libkido-dev 0.1.0+dfsg-2build9 / usr / include / kido / dynamics / FreeJoint.hpp

/*
 * Copyright (c) 2013-2015, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author(s): Jeongseok Lee <jslee02@gmail.com>
 *
 * Georgia Tech Graphics Lab and Humanoid Robotics Lab
 *
 * Directed by Prof. C. Karen Liu and Prof. Mike Stilman
 * <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
 *
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 *   without modification, are permitted provided that the following
 *   conditions are met:
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 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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#ifndef KIDO_DYNAMICS_FREEJOINT_HPP_
#define KIDO_DYNAMICS_FREEJOINT_HPP_

#include <string>

#include <Eigen/Dense>

#include "kido/dynamics/MultiDofJoint.hpp"

namespace kido {
namespace dynamics {

/// class FreeJoint
class FreeJoint : public MultiDofJoint<6>
{
public:

  friend class Skeleton;

  struct Properties : MultiDofJoint<6>::Properties
  {
    Properties(const MultiDofJoint<6>::Properties& _properties =
                                                MultiDofJoint<6>::Properties());

    virtual ~Properties() = default;
  };

  FreeJoint(const FreeJoint&) = delete;

  /// Destructor
  virtual ~FreeJoint();

  /// Get the Properties of this FreeJoint
  Properties getFreeJointProperties() const;

  // Documentation inherited
  virtual const std::string& getType() const override;

  /// Get joint type for this class
  static const std::string& getStaticType();

  // Documentation inherited
  virtual bool isCyclic(size_t _index) const override;

  /// Convert a transform into a 6D vector that can be used to set the positions
  /// of a FreeJoint. The positions returned by this function will result in a
  /// relative transform of
  /// getTransformFromParentBodyNode() * _tf * getTransformFromChildBodyNode().inverse()
  /// between the parent BodyNode and the child BodyNode frames when applied to
  /// a FreeJoint.
  static Eigen::Vector6d convertToPositions(const Eigen::Isometry3d& _tf);

  /// Convert a FreeJoint-style 6D vector into a transform
  static Eigen::Isometry3d convertToTransform(const Eigen::Vector6d& _positions);

  /// If the given joint is a FreeJoint, then set the transform of the given
  /// Joint's child BodyNode so that its transform with respect to
  /// "withRespecTo" is equal to "tf".
  static void setTransform(Joint* joint,
                           const Eigen::Isometry3d& tf,
                           const Frame* withRespectTo = Frame::World());

  /// If the parent Joint of the given BodyNode is a FreeJoint, then set the
  /// transform of the given BodyNode so that its transform with respect to
  /// "withRespecTo" is equal to "tf".
  static void setTransform(BodyNode* bodyNode,
                           const Eigen::Isometry3d& tf,
                           const Frame* withRespectTo = Frame::World());

  /// Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes
  /// of the given Skeleton. If false is passed in "applyToAllRootBodies", then
  /// it will be applied to only the default root BodyNode that will be obtained
  /// by Skeleton::getRootBodyNode().
  static void setTransform(Skeleton* skeleton,
                           const Eigen::Isometry3d& tf,
                           const Frame* withRespectTo = Frame::World(),
                           bool applyToAllRootBodies = true);

