kinematic.hpp

#pragma once
 
#ifndef LIBXR_NO_EIGEN
 
#include <Eigen/Core>
#include <Eigen/Dense>
 
#include "Eigen/src/Core/Matrix.h"
#include "Eigen/src/Geometry/Quaternion.h"
#include "inertia.hpp"
#include "list.hpp"
#include "transform.hpp"
 
namespace LibXR
{
 
using DefaultScalar = LIBXR_DEFAULT_SCALAR;
 
namespace Kinematic
{
template <typename Scalar = DefaultScalar>
class Joint;
template <typename Scalar = DefaultScalar>
class Object;
template <typename Scalar = DefaultScalar>
class EndPoint;
template <typename Scalar = DefaultScalar>
class StartPoint;
 
template <typename Scalar>
class Joint
{
 public:
  typedef struct Param
  {
    Transform<Scalar> parent2this;  
    Transform<Scalar> this2child;  
    Axis<Scalar> axis;  
    Scalar
        ik_mult;  
  } Param;
 
  typedef struct Runtime
  {
    Eigen::AngleAxis<Scalar>
        state_angle;  
    Eigen::AngleAxis<Scalar>
        target_angle;  
 
    Eigen::Matrix<Scalar, 3, 3>
        inertia;  
 
    Axis<Scalar> state_axis;   
    Axis<Scalar> target_axis;  
 
    Transform<Scalar>
        state;  
    Transform<Scalar>
        target;  
  } Runtime;
 
  Runtime runtime_;  
 
  Object<Scalar> *parent = nullptr;  
  Object<Scalar> *child = nullptr;  
  Param param_;                     
 
  Joint(Axis<Scalar> axis, Object<Scalar> *parent, Transform<Scalar> &parent2this,
        Object<Scalar> *child, Transform<Scalar> &this2child)
      : parent(parent), child(child), param_({parent2this, this2child, axis, 1.0})
  {
    runtime_.inertia = Eigen::Matrix<Scalar, 3, 3>::Zero();
    auto link = new typename Object<Scalar>::Link(this);
    parent->joints.Add(*link);
    child->parent = this;
  }
 
  void SetState(Scalar state)
  {
    if (state > M_PI)
    {
      state -= 2 * M_PI;
    }
    if (state < -M_PI)
    {
      state += 2 * M_PI;
    }
    runtime_.state_angle.angle() = state;
    runtime_.state_angle.axis() = param_.axis;
  }
 
  void SetTarget(Scalar target)
  {
    if (target > M_PI)
    {
      target -= 2 * M_PI;
    }
    if (target < -M_PI)
    {
      target += 2 * M_PI;
    }
    runtime_.target_angle.angle() = target;
    runtime_.target_angle.axis() = param_.axis;
  }
 
  void SetBackwardMult(Scalar mult) { param_.ik_mult = mult; }
};
 
template <typename Scalar>
class Object
{
 public:
  typedef List::Node<Joint<Scalar> *> Link;  
 
  typedef struct
  {
    Inertia<Scalar> inertia;
  } Param;
 
  typedef struct
  {
    Transform<Scalar>
        state;  
    Transform<Scalar>
        target;  
  } Runtime;
 
  List joints;  
 
  Joint<Scalar> *parent = nullptr;  
 
  Param param_;      
  Runtime runtime_;  
 
  Object(Inertia<Scalar> &inertia) : param_({inertia}) {}
 
  void SetPosition(const Position<Scalar> &pos) { runtime_.state = pos; }
 
  void SetQuaternion(const Quaternion<Scalar> &quat) { runtime_.state = quat; }
 
  virtual void CalcBackward() {}
};
 
template <typename Scalar>
class EndPoint : public Object<Scalar>
{
 private:
  Eigen::Matrix<Scalar, 6, Eigen::Dynamic> *jacobian_matrix_ =
      nullptr;  
  Eigen::Matrix<Scalar, Eigen::Dynamic, 1> *delta_theta_ =
      nullptr;  
  Eigen::Matrix<Scalar, 6, 1> err_weight_ =
      Eigen::Matrix<Scalar, 6, 1>::Constant(1);  
  int joint_num_ = 0;  
 
