move model name prefix and folder to modelSettings

Author: rubengrandia

common/ocs2_quadruped_interface/src/QuadrupedInterface.cpp

@@ -65,8 +65,7 @@ std::unique_ptr<ocs2::PreComputation> QuadrupedInterface::createPrecomputation()
 }
 
 std::unique_ptr<ocs2::StateInputCost> QuadrupedInterface::createMotionTrackingCost() const {
-  return std::unique_ptr<ocs2::StateInputCost>(
-      new MotionTrackingCost(costSettings(), getKinematicModelAd(), modelSettings().recompileLibraries_));
+  return std::unique_ptr<ocs2::StateInputCost>(new MotionTrackingCost(costSettings(), getKinematicModelAd(), modelSettings()));
 }
 
 std::unique_ptr<ocs2::StateCost> QuadrupedInterface::createMotionTrackingTerminalCost(matrix_t Q) const {

common/ocs2_switched_model_interface/include/ocs2_switched_model_interface/core/ModelSettings.h

@@ -13,6 +13,8 @@ Algorithm fromAlgorithmName(std::string name);
 struct ModelSettings {
   Algorithm algorithm_ = Algorithm::SQP;
   bool recompileLibraries_ = true;
+  std::string robotName_ = "quadruped";
+  std::string autodiffLibraryFolder_ = "/tmp/ocs2";
 
   scalar_t phaseTransitionStanceTime_ = 0.4;
 

common/ocs2_switched_model_interface/include/ocs2_switched_model_interface/cost/MotionTrackingCost.h

@@ -8,6 +8,7 @@
 
 #include "ocs2_switched_model_interface/core/ComModelBase.h"
 #include "ocs2_switched_model_interface/core/KinematicsModelBase.h"
+#include "ocs2_switched_model_interface/core/ModelSettings.h"
 #include "ocs2_switched_model_interface/core/SwitchedModel.h"
 #include "ocs2_switched_model_interface/logic/SwitchedModelModeScheduleManager.h"
 
@@ -40,7 +41,7 @@ class MotionTrackingCost final : public ocs2::StateInputCostGaussNewtonAd {
   using com_model_t = ComModelBase<ocs2::scalar_t>;
   using ad_com_model_t = ComModelBase<ocs2::ad_scalar_t>;
 
-  MotionTrackingCost(const Weights& settings, const ad_kinematic_model_t& adKinematicModel, bool recompile);
+  MotionTrackingCost(const Weights& settings, const ad_kinematic_model_t& adKinematicModel, const ModelSettings& modelSettings);
 
   ~MotionTrackingCost() override = default;
   MotionTrackingCost* clone() const { return new MotionTrackingCost(*this); }
@@ -57,6 +58,7 @@ class MotionTrackingCost final : public ocs2::StateInputCostGaussNewtonAd {
  private:
   std::unique_ptr<ad_kinematic_model_t> adKinematicModelPtr_;
   ocs2::vector_t sqrtWeights_;
+  const ModelSettings& modelSettings_;
 };
 
 MotionTrackingCost::Weights loadWeightsFromFile(const std::string& filename, const std::string& fieldname, bool verbose = true);

common/ocs2_switched_model_interface/src/core/ModelSettings.cpp

@@ -44,6 +44,8 @@ ModelSettings loadModelSettings(const std::string& filename, bool verbose) {
 
   ocs2::loadData::loadPtreeValue(pt, modelSettings.phaseTransitionStanceTime_, prefix + "phaseTransitionStanceTime", verbose);
   ocs2::loadData::loadPtreeValue(pt, modelSettings.recompileLibraries_, prefix + "recompileLibraries", verbose);
+  ocs2::loadData::loadPtreeValue(pt, modelSettings.robotName_, prefix + "robotName", verbose);
+  ocs2::loadData::loadPtreeValue(pt, modelSettings.autodiffLibraryFolder_, prefix + "autodiffLibraryFolder", verbose);
   ocs2::loadData::loadPtreeValue(pt, modelSettings.analyticalInverseKinematics_, prefix + "analyticalInverseKinematics", verbose);
   ocs2::loadData::loadPtreeValue(pt, modelSettings.frictionCoefficient_, prefix + "frictionCoefficient", verbose);
   ocs2::loadData::loadPtreeValue(pt, modelSettings.coneRegularization_, prefix + "coneRegularization", verbose);

