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cspace_free_internal.cc
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cspace_free_internal.cc
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#include "drake/geometry/optimization/cspace_free_internal.h"
#include <limits>
#include <map>
#include <optional>
#include <unordered_map>
#include <utility>
#include "drake/multibody/rational/rational_forward_kinematics.h"
#include "drake/multibody/rational/rational_forward_kinematics_internal.h"
#include "drake/solvers/choose_best_solver.h"
#include "drake/solvers/mathematical_program_result.h"
namespace drake {
namespace geometry {
namespace optimization {
namespace internal {
namespace {
const double kInf = std::numeric_limits<double>::infinity();
struct BodyPair {
BodyPair(multibody::BodyIndex m_body1, multibody::BodyIndex m_body2)
: body1{m_body1}, body2{m_body2} {}
bool operator==(const BodyPair& other) const {
return body1 == other.body1 && body2 == other.body2;
}
multibody::BodyIndex body1;
multibody::BodyIndex body2;
};
struct BodyPairHash {
size_t operator()(const BodyPair& p) const { return p.body1 * 100 + p.body2; }
};
// Returns true if all the bodies on the kinematics chain from `start` to `end`
// are welded together (namely all the mobilizers in between are welded).
[[nodiscard]] bool ChainIsWelded(const multibody::MultibodyPlant<double>& plant,
multibody::BodyIndex start,
multibody::BodyIndex end) {
const std::vector<multibody::internal::MobilizerIndex> mobilizers =
multibody::internal::FindMobilizersOnPath(plant, start, end);
if (mobilizers.size() == 0) {
return true;
}
const multibody::internal::MultibodyTree<double>& tree =
multibody::internal::GetInternalTree(plant);
for (const auto& mobilizer : mobilizers) {
if (tree.get_mobilizer(mobilizer).num_positions() != 0) {
return false;
}
}
return true;
}
// For all the geometries `link1_geometries` on link1, and `link2_geometries` on
// link2, return them as pairs if they are not filtered.
[[nodiscard]] std::vector<
std::pair<const CIrisCollisionGeometry*, const CIrisCollisionGeometry*>>
GetLinkCollisionPairs(
const multibody::MultibodyPlant<double>& plant,
const SceneGraph<double>& scene_graph, multibody::BodyIndex link1,
multibody::BodyIndex link2,
const std::vector<std::unique_ptr<CIrisCollisionGeometry>>&
link1_geometries,
const std::vector<std::unique_ptr<CIrisCollisionGeometry>>&
link2_geometries) {
std::vector<
std::pair<const CIrisCollisionGeometry*, const CIrisCollisionGeometry*>>
ret;
if (ChainIsWelded(plant, link1, link2)) {
// Two links cannot collide if there are only welded joints between them as
// they cannot move relative to each other. Return an empty vector.
return ret;
}
const auto& model_inspector = scene_graph.model_inspector();
for (const auto& geometry1 : link1_geometries) {
for (const auto& geometry2 : link2_geometries) {
if (!model_inspector.CollisionFiltered(geometry1->id(),
geometry2->id())) {
ret.emplace_back(geometry1.get(), geometry2.get());
}
}
}
return ret;
}
// TODO(hongkai.dai): move this function to a header file for general usage.
template <typename T>
void SymmetricMatrixFromLowerTriangularPart(
int rows, const Eigen::Ref<const VectorX<T>>& lower_triangle,
MatrixX<T>* mat) {
mat->resize(rows, rows);
DRAKE_THROW_UNLESS(lower_triangle.rows() == rows * (rows + 1) / 2);
int count = 0;
for (int j = 0; j < rows; ++j) {
(*mat)(j, j) = lower_triangle(count++);
for (int i = j + 1; i < rows; ++i) {
(*mat)(i, j) = lower_triangle(count);
(*mat)(j, i) = lower_triangle(count);
count++;
}
}
}
// TODO(hongkai.dai): move this function to MathematicalProgram.
