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Improve ARE::pfar for near objects #982

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Sep 11, 2024
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31 changes: 15 additions & 16 deletions src/modules/actionsRenderingEngine/src/pointing_far.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@

#define RAD2DEG (180.0/M_PI)
#define DEG2RAD (M_PI/180.0)
#define ELBOW_REST_DEG 10.0

using namespace std;
using namespace yarp::os;
Expand Down Expand Up @@ -161,11 +160,11 @@ class PointingFarNLP : public Ipopt::TNLP
x_u[i]=(*finger_tip->asChain())(i).getMax();
}

g_l[0]=0.999;
g_l[0]=0.9999;
g_u[0]=std::numeric_limits<double>::max();

g_l[1]=0.0;
g_u[1]=0.001;
g_l[1]=-std::numeric_limits<double>::max();
g_u[1]=0.0;
return true;
}

Expand Down Expand Up @@ -195,8 +194,9 @@ class PointingFarNLP : public Ipopt::TNLP
Ipopt::Number& obj_value)
{
setAng(x);
obj_value=ELBOW_REST_DEG*DEG2RAD-x[3];
obj_value*=obj_value;
Matrix tip=finger_tip->getH();
double e=-1.0-tip(2,2);
obj_value=e*e;
return true;
}

Expand All @@ -205,8 +205,11 @@ class PointingFarNLP : public Ipopt::TNLP
Ipopt::Number* grad_f)
{
setAng(x);
Matrix tip=finger_tip->getH();
double e=-1.0-tip(2,2);
Matrix dtipZ=finger_tip->AnaJacobian(2);
for (Ipopt::Index i=0; i<n; i++)
grad_f[i]=(i==3?-2.0*(ELBOW_REST_DEG*DEG2RAD-x[3]):0.0);
grad_f[i]=-2.0*e*dtipZ(2,i);
return true;
}

Expand All @@ -222,8 +225,8 @@ class PointingFarNLP : public Ipopt::TNLP
Vector te_dir=tip.getCol(3).subVector(0,2)-elbowPos;
g[0]=dot(pe_dir,te_dir)/(norm(pe_dir)*norm(te_dir));

double e=-1.0-tip(2,2);
g[1]=e*e;
Vector pt_dir=point-tip.getCol(3).subVector(0,2);
g[1]=pt_dir[0];
return true;
}

Expand Down Expand Up @@ -262,18 +265,14 @@ class PointingFarNLP : public Ipopt::TNLP
double npe=norm(pe_dir);
double nte=norm(te_dir);
double nn=npe*nte;
double tmp1=dot(pe_dir,te_dir);
double tmp2=nte/npe;
double tmp3=nn*nn;

for (Ipopt::Index i=0; i<n; i++)
values[i]=(dot(dpe_dir.getCol(i),te_dir)+dot(pe_dir,dte_dir.getCol(i)))/nn-
tmp1*(dot(pe_dir,dpe_dir.getCol(i))*tmp2)/tmp3;
dot(pe_dir,te_dir)*(dot(pe_dir,dpe_dir.getCol(i))*nte/npe)/(nn*nn);

double e=-1.0-tip(2,2);
Matrix dtipZ=finger_tip->AnaJacobian(2);
Matrix dtip=-1.0*finger_tip->AnaJacobian();
for (Ipopt::Index i=0; i<n; i++)
values[n+i]=-2.0*e*dtipZ(2,i);
values[n+i]=dtip(0,i);
}
return true;
}
Expand Down