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cpuMLP/Interface.hpp

@@ -2,7 +2,8 @@
 ///
 /// \brief This is the header for Interface class
 ///
-/// \details C++ interface between the control loop and the low-level neural network code
+/// \details C++ interface between the control loop and the low-level neural
+/// network code
 ///
 //////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -35,7 +36,8 @@ class Interface {
   /// \param[in] q_init Initial joint configuration of the robot
   ///
   ////////////////////////////////////////////////////////////////////////////////////////////////
-  void initialize(std::string polDirName, std::string estFileName, Vector12 q_init);
+  void initialize(std::string polDirName, std::string estFileName,
+                  Vector12 q_init);
 
   ////////////////////////////////////////////////////////////////////////////////////////////////
   ///
@@ -54,7 +56,8 @@ class Interface {
   /// \param[in] gyro Base angular velocities
   ///
   ////////////////////////////////////////////////////////////////////////////////////////////////
-  void update_observation(Vector12 pos, Vector12 vel, Vector3 ori, Vector3 gyro);
+  void update_observation(Vector12 pos, Vector12 vel, Vector3 ori,
+                          Vector3 gyro);
 
   ////////////////////////////////////////////////////////////////////////////////////////////////
   ///
@@ -68,7 +71,8 @@ class Interface {
 
   ////////////////////////////////////////////////////////////////////////////////////////////////
   ///
-  /// \brief Convert roll, pitch and yaw angles into the corresponding rotation matrix
+  /// \brief Convert roll, pitch and yaw angles into the corresponding rotation
+  /// matrix
   ///
   /// \param[in] r Roll angle
   /// \param[in] p Pitch angle
@@ -86,10 +90,15 @@ class Interface {
 
   ////////////////////////////////////////////////////////////////////////////////////////////////
   ///
-  /// \brief Return the computation time to run the observation and control networks
+  /// \brief Return the computation time to run the observation and control
+  /// networks
   ///
   ////////////////////////////////////////////////////////////////////////////////////////////////
-  float get_computation_time() { return static_cast<float>(std::chrono::duration_cast<std::chrono::microseconds>(t_end_ - t_start_).count()); }
+  float get_computation_time() {
+    return static_cast<float>(
+        std::chrono::duration_cast<std::chrono::microseconds>(t_end_ - t_start_)
+            .count());
+  }
 
   // Control policy
   MLP_3<132, 12> policy_;
@@ -121,7 +130,6 @@ class Interface {
   Vector12 bound_pi_;
   std::chrono::time_point<std::chrono::steady_clock> t_start_;
   std::chrono::time_point<std::chrono::steady_clock> t_end_;
-
 };
 
 Interface::Interface()
@@ -144,8 +152,8 @@ Interface::Interface()
   // Empty
 }
 
-void Interface::initialize(std::string polDirName, std::string estFileName, Vector12 q_init) {
-
+void Interface::initialize(std::string polDirName, std::string estFileName,
+                           Vector12 q_init) {
   // Control policy
   policy_.updateParamFromTxt(polDirName + "full_2000.txt");
 
@@ -157,22 +165,22 @@ void Interface::initialize(std::string polDirName, std::string estFileName, Vect
   std::ifstream obsMean_file, obsVariance_file;
   obsMean_file.open(polDirName + "mean2000.csv");
   obsVariance_file.open(polDirName + "var2000.csv");
-  if(obsMean_file.is_open()) {
-    for(int i = 0; i < obs_mean_.size(); i++){
+  if (obsMean_file.is_open()) {
+    for (int i = 0; i < obs_mean_.size(); i++) {
       std::getline(obsMean_file, in_line);
       obs_mean_(i) = std::stof(in_line);
-    }   
+    }
     obsMean_file.close();
   } else {
     throw std::runtime_error("Failed to open obsMean file.");
   }
 
-  if(obsVariance_file.is_open()) {
-    for(int i = 0; i < obs_var_.size(); i++){
+  if (obsVariance_file.is_open()) {
+    for (int i = 0; i < obs_var_.size(); i++) {
       std::getline(obsVariance_file, in_line);
       obs_var_(i) = std::stof(in_line);
     }
-    obsVariance_file.close();   
+    obsVariance_file.close();
   } else {
     throw std::runtime_error("Failed to open obsVariance file.");
   }
@@ -192,23 +200,27 @@ void Interface::initialize(std::string polDirName, std::string estFileName, Vect
   // Initial times
   t_start_ = std::chrono::steady_clock::now();
   t_end_ = std::chrono::steady_clock::now();
-
 }
 
