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Update Naming of Variables #7

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4 changes: 2 additions & 2 deletions examples/config/diffDriveMpc.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
type: mpc
n: 3
dof: 3
dt: 0.01
H: 100
time_horizon: 100
interval: 1
weights:
w: 2.0
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4 changes: 2 additions & 2 deletions examples/config/planarArmMpc.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
type: mpc
n: 4
dof: 4
dt: 0.01
H: 10
time_horizon: 10
interval: 1
weights:
w: 5.0
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4 changes: 2 additions & 2 deletions examples/config/pointRobotMpc.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
type: mpc
n: 2
dof: 2
dt: 0.01
H: 10
time_horizon: 10
interval: 1
weights:
w: 10.0
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12 changes: 6 additions & 6 deletions examples/makeSolver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,13 +7,13 @@


def main():
N = 10
m = 2
time_horizon = 10
dim_goal = 2
dt = 0.01
#mpcModel = PlanarArmMpcModel(m, N, 4)
#mpcModel = PointRobotMpcModel(m, N)
#mpcModel = DiffDriveMpcModel(2, N)
mpcModel = BoxerMpcModel(N)
#mpcModel = PlanarArmMpcModel(dim_goal, 4, time_horizon)
#mpcModel = PointRobotMpcModel(dim_goal, time_horizon)
#mpcModel = DiffDriveMpcModel(2, time_horizon)
mpcModel = BoxerMpcModel(time_horizon)
mpcModel.setDt(dt)
#mpcModel.setSlack()
mpcModel.setObstacles(1, 2)
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10 changes: 5 additions & 5 deletions examples/mpcPlanner.py
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Expand Up @@ -4,9 +4,9 @@
import sys
import forcespro
import gym
import planarenvs.groundRobots
import planarenvs.pointRobot
import planarenvs.nLinkReacher
import planarenvs.ground_robots
import planarenvs.point_robot
import planarenvs.n_link_reacher
import re
from MotionPlanningEnv.sphereObstacle import SphereObstacle
from MotionPlanningGoal.staticSubGoal import StaticSubGoal
Expand Down Expand Up @@ -41,7 +41,7 @@ def main():
return
myMPCPlanner.concretize()
myMPCPlanner.reset()
n = myMPCPlanner.n()
n = myMPCPlanner.dof()
staticGoalDict = {
"m": 2, "w": 1.0, "prime": True, 'indices': [0, 1], 'parent_link': 0, 'child_link': n,
'desired_position': [2, -3], 'epsilon': 0.2, 'type': "staticSubGoal",
Expand All @@ -52,7 +52,7 @@ def main():
if robotType == 'diffDrive':
env = gym.make(envName, render=True, dt=myMPCPlanner.dt())
else:
env = gym.make(envName, render=True, dt=myMPCPlanner.dt(), n=myMPCPlanner.n())
env = gym.make(envName, render=True, dt=myMPCPlanner.dt(), n=myMPCPlanner.dof())
limits = np.array([[-50, ] * n, [50, ] * n])
myMPCPlanner.setJointLimits(limits)
q0 = np.random.random(n)
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6 changes: 3 additions & 3 deletions robotmpcs/models/boxerMpcModel.py
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Expand Up @@ -4,8 +4,8 @@

class BoxerMpcModel(DiffDriveMpcModel):

def __init__(self, N):
super().__init__(2, N)
def __init__(self, time_horizon):
dim_goal = 2
super().__init__(dim_goal, time_horizon)
self._fk = FkCreator('boxer', 3).fk()
self._modelName = 'boxer'

45 changes: 22 additions & 23 deletions robotmpcs/models/diffDriveMpcModel.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,47 +6,47 @@

class DiffDriveMpcModel(MpcModel):

def __init__(self, m, N):
n = 3
super().__init__(m, n, N, initParamMap=False)
self._nx = 8 # [x, y, theta, vel_rel0, vel_rel1, xdot, ydot, thetadot]
self._nu = 2 # [a_l, a_r]
def __init__(self, dim_goal, time_horizon):
dof = 3
super().__init__(dim_goal, dof, time_horizon, initParamMap=False)
self._n_state = 8 # [x, y, theta, vel_rel0, vel_rel1, xdot, ydot, thetadot]
self._n_control_input = 2 # [a_l, a_r]
self._limits = {
"x": {"low": np.ones(self._nx) * -100, "high": np.ones(self._nx) * 100},
"u": {"low": np.ones(self._nu) * -100, "high": np.ones(self._nu) * 100},
"x": {"low": np.ones(self._n_state) * -100, "high": np.ones(self._n_state) * 100},
"u": {"low": np.ones(self._n_control_input) * -100, "high": np.ones(self._n_control_input) * 100},
"s": {"low": np.zeros(1), "high": np.ones(1) * np.inf},
}
self._fk = FkCreator('groundRobot', self._n).fk()
self._fk = FkCreator('groundRobot', self._n_dof).fk()
self.initParamMap()
self._modelName = "diffDrive"

def extractVariables(self, z):
q = z[0: self._n]
qdot = z[self._n:2 * self._n]
vel_rel = z[2*self._n: 2*self._n + self._nu]
qddot = z[-self._nu:]
q = z[0: self._n_dof]
qdot = z[self._n_dof:2 * self._n_dof]
vel_rel = z[2 * self._n_dof: 2 * self._n_dof + self._n_control_input]
qddot = z[-self._n_control_input:]
return q, qdot, qddot, vel_rel

def eval_objectiveCommon(self, z, p):
q, qdot, _, vel = self.extractVariables(z)
w = p[self._paramMap["w"]]
wvel = p[self._paramMap["wvel"]]
g = p[self._paramMap["g"]]
W = diagSX(w, self._m)
Wvel = diagSX(wvel, self._nu)
fk_ee = self._fk.fk(q, self._n, positionOnly=True)[0:self._m]
W = diagSX(w, self._dim_goal)
Wvel = diagSX(wvel, self._n_control_input)
fk_ee = self._fk.fk(q, self._n_dof, positionOnly=True)[0:self._dim_goal]
Jvel = ca.dot(vel, ca.mtimes(Wvel, vel))
err = fk_ee - g
Jx = ca.dot(err, ca.mtimes(W, err))
Jobst = 0
Js = 0
if self._obstaclesInCosts:
obstDistances = 1/ca.vcat(self.eval_obstacleDistances(z, p) )
obstDistances = 1 / ca.vcat(self.eval_obstacleDistances(z, p))
wobst = ca.SX(np.ones(obstDistances.shape[0]) * p[self._paramMap['wobst']])
Wobst = diagSX(wobst, obstDistances.shape[0])
Jobst += ca.dot(obstDistances, ca.mtimes(Wobst, obstDistances))
if self._ns > 0:
s = z[self._nx]
if self._n_slack > 0:
s = z[self._n_state]
ws = p[self._paramMap["ws"]]
Js += ws * s ** 2
return Jx, Jvel, Js, Jobst
Expand All @@ -55,10 +55,10 @@ def computeXdot(self, x, vel):
assert x.size() == (3, 1)
assert vel.size() == (2, 1)
xdot = ca.vertcat(
ca.cos(x[2]) * vel[0],
ca.sin(x[2]) * vel[0],
vel[1],
)
ca.cos(x[2]) * vel[0],
ca.sin(x[2]) * vel[0],
vel[1],
)
return xdot

def continuous_dynamics(self, x, u):
Expand All @@ -70,4 +70,3 @@ def continuous_dynamics(self, x, u):
xddot = ca.SX(np.zeros(3))
state_dot = ca.vertcat(xdot, xddot, veldot)
return state_dot

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