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linear_distance_and_interpolation_provider.cc
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linear_distance_and_interpolation_provider.cc
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#include "drake/planning/linear_distance_and_interpolation_provider.h"
#include <stdexcept>
#include <common_robotics_utilities/math.hpp>
#include <fmt/format.h>
#include "drake/common/drake_throw.h"
#include "drake/multibody/tree/quaternion_floating_joint.h"
namespace drake {
namespace planning {
using common_robotics_utilities::math::InterpolateXd;
using multibody::BodyIndex;
using multibody::Joint;
using multibody::JointIndex;
using multibody::MultibodyPlant;
using multibody::QuaternionFloatingJoint;
using multibody::RigidBody;
namespace {
std::vector<int> GetQuaternionDofStartIndices(
const MultibodyPlant<double>& plant) {
std::vector<int> quaternion_dof_start_indices;
for (JointIndex joint_index(0); joint_index < plant.num_joints();
++joint_index) {
const Joint<double>& joint = plant.get_joint(joint_index);
if (joint.type_name() == QuaternionFloatingJoint<double>::kTypeName) {
quaternion_dof_start_indices.push_back(joint.position_start());
}
}
return quaternion_dof_start_indices;
}
Eigen::VectorXd GetDefaultDistanceWeights(
int num_positions, const std::vector<int>& quaternion_dof_start_indices) {
// The default weight for all joints is 1, except for quaternion DoF where
// only the first weight may be non-zero.
Eigen::VectorXd default_distance_weights =
Eigen::VectorXd::Ones(num_positions);
for (const int i : quaternion_dof_start_indices) {
default_distance_weights.segment<4>(i) << 1.0, 0.0, 0.0, 0.0;
}
return default_distance_weights;
}
Eigen::VectorXd GetDistanceWeights(
const MultibodyPlant<double>& plant,
const std::vector<int>& quaternion_dof_start_indices,
const std::map<JointIndex, Eigen::VectorXd>& joint_distance_weights) {
// The default weight for all joints is 1, except for quaternion DoF where
// only the first weight may be non-zero.
Eigen::VectorXd distance_weights = GetDefaultDistanceWeights(
plant.num_positions(), quaternion_dof_start_indices);
for (const auto& [joint_index, joint_weights] : joint_distance_weights) {
const Joint<double>& joint = plant.get_joint(joint_index);
if (joint.num_positions() != joint_weights.size()) {
throw std::runtime_error(fmt::format(
"Provided distance weights for joint {} [{}] with type [{}] are [{}] "
"which do not match that joint's num_positions {}",
joint_index, joint.name(), joint.type_name(),
fmt_eigen(joint_weights.transpose()), joint.num_positions()));
}
for (int i = 0; i < joint_weights.size(); ++i) {
const double weight = joint_weights(i);
if (!std::isfinite(weight) || weight < 0.0) {
throw std::runtime_error(fmt::format(
"Provided distance weights for joint {} [{}] are [{}] which are not"
" non-negative and finite",
joint_index, joint.name(), fmt_eigen(joint_weights.transpose())));
}
}
distance_weights.segment(joint.position_start(), joint.num_positions()) =
joint_weights;
}
return distance_weights;
}
/* Checks that provided distance weights satisfy preconditions:
- distance_weights.size() must match num_positions
- all weights must be non-negative and finite
- all quaternion DoF weights must be of the form (weight, 0, 0, 0)
Returns distance_weights unchanged if preconditions are satisfied, throws
otherwise. */
Eigen::VectorXd SanityCheckDistanceWeights(
int num_positions, const std::vector<int>& quaternion_dof_start_indices,
const Eigen::VectorXd& distance_weights) {
if (num_positions != distance_weights.size()) {
throw std::runtime_error(fmt::format(
"Provided distance weights size {} does not match num_positions {}",
distance_weights.size(), num_positions));
}
// Every weight must be finite and >= 0.