  /// Set the transform, spatial velocity, and spatial acceleration of the child
  /// BodyNode relative to an arbitrary Frame. The reference frame can be
  /// arbitrarily specified.
  ///
  /// If you want to set more than one kind of Cartetian coordinates (e.g.,
  /// transform and spatial velocity) at the same time, you should call
  /// corresponding setters in a certain order (transform -> velocity ->
  /// acceleration), If you don't velocity or acceleration can be corrupted by
  /// transform or velocity. This function calls the corresponding setters in
  /// the right order so that all the desired Cartetian coordinates are properly
  /// set.
  ///
  /// Pass nullptr for "newTransform", "newSpatialVelocity", or
  /// "newSpatialAcceleration" if you don't want to set them.
  ///
  /// \param[in] newTransform Desired transform of the child BodyNode.
  /// \param[in] withRespectTo The relative Frame of "newTransform".
  /// \param[in] newSpatialVelocity Desired spatial velocity of the child
  /// BodyNode.
  /// \param[in] velrelativeTo The relative frame of "newSpatialVelocity".
  /// \param[in] velinCoordinatesOf The reference frame of "newSpatialVelocity".
  /// \param[in] newSpatialAcceleration Desired spatial acceleration of the
  /// child BodyNode.
  /// \param[in] accrelativeTo The relative frame of "newSpatialAcceleration".
  /// \param[in] accinCoordinatesOf The reference frame of
  /// "newSpatialAcceleration".
  void setSpatialMotion(
      const Eigen::Isometry3d* newTransform,
      const Frame* withRespectTo,
      const Eigen::Vector6d* newSpatialVelocity,
      const Frame* velRelativeTo,
      const Frame* velInCoordinatesOf,
      const Eigen::Vector6d* newSpatialAcceleration,
      const Frame* accRelativeTo,
      const Frame* accInCoordinatesOf);

  /// Set the transform of the child BodyNode relative to the parent BodyNode
  /// \param[in] newTransform Desired transform of the child BodyNode.
  void setRelativeTransform(const Eigen::Isometry3d& newTransform);

  /// Set the transform of the child BodyNode relative to an arbitrary Frame.
  /// \param[in] newTransform Desired transform of the child BodyNode.
  /// \param[in] withRespectTo The relative Frame of "newTransform".
  void setTransform(const Eigen::Isometry3d& newTransform,
                    const Frame* withRespectTo = Frame::World());

  /// Set the spatial velocity of the child BodyNode relative to the parent
  /// BodyNode.
  /// \param[in] newSpatialVelocity Desired spatial velocity of the child
  /// BodyNode. The reference frame of "newSpatialVelocity" is the child
  /// BodyNode.
  void setRelativeSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity);

  /// Set the spatial velocity of the child BodyNode relative to the parent
  /// BodyNode.
  /// \param[in] newSpatialVelocity Desired spatial velocity of the child
  /// BodyNode.
  /// \param[in] inCoordinatesOf The reference frame of "newSpatialVelocity".
  void setRelativeSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity,
                                  const Frame* inCoordinatesOf);

  /// Set the spatial velocity of the child BodyNode relative to an arbitrary
  /// Frame.
  /// \param[in] newSpatialVelocity Desired spatial velocity of the child
  /// BodyNode.
  /// \param[in] relativeTo The relative frame of "newSpatialVelocity".
  /// \param[in] inCoordinatesOf The reference frame of "newSpatialVelocity".
  void setSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity,
                          const Frame* relativeTo,
                          const Frame* inCoordinatesOf);

  /// Set the linear portion of classical velocity of the child BodyNode
  /// relative to an arbitrary Frame.
  ///
  /// Note that the angular portion of claasical velocity of the child
  /// BodyNode will not be changed after this function called.
  ///
  /// \param[in] relativeTo The relative frame of "newLinearVelocity".
  /// \param[in] inCoordinatesOf The reference frame of "newLinearVelocity".
  void setLinearVelocity(const Eigen::Vector3d& newLinearVelocity,
                         const Frame* relativeTo = Frame::World(),
                         const Frame* inCoordinatesOf = Frame::World());

  /// Set the angular portion of classical velocity of the child BodyNode
  /// relative to an arbitrary Frame.
  ///
  /// Note that the linear portion of claasical velocity of the child
  /// BodyNode will not be changed after this function called.
  ///
  /// \param[in] relativeTo The relative frame of "newLinearVelocity".
  /// \param[in] inCoordinatesOf The reference frame of "newLinearVelocity".
  void setAngularVelocity(const Eigen::Vector3d& newAngularVelocity,
                          const Frame* relativeTo = Frame::World(),
                          const Frame* inCoordinatesOf = Frame::World());