  Quaternion<Scalar> target_quat_;  
  Position<Scalar> target_pos_;  
  Scalar max_angular_velocity_ =
      -1.0;  
  Scalar max_line_velocity_ = -1.0;  
 
 public:
  EndPoint(Inertia<Scalar> &inertia) : Object<Scalar>(inertia) {}
 
  void SetTargetQuaternion(const Quaternion<Scalar> &quat) { target_quat_ = quat; }
 
  void SetTargetPosition(const Position<Scalar> &pos) { target_pos_ = pos; }
 
  void SetErrorWeight(const Eigen::Matrix<Scalar, 6, 1> &weight) { err_weight_ = weight; }
 
  void SetMaxAngularVelocity(Scalar velocity) { max_angular_velocity_ = velocity; }
 
  Eigen::Matrix<Scalar, 3, 1> GetPositionError()
  {
    return target_pos_ - Object<Scalar>::runtime_.target.translation;
  }
 
  Eigen::Quaternion<Scalar> GetQuaternionError()
  {
    return Object<Scalar>::runtime_.target.rotation / target_quat_;
  }
 
  void SetMaxLineVelocity(Scalar velocity) { max_line_velocity_ = velocity; }
 
  Eigen::Matrix<Scalar, 6, 1> CalcBackward(Scalar dt, int max_step = 10,
                                           Scalar max_err = 1e-3, Scalar step_size = 1.0)
  {
    Eigen::Matrix<Scalar, 6, 1> error;
 
    /* Initialize */
    if (jacobian_matrix_ == nullptr)
    {
      Object<Scalar> *tmp = this;
      for (int i = 0;; i++)
      {
        if (tmp->parent == nullptr)
        {
          joint_num_ = i;
          break;
        }
        tmp = tmp->parent->parent;
      }
 
      jacobian_matrix_ = new Eigen::Matrix<Scalar, 6, Eigen::Dynamic>(6, joint_num_);
 
      delta_theta_ = new Eigen::Matrix<Scalar, Eigen::Dynamic, 1>(joint_num_);
    }
 
    /* Apply Limition */
    Position<Scalar> target_pos = target_pos_;
    Quaternion<Scalar> target_quat = target_quat_;
    if (max_line_velocity_ > 0 && max_angular_velocity_ > 0)
    {
      Scalar max_pos_delta = max_angular_velocity_ * dt;
      Scalar max_angle_delta = max_line_velocity_ * dt;
 
      Position<Scalar> pos_err =
          Position<Scalar>(target_pos_ - this->runtime_.target.translation);
      Eigen::AngleAxis<Scalar> angle_err(
          Quaternion<Scalar>(target_quat_ / this->runtime_.target.rotation));
 
      Scalar pos_err_norm = pos_err.norm();
 
      if (pos_err_norm > max_pos_delta)
      {
        pos_err = (max_pos_delta / pos_err_norm) * pos_err;
        target_pos = this->runtime_.target.translation + pos_err;
      }
      else
      {
        target_pos = target_pos_;
      }
 
      if (angle_err.angle() > max_angle_delta)
      {
        angle_err.angle() = max_angle_delta;
        target_quat = this->runtime_.target.rotation * angle_err;
      }
      else
      {
        target_quat = target_quat_;
      }
    }
 
    for (int step = 0; step < max_step; ++step)
    {
      /* Calculate Error */
      error.template head<3>() = target_pos - this->runtime_.target.translation;
      error.template tail<3>() =
          (Eigen::Quaternion<Scalar>(this->runtime_.target.rotation).conjugate() *
           target_quat)
              .vec();
 
      error = err_weight_.array() * error.array();
 
