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Make multitask MATLAB script more robust #107

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Make multitask MATLAB script more robust #107

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60 changes: 23 additions & 37 deletions sns_ik_lib/matlab/snsIk_vel_rr_mt.m
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Original file line number Diff line number Diff line change
Expand Up @@ -74,21 +74,20 @@
siStar = 0.0;

limitExceeded = true;
drop_correction_term = false;
cntLoop = 1;

Wistar = Wi;
dqNulliStar = dqNulli;
PiBarStar = zeros(size(PiBar));
PiHatStar = (I - pinv(Ji*PiBar, tol)*Ji)*pinv((I - Wi)*PiPrev, tol);
while limitExceeded == true
limitExceeded = false;

% compute a solution without task scale factor
PiHat = (I - pinv(Ji*PiBar, tol)*Ji)*pinv((I - Wi)*PiPrev, tol);

if (drop_correction_term)
dqi = dqiPrev + pinv(Ji*PiBar, tol) * dxGoali + ...
PiHat*(dqNulli - dqiPrev);
else
dqi = dqiPrev + pinv(Ji*PiBar, tol) * (dxGoali - Ji*dqiPrev) + ...
PiHat*(dqNulli - dqiPrev);
end
dqi = dqiPrev + pinv(Ji*PiBar, tol) * (dxGoali - Ji*dqiPrev) + ...
PiHat*(dqNulli - dqiPrev);

% check whether the solution violates the limits
if any(dqi < (dqLow - tol)) || any(dqi > (dqUpp + tol))
Expand Down Expand Up @@ -124,7 +123,13 @@
if (iTask == 1 || taskScale > 0)

% try to store maximum scale factor with associated variables
if taskScale > siStar
% check whether the solution violates the limits
scaledDqi = dqiPrev + pinv(Ji*PiBar, tol) * ...
(taskScale*dxGoali - Ji*dqiPrev) + ...
PiHat*(dqNulli - dqiPrev);

if (taskScale > siStar) && ...
~(any(scaledDqi < (dqLow - tol)) || any(scaledDqi > (dqUpp + tol)))
siStar = taskScale;
Wistar = Wi;
dqNulliStar = dqNulli;
Expand All @@ -142,41 +147,22 @@

% if rank is below task dimension, terminate the loop and output
% the current best solution
if (rank(Ji*PiBar) < ndxGoal)
si = siStar;
if (rank(Ji*PiBar, tol) < ndxGoal)
taskScale = siStar;
Wi = Wistar;
dqNulli = dqNulliStar;
PiBar = PiBarStar;
PiHat = PiHatStar;

if (drop_correction_term)
dqi = dqiPrev + pinv(Ji*PiBar, tol) * si*dxGoali + ...
PiHat*(dqNulli - dqiPrev);

limitExceeded = false;
else
dqi = dqiPrev + pinv(Ji*PiBar, tol) * (si*dxGoali - Ji*dqiPrev) + ...
PiHat*(dqNulli - dqiPrev);

% if the solution violates the limits, drop the
% correction term and run it again
if (any(dqi > dqUpp + tol) || any(dqi < dqLow - tol))
drop_correction_term = true;
cntLoop = 0;
Wi = eye(nJnt);
dqNulli = zeros(nJnt, 1);
PiBar = PiPrev;
si = 1.0;
siStar = 0.0;
else
limitExceeded = false;
end
end
dqi = dqiPrev + pinv(Ji*PiBar, tol) * ...
(taskScale*dxGoali - Ji*dqiPrev) + ...
PiHat*(dqNulli - dqiPrev);

limitExceeded = false;
end

else % if the current task is infeasible
si = 0;
taskScale = 0;
Wi = zeros(nJnt, nJnt);
dqi = dqiPrev;
limitExceeded = false;
Expand All @@ -185,14 +171,14 @@
cntLoop = cntLoop + 1;
end

if (si > 0)
if (taskScale > 0)
% update nullspace projection
Pi = PiPrev - pinv(Ji*PiPrev, tol)*(Ji*PiPrev);
end

% store data
WData{iTask} = Wi;
sData(iTask) = si;
sData(iTask) = taskScale;
dqData{iTask} = dqi;
dqNullData{iTask} = dqNulli;
end
Expand Down