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position_constraint.cc
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position_constraint.cc
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#include "drake/multibody/inverse_kinematics/position_constraint.h"
#include "drake/math/autodiff_gradient.h"
#include "drake/multibody/inverse_kinematics/kinematic_evaluator_utilities.h"
using drake::multibody::internal::RefFromPtrOrThrow;
using drake::multibody::internal::UpdateContextConfiguration;
namespace drake {
namespace multibody {
PositionConstraint::PositionConstraint(
const MultibodyPlant<double>* const plant, const Frame<double>& frameA,
const Eigen::Ref<const Eigen::Vector3d>& p_AQ_lower,
const Eigen::Ref<const Eigen::Vector3d>& p_AQ_upper,
const Frame<double>& frameB, const Eigen::Ref<const Eigen::Vector3d>& p_BQ,
systems::Context<double>* plant_context)
: PositionConstraint(plant, frameA, std::nullopt, p_AQ_lower, p_AQ_upper,
frameB, p_BQ, plant_context) {}
PositionConstraint::PositionConstraint(
const MultibodyPlant<double>* const plant, const Frame<double>& frameAbar,
const std::optional<math::RigidTransformd>& X_AbarA,
const Eigen::Ref<const Eigen::Vector3d>& p_AQ_lower,
const Eigen::Ref<const Eigen::Vector3d>& p_AQ_upper,
const Frame<double>& frameB, const Eigen::Ref<const Eigen::Vector3d>& p_BQ,
systems::Context<double>* plant_context)
: solvers::Constraint(3, RefFromPtrOrThrow(plant).num_positions(),
p_AQ_lower, p_AQ_upper),
plant_double_(plant),
frameAbar_index_(frameAbar.index()),
X_AAbar_{X_AbarA.has_value() ? X_AbarA.value().inverse()
: math::RigidTransformd::Identity()},
frameB_index_(frameB.index()),
p_BQ_{p_BQ},
context_double_{plant_context},
plant_autodiff_(nullptr),
context_autodiff_(nullptr) {
if (plant == nullptr) {
throw std::invalid_argument("PositionConstraint(): plant is nullptr.");
}
if (plant_context == nullptr)
throw std::invalid_argument(
"PositionConstraint(): plant_context is nullptr.");
}
PositionConstraint::PositionConstraint(
const MultibodyPlant<AutoDiffXd>* const plant,
const Frame<AutoDiffXd>& frameAbar,
const std::optional<math::RigidTransformd>& X_AbarA,
const Eigen::Ref<const Eigen::Vector3d>& p_AQ_lower,
const Eigen::Ref<const Eigen::Vector3d>& p_AQ_upper,
const Frame<AutoDiffXd>& frameB,
const Eigen::Ref<const Eigen::Vector3d>& p_BQ,
systems::Context<AutoDiffXd>* plant_context)
: solvers::Constraint(3, RefFromPtrOrThrow(plant).num_positions(),
p_AQ_lower, p_AQ_upper),
plant_double_(nullptr),
frameAbar_index_(frameAbar.index()),
X_AAbar_{X_AbarA.has_value() ? X_AbarA.value().inverse()
: math::RigidTransformd::Identity()},
frameB_index_(frameB.index()),
p_BQ_{p_BQ},
context_double_{nullptr},
plant_autodiff_(plant),
context_autodiff_(plant_context) {
if (plant_context == nullptr)
throw std::invalid_argument("plant_context is nullptr.");
}
PositionConstraint::PositionConstraint(
const MultibodyPlant<AutoDiffXd>* const plant,
const Frame<AutoDiffXd>& frameA,
const Eigen::Ref<const Eigen::Vector3d>& p_AQ_lower,
const Eigen::Ref<const Eigen::Vector3d>& p_AQ_upper,
const Frame<AutoDiffXd>& frameB,
const Eigen::Ref<const Eigen::Vector3d>& p_BQ,
systems::Context<AutoDiffXd>* plant_context)
: PositionConstraint(plant, frameA, std::nullopt, p_AQ_lower, p_AQ_upper,
frameB, p_BQ, plant_context) {}
void EvalConstraintGradient(
const systems::Context<double>& context,
const MultibodyPlant<double>& plant, const Frame<double>& frameAbar,
const math::RigidTransformd& X_AAbar, const Frame<double>& frameB,
const Eigen::Vector3d& p_AQ, const Eigen::Vector3d& p_BQ,
const Eigen::Ref<const AutoDiffVecXd>& x, AutoDiffVecXd* y) {
Eigen::Matrix3Xd Jq_V_AbarBq(3, plant.num_positions());
plant.CalcJacobianTranslationalVelocity(context, JacobianWrtVariable::kQDot,
frameB, p_BQ, frameAbar, frameAbar,
&Jq_V_AbarBq);
*y =
math::InitializeAutoDiff(p_AQ, X_AAbar.rotation().matrix() * Jq_V_AbarBq *
math::ExtractGradient(x));
}
template <typename T, typename S>
void DoEvalGeneric(const MultibodyPlant<T>& plant, systems::Context<T>* context,
const FrameIndex frameAbar_index,
const math::RigidTransformd& X_AAbar,
const FrameIndex frameB_index, const Eigen::Vector3d& p_BQ,
const Eigen::Ref<const VectorX<S>>& x, VectorX<S>* y) {
y->resize(3);
UpdateContextConfiguration(context, plant, x);
const Frame<T>& frameAbar = plant.get_frame(frameAbar_index);
const Frame<T>& frameB = plant.get_frame(frameB_index);
Vector3<T> p_AbarQ;
plant.CalcPointsPositions(*context, frameB, p_BQ.cast<T>(), frameAbar,
&p_AbarQ);
if constexpr (std::is_same_v<T, S>) {
*y = X_AAbar.cast<S>() * p_AbarQ;
} else {
EvalConstraintGradient(*context, plant, frameAbar, X_AAbar, frameB,
X_AAbar * p_AbarQ, p_BQ, x, y);
}
}
void PositionConstraint::DoEval(const Eigen::Ref<const Eigen::VectorXd>& x,
Eigen::VectorXd* y) const {
if (use_autodiff()) {
AutoDiffVecXd y_t;
Eval(x.cast<AutoDiffXd>(), &y_t);
*y = math::ExtractValue(y_t);
} else {
DoEvalGeneric(*plant_double_, context_double_, frameAbar_index_, X_AAbar_,
frameB_index_, p_BQ_, x, y);
}
}
void PositionConstraint::DoEval(const Eigen::Ref<const AutoDiffVecXd>& x,
AutoDiffVecXd* y) const {
if (!use_autodiff()) {
DoEvalGeneric(*plant_double_, context_double_, frameAbar_index_, X_AAbar_,
frameB_index_, p_BQ_, x, y);
} else {
DoEvalGeneric(*plant_autodiff_, context_autodiff_, frameAbar_index_,
X_AAbar_, frameB_index_, p_BQ_, x, y);
}
}
} // namespace multibody
} // namespace drake