void AddPsdConstraint(solvers::MathematicalProgram* prog,
const MatrixX<symbolic::Variable>& X) {
DRAKE_THROW_UNLESS(X.rows() == X.cols());
if (X.rows() == 1) {
prog->AddBoundingBoxConstraint(0, kInf, X(0, 0));
} else if (X.rows() == 2) {
prog->AddRotatedLorentzConeConstraint(
Vector3<symbolic::Variable>(X(0, 0), X(1, 1), X(0, 1)));
} else {
prog->AddPositiveSemidefiniteConstraint(X);
}
}
} // namespace
int GetNumYInRational(const symbolic::RationalFunction& rational,
const Vector3<symbolic::Variable>& y_slack) {
int count = 0;
for (int i = 0; i < 3; ++i) {
if (rational.numerator().indeterminates().find(y_slack(i)) !=
rational.numerator().indeterminates().end()) {
++count;
}
}
return count;
}
std::map<multibody::BodyIndex,
std::vector<std::unique_ptr<CIrisCollisionGeometry>>>
GetCollisionGeometries(const multibody::MultibodyPlant<double>& plant,
const geometry::SceneGraph<double>& scene_graph) {
std::map<multibody::BodyIndex,
std::vector<std::unique_ptr<CIrisCollisionGeometry>>>
ret;
const auto& inspector = scene_graph.model_inspector();
for (multibody::BodyIndex body_index{0}; body_index < plant.num_bodies();
++body_index) {
const std::optional<geometry::FrameId> frame_id =
plant.GetBodyFrameIdIfExists(body_index);
if (frame_id.has_value()) {
const auto geometry_ids =
inspector.GetGeometries(frame_id.value(), geometry::Role::kProximity);
for (const auto& geometry_id : geometry_ids) {
auto collision_geometry = std::make_unique<CIrisCollisionGeometry>(
&(inspector.GetShape(geometry_id)), body_index, geometry_id,
inspector.GetPoseInFrame(geometry_id));
auto body_it = ret.find(body_index);
if (body_it == ret.end()) {
std::vector<std::unique_ptr<CIrisCollisionGeometry>> body_geometries;
body_geometries.push_back(std::move(collision_geometry));
ret.emplace_hint(body_it, body_index, std::move(body_geometries));
} else {
body_it->second.push_back(std::move(collision_geometry));
}
}
}
}
return ret;
}
int GenerateCollisionPairs(
const multibody::MultibodyPlant<double>& plant,
const geometry::SceneGraph<double>& scene_graph,
const std::map<multibody::BodyIndex,
std::vector<std::unique_ptr<CIrisCollisionGeometry>>>&
link_geometries,
std::map<SortedPair<multibody::BodyIndex>,
std::vector<std::pair<const CIrisCollisionGeometry*,
const CIrisCollisionGeometry*>>>*
collision_pairs) {
int num_collision_pairs = 0;
for (const auto& [link1, geometries1] : link_geometries) {
for (const auto& [link2, geometries2] : link_geometries) {
if (link1 < link2) {
auto it = collision_pairs->emplace_hint(
collision_pairs->end(),
SortedPair<multibody::BodyIndex>(link1, link2),
GetLinkCollisionPairs(plant, scene_graph, link1, link2, geometries1,
geometries2));
num_collision_pairs += static_cast<int>(it->second.size());
}
}
}
return num_collision_pairs;
}
void GenerateRationals(
const std::map<int, const CSpaceSeparatingPlane<symbolic::Variable>*>&
separating_planes,
const Vector3<symbolic::Variable>& y_slack,
const Eigen::Ref<const Eigen::VectorXd>& q_star,
const multibody::RationalForwardKinematics& rational_forward_kin,
std::vector<PlaneSeparatesGeometries>* plane_geometries) {
// There can be multiple geometries on the same pair, hence the body pose will
// be reused. We use this map to store the body pose to avoid redundant
// computation.
std::unordered_map<
BodyPair,
multibody::RationalForwardKinematics::Pose<symbolic::Polynomial>,
BodyPairHash>
body_pair_to_X_AB_multilinear;
for (const auto& [plane_index, plane_ptr] : separating_planes) {
DRAKE_ASSERT(plane_ptr != nullptr);
const auto& separating_plane = *plane_ptr;
// Compute X_AB for both side of the geometries.
