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Commit 6dc437ab authored by elokdae's avatar elokdae
Browse files

Implemented changing reference for Deepc

parent 200aa149
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This diff is collapsed.
......@@ -395,6 +395,13 @@ bool s_params_changed = false;
bool s_setpoint_changed = false;
bool s_setupDeepc = false;
bool s_solveDeepc = false;
// Variables used for changing reference
bool s_changing_ref_enable = m_changing_ref_enable;
float s_figure_8_amplitude = yaml_figure_8_amplitude;
float s_figure_8_frequency_rad = m_figure_8_frequency_rad;
float s_z_sine_amplitude = yaml_z_sine_amplitude;
float s_z_sine_frequency_rad = m_z_sine_frequency_rad;
float s_control_deltaT = m_control_deltaT;
// Global variables used by Deepc thread only
// Declared as global for inter-function communication and/or speed
......@@ -486,6 +493,15 @@ c_float* d_osqp_u_new;
// Repeat variables for Deepc gs matrix inversion thread variables
bool d_get_gs = false;
bool d_gs_inversion_complete = false;
// Variables used for changing reference
bool d_changing_ref_enable = s_changing_ref_enable;
float d_figure_8_amplitude = s_figure_8_amplitude;
float d_figure_8_frequency_rad = s_figure_8_frequency_rad;
float d_z_sine_amplitude = s_z_sine_amplitude;
float d_z_sine_frequency_rad = s_z_sine_frequency_rad;
float d_figure_8_scale;
float d_time_in_seconds;
float d_control_deltaT = s_control_deltaT;
// Variables shared between Deepc thread and Deepc gs matrix inversion thread
MatrixXf ds_A_gs;
......@@ -545,7 +561,9 @@ ros::Publisher m_manoeuvreCompletePublisher;
void Deepc_thread_main();
void change_Deepc_params();
void change_Deepc_setpoint_gurobi();
void change_Deepc_setpoint_gurobi_changing_ref();
void change_Deepc_setpoint_osqp();
void change_Deepc_setpoint_osqp_changing_ref();
void setup_Deepc_gurobi();
void setup_Deepc_osqp();
void solve_Deepc_gurobi();
......@@ -572,6 +590,8 @@ MatrixXf get_quad_cost_matrix();
void get_lin_cost_vectors();
// UPDATE OPTIMIZATION LINEAR COST VECTORS
void update_lin_cost_vectors();
// UPDATE OPTIMIZATION LINEAR COST VECTORS WHEN REFERENCE IS CHANGING
void update_lin_cost_vectors_changing_ref();
// GET STATIC EQUALITY CONSTRAINTS MATRIX
MatrixXf get_static_eq_constr_matrix();
// GET STATIC EQUALITY CONSTRAINTS VECTOR
......
......@@ -142,10 +142,10 @@ grb_presolve_at_setup : true
# This implements a 'Figure 8' in x and y and a sine in z
# Figure 8 amplitude, in m
figure_8_amplitude : 0.5
figure_8_amplitude : 1
# Figure 8 frequency, in Hz
figure_8_frequency : 0.1
figure_8_frequency : 0.2
# z sine amplitude, in m
z_sine_amplitude : 0.2
z_sine_amplitude : 0.3
# z sine frequency, in Hz
z_sine_frequency : 0.1
\ No newline at end of file
......@@ -66,6 +66,7 @@ void Deepc_thread_main()
bool setpoint_changed;
bool setupDeepc;
bool solveDeepc;
bool changing_ref_enable_prev = false;
// Create thread for gs matrix inversion
boost::thread Deepc_gs_inversion_thread(Deepc_gs_inversion_thread_main);
