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Change terminal constraint to produce better jumping motions #60

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Merged
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Jun 11, 2025
Merged

Change terminal constraint to produce better jumping motions #60

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2deed58
Change terminal constraint for jump
edantec Jun 6, 2025
7ca854f
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edantec Jun 10, 2025
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24 changes: 1 addition & 23 deletions src/fulldynamics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@

#include "aligator/modelling/dynamics/multibody-constraint-fwd.hpp"
#include <aligator/modelling/dynamics/integrator-semi-euler.hpp>
#include <aligator/modelling/multibody/center-of-mass-translation.hpp>
#include <aligator/modelling/multibody/centroidal-momentum.hpp>
#include <aligator/modelling/multibody/contact-force.hpp>
#include <aligator/modelling/multibody/dcm-position.hpp>
Expand All @@ -26,7 +25,6 @@ namespace simple_mpc
using FrameTranslationResidual = FrameTranslationResidualTpl<double>;
using FrameVelocityResidual = FrameVelocityResidualTpl<double>;
using DCMPositionResidual = DCMPositionResidualTpl<double>;
using CenterOfMassTranslationResidual = CenterOfMassTranslationResidualTpl<double>;
using IntegratorSemiImplEuler = dynamics::IntegratorSemiImplEulerTpl<double>;

FullDynamicsOCP::FullDynamicsOCP(const FullDynamicsSettings & settings, const RobotModelHandler & model_handler)
Expand Down Expand Up @@ -423,9 +421,7 @@ namespace simple_mpc

term_cost.addCost(
"state_cost", QuadraticStateCost(ter_space, nu_, model_handler_.getReferenceState(), settings_.w_x));
/* term_cost.addCost(
"centroidal_cost",
QuadraticResidualCost(ter_space, cent_mom, settings_.w_cent)); */
term_cost.addCost("centroidal_cost", QuadraticResidualCost(ter_space, cent_mom, settings_.w_cent * 10));

return term_cost;
}
Expand All @@ -436,30 +432,12 @@ namespace simple_mpc
{
throw std::runtime_error("Create problem first!");
}
CenterOfMassTranslationResidual com_cstr =
CenterOfMassTranslationResidual(ndx_, nu_, model_handler_.getModel(), com_ref);

double tau = sqrt(com_ref[2] / 9.81);
DCMPositionResidual dcm_cstr = DCMPositionResidual(ndx_, nu_, model_handler_.getModel(), com_ref, tau);

problem_->addTerminalConstraint(dcm_cstr, EqualityConstraint());

Motion v_ref = Motion::Zero();
for (auto const & name : model_handler_.getFeetNames())
{
FrameVelocityResidual frame_vel = FrameVelocityResidual(
ndx_, nu_, model_handler_.getModel(), v_ref, model_handler_.getFootId(name), pinocchio::LOCAL_WORLD_ALIGNED);
if (settings_.force_size == 6)
problem_->addTerminalConstraint(frame_vel, EqualityConstraint());
else
{
std::vector<int> vel_id = {0, 1, 2};

FunctionSliceXpr vel_slice = FunctionSliceXpr(frame_vel, vel_id);
problem_->addTerminalConstraint(vel_slice, EqualityConstraint());
}
}

terminal_constraint_ = true;
}

Expand Down
15 changes: 7 additions & 8 deletions src/kinodynamics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,9 @@
#include <aligator/modelling/centroidal/centroidal-wrench-cone.hpp>
#include <aligator/modelling/dynamics/integrator-semi-euler.hpp>
#include <aligator/modelling/dynamics/kinodynamics-fwd.hpp>
#include <aligator/modelling/multibody/center-of-mass-translation.hpp>
#include <aligator/modelling/multibody/centroidal-momentum-derivative.hpp>
#include <aligator/modelling/multibody/centroidal-momentum.hpp>
#include <aligator/modelling/multibody/dcm-position.hpp>
#include <aligator/modelling/multibody/frame-placement.hpp>
#include <aligator/modelling/multibody/frame-translation.hpp>
#include <aligator/modelling/multibody/frame-velocity.hpp>
Expand All @@ -23,8 +23,8 @@ namespace simple_mpc
using FramePlacementResidual = FramePlacementResidualTpl<double>;
using FrameTranslationResidual = FrameTranslationResidualTpl<double>;
using FrameVelocityResidual = FrameVelocityResidualTpl<double>;
using CenterOfMassTranslationResidual = CenterOfMassTranslationResidualTpl<double>;
using IntegratorSemiImplEuler = dynamics::IntegratorSemiImplEulerTpl<double>;
using DCMPositionResidual = DCMPositionResidualTpl<double>;

KinodynamicsOCP::KinodynamicsOCP(const KinodynamicsSettings & settings, const RobotModelHandler & model_handler)
: Base(model_handler)
Expand Down Expand Up @@ -367,21 +367,20 @@ namespace simple_mpc
{
throw std::runtime_error("Create problem first!");
}
CenterOfMassTranslationResidual com_cstr =
CenterOfMassTranslationResidual(ndx_, nu_, model_handler_.getModel(), com_ref);
double tau = sqrt(com_ref[2] / 9.81);
DCMPositionResidual dcm_cstr = DCMPositionResidual(ndx_, nu_, model_handler_.getModel(), com_ref, tau);

problem_->addTerminalConstraint(com_cstr, EqualityConstraint());
problem_->addTerminalConstraint(dcm_cstr, EqualityConstraint());
terminal_constraint_ = true;
}

void KinodynamicsOCP::updateTerminalConstraint(const Eigen::Vector3d & com_ref)
{
if (terminal_constraint_)
{
CenterOfMassTranslationResidual * CoMres =
problem_->term_cstrs_.getConstraint<CenterOfMassTranslationResidual>(0);
DCMPositionResidual * DCMres = problem_->term_cstrs_.getConstraint<DCMPositionResidual>(0);

CoMres->setReference(com_ref);
DCMres->setReference(com_ref);
}
}

Expand Down
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