std::vector<symbolic::RationalFunction> positive_side_rationals;
std::vector<symbolic::RationalFunction> negative_side_rationals;
for (const PlaneSide plane_side :
{PlaneSide::kPositive, PlaneSide::kNegative}) {
const CIrisCollisionGeometry* link_geometry =
separating_plane.geometry(plane_side);
const BodyPair expressed_to_link(separating_plane.expressed_body,
link_geometry->body_index());
auto it = body_pair_to_X_AB_multilinear.find(expressed_to_link);
if (it == body_pair_to_X_AB_multilinear.end()) {
std::tie(it, std::ignore) = body_pair_to_X_AB_multilinear.emplace(
expressed_to_link,
rational_forward_kin.CalcBodyPoseAsMultilinearPolynomial(
q_star, link_geometry->body_index(),
separating_plane.expressed_body));
}
const multibody::RationalForwardKinematics::Pose<symbolic::Polynomial>&
X_AB_multilinear = it->second;
auto& rationals = plane_side == PlaneSide::kPositive
? positive_side_rationals
: negative_side_rationals;
link_geometry->OnPlaneSide(separating_plane.a, separating_plane.b,
X_AB_multilinear, rational_forward_kin,
plane_side, y_slack, &rationals);
}
// For a non-polytopic geometry (sphere, capsule, etc) to be on the positive
// side of the plane, we require that aᵀ*p_AS + b ≥ r|a|. To avoid a trivial
// solution (a = b = 0), we also include the constraint that aᵀ*p_AS + b ≥ 1
// (see ImplementGeometry for the Sphere type). This second constraint is
// redundant if the negative side geometry is a polytope or if the negative
// side geometry is also non-polytopic, and we have included the constraint
// aᵀ*p_AS2 + b ≤ -1. We avoid adding the redundant constraint to reduce the
// program size. We know that the redundant constraints can only be the
// rationals without y_slack variable in non-polytopic geometries.
if (separating_plane.positive_side_geometry->type() ==
CIrisGeometryType::kPolytope &&
separating_plane.negative_side_geometry->type() ==
CIrisGeometryType::kPolytope) {
plane_geometries->emplace_back(positive_side_rationals,
negative_side_rationals, plane_index);
} else if (separating_plane.positive_side_geometry->type() ==
CIrisGeometryType::kPolytope &&
separating_plane.negative_side_geometry->type() !=
CIrisGeometryType::kPolytope) {
// Do not add the negative side rationals that have no y_slack variable.
std::vector<symbolic::RationalFunction> negative_side_rationals_with_y;
for (int i = 0; i < static_cast<int>(negative_side_rationals.size());
++i) {
if (GetNumYInRational(negative_side_rationals[i], y_slack) > 0) {
negative_side_rationals_with_y.push_back(
std::move(negative_side_rationals[i]));
}
}
plane_geometries->emplace_back(
positive_side_rationals, negative_side_rationals_with_y, plane_index);
} else if (separating_plane.positive_side_geometry->type() !=
CIrisGeometryType::kPolytope &&
separating_plane.negative_side_geometry->type() ==
CIrisGeometryType::kPolytope) {
// Do not add the positive side rationals that have no y_slack variables.
std::vector<symbolic::RationalFunction> positive_side_rationals_with_y;
for (int i = 0; i < static_cast<int>(positive_side_rationals.size());
++i) {
if (GetNumYInRational(positive_side_rationals[i], y_slack) > 0) {
positive_side_rationals_with_y.push_back(
std::move(positive_side_rationals[i]));
}
}
plane_geometries->emplace_back(positive_side_rationals_with_y,
negative_side_rationals, plane_index);
} else {
// Both sides are non-polytopic, we only need the rationals without y from
// one side, we choose the positive side. For the negative side, we only
// add the rationals that contain y as indeterminates.