 Vector12 Interface::forward() {
-
-  obs_normalized_ = ((obs_ - obs_mean_).array() / (obs_var_ + .1E-8f * Vector132::Ones()).cwiseSqrt().array()).matrix();
+  obs_normalized_ =
+      ((obs_ - obs_mean_).array() /
+       (obs_var_ + .1E-8f * Vector132::Ones()).cwiseSqrt().array())
+          .matrix();
   obs_normalized_ = obs_normalized_.cwiseMax(-bound_).cwiseMin(bound_);
 
-  pTarget12_ = q_init_ + 0.3f * policy_.forward(obs_normalized_).cwiseMax(-bound_pi_).cwiseMin(bound_pi_);
+  pTarget12_ = q_init_ + 0.3f * policy_.forward(obs_normalized_)
+                                    .cwiseMax(-bound_pi_)
+                                    .cwiseMin(bound_pi_);
 
   // Log time
   t_end_ = std::chrono::steady_clock::now();
 
   return pTarget12_;
 }
 
-void Interface::update_observation(Vector12 pos, Vector12 vel, Vector3 ori, Vector3 gyro) {
+void Interface::update_observation(Vector12 pos, Vector12 vel, Vector3 ori,
+                                   Vector3 gyro) {
   // Log time
   t_start_ = std::chrono::steady_clock::now();
 
@@ -242,7 +254,6 @@ void Interface::update_observation(Vector12 pos, Vector12 vel, Vector3 ori, Vect
   obs_.segment<12>(12 + 12 * 7) = qd_hist_.row(2);
   obs_.segment<12>(12 + 12 * 8) = q_pos_error_hist_.row(4);
   obs_.segment<12>(12 + 12 * 9) = qd_hist_.row(4);
-
 }
 
 void Interface::update_history(Vector12 pos, Vector12 vel) {
@@ -265,13 +276,11 @@ void Interface::update_history(Vector12 pos, Vector12 vel) {
   // Remember previous actions
   preprevious_action_ = previous_action_;
   previous_action_ = pTarget12_;
-
 }
 
 Matrix3 Interface::rpyToMatrix(float r, float p, float y) {
   typedef Eigen::AngleAxis<float> AngleAxis;
-  return (AngleAxis(y, Vector3::UnitZ())
-          * AngleAxis(p, Vector3::UnitY())
-          * AngleAxis(r, Vector3::UnitX())
-          ).toRotationMatrix();
+  return (AngleAxis(y, Vector3::UnitZ()) * AngleAxis(p, Vector3::UnitY()) *
+          AngleAxis(r, Vector3::UnitX()))
+      .toRotationMatrix();
 }

cpuMLP/Types.h

@@ -6,8 +6,8 @@
 #include <cmath>
 #include <fstream>
 #include <iostream>
-#include <string>
 #include <memory>
+#include <string>
 
 using Vector1 = Eigen::Matrix<float, 1, 1>;
 using Vector2 = Eigen::Matrix<float, 2, 1>;

cpuMLP/main.cpp

@@ -1,23 +1,23 @@
-#include <iostream>
 #include <Eigen/Core>
+#include <iostream>
 #include "Interface.hpp"
 
 int main() {
-
   Eigen::VectorXf input;
   input.setRandom(5);
 
   MLP_3<132, 12> net = MLP_3<132, 12>();
-  //net.load_checkpoint("/home/maractin/Workspace/quadruped-replay/checkpoints/vel_3d/flat/p2/jit_20000.pt");
+  // net.load_checkpoint("/home/maractin/Workspace/quadruped-replay/checkpoints/vel_3d/flat/p2/jit_20000.pt");
   Eigen::Matrix<float, 132, 1> input1 = Eigen::Matrix<float, 132, 1>::Zero();
-  std::cout<<net.forward(input1)<<std::endl;
+  std::cout << net.forward(input1) << std::endl;
 
   MLP_2<123, 11> net2 = MLP_2<123, 11>();
 
   std::cout << "----" << std::endl;
   Interface test = Interface();
-  std::string polDirName = "../../tmp_checkpoints/sym_pose/energy/6cm/policy-08-03-01-20-47/";
-  std::string estDirName = "../../tmp_checkpoints/state_estimation/symmetric_state_estimator.txt";
+  std::string polDirName =
+      "../../tmp_checkpoints/sym_pose/energy/6cm/policy-08-03-01-20-47/";
+  std::string estDirName =
+      "../../tmp_checkpoints/state_estimation/symmetric_state_estimator.txt";
   test.initialize(polDirName, estDirName, Vector12::Ones());
-
 }