common/ocs2_switched_model_interface/src/core/SwitchedModelPrecomputation.cpp

@@ -14,18 +14,16 @@ SwitchedModelPreComputation::SwitchedModelPreComputation(const SwingTrajectoryPl
                                                          const ad_kinematic_model_t& adKinematicModel, const com_model_t& comModel,
                                                          const ad_com_model_t& adComModel, ModelSettings settings)
     : swingTrajectoryPlannerPtr_(&swingTrajectoryPlanner), robotMass_(comModel.totalMass()) {
-  std::string libFolder = "/tmp/ocs2";
-
   // intermediate linear outputs
-  std::string intermediateLibName = "AnymalPrecomputation_intermediateLinearOutputs";
+  std::string intermediateLibName = settings.robotName_ + "_Precomputation_intermediateLinearOutputs";
   auto intermediateDiffFunc = [&](const ad_vector_t& x, ad_vector_t& y) {
     // Extract elements from taped input
     comkino_state_ad_t state = x.segment(0, STATE_DIM);
     comkino_input_ad_t input = x.segment(STATE_DIM, INPUT_DIM);
     intermediateLinearOutputs(adComModel, adKinematicModel, state, input, y);
   };
   intermediateLinearOutputAdInterface_.reset(
-      new ocs2::CppAdInterface(intermediateDiffFunc, STATE_DIM + INPUT_DIM, intermediateLibName, libFolder));
+      new ocs2::CppAdInterface(intermediateDiffFunc, STATE_DIM + INPUT_DIM, intermediateLibName, settings.autodiffLibraryFolder_));
   tapedStateInput_.resize(STATE_DIM + INPUT_DIM);
 
   const auto initCollisions = kinematicModel.collisionSpheresInBaseFrame(joint_coordinate_t::Zero());
@@ -40,9 +38,10 @@ SwitchedModelPreComputation::SwitchedModelPreComputation(const SwingTrajectoryPl
   collisionSpheresDerivative_.resize(maxNumCollisions);
 
   // pre jump linear outputs
-  std::string prejumpLibName = "AnymalPrecomputation_prejumpLinearOutputs";
+  std::string prejumpLibName = settings.robotName_ + "_Precomputation_prejumpLinearOutputs";
   auto prejumpDiffFunc = [&](const ad_vector_t& x, ad_vector_t& y) { prejumpLinearOutputs(adComModel, adKinematicModel, x, y); };
-  prejumpLinearOutputAdInterface_.reset(new ocs2::CppAdInterface(prejumpDiffFunc, STATE_DIM, prejumpLibName, libFolder));
+  prejumpLinearOutputAdInterface_.reset(
+      new ocs2::CppAdInterface(prejumpDiffFunc, STATE_DIM, prejumpLibName, settings.autodiffLibraryFolder_));
 
   // Generate the models
   const bool verbose = true;

common/ocs2_switched_model_interface/src/cost/MotionTrackingCost.cpp

@@ -44,8 +44,9 @@ Eigen::Matrix<SCALAR_T, -1, 1> computeMotionTargets(const comkino_state_s_t<SCAL
 
