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cspace_free_polytope_base.cc
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cspace_free_polytope_base.cc
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#include "drake/geometry/optimization/cspace_free_polytope_base.h"
#include <future>
#include <limits>
#include <list>
#include <string>
#include <thread>
#include <utility>
#include "drake/geometry/optimization/cspace_free_internal.h"
#include "drake/multibody/rational/rational_forward_kinematics_internal.h"
namespace drake {
namespace geometry {
namespace optimization {
namespace {
// Checks if a future has completed execution.
// This function is taken from monte_carlo.cc. It will be used in the "thread
// pool" implementation (which doesn't use the openMP).
template <typename T>
bool IsFutureReady(const std::future<T>& future) {
// future.wait_for() is the only method to check the status of a future
// without waiting for it to complete.
const std::future_status status =
future.wait_for(std::chrono::milliseconds(1));
return (status == std::future_status::ready);
}
/*
The monomials in the numerator of body point position has the form ∏ᵢ pow(tᵢ,
dᵢ) * ∏ⱼ pow(xⱼ, cⱼ), where tᵢ is the configuration variable tᵢ = tan(Δθᵢ/2)
for the revolute joint, dᵢ = 0, 1, or 2, on the kinematic chain between the
pair of bodies; xⱼ is the prismatic joint displacement on the same kinematic
chain, cⱼ = 0 or 1. When we use SeparatingPlaneOrder = kAffine, the monomial
basis would include all the monomials in the form ∏ᵢ pow(sᵢ, nᵢ) with nᵢ = 0
or 1, s ∈ {tᵢ, xⱼ}. Let's denote this monomial basis as m(s).
When we have non-polytopic collision geometries, we will also impose a matrix
of rational functions being positive semidefinite. This requires a matrix-sos
constraint with slack variable y. We will need the monomial basis in the form
yᵢ*m(s) with i=0,1,2.
@param[in/out] map_body_to_monomial_basis_array stores all the monomials basis
already computed.
@param[out] monomial_basis_array The monomial basis array for this pair of
body, monomial_basis_array = [m(s), y₀*m(s), y₁*m(s), y₂*m(s)]
*/
void FindMonomialBasisArray(
const multibody::RationalForwardKinematics& rational_forward_kin,
const Vector3<symbolic::Variable>& y_slack,
const SortedPair<multibody::BodyIndex>& body_pair,
const std::unordered_map<SortedPair<multibody::BodyIndex>,
std::vector<int>>& map_body_pair_to_s_on_chain,
std::unordered_map<SortedPair<multibody::BodyIndex>,
std::array<VectorX<symbolic::Monomial>, 4>>*
map_body_to_monomial_basis_array,
std::array<VectorX<symbolic::Monomial>, 4>* monomial_basis_array) {
auto body_pair_it = map_body_to_monomial_basis_array->find(body_pair);
if (body_pair_it == map_body_to_monomial_basis_array->end()) {
symbolic::Variables s_set;
const std::vector<int>& s_indices =
map_body_pair_to_s_on_chain.at(body_pair);
for (const int s_index : s_indices) {
s_set.insert(rational_forward_kin.s()[s_index]);
}
if (s_set.empty()) {
// No s variable. The monomial basis is just [1].
(*monomial_basis_array)[0].resize(1);
(*monomial_basis_array)[0](0) = symbolic::Monomial();
} else {
(*monomial_basis_array)[0] =
symbolic::CalcMonomialBasisOrderUpToOne(s_set);
}
// monomial_basis_array[i+1] = y(i) * monomial_basis_array[0]
for (int i = 0; i < 3; ++i) {
const symbolic::Monomial yi(y_slack(i));
(*monomial_basis_array)[i + 1].resize((*monomial_basis_array)[0].rows());
for (int j = 0; j < (*monomial_basis_array)[0].rows(); ++j) {
(*monomial_basis_array)[i + 1](j) = yi * (*monomial_basis_array)[0](j);
}
}
map_body_to_monomial_basis_array->emplace(body_pair, *monomial_basis_array);
} else {
*monomial_basis_array = body_pair_it->second;
}
}
} // namespace
CspaceFreePolytopeBase::CspaceFreePolytopeBase(
const multibody::MultibodyPlant<double>* plant,
const geometry::SceneGraph<double>* scene_graph,
SeparatingPlaneOrder plane_order, SForPlane s_for_plane_enum,
const Options& options)
: rational_forward_kin_(plant),
scene_graph_{scene_graph},
link_geometries_{internal::GetCollisionGeometries(*plant, *scene_graph)},
plane_order_{plane_order},
s_set_{rational_forward_kin_.s()},
with_cross_y_{options.with_cross_y} {
DRAKE_DEMAND(scene_graph_ != nullptr);
// Create separating planes.
