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Implement Critic for Velocity Deadband Hardware Constraints (#4256)
* Adding new velocity deadband critic. - add some tests - cast double to float - add new features from "main" branch - fix formating - add cost test - fix linting issue - add README Signed-off-by: Denis Sokolov <[email protected]> * Remove velocity deadband critic from defaults Signed-off-by: Denis Sokolov <[email protected]> * remove old weight Signed-off-by: Denis Sokolov <[email protected]> * fix velocity deadband critic tests Signed-off-by: Denis Sokolov <[email protected]> --------- Signed-off-by: Denis Sokolov <[email protected]>
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54 changes: 54 additions & 0 deletions
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nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp
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| // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef NAV2_MPPI_CONTROLLER__CRITICS__VELOCITY_DEADBAND_CRITIC_HPP_ | ||
| #define NAV2_MPPI_CONTROLLER__CRITICS__VELOCITY_DEADBAND_CRITIC_HPP_ | ||
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| #include <vector> | ||
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| #include "nav2_mppi_controller/critic_function.hpp" | ||
| #include "nav2_mppi_controller/models/state.hpp" | ||
| #include "nav2_mppi_controller/tools/utils.hpp" | ||
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| namespace mppi::critics | ||
| { | ||
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| /** | ||
| * @class mppi::critics::VelocityDeadbandCritic | ||
| * @brief Critic objective function for enforcing feasible constraints | ||
| */ | ||
| class VelocityDeadbandCritic : public CriticFunction | ||
| { | ||
| public: | ||
| /** | ||
| * @brief Initialize critic | ||
| */ | ||
| void initialize() override; | ||
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| /** | ||
| * @brief Evaluate cost related to goal following | ||
| * | ||
| * @param costs [out] add reference cost values to this tensor | ||
| */ | ||
| void score(CriticData & data) override; | ||
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| protected: | ||
| unsigned int power_{0}; | ||
| float weight_{0}; | ||
| std::vector<float> deadband_velocities_{0.0f, 0.0f, 0.0f}; | ||
| }; | ||
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| } // namespace mppi::critics | ||
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| #endif // NAV2_MPPI_CONTROLLER__CRITICS__VELOCITY_DEADBAND_CRITIC_HPP_ |
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nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp
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| // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "nav2_mppi_controller/critics/velocity_deadband_critic.hpp" | ||
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| namespace mppi::critics | ||
| { | ||
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| void VelocityDeadbandCritic::initialize() | ||
| { | ||
| auto getParam = parameters_handler_->getParamGetter(name_); | ||
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| getParam(power_, "cost_power", 1); | ||
| getParam(weight_, "cost_weight", 35.0); | ||
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| // Recast double to float | ||
| std::vector<double> deadband_velocities{0.0, 0.0, 0.0}; | ||
| getParam(deadband_velocities, "deadband_velocities", std::vector<double>{0.0, 0.0, 0.0}); | ||
| std::transform( | ||
| deadband_velocities.begin(), deadband_velocities.end(), deadband_velocities_.begin(), | ||
| [](double d) {return static_cast<float>(d);}); | ||
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| RCLCPP_INFO_STREAM( | ||
| logger_, "VelocityDeadbandCritic instantiated with " | ||
| << power_ << " power, " << weight_ << " weight, deadband_velocity [" | ||
| << deadband_velocities_.at(0) << "," << deadband_velocities_.at(1) << "," | ||
| << deadband_velocities_.at(2) << "]"); | ||
| } | ||
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| void VelocityDeadbandCritic::score(CriticData & data) | ||
| { | ||
| using xt::evaluation_strategy::immediate; | ||
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| if (!enabled_) { | ||
| return; | ||
| } | ||
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| auto & vx = data.state.vx; | ||
| auto & wz = data.state.wz; | ||
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| if (data.motion_model->isHolonomic()) { | ||
| auto & vy = data.state.vy; | ||
| if (power_ > 1u) { | ||
| data.costs += xt::pow( | ||
| xt::sum( | ||
| std::move( | ||
| xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) + | ||
| xt::maximum(fabs(deadband_velocities_.at(1)) - xt::fabs(vy), 0) + | ||
| xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0)) * | ||
| data.model_dt, | ||
| {1}, immediate) * | ||
| weight_, | ||
| power_); | ||
| } else { | ||
| data.costs += xt::sum( | ||
| (std::move( | ||
| xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) + | ||
| xt::maximum(fabs(deadband_velocities_.at(1)) - xt::fabs(vy), 0) + | ||
| xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0))) * | ||
| data.model_dt, | ||
| {1}, immediate) * | ||
| weight_; | ||
| } | ||
| return; | ||
| } | ||
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| if (power_ > 1u) { | ||
| data.costs += xt::pow( | ||
| xt::sum( | ||
| std::move( | ||
| xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) + | ||
| xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0)) * | ||
| data.model_dt, | ||
| {1}, immediate) * | ||
| weight_, | ||
| power_); | ||
| } else { | ||
| data.costs += xt::sum( | ||
| (std::move( | ||
| xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) + | ||
| xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0))) * | ||
| data.model_dt, | ||
| {1}, immediate) * | ||
| weight_; | ||
| } | ||
| return; | ||
| } | ||
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| } // namespace mppi::critics | ||
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| #include <pluginlib/class_list_macros.hpp> | ||
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| PLUGINLIB_EXPORT_CLASS(mppi::critics::VelocityDeadbandCritic, mppi::critics::CriticFunction) |
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