Rune Harlyk
266 lines
10 KiB
C++
266 lines
10 KiB
C++
#pragma once
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#include <gait/state.h>
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#include <utils/math_utils.h>
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#include <array>
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#include <functional>
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enum class WALK_GAIT { TROT, CRAWL };
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class WalkState : public GaitState {
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private:
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WALK_GAIT mode = WALK_GAIT::TROT;
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float phase_time = 0.0f;
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float phase_offset[4] = {0.f, 0.5f, 0.5f, 0.f};
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float stand_offset = 0.6f;
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float step_length = 0.0f;
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float phase_lead = 0.08f;
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float feather = 0.05f;
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float speed_factor = 0.5;
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std::array<int, 4> crawl_order = {0, 1, 2, 3};
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float com_shift_gain = 0.35f;
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float com_shift_limit = 0.06f;
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float com_tau = 0.12f;
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static constexpr uint8_t BEZIER_POINTS = 12;
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static constexpr std::array<float, BEZIER_POINTS> COMBINATORIAL_VALUES = {
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combinatorial_constexpr(11, 0), // 1
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combinatorial_constexpr(11, 1), // 11
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combinatorial_constexpr(11, 2), // 55
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combinatorial_constexpr(11, 3), // 165
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combinatorial_constexpr(11, 4), // 330
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combinatorial_constexpr(11, 5), // 462
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combinatorial_constexpr(11, 6), // 462
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combinatorial_constexpr(11, 7), // 330
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combinatorial_constexpr(11, 8), // 165
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combinatorial_constexpr(11, 9), // 55
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combinatorial_constexpr(11, 10), // 11
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combinatorial_constexpr(11, 11) // 1
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};
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alignas(32) static constexpr float BEZIER_STEPS[12] = {-1.0f, -1.4f, -1.5f, -1.5f, -1.5f, 0.0f,
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0.0f, 0.0f, 1.5f, 1.5f, 1.4f, 1.0f};
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alignas(32) static constexpr float BEZIER_HEIGHTS[12] = {0.0f, 0.0f, 0.9f, 0.9f, 0.9f, 0.9f,
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0.9f, 1.1f, 1.1f, 1.1f, 0.0f, 0.0f};
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public:
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const char *name() const override { return "Bezier"; }
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void set_mode_crawl(float duty = 0.85f, std::array<int, 4> order = {0, 1, 2, 3}) {
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mode = WALK_GAIT::CRAWL;
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speed_factor = 0.1;
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stand_offset = duty;
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const float base[4] = {0.f, 0.25f, 0.5f, 0.75f};
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for (int i = 0; i < 4; ++i) phase_offset[order[i]] = base[i];
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}
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void set_mode_trot(float duty = 0.6f, std::array<float, 4> offsets = {0.f, 0.5f, 0.5f, 0.f}) {
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mode = WALK_GAIT::TROT;
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speed_factor = 0.5;
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stand_offset = duty;
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for (int i = 0; i < 4; ++i) phase_offset[i] = std::fmod(std::fabs(offsets[i]), 1.f);
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}
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void step(body_state_t &body_state, CommandMsg command, float dt = 0.02f) override {
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this->mapCommand(command);
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step_length = std::hypot(gait_state.step_x, gait_state.step_z);
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if (gait_state.step_x < 0.0f) {
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step_length = -step_length;
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}
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updatePhase(dt);
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updateBodyPosition(body_state, dt);
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updateFeetPositions(body_state);
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}
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protected:
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void updatePhase(float dt) {
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phase_time = std::fmod(phase_time + dt * gait_state.step_velocity * speed_factor, 1.0f);
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}
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int legAboutToLift() const {
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int idx = -1;
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float best = 2.f;
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for (int i = 0; i < 4; ++i) {
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float p = std::fmod(phase_time + phase_offset[i], 1.f);
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if (p < 0.f) p += 1.f;
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if (p <= stand_offset) {
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float dt = stand_offset - p;
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if (dt < best) {
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best = dt;
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idx = i;
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}
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}
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}
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return idx;
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}
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std::array<float, 3> centroidExcluding(const body_state_t &body_state, int exclude) const {
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float sx = 0.f, sz = 0.f;
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int n = 0;
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for (int i = 0; i < 4; ++i) {
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if (i == exclude) continue;
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sx += body_state.feet[i][0];
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sz += body_state.feet[i][2];
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++n;
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}
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if (!n) return {body_state.xm, 0.f, body_state.zm};
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return {sx / n, 0.f, sz / n};
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}
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void updateBodyPosition(body_state_t &body_state, float dt) {
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if (mode != WALK_GAIT::CRAWL) return;
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const bool moving = gait_state.step_x != 0.f || gait_state.step_z != 0.f || gait_state.step_angle != 0.f;
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if (!moving) return;
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const int lift = legAboutToLift();
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const float alpha = 1.f - std::exp(-dt / com_tau);
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if (lift >= 0) {
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const auto c = centroidExcluding(body_state, lift);
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const float fx = body_state.feet[lift][0];
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const float fz = body_state.feet[lift][2];
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float vx = fx - c[0], vz = fz - c[2];
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float d = std::hypot(vx, vz);
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if (d < 1e-6f) d = 1e-6f;
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const float r = std::min(d, com_shift_limit);
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const float k = com_shift_gain;
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const float tx = c[0] - k * r * (vx / d);
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const float tz = c[2] - k * r * (vz / d);
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body_state.xm += alpha * (tx - body_state.xm);
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body_state.zm += alpha * (tz - body_state.zm);
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return;
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}
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const auto c = dynamicStanceCentroid(body_state);
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body_state.xm += alpha * (c[0] - body_state.xm);
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body_state.zm += alpha * (c[2] - body_state.zm);
