Vector<3>& position, + const Scalar yaw) + : x(Vector::Zero()), t(t) { + p = position; + q(yaw); +} + +QuadState::QuadState(const QuadState& state) : x(state.x), t(state.t) {} + +QuadState::~QuadState() {} + +Quaternion QuadState::q() const { + return Quaternion(x(ATTW), x(ATTX), x(ATTY), x(ATTZ)); +} + +void QuadState::q(const Quaternion quaternion) { + x(IDX::ATTW) = quaternion.w(); + x(IDX::ATTX) = quaternion.x(); + x(IDX::ATTY) = quaternion.y(); + x(IDX::ATTZ) = quaternion.z(); +} + + +void QuadState::q(const Scalar angle, const Vector<3>& axis) { + const Quaternion q_aa(Eigen::AngleAxis(angle, axis)); + x(IDX::ATTW) = q_aa.w(); + x(IDX::ATTX) = q_aa.x(); + x(IDX::ATTY) = q_aa.y(); + x(IDX::ATTZ) = q_aa.z(); +} + +Matrix<3, 3> QuadState::R() const { + return Quaternion(x(ATTW), x(ATTX), x(ATTY), x(ATTZ)).toRotationMatrix(); +} + +void QuadState::setZero(const bool& reset_time) { + if (reset_time) { + t = 0.0; + } + x.setZero(); + x(ATTW) = 1.0; +} + +void QuadState::linearize() { qx.normalize(); } + +Scalar QuadState::getYaw(const Scalar yaw) const { + const Vector<3> x_b = q() * Vector<3>::UnitX(); + const Vector<3> x_proj = Vector<3>(x_b.x(), x_b.y(), 0); + if (x_proj.norm() < 1e-3) return yaw; + const Vector<3> x_proj_norm = x_proj.normalized(); + const Vector<3> cross = Vector<3>::UnitX().cross(x_proj_norm); + const Scalar angle = asin(cross.z()); + if (x_proj_norm.x() >= 0.0) return angle; + if (x_proj_norm.y() >= 0.0) return M_PI - angle; + return -M_PI - angle; +} + +void QuadState::applyYaw(const Scalar angle) { + const Scalar yaw = getYaw(); + const Scalar new_yaw = std::isfinite(yaw) ? yaw : 0.0; + q(q() * Eigen::AngleAxis(new_yaw, Vector<3>::UnitZ())); + if (qx(0) < 0.0) qx = -qx; +} + +bool QuadState::operator==(const QuadState& rhs) const { + return t == rhs.t && x.isApprox(rhs.x); +} + +bool QuadState::isApprox(const QuadState& rhs, const Scalar tol) const { + return std::abs(t - rhs.t) < tol && x.isApprox(rhs.x, tol); +} + +QuadState QuadState::getHoverState() const { + QuadState hover_state; + hover_state.setZero(); + hover_state.t = t; + hover_state.p = p; + hover_state.q(getYaw(0.0)); + return hover_state; +} + +std::ostream& operator<<(std::ostream& os, const QuadState& state) { + os.precision(6); + os << std::scientific; + os << "State at " << state.t << "s:\n"; + os.precision(3); + os << "p= [" << state.p.transpose() << "]\n" + << "q= [" << state.qx.transpose() << "]\n" + << "v= [" << state.v.transpose() << "]\n" + << "w= [" << state.w.transpose() << "]\n" + << "a= [" << state.a.transpose() << "]\n" + << "j= [" << state.j.transpose() << "]\n" + << "s= [" << state.s.transpose() << "]\n" + << "tau=[" << state.tau.transpose() << "]\n" + << "bw= [" << state.bw.transpose() << "]\n" + << "ba= [" << state.ba.transpose() << "]\n" + << "mot=[" << state.mot.transpose() << "]\n" + << "dmt=[" << state.motdes.transpose() << "]" << std::endl; + os.precision(); + os.unsetf(std::ios::scientific); + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/types/quadrotor.cpp b/src/agilicious/agilib/src/types/quadrotor.cpp new file mode 100644 index 0000000..fb4f6f1 --- /dev/null +++ b/src/agilicious/agilib/src/types/quadrotor.cpp @@ -0,0 +1,304 @@ +#include "agilib/types/quadrotor.hpp" + +#include +#include + +#include "agilib/math/math.hpp" + +namespace agi { + +Quadrotor::Quadrotor(const Scalar m, const Scalar l) + : m_(m), + t_BM_( + l * sqrt(0.5) * + (Matrix<3, 4>() << 1, -1, -1, 1, -1, 1, -1, 1, 0, 0, 0, 0).finished()), + J_(m_ / 12.0 * l * l * + Vector<3>(2.25, 2.25, 4) + .asDiagonal()), // from cubic volume inertia with height=0.5 l + J_inv_(J_.inverse()), + motor_omega_min_(150.0), + motor_omega_max_(2000.0), + motor_tau_inv_(1.0 / 0.033), + thrust_map_(1.562522e-06, 0.0, 0.0), + torque_map_(1.908873e-08, 0.0, 0.0), + kappa_(torque_map_(0) / thrust_map_(0)), + thrust_min_(0.0), + thrust_max_(motor_omega_max_ * motor_omega_max_ * thrust_map_(0) + + motor_omega_max_ * thrust_map_(1) + thrust_map_(2)), + rotors_config_(RotorConfig::cross), + omega_max_(Vector<3>::Constant(6.0)), + aero_coeff_1_(Vector<3>::Zero()), + aero_coeff_3_(Vector<3>::Zero()), + aero_coeff_h_(0.0) {} + +Quadrotor::Quadrotor() : Quadrotor(1.0, 0.25) {} + +bool Quadrotor::dynamics(const QuadState& state, + QuadState* const derivative) const { + if (derivative == nullptr) return false; + return dynamics(state.x, derivative->x); +} + +bool Quadrotor::dynamics(const Ref> state, + Ref> derivative) const { + if (!state.segment(0).allFinite()) return false; + + derivative.setZero(); + const Vector<3> omega(state(QS::OMEX), state(QS::OMEY), state(QS::OMEZ)); + const Quaternion q_omega(0, omega.x(), omega.y(), omega.z()); + + derivative.segment(QS::POS) = state.segment(QS::VEL); + derivative.segment(QS::ATT) = + 0.5 * Q_right(q_omega) * state.segment(QS::ATT); + derivative.segment(QS::VEL) = state.segment(QS::ACC); + derivative.segment(QS::OME) = + J_inv_ * (state.segment(QS::TAU) - omega.cross(J_ * omega)); + + return true; +} + +bool Quadrotor::jacobian(const Ref> state, + Ref> jac) const { + if (!state.segment(0).allFinite()) return false; + + jac.setZero(); + + const Quaternion q(state(QS::ATTW), state(QS::ATTX), state(QS::ATTY), + state(QS::ATTZ)); + const Vector<3> omega(state(QS::OMEX), state(QS::OMEY), state(QS::OMEZ)); + const Quaternion q_omega(0, omega.x(), omega.y(), omega.z()); + + // Set dp/dv to identity. + jac.block(QS::POS, QS::VEL) = + Matrix::Identity(); + + // Set dq/dq. + jac.block(QS::ATT, QS::ATT) = 0.5 * Q_right(q_omega); + + // Set dq/dw. + jac.block(QS::ATT, QS::OME) = + 0.5 * Q_left(q).block(0, 1); + + // Set dv/da to identity. + jac.block(QS::VEL, QS::ACC) = + Matrix::Identity(); + + // Set dw/dtau to J_inv + jac.block(QS::OME, QS::TAU) = J_inv_; + + // Set dw/dw to J_inv + jac.block(QS::OME, QS::OME) = + -J_inv_ * (skew(omega) * J_ + skew(J_ * omega).transpose()); + + return true; +} + +bool Quadrotor::jacobian(const Ref> state, + SparseMatrix& jac) const { + Matrix jac_dense; + const bool ret = jacobian(state, jac_dense); + jac = jac_dense.sparseView(); + return ret; +} + +DynamicsFunction Quadrotor::getDynamicsFunction() const { + return std::bind( + static_cast>, + Ref>) const>( + &Quadrotor::dynamics), + this, std::placeholders::_1, std::placeholders::_2); +} + +bool Quadrotor::load(const Yaml& node) { + m_ = node["mass"].as(); + + Vector<3> J_diag = J_.diagonal(); + node["inertia"].getIfDefined(J_diag); + J_ = J_diag.asDiagonal(); + J_inv_ = J_.inverse(); + if (node["arm_length"].isDefined()) { + // Sanity check + if (node["rotors_config"].isDefined()) { + if (node["rotors_config"].as() == "plus") { + throw ParameterException( + "Parameter \"arm_length\" cannot be used with \"+\" configuration. " + "Use \"t_BM\" or \"tbm_XX\" instead."); + } + } + + const Scalar l = node["arm_length"].as(); + t_BM_ = + sqrt(0.5) * l * + (Matrix<3, 4>() << 1, -1, -1, 1, -1, 1, -1, 1, 0, 0, 0, 0).finished(); + + } else if (node["t_BM"].isDefined()) { + node["t_BM"] >> t_BM_; + } else if (node["tbm_fr"].isDefined() && node["tbm_bl"].isDefined() && + node["tbm_br"].isDefined() && node["tbm_fl"].isDefined()) { + t_BM_(0, 0) = node["tbm_fr"][0].as(); + t_BM_(1, 0) = node["tbm_fr"][1].as(); + t_BM_(2, 0) = node["tbm_fr"][2].as(); + + t_BM_(0, 1) = node["tbm_bl"][0].as(); + t_BM_(1, 1) = node["tbm_bl"][1].as(); + t_BM_(2, 1) = node["tbm_bl"][2].as(); + + t_BM_(0, 2) = node["tbm_br"][0].as(); + t_BM_(1, 2) = node["tbm_br"][1].as(); + t_BM_(2, 2) = node["tbm_br"][2].as(); + + t_BM_(0, 3) = node["tbm_fl"][0].as(); + t_BM_(1, 3) = node["tbm_fl"][1].as(); + t_BM_(2, 3) = node["tbm_fl"][2].as(); + + } else { + return false; + } + + motor_omega_min_ = node["motor_omega_min"].as(); + motor_omega_max_ = node["motor_omega_max"].as(); + motor_tau_inv_ = node["motor_tau"].as(); + motor_tau_inv_ = 1.0 / motor_tau_inv_; + + node["thrust_map"].getIfDefined(thrust_map_); + node["torque_map"].getIfDefined(torque_map_); + kappa_ = node["kappa"].as(); + thrust_min_ = node["thrust_min"].as(); + thrust_max_ = node["thrust_max"].as(); + + if (node["rotors_config"].isDefined()) { + if (node["rotors_config"].as() == "cross") { + rotors_config_ = RotorConfig::cross; + } else if (node["rotors_config"].as() == "plus") { + rotors_config_ = RotorConfig::plus; + } + } + + node["omega_max"] >> omega_max_; + + node["aero_coeff_1"].getIfDefined(aero_coeff_1_); + node["aero_coeff_3"].getIfDefined(aero_coeff_3_); + node["aero_coeff_h"].getIfDefined(aero_coeff_h_); + + return valid(); +} + +bool Quadrotor::valid() const { + bool check = true; + + // Hardcode a limit of 100 if someone puts the mass in grams. + check &= m_ > 0.0; + check &= m_ < 100.0; + + check &= t_BM_.allFinite(); + check &= J_.allFinite(); + check &= J_inv_.allFinite(); + + check &= motor_omega_min_ >= 0.0; + check &= (motor_omega_max_ > motor_omega_min_); + + check &= thrust_map_.allFinite(); + check &= torque_map_.allFinite(); + check &= kappa_ > 0.0; + check &= thrust_min_ >= 0.0; + check &= (thrust_max_ > thrust_min_); + + check &= (omega_max_.array() > 0).all(); + + check &= (aero_coeff_1_.array() >= 0.0).all(); + check &= (aero_coeff_3_.array() >= 0.0).all(); + check &= aero_coeff_h_ >= 0.0; + + return check; +} + +Vector<4> Quadrotor::clampMotorOmega(const Vector<4>& omega) const { + return omega.cwiseMax(motor_omega_min_).cwiseMin(motor_omega_max_); +} + + +Vector<4> Quadrotor::clampThrust(const Vector<4> thrusts) const { + return thrusts.cwiseMax(thrust_min_).cwiseMin(thrust_max_); +} + + +Scalar Quadrotor::clampThrust(const Scalar thrust) const { + return std::clamp(thrust, thrust_min_, thrust_max_); +} + + +Scalar Quadrotor::clampCollectiveThrust(const Scalar thrust) const { + return std::clamp(thrust, collective_thrust_min(), collective_thrust_max()); +} + + +Vector<3> Quadrotor::clampBodyrates(const Vector<3>& omega) const { + return omega.cwiseMax(-omega_max_).cwiseMin(omega_max_); +} + + +Vector<4> Quadrotor::motorOmegaToThrust(const Vector<4>& omega) const { + const Matrix<4, 3> omega_poly = + (Matrix<4, 3>() << omega.cwiseProduct(omega), omega, Vector<4>::Ones()) + .finished(); + return omega_poly * thrust_map_; +} + +Vector<4> Quadrotor::motorOmegaToTorque(const Vector<4>& omega) const { + const Matrix<4, 3> omega_poly = + (Matrix<4, 3>() << omega.cwiseProduct(omega), omega, Vector<4>::Ones()) + .finished(); + return omega_poly * torque_map_; +} + +Vector<4> Quadrotor::motorThrustToOmega(const Vector<4>& thrusts) const { + // midnight formula + const Scalar scale = 1.0 / (2.0 * thrust_map_(0)); + const Scalar offset = -thrust_map_(1) * scale; + + const Array<4, 1> root = + (std::pow(thrust_map_(1), 2) - + 4.0 * thrust_map_(0) * (thrust_map_(2) - thrusts.array())) + .sqrt(); + + return offset + scale * root; +} + + +Matrix<4, 4> Quadrotor::getAllocationMatrix() const { + // compute column-wise cross product + // tau_i = t_BM_i x F_i + return (Matrix<4, 4>() << Vector<4>::Ones().transpose(), t_BM_.row(1), + -t_BM_.row(0), kappa_ * Vector<4>(-1, -1, 1, 1).transpose()) + .finished(); +} + +std::ostream& operator<<(std::ostream& os, const Quadrotor& quad) { + os.precision(3); + os << std::scientific; + os << "Quadrotor:\n" + << "mass = [" << quad.m_ << "]\n" + << "t_BM = [" << quad.t_BM_.row(0) << "]\n" + << " [" << quad.t_BM_.row(1) << "]\n" + << " [" << quad.t_BM_.row(2) << "]\n" + << "inertia = [" << quad.J_.row(0) << "]\n" + << " [" << quad.J_.row(1) << "]\n" + << " [" << quad.J_.row(2) << "]\n" + << "motor_omega_min = [" << quad.motor_omega_min_ << "]\n" + << "motor_omega_max = [" << quad.motor_omega_max_ << "]\n" + << "motor_tau_inv = [" << quad.motor_tau_inv_ << "]\n" + << "thrust_map = [" << quad.thrust_map_.transpose() << "]\n" + << "torque_map = [" << quad.torque_map_.transpose() << "]\n" + << "kappa = [" << quad.kappa_ << "]\n" + << "thrust_min = [" << quad.thrust_min_ << "]\n" + << "thrust_max = [" << quad.thrust_max_ << "]\n" + << "omega_max = [" << quad.omega_max_.transpose() << "]\n" + << "aero_coeff_1 = [" << quad.aero_coeff_1_.transpose() << "]\n" + << "aero_coeff_3 = [" << quad.aero_coeff_3_.transpose() << "]" + << std::endl; + os.precision(); + os.unsetf(std::ios::scientific); + return os; +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/utils/agi_watchdog.cpp b/src/agilicious/agilib/src/utils/agi_watchdog.cpp new file mode 100644 index 0000000..4c64d91 --- /dev/null +++ b/src/agilicious/agilib/src/utils/agi_watchdog.cpp @@ -0,0 +1,33 @@ +#include "agilib/utils/agi_watchdog.hpp" + +namespace agi { + +AgiWatchdog::AgiWatchdog(std::function timeout_callback, + Scalar timeout_s, bool enabled) + : timeout_callback_(timeout_callback), + timeout_s_(timeout_s), + enabled_(enabled) { + if (timeout_s_ > 0.0) { + timeout_thread_ = std::thread(&AgiWatchdog::run, this); + } +} + +AgiWatchdog::~AgiWatchdog() { + if (timeout_thread_.joinable()) timeout_thread_.join(); +} + +void AgiWatchdog::run() { + const std::chrono::milliseconds timeout((int)(timeout_s_ * 1000)); + std::unique_lock lock(timeout_wait_mutex_); + while (enabled_) { + if (timeout_reset_cv_.wait_for(lock, timeout) == std::cv_status::timeout && + enabled_) { + timeout_callback_(); + } + std::this_thread::sleep_for(std::chrono::milliseconds((int)(1e1))); + } +} + +void AgiWatchdog::refresh() { timeout_reset_cv_.notify_all(); } + +} // namespace agi diff --git a/src/agilicious/agilib/src/utils/file_utils.cpp b/src/agilicious/agilib/src/utils/file_utils.cpp new file mode 100644 index 0000000..5df28cd --- /dev/null +++ b/src/agilicious/agilib/src/utils/file_utils.cpp @@ -0,0 +1,77 @@ +#include "agilib/utils/file_utils.hpp" + +#include "agilib/utils/yaml.hpp" + +namespace agi { + +bool checkFile(const fs::path& directory, fs::path* const filename) { + if (filename == nullptr) return false; + + if (filename->empty()) return false; + + if (fs::is_directory(*filename)) return false; + + if (filename->is_absolute()) { + if (fs::exists(*filename)) return true; + } + + if (fs::exists(directory / *filename)) { + *filename = directory / *filename; + return true; + } + + return false; +} + +fs::path getQuadFile(const Yaml& yaml, const fs::path& quad_file_yaml, + const fs::path& agi_param_directory) { + fs::path quad_file = quad_file_yaml; + std::vector possible_paths{agi_param_directory, + agi_param_directory / "quads"}; + if (!quad_file.empty()) { + if (quad_file.has_extension()) { + if (quad_file.is_absolute()) { + possible_paths.clear(); + } + } else { + if (quad_file.is_absolute()) { + possible_paths.clear(); + possible_paths.push_back(quad_file); + possible_paths.push_back(quad_file / "quads"); + quad_file.clear(); + } else { + throw ParameterException( + "If quadrotor file path is manually set, it must be an absolute " + "path.\n" + "Specified path: " + + quad_file.string()); + } + } + } + fs::path quad_file_from_yaml = [&yaml] { + std::string quad_file_from_yaml; + yaml["quadrotor"].getIfDefined(quad_file_from_yaml); + return quad_file_from_yaml; + }(); + + fs::path quad_file_; + if (!quad_file_from_yaml.empty()) { + if (!quad_file.empty()) + throw ParameterException("Quadrotor file is set manually and in YAML!"); + + if (!quad_file_from_yaml.has_extension()) + throw ParameterException("Quadrotor file is no filename!"); + + quad_file_ = quad_file_from_yaml; + + if (quad_file_.is_absolute()) possible_paths.clear(); + } + + for (const fs::path& path : possible_paths) { + if (checkFile(path, &quad_file_)) return quad_file_; + } + + return quad_file_; +} + +} // namespace agi \ No newline at end of file diff --git a/src/agilicious/agilib/src/utils/logger.cpp b/src/agilicious/agilib/src/utils/logger.cpp new file mode 100644 index 0000000..5e6679f --- /dev/null +++ b/src/agilicious/agilib/src/utils/logger.cpp @@ -0,0 +1,113 @@ +#include "agilib/utils/logger.hpp" + +namespace agi { + +std::unordered_map + Logger::publishing_variables_; + +Logger::Logger(const std::string& name, const bool color) + : name_("Logger/" + name + "/"), colored_(color) { + std::cout.precision(DEFAULT_PRECISION); + + // Format name + formatted_name_ = "[" + name + "]"; + if (formatted_name_.size() < NAME_PADDING) + formatted_name_ = + formatted_name_ + std::string(NAME_PADDING - formatted_name_.size(), ' '); + else + formatted_name_ = formatted_name_ + " "; +} + +Logger::~Logger() {} + + +inline std::streamsize Logger::precision(const std::streamsize n) { + return std::cout.precision(n); +} + +inline void Logger::scientific(const bool on) { + if (on) + std::cout << std::scientific; + else + std::cout << std::fixed; +} + +void Logger::info(const char* msg, ...) const { + std::va_list args; + va_start(args, msg); + char buf[MAX_CHARS]; + const int n = std::vsnprintf(buf, MAX_CHARS, msg, args); + va_end(args); + if (n < 0 || n >= MAX_CHARS) + std::cout << formatted_name_ << "=== Logging error ===" << std::endl; + if (colored_) + std::cout << formatted_name_ << buf << std::endl; + else + std::cout << formatted_name_ << INFO << buf << std::endl; +} + +void Logger::warn(const char* msg, ...) const { + std::va_list args; + va_start(args, msg); + char buf[MAX_CHARS]; + const int n = std::vsnprintf(buf, MAX_CHARS, msg, args); + va_end(args); + if (n < 0 || n >= MAX_CHARS) + std::cout << formatted_name_ << "=== Logging error ===" << std::endl; + if (colored_) + std::cout << YELLOW << formatted_name_ << buf << RESET << std::endl; + else + std::cout << formatted_name_ << WARN << buf << std::endl; +} + +void Logger::error(const char* msg, ...) const { + std::va_list args; + va_start(args, msg); + char buf[MAX_CHARS]; + const int n = std::vsnprintf(buf, MAX_CHARS, msg, args); + va_end(args); + if (n < 0 || n >= MAX_CHARS) + std::cout << formatted_name_ << "=== Logging error ===" << std::endl; + if (colored_) + std::cout << RED << formatted_name_ << buf << RESET << std::endl; + else + std::cout << formatted_name_ << ERROR << buf << std::endl; +} + +void Logger::fatal(const char* msg, ...) const { + std::va_list args; + va_start(args, msg); + char buf[MAX_CHARS]; + const int n = std::vsnprintf(buf, MAX_CHARS, msg, args); + va_end(args); + if (n < 0 || n >= MAX_CHARS) + std::cout << formatted_name_ << "=== Logging error ===" << std::endl; + if (colored_) + std::cout << RED << formatted_name_ << buf << RESET << std::endl; + else + std::cout << formatted_name_ << FATAL << buf << std::endl; + throw std::runtime_error(formatted_name_ + buf); +} + +#ifdef DEBUG_LOG +void Logger::debug(const char* msg, ...) const { + std::va_list args; + va_start(args, msg); + char buf[MAX_CHARS]; + const int n = std::vsnprintf(buf, MAX_CHARS, msg, args); + va_end(args); + if (n < 0 || n >= MAX_CHARS) + std::cout << formatted_name_ << "=== Logging error ===" << std::endl; + if (colored_) + std::cout << formatted_name_ << buf << std::endl; + else + std::cout << formatted_name_ << DEBUGPREFIX << buf << std::endl; +} + +std::ostream& Logger::debug() const { return std::cout << formatted_name_; } + +void Logger::debug(const std::function&& lambda) const { lambda(); } + +#endif + +} // namespace agi diff --git a/src/agilicious/agilib/src/utils/module_config.cpp b/src/agilicious/agilib/src/utils/module_config.cpp new file mode 100644 index 0000000..4dfdba7 --- /dev/null +++ b/src/agilicious/agilib/src/utils/module_config.cpp @@ -0,0 +1,17 @@ +#include "agilib/utils/module_config.hpp" + +namespace agi { + +std::ostream& operator<<(std::ostream& os, const ModuleConfig& config) { + return os << "Type: " << config.type << "\nFile: " << config.file << '\n'; +} + +bool ModuleConfig::loadIfUndefined(const Yaml& yaml) { + if (type.empty()) yaml["type"].getIfDefined(type); + + if (file.empty()) yaml["file"].getIfDefined(file); + + return !type.empty() && !file.empty(); +} + +} // namespace agi diff --git a/src/agilicious/agilib/src/utils/timer.cpp b/src/agilicious/agilib/src/utils/timer.cpp new file mode 100644 index 0000000..8c2d1d0 --- /dev/null +++ b/src/agilicious/agilib/src/utils/timer.cpp @@ -0,0 +1,127 @@ +#include "agilib/utils/timer.hpp" + +#include +#include + +namespace agi { + +Timer::Timer(const std::string name, const std::string module) + : name_(name), + module_(module), + timing_mean_(0.0), + timing_last_(0.0), + timing_S_(0.0), + timing_min_(std::numeric_limits::max()), + timing_max_(0.0), + n_samples_(0) {} + +Timer::Timer(const Timer& other) + : name_(other.name_), + module_(other.module_), + t_start_(other.t_start_), + timing_mean_(other.timing_mean_), + timing_last_(other.timing_last_), + timing_S_(other.timing_S_), + timing_min_(other.timing_min_), + timing_max_(other.timing_max_), + n_samples_(other.n_samples_) {} + +void Timer::tic() { t_start_ = std::chrono::high_resolution_clock::now(); } + +Scalar Timer::toc() { + // Calculate timing. + const TimePoint t_end = std::chrono::high_resolution_clock::now(); + timing_last_ = 1e-9 * std::chrono::duration_cast( + t_end - t_start_) + .count(); + n_samples_++; + + // Set timing, filter if already initialized. + if (timing_mean_ <= 0.0) { + timing_mean_ = timing_last_; + } else { + const Scalar timing_mean_prev = timing_mean_; + timing_mean_ = + timing_mean_prev + (timing_last_ - timing_mean_prev) / n_samples_; + timing_S_ = timing_S_ + (timing_last_ - timing_mean_prev) * + (timing_last_ - timing_mean_); + } + timing_min_ = (timing_last_ < timing_min_) ? timing_last_ : timing_min_; + timing_max_ = (timing_last_ > timing_max_) ? timing_last_ : timing_max_; + + t_start_ = t_end; + + return timing_last_; +} + +Scalar Timer::operator()() const { return timing_mean_; } + +Scalar Timer::mean() const { return timing_mean_; } + +Scalar Timer::last() const { return timing_last_; } + +Scalar Timer::min() const { return timing_min_; } + +Scalar Timer::max() const { return timing_max_; } + +Scalar Timer::std() const { return std::sqrt(timing_S_ / n_samples_); } + +int Timer::count() const { return n_samples_; } + +Scalar Timer::startTime() const { + return 1e-9 * std::chrono::duration_cast( + t_start_.time_since_epoch()) + .count(); +} + +void Timer::reset() { + n_samples_ = 0u; + t_start_ = TimePoint(); + timing_mean_ = 0.0; + timing_last_ = 0.0; + timing_S_ = 0.0; + timing_min_ = std::numeric_limits::max(); + timing_max_ = 0.0; +} + +void Timer::print() const { std::cout << *this; } + +std::ostream& operator<<(std::ostream& os, const Timer& timer) { + if (!timer.module_.empty()) os << "[" << timer.module_ << "] "; + + if (timer.n_samples_ < 1) { + os << "Timing " << timer.name_ << " has no call yet." << std::endl; + return os; + } + + const std::streamsize prec = os.precision(); + os.precision(3); + + os << "Timing " << timer.name_ << " in " << timer.n_samples_ << " calls" + << std::endl; + + if (!timer.module_.empty()) os << "[" << timer.module_ << "] "; + os << "mean|std: " << 1000 * timer.timing_mean_ << " | " + << 1000 * timer.timing_S_ << " ms " + << "[min|max: " << 1000 * timer.timing_min_ << " | " + << 1000 * timer.timing_max_ << " ms]" << std::endl; + + os.precision(prec); + return os; +} + +ScopedTimer::ScopedTimer(const std::string name, const std::string module) + : Timer(name, module) { + this->tic(); +} + +ScopedTimer::~ScopedTimer() { + this->toc(); + this->print(); +} + +ScopedTicToc::ScopedTicToc(Timer& timer) : timer_(timer) { timer_.tic(); } + +ScopedTicToc::~ScopedTicToc() { timer_.toc(); } + +} // namespace agi diff --git a/src/agilicious/agilib/tests/base/pipeline_test.cpp b/src/agilicious/agilib/tests/base/pipeline_test.cpp new file mode 100644 index 0000000..e71e20b --- /dev/null +++ b/src/agilicious/agilib/tests/base/pipeline_test.cpp @@ -0,0 +1,86 @@ +#include "agilib/base/pipeline.hpp" + +#include + +#include "agilib/reference/hover_reference.hpp" + +using namespace agi; + +class DumbReference : public ReferenceBase { + Setpoint getSetpoint(const QuadState &state, const Scalar t) { + return Setpoint(); + } + bool valid() const { return true; }; +}; + +class DumbEstimator : public EstimatorBase { + bool getAt(const Scalar t, QuadState *const) { return true; } + bool initialize(const QuadState &) { return true; } + bool addPose(const Pose &) { return true; } + bool addImu(const ImuSample &) { return true; } + bool addMotorSpeeds(const Vector<4> &) { return true; } + bool addState(const QuadState &) { return true; } + bool healthy() const { return true; } +}; + +class DumbSampler : public SamplerBase { + bool getAt(const QuadState &state, const ReferenceVector &references, + SetpointVector *const setpoint, int horizon_len = -1) const { + return true; + } + + bool isTimeBased() const { return true; } +}; + +class DumbController : public ControllerBase { + bool getCommand(const QuadState &state, const SetpointVector &references, + SetpointVector *const setpoints) { + return true; + } +}; + +class DumbBridge : public BridgeBase { + public: + DumbBridge(const std::string &name, const TimeFunction time_function) + : BridgeBase(name, time_function){}; + + private: + bool performActivate() { return true; } + bool performDeactivate() { return true; } + bool sendCommand(const Command &command, const bool active = false) override { + return true; + } +}; + +TEST(Pipeline, Constructor) { + Pipeline pipeline; + + EXPECT_FALSE(pipeline.isReferenceSet()); + EXPECT_FALSE(pipeline.isEstimatorSet()); + EXPECT_FALSE(pipeline.isSamplerSet()); + EXPECT_FALSE(pipeline.isOuterControllerSet()); + EXPECT_FALSE(pipeline.isInnerControllerSet()); + EXPECT_FALSE(pipeline.isBridgeSet()); + EXPECT_FALSE(pipeline.isSet()); + + EXPECT_FALSE(pipeline.run(0.0)); +} + +TEST(Pipeline, Setup) { + Pipeline pipeline; + pipeline.references_ = ReferenceVector{std::make_shared()}; + pipeline.estimator_ = std::make_shared(); + pipeline.sampler_ = std::make_shared(); + pipeline.outer_controller_ = std::make_shared(); + pipeline.bridge_ = std::make_shared("DumbBridge", ChronoTime); + + EXPECT_TRUE(pipeline.isReferenceSet()); + EXPECT_TRUE(pipeline.isEstimatorSet()); + EXPECT_TRUE(pipeline.isSamplerSet()); + EXPECT_TRUE(pipeline.isOuterControllerSet()); + EXPECT_FALSE(pipeline.isInnerControllerSet()); + EXPECT_TRUE(pipeline.isBridgeSet()); + EXPECT_TRUE(pipeline.isSet()); + + EXPECT_TRUE(pipeline.run(0.0)); +} diff --git a/src/agilicious/agilib/tests/controller/controller_mpc_test.cpp b/src/agilicious/agilib/tests/controller/controller_mpc_test.cpp new file mode 100644 index 0000000..526dad5 --- /dev/null +++ b/src/agilicious/agilib/tests/controller/controller_mpc_test.cpp @@ -0,0 +1,169 @@ +#include "agilib/controller/mpc/controller_mpc.hpp" + +#include + +#include "agilib/controller/mpc/mpc_params.hpp" +#include "agilib/math/gravity.hpp" +#include "agilib/simulator/quadrotor_simulator.hpp" +#include "agilib/types/command.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" +#include "agilib/types/setpoint.hpp" + +using namespace agi; + +static constexpr Scalar M = 1.5; +static constexpr Scalar L = 0.25; + +TEST(MPC, ConstrutorTest) { + Quadrotor quad(M, L); + std::shared_ptr params = std::make_shared(); + MpcController mpc(quad, params); +} + +TEST(MPC, StaticTest) { + Quadrotor quad(M, L); + std::shared_ptr params = std::make_shared(); + MpcController mpc(quad, params); + + QuadState hover_state; + hover_state.setZero(); + Command hover_command; + hover_command.t = 0.0; + hover_command.thrusts.setConstant(M * G / 4.0); + + SetpointVector references(20, Setpoint(hover_state, hover_command)); + SetpointVector setpoints; + + for (int i = 0; i < 10; ++i) { + mpc.getCommand(hover_state, references, &setpoints); + Command command = setpoints.front().input; + EXPECT_TRUE(command.thrusts.isApprox(hover_command.thrusts, 1e-3)) + << "Actual: " << command.thrusts.transpose() << std::endl + << "Expected: " << hover_command.thrusts.transpose() << std::endl; + usleep(1e4); + } + mpc.printTiming(); +} + +TEST(MPC, TakeOffTest) { + Quadrotor quad(M, L); + std::shared_ptr params = std::make_shared(); + MpcController mpc(quad, params); + + QuadState initial_state; + initial_state.setZero(); + QuadState start_state = initial_state; + start_state.p.z() = 1.0; + Command hover_command; + hover_command.t = 0.0; + hover_command.thrusts.setConstant(M * G / 4.0); + + SetpointVector references(20, Setpoint(start_state, hover_command)); + SetpointVector setpoints; + + QuadState state = initial_state; + for (int i = 0; i < 20; ++i) { + state.p.z() = i * 0.1; + mpc.getCommand(state, references, &setpoints); + Command command = setpoints.front().input; + if (i < 10) + EXPECT_GT(command.thrusts.sum(), M * G); + else if (i == 10) + EXPECT_NEAR(command.thrusts.sum(), M * G, 1e-3); + else + EXPECT_LT(command.thrusts.sum(), M * G); + usleep(1e4); + } + mpc.printTiming(); +} + +TEST(MPC, TakeOffTestCollectiveThrustRates) { + Quadrotor quad(M, L); + std::shared_ptr params = std::make_shared(); + MpcController mpc(quad, params); + + QuadState initial_state; + initial_state.setZero(); + QuadState start_state = initial_state; + start_state.p.z() = 1.0; + Command hover_command; + hover_command.t = 0.0; + hover_command.omega.setZero(); + hover_command.collective_thrust = G; + + SetpointVector references(20, Setpoint(start_state, hover_command)); + SetpointVector setpoints; + + QuadState state = initial_state; + for (int i = 0; i < 20; ++i) { + state.p.z() = i * 0.1; + mpc.getCommand(state, references, &setpoints); + Command command = setpoints.front().input; + if (i < 10) + EXPECT_GT(command.thrusts.sum(), M * G); + else if (i == 10) + EXPECT_NEAR(command.thrusts.sum(), M * G, 1e-3); + else + EXPECT_LT(command.thrusts.sum(), M * G); + usleep(1e4); + } + mpc.printTiming(); +} + +TEST(MPC, StepReferenceJump) { + static constexpr Scalar dt = 0.02; + static constexpr Scalar T = 8.0; + Quadrotor quad(M, L); + std::shared_ptr params = std::make_shared(); + MpcController mpc(quad, params); + + QuadrotorSimulator sim(quad); + sim.addModel(ModelMotor{quad}); + sim.addModel(ModelThrustTorqueSimple{quad}); + sim.addModel(ModelRigidBody{quad}); + + QuadState initial_state; + initial_state.setZero(); + + sim.reset(initial_state); + + QuadState reference_state; + reference_state.t = 0.0; + reference_state.setZero(); + reference_state.p = Vector<3>(1.0, 1.0, 1.0); + reference_state.q(0.5 * M_PI); + + Command reference_command; + reference_command.t = 0.0; + reference_command.thrusts.setConstant(9.8066 * M / 4.0); + + Setpoint reference; + reference.state = reference_state; + reference.input = reference_command; + SetpointVector references({reference}); + SetpointVector setpoints; + QuadState state; + Command command; + Timer timer("MpcSim"); + for (Scalar t = 0.0; t <= T; t += dt) { + timer.tic(); + EXPECT_TRUE(sim.getState(&state)); + mpc.getCommand(state, references, &setpoints); + Command command = setpoints.front().input; + sim.setCommand(command); + sim.run(dt); + timer.toc(); + usleep(1e6 * std::max(0.0, dt - timer.last())); + } + + std::cout << timer; + + // copy motors to ignore them + state.mot = reference_state.mot; + state.motdes = reference_state.motdes; + + EXPECT_TRUE(state.x.isApprox(reference_state.x, 0.3)) + << "Actual: " << state << std::endl + << "Expected: " << reference_state << std::endl; +} diff --git a/src/agilicious/agilib/tests/estimator/ekf/ekf_pose_test.cpp b/src/agilicious/agilib/tests/estimator/ekf/ekf_pose_test.cpp new file mode 100644 index 0000000..bed4a81 --- /dev/null +++ b/src/agilicious/agilib/tests/estimator/ekf/ekf_pose_test.cpp @@ -0,0 +1,251 @@ +#include + +#include + +#include "agilib/estimator/ekf/ekf.hpp" +#include "agilib/math/gravity.hpp" + +using namespace agi; + +static constexpr Scalar M = 1.0; +static constexpr Scalar L = 0.25; +static constexpr int N = 320; +static constexpr Scalar DT = 0.01; +static constexpr Scalar WX = 0.5; +static constexpr Scalar WZ = 0.7; +static constexpr Scalar VX = 0.5; + +TEST(EkfPose, Constructor) { + std::shared_ptr params = std::make_shared(); + Quadrotor quad(M, L); + Ekf ekf(quad, params); + + QuadState state; + state.t = 0.0; + EXPECT_FALSE(ekf.getRecent(&state)); + EXPECT_FALSE(ekf.getState(&state)); + EXPECT_FALSE(ekf.getAt(state.t, &state)); + + EXPECT_FALSE(ekf.initialize(state)); + EXPECT_FALSE(ekf.healthy()); +} + +TEST(EkfPose, Initializing) { + std::shared_ptr params = std::make_shared(); + Quadrotor quad(M, L); + Ekf ekf(quad, params); + + EXPECT_FALSE(ekf.healthy()); + QuadState state; + EXPECT_FALSE(ekf.initialize(state)); + state.setZero(); + EXPECT_TRUE(ekf.initialize(state)); + EXPECT_TRUE(ekf.healthy()); + EXPECT_TRUE(ekf.getRecent(&state)); + EXPECT_TRUE(state.valid()); + + QuadState expected; + expected.setZero(); + EXPECT_EQ(state, expected); +} + +TEST(EkfPose, AddingPose) { + std::shared_ptr params = std::make_shared(); + Quadrotor quad(M, L); + Ekf ekf(quad, params); + + EXPECT_FALSE(ekf.healthy()); + const Pose init_pose{0.0, Vector<3>::Zero(), Quaternion(1, 0, 0, 0)}; + EXPECT_TRUE(ekf.addPose(init_pose)); + EXPECT_TRUE(ekf.healthy()); + + Pose pose{0.0, Vector<3>::Zero(), Quaternion(1, 0, 0, 0)}; + for (int i = 0; i < N; ++i) { + pose.t += DT; + EXPECT_TRUE(ekf.addPose(pose)); + } + + pose.t = 0.0; + EXPECT_FALSE(ekf.addPose(pose)); +} + +/// Move in positive x for 32 steps of 0.1s at 0.5 m/s. +TEST(EkfPose, UpdateTestPosition) { + std::shared_ptr params = std::make_shared(); + Quadrotor quad(M, L); + Ekf ekf(quad, params); + QuadState state; + state.setZero(); + state.v.x() = VX; + + EXPECT_FALSE(ekf.healthy()); + EXPECT_TRUE(ekf.initialize(state)); + EXPECT_TRUE(ekf.healthy()); + + Pose pose{0.0, Vector<3>::Zero(), Quaternion(1, 0, 0, 0)}; + for (int i = 1; i <= N; ++i) { + for (int j = 1; j <= 4; j++) { + static constexpr Scalar DT4 = DT / 4.0; + state.t += DT4; + state.p += DT4 * state.v; + state.linearize(); + const ImuSample sample{state.t, -GVEC, Vector<3>::Zero()}; + EXPECT_TRUE(ekf.addImu(sample)); + } + + pose.t = state.t; + pose.attitude = state.q(); + pose.position = state.p; + EXPECT_TRUE(ekf.addPose(pose)); + EXPECT_TRUE(ekf.healthy()); + const QuadState latest = ekf.getRecent(); + EXPECT_TRUE((latest.p - pose.position).isZero(1e-3)) + << "At time: " << pose.t << std::endl + << "Actual: " << latest.p.transpose() << std::endl + << "Expected: " << pose.position.transpose() << std::endl + << latest << std::endl; + EXPECT_TRUE((latest.q().coeffs() - pose.attitude.coeffs()).isZero(1e-3)) + << "At time: " << pose.t << std::endl + << "Actual: " << latest.q().coeffs().transpose() << std::endl + << "Expected: " << pose.attitude.coeffs().transpose() << std::endl + << latest << std::endl; + } + + QuadState estimated; + EXPECT_TRUE(ekf.getRecent(&estimated)); + QuadState expected; + expected.setZero(); + expected.t = (Scalar)N * DT; + expected.p.x() = (Scalar)N * DT * VX; + expected.v.x() = VX; + + EXPECT_TRUE(estimated.isApprox(expected, 1e-6)); +} + +// Rotating along positive x over 32 steps of 0.1s with 0.5rad/s. +TEST(EkfPose, UpdateTestRotation) { + std::shared_ptr params = std::make_shared(); + Quadrotor quad(M, L); + Ekf ekf(quad, params); + QuadState state; + state.setZero(); + state.w.x() = WX; + state.w.z() = WZ; + + EXPECT_FALSE(ekf.healthy()); + EXPECT_TRUE(ekf.initialize(state)); + EXPECT_TRUE(ekf.healthy()); + + const Vector<4> q_omega(0, WX, 0, WZ); + Pose pose; + for (int i = 1; i <= N; ++i) { + for (int j = 1; j <= 4; j++) { + static constexpr Scalar DT4 = DT / 4.0; + state.t += DT4; + state.qx += (0.5 * DT4 * Q_left(state.q()) * q_omega).eval(); + state.linearize(); + const ImuSample sample{state.t, -state.R().transpose() * GVEC, + Vector<3>(WX, 0, WZ)}; + EXPECT_TRUE(ekf.addImu(sample)); + } + + pose.t = state.t; + pose.attitude = state.q(); + pose.position = state.p; + EXPECT_TRUE(ekf.addPose(pose)); + EXPECT_TRUE(ekf.healthy()); + const QuadState latest = ekf.getRecent(); + EXPECT_TRUE((latest.p - pose.position).isZero(1e-3)) + << "At time: " << pose.t << std::endl + << "Actual: " << latest.p.transpose() << std::endl + << "Expected: " << pose.position.transpose() << std::endl + << latest << std::endl; + EXPECT_TRUE((latest.q().coeffs() - pose.attitude.coeffs()).isZero(1e-3)) + << "At time: " << pose.t << std::endl + << "Actual: " << latest.q().coeffs().transpose() << std::endl + << "Expected: " << pose.attitude.coeffs().transpose() << std::endl + << latest << std::endl; + } +} + +// Testing noisy combined linear and rotational motion +TEST(EkfPose, NoisyMotion) { + // Characteristics for gaussian noise. + static constexpr Scalar std_pos = 0.003; // 5mm position noise + static constexpr Scalar std_att = 0.002; // ~1 degeree attitude noise + static constexpr Scalar std_acc = 0.2; // 0.5 m/s^2 IMU acc noise + static constexpr Scalar std_omega = 0.05; // 0.1 m/s^2 IMU acc noise + + // Setup normal distribution. + std::random_device rd{}; + std::mt19937 gen{rd()}; + std::normal_distribution<> dist_pos(0.0, std_pos); + std::normal_distribution<> dist_att(0.0, std_att); + std::normal_distribution<> dist_acc(0.0, std_acc); + std::normal_distribution<> dist_omega(0.0, std_omega); + + // Setup filter. + std::shared_ptr params = std::make_shared(); + Quadrotor quad(M, L); + Ekf ekf(quad, params); + QuadState state; + state.setZero(); + state.v.x() = VX; + state.w.x() = WX; + + EXPECT_FALSE(ekf.healthy()); + EXPECT_TRUE(ekf.initialize(state)); + EXPECT_TRUE(ekf.healthy()); + + Pose pose{0.0, Vector<3>::Zero(), Quaternion(1, 0, 0, 0)}; + const Vector<4> q_omega(0, WX, 0, 0); + for (int i = 1; i <= N; ++i) { + for (int j = 1; j <= 4; j++) { + static constexpr Scalar DT4 = DT / 4.0; + state.t += DT4; + state.p += DT4 * state.v; + state.qx += (0.5 * DT4 * Q_left(state.q()) * q_omega).eval(); + state.linearize(); + const Vector<3> noise_acc(dist_acc(gen), dist_acc(gen), dist_acc(gen)); + const Vector<3> noise_omega(dist_omega(gen), dist_omega(gen), + dist_omega(gen)); + const ImuSample sample{state.t, -state.R().transpose() * GVEC + noise_acc, + Vector<3>(WX, 0, 0) + noise_omega}; + EXPECT_TRUE(ekf.addImu(sample)); + } + + pose.t = state.t; + pose.position = state.p; + const Quaternion q = state.q(); + + // Adding noise + const Vector<3> noise_position(dist_pos(gen), dist_pos(gen), dist_pos(gen)); + const Vector<3> noise_attitude(dist_att(gen), dist_att(gen), dist_att(gen)); + pose.position += noise_position; + Quaternion qn; + qn.vec() = noise_attitude; + qn.w() = sqrt(1.0 - qn.vec().norm()); + pose.attitude = q * qn; + + EXPECT_TRUE(ekf.addPose(pose)); + EXPECT_TRUE(ekf.healthy()); + } + + QuadState estimated; + EXPECT_TRUE(ekf.getRecent(&estimated)); + QuadState expected; + expected.setZero(); + expected.t = (Scalar)N * DT; + const Quaternion q(Eigen::AngleAxis(expected.t * WX, Vector<3>::UnitX())); + expected.p.x() = (Scalar)N * DT * VX; + expected.v.x() = VX; + expected.q(q); + expected.w.x() = WX; + EXPECT_TRUE(estimated.p.isApprox(expected.p, 1e-2)) + << "Actual: " << estimated << std::endl + << "Expected: " << expected << std::endl; + EXPECT_TRUE(estimated.qx.isApprox(expected.qx, 1e-2)) + << "Actual: " << estimated << std::endl + << "Expected: " << expected << std::endl; + ekf.printTimings(); +} diff --git a/src/agilicious/agilib/tests/math/eigen_test.cpp b/src/agilicious/agilib/tests/math/eigen_test.cpp new file mode 100644 index 0000000..6d0306b --- /dev/null +++ b/src/agilicious/agilib/tests/math/eigen_test.cpp @@ -0,0 +1,170 @@ +#include + +#include "agilib/math/math.hpp" +#include "agilib/math/types.hpp" + +using namespace agi; + +TEST(EigenChecks, EigenVersionOutput) { + std::printf("Eigen Version: %d.