std::vector<symbolic::RationalFunction> negative_side_rationals_with_y;
for (int i = 0; i < static_cast<int>(negative_side_rationals.size());
++i) {
if (GetNumYInRational(negative_side_rationals[i], y_slack) > 0) {
negative_side_rationals_with_y.push_back(
std::move(negative_side_rationals[i]));
}
}
plane_geometries->emplace_back(
positive_side_rationals, negative_side_rationals_with_y, plane_index);
}
DRAKE_DEMAND(plane_geometries->back().plane_index == plane_index);
}
}
void GenerateRationals(
const std::vector<std::unique_ptr<
CSpaceSeparatingPlane<symbolic::Variable>>>& separating_planes,
const Vector3<symbolic::Variable>& y_slack,
const Eigen::Ref<const Eigen::VectorXd>& q_star,
const multibody::RationalForwardKinematics& rational_forward_kin,
std::vector<PlaneSeparatesGeometries>* plane_geometries) {
std::map<int, const CSpaceSeparatingPlane<symbolic::Variable>*>
separating_planes_map;
for (int i = 0; i < static_cast<int>(separating_planes.size()); ++i) {
separating_planes_map.emplace(i, separating_planes.at(i).get());
}
GenerateRationals(separating_planes_map, y_slack, q_star,
rational_forward_kin, plane_geometries);
}
void SolveSeparationCertificateProgramBase(
const SeparationCertificateProgramBase& certificate_program,
const FindSeparationCertificateOptions& options,
const CSpaceSeparatingPlane<symbolic::Variable>& separating_plane,
SeparationCertificateResultBase* result) {
result->plane_index = certificate_program.plane_index;
solvers::MakeSolver(options.solver_id)
->Solve(*certificate_program.prog, std::nullopt, options.solver_options,
&(result->result));
if (result->result.is_success()) {
result->plane_decision_var_vals =
result->result.GetSolution(separating_plane.decision_variables);
for (int i = 0; i < 3; ++i) {
result->a(i) = result->result.GetSolution(separating_plane.a(i));
}
result->b = result->result.GetSolution(separating_plane.b);
}
}
int GetGramVarSize(
const std::array<VectorX<symbolic::Monomial>, 4>& monomial_basis_array,
bool with_cross_y, int num_y) {
auto gram_lower_size = [](int gram_rows) {
return gram_rows * (gram_rows + 1) / 2;
};
if (num_y == 0) {
// We only need to use monomial_basis_array[0].
return gram_lower_size(monomial_basis_array[0].rows());
} else {
// We will use the monomials that contain y for the psd_mat.
// We will denote monomial_basis_array[0] as m(s), and
// monomial_basis_array[i+1] as yᵢ * m(s).
if (with_cross_y) {
// The monomials basis we use are [m(s); y₀*m(s), ..., yₙ * m(s)] where n
// = num_y - 1.
int gram_rows = monomial_basis_array[0].rows();
for (int i = 0; i < num_y; ++i) {
gram_rows += monomial_basis_array[i + 1].rows();
}
return gram_lower_size(gram_rows);
} else {
// Use multiple monomial basis, each monomials basis is [m(s); yᵢ*m(s)].
int ret = 0;
for (int i = 0; i < num_y; ++i) {
ret += gram_lower_size(monomial_basis_array[0].rows() +
monomial_basis_array[i + 1].rows());
}
return ret;
}
}
}
GramAndMonomialBasis::GramAndMonomialBasis(
const std::array<VectorX<symbolic::Monomial>, 4>& monomial_basis_array,
bool with_cross_y, int num_y) {
this->gram_var_size =
internal::GetGramVarSize(monomial_basis_array, with_cross_y, num_y);
if (num_y == 0) {
// We only need to use monomial_basis_array[0].
this->grams.emplace_back(monomial_basis_array[0].rows(),
monomial_basis_array[0].rows());
this->monomial_basis.push_back(monomial_basis_array[0]);
} else {
// We will use the monomials that contain y for the psd_mat.