      auto err_norm = error.norm();
 
      if (err_norm < max_err)
      {
        break;
      }
 
      /* Calculate Jacobian */
      do
      {
        Joint<Scalar> *joint = this->parent;
        for (int joint_index = 0; joint_index < joint_num_; joint_index++)
        {
          /* J = [translation[3], rotation[3]] */
          Eigen::Matrix<Scalar, 6, 1> d_transform;
          d_transform.template head<3>() = joint->runtime_.target_axis.cross(
              this->runtime_.target.translation - joint->runtime_.target.translation);
 
          d_transform.template tail<3>() = joint->runtime_.target_axis;
 
          jacobian_matrix_->col(joint_index) = d_transform;
 
          joint = joint->parent->parent;
        }
      } while (0);
 
      /* Calculate delta_theta: delta_theta = J^+ * error */
      *delta_theta_ =
          jacobian_matrix_->completeOrthogonalDecomposition().pseudoInverse() * error *
          step_size / std::sqrt(err_norm);
 
      /* Update Joint Angle */
      do
      {
        Joint<Scalar> *joint = this->parent;
 
        for (int joint_index = 0; joint_index < joint_num_; joint_index++)
        {
          Eigen::AngleAxis<Scalar> target_angle_axis_delta((*delta_theta_)(joint_index),
                                                           joint->runtime_.target_axis);
 
          target_angle_axis_delta =
              Quaternion<Scalar>(Eigen::Quaternion<Scalar>(target_angle_axis_delta)) /
              joint->runtime_.target.rotation;
 
          joint->SetTarget(joint->runtime_.target_angle.angle() +
                           (*delta_theta_)(joint_index)*joint->param_.ik_mult);
 
          joint = joint->parent->parent;
        }
      } while (0);
 
      /* Recalculate Forward Kinematics */
      do
      {
        Joint<Scalar> *joint = this->parent;
 
        for (int joint_index = 0; joint_index < joint_num_; joint_index++)
        {
          if (joint_index == joint_num_ - 1)
          {
            auto start_point = reinterpret_cast<StartPoint<Scalar> *>(joint->parent);
            start_point->CalcTargetForward();
            break;
          }
 
          joint = joint->parent->parent;
        }
      } while (0);
    }
 
    return error;
  }
};
 
template <typename Scalar>
class StartPoint : public Object<Scalar>
{
 public:
  CenterOfMass<Scalar> cog;  
 
  StartPoint(Inertia<Scalar> &inertia) : Object<Scalar>(inertia) {}
 
  void CalcForward()
  {
    this->runtime_.target = this->runtime_.state;
    auto fun = [&](Joint<Scalar> *joint) { return ForwardForeachFunLoop(joint, *this); };
    this->joints.template Foreach<Joint<Scalar> *>(fun);
  }
 
  void CalcTargetForward()
  {
    this->runtime_.target = this->runtime_.state;
    auto fun = [&](Joint<Scalar> *joint)
    { return TargetForwardForeachFunLoop(joint, *this); };
    this->joints.template Foreach<Joint<Scalar> *>(fun);
  }
 
  void CalcInertia()
  {
    Joint<Scalar> *res = nullptr;
    auto fun = [&](Joint<Scalar> *joint)
    { return InertiaForeachFunLoopStart(joint, res); };
    this->joints.template Foreach<Joint<Scalar> *>(fun);
  }
 
  void CalcCenterOfMass()
  {
    this->cog = CenterOfMass<Scalar>(this->param_.inertia, this->runtime_.state);
    this->joints.Foreach(CenterOfMassForeachFunLoop, *this);
  }
 
  static ErrorCode InertiaForeachFunLoopStart(Joint<Scalar> *joint, Joint<Scalar> *parent)
  {
    UNUSED(parent);
    joint->runtime_.inertia = joint->child->param_.inertia
                                  .Translate(joint->runtime_.state.translation -
                                             joint->child->runtime_.state.translation)
                                  .Rotate(joint->child->runtime_.state.rotation /
                                          joint->runtime_.state.rotation);
 