// collision_pairs maps each pair of body to the pair of collision geometries
// on that pair of body.
std::map<SortedPair<multibody::BodyIndex>,
std::vector<std::pair<const CIrisCollisionGeometry*,
const CIrisCollisionGeometry*>>>
collision_pairs;
int num_collision_pairs = internal::GenerateCollisionPairs(
rational_forward_kin_.plant(), *scene_graph_, link_geometries_,
&collision_pairs);
// Initialize map_body_pair_to_s_on_chain.
for (const auto& [body_pair, collisions] : collision_pairs) {
SetIndicesOfSOnChainForBodyPair(body_pair);
}
separating_planes_.reserve(num_collision_pairs);
const symbolic::Monomial monomial_one{};
for (const auto& [link_pair, geometry_pairs] : collision_pairs) {
for (const auto& geometry_pair : geometry_pairs) {
Vector3<symbolic::Polynomial> a;
symbolic::Polynomial b;
VectorX<symbolic::Variable> plane_decision_vars;
switch (plane_order_) {
case SeparatingPlaneOrder::kAffine: {
const VectorX<symbolic::Variable> s_for_plane =
GetSForPlane(link_pair, s_for_plane_enum);
plane_decision_vars.resize(4 * s_for_plane.rows() + 4);
for (int i = 0; i < plane_decision_vars.rows(); ++i) {
plane_decision_vars(i) =
symbolic::Variable(fmt::format("plane_var{}", i));
}
CalcPlane<symbolic::Variable, symbolic::Variable,
symbolic::Polynomial>(plane_decision_vars, s_for_plane,
ToPlaneDegree(plane_order_), &a, &b);
break;
}
}
const multibody::BodyIndex expressed_body =
multibody::internal::FindBodyInTheMiddleOfChain(
rational_forward_kin_.plant(), link_pair.first(),
link_pair.second());
separating_planes_.emplace_back(
a, b, geometry_pair.first, geometry_pair.second, expressed_body,
ToPlaneDegree(plane_order_), plane_decision_vars);
map_geometries_to_separating_planes_.emplace(
SortedPair<geometry::GeometryId>(geometry_pair.first->id(),
geometry_pair.second->id()),
static_cast<int>(separating_planes_.size()) - 1);
// Later we will also need the s variables on the kinematics chain from
// the expressed body to either ends of link_pair (for example, when we
// compute the monomial basis). Hence we compute it here.
SetIndicesOfSOnChainForBodyPair(
SortedPair<multibody::BodyIndex>(link_pair.first(), expressed_body));
SetIndicesOfSOnChainForBodyPair(
SortedPair<multibody::BodyIndex>(link_pair.second(), expressed_body));
}
}
for (int i = 0; i < 3; ++i) {
y_slack_(i) = symbolic::Variable("y" + std::to_string(i));
}
this->CalcMonomialBasis();
}
CspaceFreePolytopeBase::~CspaceFreePolytopeBase() {}
void CspaceFreePolytopeBase::CalcMonomialBasis() {
for (int plane_index = 0;
plane_index < static_cast<int>(separating_planes_.size());
++plane_index) {
const auto& plane = separating_planes_[plane_index];
for (const auto collision_geometry :
{plane.positive_side_geometry, plane.negative_side_geometry}) {
const SortedPair<multibody::BodyIndex> body_pair(
plane.expressed_body, collision_geometry->body_index());
std::array<VectorX<symbolic::Monomial>, 4> monomial_basis_array;
FindMonomialBasisArray(rational_forward_kin_, y_slack_, body_pair,
map_body_pair_to_s_on_chain_,
&map_body_to_monomial_basis_array_,
&monomial_basis_array);
}
}
}
template <typename T>
void CspaceFreePolytopeBase::CalcSBoundsPolynomial(
const VectorX<T>& s_lower, const VectorX<T>& s_upper,
VectorX<symbolic::Polynomial>* s_minus_s_lower,
VectorX<symbolic::Polynomial>* s_upper_minus_s) const {
const int s_size = rational_forward_kin().s().rows();
s_minus_s_lower->resize(s_size);
s_upper_minus_s->resize(s_size);
const symbolic::Monomial monomial_one{};
const auto& s = rational_forward_kin().s();
for (int i = 0; i < s_size; ++i) {
(*s_minus_s_lower)(i) = symbolic::Polynomial(symbolic::Polynomial::MapType(
