HierarchicalIK.hpp

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#ifndef DART_DYNAMICS_HIERARCHICALIK_HPP_
#define DART_DYNAMICS_HIERARCHICALIK_HPP_

#include <unordered_set>

#include "dart/dynamics/InverseKinematics.hpp"

namespace dart {
namespace dynamics {

typedef std::vector<std::vector<std::shared_ptr<InverseKinematics> > >
    IKHierarchy;

class HierarchicalIK : public common::Subject
{
public:
  virtual ~HierarchicalIK() = default;

  DART_DEPRECATED(6.8)
  bool solve(bool applySolution = true);

  DART_DEPRECATED(6.8)
  bool solve(Eigen::VectorXd& positions, bool applySolution = true);

  bool findSolution(Eigen::VectorXd& positions);

  bool solveAndApply(bool allowIncompleteResult = true);

  bool solveAndApply(
      Eigen::VectorXd& positions, bool allowIncompleteResult = true);

  virtual std::shared_ptr<HierarchicalIK> clone(
      const SkeletonPtr& _newSkel) const = 0;

  class Function
  {
  public:
    virtual optimization::FunctionPtr clone(
        const std::shared_ptr<HierarchicalIK>& _newIK) const = 0;

    virtual ~Function() = default;
  };

  void setObjective(const std::shared_ptr<optimization::Function>& _objective);

  const std::shared_ptr<optimization::Function>& getObjective();

  std::shared_ptr<const optimization::Function> getObjective() const;

  void setNullSpaceObjective(
      const std::shared_ptr<optimization::Function>& _nsObjective);

  const std::shared_ptr<optimization::Function>& getNullSpaceObjective();

  std::shared_ptr<const optimization::Function> getNullSpaceObjective() const;

  bool hasNullSpaceObjective() const;

  const std::shared_ptr<optimization::Problem>& getProblem();

  std::shared_ptr<const optimization::Problem> getProblem() const;

  void resetProblem(bool _clearSeeds = false);

  void setSolver(const std::shared_ptr<optimization::Solver>& _newSolver);

  const std::shared_ptr<optimization::Solver>& getSolver();

  std::shared_ptr<const optimization::Solver> getSolver() const;

  virtual void refreshIKHierarchy() = 0;

  const IKHierarchy& getIKHierarchy() const;

  const std::vector<Eigen::MatrixXd>& computeNullSpaces() const;

  Eigen::VectorXd getPositions() const;

  void setPositions(const Eigen::VectorXd& _q);

  SkeletonPtr getSkeleton();

  ConstSkeletonPtr getSkeleton() const;

  SkeletonPtr getAffiliation();

  ConstSkeletonPtr getAffiliation() const;

  void clearCaches();

protected:
  class Objective final : public Function, public optimization::Function
  {
  public:
    Objective(const std::shared_ptr<HierarchicalIK>& _ik);

    virtual ~Objective() = default;

    // Documentation inherited
    optimization::FunctionPtr clone(
        const std::shared_ptr<HierarchicalIK>& _newIK) const override;

    // Documentation inherited
    double eval(const Eigen::VectorXd& _x) override;

    // Documentation inherited
    void evalGradient(
        const Eigen::VectorXd& _x, Eigen::Map<Eigen::VectorXd> _grad) override;

  protected:
    std::weak_ptr<HierarchicalIK> mIK;

    Eigen::VectorXd mGradCache;
  };

  class Constraint final : public Function, public optimization::Function
  {
  public:
    Constraint(const std::shared_ptr<HierarchicalIK>& _ik);

    virtual ~Constraint() = default;

    // Documentation inherited
    optimization::FunctionPtr clone(
        const std::shared_ptr<HierarchicalIK>& _newIK) const override;

    // Documentation inherited
    double eval(const Eigen::VectorXd& _x) override;

    // Documentation inherited
    void evalGradient(
        const Eigen::VectorXd& _x, Eigen::Map<Eigen::VectorXd> _grad) override;

  protected:
    std::weak_ptr<HierarchicalIK> mIK;

    Eigen::VectorXd mLevelGradCache;

    Eigen::VectorXd mTempGradCache;
  };

  HierarchicalIK(const SkeletonPtr& _skeleton);

  void initialize(const std::shared_ptr<HierarchicalIK>& my_ptr);

  void copyOverSetup(const std::shared_ptr<HierarchicalIK>& _otherIK) const;

  WeakSkeletonPtr mSkeleton;

  IKHierarchy mHierarchy;

  std::shared_ptr<optimization::Problem> mProblem;

  std::shared_ptr<optimization::Solver> mSolver;

  optimization::FunctionPtr mObjective;

  optimization::FunctionPtr mNullSpaceObjective;

  std::weak_ptr<HierarchicalIK> mPtr;

  mutable Eigen::VectorXd mLastPositions;

  mutable std::vector<Eigen::MatrixXd> mNullSpaceCache;

  mutable Eigen::MatrixXd mPartialNullspaceCache;

  mutable Eigen::JacobiSVD<math::Jacobian> mSVDCache;

  mutable math::Jacobian mJacCache;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

class CompositeIK : public HierarchicalIK
{
public:
  typedef std::unordered_set<std::shared_ptr<InverseKinematics> > ModuleSet;
  typedef std::unordered_set<std::shared_ptr<const InverseKinematics> >
      ConstModuleSet;

  static std::shared_ptr<CompositeIK> create(const SkeletonPtr& _skel);

  // Documentation inherited
  std::shared_ptr<HierarchicalIK> clone(
      const SkeletonPtr& _newSkel) const override;

  virtual std::shared_ptr<CompositeIK> cloneCompositeIK(
      const SkeletonPtr& _newSkel) const;

  bool addModule(const std::shared_ptr<InverseKinematics>& _ik);

  const ModuleSet& getModuleSet();

  ConstModuleSet getModuleSet() const;

  // Documentation inherited
  void refreshIKHierarchy() override;

protected:
  CompositeIK(const SkeletonPtr& _skel);

  std::unordered_set<std::shared_ptr<InverseKinematics> > mModuleSet;
};

class WholeBodyIK : public HierarchicalIK
{
public:
  static std::shared_ptr<WholeBodyIK> create(const SkeletonPtr& _skel);

  // Documentation inherited
  std::shared_ptr<HierarchicalIK> clone(
      const SkeletonPtr& _newSkel) const override;

  virtual std::shared_ptr<WholeBodyIK> cloneWholeBodyIK(
      const SkeletonPtr& _newSkel) const;

  // Documentation inherited
  void refreshIKHierarchy() override;

protected:
  WholeBodyIK(const SkeletonPtr& _skel);
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_HIERARCHICALIK_HPP_