 }  // namespace
 
-MotionTrackingCost::MotionTrackingCost(const Weights& settings, const ad_kinematic_model_t& adKinematicModel, bool recompile)
-    : adKinematicModelPtr_(adKinematicModel.clone()) {
+MotionTrackingCost::MotionTrackingCost(const Weights& settings, const ad_kinematic_model_t& adKinematicModel,
+                                       const ModelSettings& modelSettings)
+    : adKinematicModelPtr_(adKinematicModel.clone()), modelSettings_(modelSettings) {
   // Weights are sqrt of settings
   CostElements<ocs2::scalar_t> weightStruct;
   weightStruct.eulerXYZ = settings.eulerXYZ.cwiseSqrt();
@@ -61,8 +62,8 @@ MotionTrackingCost::MotionTrackingCost(const Weights& settings, const ad_kinemat
   }
   sqrtWeights_ = weightStruct.asVector();
 
-  initialize(STATE_DIM, INPUT_DIM, CostElements<ocs2::scalar_t>::Size() + sqrtWeights_.size(), "MotionTrackingCost", "/tmp/ocs2",
-             recompile);
+  initialize(STATE_DIM, INPUT_DIM, CostElements<ocs2::scalar_t>::Size() + sqrtWeights_.size(),
+             modelSettings_.robotName_ + "_MotionTrackingCost", modelSettings_.autodiffLibraryFolder_, modelSettings_.recompileLibraries_);
 };
 
 ocs2::vector_t MotionTrackingCost::getParameters(ocs2::scalar_t time, const ocs2::TargetTrajectories& targetTrajectories,
@@ -76,8 +77,9 @@ ocs2::vector_t MotionTrackingCost::getParameters(ocs2::scalar_t time, const ocs2
 
 MotionTrackingCost::MotionTrackingCost(const MotionTrackingCost& other)
     : ocs2::StateInputCostGaussNewtonAd(other),
+      adKinematicModelPtr_(other.adKinematicModelPtr_->clone()),
       sqrtWeights_(other.sqrtWeights_),
-      adKinematicModelPtr_(other.adKinematicModelPtr_->clone()) {}
+      modelSettings_(other.modelSettings_) {}
 
 ocs2::ad_vector_t MotionTrackingCost::costVectorFunction(ocs2::ad_scalar_t time, const ocs2::ad_vector_t& state,
                                                          const ocs2::ad_vector_t& input, const ocs2::ad_vector_t& parameters) const {

common/ocs2_switched_model_interface/src/dynamics/ComKinoSystemDynamicsAd.cpp

@@ -44,10 +44,8 @@ ComKinoSystemDynamicsAd::ComKinoSystemDynamicsAd(const ad_kinematic_model_t& adK
       adComModelPtr_(adComModel.clone()),
       dynamicsParametersModulePtr_(&dynamicsParametersModule),
       settings_(settings) {
-  std::string libName = "anymal_dynamics";
-  std::string libFolder = "/tmp/ocs2";
-  const bool verbose = settings_.recompileLibraries_;
-  this->initialize(STATE_DIM, INPUT_DIM, libName, libFolder, settings_.recompileLibraries_, verbose);
+  const std::string libName = settings_.robotName_ + "_dynamics";
+  this->initialize(STATE_DIM, INPUT_DIM, libName, settings_.autodiffLibraryFolder_, settings_.recompileLibraries_);
 }
 
 ComKinoSystemDynamicsAd::ComKinoSystemDynamicsAd(const ComKinoSystemDynamicsAd& rhs)

ocs2_anymal_loopshaping_mpc/config/c_series/task.info

@@ -2,6 +2,7 @@ model_settings
 {
   algorithm                     SQP
   recompileLibraries            false
+  robotName                     c_series
 
   analyticalInverseKinematics   true
 

ocs2_anymal_loopshaping_mpc/config/d_series/task.info

@@ -2,6 +2,7 @@ model_settings
 {
   algorithm                     SQP
   recompileLibraries            false
+  robotName                     d_series
 
   analyticalInverseKinematics   true
 

ocs2_anymal_mpc/config/c_series/task.info

@@ -2,6 +2,7 @@ model_settings
 {
   algorithm                     SQP
   recompileLibraries            false
+  robotName                     c_series
 
   analyticalInverseKinematics   true