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}
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std::array<float, 3> dynamicStanceCentroid(const body_state_t &body_state) const {
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if (mode != WALK_GAIT::CRAWL) return {body_state.xm, 0.f, body_state.zm};
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float wx = 0.f, wz = 0.f, w = 0.f;
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for (int i = 0; i < 4; ++i) {
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float wi = stanceWeight(i);
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wx += wi * default_feet_pos[i][0];
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wz += wi * default_feet_pos[i][2];
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w += wi;
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}
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if (w <= 1e-6f) return {body_state.xm, 0.f, body_state.zm};
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return {wx / w, 0.f, wz / w};
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}
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static float smoothstep01(float t) {
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const float x = std::clamp(t, 0.f, 1.f);
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return x * x * (3.f - 2.f * x);
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}
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float stanceWeight(int i) const {
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const float s = stand_offset;
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const float e = feather;
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float p = std::fmod(phase_time + phase_offset[i] + phase_lead, 1.f);
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if (p < 0.f) p += 1.f;
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if (p < s - e) return 1.f;
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if (p > s + e && p < 1.f - e) return 0.f;
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if (p <= s + e) {
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const float t = (p - (s - e)) / (2.f * e);
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return 1.f - smoothstep01(t);
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}
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const float q = p >= 1.f - e ? (p - (1.f - e)) / e : (e - p) / e;
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return smoothstep01(q);
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}
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void updateFeetPositions(body_state_t &body_state) {
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for (int i = 0; i < 4; ++i) updateFootPosition(body_state, i);
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}
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void updateFootPosition(body_state_t &body_state, const int index) {
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body_state.feet[index][0] = this->default_feet_pos[index][0];
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body_state.feet[index][1] = this->default_feet_pos[index][1];
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body_state.feet[index][2] = this->default_feet_pos[index][2];
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const float leg_phase = std::fmod(phase_time + phase_offset[index], 1.0f);
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const bool contact = leg_phase <= stand_offset;
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if (contact)
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standController(body_state, index, leg_phase / stand_offset);
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else
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swingController(body_state, index, (leg_phase - stand_offset) / (1.f - stand_offset));
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}
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void standController(body_state_t &body_state, const int index, const float phase) {
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if (mode == WALK_GAIT::CRAWL)
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controller(index, body_state, phase, stanceCurveFlat, &gait_state.step_depth);
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else
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controller(index, body_state, phase, stanceCurve, &gait_state.step_depth);
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}
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void swingController(body_state_t &body_state, const int index, const float phase) {
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controller(index, body_state, phase, bezierCurve, &gait_state.step_height);
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}
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static void stanceCurveFlat(const float length, const float angle, const float *, const float phase, float *point) {
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float step = length * (1.0f - 2.0f * phase);
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point[0] += step * std::cos(angle);
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point[2] += step * std::sin(angle);
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point[1] += 0.f;
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}
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void controller(const int index, body_state_t &body_state, const float phase,
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std::function<void(float, float, float *, float, float *)> curve, float *arg) {
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float delta_pos[3] = {0};
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float delta_rot[3] = {0};
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float length = step_length * 0.5f;
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float angle = std::atan2(gait_state.step_z, step_length);
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curve(length, angle, arg, phase, delta_pos);
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length = gait_state.step_angle * 2.0f;
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angle = yawArc(default_feet_pos[index], body_state.feet[index]);
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curve(length, angle, arg, phase, delta_rot);
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body_state.feet[index][0] += delta_pos[0] + delta_rot[0] * 0.2;
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if (step_length || gait_state.step_angle) body_state.feet[index][1] += delta_pos[1] + delta_rot[1] * 0.2;
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body_state.feet[index][2] += delta_pos[2] + delta_rot[2] * 0.2;
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}
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static void stanceCurve(const float length, const float angle, const float *depth, const float phase,
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float *point) {
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float step = length * (1.0f - 2.0f * phase);
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point[0] += step * std::cos(angle);
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point[2] += step * std::sin(angle);
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if (length != 0.0f) {
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point[1] = -*depth * std::cos((M_PI * (point[0] + point[2])) / (2.f * length));
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}
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}
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static void bezierCurve(const float length, const float angle, const float *height, const float phase,
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float *point) {
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const float X_POLAR = std::cos(angle);
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const float Z_POLAR = std::sin(angle);
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const float t = std::clamp(phase, 1e-4f, 1.f - 1e-4f);
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float phase_power = 1.0f;
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float inv_phase_power = std::pow(1.0f - t, 11);
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const float one_minus_phase = 1.0f - t;
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for (int i = 0; i < 12; i++) {
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float b = COMBINATORIAL_VALUES[i] * phase_power * inv_phase_power;
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point[0] += b * BEZIER_STEPS[i] * length * X_POLAR;
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point[1] += b * BEZIER_HEIGHTS[i] * *height;
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point[2] += b * BEZIER_STEPS[i] * length * Z_POLAR;
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phase_power *= phase;
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inv_phase_power /= one_minus_phase;
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}
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}
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static float yawArc(const float feet_pos[3], const float *current_pos) {
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const float foot_mag = std::hypot(feet_pos[0], feet_pos[2]);
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const float foot_dir = std::atan2(feet_pos[2], feet_pos[0]);
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const float offsets[] = {current_pos[0] - feet_pos[0], current_pos[1] - feet_pos[1],
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current_pos[2] - feet_pos[2]};
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const float offset_mag = std::hypot(offsets[0], offsets[2]);
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const float offset_mod = std::atan2(offset_mag, foot_mag);
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return (float)M_PI_2 + foot_dir + offset_mod;
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}
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}; |