......@@ -78,9 +79,21 @@ void Deepc_thread_main()
setpoint_changed = s_setpoint_changed;
setupDeepc = s_setupDeepc;
solveDeepc = s_solveDeepc;
d_changing_ref_enable = s_changing_ref_enable;
s_Deepc_mutex.unlock();
//ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 72");
// Detect changing_ref_enable rising edge to reset time
if (!changing_ref_enable_prev && d_changing_ref_enable)
d_time_in_seconds = 0.0;
// Detect changing_ref_enable falling edge to reset setpoint to before it was enabled
if (changing_ref_enable_prev && !d_changing_ref_enable)
setpoint_changed = true;
changing_ref_enable_prev = d_changing_ref_enable;
if (params_changed)
{
change_Deepc_params();
......@@ -235,6 +248,14 @@ void change_Deepc_params()
d_opt_steady_state = s_yaml_opt_steady_state;
d_grb_LogToFile = s_yaml_grb_LogToFile;
d_grb_presolve_at_setup = s_yaml_grb_presolve_at_setup;
// Variables used for changing reference
d_changing_ref_enable = s_changing_ref_enable;
d_figure_8_amplitude = s_figure_8_amplitude;
d_figure_8_frequency_rad = s_figure_8_frequency_rad;
d_z_sine_amplitude = s_z_sine_amplitude;
d_z_sine_frequency_rad = s_z_sine_frequency_rad;
d_control_deltaT = s_control_deltaT;
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 133");
......@@ -329,6 +350,68 @@ void change_Deepc_setpoint_gurobi()
}
}
void change_Deepc_setpoint_gurobi_changing_ref()
{
try
{
// Update linear cost vectors
update_lin_cost_vectors_changing_ref();
// Update linear cost vector, depending on optimization formulation
d_grb_lin_obj_r = 0;
if (d_opt_sparse)
{
// Update linear objective terms
for (d_i = 0; d_i < d_Nyf + d_num_outputs; d_i++)
d_grb_lin_obj_r += d_lin_cost_vec_r(d_i) * d_grb_vars[d_yf_start_i + d_i];
// Update equality constraint RHS if optimizing over gs
if (d_opt_steady_state)
for (d_i = 0; d_i < d_Nyini + d_Nyf + d_num_outputs; d_i++)
d_grb_dyn_constrs[d_r_gs_start_i + d_i].set(GRB_DoubleAttr_RHS, d_r_gs(d_i));
}
else
{
// Update linear objective terms
for (d_i = 0; d_i < d_Ng; d_i++)
{
d_grb_lin_obj_r += d_lin_cost_vec_r(d_i) * d_grb_vars[d_i];
d_grb_lin_obj_gs += d_lin_cost_vec_gs(d_i) * d_grb_vars[d_i];
}
}
// Update objective
// It was observed that objective of pre-solved model is same as original model
if (d_opt_sparse || !d_grb_presolve_at_setup)
d_grb_model.setObjective(d_grb_quad_obj + d_grb_lin_obj_us + d_grb_lin_obj_r + d_grb_lin_obj_gs);
else
d_grb_model_presolved->setObjective(d_grb_quad_obj + d_grb_lin_obj_us + d_grb_lin_obj_r + d_grb_lin_obj_gs);
}
catch(GRBException e)
{
clear_setupDeepc_success_flag();
ROS_INFO_STREAM("[DEEPC CONTROLLER] Deepc setpoint update exception with Gurobi error code = " << e.getErrorCode());
ROS_INFO_STREAM("[DEEPC CONTROLLER] Error message: " << e.getMessage());
ROS_INFO("[DEEPC CONTROLLER] Deepc must be (re-)setup");
}
catch(exception& e)
{
clear_setupDeepc_success_flag();
ROS_INFO_STREAM("[DEEPC CONTROLLER] Deepc setpoint update exception with Gurobi with standard error message: " << e.what());
ROS_INFO("[DEEPC CONTROLLER] Deepc must be (re-)setup");
}
catch(...)