{{symbolic::Monomial(s(i)), 1}, {monomial_one, -s_lower(i)}}));
(*s_upper_minus_s)(i) = symbolic::Polynomial(symbolic::Polynomial::MapType(
{{monomial_one, s_upper(i)}, {symbolic::Monomial(s(i)), -1}}));
}
}
void CspaceFreePolytopeBase::SetIndicesOfSOnChainForBodyPair(
const SortedPair<multibody::BodyIndex>& body_pair) {
if (!map_body_pair_to_s_on_chain_.contains(body_pair)) {
const std::vector<multibody::internal::MobilizerIndex> mobilizer_indices =
multibody::internal::FindMobilizersOnPath(rational_forward_kin_.plant(),
body_pair.first(),
body_pair.second());
const auto& tree =
multibody::internal::GetInternalTree(rational_forward_kin_.plant());
std::vector<int> s_indices;
for (const auto& mobilizer_index : mobilizer_indices) {
const auto& mobilizer = tree.get_mobilizer(mobilizer_index);
if ((mobilizer.num_positions() == 1 && mobilizer.num_velocities() == 1) &&
((mobilizer.can_rotate() && !mobilizer.can_translate()) ||
(mobilizer.can_translate() && !mobilizer.can_rotate()))) {
// This is a revolute or prismatic joint.
s_indices.push_back(
rational_forward_kin_.map_mobilizer_to_s_index()[mobilizer_index]);
} else if (mobilizer.num_velocities() > 0) {
throw std::runtime_error(
"FindMonomialBasis: we only support revolute, prismatic or weld "
"mobilizers.");
}
}
map_body_pair_to_s_on_chain_.emplace(body_pair, s_indices);
}
}
void CspaceFreePolytopeBase::SolveCertificationForEachPlaneInParallel(
const std::vector<int>& active_plane_indices,
const std::function<std::pair<bool, int>(int)>& solve_plane_sos,
Parallelism parallelism, bool verbose, bool terminate_at_failure) const {
const int num_threads = parallelism.num_threads();
// We implement the "thread pool" idea here, by following
// MonteCarloSimulationParallel class. This implementation doesn't use openMP
// library.
std::list<std::future<std::pair<bool, int>>> active_operations;
// is_success[plane_count] records whether
// this->separating_planes()[active_plane_indices[plane_count]] is found or
// not.
std::vector<std::optional<bool>> is_success(active_plane_indices.size(),
std::nullopt);
// Keep track of how many SOS have been dispatched already.
int sos_dispatched = 0;
// If any SOS is infeasible, then we don't dispatch any more SOS and report
// failure.
bool stop_dispatching = false;
while ((active_operations.size() > 0 ||
(sos_dispatched < static_cast<int>(active_plane_indices.size()) &&
!stop_dispatching))) {
// Check for completed operations.
for (auto operation = active_operations.begin();
operation != active_operations.end();) {
if (IsFutureReady(*operation)) {
// This call to future.get() is necessary to propagate any exception
// thrown during SOS setup/solve.
const auto [sos_success, plane_count] = operation->get();
is_success[plane_count].emplace(sos_success);
if (verbose) {
drake::log()->debug("SOS {}/{} completed, is_success {}", plane_count,
active_plane_indices.size(), sos_success);
}
if (!sos_success && terminate_at_failure) {
stop_dispatching = true;
}
// Erase returned iterator to the next node in the list.
operation = active_operations.erase(operation);
} else {
// Advance to next node in the list.
++operation;
}
}
// Dispatch new SOS.
while (static_cast<int>(active_operations.size()) < num_threads &&
sos_dispatched < static_cast<int>(active_plane_indices.size()) &&
!stop_dispatching) {
active_operations.emplace_back(std::async(
std::launch::async, std::move(solve_plane_sos), sos_dispatched));
if (verbose) {
drake::log()->debug("SOS {}/{} dispatched", sos_dispatched,
active_plane_indices.size());
}
++sos_dispatched;
}
// Wait a bit before checking for completion.
