/usr/include/kido/dynamics/FreeJoint.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* 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>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* 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.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#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_
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