{
clear_setupDeepc_success_flag();
ROS_INFO("[DEEPC CONTROLLER] Deepc setpoint update exception with Gurobi");
ROS_INFO("[DEEPC CONTROLLER] Deepc must be (re-)setup");
}
}
void change_Deepc_setpoint_osqp()
{
try
......@@ -397,6 +480,52 @@ void change_Deepc_setpoint_osqp()
}
}
void change_Deepc_setpoint_osqp_changing_ref()
{
try
{
// Update linear cost vector
update_lin_cost_vectors_changing_ref();
// Update linear cost vector, depending on optimization formulation
if (d_opt_sparse)
{
d_osqp_q.middleRows(d_yf_start_i, d_Nyf + d_num_outputs) = d_lin_cost_vec_r;
// Update equality constraint vectors if optimizing over gs
if (d_opt_steady_state)
for (d_i = 0; d_i < d_Nyini + d_Nyf + d_num_outputs; d_i++)
{
d_osqp_l_new[d_r_gs_start_i + d_i] = d_r_gs(d_i);
d_osqp_u_new[d_r_gs_start_i + d_i] = d_osqp_l_new[d_r_gs_start_i + d_i];
}
}
else
d_osqp_q.topRows(d_Ng) = d_lin_cost_vec_us + d_lin_cost_vec_r + d_lin_cost_vec_gs;
// Convert Eigen vector to c_float array
Matrix<c_float, Dynamic, Dynamic>::Map(d_osqp_q_new, d_osqp_q.rows(), d_osqp_q.cols()) = d_osqp_q.cast<c_float>();
// Update OSQP linear cost
osqp_update_lin_cost(d_osqp_work, d_osqp_q_new);
}
catch(exception& e)
{
clear_setupDeepc_success_flag();
ROS_INFO_STREAM("[DEEPC CONTROLLER] Deepc setpoint update exception with OSQP with standard error message: " << e.what());
ROS_INFO("[DEEPC CONTROLLER] Deepc must be (re-)setup");
}
catch(...)
{
clear_setupDeepc_success_flag();
ROS_INFO("[DEEPC CONTROLLER] Deepc setpoint update exception with OSQP");
ROS_INFO("[DEEPC CONTROLLER] Deepc must be (re-)setup");
}
}
void setup_Deepc_gurobi()
{
try
......@@ -827,6 +956,10 @@ void solve_Deepc_gurobi()
try
{
// Update reference if reference is changing
if (d_changing_ref_enable)
change_Deepc_setpoint_gurobi_changing_ref();
// Update equality constraints RHS
for (d_i = 0; d_i < d_Nuini; d_i++)
d_grb_dyn_constrs[d_i].set(GRB_DoubleAttr_RHS, d_uini(d_i));
......@@ -928,6 +1061,10 @@ void solve_Deepc_osqp()
try
{
// Update reference if reference is changing
if (d_changing_ref_enable)
change_Deepc_setpoint_osqp_changing_ref();
// Update equality constraint vectors
for (d_i = 0; d_i < d_Nuini; d_i++)
{
......@@ -1328,6 +1465,9 @@ void get_lin_cost_vectors()
d_lin_cost_vec_r -= d_Y_f.bottomRows(d_num_outputs).transpose() * d_P * d_r;
}
if (d_solver == DEEPC_CONTROLLER_SOLVER_GUROBI)
d_lin_cost_vec_r *= 2.0;
d_r_gs = d_r.replicate(d_Tini + d_N + 1, 1);
// Steady state input us and trajectory mapper gs
......@@ -1371,7 +1511,6 @@ void get_lin_cost_vectors()
{
d_lin_cost_vec_gs *= 2.0;
d_lin_cost_vec_us *= 2.0;
d_lin_cost_vec_r *= 2.0;
}
}
......@@ -1407,6 +1546,9 @@ void update_lin_cost_vectors()
d_lin_cost_vec_r -= d_Y_f.bottomRows(d_num_outputs).transpose() * d_P * d_r;
}
if (d_solver == DEEPC_CONTROLLER_SOLVER_GUROBI)
d_lin_cost_vec_r *= 2.0;
d_r_gs = d_r.replicate(d_Tini + d_N + 1, 1);
// If optimizing over steady state gs & us, no need to perform gs inversion logic
......@@ -1450,13 +1592,49 @@ void update_lin_cost_vectors()
d_lin_cost_vec_gs = -d_lambda2_g * d_gs;
if (d_solver == DEEPC_CONTROLLER_SOLVER_GUROBI)
{
d_lin_cost_vec_gs *= 2.0;
d_lin_cost_vec_r *= 2.0;
}
}
}
// Update optimization linear cost vectors when reference is changing