%d.%d\n", EIGEN_WORLD_VERSION, + EIGEN_MAJOR_VERSION, EIGEN_MINOR_VERSION); +} + +TEST(EigenChecks, EigenQuaternionSequence) { + for (int i = 0; i < 1024; i++) { + Quaternion q1, q2; + + q1.coeffs() = Vector<4>::Random(); + q1.normalize(); + q2.coeffs() = Vector<4>::Random(); + q2.normalize(); + + const Matrix<3, 3> R1 = q1.toRotationMatrix(); + const Matrix<3, 3> R2 = q2.toRotationMatrix(); + + // const Quaternion q3 = q2 * q1; + const Quaternion q3 = q2 * q1; + const Matrix<3, 3> Rq3 = q3.toRotationMatrix(); + + const Matrix<3, 3> R3 = R2 * R1; + + EXPECT_TRUE(R3.isApprox(Rq3)) + << "Quternion multiplication sequence does not follow rotation!"; + + const Vector<3> r = Vector<3>::Random(); + const Vector<3> r_R3 = R3 * r; + + const Vector<3> r_Rq3 = q3.toRotationMatrix() * r; + EXPECT_TRUE(r_Rq3.isApprox(r_R3)); + + const Vector<3> r_q3 = q3 * r; + EXPECT_TRUE(r_q3.isApprox(r_R3)); + + const Vector<3> r_q21 = (q2 * q1) * r; + EXPECT_TRUE(r_q21.isApprox(r_R3)); + + const Vector<3> r_q2q1 = q2 * (q1 * r); + EXPECT_TRUE(r_q2q1.isApprox(r_R3)); + + const Vector<3> r_R2R1 = R2 * R1 * r; + EXPECT_TRUE(r_R2R1.isApprox(r_R3)); + } +} + +TEST(EigenChecks, EigenQuaternionRotationDirection) { + const Quaternion qz90(sqrt(0.5), 0, 0, sqrt(0.5)); + const Quaternion qy90(sqrt(0.5), 0, sqrt(0.5), 0); + const Quaternion qz90y90 = qz90 * qy90; + const Matrix<3, 3> Rz90 = + (Matrix<3, 3>() << 0, -1, 0, 1, 0, 0, 0, 0, 1).finished(); + const Matrix<3, 3> Ry90 = + (Matrix<3, 3>() << 0, 0, 1, 0, 1, 0, -1, 0, 0).finished(); + const Matrix<3, 3> Rz90y90 = Rz90 * Ry90; + + const Vector<3> r1(1, 0, 0); + const Vector<3> r1_Rz90(0, -1, 0); + const Vector<3> r1_Ry90(0, 0, 1); + const Vector<3> r1_Rz90y90(0, -1, 0); + + EXPECT_TRUE(qz90.toRotationMatrix().isApprox(Rz90)); + EXPECT_TRUE(qy90.toRotationMatrix().isApprox(Ry90)); + EXPECT_TRUE(qz90y90.toRotationMatrix().isApprox(Rz90y90)); + + EXPECT_TRUE((Rz90 * r1_Rz90).isApprox(r1)); + EXPECT_TRUE((Ry90 * r1_Ry90).isApprox(r1)); + EXPECT_TRUE((qz90.toRotationMatrix() * r1_Rz90).isApprox(r1)); + EXPECT_TRUE((qz90 * r1_Rz90).isApprox(r1)); + EXPECT_TRUE((qy90.toRotationMatrix() * r1_Ry90).isApprox(r1)); + EXPECT_TRUE((qy90 * r1_Ry90).isApprox(r1)); + + EXPECT_TRUE((Rz90y90 * r1_Rz90y90).isApprox(r1)); + EXPECT_TRUE((qz90y90.toRotationMatrix() * r1_Rz90y90).isApprox(r1)); + EXPECT_TRUE((qz90y90 * r1_Rz90y90).isApprox(r1)); + + const Vector<3> r2(0, 1, 0); + const Vector<3> r2_Rz90(1, 0, 0); + const Vector<3> r2_Ry90(0, 1, 0); + const Vector<3> r2_Rz90y90(0, 0, 1); + + EXPECT_TRUE((Rz90 * r2_Rz90).isApprox(r2)); + EXPECT_TRUE((Ry90 * r2_Ry90).isApprox(r2)); + EXPECT_TRUE((qz90.toRotationMatrix() * r2_Rz90).isApprox(r2)); + EXPECT_TRUE((qz90 * r2_Rz90).isApprox(r2)); + EXPECT_TRUE((qy90.toRotationMatrix() * r2_Ry90).isApprox(r2)); + EXPECT_TRUE((qy90 * r2_Ry90).isApprox(r2)); + + EXPECT_TRUE((Rz90y90 * r2_Rz90y90).isApprox(r2)); + EXPECT_TRUE((qz90y90.toRotationMatrix() * r2_Rz90y90).isApprox(r2)); + EXPECT_TRUE((qz90y90 * r2_Rz90y90).isApprox(r2)); +} + +TEST(EigenChecks, QuaternionCrossMatrix) { + const Vector<4> v1 = Vector<4>::Random().normalized(); + const Vector<4> v2 = Vector<4>::Random().normalized(); + + EXPECT_NEAR(v1.norm(), 1.0, 1e-9); + EXPECT_NEAR(v2.norm(), 1.0, 1e-9); + + const Quaternion q1(v1(0), v1(1), v1(2), v1(3)); + const Quaternion q2(v2(0), v2(1), v2(2), v2(3)); + + const Quaternion q1q2 = q1 * q2; + const Quaternion q2q1 = q2 * q1; + + const Vector<4> vq1q2 = (Vector<4>() << q1q2.w(), q1q2.vec()).finished(); + const Vector<4> vq2q1 = (Vector<4>() << q2q1.w(), q2q1.vec()).finished(); + + const Vector<4> Qleftq1_v2 = Q_left(q1) * v2; + const Vector<4> Qrightq2_v1 = Q_right(q2) * v1; + + const Vector<4> Qleftq2_v1 = Q_left(q2) * v1; + const Vector<4> Qrightq1_v2 = Q_right(q1) * v2; + + EXPECT_TRUE(Qleftq1_v2.isApprox(vq1q2)); + EXPECT_TRUE(Qrightq2_v1.isApprox(vq1q2)); + EXPECT_TRUE(Qleftq2_v1.isApprox(vq2q1)); + EXPECT_TRUE(Qrightq1_v2.isApprox(vq2q1)); +} + +TEST(EigenChecks, QuaternionDecomposition) { + for (int i = 0; i < 1024; i++) { + const Quaternion qe = Quaternion(Vector<4>::Random()).normalized(); + + // We don't get this order right now. + const Quaternion qz = Quaternion(qe.w(), 0, 0, qe.z()).normalized(); + + const Quaternion qxy = qe * qz.inverse(); + + EXPECT_NEAR(qe.norm(), 1.0, 1e-6); + EXPECT_NEAR(qz.norm(), 1.0, 1e-6); + EXPECT_NEAR(qxy.norm(), 1.0, 1e-6); + + const Vector<3> v_expected = qe.toRotationMatrix() * Vector<3>::UnitZ(); + const Vector<3> v_z_equivalent = + qxy.toRotationMatrix() * Vector<3>::UnitZ(); + EXPECT_TRUE(v_z_equivalent.isApprox(v_expected, 1e-6)) + << "Expected: " << v_expected.transpose() << std::endl + << "Actual: " << v_z_equivalent.transpose() << std::endl + << "q_xy: " << qxy.coeffs().transpose() << std::endl; + + const Vector<3> v_z_invariant = qz.toRotationMatrix() * Vector<3>::UnitZ(); + EXPECT_TRUE(v_z_invariant.isApprox(Vector<3>::UnitZ(), 1e-6)); + const Quaternion q_xy_vec{ + Quaternion::FromTwoVectors(Vector<3>::UnitZ(), v_expected)}; + std::cout << "From Vectors: " << q_xy_vec.coeffs().transpose() + << std::endl; + } +} + +TEST(EigenChecks, MatrixColumnwiseDotProduct) { + static constexpr size_t N = 64; + static constexpr size_t S = 2; + const Matrix A = Matrix::Random(); + + Vector expected = Vector::Zero(); + for (size_t i = 0; i < N; ++i) expected(i) = A.col(i).transpose() * A.col(i); + + Vector dotproduct = (A.cwiseProduct(A)).colwise().sum(); + + EXPECT_TRUE(dotproduct.isApprox(expected)); +} diff --git a/src/agilicious/agilib/tests/math/integrators_test.cpp b/src/agilicious/agilib/tests/math/integrators_test.cpp new file mode 100644 index 0000000..b094d9f --- /dev/null +++ b/src/agilicious/agilib/tests/math/integrators_test.cpp @@ -0,0 +1,118 @@ +#include + +#include "agilib/math/integrator_base.hpp" +#include "agilib/math/integrator_euler.hpp" +#include "agilib/math/integrator_rk4.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/types/quadrotor.hpp" + +using namespace agi; + +static constexpr Scalar m = 1.0; +static constexpr Scalar l = 0.25; + +TEST(Integrators, ManualEulerAccelerationCheck) { + static constexpr Scalar dt = 1.0; + // Using lower tolerance for check because of accuracy of forward Euler. + static constexpr Scalar tol = 1e-3; + + QuadState initial_state; + initial_state.setZero(); + + const Quadrotor quad(m, l); + + IntegratorEuler euler(quad.getDynamicsFunction()); + + initial_state.a = Vector<3>::Random(); + + QuadState expected_state(initial_state); + expected_state.p = initial_state.p + dt * dt / 2.0 * initial_state.a; + expected_state.v = initial_state.v + dt * initial_state.a; + + QuadState final_state; + + EXPECT_TRUE(euler.integrate(initial_state.x, dt, final_state.x)); + EXPECT_TRUE(final_state.x.isApprox(expected_state.x, tol)) + << "expected state: " << expected_state.x.transpose() << "\n" + << "integrated state: " << final_state.x.transpose() << "\n"; +} + +TEST(Integrators, ManualRungeKuttaAccelerationCheck) { + static constexpr Scalar dt = 1.0; + + QuadState initial_state; + initial_state.setZero(); + + const Quadrotor quad(m, l); + + IntegratorRK4 rungekutta(quad.getDynamicsFunction()); + + initial_state.a = Vector<3>::Random(); + + QuadState expected_state(initial_state); + expected_state.p = initial_state.p + dt * dt / 2.0 * initial_state.a; + expected_state.v = initial_state.v + dt * initial_state.a; + + QuadState final_state; + + EXPECT_TRUE(rungekutta.integrate(initial_state.x, dt, final_state.x)); + EXPECT_TRUE(final_state.x.isApprox(expected_state.x)) + << "expected state: " << expected_state.x.transpose() << "\n" + << "integrated state: " << final_state.x.transpose() << "\n"; +} + +TEST(Integrators, QuadStateInterface) { + static constexpr Scalar dt = 1.0; + + QuadState initial_state; + initial_state.setZero(); + + const Quadrotor quad(m, l); + + QuadState int_euler; + QuadState int_rungekutta; + int_euler.t = dt; + int_rungekutta.t = dt; + + IntegratorEuler euler(quad.getDynamicsFunction()); + IntegratorRK4 rungekutta(quad.getDynamicsFunction()); + + EXPECT_TRUE(euler.integrate(initial_state, &int_euler)); + EXPECT_TRUE(rungekutta.integrate(initial_state, &int_rungekutta)); + + EXPECT_TRUE(int_euler.x.isApprox(initial_state.x)); + EXPECT_TRUE(int_rungekutta.x.isApprox(initial_state.x)); + + int_euler.t = -0.1; + int_rungekutta.t = -0.1; + + EXPECT_FALSE(euler.integrate(initial_state, &int_euler)); + EXPECT_FALSE(rungekutta.integrate(initial_state, &int_rungekutta)); +} + +TEST(Integrators, CheckEulerAgainstRungeKutta) { + static constexpr int N = 16; // Test not too often for speed in debug mode. + static constexpr Scalar dt = 0.1; + // Using lower tolerance for check because of accuracy of forward Euler. + static constexpr Scalar tol = 1e-2; + + const Quadrotor quad(m, l); + const IntegratorEuler euler(quad.getDynamicsFunction(), 1e-3); + const IntegratorRK4 rungekutta(quad.getDynamicsFunction(), 1e-3); + + for (int trials = 0; trials < N; ++trials) { + QuadState initial_state(0.0, Vector::Random()); + initial_state.qx.normalize(); + + QuadState int_euler; + QuadState int_rungekutta; + + EXPECT_TRUE(euler.integrate(initial_state.x, dt, int_euler.x)); + EXPECT_TRUE(rungekutta.integrate(initial_state.x, dt, int_rungekutta.x)); + EXPECT_TRUE(int_euler.x.isApprox(int_rungekutta.x, tol)) + << "Euler intergrated:\n" + << int_euler.x.transpose() << std::endl + << "RungeKutta intergrated:\n" + << int_rungekutta.x.transpose() << std::endl; + } +} diff --git a/src/agilicious/agilib/tests/pilot/pilot_constructor_test.cpp b/src/agilicious/agilib/tests/pilot/pilot_constructor_test.cpp new file mode 100644 index 0000000..9b682ba --- /dev/null +++ b/src/agilicious/agilib/tests/pilot/pilot_constructor_test.cpp @@ -0,0 +1,10 @@ + +#include + +#include "agilib/pilot/pilot.hpp" + +using namespace agi; + + +TEST(Pilot, ParamsConstructor) { PilotParams params; } +TEST(Pilot, Constructor) { Pilot pilot(PilotParams{}, ChronoTime); } diff --git a/src/agilicious/agilib/tests/reference/demo_trajectories_test.cpp b/src/agilicious/agilib/tests/reference/demo_trajectories_test.cpp new file mode 100644 index 0000000..860facf --- /dev/null +++ b/src/agilicious/agilib/tests/reference/demo_trajectories_test.cpp @@ -0,0 +1,240 @@ +#include + +#include "agilib/math/gravity.hpp" +#include "agilib/reference/trajectory_reference/polynomial_trajectory.hpp" +#include "agilib/sampler/time_based/time_sampler.hpp" + +using namespace agi; + +template +ReferenceVector createTrajectory(const int rounds, const Scalar speed) { + ReferenceVector references; + + QuadState start_state; + start_state.t = 0.0; + start_state.setZero(); + start_state.p = Vector<3>(-4.0, 5.5, 1.2); + + const Matrix<> waypoints = + (Matrix<>(3, 8) << Vector<3>(-1.1, -1.6, 3.6), Vector<3>(9.2, 6.6, 1.0), + Vector<3>(9.2, -4.0, 1.2), Vector<3>(-2.5, -6.0, 3.5), + Vector<3>(-6.0, -6.0, 2.2), Vector<3>(-2.5, -6.0, 0.8), + Vector<3>(4.75, -0.9, 1.2), Vector<3>(-2.8, 6.8, 1.2)) + .finished(); + const Matrix<> directions = + (Matrix<>(3, 8) << Vector<3>(2, -1, 0), Vector<3>(1, -1, 0), + Vector<3>(-1, -1, 0), Vector<3>(-1, 0, 0), Vector<3>(0, 0, -1), + Vector<3>(1, 0, 0), Vector<3>(0, 1, 0), Vector<3>(-1, -1, 0)) + .finished(); + + const Vector<> speed_scale = + (Vector<>(8) << 1, 1.3, 1.5, 1.2, 0.8, 1.4, 1.5, 1.0).finished(); + + QuadState end_state; + end_state.setZero(); + end_state.p = Vector<3>(-3.5, 1.0, 1.2); + + std::vector states; + states.push_back(start_state); + + for (int i = 0; i < waypoints.cols(); ++i) { + const Vector<3> pos = waypoints.col(i); + const Vector<3> dir = directions.col(i); + QuadState state; + state.setZero(); + state.p = pos; + state.v = speed_scale(i) * speed * dir; + const Scalar duration = (pos - states.back().p).norm() / state.v.norm(); + state.t = states.back().t + duration; + states.push_back(state); + } + + { + const Scalar duration = (end_state.p - states.back().p).norm() / speed; + end_state.t = states.back().t + duration; + } + + states.push_back(end_state); + + for (int i = 0; i < (int)(states.size() - 1); ++i) + references.push_back( + std::make_shared(states.at(i), states.at(i + 1))); + + return references; +} + +enum Continuity : int { POSITION = 0, VELOCITY, ACCELERATION, JERK, SNAP }; + +void checkTrajectory(const ReferenceVector& references, + const Continuity continuity = SNAP) { + const Scalar dt = 0.0001; + const Scalar duration = + references.back()->getEndTime() - references.front()->getStartTime(); + + const int n = duration / dt; + TimeSampler sampler(n, dt); + SetpointVector setpoints; + + const QuadState query = references.front()->getStartSetpoint().state; + EXPECT_TRUE(sampler.getAt(query, references, &setpoints)); + + const Scalar dt_inv = 1.0 / dt; + static constexpr Scalar tol = 1e-1; + for (int i = 0; i < n - 1; ++i) { + QuadState state0 = setpoints.at(i).state; + QuadState state1 = setpoints.at(i + 1).state; + + if (continuity >= VELOCITY) { + const Vector<3> vel = dt_inv * (state1.p - state0.p); + const Vector<3> vel_exp = 0.5 * (state0.v + state1.v); + EXPECT_LT((vel - vel_exp).norm(), 1e0 * tol) + << "at " << state0.t << std::endl + << "Analytical: " << vel_exp.transpose() << std::endl + << "Numerical: " << vel.transpose() << std::endl; + } + + if (continuity >= ACCELERATION) { + const Vector<3> acc = dt_inv * (state1.v - state0.v); + const Vector<3> acc_exp = 0.5 * (state0.a + state1.a); + EXPECT_LT((acc - acc_exp).norm(), 1e1 * tol) + << "at " << state0.t << std::endl + << "Analytical: " << acc_exp.transpose() << std::endl + << "Numerical: " << acc.transpose() << std::endl; + } + + if (continuity >= JERK) { + const Vector<3> jerk = dt_inv * (state1.a - state0.a); + const Vector<3> jerk_exp = 0.5 * (state0.j + state1.j); + EXPECT_LT((jerk - jerk_exp).norm(), 1e2 * tol) + << "at " << state0.t << std::endl + << "Analytical: " << jerk_exp.transpose() << std::endl + << "Numerical: " << jerk.transpose() << std::endl; + } + + if (continuity >= SNAP) { + const Vector<3> snap = dt_inv * (state1.j - state0.j); + const Vector<3> snap_exp = 0.5 * (state0.s + state1.s); + EXPECT_LT((snap - snap_exp).norm(), 1e3 * tol) + << "at " << state0.t << std::endl + << "Analytical: " << snap_exp.transpose() << std::endl + << "Numerical: " << snap.transpose() << std::endl; + } + } +} + +class DemoPolynomialTrajectoriesParams + : public testing::TestWithParam> {}; + +static constexpr int rounds = 4; + +TEST_P(DemoPolynomialTrajectoriesParams, MinJerkTrajectory) { + const Scalar speed = std::get<0>(GetParam()); + + ReferenceVector trajs = createTrajectory(rounds, speed); + checkTrajectory(trajs, ACCELERATION); +} + +TEST_P(DemoPolynomialTrajectoriesParams, MinSnapTrajectory) { + const Scalar speed = std::get<0>(GetParam()); + + ReferenceVector trajs = createTrajectory(rounds, speed); + checkTrajectory(trajs, JERK); +} + +TEST_P(DemoPolynomialTrajectoriesParams, ClosedFormMinJerkTrajectory) { + const Scalar speed = std::get<0>(GetParam()); + + ReferenceVector trajs = + createTrajectory(rounds, speed); + checkTrajectory(trajs, ACCELERATION); +} + +INSTANTIATE_TEST_SUITE_P(DemoPolynomialTrajectories, + DemoPolynomialTrajectoriesParams, + ::testing::Values(6, 8, 10, 12)); + + +TEST(DemoPolynomialTrajectories, Rescaling) { + QuadState start_state; + start_state.t = 0.0; + start_state.p = Vector<3>(-4.0, 5.5, 1.2); + start_state.v.setZero(); + start_state.a.setZero(); + start_state.q(Quaternion(1, 0, 0, 0)); + + const Matrix<> waypoints = + (Matrix<>(3, 8) << Vector<3>(-1.1, -1.6, 3.6), Vector<3>(9.2, 6.6, 1.0), + Vector<3>(9.2, -4.0, 1.2), Vector<3>(-2.5, -6.0, 3.5), + Vector<3>(-6.0, -6.0, 2.2), Vector<3>(-2.5, -6.0, 0.8), + Vector<3>(4.75, -0.9, 1.2), Vector<3>(-2.8, 6.8, 1.2)) + .finished(); + + QuadState end_state; + end_state.t = 1.0 + waypoints.cols(); + end_state.p = Vector<3>(-3.5, 1.0, 1.2); + end_state.v.setZero(); + end_state.a.setZero(); + end_state.q(Quaternion(1, 0, 0, 0)); + + std::vector states; + states.push_back(start_state); + for (int i = 0; i < waypoints.cols(); ++i) { + QuadState state; + state.t = 1.0 + i; + state.p = waypoints.col(i); + states.push_back(state); + } + + states.push_back(end_state); + + Quadrotor quad{1.0, 0.15}; + quad.thrust_min_ = 0.0; + quad.thrust_max_ = 3.0 * G / 4.0 * quad.m_; + std::printf("Quadrotor max thrust: %1.3f m/s^2\n", + quad.collective_thrust_max()); + + PolynomialTrajectory traj(states, Vector<4>(0, 0, 0, 1), 23); + EXPECT_TRUE(traj.valid()); + + const Scalar t_acc = traj.findTimeMaxAcc(); + const Scalar t_omega = traj.findTimeMaxOmega(); + + const Vector<> max_acc_v = traj.evalTranslation(t_acc, 2); + const Scalar max_acc = (max_acc_v - GVEC).norm(); + QuadState state_max_omega = traj.getState(t_omega); + + std::printf("Time range [%1.3f, %1.3f]\n", traj.getStartTime(), + traj.getEndTime()); + std::printf("Time max acc at %1.3f with %1.3f m/s^2\n", t_acc, max_acc); + std::printf("Time max omega at %1.3f with %1.3f rad/s\n", t_omega, + state_max_omega.w.array().abs().maxCoeff()); + + static constexpr Scalar dt = 0.1; + const int N = (states.back().t - states.front().t) / dt; + Vector<> accs = Vector<>::Zero(N); + Vector<> omegas = Vector<>::Zero(N); + for (int i = 0; i < N; ++i) { + const Scalar t = states.front().t + i * dt; + accs(i) = (traj.evalTranslation(t, 2) - GVEC).norm(); + } + + const Scalar acc_max_sampled = accs.maxCoeff(); + std::printf("Sampled max acc: %1.3f\n", acc_max_sampled); + + traj.scaleToLimits(quad, 100, 1e-6); + + const Scalar t_acc_scaled = traj.findTimeMaxAcc(); + const Scalar t_omega_scaled = traj.findTimeMaxOmega(); + + const Vector<> max_acc_v_scaled = traj.evalTranslation(t_acc_scaled, 2); + const Scalar max_acc_scaled = (max_acc_v_scaled - GVEC).norm(); + const QuadState state_max_omega_scaled = traj.getState(t_omega_scaled); + + std::printf("Scaled trajectory time: [%1.3f, %1.3f] over %1.3fs\n", + traj.getStartTime(), traj.getEndTime(), + traj.getEndTime() - traj.getStartTime()); + std::printf("Time max acc at %1.3f with %1.3f m/s^2\n", t_acc_scaled, + max_acc_scaled); + std::printf("Time max omega at %1.3f with %1.3f rad/s\n", t_omega_scaled, + state_max_omega_scaled.w.array().abs().maxCoeff()); +} diff --git a/src/agilicious/agilib/tests/reference/polynomial_test.cpp b/src/agilicious/agilib/tests/reference/polynomial_test.cpp new file mode 100644 index 0000000..a49c5b4 --- /dev/null +++ b/src/agilicious/agilib/tests/reference/polynomial_test.cpp @@ -0,0 +1,228 @@ +#include + +#include "agilib/reference/trajectory_reference/polynomial_trajectory.hpp" + +using namespace agi; + +class PolynomialTrajectoryTester : public PolynomialTrajectory> { + public: + using PolynomialTrajectory::PolynomialTrajectory; + const Polynomial<>& getXprob() { return x_; } + const Polynomial<>& getYprob() { return y_; } + const Polynomial<>& getZprob() { return z_; } + const Polynomial<>& getYawprob() { return yaw_; } +}; + +class ClosedFormTrajectoryTester : public ClosedFormMinJerkTrajectory { + public: + using ClosedFormMinJerkTrajectory::ClosedFormMinJerkTrajectory; + const ClosedFormMinJerkAxis& getXprob() { return x_; } + const ClosedFormMinJerkAxis& getYprob() { return y_; } + const ClosedFormMinJerkAxis& getZprob() { return z_; } + const ClosedFormMinJerkAxis& getYawprob() { return yaw_; } +}; + +static constexpr int order = 11; + +TEST(Polynomial, CreatePotent) { + Polynomial<> poly(order, Vector<>::Ones(order)); + const Array<> potent = poly.exponents(); + const Array<> alpha = poly.alpha(); + + for (int i = 0; i <= order; ++i) + for (int j = 0; j <= order; ++j) { + // Check potent. + EXPECT_EQ(potent(i, j), std::max((Scalar)(j - i), 0.0)); + + // Check alpha. + EXPECT_EQ(alpha(i, j), + [&]() { + Scalar x = 1.0; + for (int k = j - i + 1; k <= j; k++) x *= (Scalar)k; + return x; + }()) + << "where i=" << i << " and j=" << j; + } +} + +TEST(Polynomial, SingleAxisTest) { + static constexpr Scalar t0 = 1.0; + static constexpr Scalar t1 = 4.0; + static constexpr Scalar dt = 1e-4; + static constexpr Scalar p0 = 1.0; + static constexpr Scalar p1 = p0 + 10.0; + static constexpr Scalar v = 1.0; + static constexpr Scalar tol = 1e-5; + + Polynomial<> poly(order, Vector<4>(0, 0, 0, 1)); + poly.scale(t0, t1 - t0); + + const Vector<> c0 = Vector<4>(p0, v, 0, 0); + const Vector<> c1 = Vector<4>(p1, v, 0, 0); + poly.addConstraint(t0, c0); + poly.addConstraint(t1, c1); + EXPECT_TRUE(poly.solve()); + + EXPECT_NEAR(poly.coeffs()(0), p0, tol); + EXPECT_NEAR(poly.alpha().row(0) * poly.coeffs(), p1, tol); + EXPECT_NEAR(poly(t0), p0, tol); + EXPECT_NEAR(poly(t1), p1, tol); + + Vector<> x = Vector<>::Zero(4); + poly.eval(t0, x); + + EXPECT_NEAR(x(0), p0, tol); + EXPECT_NEAR(x(1), v, tol); + + EXPECT_TRUE(poly.solved()); + for (Scalar t = t0 + dt; t < t1; t += dt) { + x.segment<3>(0) += dt * x.segment<3>(1); + Vector<> x_comp = Vector<>::Zero(4); + poly.eval(t, x_comp); + EXPECT_NEAR(x(0), x_comp(0), tol) << "at " << t; + EXPECT_NEAR(x(1), x_comp(1), tol) << "at " << t; + EXPECT_NEAR(x(2), x_comp(2), tol) << "at " << t; + x = x_comp; + } +} + +TEST(Polynomial, MinSnapStateToState) { + QuadState start_state; + start_state.setZero(); + start_state.t = 1.0; + QuadState end_state; + end_state.setZero(); + end_state.p.x() = 1.0; + end_state.t = 3.86786278923098; + QuadState mid_state; + mid_state.t = start_state.t + 0.5 * (end_state.t - start_state.t); + mid_state.p = 0.5 * (start_state.p + end_state.p); + + PolynomialTrajectoryTester traj(start_state, end_state); + + Setpoint start_point = traj.getStartSetpoint(); + Setpoint end_point = traj.getEndSetpoint(); + Setpoint mid_point = traj.getSetpoint(mid_state); + + EXPECT_TRUE(start_point.state.isApprox(start_state, 1e-6)); + EXPECT_TRUE(end_point.state.isApprox(end_state, 1e-6)); + EXPECT_TRUE(mid_point.state.p.isApprox(mid_state.p, 1e-3)) + << "Expected: " << mid_state.p.transpose() << std::endl + << "Actual: " << mid_point.state.p.transpose() << std::endl; +} + +TEST(ClosedFormMinJerkAxis, MinJerkPosVelAccFixed) { + QuadState start_state; + start_state.setZero(); + start_state.t = 1.0; + QuadState end_state; + end_state.setZero(); + end_state.p = Vector<3>(1.0, 1.0, 1.0); + end_state.t = 355.0 / 113.0; + QuadState mid_state; + mid_state.t = start_state.t + 0.5 * (end_state.t - start_state.t); + mid_state.p = 0.5 * (start_state.p + end_state.p); + + ClosedFormTrajectoryTester traj(start_state, end_state); + + Setpoint start_point = traj.getSetpoint(start_state); + Setpoint end_point = traj.getSetpoint(end_state); + Setpoint mid_point = traj.getSetpoint(mid_state); + + EXPECT_TRUE((start_point.state.p - start_state.p).isZero(1e-3)) + << "Expected: " << start_state.p.transpose() << std::endl + << "Actual: " << start_point.state.p.transpose() << std::endl; + EXPECT_TRUE((start_point.state.v - start_state.v).isZero(1e-3)) + << "Expected: " << start_state.v.transpose() << std::endl + << "Actual: " << start_point.state.v.transpose() << std::endl; + EXPECT_TRUE((start_point.state.a - start_state.a).isZero(1e-3)) + << "Expected: " << start_state.a.transpose() << std::endl + << "Actual: " << start_point.state.a.transpose() << std::endl; + EXPECT_TRUE((start_point.state.a - start_state.a).isZero(1e-3)); + + EXPECT_TRUE((end_point.state.p - end_state.p).isZero(1e-3)) + << "Expected: " << end_state.p.transpose() << std::endl + << "Actual: " << end_point.state.p.transpose() << std::endl; + EXPECT_TRUE((end_point.state.v - end_state.v).isZero(1e-3)) + << "Expected: " << end_state.v.transpose() << std::endl + << "Actual: " << end_point.state.v.transpose() << std::endl; + EXPECT_TRUE((end_point.state.a - end_state.a).isZero(1e-3)) + << "Expected: " << end_state.a.transpose() << std::endl + << "Actual: " << end_point.state.a.transpose() << std::endl; + + EXPECT_TRUE((mid_point.state.p - mid_state.p).isZero(1e-3)) + << "Expected: " << mid_state.p.transpose() << std::endl + << "Actual: " << mid_point.state.p.transpose() << std::endl; +} + + +// Left for future implementations + +// TEST(ClosedFormMinJerkAxis, MinJerkPosVelFixed) { +// QuadState start_state; +// start_state.setZero(); +// start_state.t = 1.0; +// QuadState end_state; +// end_state.x.setConstant(NAN); +// end_state.p = Vector<3>(1.0, 1.0, 1.0); +// end_state.v = Vector<3>(2.0, 2.0, 1.0); +// end_state.t = 355.0 / 113.0; + +// ClosedFormTrajectoryTester traj(start_state, end_state); + +// Setpoint start_point; +// traj.getSetpoint(start_state.t, NAN, &start_point); +// Setpoint end_point; +// traj.getSetpoint(end_state.t, NAN, &end_point); + +// EXPECT_TRUE((start_point.state.p - start_state.p).isZero(1e-3)); +// EXPECT_TRUE((start_point.state.v - start_state.v).isZero(1e-3)); + +// EXPECT_TRUE((end_point.state.p - end_state.p).isZero(1e-3)); +// EXPECT_TRUE((end_point.state.v - end_state.v).isZero(1e-3)); +// } + +// TEST(ClosedFormMinJerkAxis, MinJerkPosFixed) { +// QuadState start_state; +// start_state.setZero(); +// start_state.t = 1.0; +// QuadState end_state; +// end_state.x.setConstant(NAN); +// end_state.p = Vector<3>(1.0, 1.0, 1.0); +// end_state.t = 355.0 / 113.0; + +// ClosedFormTrajectoryTester traj(start_state, end_state); + +// Setpoint start_point; +// traj.getSetpoint(start_state.t, NAN, &start_point); +// Setpoint end_point; +// traj.getSetpoint(end_state.t, NAN, &end_point); + +// EXPECT_TRUE((start_point.state.p - start_state.p).isZero(1e-3)); + +// EXPECT_TRUE((end_point.state.p - end_state.p).isZero(1e-3)); +// } + +// TEST(ClosedFormMinJerkAxis, MinJerkPosAccFixed) { +// QuadState start_state; +// start_state.setZero(); +// start_state.t = 1.0; +// QuadState end_state; +// end_state.x.setConstant(NAN); +// end_state.p = Vector<3>(1.0, 1.0, 1.0); +// end_state.a = Vector<3>(2.0, 1.0, 0.0); +// end_state.t = 355.0 / 113.0; + +// ClosedFormTrajectoryTester traj(start_state, end_state); + +// Setpoint start_point; +// traj.getSetpoint(start_state.t, NAN, &start_point); +// Setpoint end_point; +// traj.getSetpoint(end_state.t, NAN, &end_point); + +// EXPECT_TRUE((start_point.state.p - start_state.p).isZero(1e-3)); +// EXPECT_TRUE((start_point.state.a - start_state.a).isZero(1e-3)); + +// EXPECT_TRUE((end_point.state.p - end_state.p).isZero(1e-3)); +// EXPECT_TRUE((end_point.state.a - end_state.a).isZero(1e-3)); +// } diff --git a/src/agilicious/agilib/tests/reference/polynomial_trajectory_test.cpp b/src/agilicious/agilib/tests/reference/polynomial_trajectory_test.cpp new file mode 100644 index 0000000..9c336d1 --- /dev/null +++ b/src/agilicious/agilib/tests/reference/polynomial_trajectory_test.cpp @@ -0,0 +1,87 @@ + +#include "agilib/reference/trajectory_reference/polynomial_trajectory.hpp" + +#include + +using namespace agi; + + +TEST(PolynomialTrajectory, BodyrateTestHeading0) { + static constexpr Scalar offset = 5.0; + static constexpr Scalar T = 1.5; + static constexpr Scalar t0 = 1.5e6; + static constexpr Scalar t1 = t0 + T; + static constexpr Scalar tm = t0 + 0.5 * T; + static constexpr Scalar dt = 0.1; + static constexpr Scalar heading = 0.0; + + const QuadState start(t0, Vector<3>::Zero(), heading); + const QuadState state_positive_x(t1, Vector<3>(offset, 0, 0), heading); + const QuadState state_positive_y(t1, Vector<3>(0, offset, 0), heading); + const QuadState state_negative_x(t1, Vector<3>(-offset, 0, 0), heading); + const QuadState state_negative_y(t1, Vector<3>(0, -offset, 0), heading); + + PolynomialTrajectory<> traj_positive_x(start, state_positive_x); + PolynomialTrajectory<> traj_positive_y(start, state_positive_y); + PolynomialTrajectory<> traj_negative_x(start, state_negative_x); + PolynomialTrajectory<> traj_negative_y(start, state_negative_y); + + EXPECT_TRUE(traj_positive_x.solved()); + EXPECT_TRUE(traj_positive_y.solved()); + EXPECT_TRUE(traj_negative_x.solved()); + EXPECT_TRUE(traj_negative_y.solved()); + + EXPECT_GT(traj_positive_x.getState(t0 + dt).w.y(), 0.0); + EXPECT_NEAR(traj_positive_x.getState(t0 + dt).w.x(), 0.0, 1e-3); + EXPECT_LT(traj_positive_y.getState(t0 + dt).w.x(), 0.0); + EXPECT_NEAR(traj_positive_y.getState(t0 + dt).w.y(), 0.0, 1e-3); + EXPECT_LT(traj_negative_x.getState(t0 + dt).w.y(), 0.0); + EXPECT_NEAR(traj_negative_x.getState(t0 + dt).w.x(), 0.0, 1e-3); + EXPECT_GT(traj_negative_y.getState(t0 + dt).w.x(), 0.0); + EXPECT_NEAR(traj_negative_y.getState(t0 + dt).w.y(), 0.0, 1e-3); + + EXPECT_LT(traj_positive_x.getState(tm).w.y(), 0.0); + EXPECT_GT(traj_positive_y.getState(tm).w.x(), 0.0); + EXPECT_GT(traj_negative_x.getState(tm).w.y(), 0.0); + EXPECT_LT(traj_negative_y.getState(tm).w.x(), 0.0); +} + +TEST(PolynomialTrajectory, BodyrateTestHeading90) { + static constexpr Scalar offset = 5.0; + static constexpr Scalar T = 1.5; + static constexpr Scalar t0 = 1.5e6; + static constexpr Scalar t1 = t0 + T; + static constexpr Scalar tm = t0 + 0.5 * T; + static constexpr Scalar dt = 0.1; + static constexpr Scalar heading = M_PI / 2.0; + + const QuadState start(t0, Vector<3>::Zero(), heading); + const QuadState state_positive_x(t1, Vector<3>(offset, 0, 0), heading); + const QuadState state_positive_y(t1, Vector<3>(0, offset, 0), heading); + const QuadState state_negative_x(t1, Vector<3>(-offset, 0, 0), heading); + const QuadState state_negative_y(t1, Vector<3>(0, -offset, 0), heading); + + PolynomialTrajectory<> traj_positive_x(start, state_positive_x); + PolynomialTrajectory<> traj_positive_y(start, state_positive_y); + PolynomialTrajectory<> traj_negative_x(start, state_negative_x); + PolynomialTrajectory<> traj_negative_y(start, state_negative_y); + + EXPECT_TRUE(traj_positive_x.solved()); + EXPECT_TRUE(traj_positive_y.solved()); + EXPECT_TRUE(traj_negative_x.solved()); + EXPECT_TRUE(traj_negative_y.solved()); + + EXPECT_GT(traj_positive_x.getState(t0 + dt).w.x(), 0.0); + EXPECT_NEAR(traj_positive_x.getState(t0 + dt).w.y(), 0.0, 1e-3); + EXPECT_GT(traj_positive_y.getState(t0 + dt).w.y(), 0.0); + EXPECT_NEAR(traj_positive_y.getState(t0 + dt).w.x(), 0.0, 1e-3); + EXPECT_LT(traj_negative_x.getState(t0 + dt).w.x(), 0.0); + EXPECT_NEAR(traj_negative_x.getState(t0 + dt).w.y(), 0.0, 1e-3); + EXPECT_LT(traj_negative_y.getState(t0 + dt).w.y(), 0.0); + EXPECT_NEAR(traj_negative_y.getState(t0 + dt).w.x(), 0.0, 1e-3); + + EXPECT_LT(traj_positive_x.getState(tm).w.x(), 0.0); + EXPECT_LT(traj_positive_y.getState(tm).w.y(), 0.0); + EXPECT_GT(traj_negative_x.getState(tm).w.x(), 0.0); + EXPECT_GT(traj_negative_y.getState(tm).w.y(), 0.0); +} diff --git a/src/agilicious/agilib/tests/sampler/time_based/time_sampler_test.cpp b/src/agilicious/agilib/tests/sampler/time_based/time_sampler_test.cpp new file mode 100644 index 0000000..b0afdd9 --- /dev/null +++ b/src/agilicious/agilib/tests/sampler/time_based/time_sampler_test.cpp @@ -0,0 +1,103 @@ +#include "agilib/sampler/time_based/time_sampler.hpp" + +#include + +#include "agilib/reference/hover_reference.hpp" + +using namespace agi; + +TEST(TimeBasedSampler, Constructor) { + int horizon_len = 10; + Scalar horizon_dt = 0.1; + TimeSampler sampler(horizon_len, horizon_dt); + + EXPECT_EQ(sampler.getHorizonLength(), horizon_len); + EXPECT_EQ(sampler.getHorizonDt(), horizon_dt); +} + +TEST(TimeBasedSampler, SampleSingleTrajectory) { + // create a constant trajectory + QuadState quad_state; + quad_state.setZero(); + quad_state.t = 0.0; + quad_state.p = Vector<3>(0.0, 0.0, 3.0); + static constexpr Scalar duration = 2.0; + HoverReference constant_trajectory = HoverReference(quad_state, duration); + + // generate a reference from the constant trajectory + ReferenceVector references; + references.push_back(std::make_shared(constant_trajectory)); + static constexpr int horizon_len = 10; + static constexpr Scalar horizon_dt = 0.1; + TimeSampler sampler(horizon_len, horizon_dt); + + QuadState