for (int i = 0; i < distance_weights.size(); ++i) {
const double weight = distance_weights(i);
if (!std::isfinite(weight)) {
throw std::runtime_error(
fmt::format("Provided distance weight {} with value {} is not finite",
i, weight));
}
if (weight < 0.0) {
throw std::runtime_error(fmt::format(
"Provided distance weight {} with value {} is less than zero", i,
weight));
}
}
// Only the first weight for quaternion DoF may be non-zero.
for (const int i : quaternion_dof_start_indices) {
const double w_weight = distance_weights(i);
const double x_weight = distance_weights(i + 1);
const double y_weight = distance_weights(i + 2);
const double z_weight = distance_weights(i + 3);
if (x_weight != 0.0 || y_weight != 0.0 || z_weight != 0.0) {
throw std::runtime_error(fmt::format(
"Provided distance weights for quaternion dof starting at index {} "
"with values ({}, {}, {}, {}) must be ({}, 0, 0, 0) instead",
i, w_weight, x_weight, y_weight, z_weight, w_weight));
}
}
return distance_weights;
}
} // namespace
LinearDistanceAndInterpolationProvider::LinearDistanceAndInterpolationProvider(
const MultibodyPlant<double>& plant,
const std::map<JointIndex, Eigen::VectorXd>& joint_distance_weights)
: quaternion_dof_start_indices_(GetQuaternionDofStartIndices(plant)),
distance_weights_(SanityCheckDistanceWeights(
plant.num_positions(), quaternion_dof_start_indices_,
GetDistanceWeights(plant, quaternion_dof_start_indices_,
joint_distance_weights))) {}
LinearDistanceAndInterpolationProvider::LinearDistanceAndInterpolationProvider(
const MultibodyPlant<double>& plant,
const Eigen::VectorXd& distance_weights)
: quaternion_dof_start_indices_(GetQuaternionDofStartIndices(plant)),
distance_weights_(SanityCheckDistanceWeights(
plant.num_positions(), quaternion_dof_start_indices_,
distance_weights)) {}
LinearDistanceAndInterpolationProvider::LinearDistanceAndInterpolationProvider(
const MultibodyPlant<double>& plant)
: quaternion_dof_start_indices_(GetQuaternionDofStartIndices(plant)),
distance_weights_(SanityCheckDistanceWeights(
plant.num_positions(), quaternion_dof_start_indices_,
GetDefaultDistanceWeights(plant.num_positions(),
quaternion_dof_start_indices_))) {}
LinearDistanceAndInterpolationProvider::
~LinearDistanceAndInterpolationProvider() = default;
double LinearDistanceAndInterpolationProvider::DoComputeConfigurationDistance(
const Eigen::VectorXd& from, const Eigen::VectorXd& to) const {
Eigen::VectorXd deltas = to - from;
for (const int quat_dof_start_index : quaternion_dof_start_indices()) {
const Eigen::Quaterniond from_quat(from.segment<4>(quat_dof_start_index));
const Eigen::Quaterniond to_quat(to.segment<4>(quat_dof_start_index));
const double quat_angle = from_quat.angularDistance(to_quat);
deltas.segment<4>(quat_dof_start_index) << quat_angle, 0.0, 0.0, 0.0;
}
return deltas.cwiseProduct(distance_weights()).norm();
}
Eigen::VectorXd
LinearDistanceAndInterpolationProvider::DoInterpolateBetweenConfigurations(
const Eigen::VectorXd& from, const Eigen::VectorXd& to,
const double ratio) const {
// Start with linear interpolation between from and to.
Eigen::VectorXd interp = InterpolateXd(from, to, ratio);
// Handle quaternion dof properly.
for (const int quat_dof_start_index : quaternion_dof_start_indices()) {
const Eigen::Quaterniond from_quat(from.segment<4>(quat_dof_start_index));
const Eigen::Quaterniond to_quat(to.segment<4>(quat_dof_start_index));
// Make sure interpolation always does shortest angle (<= 2pi)
const Eigen::Quaterniond interp_quat = from_quat.slerp(ratio, to_quat);
interp.segment<4>(quat_dof_start_index) = interp_quat.coeffs();
}
return interp;
}
} // namespace planning
} // namespace drake