// Used during runtime to update objective on reference r only steady-state trajectory mapper is not updated since it takes too long for inversion to do in real-time
// us is hovering steady state input and is constant so does not get updated
// Gurobi refers to this as 'c'. It is multiplied by 2 since Gurobi minimizes (x^T * Q * x + c^t * x)
// OSQP refers to this as 'q'. It is not multiplied by 2 since OSQP minimizes (1/2 * x^T * P * x + q^t * x)
void update_lin_cost_vectors_changing_ref()
{
// Reference
d_r.topRows(3) = d_setpoint.topRows(3);
if (d_Deepc_yaw_control)
d_r.bottomRows(1) = d_setpoint.bottomRows(1);
d_figure_8_scale = 2 / (3 - cos(2 * d_figure_8_frequency_rad * (d_time_in_seconds - PI/2))) * d_figure_8_amplitude;
d_r(0) += d_figure_8_scale * cos(d_figure_8_frequency_rad * (d_time_in_seconds - PI/2));
d_r(1) += d_figure_8_scale * sin(2 * d_figure_8_frequency_rad * (d_time_in_seconds - PI/2)) / 2;
d_r(2) += d_z_sine_amplitude * sin(d_z_sine_frequency_rad * d_time_in_seconds);
d_time_in_seconds += d_control_deltaT;
if (d_opt_sparse)
{
d_lin_cost_vec_r.topRows(d_Nyf) = (-d_Q * d_r).replicate(d_N, 1);
d_lin_cost_vec_r.bottomRows(d_num_outputs) = -d_P * d_r;
}
else
{
d_lin_cost_vec_r = MatrixXf::Zero(d_Ng, 1);
for (int i = 0; i < d_N; i++)
d_lin_cost_vec_r -= d_Y_f.middleRows(i * d_num_outputs, d_num_outputs).transpose() * d_Q * d_r;
d_lin_cost_vec_r -= d_Y_f.bottomRows(d_num_outputs).transpose() * d_P * d_r;
}
if (d_solver == DEEPC_CONTROLLER_SOLVER_GUROBI)
d_lin_cost_vec_r *= 2.0;
d_r_gs = d_r.replicate(d_Tini + d_N + 1, 1);
}
// Get static equality constraints matrix
// Static equality constraints don't change in runtime ([uf; yf; yt]), and ([gs; us]) if optimizing over steady state gs & us
// This is part of Gurobi/OSQP A matrix
......@@ -2122,9 +2300,9 @@ void computeResponse_for_LQR(Controller::Request &request, Controller::Response
// Add 'Figure 8' (found here: "https://gamedev.stackexchange.com/questions/43691/how-can-i-move-an-object-in-an-infinity-or-figure-8-trajectory", as "Lemniscate of Bernoulli")
if (m_changing_ref_enable)
{
float scale = 2 / (3 - cos(2 * m_figure_8_frequency_rad * (m_time_in_seconds - PI/2))) * yaml_figure_8_amplitude;
m_setpoint_for_controller[0] += scale * cos(m_figure_8_frequency_rad * (m_time_in_seconds - PI/2));
m_setpoint_for_controller[1] += scale * sin(2 * m_figure_8_frequency_rad * (m_time_in_seconds - PI/2)) / 2;
float figure_8_scale = 2 / (3 - cos(2 * m_figure_8_frequency_rad * (m_time_in_seconds - PI/2))) * yaml_figure_8_amplitude;
m_setpoint_for_controller[0] += figure_8_scale * cos(m_figure_8_frequency_rad * (m_time_in_seconds - PI/2));
m_setpoint_for_controller[1] += figure_8_scale * sin(2 * m_figure_8_frequency_rad * (m_time_in_seconds - PI/2)) / 2;
m_setpoint_for_controller[2] += yaml_z_sine_amplitude * sin(m_z_sine_frequency_rad * m_time_in_seconds);
m_time_in_seconds += m_control_deltaT;
......@@ -2747,9 +2925,9 @@ void computeResponse_for_excitation_Deepc(Controller::Request &request, Controll
else
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Thrust excitation signal ended. Switch to state: Deepc");
ROS_INFO("[DEEPC CONTROLLER] Thrust excitation signal ended. Switch to state: LQR");
// Update the state accordingly
m_current_state = DEEPC_CONTROLLER_STATE_DEEPC;
m_current_state = DEEPC_CONTROLLER_STATE_LQR;