query_state; + query_state.setZero(); + std::vector setpoints; + sampler.getAt(query_state, references, &setpoints); + + EXPECT_EQ(sampler.getHorizonLength(), setpoints.size()); + static constexpr int custom_horizon_len = 42; + sampler.getAt(query_state, references, &setpoints, custom_horizon_len); + EXPECT_EQ(custom_horizon_len, setpoints.size()); + + EXPECT_TRUE(quad_state.x.isApprox(setpoints.front().state.x)); +} + +TEST(TimeBasedSampler, SampleMultipleTrajectories) { + // create a constant trajectory + static constexpr Scalar traj_z_1 = 3.0; + static constexpr Scalar traj_z_2 = 5.0; + QuadState quad_state; + quad_state.setZero(); + quad_state.t = 0.0; + quad_state.p = Vector<3>(0.0, 0.0, traj_z_1); + static constexpr Scalar duration = 2.0; + HoverReference constant_trajectory_1 = HoverReference(quad_state, duration); + + QuadState quad_state_2; + quad_state_2.setZero(); + quad_state_2.t = constant_trajectory_1.getEndTime(); + quad_state_2.p = Vector<3>(0.0, 0.0, traj_z_2); + HoverReference constant_trajectory_2 = HoverReference(quad_state_2, duration); + + // generate a reference from the constant trajectory + ReferenceVector references; + references.push_back(std::make_shared(constant_trajectory_1)); + references.push_back(std::make_shared(constant_trajectory_2)); + static constexpr int horizon_len = 10; + static constexpr Scalar horizon_dt = 0.1; + TimeSampler sampler(horizon_len, horizon_dt); + + QuadState query_state; + query_state.setZero(); + std::vector setpoints; + + // sample first part of trajectory + sampler.getAt(query_state, references, &setpoints); + EXPECT_EQ(sampler.getHorizonLength(), setpoints.size()); + EXPECT_TRUE(quad_state.x.isApprox(setpoints.front().state.x)); + + // sample over trajectory intersection + query_state.t = 1.5; + sampler.getAt(query_state, references, &setpoints); + EXPECT_EQ(sampler.getHorizonLength(), setpoints.size()); + EXPECT_TRUE(quad_state.x.isApprox(setpoints.front().state.x)); + EXPECT_TRUE(quad_state_2.x.isApprox(setpoints.back().state.x)); + + // sample over end of trajectory + static constexpr int custom_horizon_len = 42; + query_state.t = 2.5; + sampler.getAt(query_state, references, &setpoints, custom_horizon_len); + EXPECT_EQ(custom_horizon_len, setpoints.size()); + EXPECT_TRUE(quad_state_2.x.isApprox(setpoints.front().state.x)); + EXPECT_TRUE(quad_state_2.x.isApprox(setpoints.back().state.x)); + + // sample over entire reference + Scalar t_curr = 0.0; + while (t_curr < 3.0) { + query_state.t = t_curr; + EXPECT_TRUE(sampler.getAt(query_state, references, &setpoints)); + t_curr += 0.02; + } +} diff --git a/src/agilicious/agilib/tests/simulator/quadrotor_simulator_test.cpp b/src/agilicious/agilib/tests/simulator/quadrotor_simulator_test.cpp new file mode 100644 index 0000000..3770ac3 --- /dev/null +++ b/src/agilicious/agilib/tests/simulator/quadrotor_simulator_test.cpp @@ -0,0 +1,311 @@ +#include "agilib/simulator/quadrotor_simulator.hpp" + +#include + +#include "agilib/math/gravity.hpp" +#include "agilib/simulator/model_propeller_bem.hpp" +#include "agilib/types/quad_state.hpp" + +using namespace agi; + +static constexpr Scalar CTRL_UPDATE_FREQUENCY = 50.0; +static constexpr int SIM_STEPS_N = 20; + +TEST(QuadrotorSimulator, Constructor) { + QuadrotorSimulator quad_sim; + + QuadState quad_state; + quad_sim.getState(&quad_state); + + QuadState expected_state; + expected_state.setZero(); + expected_state.x(QS::ATTW) = 1.0; + + EXPECT_EQ(expected_state.x(QS::ATTW), quad_state.x(QS::ATTW)); + EXPECT_TRUE(quad_state.x.isApprox(expected_state.x)); +} + +TEST(QuadrotorSimulator, ResetSimulator) { + QuadrotorSimulator quad_sim; + QuadState initial_state; + QuadState quad_state; + + // default reset + initial_state.setZero(); + + EXPECT_TRUE(quad_sim.reset()); + EXPECT_TRUE(quad_sim.getState(&quad_state)); + + EXPECT_TRUE(quad_state.x.isApprox(initial_state.x)); + EXPECT_EQ(quad_state.t, 0.0); + + // randomly reset the quadrotor state + initial_state.setZero(); + initial_state.x = Vector::Random(); + + EXPECT_TRUE(quad_sim.reset(initial_state)); + EXPECT_TRUE(quad_sim.getState(&quad_state)); + + EXPECT_TRUE(quad_state.x.isApprox(initial_state.x)); + EXPECT_EQ(quad_state.t, 0.0); + + // check failure case + QuadState initial_state_nan; + EXPECT_FALSE(quad_sim.reset(initial_state_nan)); + EXPECT_FALSE(quad_sim.setState(initial_state_nan)); +} + +TEST(QuadrotorSimulator, BEM) { + QuadrotorSimulator quad_sim; + Quadrotor quad = quad_sim.getQuadrotor(); + quad.motor_tau_inv_ = NAN; + + quad_sim.clearModelPipeline(); + quad_sim.addModel(ModelInit{quad}); + quad_sim.addModel(ModelPropellerBEM{quad}); + quad_sim.addModel(ModelRigidBody{quad}); + EXPECT_TRUE(quad_sim.updateQuad(quad)); + + const Scalar ctl_dt = (1.0 / CTRL_UPDATE_FREQUENCY); + + QuadState quad_state; + QuadState final_state; + + // hovering test + quad_state.setZero(); + quad_state.p << 0.0, 0.0, 1.0; + quad_sim.reset(quad_state); + + Command cmd; + cmd.t = 0.0; + // 0.9575 due to frame obscurring parts of the area below + cmd.thrusts = Vector<4>::Constant(G * quad.m_) / 4.0 / 0.9575; + + + for (int i = 0; i < SIM_STEPS_N; i++) { + // run quadrotor simulator + EXPECT_TRUE(quad_sim.setCommand(cmd)); + EXPECT_TRUE(quad_sim.run(ctl_dt)); + quad_state.t += ctl_dt; + } + quad_sim.getState(&final_state); + + // copy motors to ignore them + final_state.mot = quad_state.mot; + final_state.motdes = quad_state.motdes; + + EXPECT_NEAR(final_state.t, quad_state.t, 1e-9); + EXPECT_TRUE((quad_state.p - final_state.p).isMuchSmallerThan(1, 2e-2)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + EXPECT_TRUE((quad_state.v - final_state.v).isMuchSmallerThan(1, 1e-1)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + EXPECT_TRUE((quad_state.a - final_state.a).isMuchSmallerThan(1, 2e-1)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + EXPECT_TRUE((quad_state.qx - final_state.qx).isMuchSmallerThan(1, 1e-6)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + EXPECT_TRUE((quad_state.w - final_state.w).isMuchSmallerThan(1, 1e-6)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + + // free fall + quad_state.setZero(); + quad_state.p << 0.0, 0.0, 1.0; + quad_sim.reset(quad_state); + + cmd.t = 0.0; + cmd.thrusts << 0.0, 0.0, 0.0, 0.0; + + for (int i = 0; i < SIM_STEPS_N; i++) { + // run quadrotor simulator + quad_sim.setCommand(cmd); + quad_sim.run(ctl_dt); + + // manually update the state + quad_state.p += quad_state.v * ctl_dt + ctl_dt * ctl_dt / 2.0 * GVEC; + quad_state.v += ctl_dt * GVEC; + quad_state.a = GVEC; + quad_state.t += ctl_dt; + } + + final_state.setZero(); + quad_sim.getState(&final_state); + + // copy motors to ignore them + final_state.mot = quad_state.mot; + final_state.motdes = quad_state.motdes; + + EXPECT_NEAR(final_state.t, quad_state.t, 1e-9); + EXPECT_NEAR(final_state.t, quad_state.t, 1e-9); + EXPECT_TRUE((quad_state.p - final_state.p).isMuchSmallerThan(1, 2e-2)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + EXPECT_TRUE((quad_state.v - final_state.v).isMuchSmallerThan(1, 1e-1)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + EXPECT_TRUE((quad_state.a - final_state.a).isMuchSmallerThan(1, 5e-1)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + EXPECT_TRUE((quad_state.qx - final_state.qx).isMuchSmallerThan(1, 1e-6)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + EXPECT_TRUE((quad_state.w - final_state.w).isMuchSmallerThan(1, 1e-6)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; +} + +TEST(QuadrotorSimulator, RunSimulatorCmdFeedthrough) { + QuadrotorSimulator quad_sim; + Quadrotor quad = quad_sim.getQuadrotor(); + quad.motor_tau_inv_ = NAN; + quad_sim.clearModelPipeline(); + quad_sim.addModel(ModelInit{quad}); + quad_sim.addModel(ModelThrustTorqueSimple{quad}); + quad_sim.addModel(ModelRigidBody{quad}); + EXPECT_TRUE(quad_sim.updateQuad(quad)); + + const Scalar ctl_dt = (1.0 / CTRL_UPDATE_FREQUENCY); + + QuadState quad_state; + QuadState final_state; + + // hovering test + quad_state.setZero(); + quad_state.p << 0.0, 0.0, 1.0; + quad_sim.reset(quad_state); + + Command cmd; + cmd.t = 0.0; + cmd.thrusts = Vector<4>::Constant(G * quad.m_) / 4.0; + + + for (int i = 0; i < SIM_STEPS_N; i++) { + // run quadrotor simulator + EXPECT_TRUE(quad_sim.setCommand(cmd)); + EXPECT_TRUE(quad_sim.run(ctl_dt)); + quad_state.t += ctl_dt; + } + quad_sim.getState(&final_state); + + // copy motors to ignore them + final_state.mot = quad_state.mot; + final_state.motdes = quad_state.motdes; + + EXPECT_NEAR(final_state.t, quad_state.t, 1e-9); + EXPECT_TRUE(quad_state.x.isApprox(final_state.x)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + + // free fall + quad_state.setZero(); + quad_state.p << 0.0, 0.0, 1.0; + quad_sim.reset(quad_state); + + cmd.t = 0.0; + cmd.thrusts << 0.0, 0.0, 0.0, 0.0; + + for (int i = 0; i < SIM_STEPS_N; i++) { + // run quadrotor simulator + quad_sim.setCommand(cmd); + quad_sim.run(ctl_dt); + + // manually update the state + quad_state.p += quad_state.v * ctl_dt + ctl_dt * ctl_dt / 2.0 * GVEC; + quad_state.v += ctl_dt * GVEC; + quad_state.a = GVEC; + quad_state.t += ctl_dt; + } + + final_state.setZero(); + quad_sim.getState(&final_state); + + // copy motors to ignore them + final_state.mot = quad_state.mot; + final_state.motdes = quad_state.motdes; + + EXPECT_NEAR(final_state.t, quad_state.t, 1e-9); + EXPECT_TRUE(quad_state.x.isApprox(final_state.x, 1e-3)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; +} + +TEST(QuadrotorSimulator, RunSimulatorBodyRate) { + QuadrotorSimulator quad_sim; + Quadrotor quad = quad_sim.getQuadrotor(); + quad.motor_tau_inv_ = NAN; + quad_sim.clearModelPipeline(); + quad_sim.addModel(ModelInit{quad}); + quad_sim.addModel(ModelMotor{quad}); + quad_sim.addModel(ModelThrustTorqueSimple{quad}); + quad_sim.addModel(ModelRigidBody{quad}); + EXPECT_TRUE(quad_sim.updateQuad(quad)); + + const Scalar ctl_dt = (1.0 / CTRL_UPDATE_FREQUENCY); + + QuadState quad_state; + QuadState final_state; + + // hovering test + quad_state.setZero(); + quad_state.p << 0.0, 0.0, 1.0; + quad_sim.reset(quad_state); + + Command cmd; + cmd.t = 0.0; + cmd.collective_thrust = G; + cmd.omega = Vector<3>::Zero(); + + for (int i = 0; i < SIM_STEPS_N; i++) { + // run quadrotor simulator + EXPECT_TRUE(quad_sim.setCommand(cmd)); + EXPECT_TRUE(quad_sim.run(ctl_dt)); + + quad_state.t += ctl_dt; + } + quad_sim.getState(&final_state); + + // copy motors to ignore them + final_state.mot = quad_state.mot; + final_state.motdes = quad_state.motdes; + + EXPECT_EQ(final_state.t, quad_state.t); + EXPECT_TRUE(quad_state.x.isApprox(final_state.x, 1e-3)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; + + // free fall + quad_state.setZero(); + quad_state.p << 0.0, 0.0, 1.0; + quad_sim.reset(quad_state); + + cmd.t = 0.0; + cmd.collective_thrust = 0.0; + cmd.omega << 0.0, 0.0, 0.0; + + for (int i = 0; i < SIM_STEPS_N; i++) { + // run quadrotor simulator + quad_sim.setCommand(cmd); + quad_sim.run(ctl_dt); + + // manually update the state + quad_state.p += quad_state.v * ctl_dt + ctl_dt * ctl_dt / 2.0 * GVEC; + quad_state.v += ctl_dt * GVEC; + quad_state.a = GVEC; + quad_state.t += ctl_dt; + } + + final_state.setZero(); + quad_sim.getState(&final_state); + + // copy motors to ignore them + final_state.mot = quad_state.mot; + final_state.motdes = quad_state.motdes; + + EXPECT_NEAR(final_state.t, quad_state.t, 1e-9); + EXPECT_TRUE(quad_state.x.isApprox(final_state.x, 1e-3)) + << "Actual: " << final_state << std::endl + << "Expected: " << quad_state << std::endl; +} diff --git a/src/agilicious/agilib/tests/types/quad_state_test.cpp b/src/agilicious/agilib/tests/types/quad_state_test.cpp new file mode 100644 index 0000000..53a1a9f --- /dev/null +++ b/src/agilicious/agilib/tests/types/quad_state_test.cpp @@ -0,0 +1,151 @@ +#include "agilib/types/quad_state.hpp" + +#include + +using namespace agi; + +TEST(QuadState, Constructor) { + QuadState state; + EXPECT_TRUE(state.x.hasNaN()); + + QuadState zero_static_state(0.0, Vector::Zero()); + EXPECT_TRUE(zero_static_state.x.allFinite()); + + QuadState zero_dynamic_state(0.0, Vector<>::Zero(QuadState::SIZE)); + EXPECT_TRUE(zero_dynamic_state.x.allFinite()); +} + +TEST(QuadState, Accessors) { + const int N = QuadState::SIZE; + Vector<> x(N); + for (int i = 0; i < QuadState::SIZE; ++i) x(i) = i; + + QuadState state(0.0, x); + + EXPECT_EQ(state.p(0), x(0)); + EXPECT_EQ(state.p(1), x(1)); + EXPECT_EQ(state.p(2), x(2)); + EXPECT_EQ(state.qx(0), x(3)); + EXPECT_EQ(state.qx(1), x(4)); + EXPECT_EQ(state.qx(2), x(5)); + EXPECT_EQ(state.qx(3), x(6)); + EXPECT_EQ(state.v(0), x(7)); + EXPECT_EQ(state.v(1), x(8)); + EXPECT_EQ(state.v(2), x(9)); + EXPECT_EQ(state.w(0), x(10)); + EXPECT_EQ(state.w(1), x(11)); + EXPECT_EQ(state.w(2), x(12)); + EXPECT_EQ(state.a(0), x(13)); + EXPECT_EQ(state.a(1), x(14)); + EXPECT_EQ(state.a(2), x(15)); + EXPECT_EQ(state.tau(0), x(16)); + EXPECT_EQ(state.tau(1), x(17)); + EXPECT_EQ(state.tau(2), x(18)); + EXPECT_EQ(state.j(0), x(19)); + EXPECT_EQ(state.j(1), x(20)); + EXPECT_EQ(state.j(2), x(21)); + EXPECT_EQ(state.s(0), x(22)); + EXPECT_EQ(state.s(1), x(23)); + EXPECT_EQ(state.s(2), x(24)); + EXPECT_EQ(state.bw(0), x(25)); + EXPECT_EQ(state.bw(1), x(26)); + EXPECT_EQ(state.bw(2), x(27)); + EXPECT_EQ(state.ba(0), x(28)); + EXPECT_EQ(state.ba(1), x(29)); + EXPECT_EQ(state.ba(2), x(30)); + EXPECT_EQ(state.mot(0), x(31)); + EXPECT_EQ(state.mot(1), x(32)); + EXPECT_EQ(state.mot(2), x(33)); + EXPECT_EQ(state.mot(3), x(34)); + EXPECT_EQ(state.motdes(0), x(35)); + EXPECT_EQ(state.motdes(1), x(36)); + EXPECT_EQ(state.motdes(2), x(37)); + EXPECT_EQ(state.motdes(3), x(38)); + + x += Vector<>::Ones(QuadState::SIZE); + state.p += Vector<3>::Ones(); + state.qx += Vector<4>::Ones(); + state.v += Vector<3>::Ones(); + state.w += Vector<3>::Ones(); + state.a += Vector<3>::Ones(); + state.tau += Vector<3>::Ones(); + state.j += Vector<3>::Ones(); + state.s += Vector<3>::Ones(); + state.bw += Vector<3>::Ones(); + state.ba += Vector<3>::Ones(); + state.mot += Vector<4>::Ones(); + state.motdes += Vector<4>::Ones(); + + EXPECT_EQ(state.p(0), x(0)); + EXPECT_EQ(state.p(1), x(1)); + EXPECT_EQ(state.p(2), x(2)); + EXPECT_EQ(state.qx(0), x(3)); + EXPECT_EQ(state.qx(1), x(4)); + EXPECT_EQ(state.qx(2), x(5)); + EXPECT_EQ(state.qx(3), x(6)); + EXPECT_EQ(state.v(0), x(7)); + EXPECT_EQ(state.v(1), x(8)); + EXPECT_EQ(state.v(2), x(9)); + EXPECT_EQ(state.w(0), x(10)); + EXPECT_EQ(state.w(1), x(11)); + EXPECT_EQ(state.w(2), x(12)); + EXPECT_EQ(state.a(0), x(13)); + EXPECT_EQ(state.a(1), x(14)); + EXPECT_EQ(state.a(2), x(15)); + EXPECT_EQ(state.tau(0), x(16)); + EXPECT_EQ(state.tau(1), x(17)); + EXPECT_EQ(state.tau(2), x(18)); + EXPECT_EQ(state.j(0), x(19)); + EXPECT_EQ(state.j(1), x(20)); + EXPECT_EQ(state.j(2), x(21)); + EXPECT_EQ(state.s(0), x(22)); + EXPECT_EQ(state.s(1), x(23)); + EXPECT_EQ(state.s(2), x(24)); + EXPECT_EQ(state.bw(0), x(25)); + EXPECT_EQ(state.bw(1), x(26)); + EXPECT_EQ(state.bw(2), x(27)); + EXPECT_EQ(state.ba(0), x(28)); + EXPECT_EQ(state.ba(1), x(29)); + EXPECT_EQ(state.ba(2), x(30)); + EXPECT_EQ(state.mot(0), x(31)); + EXPECT_EQ(state.mot(1), x(32)); + EXPECT_EQ(state.mot(2), x(33)); + EXPECT_EQ(state.mot(3), x(34)); + EXPECT_EQ(state.motdes(0), x(35)); + EXPECT_EQ(state.motdes(1), x(36)); + EXPECT_EQ(state.motdes(2), x(37)); + EXPECT_EQ(state.motdes(3), x(38)); + + EXPECT_TRUE(state.x.isApprox(x)); +} + +TEST(QuadState, Compare) { + const int N = QuadState::SIZE; + Vector<> x(N); + for (int i = 0; i < QuadState::SIZE; ++i) x(i) = i; + + QuadState state(0.0, x); + QuadState other_state(0.0, x); + + EXPECT_TRUE(state == other_state); + state.p += Vector<3>::Ones(); + EXPECT_FALSE(state == other_state); + other_state.p += Vector<3>::Ones(); + EXPECT_TRUE(state == other_state); + state.t += 1.0; + EXPECT_FALSE(state == other_state); +} + +TEST(QuadState, Heading) { + static constexpr int N = 1e4; + + for (int i = 0; i < N; ++i) { + const Vector<3> angles = M_PI * Vector<3>::Random(); + QuadState state; + state.setZero(); + + state.q(Quaternion(Eigen::AngleAxis(angles.z(), Vector<3>::UnitZ()) * + Eigen::AngleAxis(angles.x(), Vector<3>::UnitX()))); + EXPECT_NEAR(state.getYaw(), angles.z(), 1e-3); + } +} diff --git a/src/agilicious/agilib/tests/types/quadrotor_test.cpp b/src/agilicious/agilib/tests/types/quadrotor_test.cpp new file mode 100644 index 0000000..aa03cff --- /dev/null +++ b/src/agilicious/agilib/tests/types/quadrotor_test.cpp @@ -0,0 +1,139 @@ +#include "agilib/types/quadrotor.hpp" + +#include + +#include "agilib/math/math.hpp" +#include "agilib/types/quad_state.hpp" + +using namespace agi; + +static constexpr Scalar m = 1.0; +static constexpr Scalar l = 0.25; + +TEST(Quadrotor, Constructor) { + const Matrix<3, 4> t_BM = + l * sqrt(0.5) * + (Matrix<3, 4>() << 1, -1, -1, 1, -1, 1, -1, 1, 0, 0, 0, 0).finished(); + + // Compute default inertia from formula for homogenious cuboid. + const Scalar X = 2.0 * sqrt(0.5) * l; + const Scalar Y = 2.0 * sqrt(0.5) * l; + const Scalar Z = 0.5 * l; + const Matrix<3, 3> J = + m / 12.0 * + Vector<3>(Y * Y + Z * Z, X * X + Z * Z, X * X + Y * Y).asDiagonal(); + + const Quadrotor quad(m, l); + + const Quadrotor quad_copy(quad); + + EXPECT_EQ(quad_copy.m_, m); + EXPECT_TRUE(quad_copy.t_BM_.isApprox(t_BM)); + EXPECT_TRUE(quad_copy.J_.isApprox(J)); + EXPECT_TRUE(quad_copy.J_inv_.isApprox(J.inverse())); +} + +TEST(Quadrotor, dynamics) { + const Quadrotor quad(m, l); + + QuadState hover; + hover.setZero(); + + Vector<> derivative(hover.x); + QuadState derivative_state; + derivative_state.setZero(); + + EXPECT_TRUE(quad.dynamics(hover.x, derivative)); + EXPECT_TRUE(quad.dynamics(hover, &derivative_state)); + + EXPECT_TRUE(derivative.isZero()); + EXPECT_TRUE(derivative_state.x.isZero()); + + static constexpr int N = 128; + + for (int trail = 0; trail < N; ++trail) { + // Generate a random state. + QuadState random_state; + random_state.x = Vector::Random(); + random_state.qx.normalize(); + + // Get the differential. + EXPECT_TRUE(quad.dynamics(random_state, &derivative_state)); + + // Compute it manually. + QuadState derivative_manual; + derivative_manual.setZero(); + + const Quaternion q_omega(0, random_state.w.x(), random_state.w.y(), + random_state.w.z()); + derivative_manual.p = random_state.v; + derivative_manual.qx = 0.5 * Q_right(q_omega) * random_state.qx; + derivative_manual.v = random_state.a; + derivative_manual.w = + quad.J_inv_ * + (random_state.tau - random_state.w.cross(quad.J_ * random_state.w)); + + // Compare the derivatives. + EXPECT_TRUE(derivative_state.x.isApprox(derivative_manual.x)); + } +} + +TEST(Quadrotor, Jacobian) { + const Quadrotor quad(m, l); + + QuadState state_nominal; + state_nominal.setZero(); + + static constexpr int N = 128; + static constexpr Scalar dx = 1e-6; + static constexpr Scalar dx_inv2 = 0.5 / dx; + static constexpr Scalar tol = 1e-6; + + for (int trial = 0; trial < N; ++trial) { + state_nominal.x = Vector::Random(); + + Matrix jacobian_analytic; + Matrix jacobian_numeric; + quad.jacobian(state_nominal.x, jacobian_analytic); + + for (int i = 0; i < QuadState::SIZE; ++i) { + Vector dxp(state_nominal.x); + Vector dxn(state_nominal.x); + + dxp(i) += dx; + dxn(i) -= dx; + + Vector derivative_p; + Vector derivative_n; + + quad.dynamics(dxp, derivative_p); + quad.dynamics(dxn, derivative_n); + + jacobian_numeric.col(i) = dx_inv2 * (derivative_p - derivative_n); + } + + for (int i = 0; i < QuadState::SIZE; ++i) { + for (int j = 0; j < QuadState::SIZE; ++j) { + EXPECT_NEAR(jacobian_analytic(i, j), jacobian_numeric(i, j), tol) + << "in the Jacobian at [" << i << ", " << j << "]\n"; + } + } + } +} + +TEST(Quadrotor, VectorReference) { + const Quadrotor quad(m, l); + + static constexpr int N = 128; + Matrix states = Matrix::Random(); + Matrix states_const = + Matrix::Random(); + Matrix derivates; + + for (int i = 0; i < N; ++i) { + QuadState derivate; + EXPECT_TRUE(quad.dynamics(states.col(i), derivates.col(i))); + EXPECT_TRUE(quad.dynamics(QuadState(0.0, states.col(i)), &derivate)); + EXPECT_TRUE(quad.dynamics(states_const.col(i), derivates.col(i))); + } +} diff --git a/src/agilicious/agilib/tests/utils/logger_test.cpp b/src/agilicious/agilib/tests/utils/logger_test.cpp new file mode 100644 index 0000000..071b10c --- /dev/null +++ b/src/agilicious/agilib/tests/utils/logger_test.cpp @@ -0,0 +1,95 @@ +#include "agilib/utils/logger.hpp" + +#include + +#include + +#include "agilib/math/types.hpp" +#include "agilib/types/quad_state.hpp" +#include "agilib/utils/throttler.hpp" +#include "agilib/utils/timer.hpp" + +using namespace agi; + +struct LoggerConstCaller { + Logger logger{"LoggerConstCaller"}; + void printInfo(const std::string& info) const { logger.info(info.c_str()); } +}; + +TEST(Logger, SimpleLogging) { + Logger logger("Test"); + Timer timer("Timer", "Printing"); + timer.tic(); + + logger << "This is a text stream log." << std::endl; + logger.info("This is an info log."); + logger.warn("This could be a warning, but just for demo."); + logger.error("This could be an error, but just for demo."); + + logger.info( + "You can print strings like \"%s\", and formatted numbers like %1.3f.", + "text", M_PI); + logger + << "You can use the stream operator \'<<\' just like with \'std::cout\'." + << std::endl; + logger << "This can be helpul for printing complex objects like Eigen vector " + "and matrices:" + << std::endl + << "A vector:" << std::endl + << Vector<4>(0, 1, 2, 3).transpose() << std::endl + << "A Matrix:" << std::endl + << Matrix<3, 3>::Identity() << std::endl; + + timer.toc(); + QuadState state; + state.setZero(); + logger << "And also our own defined objects, like so:" << std::endl + << "A timer:" << std::endl + << timer << std::endl + << "A QuadState" << std::endl + << state << std::endl; +} + +TEST(Logger, NoColorLogging) { + Logger logger("Test", false); + + logger << "This is a text stream log." << std::endl; + logger.info("This is an info log."); + logger.warn("This could be a warning, but just for demo."); + logger.error("This could be an error, but just for demo."); +} + +TEST(Logger, FatalLogging) { + Logger logger("Test"); + const std::string message("Fatal message"); + EXPECT_THROW(logger.fatal(message.c_str()), std::runtime_error); +} + +TEST(Logger, LogFromConstFunction) { + const LoggerConstCaller caller; + caller.printInfo("This should log just fine from a const call!"); +} + + +TEST(Logger, ThrottledLogging) { + Logger logger("ThrottledLogger"); + Throttler throttler(logger, 1.0); + + for (int i = 0; i < 101; ++i) { + throttler(&Logger::info, "This should only appear %d times.", 2); + usleep(10000); + } +} + + +TEST(Logger, DebugLogging) { + Logger logger("DebugLogger"); + + logger.debug("This only prints with %s", "debug logging enabled!"); + logger.debug() << "This vector only prints with debug logging enabled:" + << Vector<3>(1, 2, 3).transpose() << std::endl; + logger.debug([&]() { + logger.info("This lambda only counts to 10 with debug logging enabled"); + for (int i = 1; i <= 10; ++i) logger << i << std::endl; + }); +} \ No newline at end of file diff --git a/src/agilicious/agilib/tests/utils/low_pass_filter_test.cpp b/src/agilicious/agilib/tests/utils/low_pass_filter_test.cpp new file mode 100644 index 0000000..de4f8cc --- /dev/null +++ b/src/agilicious/agilib/tests/utils/low_pass_filter_test.cpp @@ -0,0 +1,43 @@ + +#include "agilib/utils/low_pass_filter.hpp" + +#include + +using namespace agi; + +static constexpr int N = 128; +static constexpr Scalar cutoff_frequency = 1.0; +static constexpr Scalar sample_frequency = 100.0; + +TEST(LowPassFilter, DefaultConstructorIsInvalid) { + LowPassFilter filter; + EXPECT_FALSE(filter.valid()); +} + + +TEST(LowPassFilter, Constructor) { + LowPassFilter filter(cutoff_frequency, sample_frequency, 0.0); + EXPECT_TRUE(filter.valid()); +} + +TEST(LowPassFilter, OutputInRange) { + for (int i = 0; i < N; ++i) { + const Vector x0 = 0.3 * Vector::Random(); + LowPassFilter filter(Vector::Constant(cutoff_frequency), + Vector::Constant(sample_frequency), x0); + + EXPECT_TRUE(filter().isApprox(x0)); + EXPECT_TRUE((filter().array() < 1.0).all()); + EXPECT_TRUE((filter().array() > -1.0).all()); + + const Vector x_sample = Vector::Ones(); + for (int j = 0; j < 10; ++j) { + const Vector x_prev = filter(); + filter.add(x_sample); + const Vector x_new = filter(); + EXPECT_TRUE(((x_new - x_prev).array() > 0.0).all()); + EXPECT_TRUE((x_new.array() < 1.0).all()); + EXPECT_TRUE((filter.derivative().array() > 0.0).all()); + } + } +} \ No newline at end of file diff --git a/src/agilicious/agilib/tests/utils/timer_test.cpp b/src/agilicious/agilib/tests/utils/timer_test.cpp new file mode 100644 index 0000000..599a945 --- /dev/null +++ b/src/agilicious/agilib/tests/utils/timer_test.cpp @@ -0,0 +1,68 @@ +#include "agilib/utils/timer.hpp" + +#include + +#include "agilib/math/types.hpp" + +using namespace agi; + +static constexpr Scalar tol = 1e-3; + + +/// Example of Timer as unit test +TEST(Timer, SimpleTiming) { + static constexpr int N = 100; + static constexpr int dt = 10000; // us + + Timer timer("Example", "UnitTest"); + + for (int i = 0; i < N; ++i) { + timer.tic(); + usleep(dt); + timer.toc(); + } + + std::cout << timer; + + EXPECT_EQ(timer.count(), N); + EXPECT_NEAR(timer.mean(), dt * 1e-6, tol); +} + +TEST(Timer, AdvancedTiming) { + static constexpr int dt_min = 10000; + static constexpr int dt_max = 20000; + static constexpr int dt_step = 1000; + + Timer timer; + + for (int dt = dt_min; dt <= dt_max; dt += dt_step) { + timer.tic(); + usleep(dt); + timer.toc(); + } + + EXPECT_NEAR(timer.min(), 1e-6 * dt_min, tol); + EXPECT_NEAR(timer.mean(), 1e-6 * (dt_min + dt_max) / 2, tol); + EXPECT_NEAR(timer.max(), 1e-6 * dt_max, tol); + EXPECT_NEAR(timer.std(), 1e-6 * (dt_max - dt_min) / sqrt(12.0), tol); + EXPECT_EQ(timer.count(), (int)(1 + (dt_max - dt_min) / dt_step)); +} + +/// Example of Scopedtimer as unit test. +TEST(Timer, ScopedTimer) { + static constexpr int dt = 1e5; + static constexpr Scalar tol = 1e-3; + + Timer timer; + { // As an example, a scope to put our timer in... + ScopedTimer timy; // ...and the timer it self. This is all you need to do. + + timer = timy; // This thing you dont need. It's only for unit testing. + + usleep(dt); // This would be the code to time. + } // Here the scope ends, the ScopedTimer gets destroyed and prints + + // Everything below is just unit testing and not part of the example. + timer.toc(); + EXPECT_NEAR(timer.mean(), 1e-6 * dt, tol); +} \ No newline at end of file diff --git a/src/agilicious/agilib/tests/utils/yaml.cpp b/src/agilicious/agilib/tests/utils/yaml.cpp new file mode 100644 index 0000000..cef95a8 --- /dev/null +++ b/src/agilicious/agilib/tests/utils/yaml.cpp @@ -0,0 +1,145 @@ +#include "agilib/utils/yaml.hpp" + +#include + +#include + +using namespace agi; + +TEST(Yaml, Parsing) { + std::string s{ + "int: 2 # a comment\n" + "node: # another comment \n" + " int: 1\n" + " float: 1.0\n" + " # an indented comment\n" + " double: 2.0\n" + " bool: true\n" + " string1: \"string1\"\n" + " string2: \'string2\'\n" + " string3: string3 # this line contains tabs instead of spaces\n" + "\tstring4:\t\'string4\" # this line contains escaped tabs\n" + " string5: \"string5\'\n" + "# completely stupid comment followed by empty line\n" + "\n" + " list: [0, 1, 2]\n" + " multi_list: [ [1 ,2], [1.0, -2.0, 3.0], [[\"a\", \"b\"], [\'cd\', " + "\'efg\"]]]\n" + " other_list: [{braces}, (parentheses), [mixed}]\n" + " complex: (1.0, 2.0)\n" + " nested:\n" + " nested_value: 3.0\n" + " nested_list:\n" + " - bla: 1\n" + " blu: 3\n" + " - bla: 2\n" + " blu: 4\n"}; + + Yaml yaml(s); + EXPECT_FALSE(yaml["doesnotexist"].isValid()); + EXPECT_FALSE(yaml["doesnotexist"].isDefined()); + EXPECT_EQ(yaml["doesnotexist"].size(), 0); + EXPECT_EQ(yaml["int"].as(), 2); + EXPECT_EQ(yaml["int"].size(), 1ul); + EXPECT_EQ(yaml["node"].size(), 14); + EXPECT_EQ(yaml["node"]["int"].as(), 1); + EXPECT_EQ(yaml["node"]["float"].as(), 1.0f); + EXPECT_EQ(yaml["node"]["double"].as(), 2.0); + EXPECT_EQ(yaml["node"]["bool"].as(), true); + EXPECT_EQ(yaml["node"]["string1"].as(), "string1"); + EXPECT_EQ(yaml["node"]["string2"].as(), "string2"); + EXPECT_EQ(yaml["node"]["string3"].as(), "string3"); + EXPECT_EQ(yaml["node"]["string4"].as(), "string4"); + EXPECT_EQ(yaml["node"]["string5"].as(), "string5"); + EXPECT_EQ(yaml["node"]["list"].size(), 3); + EXPECT_EQ(yaml["node"]["list"][0].as(), 0); + EXPECT_EQ(yaml["node"]["list"][1].as(), 1); + EXPECT_EQ(yaml["node"]["list"][2].as(), 2); + EXPECT_EQ(yaml["node"]["multi_list"].size(), 3); + EXPECT_EQ(yaml["node"]["multi_list"][0].size(), 2); + EXPECT_EQ(yaml["node"]["multi_list"][0][0].as(), 1); + EXPECT_EQ(yaml["node"]["multi_list"][0][1].as(), 2); + EXPECT_EQ(yaml["node"]["multi_list"][1].size(), 3); + EXPECT_EQ(yaml["node"]["multi_list"][1][0].as(), 1); + EXPECT_EQ(yaml["node"]["multi_list"][1][1].as(), -2); + EXPECT_EQ(yaml["node"]["multi_list"][1][2].as(), 3); + EXPECT_EQ(yaml["node"]["multi_list"][2].size(), 2); + EXPECT_EQ(yaml["node"]["multi_list"][2][0].size(), 2); + EXPECT_EQ(yaml["node"]["multi_list"][2][0][0].as(), "a"); + EXPECT_EQ(yaml["node"]["multi_list"][2][0][1].as(), "b"); + EXPECT_EQ(yaml["node"]["multi_list"][2][1].size(), 2); + EXPECT_EQ(yaml["node"]["multi_list"][2][1][0].as(), "cd"); + EXPECT_EQ(yaml["node"]["multi_list"][2][1][1].as(), "efg"); + EXPECT_EQ(yaml["node"]["other_list"].size(), 3); + EXPECT_EQ(yaml["node"]["other_list"][0].size(), 1); + EXPECT_EQ(yaml["node"]["other_list"][1].size(), 1); + EXPECT_EQ(yaml["node"]["other_list"][2].size(), 1); + EXPECT_EQ(yaml["node"]["other_list"][0].as(), "braces"); + EXPECT_EQ(yaml["node"]["other_list"][1].as(), "parentheses"); + EXPECT_EQ(yaml["node"]["other_list"][2].as(), "mixed"); + EXPECT_EQ(yaml["node"]["complex"].size(), 2); + EXPECT_EQ(yaml["node"]["complex"].as>(), + std::complex(1.0, 2.0)); + EXPECT_EQ(yaml["node"]["nested"]["nested_value"].as(), 3.0); + EXPECT_EQ(yaml["node"]["nested"]["nested_list"].size(), 2); + EXPECT_EQ(yaml["node"]["nested"]["nested_list"][0]["bla"].as(), 1); + EXPECT_EQ(yaml["node"]["nested"]["nested_list"][0]["blu"].as(), 3); + EXPECT_EQ(yaml["node"]["nested"]["nested_list"][1]["bla"].as(), 2); + EXPECT_EQ(yaml["node"]["nested"]["nested_list"][1]["blu"].as(), 4); +} + + +TEST(Yaml, Errors) { + const std::string ill_formed1{ + "fine_int: 5\n" + "good_string: \"soo good\"\n" + " this is not so good .... ::: {}\n" + "this_could_be_fine_again: 42"}; + EXPECT_ANY_THROW(Yaml yaml(ill_formed1);); + + const std::string ill_formed2{ + "fine_int: 5\n" + "good_string: \"soo good\"\n" + "too_many_opening_brackets_fail: {{1.0, 2.0}\n" + "this_could_be_fine_again: 42"}; + EXPECT_ANY_THROW(Yaml yaml(ill_formed2);); + + const std::string ill_formed3{ + "fine_int: 5\n" + "good_string: \"soo good\"\n" + "too_many_closing_brackets_fail: {1.0, 2.0}}\n" + "this_could_be_fine_again: 42"}; + EXPECT_ANY_THROW(Yaml yaml(ill_formed3);); +} + +TEST(Yaml, Bools) { + const std::string bools{ + "true_1: 1\n" + "false_0: 0\n" + "true_t: t\n" + "false_f: f\n" + "true_T: T\n" + "false_F: F\n" + "true: true\n" + "false: false\n" + "true_case: TruE\n" + "false_case: fALse\n" + "true_quote: \"true\"\n" + "false_quote: \"false\"\n" + "true_sentence: \"if it has true and false, the first is returned\"\n"}; + Yaml yaml{bools}; + std::cout << yaml; + EXPECT_TRUE(yaml["true_1"].as()); + EXPECT_FALSE(yaml["false_0"].as()); + EXPECT_TRUE(yaml["true_t"].as()); + EXPECT_FALSE(yaml["false_f"].as()); + EXPECT_TRUE(yaml["true_T"].as()); + EXPECT_FALSE(yaml["false_F"].as()); + EXPECT_TRUE(yaml["true"].as()); + EXPECT_FALSE(yaml["false"].as()); + EXPECT_TRUE(yaml["true_case"].as()); + EXPECT_FALSE(yaml["false_case"].as()); + EXPECT_TRUE(yaml["true_quote"].as()); + EXPECT_FALSE(yaml["false_quote"].as()); + EXPECT_TRUE(yaml["true_sentence"].as()); +} diff --git a/src/agilicious/agiros_msgs/CMakeLists.txt b/src/agilicious/agiros_msgs/CMakeLists.txt new file mode 100644 index 0000000..5ffb6cc --- /dev/null +++ b/src/agilicious/agiros_msgs/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.0.0) +project(agiros_msgs) + +add_compile_options(-std=c++17) +add_compile_options(-O3) + +find_package(catkin_simple REQUIRED) +catkin_simple(ALL_DEPS_REQUIRED) + +cs_install() +cs_export() diff --git a/src/agilicious/agiros_msgs/msg/Acceleration.msg b/src/agilicious/agiros_msgs/msg/Acceleration.msg new file mode 100644 index 0000000..6456fb8 --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/Acceleration.msg @@ -0,0 +1,4 @@ +Header header +geometry_msgs/TwistStamped[] accs +float64[] yaw_rate +float64 t diff --git a/src/agilicious/agiros_msgs/msg/Command.msg b/src/agilicious/agiros_msgs/msg/Command.msg new file mode 100644 index 0000000..159700d --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/Command.msg @@ -0,0 +1,16 @@ +Header header + +# Time [s] +float64 t + +# If input is in terms of collective thrust & bodyrates or single rotor thrusts +bool is_single_rotor_thrust + +# Collective mass-normalized thrust [m/s^2] +float64 collective_thrust + +# Angular rates in body frame [rad/s] +geometry_msgs/Vector3 bodyrates + +# Single rotor thrusts [N] +float64[4] thrusts diff --git a/src/agilicious/agiros_msgs/msg/DebugMsg.msg b/src/agilicious/agiros_msgs/msg/DebugMsg.msg new file mode 100644 index 0000000..24a6d8e --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/DebugMsg.msg @@ -0,0 +1,2 @@ +Header header +float64[] data \ No newline at end of file diff --git a/src/agilicious/agiros_msgs/msg/QuadState.msg b/src/agilicious/agiros_msgs/msg/QuadState.msg new file mode 100644 index 0000000..6486291 --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/QuadState.msg @@ -0,0 +1,31 @@ +Header header + +# Time [s] +float64 t + +# Pose +geometry_msgs/Pose pose + +# Linear & angular velocity +geometry_msgs/Twist velocity + +# Linear & angular acceleration +geometry_msgs/Twist acceleration + +# Acc bias +geometry_msgs/Vector3 acc_bias + +# Gyro bias +geometry_msgs/Vector3 gyr_bias + +# Jerk +geometry_msgs/Vector3 jerk + +# Snap +geometry_msgs/Vector3 snap + +# Motor speeds +float64[] motors + +# Heading +float64 heading diff --git a/src/agilicious/agiros_msgs/msg/RLtrajectory.msg b/src/agilicious/agiros_msgs/msg/RLtrajectory.msg new file mode 100644 index 0000000..13af5b9 --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/RLtrajectory.msg @@ -0,0 +1,8 @@ +Header header + +geometry_msgs/Pose ref_pose + +geometry_msgs/Twist ref_vel + +bool final_point +agiros_msgs/Setpoint[] points diff --git a/src/agilicious/agiros_msgs/msg/Reference.msg b/src/agilicious/agiros_msgs/msg/Reference.msg new file mode 100644 index 0000000..e879e21 --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/Reference.msg @@ -0,0 +1,3 @@ +Header header + +agiros_msgs/Setpoint[] points diff --git a/src/agilicious/agiros_msgs/msg/RotorFeedbackStamped.msg b/src/agilicious/agiros_msgs/msg/RotorFeedbackStamped.msg new file mode 100644 index 0000000..b762023 --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/RotorFeedbackStamped.msg @@ -0,0 +1,8 @@ +Header header +uint8 type +float32[] data + +uint8 INVALID_TYPE = 0 +uint8 THROTTLE_TYPE = 1 +uint8 SPEED_TYPE = 2 +uint8 THRUST_TYPE = 3 diff --git a/src/agilicious/agiros_msgs/msg/Setpoint.msg b/src/agilicious/agiros_msgs/msg/Setpoint.msg new file mode 100644 index 0000000..64b4b41 --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/Setpoint.msg @@ -0,0 +1,5 @@ +# Angular rates in body frame +agiros_msgs/QuadState state + +# Single rotor thrusts +agiros_msgs/Command command diff --git a/src/agilicious/agiros_msgs/msg/Telemetry.msg b/src/agilicious/agiros_msgs/msg/Telemetry.msg new file mode 100644 index 0000000..283e33e --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/Telemetry.msg @@ -0,0 +1,18 @@ +Header header + +# Time [s] +float64 t + +# Bridge +std_msgs/String bridge_type +std_msgs/Bool bridge_armed +std_msgs/Bool guard_triggered + +# Reference +int32 num_references_in_queue +float64 reference_left_duration +float64 rmse +agiros_msgs/QuadState reference + +# Onboard Telemetry +float64 voltage diff --git a/src/agilicious/agiros_msgs/msg/UInt8Stamped.msg b/src/agilicious/agiros_msgs/msg/UInt8Stamped.msg new file mode 100644 index 0000000..d806613 --- /dev/null +++ b/src/agilicious/agiros_msgs/msg/UInt8Stamped.msg @@ -0,0 +1,2 @@ +Header header +uint8 data diff --git a/src/agilicious/agiros_msgs/package.xml b/src/agilicious/agiros_msgs/package.xml new file mode 100644 index 0000000..9db60cb --- /dev/null +++ b/src/agilicious/agiros_msgs/package.xml @@ -0,0 +1,21 @@ + + + agiros_msgs + 0.0.0 + The agiros_msgs package + + Philipp Foehn + MIT + + Philipp Foehn + Elia Kaufmann + + catkin + catkin_simple + + geometry_msgs + message_generation + nav_msgs + std_msgs + + diff --git a/src/avoidbench/avoid_manage/include/avoid_manage.hpp b/src/avoidbench/avoid_manage/include/avoid_manage.hpp index b153f07..8f715f7 100644 --- a/src/avoidbench/avoid_manage/include/avoid_manage.hpp +++ b/src/avoidbench/avoid_manage/include/avoid_manage.hpp @@ -116,7 +116,6 @@ class AvoidManage { nav_msgs::Odometry drone_pose; int mission_id; int trial_id; - int maps_tried_id; std::string cfg_; quadrotor_common::QuadStateEstimate received_state_est_; std::vector iter_times; diff --git a/src/avoidbench/avoid_manage/launch/pilot/rotors_gazebo.launch b/src/avoidbench/avoid_manage/launch/pilot/rotors_gazebo.launch index 416556c..d8f164d 100644 --- a/src/avoidbench/avoid_manage/launch/pilot/rotors_gazebo.launch +++ b/src/avoidbench/avoid_manage/launch/pilot/rotors_gazebo.launch @@ -6,7 +6,7 @@ - + @@ -101,9 +101,6 @@ - - - diff --git a/src/avoidbench/avoid_manage/params/avoidbench_indoor.yaml b/src/avoidbench/avoid_manage/params/avoidbench_indoor.yaml new file mode 100644 index 0000000..3e953cb --- /dev/null +++ b/src/avoidbench/avoid_manage/params/avoidbench_indoor.yaml @@ -0,0 +1,36 @@ +unity: + unity_render: true + spawn_trees: false + spawn_objects: true + seed: 35 # == 0: generate random seed, != 0: use this fixed random seed + env_idx: 1 # 0 Industry, 1 WareHouse, 3 forest in other standalone + radius: 2.0 + opacity: 0.6 + + bounding_box: [20.0, 30.0] # spawn objects within this bounding box + bounding_box_origin: [-10.0, 0.8] # relative to the quadrotor start position + min_object_scale: [0.5, 0.5, 1.3] # scale of objects in meters, will sample uniformly between bounds + max_object_scale: [1.0, 1.0, 1.8] # scale of objects in meters, will sample uniformly between bounds + basic_size: [1.0, 1.0, 2] + if_get_pointcloud: true + range: [20, 30, 4] + origin: [0.0, 15.0, 2.0] + res: 0.15 + file_name: env_pc + +camera: + fov: 91.0 # horizontal FOV in degrees + width: 640 + height: 480 + baseline: 0.12 + pitch_angle_deg: 0.0 # camera pitch angle in degrees + perform_sgm: true + +drone: + length: 0.5 + width: 0.5 + +mission: + start_point: [0, 0, 1.2] + end_point: [8.0, 28.0, 2.0] + flight_numbers: 1 diff --git a/src/avoidbench/avoid_manage/params/avoidbench_outdoor.yaml b/src/avoidbench/avoid_manage/params/avoidbench_outdoor.yaml new file mode 100644 index 0000000..7937e33 --- /dev/null +++ b/src/avoidbench/avoid_manage/params/avoidbench_outdoor.yaml @@ -0,0 +1,37 @@ +unity: + unity_render: true + spawn_trees: true + spawn_objects: false + seed: 35 # == 0: generate random seed, != 0: use this fixed random seed + env_idx: 3 # 0 Industry, 1 WareHouse, 3 forest in other standalone + radius: 6.0 + opacity: 0.6 + + bounding_box: [140.0, 160.0] # spawn objects within this bounding box + bounding_box_origin: [-10.0, 0.8] # relative to the quadrotor start position + min_object_scale: [0.5, 0.5, 1.3] # scale of objects in meters, will sample uniformly between bounds + max_object_scale: [1.0, 1.0, 1.8] # scale of objects in meters, will sample uniformly between bounds + basic_size: [1.0, 1.0, 2] + + if_get_pointcloud: true + range: [50, 100, 6] + origin: [0.0, 50.0, 3.0] + res: 0.15 + file_name: env_pc + +camera: + fov: 91.0 # horizontal FOV in degrees + width: 640 + height: 480 + baseline: 0.12 + pitch_angle_deg: 0.0 # camera pitch angle in degrees + perform_sgm: true + +drone: + length: 0.5 + width: 0.5 + +mission: + start_point: [0, 0, 1.2] + end_point: [8.0, 35.0, 2.0] + flight_numbers: 1 diff --git a/src/avoidbench/avoid_manage/params/clrrt_planner.yaml b/src/avoidbench/avoid_manage/params/clrrt_planner.yaml new file mode 100644 index 0000000..deacb82 --- /dev/null +++ b/src/avoidbench/avoid_manage/params/clrrt_planner.yaml @@ -0,0 +1,33 @@ +planner: + segmentLength: 1.2 + goal_x: 15.0 + goal_y: 2.0 + goal_z: 2.4 + collision_threshold: 5 +camera: + baseline: 0.18 + cx: 320 + cy: 240 + fov_deg: 91 + exp_radius: 0.08 +ctrl: + ref_along_vel: 2.0 + vel_max: 4.0 + u_along_max: 5.5 + u_cross_max: 7.5 + u_tang_max: 5.5 + Kp_along: 4.0 + Ki_along: 0.5 + Kd_along: 0.01 + Kp_cross: 3.0 + Ki_cross: 0.2 + Kd_cross: 4.5 + Kp_tang: 4.0 + Ki_tang: 0.2 + Kd_tang: 0.01 + along_track_dis_threshold: 0.3 +env: + width: 10.0 + length: 6.0 + height: 6.0 + resolution: 0.05 diff --git a/src/avoidbench/avoid_manage/params/default.yaml b/src/avoidbench/avoid_manage/params/default.yaml new file mode 100644 index 0000000..c5618eb --- /dev/null +++ b/src/avoidbench/avoid_manage/params/default.yaml @@ -0,0 +1,3 @@ +scene_id: 0 +main_loop_freq: 50.0 +unity_render: yes diff --git a/src/avoidbench/avoid_manage/params/dispspace.yaml b/src/avoidbench/avoid_manage/params/dispspace.yaml new file mode 100644 index 0000000..59d9265 --- /dev/null +++ b/src/avoidbench/avoid_manage/params/dispspace.yaml @@ -0,0 +1,7 @@ +camera: + baseline: 0.18 + cx: 320 + cy: 240 + fov_deg: 91 +expand: + exp_radius: 0.08 diff --git a/src/avoidbench/avoid_manage/params/flightmare.yaml b/src/avoidbench/avoid_manage/params/flightmare.yaml new file mode 100644 index 0000000..d6e8414 --- /dev/null +++ b/src/avoidbench/avoid_manage/params/flightmare.yaml @@ -0,0 +1,23 @@ +unity: + spawn_trees: true + spawn_objects: false + perform_sgm: true + seed: 60 # == 0: generate random seed, != 0: use this fixed random seed + env_idx: 4 # 0 wasteland, 1 japanese street, 4 emptyforest in other standalone + avg_tree_spacing: 4.0 + avg_object_spacing: 5.0 + rand_width: 5.0 # width of the uniform distribution that perturbs the regular spawning grid + object_names: ["Cylinder", "Cube"] # "Cylinder", "Cube", "Sphere", "narrow_gap" + bounding_box: [235.0, 235.0, 15.0] # spawn objects within this bounding box + bounding_box_origin: [20.0, 0.0, 0.0] # relative to the quadrotor start position + min_object_scale: [0.5, 0.5, 0.5] # scale of objects in meters, will sample uniformly between bounds + max_object_scale: [5.0, 5.0, 5] # scale of objects in meters, will sample uniformly between bounds + min_object_angles: [0.0, 0.0, 0.0] # euler angles in degrees, will sample uniformly between bounds + max_object_angles: [180.0, 180.0, 180.0] # euler angles in degrees, will sample uniformly between bounds + pointcloud_resolution: 0.2 # will be used for both above- and below-ground +camera: + fov: 91.0 # horizontal FOV in degrees + width: 640 + height: 480 + baseline: 0.18 + pitch_angle_deg: 0.0 # camera pitch angle in degrees diff --git a/src/avoidbench/avoid_manage/params/mission.yaml b/src/avoidbench/avoid_manage/params/mission.yaml new file mode 100644 index 0000000..8fefb32 --- /dev/null +++ b/src/avoidbench/avoid_manage/params/mission.yaml @@ -0,0 +1,5 @@ +mission: + start_point: [0, 0, 1.2] + end_point: [8.0, 35.0, 2.0] + flight_numbers: 1 + diff --git a/src/avoidbench/avoid_manage/params/save_data.yaml b/src/avoidbench/avoid_manage/params/save_data.yaml new file mode 100644 index 0000000..29374fa --- /dev/null +++ b/src/avoidbench/avoid_manage/params/save_data.yaml @@ -0,0 +1,40 @@ +unity: + unity_render: true + spawn_trees: false + spawn_objects: true + env_idx: 1 # 0 Industry, 1 WareHouse, 3 forest in other standalone + + bounding_box: [20.0, 30.0] # spawn objects within this bounding box + bounding_box_origin: [-10.0, 0.8] # relative to the quadrotor start position + min_object_scale: [0.5, 0.5, 2.6] # scale of objects in meters, will sample uniformly between bounds + max_object_scale: [1.0, 1.0, 3.8] # scale of objects in meters, will sample uniformly between bounds + basic_size: [1.0, 1.0, 2] + if_get_pointcloud: true + range: [20, 30, 4] + origin: [0.0, 15.0, 2.0] + res: 0.15 + save_data_mode: true + +camera: + fov: 91.0 # horizontal FOV in degrees + width: 640 + height: 480 + baseline: 0.12 + pitch_angle_deg: 0.0 # camera pitch angle in degrees + perform_sgm: true + +drone: + length: 0.5 + width: 0.5 + +flight_number: 10 +mission: + seed: 120 + start_area: [16, 1.6] + start_origin: [0, 0.8] + radius_area: 2.5 + radius_origin: 1.5 + end_area: [16, 1.6] + end_origin: [0, 28] + rollout: 120 + pc_file_name: pointcloud-unity diff --git a/src/avoidbench/avoid_manage/params/save_data2.yaml b/src/avoidbench/avoid_manage/params/save_data2.yaml new file mode 100644 index 0000000..2922086 --- /dev/null +++ b/src/avoidbench/avoid_manage/params/save_data2.yaml @@ -0,0 +1,34 @@ +unity: + unity_render: true + spawn_trees: true + spawn_objects: false + env_idx: 3 # 0 Industry, 1 WareHouse, 3 forest in other standalone + + bounding_box: [140.0, 160.0] # spawn objects within this bounding box + bounding_box_origin: [-10.0, 0.8] # relative to the quadrotor start position + min_object_scale: [0.5, 0.5, 1.3] # scale of objects in meters, will sample uniformly between bounds + max_object_scale: [1.0, 1.0, 1.8] # scale of objects in meters, will sample uniformly between bounds + basic_size: [1.0, 1.0, 2] + if_get_pointcloud: true + range: [20, 40, 6] + origin: [0.0, 20.0, 3.0] + res: 0.15 + save_data_mode: true + +camera: + fov: 91.0 # horizontal FOV in degrees + width: 640 + height: 480 + baseline: 0.12 + pitch_angle_deg: 0.0 # camera pitch angle in degrees + perform_sgm: true + +drone: + length: 0.5 + width: 0.5 + +flight_number: 10 +mission: + seed: 67 + rollout: 120 + pc_file_name: pointcloud-unity diff --git a/src/avoidbench/avoid_manage/params/task_indoor2.yaml b/src/avoidbench/avoid_manage/params/task_indoor2.yaml new file mode 100644 index 0000000..215dd6a --- /dev/null +++ b/src/avoidbench/avoid_manage/params/task_indoor2.yaml @@ -0,0 +1,109 @@ +unity: + unity_render: true + spawn_trees: false + spawn_objects: true + env_idx: 1 # 0 Industry, 1 WareHouse, 3 forest in other standalone + + bounding_box: [20.0, 30.0] # spawn objects within this bounding box + bounding_box_origin: [-10.0, 0.8] # relative to the quadrotor start position + min_object_scale: [0.5, 0.5, 2.3] # scale of objects in meters, will sample uniformly between bounds + max_object_scale: [1.0, 1.0, 2.8] # scale of objects in meters, will sample uniformly between bounds + basic_size: [1.0, 1.0, 2] + if_get_pointcloud: true + range: [20, 30, 4] + origin: [0.0, 15.0, 2.0] + res: 0.15 + save_data_mode: false + +camera: + fov: 91.0 # horizontal FOV in degrees + width: 640 + height: 480 + baseline: 0.12 + pitch_angle_deg: 0.0 # camera pitch angle in degrees + perform_sgm: true + +drone: + length: 0.5 + width: 0.5 + +flight_number: 10 +mission0: + start_point: [0, 0, 1.2] + end_point: [3.0, 28.0, 2.0] + radius: 2.0 + opacity: 0.6 + seed: 35 + pc_file_name: env_pc00 + +mission1: + start_point: [0, 0, 1.2] + end_point: [3.8, 26, 1.5] + radius: 2.5 + opacity: 0.6 + seed: 27 + pc_file_name: env_pc01 + +mission2: + start_point: [0, 0, 1.2] + end_point: [5.0, 25.0, 2.0] + radius: 3.0 + opacity: 0.6 + seed: 19 + pc_file_name: env_pc02 + +mission3: + start_point: [0, 0, 1.2] + end_point: [-5.0, 28.0, 2.0] + radius: 3.5 + opacity: 0.6 + seed: 50 + pc_file_name: env_pc03 + +mission4: + start_point: [0, 0, 1.2] + end_point: [3.0, 28.0, 2.0] + radius: 2.0 + opacity: 0.6 + seed: 71 + pc_file_name: env_pc04 + +mission5: + start_point: [0, 0, 1.2] + end_point: [3.8, 26, 1.5] + radius: 2.5 + opacity: 0.6 + seed: 13 + pc_file_name: env_pc05 + +mission6: + start_point: [0, 0, 1.2] + end_point: [5.0, 25.0, 2.0] + radius: 1.8 + opacity: 0.6 + seed: 59 + pc_file_name: env_pc06 + +mission7: + start_point: [0, 0, 1.2] + end_point: [-5.0, 28.0, 2.0] + radius: 1.5 + opacity: 0.6 + seed: 70 + pc_file_name: env_pc07 + +mission8: + start_point: [0, 0, 1.2] + end_point: [5.0, 25.0, 2.0] + radius: 2.0 + opacity: 0.6 + seed: 23 + pc_file_name: env_pc08 + +mission9: + start_point: [0, 0, 1.2] + end_point: [-5.0, 28.0, 2.0] + radius: 1.5 + opacity: 0.6 + seed: 43 + pc_file_name: env_pc09 diff --git a/src/avoidbench/avoid_manage/params/task_outdoor.yaml b/src/avoidbench/avoid_manage/params/task_outdoor.yaml index fc82bd7..771e06d 100644 --- a/src/avoidbench/avoid_manage/params/task_outdoor.yaml +++ b/src/avoidbench/avoid_manage/params/task_outdoor.yaml @@ -29,9 +29,9 @@ drone: flight_number: 30 mission: - trials: 28 + trials: 2 # seed: 8 8 32 64 256 500 - seed: 128 #20 32 64 100 128 200 50 + seed: 32 #20 32 128 200 50 start_area: [40, 6.0] start_origin: [0, 3.0] radius_area: 3.5 diff --git a/src/avoidbench/avoid_manage/params/task_outdoor2.yaml b/src/avoidbench/avoid_manage/params/task_outdoor2.yaml new file mode 100644 index 0000000..16498b1 --- /dev/null +++ b/src/avoidbench/avoid_manage/params/task_outdoor2.yaml @@ -0,0 +1,94 @@ +unity: + unity_render: true + spawn_trees: true + spawn_objects: false + env_idx: 3 # 0 Industry, 1 WareHouse, 3 forest in other standalone + + bounding_box: [140.0, 160.0] # spawn objects within this bounding box + bounding_box_origin: [-10.0, 0.8] # relative to the quadrotor start position + min_object_scale: [0.5, 0.5, 1.3] # scale of objects in meters, will sample uniformly between bounds + max_object_scale: [1.0, 1.0, 1.8] # scale of objects in meters, will sample uniformly between bounds + basic_size: [1.0, 1.0, 2] + if_get_pointcloud: true + range: [20, 40, 6] + origin: [0.0, 20.0, 3.0] + res: 0.15 + save_data_mode: false + +camera: + fov: 91.0 # horizontal FOV in degrees + width: 640 + height: 480 + baseline: 0.12 + pitch_angle_deg: 0.0 # camera pitch angle in degrees + perform_sgm: true + +drone: + length: 0.5 + width: 0.5 + +flight_number: 8 +mission0: + start_point: [0, 0, 1.2] + end_point: [-4.8, 26, 2.5] + radius: 4.5 + opacity: 0.6 + seed: 6 + pc_file_name: env_pc00 + +mission1: + start_point: [0, 0, 1.2] + end_point: [3.0, 28.0, 2.0] + radius: 5.0 + opacity: 0.6 + seed: 30 + pc_file_name: env_pc01 + +mission2: + start_point: [0, 0, 1.2] + end_point: [5.0, 25.0, 2.5] + radius: 6.0 + opacity: 0.6 + seed: 23 + pc_file_name: env_pc02 + +mission3: + start_point: [0, 0, 1.2] + end_point: [-5.0, 28.0, 2.0] + radius: 5.5 + opacity: 0.6 + seed: 46 + pc_file_name: env_pc03 + +mission4: + start_point: [0, 0, 1.2] + end_point: [-8.0, 25.0, 2.5] + radius: 5.0 + opacity: 0.6 + seed: 12 + pc_file_name: env_pc04 + +mission5: + start_point: [0, 0, 1.2] + end_point: [7.0, 28.0, 2.0] + radius: 4.5 + opacity: 0.6 + seed: 25 + pc_file_name: env_pc05 + + +mission6: + start_point: [0, 0, 1.2] + end_point: [-8.0, 25.0, 2.5] + radius: 4.0 + opacity: 0.6 + seed: 16 + pc_file_name: env_pc06 + +mission7: + start_point: [0, 0, 1.2] + end_point: [7.0, 28.0, 2.0] + radius: 4.5 + opacity: 0.6 + seed: 34 + pc_file_name: env_pc07 diff --git a/src/avoidbench/avoid_manage/params/test_rl.yaml b/src/avoidbench/avoid_manage/params/test_rl.yaml new file mode 100644 index 0000000..add9983 --- /dev/null +++ b/src/avoidbench/avoid_manage/params/test_rl.yaml @@ -0,0 +1,41 @@ +unity: + unity_render: true + spawn_trees: true + spawn_objects: true + env_idx: 0 # 0 Industry, 1 WareHouse, 3 forest in other standalone + + bounding_box: [20.0, 30.0] # spawn objects within this bounding box + bounding_box_origin: [-10.0, 0.8] # relative to the quadrotor start position + min_object_scale: [0.5, 0.5, 2.6] # scale of objects in meters, will sample uniformly between bounds + max_object_scale: [1.0, 1.0, 3.8] # scale of objects in meters, will sample uniformly between bounds + basic_size: [1.0, 1.0, 2] + if_get_pointcloud: true + range: [20, 30, 4] + origin: [0.0, 15.0, 2.0] + res: 0.10 + save_data_mode: false + +camera: + fov: 91.0 # horizontal FOV in degrees + width: 640 + height: 480 + baseline: 0.12 + pitch_angle_deg: 0.0 # camera pitch angle in degrees + perform_sgm: true + +drone: + length: 0.5 + width: 0.5 + +flight_number: 30 +mission: + seed: 32 + trials: 1 + start_area: [16, 1.6] + start_origin: [0, -1.8] + radius_area: 3.0 + radius_origin: 1.5 + end_area: [16, 1.6] + end_origin: [0, 28] + rollout: 120 + pc_file_name: pointcloud-unity diff --git a/src/avoidbench/avoid_manage/scripts/avoid_manage.py b/src/avoidbench/avoid_manage/scripts/avoid_manage.py index 31beaf6..aeb1fa2 100644 --- a/src/avoidbench/avoid_manage/scripts/avoid_manage.py +++ b/src/avoidbench/avoid_manage/scripts/avoid_manage.py @@ -42,7 +42,6 @@ def __init__(self): self.iter_time = [] self.mission_id = 0 self.trial_id = 0 - self.maps_tried_id = 0 self.cv_bridge = CvBridge() self.loadParams() self.p_m = mission_parameter() @@ -281,7 +280,6 @@ def MissionProcess(self, event): self.force_hover_pub_.publish(hover) self.mission.cal_time = self.iter_time self.iter_time = [] - self.mission.trial_id = self.trial_id self.metrics.setMissions(self.mission) rospy.sleep(1.0) self.trial_id = self.trial_id + 1 @@ -321,6 +319,7 @@ def getMissionParam(self, m_id): random.seed(self.seed) self.get_seed = True rand = random.random() + print("rand: ", rand) if self.env_id == 3: area_id = random.randint(0, 3) @@ -361,11 +360,6 @@ def getMissionParam(self, m_id): self.if_update_map = True return print("update env") - # make sure every mission has the same complexity map when benchmark different algos - self.maps_tried_id = self.maps_tried_id+1 - random.seed(self.seed * self.maps_tried_id) - rand = random.random() - self.p_m.trials = self.trials_ self.p_m.m_radius = self.radius_origin + self.radius_area*rand self.p_m.m_seed = random.randint(0, 200) diff --git a/src/avoidbench/avoid_manage/src/avoid_manage.cpp b/src/avoidbench/avoid_manage/src/avoid_manage.cpp index 2b1ceb5..b4d1c56 100644 --- a/src/avoidbench/avoid_manage/src/avoid_manage.cpp +++ b/src/avoidbench/avoid_manage/src/avoid_manage.cpp @@ -10,7 +10,6 @@ AvoidManage::AvoidManage(const ros::NodeHandle &nh, const ros::NodeHandle &pnh) start_time(0.0), mission_id(0), trial_id(0), - maps_tried_id(0), mission_state(Mission_state::PREPARING) { // load parameters if (!loadParams()) { @@ -243,8 +242,8 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) //random generate start and end point until they both have a certain free space int ss=0; - while(avoidbench_bridge->checkCollisionState(p_m.m_start_point, true) || - avoidbench_bridge->checkCollisionState(p_m.m_end_point)) + while(avoidbench_bridge->checkCollisionState(&(p_m.m_start_point), true) || + avoidbench_bridge->checkCollisionState(&(p_m.m_end_point))) { ss++; mission_state = Mission_state::UNITYSETTING; @@ -272,8 +271,8 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) //random generate start and end point until they both have a certain free space if_update_map = false; getMissionParam(&p_m, mission_id); - while(avoidbench_bridge->checkCollisionState(p_m.m_start_point, true) || - avoidbench_bridge->checkCollisionState(p_m.m_end_point)) + while(avoidbench_bridge->checkCollisionState(&(p_m.m_start_point), true) || + avoidbench_bridge->checkCollisionState(&(p_m.m_end_point))) { mission_state = Mission_state::UNITYSETTING; if_update_map = false; @@ -281,12 +280,14 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) ros::Duration(0.1).sleep(); ros::spinOnce(); } - // mission->reset(p_m); + mission->reset(p_m); ros::Duration(5.0).sleep(); } + mission = std::make_shared(cfg_, p_m, mission_id); //reset the position of start point for gazebo resetGazebo(Eigen::Vector3d(p_m.m_start_point[0], p_m.m_start_point[1], p_m.m_start_point[2]), p_m.m_start_point[3]); + std::cout<<"start point: "<cal_time = iter_times; iter_times.clear(); std::vector(iter_times).swap(iter_times); - mission->trial_id = trial_id; metrics->setMissions(mission); ros::Duration(1.0).sleep(); trial_id++; @@ -362,7 +362,7 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) } else get_new_mission = false; - ROS_INFO("The finished mission_id is: %d, trial_id is: %d", mission_id, trial_id); + std::cout<<"mission_id: "< start_area, start_origin, end_area, end_origin; - static int trials_, seed; + static int trials_; if(!get_seed) { @@ -452,7 +452,7 @@ void AvoidManage::getMissionParam(avoidlib::mission_parameter* const m_param, co end_origin = cfg["mission"]["end_origin"].as>(); radius_area = cfg["mission"]["radius_area"].as(); radius_origin = cfg["mission"]["radius_origin"].as(); - seed = cfg["mission"]["seed"].as(); + int seed = cfg["mission"]["seed"].as(); trials_ = cfg["mission"]["trials"].as(); srand(seed); get_seed = true; @@ -462,41 +462,41 @@ void AvoidManage::getMissionParam(avoidlib::mission_parameter* const m_param, co { int area_id = std::rand()%4; if (area_id == 0) - m_param->m_start_point = {start_area[1]-start_area[0]/2.0f+(start_area[0]-2*start_area[1])*rand, + m_param->m_start_point = {-start_area[0]/2.0f+start_area[0]*rand, start_area[1]*rand, 2.0f, 0}; rand = (std::rand()%200)/200.0f; - m_param->m_end_point = {end_area[1]-end_area[0]/2.0f+(end_area[0]-2*end_area[1])*rand, + m_param->m_end_point = {-end_area[0]/2.0f+end_area[0]*rand, -end_area[1]*rand+end_origin[1], 2.0f+1.0f*rand}; if (area_id == 1) { m_param->m_start_point = {start_area[1]*rand-start_area[0]/2.0, - (start_area[1] + (start_area[0]-2*start_area[1]))*rand, + start_area[0]*rand, 2.0f, -M_PI/2.0}; rand = (std::rand()%200)/200.0f; m_param->m_end_point = {-end_area[1]*rand+end_area[0]/2, - (end_area[1] + (end_area[0]-2*end_area[1]))*rand, + end_area[0]*rand, 2.0f+1.0f*rand}; } if (area_id == 2) { - m_param->m_start_point = {end_area[1]-end_area[0]/2.0f+(end_area[0]-2*end_area[1])*rand, + m_param->m_start_point = {-end_area[0]/2.0f+end_area[0]*rand, -end_area[1]*rand+end_area[0], 2.0f, M_PI}; rand = (std::rand()%200)/200.0f; - m_param->m_end_point = {start_area[1]-start_area[0]/2.0f+(start_area[0]-2*start_area[1])*rand, + m_param->m_end_point = {-start_area[0]/2.0f+start_area[0]*rand, start_area[1]*rand, - 2.0f+1.0f*rand}; + 2.0f+1.0f*rand}; } if (area_id == 3) { m_param->m_start_point = {-end_area[1]*rand+end_area[0]/2, - (end_area[1] + (end_area[0]-2*end_area[1]))*rand, + end_area[0]*rand, 2.0f, M_PI/2.0}; rand = (std::rand()%200)/200.0f; m_param->m_end_point = {start_area[1]*rand-start_area[0]/2, - (start_area[1] + (start_area[0]-2*start_area[1]))*rand, + start_area[0]*rand, 2.0f+1.0f*rand}; } } @@ -517,12 +517,10 @@ void AvoidManage::getMissionParam(avoidlib::mission_parameter* const m_param, co if_update_map = true; return; } - maps_tried_id++; - srand(seed * maps_tried_id); // make sure every mission has the same complexity map when benchmark different algos - rand = (std::rand()%200)/200.0f; - m_param->trials = trials_; + m_param->trials =trials_; m_param->m_radius = radius_origin + radius_area*rand; m_param->m_seed = std::rand()%200; + rand = (std::rand()%200)/200.0f; m_param->m_opacity = rand; if(!save_data_mode) m_param->m_pc_file_name = cfg["mission"]["pc_file_name"].as()+std::to_string(m_id); diff --git a/src/avoidbench/avoid_manage/src/rl_test.cpp b/src/avoidbench/avoid_manage/src/rl_test.cpp index f7240f7..6e7c6f5 100644 --- a/src/avoidbench/avoid_manage/src/rl_test.cpp +++ b/src/avoidbench/avoid_manage/src/rl_test.cpp @@ -253,8 +253,8 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) //random generate start and end point until they both have a certain free space int ss=0; - while(avoidbench_bridge->checkCollisionState(p_m.m_start_point, true) || - avoidbench_bridge->checkCollisionState(p_m.m_end_point)) + while(avoidbench_bridge->checkCollisionState(&(p_m.m_start_point), true) || + avoidbench_bridge->checkCollisionState(&(p_m.m_end_point))) { ss++; mission_state = Mission_state::UNITYSETTING; @@ -282,8 +282,8 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) //random generate start and end point until they both have a certain free space if_update_map = false; getMissionParam(&p_m, mission_id); - while(avoidbench_bridge->checkCollisionState(p_m.m_start_point, true) || - avoidbench_bridge->checkCollisionState(p_m.m_end_point)) + while(avoidbench_bridge->checkCollisionState(&(p_m.m_start_point), true) || + avoidbench_bridge->checkCollisionState(&(p_m.m_end_point))) { mission_state = Mission_state::UNITYSETTING; if_update_map = false; diff --git a/src/avoidbench/avoid_msgs/msg/Factor.msg b/src/avoidbench/avoid_msgs/msg/Factor.msg index d1fe7f7..f9c3c86 100644 --- a/src/avoidbench/avoid_msgs/msg/Factor.msg +++ b/src/avoidbench/avoid_msgs/msg/Factor.msg @@ -1,10 +1,10 @@ #peformance metrics -float64[] path_excess_factor +float64[] optimality_factor float64[] average_goal_velocity +float64[] mission_progress float64[] processing_time float64[] collision_number float64[] energy_cost -float64[] relative_end_distance #environment metrics float64 traversability diff --git a/src/avoidbench/avoidlib/.vscode/.gitignore b/src/avoidbench/avoidlib/.vscode/.gitignore deleted file mode 100644 index c5253c3..0000000 --- a/src/avoidbench/avoidlib/.vscode/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -# Ignore everything in this directory -* -# Except this file -!.gitignore -!extensions.json diff --git a/src/avoidbench/avoidlib/.vscode/extensions.json b/src/avoidbench/avoidlib/.vscode/extensions.json deleted file mode 100644 index 5c2577d..0000000 --- a/src/avoidbench/avoidlib/.vscode/extensions.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "recommendations": [ - "ms-vscode.cpptools", - "ms-vscode.cmake-tools", - "matepek.vscode-catch2-test-adapter", - "hbenl.vscode-test-explorer", - "xaver.clang-format" - ] -} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/CMakeLists.txt b/src/avoidbench/avoidlib/CMakeLists.txt index 2d8e9fe..5d07c4a 100644 --- a/src/avoidbench/avoidlib/CMakeLists.txt +++ b/src/avoidbench/avoidlib/CMakeLists.txt @@ -49,6 +49,7 @@ set(CUDA_NVCC_FLAGS -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_75,code=sm_75 + -gencode=arch=compute_86,code=sm_86 ) message("CUDA Libs: ${CUDA_LIBRARIES}") @@ -171,6 +172,14 @@ else() set(LIBRARY_NAME ${PROJECT_NAME}) endif() + +cuda_add_library(sgm_gpu + src/sgm_gpu/sgm_gpu.cu + src/sgm_gpu/costs.cu + src/sgm_gpu/hamming_cost.cu + src/sgm_gpu/left_right_consistency.cu + src/sgm_gpu/median_filter.cu) + if(DEFINED CATKIN_DEVEL_PREFIX) find_package(catkin_simple REQUIRED) catkin_package( @@ -178,13 +187,7 @@ if(DEFINED CATKIN_DEVEL_PREFIX) CATKIN_DEPENDS ) catkin_simple(ALL_DEPS_REQUIRED) - - cuda_add_library(sgm_gpu - src/sgm_gpu/sgm_gpu.cu - src/sgm_gpu/costs.cu - src/sgm_gpu/hamming_cost.cu - src/sgm_gpu/left_right_consistency.cu - src/sgm_gpu/median_filter.cu) + cs_add_library(avoidbench_bridge ${AVOIDBRIDGE_SOURCES}) target_link_libraries(avoidbench_bridge @@ -240,7 +243,7 @@ else() ${PROJECT_SOURCE_DIR}/include) endif() message("${LIBRARY_NAME}") - target_link_libraries(flightgym PRIVATE ${LIBRARY_NAME}) + target_link_libraries(flightgym PRIVATE sgm_gpu ${LIBRARY_NAME}) endif() endif() diff --git a/src/avoidbench/avoidlib/build/CMakeCache.txt b/src/avoidbench/avoidlib/build/CMakeCache.txt deleted file mode 100644 index 7180bb0..0000000 --- a/src/avoidbench/avoidlib/build/CMakeCache.txt +++ /dev/null @@ -1,890 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /home/hyyu/AvoidBench/src/avoidbench/avoidlib/build -# It was generated by CMake: /usr/bin/cmake -# You can edit this file to change values found and used by cmake. -# If you do not want to change any of the values, simply exit the editor. -# If you do want to change a value, simply edit, save, and exit the editor. -# The syntax for the file is as follows: -# KEY:TYPE=VALUE -# KEY is the name of a variable in the cache. -# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. -# VALUE is the current value for the KEY. - -######################## -# EXTERNAL cache entries -######################## - -//Building the benchmark. -BUILD_BENCH:BOOL=OFF - -//Building the tests -BUILD_TESTS:BOOL=ON - -//Building the Unity Bridge tests -BUILD_UNITY_BRIDGE_TESTS:BOOL=ON - -//Path to a program. -CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line - -//Path to a program. -CMAKE_AR:FILEPATH=/usr/bin/ar - -CMAKE_BUILD_TYPE:STRING=Release - -//Enable/Disable color output during build. -CMAKE_COLOR_MAKEFILE:BOOL=ON - -//CXX compiler -CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ - -//A wrapper around 'ar' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 - -//A wrapper around 'ranlib' adding the appropriate '--plugin' option -// for 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This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number components. */ -#ifdef COMPILER_VERSION_MAJOR -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; -char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; - - - - -#if !defined(__STDC__) -# if (defined(_MSC_VER) && !defined(__clang__)) \ - || (defined(__ibmxl__) || defined(__IBMC__)) -# define C_DIALECT "90" -# else -# define C_DIALECT -# endif -#elif __STDC_VERSION__ >= 201000L -# define C_DIALECT "11" -#elif __STDC_VERSION__ >= 199901L -# define C_DIALECT "99" -#else -# define C_DIALECT "90" -#endif -const char* info_language_dialect_default = - "INFO" ":" "dialect_default[" C_DIALECT "]"; - -/*--------------------------------------------------------------------------*/ - -#ifdef ID_VOID_MAIN -void main() {} -#else -# if defined(__CLASSIC_C__) -int main(argc, argv) int argc; char *argv[]; -# else -int main(int argc, char* argv[]) -# endif -{ - int require = 0; - require += info_compiler[argc]; - require += info_platform[argc]; - require += info_arch[argc]; -#ifdef COMPILER_VERSION_MAJOR - require += info_version[argc]; -#endif -#ifdef COMPILER_VERSION_INTERNAL - require += info_version_internal[argc]; -#endif -#ifdef SIMULATE_ID - require += info_simulate[argc]; -#endif -#ifdef SIMULATE_VERSION_MAJOR - require += info_simulate_version[argc]; -#endif -#if defined(__CRAYXE) || defined(__CRAYXC) - require += info_cray[argc]; -#endif - require += info_language_dialect_default[argc]; - (void)argv; - return require; -} -#endif diff --git a/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdC/a.out deleted file mode 100755 index e82fab4..0000000 Binary files a/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdC/a.out and /dev/null differ diff --git a/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp deleted file mode 100644 index 69cfdba..0000000 --- a/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp +++ /dev/null @@ -1,660 +0,0 @@ -/* This source file must have a .cpp extension so that all C++ compilers - recognize the extension without flags. 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files a/src/avoidbench/avoidlib/build/flightgym.cpython-38-x86_64-linux-gnu.so and /dev/null differ diff --git a/src/avoidbench/avoidlib/build/flightgym.egg-info/PKG-INFO b/src/avoidbench/avoidlib/build/flightgym.egg-info/PKG-INFO deleted file mode 100644 index 8b54605..0000000 --- a/src/avoidbench/avoidlib/build/flightgym.egg-info/PKG-INFO +++ /dev/null @@ -1,10 +0,0 @@ -Metadata-Version: 1.0 -Name: flightgym -Version: 0.0.1 -Summary: Flightmare: A Quadrotor Simulator -Home-page: UNKNOWN -Author: Yunlong Song -Author-email: song@ifi.uzh.ch -License: UNKNOWN -Description: UNKNOWN -Platform: UNKNOWN diff --git a/src/avoidbench/avoidlib/build/flightgym.egg-info/SOURCES.txt b/src/avoidbench/avoidlib/build/flightgym.egg-info/SOURCES.txt deleted file mode 100644 index 7a89aff..0000000 --- a/src/avoidbench/avoidlib/build/flightgym.egg-info/SOURCES.txt +++ /dev/null @@ -1,6 +0,0 @@ -setup.py -./flightgym.cpython-38-x86_64-linux-gnu.so -./flightgym.egg-info/PKG-INFO -./flightgym.egg-info/SOURCES.txt -./flightgym.egg-info/dependency_links.txt -./flightgym.egg-info/top_level.txt \ No newline at end of file diff --git a/src/avoidbench/avoidlib/build/flightgym.egg-info/dependency_links.txt b/src/avoidbench/avoidlib/build/flightgym.egg-info/dependency_links.txt deleted file mode 100644 index 8b13789..0000000 --- a/src/avoidbench/avoidlib/build/flightgym.egg-info/dependency_links.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/src/avoidbench/avoidlib/build/flightgym.egg-info/top_level.txt b/src/avoidbench/avoidlib/build/flightgym.egg-info/top_level.txt deleted file mode 100644 index 8b13789..0000000 --- a/src/avoidbench/avoidlib/build/flightgym.egg-info/top_level.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/src/avoidbench/avoidlib/build/libavoidlib.a b/src/avoidbench/avoidlib/build/libavoidlib.a deleted file mode 100644 index 35149aa..0000000 Binary files a/src/avoidbench/avoidlib/build/libavoidlib.a and /dev/null differ diff --git a/src/avoidbench/avoidlib/include/avoidlib/bridges/avoidbench_bridge.hpp b/src/avoidbench/avoidlib/include/avoidlib/bridges/avoidbench_bridge.hpp index eaa5287..b22f05c 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/bridges/avoidbench_bridge.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/bridges/avoidbench_bridge.hpp @@ -35,7 +35,7 @@ class AvoidbenchBridge { cv::Mat* depth_uint16, cv::Mat* disp_uint8); void getPointCloud(const std::string curr_data_dir, const Eigen::Vector3d &range, const Eigen::Vector3d &origin); - bool checkCollisionState(const std::vector point, const bool if_start=false); + bool checkCollisionState(std::vector* const point, const bool &if_start=false); bool connectUnity(); void setParamFromMission(const mission_parameter ¶); void SpawnNewObs(); diff --git a/src/avoidbench/avoidlib/include/avoidlib/bridges/unity_bridge.hpp b/src/avoidbench/avoidlib/include/avoidlib/bridges/unity_bridge.hpp index 848f5ab..5f86d41 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/bridges/unity_bridge.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/bridges/unity_bridge.hpp @@ -48,7 +48,7 @@ class UnityBridge { bool getRender(const FrameID frame_id, const bool SpawnNewObj = false); bool handleOutput(const FrameID sent_frame_id); bool getPointCloud(PointCloudMessage_t &pointcloud_msg); - bool checkCollisionState(const CollisionCheckMessage_t &collision_check_msg); + bool checkCollisionState(const CollisionCheckMessage_t &collision_check_msg, std::vector* const new_pt); // public set functions bool setScene(const SceneID &scene_id); diff --git a/src/avoidbench/avoidlib/include/avoidlib/pointclouds/environment.h b/src/avoidbench/avoidlib/include/avoidlib/pointclouds/environment.h index 8dba18d..79402d9 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/pointclouds/environment.h +++ b/src/avoidbench/avoidlib/include/avoidlib/pointclouds/environment.h @@ -42,7 +42,7 @@ class Environment { void readPointCloud(const std::string &filepath); Eigen::Vector3i pcl2Node(const Eigen::Vector3d &pos); Eigen::Vector3d Node2pcl(const Eigen::Vector3i &node); - bool checkOccupied(const Eigen::Vector3d &pos); + bool checkOccupied(const Eigen::Vector3d &pos, const double radius=0.0); bool checkOccupied(const Eigen::Vector3i &node); double getOccupiedDistance(const Eigen::Vector3d &pos, const double radius, const double max_nn); diff --git a/src/avoidbench/avoidlib/include/avoidlib/sensors/rgb_camera.hpp b/src/avoidbench/avoidlib/include/avoidlib/sensors/rgb_camera.hpp index 78ed190..aa7feb8 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/sensors/rgb_camera.