// We will denote monomial_basis_array[0] as m(s), and
// monomial_basis_array[i+1] as yᵢ * m(s).
if (with_cross_y) {
// The monomials basis we use is [m(s); y₀*m(s), ..., yₙ * m(s)] where
// n = num_y - 1.
int gram_rows = monomial_basis_array[0].rows();
for (int i = 0; i < num_y; ++i) {
gram_rows += monomial_basis_array[i + 1].rows();
}
this->grams.emplace_back(gram_rows, gram_rows);
this->monomial_basis.emplace_back(gram_rows);
this->monomial_basis[0].topRows(monomial_basis_array[0].rows()) =
monomial_basis_array[0];
gram_rows = monomial_basis_array[0].rows();
for (int i = 0; i < num_y; ++i) {
this->monomial_basis[0].segment(gram_rows,
monomial_basis_array[i + 1].rows()) =
monomial_basis_array[i + 1];
gram_rows += monomial_basis_array[i + 1].rows();
}
} else {
// Use multiple monomial bases, each monomial basis is [m(s); yᵢ*m(s)].
for (int i = 0; i < num_y; ++i) {
const int gram_rows =
monomial_basis_array[0].rows() + monomial_basis_array[i + 1].rows();
this->grams.emplace_back(gram_rows, gram_rows);
this->monomial_basis.emplace_back(gram_rows);
this->monomial_basis.back().topRows(monomial_basis_array[0].rows()) =
monomial_basis_array[0];
this->monomial_basis.back().bottomRows(
monomial_basis_array[i + 1].rows()) = monomial_basis_array[i + 1];
}
}
}
}
void GramAndMonomialBasis::AddSos(
solvers::MathematicalProgram* prog,
const Eigen::Ref<const VectorX<symbolic::Variable>>& gram_lower,
symbolic::Polynomial* poly) {
int gram_var_count = 0;
for (auto& gram : this->grams) {
const int gram_lower_size = gram.rows() * (gram.rows() + 1) / 2;
SymmetricMatrixFromLowerTriangularPart<symbolic::Variable>(
gram.rows(), gram_lower.segment(gram_var_count, gram_lower_size),
&gram);
gram_var_count += gram_lower_size;
}
*poly = symbolic::Polynomial();
gram_var_count = 0;
for (int i = 0; i < static_cast<int>(this->grams.size()); ++i) {
AddPsdConstraint(prog, this->grams[i]);
const int gram_lower_size =
this->grams[i].rows() * (this->grams[i].rows() + 1) / 2;
*poly += symbolic::CalcPolynomialWLowerTriangularPart(
this->monomial_basis[i],
gram_lower.segment(gram_var_count, gram_lower_size));
gram_var_count += gram_lower_size;
}
}
solvers::MathematicalProgramResult SolveWithBackoff(
solvers::MathematicalProgram* prog, std::optional<double> backoff_scale,
const std::optional<solvers::SolverOptions>& solver_options,
const solvers::SolverId& solver_id) {
DRAKE_THROW_UNLESS(prog->quadratic_costs().size() == 0);
auto solver = solvers::MakeSolver(solver_id);
solvers::MathematicalProgramResult result;
solver->Solve(*prog, std::nullopt, solver_options, &result);
if (!result.is_success()) {
drake::log()->debug("Failed before backoff.");
}
if (backoff_scale.has_value() && !(prog->linear_costs().empty())) {
DRAKE_THROW_UNLESS(prog->linear_costs().size() == 1);
const double cost_val = result.get_optimal_cost();
const double cost_upper_bound =
cost_val > 0 ? (1 + backoff_scale.value()) * cost_val
: (1 - backoff_scale.value()) * cost_val;
prog->AddLinearConstraint(
prog->linear_costs()[0].evaluator()->a(), -kInf,
cost_upper_bound - prog->linear_costs()[0].evaluator()->b(),
prog->linear_costs()[0].variables());
prog->RemoveCost(prog->linear_costs()[0]);
solver->Solve(*prog, std::nullopt, solver_options, &result);
if (!result.is_success()) {
drake::log()->debug("Failed in backoff.");
}
}
return result;
}
} // namespace internal
} // namespace optimization
} // namespace geometry
} // namespace drake