m_current_state_changed = true;
m_write_data = true;
}
......@@ -2776,9 +2954,9 @@ void computeResponse_for_excitation_Deepc(Controller::Request &request, Controll
else
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Roll rate excitation signal ended. Switch to state: Deepc");
ROS_INFO("[DEEPC CONTROLLER] Roll rate excitation signal ended. Switch to state: LQR");
// Update the state accordingly
m_current_state = DEEPC_CONTROLLER_STATE_DEEPC;
m_current_state = DEEPC_CONTROLLER_STATE_LQR;
m_current_state_changed = true;
m_write_data = true;
}
......@@ -2805,9 +2983,9 @@ void computeResponse_for_excitation_Deepc(Controller::Request &request, Controll
else
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Pitch rate excitation signal ended. Switch to state: Deepc");
ROS_INFO("[DEEPC CONTROLLER] Pitch rate excitation signal ended. Switch to state: LQR");
// Update the state accordingly
m_current_state = DEEPC_CONTROLLER_STATE_DEEPC;
m_current_state = DEEPC_CONTROLLER_STATE_LQR;
m_current_state_changed = true;
m_write_data = true;
}
......@@ -2834,9 +3012,9 @@ void computeResponse_for_excitation_Deepc(Controller::Request &request, Controll
else
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Yaw rate excitation signal ended. Switch to state: Deepc");
ROS_INFO("[DEEPC CONTROLLER] Yaw rate excitation signal ended. Switch to state: LQR");
// Update the state accordingly
m_current_state = DEEPC_CONTROLLER_STATE_DEEPC;
m_current_state = DEEPC_CONTROLLER_STATE_LQR;
m_current_state_changed = true;
m_write_data = true;
}
......@@ -3708,6 +3886,12 @@ void processCustomButton5(float float_data, int int_data, bool* bool_data)
{
m_changing_ref_enable = false;
s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 3876");
s_changing_ref_enable = m_changing_ref_enable;
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 3876");
return;
}
......@@ -3715,15 +3899,21 @@ void processCustomButton5(float float_data, int int_data, bool* bool_data)
switch (m_current_state)
{
case DEEPC_CONTROLLER_STATE_LQR:
case DEEPC_CONTROLLER_STATE_DEEPC:
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Received request to follow changing reference while in LQR");
ROS_INFO("[DEEPC CONTROLLER] Received request to follow changing reference");
// Reset time
m_time_in_seconds = 0.0;
// Set the flag
m_changing_ref_enable = true;
s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 3896");
s_changing_ref_enable = m_changing_ref_enable;
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 3896");
break;
case DEEPC_CONTROLLER_STATE_DEEPC:
case DEEPC_CONTROLLER_STATE_EXCITATION_LQR:
case DEEPC_CONTROLLER_STATE_EXCITATION_DEEPC:
case DEEPC_CONTROLLER_STATE_LANDING_MOVE_DOWN:
......@@ -4038,6 +4228,13 @@ void fetchDeepcControllerYamlParameters(ros::NodeHandle& nodeHandle)
// Share Deepc prediction horizon
s_yaml_N = yaml_N;
// Share changing reference parameters
s_figure_8_amplitude = yaml_figure_8_amplitude;
s_figure_8_frequency_rad = m_figure_8_frequency_rad;
s_z_sine_amplitude = yaml_z_sine_amplitude;
s_z_sine_frequency_rad = m_z_sine_frequency_rad;
s_control_deltaT = m_control_deltaT;
// > Set flag for Deepc thread to update parameters
s_params_changed = true;
......
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