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/sensors/rgb_camera.hpp @@ -68,7 +68,7 @@ class RGBCamera : SensorBase { // image data buffer std::mutex queue_mutex_; - const int queue_size_ = 1; + const int queue_size_ = 0; std::deque rgb_queue_; std::deque depth_queue_; diff --git a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.h b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.h index 19bb44c..0a4ab92 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.h +++ b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.h @@ -31,6 +31,7 @@ class AvoidVecVisionEnv : public VecVisionEnvBase { inline std::vector getRewardNames(void) { return this->envs_[0]->getRewardNames(); }; + bool resetRewCoeff(); private: void perAgentStep(int agent_id, Ref> act, diff --git a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h index 1b00c1a..24cabeb 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h +++ b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h @@ -18,6 +18,7 @@ #include "avoidlib/objects/quadrotor.hpp" #include "avoidlib/vision_envs/vision_env_base.h" #include "avoidlib/sensors/rgb_camera.hpp" +#include "sgm_gpu/sgm_gpu.h" namespace avoidlib { namespace avoidenv { @@ -25,7 +26,7 @@ namespace avoidenv { enum Avoid : int { kNState = 14, kObs = 0, - kNObs = 6, + kNObs = 7, kNLatent = 32, kNSeq = 1, kAct = 0, @@ -49,11 +50,12 @@ class AvoidVisionEnv final : public VisionEnvBase { // - public set functions bool loadParam(const YAML::Node &cfg); + bool resetRewCoeff(const YAML::Node &cfg); // - public get functions bool getObs(Ref> obs) override; bool getImage(Ref> img, const bool rgb = true) override; bool getDepthImage(Ref> img) override; - + Ref> computeDepthImage(const cv::Mat& left_frame, const cv::Mat& right_frame); // get states bool getQuadAct(Ref> act) const; bool getQuadState(Ref> state) const; @@ -69,6 +71,8 @@ class AvoidVisionEnv final : public VisionEnvBase { inline std::vector getRewardNames() {return reward_names_;} std::unordered_map extra_info_; + void setTraversability(double map_traversability) {map_traversability_ = map_traversability;} + private: void init(); int env_id_; @@ -76,15 +80,23 @@ class AvoidVisionEnv final : public VisionEnvBase { bool configCamera(const YAML::Node &cfg, const std::shared_ptr); Logger logger_{"QaudrotorEnv"}; bool LineCollisionCheck(Vector<3> pt1, Vector<3> pt2); + bool body2world(Ref> body, Ref> world); std::shared_ptr quad_ptr_; + std::shared_ptr sgm_; QuadState quad_state_, pre_quad_state_; Vector<3> goal_point_; - Vector<3> direction_, pre_direction_; + // Vector<3> direction_, pre_direction_; + double log_distance_, pre_log_distance_; + double horizon_vel_, pre_horizon_vel_; + double theta_, pre_theta_; + double horizon_vel_dire_, pre_horizon_vel_dire_; + double yaw; // Define reward for training - double colli_coeff_, risk_coeff_, goal_coeff_, input_coeff_, lin_vel_coeff_; + double colli_coeff_, distance_coeff_, vel_coeff_, vert_coeff_, angle_vel_coeff_, angle_coeff_, input_coeff_, yaw_coeff_; bool is_training; bool collision_happened; + bool reset_if_collide_; // observations and actions (for RL) Vector pi_obs_; Vector pi_act_; @@ -98,9 +110,10 @@ class AvoidVisionEnv final : public VisionEnvBase { Vector obs_std_ = Vector::Ones(); // robot vision - std::shared_ptr rgb_camera_; - cv::Mat rgb_img_; + std::shared_ptr rgb_camera_, right_rgb_camera_; + cv::Mat rgb_img_, right_rgb_img_; cv::Mat depth_img_; + bool use_stereo_vision_; // auxiliary variables bool use_camera_{true}; @@ -110,5 +123,18 @@ class AvoidVisionEnv final : public VisionEnvBase { // point clouds map std::shared_ptr env_ptr_; + double map_traversability_; + + // unity + int scene_id_; + std::vector start_area_, end_area_, start_origin_, end_origin_; + + // seed + int seed_; + + // exchange start and goal points + bool reverse {false}; + Vector<3> last_goal_point_, last_start_point_; + double last_yaw_; }; } \ No newline at end of file diff --git a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vec_vision_env_base.h b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vec_vision_env_base.h index 44ad4a0..383c21d 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vec_vision_env_base.h +++ b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vec_vision_env_base.h @@ -48,10 +48,12 @@ class VecVisionEnvBase { bool initializeConnections(); void disconnectUnity(); FrameID updateUnity(const FrameID frame_id); - bool spawnObstacles(bool change_obs); + bool spawnObstacles(bool change_obs, int seed=-1, float radius=-1.0f); bool ifSceneChanged(); bool getPointClouds(const std::string curr_data_dir, int id, bool save_pc); + bool readPointClouds(int id); bool getSavingState() { return save_pc_success_; }; + bool getReadingState() { return read_pc_success_; }; // public functions inline int getSeed(void) const { return seed_; }; inline SceneID getSceneID(void) const { return scene_id_; }; @@ -108,5 +110,6 @@ class VecVisionEnvBase { int img_width_, img_height_; Matrix<> obs_dummy_; bool save_pc_success_{false}; + bool read_pc_success_{false}; }; } \ No newline at end of file diff --git a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vision_env_base.h b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vision_env_base.h index 9242712..17f5c97 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vision_env_base.h +++ b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vision_env_base.h @@ -35,6 +35,7 @@ class VisionEnvBase { virtual bool isTerminalState(double &reward); virtual bool addQuadrotorToUnity(const std::shared_ptr bridge); virtual bool setPointClouds(const std::shared_ptr env_ptr); + virtual void setTraversability(double traversability); virtual void setQuadFromPtr(const std::shared_ptr bridge); inline void setSeed(const int seed) { std::srand(seed); }; inline int getObsDim() { return obs_dim_; }; diff --git a/src/avoidbench/avoidlib/setup.py b/src/avoidbench/avoidlib/setup.py new file mode 100644 index 0000000..ea16896 --- /dev/null +++ b/src/avoidbench/avoidlib/setup.py @@ -0,0 +1,14 @@ +from setuptools import setup, Extension +# +setup(name='flightgym', + version='0.0.1', + author="Yunlong Song", + author_email='song@ifi.uzh.ch', + description="Flightmare: A Quadrotor Simulator", + long_description='', + packages=[''], + package_dir={'': './'}, + package_data={'': ['*.so']}, + zip_fase=True, + url=None, + ) \ No newline at end of file diff --git a/src/avoidbench/avoidlib/src/bridges/avoidbench_bridge.cpp b/src/avoidbench/avoidlib/src/bridges/avoidbench_bridge.cpp index 04962e2..92f0b4e 100644 --- a/src/avoidbench/avoidlib/src/bridges/avoidbench_bridge.cpp +++ b/src/avoidbench/avoidlib/src/bridges/avoidbench_bridge.cpp @@ -253,21 +253,15 @@ void AvoidbenchBridge::getPointCloud(const std::string curr_data_dir, finish_pc_save = true; } -bool AvoidbenchBridge::checkCollisionState(const std::vector point, const bool if_start) +bool AvoidbenchBridge::checkCollisionState(std::vector* const point, const bool &if_start) { finish_check = false; //"finish_check" just used for python side because of the multi thread CollisionCheckMessage_t collision_check_msg; + collision_check_msg.checked_point = *point; collision_check_msg.if_start_point = if_start; if(if_start) - { collision_check_msg.drone_width = 1.0; - collision_check_msg.checked_point[0] = point[0]; - collision_check_msg.checked_point[1] = point[1]; - collision_check_msg.checked_point[2] = point[2]; - } - else collision_check_msg.checked_point = point; - - bool is_collision = unity_bridge_ptr_->checkCollisionState(collision_check_msg); + bool is_collision = unity_bridge_ptr_->checkCollisionState(collision_check_msg, point); finish_check = true; return is_collision; } diff --git a/src/avoidbench/avoidlib/src/bridges/unity_bridge.cpp b/src/avoidbench/avoidlib/src/bridges/unity_bridge.cpp index 61b6a71..c059f3c 100644 --- a/src/avoidbench/avoidlib/src/bridges/unity_bridge.cpp +++ b/src/avoidbench/avoidlib/src/bridges/unity_bridge.cpp @@ -5,8 +5,8 @@ namespace avoidlib { // constructor UnityBridge::UnityBridge() : client_address_("tcp://*"), - pub_port_("10253"), - sub_port_("10254"), + pub_port_("10255"), + sub_port_("10256"), num_frames_(0), last_downloaded_utime_(0), last_download_debug_utime_(0), @@ -233,7 +233,6 @@ bool UnityBridge::handleOutput(const FrameID sent_frame_id) { colli_state_msg = json::parse(json_colli_msg); return false; } - // unpack message metadata std::string json_sub_msg = msg.get(0); std::string json_pc_msg = msg.get(1); @@ -273,8 +272,6 @@ bool UnityBridge::handleOutput(const FrameID sent_frame_id) { // left. new_image = new_image * (100.f); cv::flip(new_image, new_image, 0); - - unity_quadrotors_[idx] ->getCameras()[cam.output_index] ->feedImageQueue(layer_idx, new_image); @@ -331,18 +328,16 @@ bool UnityBridge::getPointCloud(PointCloudMessage_t& pointcloud_msg) { ss = 0; pc_state_msg.get_pc_msg = false; float wait_time = 0.0f; - std::cout<<"pc_state_msg.save_pc_success: "<* const new_pt) { int ss = 0; while(!colli_state_msg.get_msg) @@ -362,7 +357,10 @@ bool UnityBridge::checkCollisionState(const CollisionCheckMessage_t &collision_c if(ss==20) return true; colli_state_msg.get_msg = false; if(colli_state_msg.if_collision) + { + *new_pt = colli_state_msg.new_point; return true; + } return false; } diff --git a/src/avoidbench/avoidlib/src/objects/quadrotor.cpp b/src/avoidbench/avoidlib/src/objects/quadrotor.cpp index c4678a1..a1d1be9 100644 --- a/src/avoidbench/avoidlib/src/objects/quadrotor.cpp +++ b/src/avoidbench/avoidlib/src/objects/quadrotor.cpp @@ -116,6 +116,12 @@ bool Quadrotor::reset() { bool Quadrotor::reset(const QuadState &state) { if (!state.valid()) return false; state_ = state; + Eigen::Matrix3d rot = state.q().toRotationMatrix()*Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitZ()); + Eigen::Quaterniond rot_q(rot); + state_.x[QS::ATTW] = rot_q.w(); + state_.x[QS::ATTX] = rot_q.x(); + state_.x[QS::ATTY] = rot_q.y(); + state_.x[QS::ATTZ] = rot_q.z(); motor_omega_.setZero(); motor_thrusts_.setZero(); return true; @@ -124,6 +130,12 @@ bool Quadrotor::reset(const QuadState &state) { bool Quadrotor::reset(const QuadState &state, const Vector<4> motor_omega) { if (!state.valid()) return false; state_ = state; + Eigen::Matrix3d rot = state.q().toRotationMatrix()*Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitZ()); + Eigen::Quaterniond rot_q(rot); + state_.x[QS::ATTW] = rot_q.w(); + state_.x[QS::ATTX] = rot_q.x(); + state_.x[QS::ATTY] = rot_q.y(); + state_.x[QS::ATTZ] = rot_q.z(); motor_omega_ = motor_omega; // motor_thrusts_.setZero(); return true; @@ -164,6 +176,12 @@ bool Quadrotor::setCommand(const Command &cmd) { bool Quadrotor::setState(const QuadState &state) { if (!state.valid()) return false; state_ = state; + Eigen::Matrix3d rot = state.q().toRotationMatrix()*Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitZ()); + Eigen::Quaterniond rot_q(rot); + state_.x[QS::ATTW] = rot_q.w(); + state_.x[QS::ATTX] = rot_q.x(); + state_.x[QS::ATTY] = rot_q.y(); + state_.x[QS::ATTZ] = rot_q.z(); return true; } diff --git a/src/avoidbench/avoidlib/src/pointclouds/environment.cpp b/src/avoidbench/avoidlib/src/pointclouds/environment.cpp index 3bfc4f6..33a7a10 100644 --- a/src/avoidbench/avoidlib/src/pointclouds/environment.cpp +++ b/src/avoidbench/avoidlib/src/pointclouds/environment.cpp @@ -24,26 +24,26 @@ namespace avoidlib tinyply::PlyFile file; file.parse_header(*file_stream); - std::cout << "\t[ply_header] Type: " - << (file.is_binary_file() ? "binary" : "ascii") << std::endl; - for (const auto &c : file.get_comments()) - std::cout << "\t[ply_header] Comment: " << c << std::endl; - for (const auto &c : file.get_info()) - std::cout << "\t[ply_header] Info: " << c << std::endl; - - for (const auto &e : file.get_elements()) { - std::cout << "\t[ply_header] element: " << e.name << " (" << e.size << ")" - << std::endl; - for (const auto &p : e.properties) { - std::cout << "\t[ply_header] \tproperty: " << p.name - << " (type=" << tinyply::PropertyTable[p.propertyType].str - << ")"; - if (p.isList) - std::cout << " (list_type=" << tinyply::PropertyTable[p.listType].str - << ")"; - std::cout << std::endl; - } - } + // std::cout << "\t[ply_header] Type: " + // << (file.is_binary_file() ? "binary" : "ascii") << std::endl; + // for (const auto &c : file.get_comments()) + // std::cout << "\t[ply_header] Comment: " << c << std::endl; + // for (const auto &c : file.get_info()) + // std::cout << "\t[ply_header] Info: " << c << std::endl; + + // for (const auto &e : file.get_elements()) { + // std::cout << "\t[ply_header] element: " << e.name << " (" << e.size << ")" + // << std::endl; + // for (const auto &p : e.properties) { + // std::cout << "\t[ply_header] \tproperty: " << p.name + // << " (type=" << tinyply::PropertyTable[p.propertyType].str + // << ")"; + // if (p.isList) + // std::cout << " (list_type=" << tinyply::PropertyTable[p.listType].str + // << ")"; + // std::cout << std::endl; + // } + // } // Because most people have their own mesh types, tinyply treats parsed data // as structured/typed byte buffers. See examples below on how to marry your @@ -67,7 +67,6 @@ namespace avoidlib std::cout << "\tRead " << vertices->count << " total vertices " << std::endl; - const size_t numVerticesBytes = vertices->buffer.size_bytes(); @@ -89,7 +88,6 @@ namespace avoidlib } idx += 1; } - kd_tree_.SetMatrixData(points_); } catch (const std::exception &e) { @@ -183,12 +181,12 @@ namespace avoidlib kd_tree_.SearchRadius(query_point, bounding.resolution_, indices, distances_squared); if (indices.size() != 0) { *free_dist = 0; - for(int i=0; i indices; std::vector distances_squared; - kd_tree_.SearchRadius(pos, drone_r, indices, distances_squared); + if (radius == 0.0) { + kd_tree_.SearchRadius(pos, drone_r, indices, distances_squared); + } + else { + kd_tree_.SearchRadius(pos, radius, indices, distances_squared); + } if (indices.size() != 0) { return true; } diff --git a/src/avoidbench/avoidlib/src/sensors/rgb_camera.cpp b/src/avoidbench/avoidlib/src/sensors/rgb_camera.cpp index bf33a8a..5d58753 100644 --- a/src/avoidbench/avoidlib/src/sensors/rgb_camera.cpp +++ b/src/avoidbench/avoidlib/src/sensors/rgb_camera.cpp @@ -21,7 +21,7 @@ bool RGBCamera::feedImageQueue(const int image_layer, rgb_queue_.push_back(image_mat); break; case CameraLayer::DepthMap: - if (depth_queue_.size() > queue_size_) depth_queue_.resize(queue_size_); + if (depth_queue_.size() > queue_size_) depth_queue_.clear(); depth_queue_.push_back(image_mat); break; case CameraLayer::Segmentation: @@ -167,6 +167,7 @@ bool RGBCamera::getRGBImage(cv::Mat& rgb_img) { } bool RGBCamera::getDepthMap(cv::Mat& depth_map) { + // std::cout<<"depth_queue_ size: "< //#include namespace sgm_gpu { @@ -271,11 +270,11 @@ bool SgmGpu::computeDisparity(const cv::Mat &left_image, // Convert images to grayscale cv::Mat left_mono8, right_mono8; if (left_image.channels() > 1) { - cv::cvtColor(left_image, left_mono8, CV_RGB2GRAY); + cv::cvtColor(left_image, left_mono8, cv::COLOR_RGB2GRAY); } if (right_image.channels() > 1) { - cv::cvtColor(right_image, right_mono8, CV_RGB2GRAY); + cv::cvtColor(right_image, right_mono8, cv::COLOR_RGB2GRAY); } // Resize images to their width and height divisible by 4 for limit of CUDA diff --git a/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.cpp b/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.cpp index f39c860..1fbdb58 100644 --- a/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.cpp +++ b/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.cpp @@ -36,6 +36,16 @@ AvoidVecVisionEnv::AvoidVecVisionEnv(const YAML::Node& cfg_node) { random_reset_ = true; } +template +bool AvoidVecVisionEnv::resetRewCoeff() +{ + for (int i = 0; i < this->num_envs_; i++) { + this->envs_[i]->resetRewCoeff(cfg_); + } + + return true; +} + template bool AvoidVecVisionEnv::reset(Ref> obs) { if (obs.rows() != this->num_envs_ || obs.cols() != this->goal_obs_dim_) { @@ -60,12 +70,11 @@ bool AvoidVecVisionEnv::reset(Ref> obs, "Input matrix dimensions do not match with that of the environment."); return false; } - random_reset_ = random; - + // random_reset_ = random; this->receive_id_ = 0; for (int i = 0; i < this->num_envs_; i++) { - this->envs_[i]->reset(obs.row(i), random_reset_); + this->envs_[i]->reset(obs.row(i), random); } return true; diff --git a/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vision_envs.cpp b/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vision_envs.cpp index d2e4e92..e033a52 100644 --- a/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vision_envs.cpp +++ b/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vision_envs.cpp @@ -35,8 +35,9 @@ void AvoidVisionEnv::init() { state_dim_ = avoidenv::kNState; rew_dim_ = 0; round = 0; + map_traversability_ = 0.0; - world_box_ << -10, 10, 0, 32, 0.0, 4.5; + world_box_ << -10, 10, -3.0, 36, 0.4, 4.5; // load parameters loadParam(cfg_); @@ -50,22 +51,52 @@ void AvoidVisionEnv::init() { // add camera if (use_camera_) { - rgb_camera_ = std::make_shared(); - if (!configCamera(cfg_, rgb_camera_)) { - logger_.error( - "Cannot config RGB Camera. Something wrong with the config file"); - }; - - quad_ptr_->addRGBCamera(rgb_camera_); - // - img_width_ = rgb_camera_->getWidth(); - img_height_ = rgb_camera_->getHeight(); - rgb_img_ = cv::Mat::zeros(img_height_, img_width_, - CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); - depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + if(!use_stereo_vision_) + { + rgb_camera_ = std::make_shared(); + if (!configCamera(cfg_, rgb_camera_)) { + logger_.error( + "Cannot config RGB Camera. Something wrong with the config file"); + }; + + quad_ptr_->addRGBCamera(rgb_camera_); + // + img_width_ = rgb_camera_->getWidth(); + img_height_ = rgb_camera_->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); + depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + } + else + { + cfg_["rgb_camera"]["t_BC"][1] = -0.10; + cfg_["rpg_camera"]["enable_depth"] = "no"; + rgb_camera_ = std::make_shared(); + if (!configCamera(cfg_, rgb_camera_)) { + logger_.error( + "Cannot config RGB Camera. Something wrong with the config file"); + }; + quad_ptr_->addRGBCamera(rgb_camera_); + // + img_width_ = rgb_camera_->getWidth(); + img_height_ = rgb_camera_->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); + + cfg_["rgb_camera"]["t_BC"][1] = 0.10; + right_rgb_camera_ = std::make_shared(); + if (!configCamera(cfg_, right_rgb_camera_)) { + logger_.error( + "Cannot config right RGB Camera. Something wrong with the config file"); + }; + quad_ptr_->addRGBCamera(right_rgb_camera_); + // + right_rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, right_rgb_camera_->getChannels())); + sgm_.reset(new sgm_gpu::SgmGpu(img_width_, img_height_)); + } } } - } AvoidVisionEnv::~AvoidVisionEnv() {} @@ -75,21 +106,128 @@ void AvoidVisionEnv::setQuadFromPtr(const std::shared_ptr bridge) quad_ptr_ = bridge->getQuadrotor(0); if (use_camera_) { - rgb_camera_ = quad_ptr_->getCameras()[0]; - img_width_ = rgb_camera_->getWidth(); - img_height_ = rgb_camera_->getHeight(); - rgb_img_ = cv::Mat::zeros(img_height_, img_width_, - CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); - depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + if(!use_stereo_vision_) + { + rgb_camera_ = quad_ptr_->getCameras()[0]; + img_width_ = rgb_camera_->getWidth(); + img_height_ = rgb_camera_->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); + depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + } + else + { + rgb_camera_ = quad_ptr_->getCameras()[0]; + right_rgb_camera_ = quad_ptr_->getCameras()[1]; + img_width_ = rgb_camera_->getWidth(); + img_height_ = rgb_camera_->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); + right_rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, right_rgb_camera_->getChannels())); + sgm_.reset(new sgm_gpu::SgmGpu(img_width_, img_height_)); + } + } } bool AvoidVisionEnv::reset(Ref> obs) { // reset position quad_state_.setZero(); - quad_state_.x(QS::POSX) = uniform_dist_(random_gen_); - quad_state_.x(QS::POSY) = uniform_dist_(random_gen_) + 1.0; - quad_state_.x(QS::POSZ) = 2.0; + Vector<3> euler; + euler.x() = 0.0; + euler.y() = 0.0; + euler.z() = 0.0; + if (reverse && !(env_ptr_->checkOccupied(Eigen::Vector3d(last_start_point_(0), last_start_point_(1), last_start_point_(2)+0.5), 1.5)) + && !(env_ptr_->checkOccupied(Eigen::Vector3d(last_goal_point_(0), last_goal_point_(1), last_goal_point_(2)+0.5), 1.5))) + { + quad_state_.p.x() = last_goal_point_(0); + quad_state_.p.y() = last_goal_point_(1); + quad_state_.p.z() = last_goal_point_(2); + if (last_yaw_ <= 0.0) + euler.z() = last_yaw_ + M_PI; + else + euler.z() = last_yaw_ - M_PI; + goal_point_(0) = last_start_point_(0); + goal_point_(1) = last_start_point_(1); + goal_point_(2) = last_start_point_(2); + reverse = false; + } + else + { + do + { + int area_id = std::rand() % 3; + if(scene_id_ == 3) + { + if(area_id == 0) + { + quad_state_.p.x() = start_area_[1] - start_area_[0]/2.0 + + (start_area_[0] - 2*start_area_[1]) * std::abs(uniform_dist_(random_gen_)); + quad_state_.p.y() = start_area_[1] * std::abs(uniform_dist_(random_gen_)); + quad_state_.p.z() = 3.0; + euler.z() = 0.0; + + goal_point_(0) = end_area_[1] - end_area_[0]/2.0 + + (end_area_[0] - 2 * end_area_[1]) * std::abs(uniform_dist_(random_gen_)); + goal_point_(1) = - end_area_[1] * std::abs(uniform_dist_(random_gen_)) + end_origin_[1]; + goal_point_(2) = 3.0 + std::abs(uniform_dist_(random_gen_)); + } else if(area_id == 1) + { + quad_state_.p.x() = start_area_[1] * std::abs(uniform_dist_(random_gen_)) - + start_area_[0] / 2.0; + quad_state_.p.y() = start_area_[1] + (start_area_[1] + + (start_area_[0]-2 * start_area_[1])) * std::abs(uniform_dist_(random_gen_)); + quad_state_.p.z() = 3.0; + euler.z() = -M_PI / 2.0; + + goal_point_(0) = - end_area_[1] * std::abs(uniform_dist_(random_gen_)) + end_area_[0] / 2.0; + goal_point_(1) = end_area_[1] + (end_area_[0] - 2 * end_area_[1]) * std::abs(uniform_dist_(random_gen_)); + goal_point_(2) = 3.0 + std::abs(uniform_dist_(random_gen_)); + } else if(area_id == 2) + // { + // quad_state_.p.x() = end_area_[1] - end_area_[0]/2.0 + + // (end_area_[0] - 2 * end_area_[1]) * std::abs(uniform_dist_(random_gen_)); + // quad_state_.p.y() = - end_area_[1] * std::abs(uniform_dist_(random_gen_)) + end_area_[0]; + // quad_state_.p.z() = 3.0; + // euler.z() = M_PI; + + // goal_point_(0) = start_area_[1] - start_area_[0] / 2.0 + + // (start_area_[0] - 2 * start_area_[1]) * std::abs(uniform_dist_(random_gen_)); + // goal_point_(1) = start_area_[1] * std::abs(uniform_dist_(random_gen_)); + // goal_point_(2) = 3.0 + std::abs(uniform_dist_(random_gen_)); + // } else if(area_id == 3) + { + quad_state_.p.x() = - end_area_[1] * std::abs(uniform_dist_(random_gen_)) + end_area_[0]/2.0; + quad_state_.p.y() = (end_area_[1] + (end_area_[0] - 2.0 * end_area_[1])) * std::abs(uniform_dist_(random_gen_)); + quad_state_.p.z() = 3.0; + euler.z() = M_PI / 2.0; + + goal_point_(0) = start_area_[1] * std::abs(uniform_dist_(random_gen_)) - start_area_[0]/2.0; + goal_point_(1) = (start_area_[1] + (start_area_[0] - 2.0 * start_area_[1])) * std::abs(uniform_dist_(random_gen_)); + goal_point_(2) = 3.0 + std::abs(uniform_dist_(random_gen_)); + } + } + else if (scene_id_ == 1) + { + quad_state_.p.x() = - start_area_[0] / 2.0 + start_area_[0] * std::abs(uniform_dist_(random_gen_)); + quad_state_.p.y() = start_area_[1] * std::abs(uniform_dist_(random_gen_)); + quad_state_.p.z() = 3.0; + + goal_point_(0) = - end_area_[0] / 2.0 + end_area_[0] * std::abs(uniform_dist_(random_gen_)); + goal_point_(1) = - end_area_[1] * std::abs(uniform_dist_(random_gen_)) + end_origin_[1]; + goal_point_(2) = 3.0 + std::abs(uniform_dist_(random_gen_)); + } + } while (env_ptr_->checkOccupied(Eigen::Vector3d(quad_state_.p.x(), quad_state_.p.y(), quad_state_.p.z()+0.5), 1.5) || + env_ptr_->checkOccupied(Eigen::Vector3d(goal_point_(0), goal_point_(1), goal_point_(2)+0.5), 1.5)); + + last_goal_point_ = goal_point_; + last_start_point_ << quad_state_.p.x(), quad_state_.p.y(), quad_state_.p.z(); + last_yaw_ = euler.z(); + // reverse = true; + } + + // reset velocity if(action_mode_ ==0) { quad_state_.x(QS::VELX) = uniform_dist_(random_gen_); @@ -101,33 +239,39 @@ bool AvoidVisionEnv::reset(Ref> obs) { quad_state_.x(QS::VELY) = 0.0; quad_state_.x(QS::VELZ) = 0.0; } - - Vector<3> euler; - euler.x() = 0.0; - euler.y() = 0.0; - euler.z() = 0.0; Quaternion quat; EularToquaternion(quat, euler); quad_state_.x(QS::ATTW) = quat.w(); quad_state_.x(QS::ATTX) = quat.x(); quad_state_.x(QS::ATTY) = quat.y(); quad_state_.x(QS::ATTZ) = quat.z(); + pre_quad_state_ = quad_state_; // reset quadrotor with random states quad_ptr_->reset(quad_state_); - goal_point_(0) = uniform_dist_(random_gen_) * 6.0; - goal_point_(1) = uniform_dist_(random_gen_) + 24.0; - goal_point_(2) = uniform_dist_(random_gen_) + 2.0; - direction_ = goal_point_ - quad_state_.p; - direction_.normalize(); - pre_direction_ = direction_; + + log_distance_ = log(sqrt(pow(goal_point_.x()-quad_state_.p.x(), 2) + pow(goal_point_.y()-quad_state_.p.y(), 2)) + 1); + pre_log_distance_ = log_distance_; + horizon_vel_ = 0.0; + pre_horizon_vel_ = 0.0; + + theta_ = atan2(-(goal_point_ - quad_state_.p).x(), (goal_point_ - quad_state_.p).y()); + pre_theta_ = theta_; + horizon_vel_dire_ = 0.0; + pre_horizon_vel_dire_ = 0.0; + yaw = euler.z(); // obtain observations getObs(obs); + round++; return true; } -bool AvoidVisionEnv::reset(Ref> obs, bool random) { return reset(obs); } +bool AvoidVisionEnv::reset(Ref> obs, bool random) { + if (!random) + random_gen_.seed(seed_); + return reset(obs); + } bool AvoidVisionEnv::getObs(Ref> obs) { @@ -136,7 +280,26 @@ bool AvoidVisionEnv::getObs(Ref> obs) obs_dim_ - avoidenv::kNLatent); return false; } - obs.segment(avoidenv::kObs) << direction_, quad_state_.v; + obs.segment(avoidenv::kObs) << log_distance_, horizon_vel_, theta_, horizon_vel_dire_, + goal_point_.z() - quad_state_.p.z(), quad_state_.v.z(), yaw; + return true; +} + +bool AvoidVisionEnv::body2world(Ref> body, Ref> world) +{ + if (body.size() != 3 || world.size() != 3) + { + logger_.error("body2world dimension mismatch. %d != %d", body.size(), world.size()); + return false; + } + Quaternion quat; + quat.w() = quad_state_.x(QS::ATTW); + quat.x() = quad_state_.x(QS::ATTX); + quat.y() = quad_state_.x(QS::ATTY); + quat.z() = quad_state_.x(QS::ATTZ); + Matrix<3, 3> rot_mat = quat.toRotationMatrix(); + Vector<3> world_flu = rot_mat * body; + world << -world_flu.y(), world_flu.x(), world_flu.z(); // FLU to RFU return true; } @@ -144,109 +307,122 @@ bool AvoidVisionEnv::step(const Ref> act, Ref> obs, Ref> reward) { if (!act.allFinite() || act.rows() != act_dim_ || rew_dim_ != reward.rows()) return false; + pre_quad_state_ = quad_state_; - pre_direction_ = direction_; + pre_log_distance_ = log_distance_; + pre_horizon_vel_ = horizon_vel_; + pre_theta_ = theta_; + pre_horizon_vel_dire_ = horizon_vel_dire_; collision_happened = false; - double input_sum = 0; + // double input_sum = 0; double occupied_distance = 0; for (int i=0; i(avoidenv::kAct + i*avoidenv::kNAct). cwiseProduct(act_std_) + act_mean_; + // std::cout<<"pi_act_: "<(avoidenv::kAct + i*avoidenv::kNAct) = pi_act_; + Vector<3> action_pos, action_pos_world; + action_pos = pi_act_.segment<3>(avoidenv::kAct); + body2world(action_pos, action_pos_world); + if(action_mode_ == 0) { - quad_state_.v = pi_act_.segment<3>(avoidenv::kAct); - quad_state_.p = quad_state_.p + quad_state_.v * sim_dt_; - if(i==0) - input_sum = (pi_act_.segment<3>(avoidenv::kAct) - pre_quad_state_.v).norm(); - else - input_sum += (pi_act_seq_.segment<3>(avoidenv::kAct + i*avoidenv::kNAct) - - pi_act_seq_.segment<3>(avoidenv::kAct + (i-1)*avoidenv::kNAct)).norm(); + quad_state_.v = action_pos; //update velocity of body frame + quad_state_.p = quad_state_.p + action_pos_world * sim_dt_; //update position of world frame + // if(i==0) + // input_sum = (pi_act_.segment<3>(avoidenv::kAct) - pre_quad_state_.v).norm(); + // else + // input_sum += (pi_act_seq_.segment<3>(avoidenv::kAct + i*avoidenv::kNAct) - + // pi_act_seq_.segment<3>(avoidenv::kAct + (i-1)*avoidenv::kNAct)).norm(); } else { - quad_state_.a = pi_act_.segment<3>(avoidenv::kAct); - quad_state_.p = quad_state_.p + quad_state_.v * sim_dt_ + 0.5 * quad_state_.a * sim_dt_ * sim_dt_; - quad_state_.v = quad_state_.v + quad_state_.a * sim_dt_; - if(i==0) - input_sum = (pi_act_.segment<3>(avoidenv::kAct) - pre_quad_state_.a).norm(); - else - input_sum += (pi_act_seq_.segment<3>(avoidenv::kAct + i*avoidenv::kNAct) - - pi_act_seq_.segment<3>(avoidenv::kAct + (i-1)*avoidenv::kNAct)).norm(); + quad_state_.a = action_pos; //update acceleration of body frame + Vector<3> v_world; + body2world(quad_state_.v, v_world); + quad_state_.p = quad_state_.p + v_world * sim_dt_ + 0.5 * action_pos_world * sim_dt_ * sim_dt_; //update position of world frame + quad_state_.v = quad_state_.v + quad_state_.a * sim_dt_; //update velocity of body frame + // if(i==0) + // input_sum = (pi_act_.segment<3>(avoidenv::kAct) - pre_quad_state_.a).norm(); + // else + // input_sum += (pi_act_seq_.segment<3>(avoidenv::kAct + i*avoidenv::kNAct) - + // pi_act_seq_.segment<3>(avoidenv::kAct + (i-1)*avoidenv::kNAct)).norm(); } - // std::cout<<"quad_state_.a: "<getOccupiedDistance(quad_state_.p, 2.0, 15); Vector<3> euler; quaternionToEuler(quad_state_.q(), euler); - euler.z() = euler.z() + pi_act_(avoidenv::kNAct - 1)*i; + + euler.z() = euler.z() + pi_act_(avoidenv::kNAct - 1) * sim_dt_; if(euler.z() > M_PI) euler.z() = euler.z() - 2*M_PI; else if(euler.z() < -M_PI) euler.z() = euler.z() + 2*M_PI; - Quaternion quat; - EularToquaternion(quat, euler); - quad_state_.q(quat); + yaw = euler.z(); + + /********** if we don't consider the attitude of pitch and roll ***********/ + // Quaternion quat; + // EularToquaternion(quat, euler); + // quad_state_.q(quat); + + // if we enable the attitude of pitch and roll + Eigen::Vector3d thrust = Eigen::Vector3d(-quad_state_.a[1], quad_state_.a[0], quad_state_.a[2]) + 9.81 * Eigen::Vector3d::UnitZ(); + Eigen::Vector3d I_eZ_I(0.0, 0.0, 1.0); + Eigen::Quaterniond q_pitch_roll = Eigen::Quaterniond::FromTwoVectors(I_eZ_I, thrust); + + Eigen::Quaterniond q_heading = Eigen::Quaterniond( + Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ())); + Eigen::Quaterniond q_att = q_pitch_roll * q_heading; + q_att.normalize(); + quad_state_.q(q_att); + } - occupied_distance = occupied_distance / avoidenv::kNSeq; - // std::cout<<"occupied_distance: "<setState(quad_state_); - if((goal_point_ - quad_state_.p).norm()>2.0) - direction_ = (goal_point_ - quad_state_.p).normalized(); - else - direction_ = (goal_point_ - quad_state_.p) / 2.0; + double x = (goal_point_ - quad_state_.p).x(); + double y = (goal_point_ - quad_state_.p).y(); + double z = (goal_point_ - quad_state_.p).z(); + // direction_ = (goal_point_ - quad_state_.p).normalized(); + // std::cout<<"quad_state_.p: "< step = (quad_state_.p - pre_quad_state_.p); - process = step.dot(pre_direction_); - // std::cout<<"process: "<avoidenv::kNSeq * input_limit_factor) - input_penalty = 20.0 * input_coeff_ * input_sum; - else - input_penalty = input_coeff_ * input_sum; + // reward for goal + const double goal_reward = distance_coeff_ * log_distance_; + //penalty for speed + double speed_penalty = 0; + if (std::abs(horizon_vel_) > 3.0) + speed_penalty = vel_coeff_ * std::abs(horizon_vel_); + // speed_penalty = vel_coeff_ * std::abs(horizon_vel_ - 2.0); + + //penalty for vertical + const double vertical_penalty = vert_coeff_ * (std::abs(quad_state_.p.z() - goal_point_.z())); + //penalty for angular velocity + const double angular_penalty = angle_vel_coeff_ * std::abs(horizon_vel_dire_ + yaw - theta_); + + //penalty for collision + // const double collision_penalty = colli_coeff_ * collision_happened; - // - velocity tracking (negative) - // std::cout<<"quad_state_.v.norm(): "< 6.0) - lin_vel_penalty = lin_vel_coeff_ * (std::abs(quad_state_.v.norm() - 6.0)); + //penalty for input + const double input_penalty = input_coeff_ * (quad_state_.a - pre_quad_state_.a).norm(); + + //penalty for yaw error + const double yaw_penalty = yaw_coeff_ * std::abs(horizon_vel_dire_); - // total reward double total_reward = 0; - if(action_mode_ == 0) - { - total_reward = process_reward + collision_penalty + risk_penalty + input_penalty; - reward << process_reward, collision_penalty, risk_penalty, input_penalty, total_reward; - } else - { - total_reward = process_reward + collision_penalty + risk_penalty + input_penalty + lin_vel_penalty; - reward << process_reward, collision_penalty, risk_penalty, input_penalty, lin_vel_penalty, total_reward; - } + + total_reward = goal_reward + speed_penalty + vertical_penalty + angular_penalty + input_penalty + yaw_penalty; + reward << goal_reward, speed_penalty, vertical_penalty, angular_penalty, input_penalty, yaw_penalty,total_reward; return true; } @@ -276,22 +452,37 @@ bool AvoidVisionEnv::isTerminalState(double &reward) { quad_state_.x(QS::POSY) > world_box_(1,1) || quad_state_.x(QS::POSZ) < world_box_(2,0) || quad_state_.x(QS::POSZ) > world_box_(2,1)) { - reward = -1.0; + reward = -2.0; return true; } - if (quad_state_.t > 120.0) + if (quad_state_.t > 100.0) { - reward = -1.0; + if (scene_id_ == 1) + reward = -10.0; + else if (scene_id_ == 3) + reward = -5.0; return true; } - if (std::abs(quad_state_.x(QS::POSX)-goal_point_.x()) < 0.2 && - std::abs(quad_state_.x(QS::POSY)-goal_point_.y()) < 0.2 && - std::abs(quad_state_.x(QS::POSZ)-goal_point_.z()) < 0.2) + if (collision_happened) + { + if (scene_id_ == 1) + reward = -10.0; + else if (scene_id_ == 3) + reward = -2.0; + if (reset_if_collide_) + { + return true; + } + } + + if (std::abs(quad_state_.x(QS::POSX)-goal_point_.x()) < 0.4 && + std::abs(quad_state_.x(QS::POSY)-goal_point_.y()) < 0.4 && + std::abs(quad_state_.x(QS::POSZ)-goal_point_.z()) < 0.4) { std::cout<<"reach goal"<> depth_img) { - if (!rgb_camera_ || !rgb_camera_->getEnabledLayers()[0]) { + if (!rgb_camera_) { logger_.error( "No RGB Camera or depth map is not enabled. Cannot retrieve depth " "images."); return false; } - bool has_img = rgb_camera_->getDepthMap(depth_img_); - depth_img = Map>((float_t *)depth_img_.data, - depth_img_.rows * depth_img_.cols); + bool has_img; + if (!use_stereo_vision_) + { + has_img = rgb_camera_->getDepthMap(depth_img_); + depth_img = Map>((float_t *)depth_img_.data, depth_img_.rows * depth_img_.cols); + } + else + { + if (!right_rgb_camera_) { + logger_.error( + "No Right RGB Camera. Cannot retrieve depth images."); + return false; + } + + has_img = right_rgb_camera_->getRGBImage(right_rgb_img_) && rgb_camera_->getRGBImage(rgb_img_); + + // show left and right images at the same time + // cv::Mat stereo_img(img_height_, img_width_ * 2, CV_8UC3); + // cv::Mat left(stereo_img, cv::Rect(0, 