CoM Trajectory Generation from HMC #140
Draft
Commits on Mar 30, 2021
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[HMC] Import LinearTimeInvariantInvertedPendulum
- Import implementation of LinearTimeInvariantInvertedPendulum from HMC2 - Adapt to mc_rtc - Remove custom types - clang-format code
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LookupTable implementation (+test/benchmark)
Adds a LookupTable implementation for convenient pre-computation, storing and access of heavy functions.
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[hmc] Import code related to short-term com trajectory
- Import LinearControl systems used for generating short-term com trajectories - Replace openhrp eigen types with Eigen - Cleanup formatting and unused commented-out code
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[HMC] Minimal running example of CoM trajectory generation
- Import all necessary dependencies - Run HMC's sample generator.cpp as-is
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[HMC/LTVIP] Use LookupTable implementation
Replace the old confusing and inaccurate implementation with the new generic LookupTable implementation: ``` [info] Omega2 = 12.258312499999999 [info] Original omega = 3.498714049475893 [info] New omega = 3.5033993502025997 [info] Actual omega = 3.5011872986174275 [info] Original cosh = 1.0003195295150686 [info] New cosh = 1.0001534265107093 [info] Actual cosh = 1.0001532328194729 [info] Original sinh = 0.02528163620591862 (previous code) [info] New sinh = 0.01751789259907999 (new lookup table implementation) [info] Actual sinh = 0.017506830645288594 (expected value) ``` Note better accuracy could be achieved using a non-uniform distribution.
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[HMC/test] Clean generator example (+bugfix)
Bugfix: out-of-bounds access to array m_steps
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[HMC/samples] Sample controller generating and tracking CoM/ZMP Traje…
…ctory Write a first simple example that: - Generates the CoM/ZMP trajectory (open-loop) - Tracks it with the LIPMStabilizer from Stephane - Adds GUI/live plot visualization
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[mc_log_ui] Display error when the log file is invalid
If a log file contains one column or less, mc_log_ui would crash as it expects more entries to be available. This commit displays an error message instead.
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[HMC/samples] WIP change footsteps online
Bug: Does not interpolate the reference ZMP trajectory
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[HMC/generator] Discrete step logic implementation
Implements helpers to handle the logic behind discrete reference provided as a step function: - Ensures that steps are ordered by time (using std::set) - Convenience to create steps, add step, find predecessors/successors - Implement efficient logic for sequentially exploiting footsteps in an online setting: removing old footsteps, updating the previous/next step, etc This leads to a more readable and safer implementation of the original generator class, and allows to cleanly change footsteps at any time. The sample state CoMTrajectoryGeneration has been updated accordingly.
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