    joint->runtime_.inertia = Inertia<Scalar>::Rotate(
        joint->runtime_.inertia, Eigen::Quaternion<Scalar>(joint->runtime_.state_angle));
 
    auto fun_loop = [&](Joint<Scalar> *child_joint)
    { return InertiaForeachFunLoop(child_joint, joint); };
 
    auto fun_start = [&](Joint<Scalar> *child_joint)
    { return InertiaForeachFunLoopStart(child_joint, joint); };
 
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun_loop);
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun_start);
 
    return ErrorCode::OK;
  }
 
  static ErrorCode InertiaForeachFunLoop(Joint<Scalar> *joint, Joint<Scalar> *parent)
  {
    auto new_inertia =
        joint->child->param_.inertia
            .Translate(parent->runtime_.state.translation -
                       joint->child->runtime_.state.translation)
            .Rotate(parent->runtime_.state.rotation / joint->runtime_.state.rotation);
 
    parent->runtime_.inertia = new_inertia + parent->runtime_.inertia;
 
    auto fun_loop = [&](Joint<Scalar> *child_joint)
    { return InertiaForeachFunLoop(child_joint, joint); };
 
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun_loop);
 
    return ErrorCode::OK;
  }
 
  static ErrorCode ForwardForeachFunLoop(Joint<Scalar> *joint, StartPoint<Scalar> &start)
  {
    Transform<Scalar> t_joint(joint->parent->runtime_.state + joint->param_.parent2this);
 
    joint->runtime_.state = t_joint;
 
    Transform<Scalar> t_child(
        joint->runtime_.state.rotation * joint->runtime_.state_angle,
        joint->runtime_.state.translation);
 
    t_child = t_child + joint->param_.this2child;
 
    joint->child->runtime_.state = t_child;
    joint->runtime_.state_axis = joint->runtime_.state.rotation * joint->param_.axis;
    joint->runtime_.target_axis = joint->runtime_.state_axis;
 
    joint->runtime_.target = joint->runtime_.state;
    joint->runtime_.target_angle = joint->runtime_.state_angle;
    joint->child->runtime_.target = joint->child->runtime_.state;
 
    auto fun = [&](Joint<Scalar> *child_joint)
    { return ForwardForeachFunLoop(child_joint, start); };
 
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun);
 
    return ErrorCode::OK;
  }
 
  static ErrorCode TargetForwardForeachFunLoop(Joint<Scalar> *joint,
                                               StartPoint<Scalar> &start)
  {
    Transform<Scalar> t_joint(joint->parent->runtime_.target + joint->param_.parent2this);
 
    joint->runtime_.target = t_joint;
 
    Transform<Scalar> t_child(
        joint->runtime_.target.rotation * joint->runtime_.target_angle,
        joint->runtime_.target.translation);
 
    t_child = t_child + joint->param_.this2child;
    joint->child->runtime_.target = t_child;
 
    joint->runtime_.target_axis = joint->runtime_.target.rotation * joint->param_.axis;
 
    auto fun = [&](Joint<Scalar> *child_joint)
    { return TargetForwardForeachFunLoop(child_joint, start); };
 
    joint->child->joints.template Foreach<Joint<Scalar> *>(fun);
 
    return ErrorCode::OK;
  }
 
  static ErrorCode CenterOfMassForeachFunLoop(Joint<Scalar> *joint,
                                              StartPoint<Scalar> &start)
  {
    CenterOfMass<Scalar> child_cog(joint->child->param_.inertia,
                                   joint->child->runtime_.state);
 
    start.cog += child_cog;
 
    joint->child->joints.Foreach(TargetForwardForeachFunLoop, start);
 
    return ErrorCode::OK;
  }
};
 
}  // namespace Kinematic
 
}  // namespace LibXR
 
#endif