0, img_width_, img_height_)); + // cv::Mat right(stereo_img, cv::Rect(img_width_, 0, img_width_, img_height_)); + // rgb_img_.copyTo(left); + // right_rgb_img_.copyTo(right); + // //save image + // std::string img_name = "/home/hyyu/RL_avoiding_private/src/learning/" + std::to_string(round) + ".png"; + // cv::imwrite(img_name, stereo_img); + + depth_img = computeDepthImage(rgb_img_, right_rgb_img_); + } + return has_img; } +Ref> AvoidVisionEnv::computeDepthImage(const cv::Mat& left_frame, const cv::Mat& right_frame) +{ + cv::Mat disp = cv::Mat(img_height_, img_width_, CV_8UC1); + sgm_->computeDisparity(left_frame, right_frame, &disp); + disp.convertTo(disp, CV_32FC1); + // compute depth from disparity + cv::Mat depth_float(img_height_, img_width_, CV_32FC1); + float f = (img_width_ / 2.0) / std::tan(M_PI * (rgb_camera_->getFOV() / 2.0) / 180.0); + for (int r = 0; r(r, c) == 0.0f) + depth_float.at(r, c) = 0.0f; + else if (disp.at(r, c) == 255.0f) + depth_float.at(r, c) = 255.0f; + else + depth_float.at(r, c) = 0.2f * f / disp.at(r, c); + } + } + return Map>((float_t *)depth_float.data, depth_float.rows * depth_float.cols); +} + bool AvoidVisionEnv::getImage(Ref> img, const bool rgb) { if (!rgb_camera_) { logger_.error("No Camera! Cannot retrieve Images."); @@ -365,6 +603,8 @@ bool AvoidVisionEnv::loadParam(const YAML::Node &cfg) { (act_max[2]+act_min[2])/2, (act_max[3]+act_min[3])/2; act_std_ << (act_max[0]-act_min[0])/2, (act_max[1]-act_min[1])/2, (act_max[2]-act_min[2])/2, (act_max[3]-act_min[3])/2; + reset_if_collide_ = cfg["simulation"]["reset_if_collide"].as(); + use_stereo_vision_ = cfg["simulation"]["use_stereo_vision"].as(); } else { logger_.error("Cannot load [quadrotor_env] parameters"); @@ -373,10 +613,13 @@ bool AvoidVisionEnv::loadParam(const YAML::Node &cfg) { if (cfg["rewards"]) { // load reinforcement learning related parameters colli_coeff_ = cfg["rewards"]["colli_coeff"].as(); - risk_coeff_ = cfg["rewards"]["risk_coeff"].as(); - goal_coeff_ = cfg["rewards"]["goal_coeff"].as(); + distance_coeff_ = cfg["rewards"]["distance_coeff"].as(); + vel_coeff_ = cfg["rewards"]["vel_coeff"].as(); + vert_coeff_ = cfg["rewards"]["vert_coeff"].as(); + angle_vel_coeff_ = cfg["rewards"]["angle_vel_coeff"].as(); input_coeff_ = cfg["rewards"]["input_coeff"].as(); - lin_vel_coeff_ = cfg["rewards"]["lin_vel_coeff"].as(); + yaw_coeff_ = cfg["rewards"]["yaw_coeff"].as(); + // angle_coeff_ = cfg["rewards"]["angle_coeff"].as(); // load reward settings reward_names_ = cfg["rewards"]["names"].as>(); @@ -387,11 +630,42 @@ bool AvoidVisionEnv::loadParam(const YAML::Node &cfg) { } if (cfg["unity"]) { is_training = cfg["unity"]["render"].as(); + scene_id_ = cfg["unity"]["scene_id"].as(); + start_area_ = cfg["unity"]["start_area"].as>(); + end_area_ = cfg["unity"]["end_area"].as>(); + start_origin_ = cfg["unity"]["start_origin"].as>(); + end_origin_ = cfg["unity"]["end_origin"].as>(); + world_box_ << -start_area_[0]/2 - 2.0, start_area_[0]/2 + 2.0, -2.0, end_origin_[1] + 8.0, 0.4, 6.0; } else { logger_.error("Cannot load [unity] parameters"); return false; } + if (cfg["simulation"]){ + seed_ = cfg["simulation"]["seed"].as(); + } else { + logger_.error("Cannot load [simulation] parameters"); + return false; + } + + return true; +} + +bool AvoidVisionEnv::resetRewCoeff(const YAML::Node &cfg) +{ + if (cfg["rewards"]) { + // load reinforcement learning related parameters + colli_coeff_ = cfg["rewards"]["colli_coeff_new"].as(); + distance_coeff_ = cfg["rewards"]["distance_coeff_new"].as(); + vel_coeff_ = cfg["rewards"]["vel_coeff_new"].as(); + vert_coeff_ = cfg["rewards"]["vert_coeff_new"].as(); + angle_vel_coeff_ = cfg["rewards"]["angle_vel_coeff_new"].as(); + input_coeff_ = cfg["rewards"]["input_coeff_new"].as(); + yaw_coeff_ = cfg["rewards"]["yaw_coeff_new"].as(); + } else { + logger_.error("Cannot load [rewards] parameters"); + return false; + } return true; } @@ -406,15 +680,6 @@ bool AvoidVisionEnv::configCamera(const YAML::Node &cfg, logger_.warn("Camera is off. Please turn it on."); return false; } - - if (quad_ptr_->getNumCamera() >= 1) { - logger_.warn("Camera has been added. Skipping the camera configuration."); - return false; - } - - // create camera - rgb_camera_ = std::make_shared(); - // load camera settings std::vector t_BC_vec = cfg["rgb_camera"]["t_BC"].as>(); @@ -434,12 +699,12 @@ bool AvoidVisionEnv::configCamera(const YAML::Node &cfg, post_processing[2] = cfg["rgb_camera"]["enable_opticalflow"].as(); // - rgb_camera_->setFOV(cfg["rgb_camera"]["fov"].as()); - rgb_camera_->setWidth(cfg["rgb_camera"]["width"].as()); - rgb_camera_->setChannels(cfg["rgb_camera"]["channels"].as()); - rgb_camera_->setHeight(cfg["rgb_camera"]["height"].as()); - rgb_camera_->setRelPose(t_BC, r_BC); - rgb_camera_->setPostProcessing(post_processing); + camera->setFOV(cfg["rgb_camera"]["fov"].as()); + camera->setWidth(cfg["rgb_camera"]["width"].as()); + camera->setChannels(cfg["rgb_camera"]["channels"].as()); + camera->setHeight(cfg["rgb_camera"]["height"].as()); + camera->setRelPose(t_BC, r_BC); + camera->setPostProcessing(post_processing); return true; } diff --git a/src/avoidbench/avoidlib/src/vision_envs/vec_vision_env_base.cpp b/src/avoidbench/avoidlib/src/vision_envs/vec_vision_env_base.cpp index 19de524..5d50d0d 100644 --- a/src/avoidbench/avoidlib/src/vision_envs/vec_vision_env_base.cpp +++ b/src/avoidbench/avoidlib/src/vision_envs/vec_vision_env_base.cpp @@ -205,6 +205,7 @@ bool VecVisionEnvBase::setUnity(bool render) { return false; } // create unity bridge + logger_.info("create unity bridge"); unity_bridge_ptr_ = UnityBridge::getInstance(); // add objects to Unity for (int i = 0; i < num_envs_; i++) { @@ -269,7 +270,7 @@ bool VecVisionEnvBase::ifSceneChanged() } template -bool VecVisionEnvBase::spawnObstacles(bool change_obs) +bool VecVisionEnvBase::spawnObstacles(bool change_obs, int seed, float radius) { if(change_obs) { @@ -281,9 +282,16 @@ bool VecVisionEnvBase::spawnObstacles(bool change_obs) trees.bounding_area[1] = bounding_box_[1]; trees.bounding_origin[0] = bounding_box_origin_[0]; trees.bounding_origin[1] = bounding_box_origin_[1]; - trees.seed = std::rand()%200;; + if(seed == -1) + trees.seed = std::rand()%200; + else + trees.seed = seed; float rand = (std::rand()%200)/200.0f; - trees.radius = radius_origin_ + radius_area_ * rand; + if(radius == -1.0f) + trees.radius = radius_origin_ + radius_area_ * rand; + else + trees.radius = radius; + std::cout<<"trees radius: "<placeTrees(trees); } if(spawn_objects_) @@ -296,10 +304,21 @@ bool VecVisionEnvBase::spawnObstacles(bool change_obs) objects.bounding_origin[1] = bounding_box_origin_[1]; objects.scale_min = min_object_scale_; objects.scale_max = max_object_scale_; - objects.seed = std::rand()%200;; + if(seed == -1) + objects.seed = std::rand()%200; + else + objects.seed = seed; float rand = (std::rand()%200) / 200.0f; - objects.radius = radius_origin_ + radius_area_ * rand; - objects.opacity = (std::rand()%200) / 200.0f; + if(radius == -1.0f) + { + objects.radius = radius_origin_ + radius_area_ * rand; + objects.opacity = (std::rand()%200) / 200.0f; + } + else + { + objects.radius = radius; + objects.opacity = 0.5f; + } unity_bridge_ptr_->placeObjects(objects); } } @@ -314,6 +333,7 @@ bool VecVisionEnvBase::getPointClouds(const std::string curr_data_d if (save_pc) { // save point clouds + save_pc_success_ = false; PointCloudMessage_t pc_msg; pc_msg.range = range_; pc_msg.origin = origin_; @@ -322,17 +342,25 @@ bool VecVisionEnvBase::getPointClouds(const std::string curr_data_d pc_msg.file_name = "pointclouds" + std::to_string(id); unity_bridge_ptr_->getPointCloud(pc_msg); save_pc_success_ = true; - usleep(1.0*1e6); } + return true; +} +template +bool VecVisionEnvBase::readPointClouds(int id) +{ + read_pc_success_ = false; // read the point clouds and save it to kd-tree std::string pc_path = getenv("AVOIDBENCH_PATH") + std::string("/avoidmetrics/point_clouds_data/") + "pointclouds" + std::to_string(id) + std::string(".ply"); env_ptr_->readPointCloud(pc_path); - + double traversability = env_ptr_->getTraversability(); + std::cout<<"traversability: "<setPointClouds(env_ptr_); + envs_[i]->setTraversability(traversability); } + read_pc_success_ = true; return true; } diff --git a/src/avoidbench/avoidlib/src/vision_envs/vision_env_base.cpp b/src/avoidbench/avoidlib/src/vision_envs/vision_env_base.cpp index 53660c6..c990416 100644 --- a/src/avoidbench/avoidlib/src/vision_envs/vision_env_base.cpp +++ b/src/avoidbench/avoidlib/src/vision_envs/vision_env_base.cpp @@ -27,6 +27,8 @@ bool VisionEnvBase::setPointClouds(const std::shared_ptr env_ptr) { return false; } +void VisionEnvBase::setTraversability(double traversability) {} + void VisionEnvBase::setQuadFromPtr(const std::shared_ptr bridge) {} void VisionEnvBase::close() {} diff --git a/src/avoidbench/avoidlib/src/wrapper/avoidbench_wrapper.cpp b/src/avoidbench/avoidlib/src/wrapper/avoidbench_wrapper.cpp index acc46d3..22f6e26 100644 --- a/src/avoidbench/avoidlib/src/wrapper/avoidbench_wrapper.cpp +++ b/src/avoidbench/avoidlib/src/wrapper/avoidbench_wrapper.cpp @@ -21,7 +21,7 @@ bool checking_result; void checkPointThread(AvoidbenchBridge& bridge, std::vector pt, bool if_start) { - checking_result = bridge.checkCollisionState(pt, if_start); + checking_result = bridge.checkCollisionState(&pt, if_start); new_point = pt; } diff --git a/src/avoidbench/avoidlib/src/wrapper/pybind_wrapper.cpp b/src/avoidbench/avoidlib/src/wrapper/pybind_wrapper.cpp index 883b65b..1a0e99c 100644 --- a/src/avoidbench/avoidlib/src/wrapper/pybind_wrapper.cpp +++ b/src/avoidbench/avoidlib/src/wrapper/pybind_wrapper.cpp @@ -23,6 +23,11 @@ void PointCloudThread(AvoidVecVisionEnv& vec_env, std::string da vec_env.getPointClouds(data_dir, id, save_pc); } +void PointCloudReadingThread(AvoidVecVisionEnv& vec_env, int id) +{ + vec_env.readPointClouds(id); +} + PYBIND11_MODULE(flightgym, m) { py::class_>(m, "UnityBridge") .def(py::init<>()); @@ -82,6 +87,7 @@ PYBIND11_MODULE(flightgym, m) { static_cast::*)( Ref>, bool)>(&AvoidVecVisionEnv::reset), "reset with random option") + .def("resetRewCoeff", &AvoidVecVisionEnv::resetRewCoeff) .def("step", &AvoidVecVisionEnv::step) .def("close", &AvoidVecVisionEnv::close) .def("setSeed", &AvoidVecVisionEnv::setSeed) @@ -94,9 +100,15 @@ PYBIND11_MODULE(flightgym, m) { std::thread PCThread(PointCloudThread, std::ref(vec_env), data_dir, id, save_pc); PCThread.detach(); }) + .def("readPointClouds", [](AvoidVecVisionEnv& vec_env, int id) { + std::thread PCReadingThread(PointCloudReadingThread, std::ref(vec_env), id); + PCReadingThread.detach(); + }) + // .def("readPointClouds", &AvoidVecVisionEnv::readPointClouds) .def("setUnityFromPtr", &AvoidVecVisionEnv::setUnityFromPtr) .def("getUnityPtr", &AvoidVecVisionEnv::getUnityPtr) .def("getSavingState", &AvoidVecVisionEnv::getSavingState) + .def("getReadingState", &AvoidVecVisionEnv::getReadingState) .def("getObs", &AvoidVecVisionEnv::getObs) .def("getQuadAct", &AvoidVecVisionEnv::getQuadAct) .def("getQuadState", &AvoidVecVisionEnv::getQuadState) diff --git a/src/avoidbench/avoidmetrics/include/Metrics.h b/src/avoidbench/avoidmetrics/include/Metrics.h index ff5e15f..2326d0a 100644 --- a/src/avoidbench/avoidmetrics/include/Metrics.h +++ b/src/avoidbench/avoidmetrics/include/Metrics.h @@ -14,9 +14,9 @@ namespace avoidmetrics struct Metrics_msg { double traversability; double relative_gap_size; -std::vector path_excess_factor; +std::vector optimality_factor; std::vector average_goal_velocity; -std::vector relative_end_distance; +std::vector mission_progress; std::vector processing_time; std::vector collision_number; std::vector energy_cost; @@ -50,7 +50,6 @@ class Metrics { const std::shared_ptr mission, double &trav_dis); double CalAverageGoalVelocity(const double &dis, const double &t_m); double CalMissionProgress(const std::shared_ptr mission); - double CalRelativeEndDistance(const std::shared_ptr mission); double CalRelativeGapSize(const double &width, const double &radius); double CalProcessingTime(const std::vector &time); double CalEnergyCost(const double &dis, const std::vector traj); diff --git a/src/avoidbench/avoidmetrics/include/astar_path_finding.h b/src/avoidbench/avoidmetrics/include/astar_path_finding.h index 58a344f..5f6f7b5 100644 --- a/src/avoidbench/avoidmetrics/include/astar_path_finding.h +++ b/src/avoidbench/avoidmetrics/include/astar_path_finding.h @@ -48,9 +48,9 @@ class AStarFindPath { void setMap(std::shared_ptr env_ptr) { env_ptr_ = env_ptr; } bool toFindPath(const Eigen::Vector3d startPos, const Eigen::Vector3d endPos); std::vector getBestPath(); - void setMissionNumber(const int num) {mission_number = num;} + private: - int mission_number; + std::vector bestPath; std::vector bestNodePath; std::shared_ptr env_ptr_; diff --git a/src/avoidbench/avoidmetrics/src/Metrics.cpp b/src/avoidbench/avoidmetrics/src/Metrics.cpp index 47ab9ec..af9387a 100644 --- a/src/avoidbench/avoidmetrics/src/Metrics.cpp +++ b/src/avoidbench/avoidmetrics/src/Metrics.cpp @@ -66,20 +66,6 @@ namespace avoidmetrics return progress; } - double Metrics::CalRelativeEndDistance(const std::shared_ptr mission) - { - double red; - if(mission->finished) - red = 0.0; - else - { - double mission_dis = (mission->end_point - mission->start_point).norm(); - double end_dis = (mission->traj.back().position - mission->end_point).norm(); - red = end_dis / mission_dis; - } - return red; - } - double Metrics::CalRelativeGapSize(const double &width, const double &radius) { double relative_gap_size; @@ -101,7 +87,6 @@ namespace avoidmetrics void Metrics::setMissions(const std::shared_ptr mission) { mission_.push_back(mission); - astar_ptr_->setMissionNumber(mission_.size()); } avoid_msgs::Metrics Metrics::getMetricsMsg() @@ -136,8 +121,10 @@ namespace avoidmetrics { if(!mission_.empty()) { + std::cout<<"mission number: "< mission = mission_.front(); double dis, trav_dis; + if(mission->trial_id == 0) { //just need to be calculated once @@ -148,32 +135,30 @@ namespace avoidmetrics factor.traversability = env_ptr_->getTraversability(); factor.traversability = factor.traversability / d_drone; factor.relative_gap_size = CalRelativeGapSize(mission->obs_width, mission->r_poisson); - factor.path_excess_factor.clear(); + factor.optimality_factor.clear(); factor.average_goal_velocity.clear(); + factor.mission_progress.clear(); factor.processing_time.clear(); factor.collision_number.clear(); factor.energy_cost.clear(); - factor.relative_end_distance.clear(); } - if(astar_ptr_->toFindPath(mission->start_point, mission->end_point)) - CalOptimalDis(&dis, astar_ptr_->getBestPath()); - else dis = INFINITY; - factor.path_excess_factor.push_back(CalOptimalityFactor(dis, mission, trav_dis)); + astar_ptr_->toFindPath(mission->start_point, mission->end_point); + CalOptimalDis(&dis, astar_ptr_->getBestPath()); + factor.optimality_factor.push_back(CalOptimalityFactor(dis, mission, trav_dis)); factor.average_goal_velocity.push_back(CalAverageGoalVelocity(dis, mission->t_mission)); + factor.mission_progress.push_back(CalMissionProgress(mission)); factor.processing_time.push_back(CalProcessingTime(mission->cal_time)); factor.collision_number.push_back(mission->collision_number); factor.energy_cost.push_back(CalEnergyCost(dis, mission->traj)); - factor.relative_end_distance.push_back(CalRelativeEndDistance(mission)); - std::cout<<"distance: "<2) - { - finished = false; - stop_flag = true; - } + // if(collision_number>2) + // { + // finished = false; + // stop_flag = true; + // } } void Mission::reset(const avoidlib::mission_parameter &m_param) diff --git a/src/avoidbench/avoidmetrics/src/astar_path_finding.cpp b/src/avoidbench/avoidmetrics/src/astar_path_finding.cpp index b872412..f0ca360 100644 --- a/src/avoidbench/avoidmetrics/src/astar_path_finding.cpp +++ b/src/avoidbench/avoidmetrics/src/astar_path_finding.cpp @@ -72,9 +72,6 @@ bool AStarFindPath::toFindPath(const Eigen::Vector3d startPos, const Eigen::Vect openMap.insert(std::make_pair(start->id, start)); //judge from first node while (openList.size() > 0) { - - if (mission_number>5) return false; - AStarNode* curNode = openList.front(); int iter=0; int idx=0; @@ -94,6 +91,7 @@ bool AStarFindPath::toFindPath(const Eigen::Vector3d startPos, const Eigen::Vect else ++iter_map; } + closeList.push_back(curNode); closeMap.insert(std::make_pair(curNode->id, curNode)); diff --git a/src/avoidbench/avoidmetrics/src/environment.cpp b/src/avoidbench/avoidmetrics/src/environment.cpp index 8d4ce69..89e6dd0 100644 --- a/src/avoidbench/avoidmetrics/src/environment.cpp +++ b/src/avoidbench/avoidmetrics/src/environment.cpp @@ -183,12 +183,12 @@ namespace avoidmetrics kd_tree_.SearchRadius(query_point, bounding.resolution_, indices, distances_squared); if (indices.size() != 0) { *free_dist = 0; - for(int i=0; i(m, "MetricsMsg") .def(py::init<>()) .def_readwrite("traversability", &avoidmetrics::Metrics_msg::traversability) - .def_readwrite("path_excess_factor", &avoidmetrics::Metrics_msg::path_excess_factor) + .def_readwrite("optimality_factor", &avoidmetrics::Metrics_msg::optimality_factor) .def_readwrite("average_goal_velocity", &avoidmetrics::Metrics_msg::average_goal_velocity) - .def_readwrite("relative_end_distance", &avoidmetrics::Metrics_msg::relative_end_distance) + .def_readwrite("mission_progress", &avoidmetrics::Metrics_msg::mission_progress) .def_readwrite("relative_gap_size", &avoidmetrics::Metrics_msg::relative_gap_size) .def_readwrite("processing_time", &avoidmetrics::Metrics_msg::processing_time) .def_readwrite("collision_number", &avoidmetrics::Metrics_msg::collision_number); diff --git a/src/avoidbench/flightpy/configs/control/config.yaml b/src/avoidbench/flightpy/configs/control/config.yaml deleted file mode 100644 index a419751..0000000 --- a/src/avoidbench/flightpy/configs/control/config.yaml +++ /dev/null @@ -1,59 +0,0 @@ -unity: - scene_id: 0 # 0 warehouse, 1 garage, 3 natureforest - render: no - -simulation: - seed: 1 - sim_dt: 0.02 - max_t: 5.0 - num_envs: 2 - num_threads: 2 - rotor_ctrl: 1 # 0 single rotor, 1 body rate - -quadrotor_dynamics: - mass: 0.752 - tbm_fr: [0.075, -0.10, 0.0] # [m] - tbm_bl: [-0.075, 0.10, 0.0] # [m] - tbm_br: [-0.075, -0.10, 0.0] # [m] - tbm_fl: [0.075, 0.10, 0.0] # [m - omega_max: [6.0, 6.0, 2.0] - inertia: [0.0025, 0.0021, 0.0043] - kappa: 0.022 - motor_omega_min: 150.0 - motor_omega_max: 2333.0 - motor_tau: 0.033 - thrust_map: [1.562522e-6, 0.0, 0.0] # max thrust = 8.50 N - body_drag_1: [0.0, 0.0, 0.0] # [0.26, 0.28, 0.42] - body_drag_3: [0.00, 0.00, 0.00] - body_drag_h: 0.00 - -rewards: - pos_coeff: -0.002 # reward coefficient for position - ori_coeff: -0.002 # reward coefficient for orientation - lin_vel_coeff: -0.0001 # reward coefficient for linear velocity - ang_vel_coeff: -0.0001 # reward coefficient for angular velocity - names: - [ - "pos_penalty", - "ori_penalty", - "lin_vel_penalty", - "ang_vel_penalty", - "total", - ] - goal_state: - position: [0.0, 5.0, 10.0] - rotation: [0.0, 0.0, 0.0] - lin_vel: [0.0, 0.0, 0.0] - ang_vel: [0.0, 0.0, 0.0] - -rgb_camera: - on: yes - t_BC: [0.0, 0.0, 0.3] # translational vector of the camera with repect to the body frame - r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree. - channels: 3 - width: 720 - height: 480 - fov: 70.0 - enable_depth: yes - enable_segmentation: no - enable_opticalflow: no diff --git a/src/avoidbench/flightpy/configs/control/config_gazebo.yaml b/src/avoidbench/flightpy/configs/control/config_gazebo.yaml deleted file mode 100644 index 1645668..0000000 --- a/src/avoidbench/flightpy/configs/control/config_gazebo.yaml +++ /dev/null @@ -1,61 +0,0 @@ -unity: - scene_id: 0 # 0 warehouse, 1 garage, 3 natureforest - render: no - -simulation: - seed: 1 - sim_dt: 0.01 - max_t: 20.0 - num_envs: 100 - num_threads: 10 - rotor_ctrl: 1 # 0 single rotor, 1 body rate - -quadrotor_dynamics: - mass: 1.05 - tbm_fr: [0.13, -0.20, 0.0] # [m] - tbm_bl: [-0.13, 0.20, 0.0] # [m] - tbm_br: [-0.13, -0.20, 0.0] # [m] - tbm_fl: [0.13, 0.20, 0.0] # [m - omega_max: [6.0, 6.0, 1.5] - inertia: [0.0147563, 0.0158929, 0.022] - kappa: 0.016 - motor_omega_min: 0.0 - motor_omega_max: 1200.0 - motor_tau: 0.033 - thrust_map: [8.54858e-06, 0.0, 0.0] # max thrust = 8.50 N - body_drag_1: [0.0, 0.0, 0.0] # [0.26, 0.28, 0.42] - body_drag_3: [0.00, 0.00, 0.00] - body_drag_h: 0.00 - body_rates_p_xy: 0.3 - body_rates_d_xy: 1.0 - body_rates_p_z: 0.12 - body_rates_d_z: 0.20 - -rewards: - pos_coeff: -0.001 # reward coefficient for position - ori_coeff: -0.0005 # reward coefficient for orientation - vert_coeff: -0.001 - lin_vel_coeff: -0.001 # reward coefficient for linear velocity - ang_vel_coeff: -0.000 # reward coefficient for angular velocity - smooth_coeff: -0.000 - vel_dir_coeff: -0.000 - time_coeff: -0.0 - names: [processing_reward, lin_vel_penalty, ori_penalty, vel_dir_penalty, ang_vel_penalty, - smooth_reward, waypoint_reward, total] - goal_state: - position: [0.0, 0.0, 5.0] - rotation: [0.0, 0.0, 0.0] - lin_vel: [0.0, 0.0, 0.0] - ang_vel: [0.0, 0.0, 0.0] - -rgb_camera: - on: yes - t_BC: [0.0, 0.0, 0.3] # translational vector of the camera with repect to the body frame - r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree. - channels: 3 - width: 720 - height: 480 - fov: 70.0 - enable_depth: yes - enable_segmentation: no - enable_opticalflow: no diff --git a/src/avoidbench/flightpy/configs/scene.yaml b/src/avoidbench/flightpy/configs/scene.yaml deleted file mode 100644 index bc50f70..0000000 --- a/src/avoidbench/flightpy/configs/scene.yaml +++ /dev/null @@ -1,15 +0,0 @@ -scene_0: - name: "warehouse" - render_offset: [0, 0, 0] - -scene_1: - name: "street" - render_offset: [-9.38, -12.66, 0.1] - -scene_2: - name: "forest" - render_offset: [21, 217, 94] - -scene_3: - name: "wasteland" - render_offset: [1140, 1026, 108] \ No newline at end of file diff --git a/src/avoidbench/flightpy/flightrl/__init__.py b/src/avoidbench/flightpy/flightrl/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/avoidbench/flightpy/flightrl/build/lib/rpg_baselines/__init__.py b/src/avoidbench/flightpy/flightrl/build/lib/rpg_baselines/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/avoidbench/flightpy/flightrl/generate_data.py b/src/avoidbench/flightpy/flightrl/generate_data.py deleted file mode 100644 index d6c0c3d..0000000 --- a/src/avoidbench/flightpy/flightrl/generate_data.py +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import math -# -import os - -import numpy as np -import torch -from flightgym import AvoidVisionEnv_v1 -from ruamel.yaml import YAML, RoundTripDumper, dump -from stable_baselines3.common.utils import get_device -from stable_baselines3.ppo.policies import MlpPolicy - -from rpg_baselines.torch.common.ppo import PPO -from rpg_baselines.torch.envs import vec_vision_env_wrapper as wrapper -from rpg_baselines.torch.common.util import test_policy diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/__init__.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/__pycache__/__init__.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/__pycache__/__init__.cpython-38.pyc deleted file mode 100644 index 358f844..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/__pycache__/__init__.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/__init__.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/__pycache__/__init__.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/__pycache__/__init__.cpython-38.pyc deleted file mode 100644 index a2d0826..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/__pycache__/__init__.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__init__.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/__init__.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/__init__.cpython-38.pyc deleted file mode 100644 index cae3fc2..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/__init__.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/on_policy_algorithm.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/on_policy_algorithm.cpython-38.pyc deleted file mode 100644 index 4a5cd87..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/on_policy_algorithm.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/ppo.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/ppo.cpython-38.pyc deleted file mode 100644 index 109f985..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/ppo.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/util.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/util.cpython-38.pyc deleted file mode 100644 index 92255d6..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/__pycache__/util.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/on_policy_algorithm.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/on_policy_algorithm.py deleted file mode 100644 index 07bda14..0000000 --- a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/on_policy_algorithm.py +++ /dev/null @@ -1,350 +0,0 @@ -import os -import time -from typing import Any, Dict, List, Optional, Tuple, Type, Union - -import gym -import numpy as np -import torch as th -from genericpath import exists -from ruamel.yaml import YAML -from stable_baselines3.common.base_class import BaseAlgorithm -from stable_baselines3.common.buffers import RolloutBuffer -from stable_baselines3.common.callbacks import BaseCallback -from stable_baselines3.common.policies import ActorCriticPolicy -from stable_baselines3.common.type_aliases import (GymEnv, MaybeCallback, - Schedule) -from stable_baselines3.common.utils import safe_mean -from stable_baselines3.common.vec_env import VecEnv - - -class OnPolicyAlgorithm(BaseAlgorithm): - """ - The base for On-Policy algorithms (ex: A2C/PPO). - - :param policy: The policy model to use (MlpPolicy, CnnPolicy, ...) - :param env: The environment to learn from (if registered in Gym, can be str) - :param learning_rate: The learning rate, it can be a function - of the current progress remaining (from 1 to 0) - :param n_steps: The number of steps to run for each environment per update - (i.e. batch size is n_steps * n_env where n_env is number of environment copies running in parallel) - :param gamma: Discount factor - :param gae_lambda: Factor for trade-off of bias vs variance for Generalized Advantage Estimator. - Equivalent to classic advantage when set to 1. - :param ent_coef: Entropy coefficient for the loss calculation - :param vf_coef: Value function coefficient for the loss calculation - :param max_grad_norm: The maximum value for the gradient clipping - :param use_sde: Whether to use generalized State Dependent Exploration (gSDE) - instead of action noise exploration (default: False) - :param sde_sample_freq: Sample a new noise matrix every n steps when using gSDE - Default: -1 (only sample at the beginning of the rollout) - :param tensorboard_log: the log location for tensorboard (if None, no logging) - :param create_eval_env: Whether to create a second environment that will be - used for evaluating the agent periodically. (Only available when passing string for the environment) - :param monitor_wrapper: When creating an environment, whether to wrap it - or not in a Monitor wrapper. - :param policy_kwargs: additional arguments to be passed to the policy on creation - :param verbose: the verbosity level: 0 no output, 1 info, 2 debug - :param seed: Seed for the pseudo random generators - :param device: Device (cpu, cuda, ...) on which the code should be run. - Setting it to auto, the code will be run on the GPU if possible. - :param _init_setup_model: Whether or not to build the network at the creation of the instance - :param supported_action_spaces: The action spaces supported by the algorithm. - """ - - def __init__( - self, - policy: Union[str, Type[ActorCriticPolicy]], - env: Union[GymEnv, str], - learning_rate: Union[float, Schedule], - n_steps: int, - use_tanh_act: bool, - gamma: float, - gae_lambda: float, - ent_coef: float, - vf_coef: float, - max_grad_norm: float, - use_sde: bool, - sde_sample_freq: int, - tensorboard_log: Optional[str] = None, - create_eval_env: bool = False, - eval_env: Union[GymEnv, str] = None, - monitor_wrapper: bool = True, - policy_kwargs: Optional[Dict[str, Any]] = None, - verbose: int = 0, - seed: Optional[int] = None, - device: Union[th.device, str] = "auto", - _init_setup_model: bool = True, - supported_action_spaces: Optional[Tuple[gym.spaces.Space, ...]] = None, - ): - - super(OnPolicyAlgorithm, self).__init__( - policy=policy, - env=env, - policy_base=ActorCriticPolicy, - learning_rate=learning_rate, - policy_kwargs=policy_kwargs, - verbose=verbose, - device=device, - use_sde=use_sde, - sde_sample_freq=sde_sample_freq, - create_eval_env=create_eval_env, - support_multi_env=True, - seed=seed, - tensorboard_log=tensorboard_log, - supported_action_spaces=supported_action_spaces, - ) - - self.n_steps = n_steps - self.gamma = gamma - self.gae_lambda = gae_lambda - self.use_tanh_act = use_tanh_act - self.ent_coef = ent_coef - self.vf_coef = vf_coef - self.max_grad_norm = max_grad_norm - self.rollout_buffer = None - - self.eval_env = eval_env - - if _init_setup_model: - self._setup_model() - - def _setup_model(self) -> None: - self._setup_lr_schedule() - self.set_random_seed(self.seed) - - self.rollout_buffer = RolloutBuffer( - self.n_steps, - self.observation_space, - self.action_space, - self.device, - gamma=self.gamma, - gae_lambda=self.gae_lambda, - n_envs=self.n_envs, - ) - - self.policy = self.policy_class( # pytype:disable=not-instantiable - self.observation_space, - self.action_space, - self.lr_schedule, - use_sde=self.use_sde, - **self.policy_kwargs # pytype:disable=not-instantiable - ) - - # 1) Add Tanh activation to Policy Net - if self.use_tanh_act: - self.policy.action_net = th.nn.Sequential( - self.policy.action_net, th.nn.Tanh() - ) - - self.policy = self.policy.to(self.device) - - def collect_rollouts( - self, - env: VecEnv, - callback: BaseCallback, - rollout_buffer: RolloutBuffer, - n_rollout_steps: int, - ) -> bool: - """ - Collect experiences using the current policy and fill a ``RolloutBuffer``. - The term rollout here refers to the model-free notion and should not - be used with the concept of rollout used in model-based RL or planning. - - :param env: The training environment - :param callback: Callback that will be called at each step - (and at the beginning and end of the rollout) - :param rollout_buffer: Buffer to fill with rollouts - :param n_steps: Number of experiences to collect per environment - :return: True if function returned with at least `n_rollout_steps` - collected, False if callback terminated rollout prematurely. - """ - assert self._last_obs is not None, "No previous observation was provided" - n_steps = 0 - rollout_buffer.reset() - # Sample new weights for the state dependent exploration - if self.use_sde: - self.policy.reset_noise(env.num_envs) - - callback.on_rollout_start() - - while n_steps < n_rollout_steps: - if ( - self.use_sde - and self.sde_sample_freq > 0 - and n_steps % self.sde_sample_freq == 0 - ): - # Sample a new noise matrix - self.policy.reset_noise(env.num_envs) - - # Normalize observation (for RacingEnv) - # obs_mean, obs_std = self.env.get_obs_norm() - # obs_norm = (self._last_obs - obs_mean) / obs_std - obs_norm = self._last_obs - - with th.no_grad(): - # Convert to pytorch tensor - obs_tensor = th.as_tensor(obs_norm).to(self.device) - actions, values, log_probs = self.policy.forward(obs_tensor) - actions = actions.cpu().numpy() - - # Rescale and perform action - clipped_actions = actions - # Clip the actions to avoid out of bound error - if isinstance(self.action_space, gym.spaces.Box): - clipped_actions = np.clip( - actions, self.action_space.low, self.action_space.high - ) - - new_obs, rewards, dones, infos = env.step(clipped_actions) - - self.num_timesteps += env.num_envs - - # Give access to local variables - callback.update_locals(locals()) - if callback.on_step() is False: - return False - - self._update_info_buffer(infos) - n_steps += 1 - - if isinstance(self.action_space, gym.spaces.Discrete): - # Reshape in case of discrete action - actions = actions.reshape(-1, 1) - rollout_buffer.add( - obs_norm, actions, rewards, self._last_episode_starts, values, log_probs - ) - - self._last_obs = new_obs - self._last_episode_starts = dones - - with th.no_grad(): - # Normalize observation - # obs_mean, obs_std = self.env.get_obs_norm() - # obs_norm = (self._last_obs - obs_mean) / obs_std - obs_norm = self._last_obs - - # Compute value for the last timestep - obs_tensor = th.as_tensor(obs_norm).to(self.device) - _, values, _ = self.policy.forward(obs_tensor) - - rollout_buffer.compute_returns_and_advantage(last_values=values, dones=dones) - - callback.on_rollout_end() - - return True - - def train(self) -> None: - """ - Consume current rollout data and update policy parameters. - Implemented by individual algorithms. - """ - raise NotImplementedError - - def eval(self) -> None: - """ - Test the policy - """ - raise NotImplementedError - - def learn( - self, - total_timesteps: int, - callback: MaybeCallback = None, - log_interval: Tuple = (10, 100), - eval_env: Optional[GymEnv] = None, - eval_freq: int = -1, - n_eval_episodes: int = 5, - tb_log_name: str = "OnPolicyAlgorithm", - eval_log_path: Optional[str] = None, - reset_num_timesteps: bool = True, - env_cfg: str = None, - ) -> "OnPolicyAlgorithm": - iteration = 0 - - total_timesteps, callback = self._setup_learn( - total_timesteps, - eval_env, - callback, - eval_freq, - n_eval_episodes, - eval_log_path, - reset_num_timesteps, - tb_log_name, - ) - - new_cfg_dir = self.logger.get_dir() + "/config.yaml" - with open(new_cfg_dir, "w") as outfile: - YAML().dump(self.env_cfg, outfile) - - callback.on_training_start(locals(), globals()) - - while self.num_timesteps < total_timesteps: - - continue_training = self.collect_rollouts( - self.env, callback, self.rollout_buffer, n_rollout_steps=self.n_steps - ) - - if continue_training is False: - break - iteration += 1 - self._update_current_progress_remaining(self.num_timesteps, total_timesteps) - - # Display training infos - if log_interval is not None and iteration % log_interval[0] == 0: - fps = int(self.num_timesteps / (time.time() - self.start_time)) - self.logger.record("time/iterations", iteration, exclude="tensorboard") - if len(self.ep_info_buffer) > 0 and len(self.ep_info_buffer[0]) > 0: - self.logger.record( - "rollout/ep_rew_mean", - safe_mean([ep_info["r"] for ep_info in self.ep_info_buffer]), - ) - self.logger.record( - "rollout/ep_len_mean", - safe_mean([ep_info["l"] for ep_info in self.ep_info_buffer]), - ) - self.logger.record("time/fps", fps) - self.logger.record( - "time/time_elapsed", - int(time.time() - self.start_time), - exclude="tensorboard", - ) - self.logger.record( - "time/total_timesteps", self.num_timesteps, exclude="tensorboard" - ) - for i in range(self.env.rew_dim - 1): - self.logger.record( - "rewards/{0}".format(self.env.reward_names[i]), - safe_mean( - [ - ep_info[self.env.reward_names[i]] - for ep_info in self.ep_info_buffer - ] - ), - ) - - self.logger.dump(step=self.num_timesteps) - - self.train() - - if iteration % 10 == 0 and iteration <= 1000: - # update running mean and standard deivation for state normalization - self.env.update_rms() - - if log_interval is not None and iteration % log_interval[1] == 0: - policy_path = self.logger.get_dir() + "/Policy" - os.makedirs(policy_path, exist_ok=True) - self.policy.save(policy_path + "/iter_{0:05d}.pth".format(iteration)) - - self.env.save_rms( - save_dir=self.logger.get_dir() + "/RMS", n_iter=iteration - ) - self.eval(iteration) - - callback.on_training_end() - - return self - - def _get_torch_save_params(self) -> Tuple[List[str], List[str]]: - state_dicts = ["policy", "policy.optimizer"] - - return state_dicts, [] diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/ppo.