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
if (std::all_of(is_success.begin(), is_success.end(),
[](std::optional<bool> flag) {
return flag.has_value() && flag.value();
})) {
if (verbose) {
drake::log()->debug("Found Lagrangian multipliers and separating planes");
}
} else {
if (verbose) {
std::string bad_pairs;
const auto& inspector = scene_graph().model_inspector();
for (int plane_count = 0;
plane_count < static_cast<int>(active_plane_indices.size());
++plane_count) {
const int plane_index = active_plane_indices[plane_count];
if (is_success[plane_count].has_value() &&
!(is_success[plane_count].value())) {
bad_pairs.append(fmt::format(
"({}, {})\n",
inspector.GetName(separating_planes()[plane_index]
.positive_side_geometry->id()),
inspector.GetName(separating_planes()[plane_index]
.negative_side_geometry->id())));
}
}
drake::log()->debug(
"Cannot find Lagrangian multipliers and separating planes for \n{}",
bad_pairs);
}
}
}
VectorX<symbolic::Variable> CspaceFreePolytopeBase::GetSForPlane(
const SortedPair<multibody::BodyIndex>& body_pair,
SForPlane s_for_plane_enum) const {
switch (s_for_plane_enum) {
case SForPlane::kAll: {
return rational_forward_kin_.s();
}
case SForPlane::kOnChain: {
const std::vector<int>& s_indices =
map_body_pair_to_s_on_chain_.at(body_pair);
VectorX<symbolic::Variable> s_for_plane(s_indices.size());
for (int i = 0; i < s_for_plane.rows(); ++i) {
s_for_plane(i) = rational_forward_kin_.s()(s_indices[i]);
}
return s_for_plane;
}
}
DRAKE_UNREACHABLE();
}
int CspaceFreePolytopeBase::GetSeparatingPlaneIndex(
const SortedPair<geometry::GeometryId>& pair) const {
return (!map_geometries_to_separating_planes_.contains(pair))
? -1
: map_geometries_to_separating_planes_.at(pair);
}
int CspaceFreePolytopeBase::GetGramVarSizeForPolytopeSearchProgram(
const std::vector<PlaneSeparatesGeometries>& plane_geometries_vec,
const IgnoredCollisionPairs& ignored_collision_pairs,
const std::function<int(const symbolic::RationalFunction& rational,
const std::array<VectorX<symbolic::Monomial>, 4>&
monomial_basis_array)>& count_gram_per_rational)
const {
int ret = 0;
for (const auto& plane_geometries : plane_geometries_vec) {
const auto& plane = separating_planes()[plane_geometries.plane_index];
if (!ignored_collision_pairs.contains(plane.geometry_pair())) {
const auto& monomial_basis_array_positive_side =
this->map_body_to_monomial_basis_array().at(
SortedPair<multibody::BodyIndex>(
plane.expressed_body,
plane.positive_side_geometry->body_index()));
for (const auto& rational : plane_geometries.positive_side_rationals) {
ret += count_gram_per_rational(rational,
monomial_basis_array_positive_side);
}
const auto& monomial_basis_array_negative_side =
this->map_body_to_monomial_basis_array().at(
SortedPair<multibody::BodyIndex>(
plane.expressed_body,
plane.negative_side_geometry->body_index()));
for (const auto& rational : plane_geometries.negative_side_rationals) {
ret += count_gram_per_rational(rational,
monomial_basis_array_negative_side);
}
}
}
return ret;
}
// Explicit instantiation.
template void CspaceFreePolytopeBase::CalcSBoundsPolynomial<double>(
const Eigen::VectorXd& s_lower, const Eigen::VectorXd& s_upper,
VectorX<symbolic::Polynomial>* s_minus_s_lower,
VectorX<symbolic::Polynomial>* s_upper_minus_s) const;
template void CspaceFreePolytopeBase::CalcSBoundsPolynomial<symbolic::Variable>(
const VectorX<symbolic::Variable>& s_lower,
const VectorX<symbolic::Variable>& s_upper,
VectorX<symbolic::Polynomial>* s_minus_s_lower,
VectorX<symbolic::Polynomial>* s_upper_minus_s) const;
} // namespace optimization
} // namespace geometry
} // namespace drake