  /// Set the spatial acceleration of the child BodyNode relative to the parent
  /// BodyNode.
  /// \param[in] newSpatialVelocity Desired spatial acceleration of the child
  /// BodyNode. The reference frame of "newSpatialAcceleration" is the child
  /// BodyNode.
  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& newSpatialAcceleration);

  /// Set the spatial acceleration of the child BodyNode relative to the parent
  /// BodyNode.
  /// \param[in] newSpatialAcceleration Desired spatial acceleration of the
  /// child BodyNode.
  /// \param[in] inCoordinatesOf The reference frame of
  /// "newSpatialAcceleration".
  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& newSpatialAcceleration,
      const Frame* inCoordinatesOf);

  /// Set the spatial acceleration of the child BodyNode relative to an
  /// arbitrary Frame.
  /// \param[in] newSpatialAcceleration Desired spatial acceleration of the
  /// child BodyNode.
  /// \param[in] relativeTo The relative frame of "newSpatialAcceleration".
  /// \param[in] inCoordinatesOf The reference frame of
  /// "newSpatialAcceleration".
  void setSpatialAcceleration(const Eigen::Vector6d& newSpatialAcceleration,
                              const Frame* relativeTo,
                              const Frame* inCoordinatesOf);

  /// Set the linear portion of classical acceleration of the child BodyNode
  /// relative to an arbitrary Frame.
  ///
  /// Note that the angular portion of claasical acceleration of the child
  /// BodyNode will not be changed after this function called.
  ///
  /// \param[in] relativeTo The relative frame of "newLinearVelocity".
  /// \param[in] inCoordinatesOf The reference frame of "newLinearVelocity".
  void setLinearAcceleration(const Eigen::Vector3d& newLinearAcceleration,
                             const Frame* relativeTo = Frame::World(),
                             const Frame* inCoordinatesOf = Frame::World());

  /// Set the angular portion of classical acceleration of the child BodyNode
  /// relative to an arbitrary Frame.
  ///
  /// Note that the linear portion of claasical acceleration of the child
  /// BodyNode will not be changed after this function called.
  ///
  /// \param[in] relativeTo The relative frame of "newLinearVelocity".
  /// \param[in] inCoordinatesOf The reference frame of "newLinearVelocity".
  void setAngularAcceleration(const Eigen::Vector3d& newAngularAcceleration,
                              const Frame* relativeTo = Frame::World(),
                              const Frame* inCoordinatesOf = Frame::World());

  // Documentation inherited
  Eigen::Matrix6d getLocalJacobianStatic(
      const Eigen::Vector6d& _positions) const override;

  // Documentation inherited
  Eigen::Vector6d getPositionDifferencesStatic(
      const Eigen::Vector6d& _q2, const Eigen::Vector6d& _q1) const override;

protected:

  /// Constructor called by Skeleton class
  FreeJoint(const Properties& _properties);

  // Documentation inherited
  Joint* clone() const override;

  using MultiDofJoint::getLocalJacobianStatic;

  // Documentation inherited
  void integratePositions(double _dt) override;

  // Documentation inherited
  void updateDegreeOfFreedomNames() override;

  // Documentation inherited
  void updateLocalTransform() const override;

  // Documentation inherited
  void updateLocalJacobian(bool _mandatory = true) const override;

  // Documentation inherited
  void updateLocalJacobianTimeDeriv() const override;

protected:

  /// Access mQ, which is an auto-updating variable
  const Eigen::Isometry3d& getQ() const;

  /// Transformation matrix dependent on generalized coordinates
  ///
  /// Do not use directly! Use getQ() to access this
  mutable Eigen::Isometry3d mQ;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace dynamics
}  // namespace kido

#endif  // KIDO_DYNAMICS_FREEJOINT_HPP_