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/ppo.py deleted file mode 100644 index e1d81e3..0000000 --- a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/ppo.py +++ /dev/null @@ -1,379 +0,0 @@ -import os -import warnings -from typing import Any, Callable, Dict, Optional, Type, Union - -import matplotlib.gridspec as gridspec -import matplotlib.pyplot as plt -import numpy as np -# -import pandas as pd -import scipy -import torch as th -from gym import spaces -from mpl_toolkits.mplot3d import Axes3D -# -from stable_baselines3.common.policies import ActorCriticPolicy -from stable_baselines3.common.type_aliases import GymEnv, MaybeCallback -from stable_baselines3.common.utils import explained_variance, get_schedule_fn -from torch.nn import functional as F - -# -from rpg_baselines.torch.common.on_policy_algorithm import \ - OnPolicyAlgorithm -from rpg_baselines.torch.common.util import plot3d_traj, traj_rollout - - -class PPO(OnPolicyAlgorithm): - """ - Proximal Policy Optimization algorithm (PPO) (clip version) - - Paper: https://arxiv.org/abs/1707.06347 - Code: This implementation borrows code from OpenAI Spinning Up (https://github.com/openai/spinningup/) - https://github.com/ikostrikov/pytorch-a2c-ppo-acktr-gail and - and Stable Baselines (PPO2 from https://github.com/hill-a/stable-baselines) - - Introduction to PPO: https://spinningup.openai.com/en/latest/algorithms/ppo.html - - :param policy: The policy model to use (MlpPolicy, CnnPolicy, ...) - :param env: The environment to learn from (if registered in Gym, can be str) - :param learning_rate: The learning rate, it can be a function - of the current progress remaining (from 1 to 0) - :param n_steps: The number of steps to run for each environment per update - (i.e. rollout buffer size is n_steps * n_envs where n_envs is number of environment copies running in parallel) - NOTE: n_steps * n_envs must be greater than 1 (because of the advantage normalization) - See https://github.com/pytorch/pytorch/issues/29372 - :param batch_size: Minibatch size - :param n_epochs: Number of epoch when optimizing the surrogate loss - :param gamma: Discount factor - :param gae_lambda: Factor for trade-off of bias vs variance for Generalized Advantage Estimator - :param clip_range: Clipping parameter, it can be a function of the current progress - remaining (from 1 to 0). - :param clip_range_vf: Clipping parameter for the value function, - it can be a function of the current progress remaining (from 1 to 0). - This is a parameter specific to the OpenAI implementation. If None is passed (default), - no clipping will be done on the value function. - IMPORTANT: this clipping depends on the reward scaling. - :param ent_coef: Entropy coefficient for the loss calculation - :param vf_coef: Value function coefficient for the loss calculation - :param max_grad_norm: The maximum value for the gradient clipping - :param use_sde: Whether to use generalized State Dependent Exploration (gSDE) - instead of action noise exploration (default: False) - :param sde_sample_freq: Sample a new noise matrix every n steps when using gSDE - Default: -1 (only sample at the beginning of the rollout) - :param target_kl: Limit the KL divergence between updates, - because the clipping is not enough to prevent large update - see issue #213 (cf https://github.com/hill-a/stable-baselines/issues/213) - By default, there is no limit on the kl div. - :param tensorboard_log: the log location for tensorboard (if None, no logging) - :param create_eval_env: Whether to create a second environment that will be - used for evaluating the agent periodically. (Only available when passing string for the environment) - :param policy_kwargs: additional arguments to be passed to the policy on creation - :param verbose: the verbosity level: 0 no output, 1 info, 2 debug - :param seed: Seed for the pseudo random generators - :param device: Device (cpu, cuda, ...) on which the code should be run. - Setting it to auto, the code will be run on the GPU if possible. - :param _init_setup_model: Whether or not to build the network at the creation of the instance - """ - - def __init__( - self, - policy: Union[str, Type[ActorCriticPolicy]], - env: Union[GymEnv, str], - learning_rate: Union[float, Callable] = 3e-4, - n_steps: int = 2048, - use_tanh_act: bool = True, - batch_size: Optional[int] = 64, - n_epochs: int = 10, - gamma: float = 0.99, - gae_lambda: float = 0.95, - clip_range: Union[float, Callable] = 0.2, - clip_range_vf: Union[None, float, Callable] = None, - ent_coef: float = 0.0, - vf_coef: float = 0.5, - max_grad_norm: float = 0.5, - use_sde: bool = False, - sde_sample_freq: int = -1, - target_kl: Optional[float] = None, - tensorboard_log: Optional[str] = None, - create_eval_env: bool = False, - eval_env: Union[GymEnv, str] = None, - policy_kwargs: Optional[Dict[str, Any]] = None, - verbose: int = 0, - seed: Optional[int] = None, - device: Union[th.device, str] = "auto", - env_cfg: str = None, - _init_setup_model: bool = True, - ): - - super(PPO, self).__init__( - policy, - env, - learning_rate=learning_rate, - n_steps=n_steps, - gamma=gamma, - gae_lambda=gae_lambda, - ent_coef=ent_coef, - use_tanh_act=use_tanh_act, - vf_coef=vf_coef, - max_grad_norm=max_grad_norm, - use_sde=use_sde, - sde_sample_freq=sde_sample_freq, - tensorboard_log=tensorboard_log, - policy_kwargs=policy_kwargs, - verbose=verbose, - device=device, - create_eval_env=create_eval_env, - eval_env=eval_env, - seed=seed, - _init_setup_model=False, - supported_action_spaces=( - spaces.Box, - spaces.Discrete, - spaces.MultiDiscrete, - spaces.MultiBinary, - ), - ) - if self.env is not None: - # Check that `n_steps * n_envs > 1` to avoid NaN - # when doing advantage normalization - buffer_size = self.env.num_envs * self.n_steps - assert ( - buffer_size > 1 - ), f"`n_steps * n_envs` must be greater than 1. Currently n_steps={self.n_steps} and n_envs={self.env.num_envs}" - # Check that the rollout buffer size is a multiple of the mini-batch size - untruncated_batches = buffer_size // batch_size - if buffer_size % batch_size > 0: - warnings.warn( - f"You have specified a mini-batch size of {batch_size}," - f" but because the `RolloutBuffer` is of size `n_steps * n_envs = {buffer_size}`," - f" after every {untruncated_batches} untruncated mini-batches," - f" there will be a truncated mini-batch of size {buffer_size % batch_size}\n" - f"We recommend using a `batch_size` that is a multiple of `n_steps * n_envs`.\n" - f"Info: (n_steps={self.n_steps} and n_envs={self.env.num_envs})" - ) - self.batch_size = batch_size - self.n_epochs = n_epochs - self.clip_range = clip_range - self.clip_range_vf = clip_range_vf - self.target_kl = target_kl - - self.env_cfg = env_cfg - if _init_setup_model: - self._setup_model() - - def _setup_model(self) -> None: - super(PPO, self)._setup_model() - - # Initialize schedules for policy/value clipping - self.clip_range = get_schedule_fn(self.clip_range) - if self.clip_range_vf is not None: - if isinstance(self.clip_range_vf, (float, int)): - assert self.clip_range_vf > 0, ( - "`clip_range_vf` must be positive, " - "pass `None` to deactivate vf clipping" - ) - - self.clip_range_vf = get_schedule_fn(self.clip_range_vf) - - def train(self) -> None: - """ - Update policy using the currently gathered rollout buffer. - """ - # Update optimizer learning rate - self._update_learning_rate(self.policy.optimizer) - # Compute current clip range - clip_range = self.clip_range(self._current_progress_remaining) - # Optional: clip range for the value function - if self.clip_range_vf is not None: - clip_range_vf = self.clip_range_vf(self._current_progress_remaining) - - entropy_losses, all_kl_divs = [], [] - pg_losses, value_losses = [], [] - clip_fractions = [] - - # train for n_epochs epochs - for epoch in range(self.n_epochs): - approx_kl_divs = [] - # Do a complete pass on the rollout buffer - for rollout_data in self.rollout_buffer.get(self.batch_size): - actions = rollout_data.actions - if isinstance(self.action_space, spaces.Discrete): - # Convert discrete action from float to long - actions = rollout_data.actions.long().flatten() - - # Re-sample the noise matrix because the log_std has changed - # TODO: investigate why there is no issue with the gradient - # if that line is commented (as in SAC) - if self.use_sde: - self.policy.reset_noise(self.batch_size) - - values, log_prob, entropy = self.policy.evaluate_actions( - rollout_data.observations, actions - ) - values = values.flatten() - # Normalize advantage - advantages = rollout_data.advantages - advantages = (advantages - advantages.mean()) / ( - advantages.std() + 1e-8 - ) - - # ratio between old and new policy, should be one at the first iteration - ratio = th.exp(log_prob - rollout_data.old_log_prob) - - # clipped surrogate loss - policy_loss_1 = advantages * ratio - policy_loss_2 = advantages * th.clamp( - ratio, 1 - clip_range, 1 + clip_range - ) - policy_loss = -th.min(policy_loss_1, policy_loss_2).mean() - - # Logging - pg_losses.append(policy_loss.item()) - clip_fraction = th.mean((th.abs(ratio - 1) > clip_range).float()).item() - clip_fractions.append(clip_fraction) - - if self.clip_range_vf is None: - # No clipping - values_pred = values - else: - # Clip the different between old and new value - # NOTE: this depends on the reward scaling - values_pred = rollout_data.old_values + th.clamp( - values - rollout_data.old_values, -clip_range_vf, clip_range_vf - ) - # Value loss using the TD(gae_lambda) target - value_loss = F.mse_loss(rollout_data.returns, values_pred) - value_losses.append(value_loss.item()) - - # Entropy loss favor exploration - if entropy is None: - # Approximate entropy when no analytical form - entropy_loss = -th.mean(-log_prob) - else: - entropy_loss = -th.mean(entropy) - - entropy_losses.append(entropy_loss.item()) - - loss = ( - policy_loss - + self.ent_coef * entropy_loss - + self.vf_coef * value_loss - ) - - # Optimization step - self.policy.optimizer.zero_grad() - loss.backward() - # Clip grad norm - th.nn.utils.clip_grad_norm_( - self.policy.parameters(), self.max_grad_norm - ) - self.policy.optimizer.step() - approx_kl_divs.append( - th.mean(rollout_data.old_log_prob - log_prob).detach().cpu().numpy() - ) - - all_kl_divs.append(np.mean(approx_kl_divs)) - - if ( - self.target_kl is not None - and np.mean(approx_kl_divs) > 1.5 * self.target_kl - ): - print( - f"Early stopping at step {epoch} due to reaching max kl: {np.mean(approx_kl_divs):.2f}" - ) - break - - self._n_updates += self.n_epochs - explained_var = explained_variance( - self.rollout_buffer.values.flatten(), self.rollout_buffer.returns.flatten() - ) - - # Logs - self.logger.record("train/entropy_loss", np.mean(entropy_losses)) - self.logger.record("train/policy_gradient_loss", np.mean(pg_losses)) - self.logger.record("train/value_loss", np.mean(value_losses)) - self.logger.record("train/approx_kl", np.mean(approx_kl_divs)) - self.logger.record("train/clip_fraction", np.mean(clip_fractions)) - self.logger.record("train/loss", loss.item()) - self.logger.record("train/explained_variance", explained_var) - if hasattr(self.policy, "log_std"): - self.logger.record("train/std", th.exp(self.policy.log_std).mean().item()) - - self.logger.record("train/n_updates", self._n_updates, exclude="tensorboard") - self.logger.record("train/clip_range", clip_range) - if self.clip_range_vf is not None: - self.logger.record("train/clip_range_vf", clip_range_vf) - - def learn( - self, - total_timesteps: int, - callback: MaybeCallback = None, - log_interval: int = 1, - eval_env: Optional[GymEnv] = None, - eval_freq: int = -1, - n_eval_episodes: int = 5, - tb_log_name: str = "PPO", - eval_log_path: Optional[str] = None, - reset_num_timesteps: bool = True, - env_cfg: str = None, - ) -> "PPO": - - return super(PPO, self).learn( - total_timesteps=total_timesteps, - callback=callback, - log_interval=log_interval, - eval_env=eval_env, - eval_freq=eval_freq, - n_eval_episodes=n_eval_episodes, - tb_log_name=tb_log_name, - eval_log_path=eval_log_path, - reset_num_timesteps=reset_num_timesteps, - env_cfg=env_cfg, - ) - - - def eval(self, iteration) -> None: - save_path = self.logger.get_dir() + "/TestTraj" - os.makedirs(save_path, exist_ok=True) - - # - self.policy.eval() - self.eval_env.load_rms( - self.logger.get_dir() + "/RMS/iter_{0:05d}.npz".format(iteration) - ) - - # rollout trajectory and save the trajectory - traj_df = traj_rollout(self.eval_env, self.policy) - traj_df.to_csv(save_path + "/test_traj_{0:05d}.csv".format(iteration)) - - # generate plots - fig1 = plt.figure(figsize=(10, 6)) - # fig1.subplots_adjust( - # left=None, bottom=None, right=None, top=None, wspace=None, hspace=None - # ) - gs1 = gridspec.GridSpec(4, 3) - ax3d = fig1.add_subplot(gs1[2:3, 0:3], projection="3d") - axpos, axvel = [], [] - for i in range(3): - axpos.append(fig1.add_subplot(gs1[0, i])) - axvel.append(fig1.add_subplot(gs1[1, i])) - episode_idx = traj_df.episode_id.unique() - for ep_i in episode_idx: - conditions = "episode_id == {0}".format(ep_i) - traj_episode_i = traj_df.query(conditions) - pos = traj_episode_i.loc[:, ["px", "py", "pz"]].to_numpy(dtype=np.float64) - vel = traj_episode_i.loc[:, ["vx", "vy", "vz"]].to_numpy(dtype=np.float64) - - # - axpos[0].plot(pos[:, 0]) - axpos[1].plot(pos[:, 1]) - axpos[2].plot(pos[:, 2]) - # - axvel[0].plot(vel[:, 0]) - axvel[1].plot(vel[:, 1]) - axvel[2].plot(vel[:, 2]) - plot3d_traj(ax3d=ax3d, pos=pos, vel=vel) - # - save_path = self.logger.get_dir() + "/TestTraj" + "/Plots" - os.makedirs(save_path, exist_ok=True) - fig1.savefig(save_path + "/traj_3d_{0:05d}.png".format(iteration)) diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/util.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/util.py deleted file mode 100644 index f36efb4..0000000 --- a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/util.py +++ /dev/null @@ -1,150 +0,0 @@ -from tkinter.tix import Tree -import numpy as np -import pandas as pd -import cv2 -import os -from mpl_toolkits.mplot3d import Axes3D - -columns = [ - "episode_id", - "done", - "reward", - "t", - "px", - "py", - "pz", - "qw", - "qx", - "qy", - "qz", - "vx", - "vy", - "vz", - "goal_x", - "goal_y", - "goal_z", - "wx", - "wy", - "wz", - "ax", - "ay", - "az", - "mot1", - "mot2", - "mot3", - "mot4", - "thrust1", - "thrust2", - "thrust3", - "thrust4", - "targetx", - "targety", - "targetz", - "targetr", - "act1", - "act2", - "act3", - "act4", -] - - -def traj_rollout(env, policy): - traj_df = pd.DataFrame(columns=columns) - max_ep_length = 5000 - obs = env.reset(random=False) - episode_id = np.zeros(shape=(env.num_envs, 1)) - for _ in range(max_ep_length): - act, _ = policy.predict(obs, deterministic=True) - act = np.array(act, dtype=np.float64) - # - obs, rew, done, info = env.step(act) - - episode_id[done] += 1 - - state = env.getQuadState() - action = env.getQuadAct() - # reshape vector - done = done[:, np.newaxis] - rew = rew[:, np.newaxis] - - # stack all the data - data = np.hstack((episode_id, done, rew, state, action)) - data_frame = pd.DataFrame(data=data, columns=columns) - - # append trajectory - traj_df = pd.concat([traj_df, data_frame], axis=0, ignore_index=True) - return traj_df - - -def plot3d_traj(ax3d, pos, vel): - sc = ax3d.scatter( - pos[:, 0], - pos[:, 1], - pos[:, 2], - c=np.linalg.norm(vel, axis=1), - cmap="jet", - s=1, - alpha=0.5, - ) - ax3d.view_init(elev=40, azim=50) - # - # ax3d.set_xticks([]) - # ax3d.set_yticks([]) - # ax3d.set_zticks([]) - - # - # ax3d.get_proj = lambda: np.dot( - # Axes3D.get_proj(ax3d), np.diag([1.0, 1.0, 1.0, 1.0])) - # zmin, zmax = ax3d.get_zlim() - # xmin, xmax = ax3d.get_xlim() - # ymin, ymax = ax3d.get_ylim() - # x_f = 1 - # y_f = (ymax - ymin) / (xmax - xmin) - # z_f = (zmax - zmin) / (xmax - xmin) - # ax3d.set_box_aspect((x_f, y_f * 2, z_f * 2)) - -def test_policy(env, model, render=False): - max_ep_length = env.max_episode_steps - num_rollouts = 1 - frame_id = 0 - if render: - env.connectUnity() - for n_roll in range(num_rollouts): - obs, done, ep_len = env.reset(), False, 0 - while not ((ep_len >= max_ep_length)): - act, _ = model.predict(obs, deterministic=True) - obs, rew, done, info = env.step(act) - # - # print(obs) - env.render(ep_len) - - # ======Gray Image========= - # gray_img = np.reshape( - # env.getImage()[0], (env.img_height, env.img_width)) - # cv2.imshow("gray_img", gray_img) - # cv2.waitKey(100) - - # ======RGB Image========= - # img =env.getImage(rgb=True) - # rgb_img = np.reshape( - # img[0], (env.img_height, env.img_width, 3)) - # cv2.imshow("rgb_img", rgb_img) - # os.makedirs("./images", exist_ok=True) - # cv2.imwrite("./images/img_{0:05d}.png".format(frame_id), rgb_img) - # cv2.waitKey(100) - - # # # ======Depth Image========= - # depth_img = np.reshape(env.getDepthImage()[ - # 0], (env.img_height, env.img_width)) - # os.makedirs("./depth", exist_ok=True) - # cv2.imwrite("./depth/img_{0:05d}.png".format(frame_id), depth_img.astype(np.uint16)) - # cv2.imshow("depth", depth_img) - # cv2.waitKey(100) - - # - ep_len += 1 - frame_id += 1 - - # - if render: - env.disconnectUnity() diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__init__.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/__init__.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/__init__.cpython-38.pyc deleted file mode 100644 index ab5f3f0..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/__init__.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_env_wrapper.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_env_wrapper.cpython-38.pyc deleted file mode 100644 index 58a47a5..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_env_wrapper.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_vision_env_wrapper.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_vision_env_wrapper.cpython-38.pyc deleted file mode 100644 index e9cf22e..0000000 Binary files a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_vision_env_wrapper.cpython-38.pyc and /dev/null differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/env_wrapper.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/env_wrapper.py deleted file mode 100644 index d9d9c27..0000000 --- a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/env_wrapper.py +++ /dev/null @@ -1,142 +0,0 @@ -import os -import pickle -from copy import deepcopy -from typing import Any, Callable, List, Optional, Sequence, Type, Union - -import gym -import numpy as np -from gym import spaces -from numpy.core.fromnumeric import shape -from stable_baselines3.common.running_mean_std import RunningMeanStd -from stable_baselines3.common.vec_env.base_vec_env import (VecEnv, - VecEnvIndices, - VecEnvObs, - VecEnvStepReturn) -from stable_baselines3.common.vec_env.util import (copy_obs_dict, dict_to_obs, - obs_space_info) - - -class FlightEnv(object): - # - def __init__(self, impl): - self.wrapper = impl - self.obs_dim = self.wrapper.getObsDim() - self.act_dim = self.wrapper.getActDim() - self.rew_dim = self.wrapper.getRewDim() - self.num_gates = self.wrapper.getNumGates() - self._observation_space = spaces.Box( - np.ones(self.obs_dim) * -np.Inf, - np.ones(self.obs_dim) * np.Inf, - dtype=np.float64, - ) - self._action_space = spaces.Box( - low=np.ones(self.act_dim) * -1.0, - high=np.ones(self.act_dim) * 1.0, - dtype=np.float64, - ) - # - self._observation = np.zeros([self.obs_dim], dtype=np.float64) - # - self._reward_components = np.zeros([self.rew_dim, 1], dtype=np.float64) - self._done = False - - self._quadstate = np.zeros([44], dtype=np.float64) - self._quadact = np.zeros([4], dtype=np.float64) - self._gatepose = np.zeros([7 * self.num_gates, 1], dtype=np.float64) - self._gatecorners = np.zeros([24 * self.num_gates, 1], dtype=np.float64) - self._nextgatecorners = np.zeros([24, 1], dtype=np.float64) - self._frontgatecorner = np.zeros([12, 1], dtype=np.float64) - self._quadact = np.zeros([4], dtype=np.float64) - self._flightmodes = np.zeros([1], dtype=np.float64) - - # state normalization - self.obs_rms = RunningMeanStd(shape=[1, self.obs_dim]) - self.obs_rms_new = RunningMeanStd(shape=[1, self.obs_dim]) - - def step(self, action): - done = self.wrapper.step(action, self._observation, self._reward_components) - # print(done) - obs_u = np.reshape(self._observation, (1, self.obs_dim)) - obs = self.normalize_obs(obs_u) - return obs, obs_u, done - - def reset(self, random=True): - self._reward_components = np.zeros([self.rew_dim, 1], dtype=np.float64) - self.wrapper.reset(self._observation, random) - # reshape, because Eigen is colum-major and numpy is row major - obs = np.reshape(self._observation, (1, self.obs_dim)) - # - obs = self.normalize_obs(obs) - return obs - - def getObs(self): - self.wrapper.getObs(self._observation) - return self.normalize_obs(self._observation) - - def get_obs_norm(self): - return self.obs_rms.mean, self.obs_rms.var - - def getProgress(self): - return self._reward_components[:, 0] - - def getNumGates(self): - return self.wrapper.getNumGates() - - def _normalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: - return (obs - obs_rms.mean) / np.sqrt(obs_rms.var + 1e-8) - - def normalize_obs(self, obs: np.ndarray) -> np.ndarray: - """ - Normalize observations using this VecNormalize's observations statistics. - Calling this method does not update statistics. - """ - # Avoid modifying by reference the original object - # obs_ = deepcopy(obs) - obs_ = self._normalize_obs(obs, self.obs_rms).astype(np.float64) - return obs_ - - def connectUnity(self): - self.wrapper.connectUnity() - - def disconnectUnity(self): - self.wrapper.disconnectUnity() - - def render(self, mode="human"): - return self.wrapper.updateUnity() - - def setQuadState(self, quadstate, t=0.0): - self.wrapper.setQuadState(quadstate) - - def setQuadAct(self, quadact, t=0.0): - self.wrapper.setQuadAct(quadact) - - def setGateID(self, gate_id): - self.wrapper.setGateID(gate_id) - - def getQuadState(self): - self.wrapper.getQuadState(self._quadstate) - return self._quadstate.copy() - - - def getQuadAct(self): - self.wrapper.getQuadAct(self._quadact) - return self._quadact.copy() - - - @property - def observation_space(self): - return self._observation_space - - @property - def action_space(self): - return self._action_space - - def load_rms(self, data_dir) -> None: - self.mean, self.var = None, None - np_file = np.load(data_dir) - # - self.mean = np_file["mean"] - self.var = np_file["var"] - # - self.obs_rms.mean = np.mean(self.mean, axis=0) - self.obs_rms.var = np.mean(self.var, axis=0) diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_env_wrapper.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_env_wrapper.py deleted file mode 100644 index aa8f2d8..0000000 --- a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_env_wrapper.py +++ /dev/null @@ -1,438 +0,0 @@ -import os -import pickle -from copy import deepcopy -from typing import Any, Callable, List, Optional, Sequence, Type, Union - -import gym -import numpy as np -from gym import spaces -from numpy.core.fromnumeric import shape -from stable_baselines3.common.running_mean_std import RunningMeanStd -from stable_baselines3.common.vec_env.base_vec_env import (VecEnv, - VecEnvIndices, - VecEnvObs, - VecEnvStepReturn) -from stable_baselines3.common.vec_env.util import (copy_obs_dict, dict_to_obs, - obs_space_info) - - -class FlightEnvVec(VecEnv): - # - def __init__(self, impl): - self.wrapper = impl - self.act_dim = self.wrapper.getActDim() - self.obs_dim = self.wrapper.getObsDim() - self.state_dim = self.wrapper.getStateDim() - self.motor_dim = self.wrapper.getMotorDim() - self.rew_dim = self.wrapper.getRewDim() - self.img_width = self.wrapper.getImgWidth() - self.img_height = self.wrapper.getImgHeight() - self._observation_space = spaces.Box( - np.ones(self.obs_dim) * -np.Inf, - np.ones(self.obs_dim) * np.Inf, - dtype=np.float64, - ) - self._action_space = spaces.Box( - low=np.ones(self.act_dim) * -1.0, - high=np.ones(self.act_dim) * 1.0, - dtype=np.float64, - ) - self._observation = np.zeros([self.num_envs, self.obs_dim], dtype=np.float64) - self._observation_test = np.zeros([self.num_envs, self.obs_dim], dtype=np.float64) - self._current_state = np.zeros([self.num_envs, self.state_dim], dtype=np.float64) - self._current_omega = np.zeros([self.num_envs, self.motor_dim], dtype=np.float64) - self._rgb_img_obs = np.zeros( - [self.num_envs, self.img_width * self.img_height * 3], dtype=np.uint8 - ) - self._gray_img_obs = np.zeros( - [self.num_envs, self.img_width * self.img_height], dtype=np.uint8 - ) - self._depth_img_obs = np.zeros( - [self.num_envs, self.img_width * self.img_height], dtype=np.float32 - ) - # - self._reward_components = np.zeros( - [self.num_envs, self.rew_dim], dtype=np.float64 - ) - self._reward_components_test = np.zeros( - [self.num_envs, self.rew_dim], dtype=np.float64 - ) - self._done = np.zeros((self.num_envs), dtype=np.bool) - self._extraInfoNames = self.wrapper.getExtraInfoNames() - self.reward_names = self.wrapper.getRewardNames() - self._extraInfo = np.zeros( - [self.num_envs, len(self._extraInfoNames)], dtype=np.float64 - ) - self._extraInfo_test = np.zeros( - [self.num_envs, len(self._extraInfoNames)], dtype=np.float64 - ) - - self.rewards = [[] for _ in range(self.num_envs)] - self.sum_reward_components = np.zeros( - [self.num_envs, self.rew_dim - 1], dtype=np.float64 - ) - - self._quadstate = np.zeros([self.num_envs, 32], dtype=np.float64) - self._quadact = np.zeros([self.num_envs, 4], dtype=np.float64) - self._flightmodes = np.zeros([self.num_envs, 1], dtype=np.float64) - - # state normalization - self.obs_rms = RunningMeanStd(shape=[self.num_envs, self.obs_dim]) - self.obs_rms_new = RunningMeanStd(shape=[self.num_envs, self.obs_dim]) - self.max_episode_steps = 1000 - # VecEnv.__init__(self, self.num_envs, - # self._observation_space, self._action_space) - - def seed(self, seed=0): - self.wrapper.setSeed(seed) - - def update_rms(self): - self.obs_rms = self.obs_rms_new - - def teststep(self, action): - if action.ndim <= 1: - action = action.reshape((-1, self.act_dim)) - self.wrapper.step( - action, - self._observation_test, - self._reward_components_test, - self._done, - self._extraInfo_test, - ) - return self._observation_test - # obs = self.normalize_obs(self._observation) - # return ( - # obs, - # self._reward_components[:, -1].copy(), - # self._done.copy(), - # self._extraInfo.copy(), - # ) - - def step(self, action): - if action.ndim <= 1: - action = action.reshape((-1, self.act_dim)) - self.wrapper.step( - action, - self._observation, - self._reward_components, - self._done, - self._extraInfo, - ) - # print(self._observation[0, 0], " ", self._observation[0, 1], " ", self._observation[0, 2]) - # " ", self._observation[0, 12], " ", self._observation[0, 13], " ", self._observation[0, 14]) - # update the mean and variance of the Running Mean STD - self.obs_rms_new.update(self._observation) - obs = self.normalize_obs(self._observation) - - if len(self._extraInfoNames) != 0: - info = [ - { - "extra_info": { - self._extraInfoNames[j]: self._extraInfo[i, j] - for j in range(0, len(self._extraInfoNames)) - } - } - for i in range(self.num_envs) - ] - else: - info = [{} for i in range(self.num_envs)] - - for i in range(self.num_envs): - self.rewards[i].append(self._reward_components[i, -1]) - for j in range(self.rew_dim - 1): - self.sum_reward_components[i, j] += self._reward_components[i, j] - if self._done[i]: - eprew = sum(self.rewards[i]) - eplen = len(self.rewards[i]) - epinfo = {"r": eprew, "l": eplen} - for j in range(self.rew_dim - 1): - epinfo[self.reward_names[j]] = self.sum_reward_components[i, j] - self.sum_reward_components[i, j] = 0.0 - info[i]["episode"] = epinfo - self.rewards[i].clear() - - return ( - obs, - self._reward_components[:, -1].copy(), - self._done.copy(), - info.copy(), - ) - - def sample_actions(self): - actions = [] - for i in range(self.num_envs): - action = self.action_space.sample().tolist() - actions.append(action) - return np.asarray(actions, dtype=np.float64) - - def setState(self, state): - for i in range(self.num_envs): - self._current_state[i, :] = state - - def setMotor(self, omega): - for i in range(self.num_envs): - self._current_omega[i, :] = omega - - def reset(self, random=True): - self._reward_components = np.zeros( - [self.num_envs, self.rew_dim], dtype=np.float64 - ) - self.wrapper.reset(self._observation, random) - obs = self._observation - # print(obs) - # - self.obs_rms_new.update(self._observation) - obs = self.normalize_obs(self._observation) - if self.num_envs == 1: - return obs[0] - return obs - - def resetFromAB(self): - self._reward_components = np.zeros( - [self.num_envs, self.rew_dim], dtype=np.float64 - ) - self.wrapper.reset(self._observation, self._current_state, self._current_omega) - obs = self._observation - self.obs_rms_new.update(self._observation) - obs = self.normalize_obs(self._observation) - if self.num_envs == 1: - return obs[0] - return obs - - def getObs(self): - self.wrapper.getObs(self._observation) - return self.normalize_obs(self._observation) - - def reset_and_update_info(self): - return self.reset(), self._update_epi_info() - - def get_obs_norm(self): - return self.obs_rms.mean, self.obs_rms.var - - def getProgress(self): - return self._reward_components[:, 0] - - def getImage(self, rgb=False): - if rgb: - self.wrapper.getImage(self._rgb_img_obs, True) - return self._rgb_img_obs.copy() - else: - self.wrapper.getImage(self._gray_img_obs, False) - return self._gray_img_obs.copy() - - def getDepthImage(self): - self.wrapper.getDepthImage(self._depth_img_obs) - return self._depth_img_obs.copy() - - def stepUnity(self, action, send_id): - receive_id = self.wrapper.stepUnity( - action, - self._observation, - self._reward, - self._done, - self._extraInfo, - send_id, - ) - - return receive_id - - def _normalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: - """ - Helper to normalize observation. - :param obs: - :param obs_rms: associated statistics - :return: normalized observation - """ - return (obs - obs_rms.mean) / np.sqrt(obs_rms.var + 1e-8) - - def _unnormalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: - """ - Helper to unnormalize observation. - :param obs: - :param obs_rms: associated statistics - :return: unnormalized observation - """ - return (obs * np.sqrt(obs_rms.var + 1e-8)) + obs_rms.mean - - def normalize_obs(self, obs: np.ndarray) -> np.ndarray: - """ - Normalize observations using this VecNormalize's observations statistics. - Calling this method does not update statistics. - """ - # Avoid modifying by reference the original object - # obs_ = deepcopy(obs) - # print(self.obs_rms.var) - obs_ = self._normalize_obs(obs, self.obs_rms).astype(np.float64) - return obs_ - - def getQuadState(self): - self.wrapper.getQuadState(self._quadstate) - return self._quadstate - - def getQuadAct(self): - self.wrapper.getQuadAct(self._quadact) - return self._quadact - - def getExtraInfo(self): - return self._extraInfo - - def _update_epi_info(self): - info = [{} for _ in range(self.num_envs)] - for i in range(self.num_envs): - eprew = sum(self.rewards[i]) - eplen = len(self.rewards[i]) - epinfo = {"r": eprew, "l": eplen} - for j in range(self.rew_dim - 1): - epinfo[self.reward_names[j]] = self.sum_reward_components[i, j] - self.sum_reward_components[i, j] = 0.0 - info[i]["episode"] = epinfo - self.rewards[i].clear() - return info - - def render(self, frame_id, mode="human"): - return self.wrapper.updateUnity(frame_id) - - def close(self): - self.wrapper.close() - - def connectUnity(self): - self.wrapper.connectUnity() - - def disconnectUnity(self): - self.wrapper.disconnectUnity() - - def curriculumUpdate(self): - self.wrapper.curriculumUpdate() - - def env_method( - self, - method_name: str, - *method_args, - indices: VecEnvIndices = None, - **method_kwargs - ) -> List[Any]: - """Call instance methods of vectorized environments.""" - target_envs = self._get_target_envs(indices) - return [ - getattr(env_i, method_name)(*method_args, **method_kwargs) - for env_i in target_envs - ] - - def env_is_wrapped( - self, wrapper_class: Type[gym.Wrapper], indices: VecEnvIndices = None - ) -> List[bool]: - """Check if worker environments are wrapped with a given wrapper""" - target_envs = self._get_target_envs(indices) - # Import here to avoid a circular import - from stable_baselines3.common import env_util - - return [env_util.is_wrapped(env_i, wrapper_class) for env_i in target_envs] - - def _get_target_envs(self, indices: VecEnvIndices) -> List[gym.Env]: - indices = self._get_indices(indices) - return [self.envs[i] for i in indices] - - @property - def num_envs(self): - return self.wrapper.getNumOfEnvs() - - @property - def observation_space(self): - return self._observation_space - - @property - def action_space(self): - return self._action_space - - @property - def extra_info_names(self): - return self._extraInfoNames - - def start_recording_video(self, file_name): - raise RuntimeError("This method is not implemented") - - def stop_recording_video(self): - raise RuntimeError("This method is not implemented") - - def curriculum_callback(self): - self.wrapper.curriculumUpdate() - - def step_async(self): - raise RuntimeError("This method is not implemented") - - def step_wait(self): - raise RuntimeError("This method is not implemented") - - def get_attr(self, attr_name, indices=None): - """ - Return attribute from vectorized environment. - :param attr_name: (str) The name of the attribute whose value to return - :param indices: (list,int) Indices of envs to get attribute from - :return: (list) List of values of 'attr_name' in all environments - """ - raise RuntimeError("This method is not implemented") - - def set_attr(self, attr_name, value, indices=None): - """ - Set attribute inside vectorized environments. - :param attr_name: (str) The name of attribute to assign new value - :param value: (obj) Value to assign to `attr_name` - :param indices: (list,int) Indices of envs to assign value - :return: (NoneType) - """ - raise RuntimeError("This method is not implemented") - - def env_method(self, method_name, *method_args, indices=None, **method_kwargs): - """ - Call instance methods of vectorized environments. - :param method_name: (str) The name of the environment method to invoke. - :param indices: (list,int) Indices of envs whose method to call - :param method_args: (tuple) Any positional arguments to provide in the call - :param method_kwargs: (dict) Any keyword arguments to provide in the call - :return: (list) List of items returned by the environment's method call - """ - raise RuntimeError("This method is not implemented") - - @staticmethod - def load(load_path: str, venv: VecEnv) -> "VecNormalize": - """ - Loads a saved VecNormalize object. - - :param load_path: the path to load from. - :param venv: the VecEnv to wrap. - :return: - """ - with open(load_path, "rb") as file_handler: - vec_normalize = pickle.load(file_handler) - vec_normalize.set_venv(venv) - return vec_normalize - - def save(self, save_path: str) -> None: - """ - Save current VecNormalize object with - all running statistics and settings (e.g. clip_obs) - - :param save_path: The path to save to - """ - with open(save_path, "wb") as file_handler: - pickle.dump(self, file_handler) - - def save_rms(self, save_dir, n_iter) -> None: - if not os.path.exists(save_dir): - os.mkdir(save_dir) - data_path = save_dir + "/iter_{0:05d}".format(n_iter) - np.savez( - data_path, - mean=np.asarray(self.obs_rms.mean), - var=np.asarray(self.obs_rms.var), - ) - - def load_rms(self, data_dir) -> None: - self.mean, self.var = None, None - np_file = np.load(data_dir) - # - self.mean = np_file["mean"] - self.var = np_file["var"] - # - self.obs_rms.mean = np.mean(self.mean, axis=0) - self.obs_rms.var = np.mean(self.var, axis=0) diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_vision_env_wrapper.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_vision_env_wrapper.py deleted file mode 100644 index e69de29..0000000 diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vision_env_wrapper.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vision_env_wrapper.py deleted file mode 100644 index f95ed9e..0000000 --- a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vision_env_wrapper.py +++ /dev/null @@ -1,410 +0,0 @@ -import os -import pickle -from copy import deepcopy -from typing import Any, Callable, List, Optional, Sequence, Type, Union - -import gym -import numpy as np -from gym import spaces -from numpy.core.fromnumeric import shape -from stable_baselines3.common.running_mean_std import RunningMeanStd -from stable_baselines3.common.vec_env.base_vec_env import (VecEnv, - VecEnvIndices, - VecEnvObs, - VecEnvStepReturn) -from stable_baselines3.common.vec_env.util import (copy_obs_dict, dict_to_obs, - obs_space_info) - -class VisionEnvVec(VecEnv): - # - def __init__(self, impl): - self.wrapper = impl - self.act_dim = self.wrapper.getActDim() - self.obs_dim = self.wrapper.getObsDim() - self.state_dim = self.wrapper.getStateDim() - self.rew_dim = self.wrapper.getRewDim() - self.img_width = self.wrapper.getImgWidth() - self.img_height = self.wrapper.getImgHeight() - self._observation_space = spaces.Box( - np.ones(self.obs_dim) * -np.Inf, - np.ones(self.obs_dim) * np.Inf, - dtype=np.float64, - ) - self._action_space = spaces.Box( - low=np.ones(self.act_dim) * -1.0, - high=np.ones(self.act_dim) * 1.0, - dtype=np.float64, - ) - self._observation = np.zeros([self.num_envs, self.obs_dim], dtype=np.float64) - self._observation_test = np.zeros([self.num_envs, self.obs_dim], dtype=np.float64) - self._current_state = np.zeros([self.num_envs, self.state_dim], dtype=np.float64) - self._rgb_img_obs = np.zeros( - [self.num_envs, self.img_width * self.img_height * 3], dtype=np.uint8 - ) - self._gray_img_obs = np.zeros( - [self.num_envs, self.img_width * self.img_height], dtype=np.uint8 - ) - self._depth_img_obs = np.zeros( - [self.num_envs, self.img_width * self.img_height], dtype=np.float32 - ) - # - self._reward_components = np.zeros( - [self.num_envs, self.rew_dim], dtype=np.float64 - ) - self._reward_components_test = np.zeros( - [self.num_envs, self.rew_dim], dtype=np.float64 - ) - self._done = np.zeros((self.num_envs), dtype=np.bool) - self._extraInfoNames = self.wrapper.getExtraInfoNames() - self.reward_names = self.wrapper.getRewardNames() - self._extraInfo = np.zeros( - [self.num_envs, len(self._extraInfoNames)], dtype=np.float64 - ) - self._extraInfo_test = np.zeros( - [self.num_envs, len(self._extraInfoNames)], dtype=np.float64 - ) - - self.rewards = [[] for _ in range(self.num_envs)] - self.sum_reward_components = np.zeros( - [self.num_envs, self.rew_dim - 1], dtype=np.float64 - ) - - self._quadstate = np.zeros([self.num_envs, 32], dtype=np.float64) - self._quadact = np.zeros([self.num_envs, 4], dtype=np.float64) - self._flightmodes = np.zeros([self.num_envs, 1], dtype=np.float64) - - # state normalization - self.obs_rms = RunningMeanStd(shape=[self.num_envs, self.obs_dim]) - self.obs_rms_new = RunningMeanStd(shape=[self.num_envs, self.obs_dim]) - self.max_episode_steps = 1000 - # VecEnv.__init__(self, self.num_envs, - # self._observation_space, self._action_space) - - def seed(self, seed=0): - self.wrapper.setSeed(seed) - - def update_rms(self): - self.obs_rms = self.obs_rms_new - - def teststep(self, action): - if action.ndim <= 1: - action = action.reshape((-1, self.act_dim)) - self.wrapper.step( - action, - self._observation_test, - self._reward_components_test, - self._done, - self._extraInfo_test, - ) - return self._observation_test - # obs = self.normalize_obs(self._observation) - # return ( - # obs, - # self._reward_components[:, -1].copy(), - # self._done.copy(), - # self._extraInfo.copy(), - # ) - - def step(self, action): - if action.ndim <= 1: - action = action.reshape((-1, self.act_dim)) - self.wrapper.step( - action, - self._observation, - self._reward_components, - self._done, - self._extraInfo, - ) - # print(self._observation[0, 0], " ", self._observation[0, 1], " ", self._observation[0, 2]) - # " ", self._observation[0, 12], " ", self._observation[0, 13], " ", self._observation[0, 14]) - # update the mean and variance of the Running Mean STD - self.obs_rms_new.update(self._observation) - obs = self.normalize_obs(self._observation) - - if len(self._extraInfoNames) != 0: - info = [ - { - "extra_info": { - self._extraInfoNames[j]: self._extraInfo[i, j] - for j in range(0, len(self._extraInfoNames)) - } - } - for i in range(self.num_envs) - ] - else: - info = [{} for i in range(self.num_envs)] - - for i in range(self.num_envs): - self.rewards[i].append(self._reward_components[i, -1]) - for j in range(self.rew_dim - 1): - self.sum_reward_components[i, j] += self._reward_components[i, j] - if self._done[i]: - eprew = sum(self.rewards[i]) - eplen = len(self.rewards[i]) - epinfo = {"r": eprew, "l": eplen} - for j in range(self.rew_dim - 1): - epinfo[self.reward_names[j]] = self.sum_reward_components[i, j] - self.sum_reward_components[i, j] = 0.0 - info[i]["episode"] = epinfo - self.rewards[i].clear() - - return ( - obs, - self._reward_components[:, -1].copy(), - self._done.copy(), - info.copy(), - ) - - def sample_actions(self): - actions = [] - for i in range(self.num_envs): - action = self.action_space.sample().tolist() - actions.append(action) - return np.asarray(actions, dtype=np.float64) - - def setState(self, state): - for i in range(self.num_envs): - self._current_state[i, :] = state - - def reset(self, random=True): - self._reward_components = np.zeros( - [self.num_envs, self.rew_dim], dtype=np.float64 - ) - self.wrapper.reset(self._observation, random) - obs = self._observation - # print(obs) - # - self.obs_rms_new.update(self._observation) - obs = self.normalize_obs(self._observation) - if self.num_envs == 1: - return obs[0] - return obs - - def getObs(self): - self.wrapper.getObs(self._observation) - return self.normalize_obs(self._observation) - - def reset_and_update_info(self): - return self.reset(), self._update_epi_info() - - def get_obs_norm(self): - return self.obs_rms.mean, self.obs_rms.var - - def getProgress(self): - return self._reward_components[:, 0] - - def getImage(self, rgb=False): - if rgb: - self.wrapper.getImage(self._rgb_img_obs, True) - return self._rgb_img_obs.copy() - else: - self.wrapper.getImage(self._gray_img_obs, False) - return self._gray_img_obs.copy() - - def getDepthImage(self): - self.wrapper.getDepthImage(self._depth_img_obs) - return self._depth_img_obs.copy() - - def stepUnity(self, action, send_id): - receive_id = self.wrapper.stepUnity( - action, - self._observation, - self._reward, - self._done, - self._extraInfo, - send_id, - ) - - return receive_id - - def _normalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: - """ - Helper to normalize observation. - :param obs: - :param obs_rms: associated statistics - :return: normalized observation - """ - return (obs - obs_rms.mean) / np.sqrt(obs_rms.var + 1e-8) - - def _unnormalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: - """ - Helper to unnormalize observation. - :param obs: - :param obs_rms: associated statistics - :return: unnormalized observation - """ - return (obs * np.sqrt(obs_rms.var + 1e-8)) + obs_rms.mean - - def normalize_obs(self, obs: np.ndarray) -> np.ndarray: - """ - Normalize observations using this VecNormalize's observations statistics. - Calling this method does not update statistics. - """ - # Avoid modifying by reference the original object - # obs_ = deepcopy(obs) - # print(self.obs_rms.var) - obs_ = self._normalize_obs(obs, self.obs_rms).astype(np.float64) - return obs_ - - def getQuadState(self): - self.wrapper.getQuadState(self._quadstate) - return self._quadstate - - def getQuadAct(self): - self.wrapper.getQuadAct(self._quadact) - return self._quadact - - def getExtraInfo(self): - return self._extraInfo - - def _update_epi_info(self): - info = [{} for _ in range(self.num_envs)] - for i in range(self.num_envs): - eprew = sum(self.rewards[i]) - eplen = len(self.rewards[i]) - epinfo = {"r": eprew, "l": eplen} - for j in range(self.rew_dim - 1): - epinfo[self.reward_names[j]] = self.sum_reward_components[i, j] - self.sum_reward_components[i, j] = 0.0 - info[i]["episode"] = epinfo - self.rewards[i].clear() - return info - - def render(self, frame_id, mode="human"): - return self.wrapper.updateUnity(frame_id) - - def connectUnity(self): - self.wrapper.connectUnity() - - def disconnectUnity(self): - self.wrapper.disconnectUnity() - - def env_method( - self, - method_name: str, - *method_args, - indices: VecEnvIndices = None, - **method_kwargs - ) -> List[Any]: - """Call instance methods of vectorized environments.""" - target_envs = self._get_target_envs(indices) - return [ - getattr(env_i, method_name)(*method_args, **method_kwargs) - for env_i in target_envs - ] - - def env_is_wrapped( - self, wrapper_class: Type[gym.Wrapper], indices: VecEnvIndices = None - ) -> List[bool]: - """Check if worker environments are wrapped with a given wrapper""" - target_envs = self._get_target_envs(indices) - # Import here to avoid a circular import - from stable_baselines3.common import env_util - - return [env_util.is_wrapped(env_i, wrapper_class) for env_i in target_envs] - - def _get_target_envs(self, indices: VecEnvIndices) -> List[gym.Env]: - indices = self._get_indices(indices) - return [self.envs[i] for i in indices] - - @property - def num_envs(self): - return self.wrapper.getNumOfEnvs() - - @property - def observation_space(self): - return self._observation_space - - @property - def action_space(self): - return self._action_space - - @property - def extra_info_names(self): - return self._extraInfoNames - - def start_recording_video(self, file_name): - raise RuntimeError("This method is not implemented") - - def stop_recording_video(self): - raise RuntimeError("This method is not implemented") - - def step_async(self): - raise RuntimeError("This method is not implemented") - - def step_wait(self): - raise RuntimeError("This method is not implemented") - - def get_attr(self, attr_name, indices=None): - """ - Return attribute from vectorized environment. - :param attr_name: (str) The name of the attribute whose value to return - :param indices: (list,int) Indices of envs to get attribute from - :return: (list) List of values of 'attr_name' in all environments - """ - raise RuntimeError("This method is not implemented") - - def set_attr(self, attr_name, value, indices=None): - """ - Set attribute inside vectorized environments. - :param attr_name: (str) The name of attribute to assign new value - :param value: (obj) Value to assign to `attr_name` - :param indices: (list,int) Indices of envs to assign value - :return: (NoneType) - """ - raise RuntimeError("This method is not implemented") - - def env_method(self, method_name, *method_args, indices=None, **method_kwargs): - """ - Call instance methods of vectorized environments. - :param method_name: (str) The name of the environment method to invoke. - :param indices: (list,int) Indices of envs whose method to call - :param method_args: (tuple) Any positional arguments to provide in the call - :param method_kwargs: (dict) Any keyword arguments to provide in the call - :return: (list) List of items returned by the environment's method call - """ - raise RuntimeError("This method is not implemented") - - @staticmethod - def load(load_path: str, venv: VecEnv) -> "VecNormalize": - """ - Loads a saved VecNormalize object. - - :param load_path: the path to load from. - :param venv: the VecEnv to wrap. - :return: - """ - with open(load_path, "rb") as file_handler: - vec_normalize = pickle.load(file_handler) - vec_normalize.set_venv(venv) - return vec_normalize - - def save(self, save_path: str) -> None: - """ - Save current VecNormalize object with - all running statistics and settings (e.g. clip_obs) - - :param save_path: The path to save to - """ - with open(save_path, "wb") as file_handler: - pickle.dump(self, file_handler) - - def save_rms(self, save_dir, n_iter) -> None: - if not os.path.exists(save_dir): - os.mkdir(save_dir) - data_path = save_dir + "/iter_{0:05d}".format(n_iter) - np.savez( - data_path, - mean=np.asarray(self.obs_rms.mean), - var=np.asarray(self.obs_rms.var), - ) - - def load_rms(self, data_dir) -> None: - self.mean, self.var = None, None - np_file = np.load(data_dir) - # - self.mean = np_file["mean"] - self.var = np_file["var"] - # - self.obs_rms.mean = np.mean(self.mean, axis=0) - self.obs_rms.var = np.mean(self.var, axis=0) \ No newline at end of file diff --git a/src/avoidbench/flightpy/flightrl/run_control_demo.py b/src/avoidbench/flightpy/flightrl/run_control_demo.py deleted file mode 100644 index 2fc34f8..0000000 --- a/src/avoidbench/flightpy/flightrl/run_control_demo.py +++ /dev/null @@ -1,116 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import math -# -import os - -import numpy as np -import torch -from flightgym import QuadrotorEnv_v1 -from ruamel.yaml import YAML, RoundTripDumper, dump -from stable_baselines3.common.utils import get_device -from stable_baselines3.ppo.policies import MlpPolicy - -from rpg_baselines.torch.common.ppo import PPO -from rpg_baselines.torch.envs import vec_env_wrapper as wrapper -from rpg_baselines.torch.common.util import test_policy - - -def configure_random_seed(seed, env=None): - if env is not None: - env.seed(seed) - np.random.seed(seed) - torch.manual_seed(seed) - - -def parser(): - parser = argparse.ArgumentParser() - parser.add_argument("--seed", type=int, default=0, help="Random seed") - parser.add_argument("--train", type=int, default=0, help="Train the policy or evaluate the policy") - parser.add_argument("--render", type=int, default=0, help="Render with Unity") - parser.add_argument("--trial", type=int, default=1, help="PPO trial number") - parser.add_argument("--iter", type=int, default=100, help="PPO iter number") - return parser - - -def main(): - args = parser().parse_args() - - # load configurations - cfg = YAML().load( - open( - os.environ["AVOIDBENCH_PATH"] + "/flightpy/configs/control/config_gazebo.yaml", "r" - ) - ) - - # create training environment - train_env = QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) - train_env = wrapper.FlightEnvVec(train_env) - - # set random seed - configure_random_seed(args.seed, env=train_env) - - if args.render: - cfg["unity"]["render"] = "yes" - - # create evaluation environment - old_num_envs = cfg["simulation"]["num_envs"] - cfg["simulation"]["num_envs"] = 1 - eval_env = wrapper.FlightEnvVec( - QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) - ) - cfg["simulation"]["num_envs"] = old_num_envs - - # save the configuration and other files - rsg_root = os.path.dirname(os.path.abspath(__file__)) - log_dir = rsg_root + "/saved" - - # - if args.train: - model = PPO( - tensorboard_log=log_dir, - policy="MlpPolicy", - policy_kwargs=dict( - activation_fn=torch.nn.ReLU, - net_arch=[dict(pi=[256, 256], vf=[512, 512])], - log_std_init=-0.5, - ), - env=train_env, - eval_env=eval_env, - use_tanh_act=True, - gae_lambda=0.95, - gamma=0.99, - n_steps=250, - ent_coef=0.0, - vf_coef=0.5, - max_grad_norm=0.5, - batch_size=25000, - clip_range=0.2, - use_sde=False, # don't use (gSDE), doesn't work - env_cfg=cfg, - verbose=1, - ) - - # - model.learn(total_timesteps=int(10e7), log_interval=(10, 50)) - else: - # - weight = os.environ["AVOIDBENCH_PATH"] + "/flightpy/flightrl/saved/PPO_{0}/Policy/iter_{1:05d}.pth".format(args.trial, args.iter) - env_rms = os.environ["AVOIDBENCH_PATH"] +"/flightpy/flightrl/saved/PPO_{0}/RMS/iter_{1:05d}.npz".format(args.trial, args.iter) - - device = get_device("auto") - saved_variables = torch.load(weight, map_location=device) - # Create policy object - policy = MlpPolicy(**saved_variables["data"]) - # - policy.action_net = torch.nn.Sequential(policy.action_net, torch.nn.Tanh()) - # Load weights - policy.load_state_dict(saved_variables["state_dict"], strict=False) - policy.to(device) - - eval_env.load_rms(env_rms) - test_policy(eval_env, policy, render=args.render) - - -if __name__ == "__main__": - main() diff --git a/src/avoidbench/flightpy/flightrl/run_control_ros.py b/src/avoidbench/flightpy/flightrl/run_control_ros.py deleted file mode 100644 index 67c674e..0000000 --- a/src/avoidbench/flightpy/flightrl/run_control_ros.py +++ /dev/null @@ -1,200 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import sys -import math -#ros dependency -import rospy -import rospkg -from scipy.spatial.transform import Rotation as R -from nav_msgs.msg import Path, Odometry -from rpg_quadrotor_msgs.msg import ControlCommand -from mav_msgs.msg import Actuators -# -import os - -import numpy as np -import torch -from flightgym import QuadrotorEnv_v1 -from ruamel.yaml import YAML, RoundTripDumper, dump -from stable_baselines3.common.utils import get_device -from stable_baselines3.ppo.policies import MlpPolicy - -from rpg_baselines.torch.common.ppo import PPO -from rpg_baselines.torch.envs import vec_env_wrapper as wrapper - -class RLController(): - def __init__(self, env, model): - self.env = env - self.model = model - self.reset_state = False - self.trigger = True - self.state = None - self.start_point = None - self.target = None - self.next_target = None - self.motor_speed = None - self.relative_target = None - self.state_est_sub_ = rospy.Subscriber("/iris/ground_truth/odometry", Odometry, self.poseCallback, - queue_size=1, tcp_nodelay=True) - self.motors_sub_ = rospy.Subscriber("/iris/motor_speed", Actuators, self.motorCallback, - queue_size=1, tcp_nodelay=True) - self.control_command_pub_ = rospy.Publisher("/iris/autopilot/control_command_input", ControlCommand, queue_size=1) - self.odometry_test_pub_ = rospy.Publisher("/rl_test", Odometry, queue_size=10) - self.pub_cmd_loop_ = rospy.Timer(rospy.Duration(0.01), self.pubCMD) - self.random_target_gen_loop = rospy.Timer(rospy.Duration(0.05), self.genTarget) - self.obs = self.env.reset() - self.done = False - self.ep_len = 0 - - def poseCallback(self, data): - if self.trigger: - return - self.state = np.zeros(21, dtype=np.float64) - vel_body = np.zeros(3, dtype=np.float64) - self.state[0] = data.pose.pose.position.x# - self.target[0] + 1.0 - self.state[1] = data.pose.pose.position.y# - self.target[1] + 4.0 - self.state[2] = data.pose.pose.position.z# - self.target[2] + 1.0 - if self.start_point is None: - self.start_point = self.state[0:3] - vel_body[0] = data.twist.twist.linear.x - vel_body[1] = data.twist.twist.linear.y - vel_body[2] = data.twist.twist.linear.z - self.state[6] = data.twist.twist.angular.x - self.state[7] = data.twist.twist.angular.y - self.state[8] = data.twist.twist.angular.z - self.state[9] = data.pose.pose.orientation.w - self.state[10] = data.pose.pose.orientation.x - self.state[11] = data.pose.pose.orientation.y - self.state[12] = data.pose.pose.orientation.z - self.state[13:16] = self.target - self.state[16:19] = self.next_target - Rm = R.from_quat([self.state[10], self.state[11], self.state[12], self.state[9]]) - vel_world = Rm.as_matrix()@vel_body - self.state[3] = vel_world[0] - self.state[4] = vel_world[1] - self.state[5] = vel_world[2] - # print(self.target, " ", self.start_point, " ", self.next_target) - process = np.dot(self.state[0:3] - self.start_point, self.target - self.start_point) / ( - np.linalg.norm(self.target - self.start_point) * np.linalg.norm(self.target - self.start_point) - ) - if(np.linalg.norm(self.state[0:3]-self.target)<0.2): - self.trigger = True - - def motorCallback(self, data): - self.motor_speed = np.zeros(4, dtype=np.float64) - self.motor_speed[0] = data.angular_velocities[0] - self.motor_speed[1] = data.angular_velocities[1] - self.motor_speed[2] = -data.angular_velocities[2] - self.motor_speed[3] = -data.angular_velocities[3] - - def pubCMD(self, data): - if self.state is None: - return - if self.motor_speed is None: - return - self.env.setState(self.state) - self.env.setMotor(self.motor_speed) - # print("real: ", self.state[2]) - obs = self.env.resetFromAB() - # print(obs) - self.reset_state = True - if self.ep_len < self.env.max_episode_steps and not self.done: - act, _ = self.model.predict(obs, deterministic=True) - act = np.array(act, dtype=np.float64) - test_obs = self.env.teststep(act) - # print("predict: ", test_obs[0,2]) - self.runControl(act) - - def runControl(self, act): - time_now = rospy.Time.now() - mass = 1.05 - motor_omega_max_ = 1200.0 - thrust_map_ = np.array([8.54858e-06, 0.0, 0.0]) - thrust_max_ = (motor_omega_max_ * motor_omega_max_ * thrust_map_[0] + - motor_omega_max_ * thrust_map_[1] + thrust_map_[2]) * 4 - act_mean_ = np.array([thrust_max_/mass/2, 0.0, 0.0, 0.0]) - act_std_ = np.array([thrust_max_/mass/2, 6.0, 6.0, 1.5]) - pi_act_ = act * act_std_ + act_mean_ - # print(pi_act_) - cmd = ControlCommand() - cmd.control_mode = ControlCommand.BODY_RATES - cmd.armed = True - cmd.header.stamp = time_now - cmd.bodyrates.x = pi_act_[1] - cmd.bodyrates.y = pi_act_[2] - cmd.bodyrates.z = pi_act_[3] - cmd.collective_thrust = pi_act_[0] - cmd.expected_execution_time = time_now + rospy.Duration(0.01) - self.control_command_pub_.publish(cmd) - - def genTarget(self, data): - if self.trigger: - if self.next_target is None: - self.target = np.zeros(3, dtype=np.float64) - self.next_target = np.zeros(3, dtype=np.float64) - self.target[0] = np.random.uniform(-1, 1) - self.target[1] = 1.0 - self.target[2] = 2.0 - print(self.target) - self.next_target[0] = np.random.uniform(-1, 1) - self.next_target[1] = self.target[1] + 1.0 - self.next_target[2] = 2.0 - else: - self.start_point = (self.target).copy() - self.target = (self.next_target).copy() - print(self.target) - self.next_target[0] = np.random.uniform(-1, 1) - self.next_target[1] = self.next_target[1] + 1.0 - self.next_target[2] = 2.0 - self.trigger = False - - -def parser(): - parser = argparse.ArgumentParser() - parser.add_argument("--seed", type=int, default=0, help="Random seed") - parser.add_argument("--train", type=int, default=0, help="Train the policy or evaluate the policy") - parser.add_argument("--render", type=int, default=0, help="Render with Unity") - parser.add_argument("--trial", type=int, default=1, help="PPO trial number") - parser.add_argument("--iter", type=int, default=100, help="PPO iter number") - return parser - - -def main(): - try: - rospy.get_master().getPid() - except: - print("roscore is offline, exit") - sys.exit(-1) - rospy.init_node('avoid_manage', anonymous=True) - - args = parser().parse_args() - cfg = YAML().load( - open( - os.environ["AVOIDBENCH_PATH"] + "/flightpy/configs/control/config_gazebo.yaml", "r" - ) - ) - cfg["simulation"]["num_envs"] = 1 - eval_env = wrapper.FlightEnvVec( - QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) - ) - weight = os.environ["AVOIDBENCH_PATH"] + "/flightpy/flightrl/saved/PPO_{0}/Policy/iter_{1:05d}.pth".format(args.trial, args.iter) - env_rms = os.environ["AVOIDBENCH_PATH"] +"/flightpy/flightrl/saved/PPO_{0}/RMS/iter_{1:05d}.npz".format(args.trial, args.iter) - - device = get_device("auto") - saved_variables = torch.load(weight, map_location=device) - # Create policy object - policy = MlpPolicy(**saved_variables["data"]) - # - policy.action_net = torch.nn.Sequential(policy.action_net, torch.nn.Tanh()) - # Load weights - policy.load_state_dict(saved_variables["state_dict"], strict=False) - policy.to(device) - eval_env.load_rms(env_rms) - - np.random.seed(args.seed) - controller = RLController(eval_env, policy) - rospy.spin() - - -if __name__ == "__main__": - main() diff --git a/src/avoidbench/flightpy/flightrl/run_tracking_demo.py b/src/avoidbench/flightpy/flightrl/run_tracking_demo.py deleted file mode 100644 index 6cb5e56..0000000 --- a/src/avoidbench/flightpy/flightrl/run_tracking_demo.py +++ /dev/null @@ -1,116 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import math -# -import os - -import numpy as np -import torch -from flightgym import TrackingEnv_v1 -from ruamel.yaml import YAML, RoundTripDumper, dump -from stable_baselines3.common.utils import get_device -from stable_baselines3.ppo.policies import MlpPolicy - -from rpg_baselines.torch.common.ppo import PPO -from rpg_baselines.torch.envs import vec_env_wrapper as wrapper -from rpg_baselines.torch.common.util import test_policy - - -def configure_random_seed(seed, env=None): - if env is not None: - env.seed(seed) - np.random.seed(seed) - torch.manual_seed(seed) - - -def parser(): - parser = argparse.ArgumentParser() - parser.add_argument("--seed", type=int, default=0, help="Random seed") - parser.add_argument("--train", type=int, default=1, help="Train the policy or evaluate the policy") - parser.add_argument("--render", type=int, default=0, help="Render with Unity") - parser.add_argument("--trial", type=int, default=1, help="PPO trial number") - parser.add_argument("--iter", type=int, default=100, help="PPO iter number") - return parser - - -def main(): - args = parser().parse_args() - - # load configurations - cfg = YAML().load( - open( - os.environ["AVOIDBENCH_PATH"] + "/flightpy/configs/control/config_gazebo.yaml", "r" - ) - ) - - # create training environment - train_env = TrackingEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) - train_env = wrapper.FlightEnvVec(train_env) - - # set random seed - configure_random_seed(args.seed, env=train_env) - - if args.render: - cfg["unity"]["render"] = "yes" - - # create evaluation environment - old_num_envs = cfg["simulation"]["num_envs"] - cfg["simulation"]["num_envs"] = 1 - eval_env = wrapper.FlightEnvVec( - TrackingEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) - ) - cfg["simulation"]["num_envs"] = old_num_envs - - # save the configuration and other files - rsg_root = os.path.dirname(os.path.abspath(__file__)) - log_dir = rsg_root + "/saved" - - # - if args.train: - model = PPO( - tensorboard_log=log_dir, - policy="MlpPolicy", - policy_kwargs=dict( - activation_fn=torch.nn.ReLU, - net_arch=[dict(pi=[256, 256], vf=[512, 512])], - log_std_init=-0.5, - ), - env=train_env, - eval_env=eval_env, - use_tanh_act=True, - gae_lambda=0.95, - gamma=0.99, - n_steps=250, - ent_coef=0.0, - vf_coef=0.5, - max_grad_norm=0.5, - batch_size=25000, - clip_range=0.2, - use_sde=False, # don't use (gSDE), doesn't work - env_cfg=cfg, - verbose=1, - ) - - # - model.learn(total_timesteps=int(1e8), log_interval=(10, 50)) - else: - # - weight = os.environ["AVOIDBENCH_PATH"] + "/flightpy/flightrl/saved/PPO_{0}/Policy/iter_{1:05d}.pth".format(args.trial, args.iter) - env_rms = os.environ["AVOIDBENCH_PATH"] +"/flightpy/flightrl/saved/PPO_{0}/RMS/iter_{1:05d}.npz".format(args.trial, args.iter) - - device = get_device("auto") - saved_variables = torch.load(weight, map_location=device) - # Create policy object - policy = MlpPolicy(**saved_variables["data"]) - # - policy.action_net = torch.nn.Sequential(policy.action_net, torch.nn.Tanh()) - # Load weights - policy.load_state_dict(saved_variables["state_dict"], strict=False) - policy.to(device) - - eval_env.load_rms(env_rms) - test_policy(eval_env, policy, render=args.render) - - -if __name__ == "__main__": - main() diff --git a/src/avoidbench/flightpy/flightrl/run_tracking_ros.py b/src/avoidbench/flightpy/flightrl/run_tracking_ros.py deleted file mode 100644 index cdac47f..0000000 --- a/src/avoidbench/flightpy/flightrl/run_tracking_ros.py +++ /dev/null @@ -1,156 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import sys -import math -#ros dependency -import rospy -import rospkg -from nav_msgs.msg import Path, Odometry -from rpg_quadrotor_msgs.msg import ControlCommand -from mav_msgs.msg import Actuators -# -import os - -import numpy as np -import torch -from flightgym import TrackingEnv_v1 -from ruamel.yaml import YAML, RoundTripDumper, dump -from stable_baselines3.common.utils import get_device -from stable_baselines3.ppo.policies import MlpPolicy - -from rpg_baselines.torch.common.ppo import PPO -from rpg_baselines.torch.envs import vec_env_wrapper as wrapper - -class RLController(): - def __init__(self, env, model): - self.env = env - self.model = model - self.reset_state = False - self.state = None - self.motor_speed = None - self.state_est_sub_ = rospy.Subscriber("/iris/ground_truth/odometry", Odometry, self.poseCallback, - queue_size=1, tcp_nodelay=True) - self.motors_sub_ = rospy.Subscriber("/iris/motor_speed", Actuators, self.motorCallback, - queue_size=1, tcp_nodelay=True) - self.control_command_pub_ = rospy.Publisher("/iris/autopilot/control_command_input", ControlCommand, queue_size=1) - self.odometry_test_pub_ = rospy.Publisher("/rl_test", Odometry, queue_size=10) - self.pub_cmd_loop_ = rospy.Timer(rospy.Duration(0.01), self.pubCMD) - # self.target_point_sub_ = rospy.Subscriber("/hummingbird/goal_point", Path, self.TargetCallback, queue_size=1) - self.obs = self.env.reset() - self.done = False - self.ep_len = 0 - - def poseCallback(self, data): - self.state = np.zeros(14, dtype=np.float64) - self.state[10] = -0.8 - data.pose.pose.position.x - self.state[11] = 0.8 - data.pose.pose.position.y - self.state[12] = 1.9 - data.pose.pose.position.z - self.state[13] = 0.0 - self.state[0] = data.twist.twist.linear.x - self.state[1] = data.twist.twist.linear.y - self.state[2] = data.twist.twist.linear.z - self.state[3] = data.twist.twist.angular.x - self.state[4] = data.twist.twist.angular.y - self.state[5] = data.twist.twist.angular.z - self.state[6] = data.pose.pose.orientation.w - self.state[7] = data.pose.pose.orientation.x - self.state[8] = data.pose.pose.orientation.y - self.state[9] = data.pose.pose.orientation.z - - def motorCallback(self, data): - self.motor_speed = np.zeros(4, dtype=np.float64) - self.motor_speed[0] = data.angular_velocities[0] - self.motor_speed[1] = data.angular_velocities[1] - self.motor_speed[2] = -data.angular_velocities[2] - self.motor_speed[3] = -data.angular_velocities[3] - - def pubCMD(self, data): - if self.state is None: - return - if self.motor_speed is None: - return - self.env.setState(self.state) - self.env.setMotor(self.motor_speed) - # print("real: ", self.state[2]) - obs = self.env.resetFromAB() - # print(obs) - self.reset_state = True - if self.ep_len < self.env.max_episode_steps and not self.done: - act, _ = self.model.predict(obs, deterministic=True) - act = np.array(act, dtype=np.float64) - # print(act) - test_obs = self.env.teststep(act) - # print("predict: ", test_obs[0,2]) - self.runControl(act) - - def runControl(self, act): - time_now = rospy.Time.now() - mass = 1.05 - motor_omega_max_ = 1200.0 - thrust_map_ = np.array([8.54858e-06, 0.0, 0.0]) - thrust_max_ = (motor_omega_max_ * motor_omega_max_ * thrust_map_[0] + - motor_omega_max_ * thrust_map_[1] + thrust_map_[2]) * 4 - act_mean_ = np.array([thrust_max_/mass/2, 0.0, 0.0, 0.0]) - act_std_ = np.array([thrust_max_/mass/2, 4.0, 4.0, 1.5]) - pi_act_ = act * act_std_ + act_mean_ - # print(pi_act_) - cmd = ControlCommand() - cmd.control_mode = ControlCommand.BODY_RATES - cmd.armed = True - cmd.header.stamp = time_now - cmd.bodyrates.x = pi_act_[1] - cmd.bodyrates.y = pi_act_[2] - cmd.bodyrates.z = pi_act_[3] - cmd.collective_thrust = pi_act_[0] - cmd.expected_execution_time = time_now + rospy.Duration(0.01) - self.control_command_pub_.publish(cmd) - -def parser(): - parser = argparse.ArgumentParser() - parser.add_argument("--seed", type=int, default=0, help="Random seed") - parser.add_argument("--train", type=int, default=0, help="Train the policy or evaluate the policy") - parser.add_argument("--render", type=int, default=0, help="Render with Unity") - parser.add_argument("--trial", type=int, default=1, help="PPO trial number") - parser.add_argument("--iter", type=int, default=100, help="PPO iter number") - return parser - - -def main(): - try: - rospy.get_master().getPid() - except: - print("roscore is offline, exit") - sys.exit(-1) - rospy.init_node('avoid_manage', anonymous=True) - - args = parser().parse_args() - cfg = YAML().load( - open( - os.environ["AVOIDBENCH_PATH"] + "/flightpy/configs/control/config_gazebo.yaml", "r" - ) - ) - cfg["simulation"]["num_envs"] = 1 - eval_env = wrapper.FlightEnvVec( - TrackingEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) - ) - weight = os.environ["AVOIDBENCH_PATH"] + "/flightpy/flightrl/saved/PPO_{0}/Policy/iter_{1:05d}.pth".format(args.trial, args.iter) - env_rms = os.environ["AVOIDBENCH_PATH"] +"/flightpy/flightrl/saved/PPO_{0}/RMS/iter_{1:05d}.npz".format(args.trial, args.iter) - - device = get_device("auto") - saved_variables = torch.load(weight, map_location=device) - # Create policy object - policy = MlpPolicy(**saved_variables["data"]) - # - policy.action_net = torch.nn.Sequential(policy.action_net, torch.nn.Tanh()) - # Load weights - policy.load_state_dict(saved_variables["state_dict"], strict=False) - policy.to(device) - - eval_env.load_rms(env_rms) - - controller = RLController(eval_env, policy) - rospy.spin() - - -if __name__ == "__main__": - main() diff --git a/src/avoidbench/flightpy/flightrl/setup.py b/src/avoidbench/flightpy/flightrl/setup.py deleted file mode 100644 index e6d9ed5..0000000 --- a/src/avoidbench/flightpy/flightrl/setup.py +++ /dev/null @@ -1,20 +0,0 @@ - -import os -import re -import sys -import platform -import subprocess - -from setuptools import setup, Extension, find_packages -from setuptools.command.build_ext import build_ext -from distutils.version import LooseVersion - -setup( - name='rpg_baselines', - version='0.0.1', - author='Yunlong Song', - author_email='song@ifi.uzh.ch', - description='Flightmare: A Quadrotor Simulator.', - long_description='', - packages=['rpg_baselines'], -) \ No newline at end of file diff --git a/src/avoidbench/flightpy/requirements.txt b/src/avoidbench/flightpy/requirements.txt deleted file mode 100644 index 1233bc7..0000000 --- a/src/avoidbench/flightpy/requirements.txt +++ /dev/null @@ -1,10 +0,0 @@ -black -isort -mypy -pydocstyle -pylint -pytest -setuptools -tqdm -wheel -stable-baselines3 diff --git a/src/avoidbench/flightpy/scripts/lint.sh b/src/avoidbench/flightpy/scripts/lint.sh deleted file mode 100755 index d0c2e4a..0000000 --- a/src/avoidbench/flightpy/scripts/lint.sh +++ /dev/null @@ -1,5 +0,0 @@ -python3 -m black flightrl -python3 -m isort flightrl -python3 -m pylint flightrl -python3 -m pydocstyle --convention=google flightrl -python3 -m mypy --install-types --strict flightrl \ No newline at end of file