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* Copyright (c) 2011-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Sehoon Ha <sehoon.ha@gmail.com>
* 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_JOINT_HPP_
#define KIDO_DYNAMICS_JOINT_HPP_
#include <string>
#include <vector>
#include <memory>
#include "kido/common/Deprecated.hpp"
#include "kido/common/Subject.hpp"
#include "kido/math/MathTypes.hpp"
#include "kido/dynamics/SmartPointer.hpp"
namespace kido {
namespace renderer {
class RenderInterface;
} // namespace renderer
} // namespace kido
namespace kido {
namespace dynamics {
class BodyNode;
class Skeleton;
class DegreeOfFreedom;
/// class Joint
class Joint : public virtual common::Subject
{
public:
/// Actuator type
///
/// The command is taken by setCommand() or setCommands(), and the meaning of
/// command is different depending on the actuator type. The default actuator
/// type is FORCE. (TODO: FreeJoint should be PASSIVE?)
///
/// FORCE/PASSIVE/SERVO joints are dynamic joints while
/// ACCELERATION/VELOCITY/LOCKED joints are kinematic joints.
///
/// Note the presence of joint damping force and joint spring force for all
/// the actuator types if the coefficients are non-zero. The default
/// coefficients are zero.
///
/// \sa setActuatorType(), getActuatorType(),
/// setSpringStiffness(), setDampingCoefficient(),
enum ActuatorType
{
/// Command input is joint force, and the output is joint acceleration.
///
/// If the command is zero, then it's identical to passive joint. The valid
/// joint constraints are position limit, velocity limit, and Coulomb
/// friction, and the invalid joint constraint is force limit.
FORCE,
/// Passive joint doesn't take any command input, and the output is joint
/// acceleration.
///
/// The valid joint constraints are position limit, velocity limit, and
/// Coulomb friction, and the invalid joint constraint is force limit.
PASSIVE,
/// Command input is desired velocity, and the output is joint acceleration.
///
/// The constraint solver will try to track the desired velocity within the
/// joint force limit. All the joint constarints are valid.
SERVO,
/// Command input is joint acceleration, and the output is joint force.
///
/// The joint acceleration is always satisfied but it doesn't take the joint
/// force limit into account. All the joint constraints are invalid.
ACCELERATION,
/// Command input is joint velocity, and the output is joint force.
///
/// The joint velocity is always satisfied but it doesn't take the joint
/// force limit into account. If you want to consider the joint force limit,
/// should use SERVO instead. All the joint constraints are invalid.
VELOCITY,
/// Locked joint always set the velocity and acceleration to zero so that
/// the joint dosen't move at all (locked), and the output is joint force.
/// force.
///
/// All the joint constraints are invalid.
LOCKED
};
struct Properties
{
/// Joint name
std::string mName;
/// Transformation from parent BodyNode to this Joint
Eigen::Isometry3d mT_ParentBodyToJoint;
/// Transformation from child BodyNode to this Joint
Eigen::Isometry3d mT_ChildBodyToJoint;
/// True if the joint limits should be enforced in dynamic simulation
bool mIsPositionLimited;
/// Actuator type
ActuatorType mActuatorType;
/// Constructor
Properties(const std::string& _name = "Joint",
const Eigen::Isometry3d& _T_ParentBodyToJoint =
Eigen::Isometry3d::Identity(),
const Eigen::Isometry3d& _T_ChildBodyToJoint =
Eigen::Isometry3d::Identity(),
bool _isPositionLimited = false,
ActuatorType _actuatorType = DefaultActuatorType);
virtual ~Properties() = default;
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
/// Default actuator type
static const ActuatorType DefaultActuatorType;
Joint(const Joint&) = delete;
/// Destructor
virtual ~Joint();
/// Set the Properties of this Joint
void setProperties(const Properties& _properties);
/// Get the Properties of this Joint
const Properties& getJointProperties() const;
/// Copy the properties of another Joint
void copy(const Joint& _otherJoint);
/// Copy the properties of another Joint
void copy(const Joint* _otherJoint);
/// Same as copy(const Joint&)
Joint& operator=(const Joint& _otherJoint);
/// \brief Set joint name and return the name.
/// \param[in] _renameDofs If true, the names of the joint's degrees of
/// freedom will be updated by calling updateDegreeOfFreedomNames().
///
/// If the name is already taken, this will return an altered version which
/// will be used by the Skeleton. Otherwise, return _name.
const std::string& setName(const std::string& _name,
bool _renameDofs = true);
/// Get joint name
const std::string& getName() const;
/// Gets a string representing the joint type
virtual const std::string& getType() const = 0;
/// Set actuator type
void setActuatorType(ActuatorType _actuatorType);
/// Get actuator type
ActuatorType getActuatorType() const;
/// Return true if this joint is kinematic joint.
///
/// Kinematic joint means the motion is prescribed by position or velocity or
/// acceleration, which is determined by the actuator type.
/// ACCELERATION/VELOCITY/LOCKED are kinematic joints while
/// FORCE/PASSIVE/SERVO are dynamic joints.
bool isKinematic() const;
/// Return true if this joint is dynamic joint.
bool isDynamic() const;
/// Get the child BodyNode of this Joint
BodyNode* getChildBodyNode();
/// Get the (const) child BodyNode of this Joint
const BodyNode* getChildBodyNode() const;
/// Get the parent BodyNode of this Joint
BodyNode* getParentBodyNode();
/// Get the (const) parent BodyNode of this Joint
const BodyNode* getParentBodyNode() const;
/// Get the Skeleton that this Joint belongs to
SkeletonPtr getSkeleton();
/// Get the (const) Skeleton that this Joint belongs to.
std::shared_ptr<const Skeleton> getSkeleton() const;
/// Set transformation from parent body node to this joint
virtual void setTransformFromParentBodyNode(const Eigen::Isometry3d& _T);
/// Set transformation from child body node to this joint
virtual void setTransformFromChildBodyNode(const Eigen::Isometry3d& _T);
/// Get transformation from parent body node to this joint
const Eigen::Isometry3d& getTransformFromParentBodyNode() const;
/// Get transformation from child body node to this joint
const Eigen::Isometry3d& getTransformFromChildBodyNode() const;
/// Set to enforce joint position limit
///
/// The joint position limit is valid when the actutor type is one of
/// PASSIVE/FORCE.
///
/// \sa ActuatorType
void setPositionLimitEnforced(bool _isPositionLimited);
/// Deprecated. Replaced by setPositionLimitEnforced.
DEPRECATED(5.0) void setPositionLimited(bool _isPositionLimited);
/// Get whether enforcing joint position limit
///
/// The joint position limit is valid when the actutor type is one of
/// PASSIVE/FORCE.
///
/// \sa ActuatorType
bool isPositionLimitEnforced() const;
/// Deprecated. Replaced by isPositionLimitEnforced.
DEPRECATED(5.0) bool isPositionLimited() const;
/// Get a unique index in skeleton of a generalized coordinate in this Joint
virtual size_t getIndexInSkeleton(size_t _index) const = 0;
/// Get a unique index in the kinematic tree of a generalized coordinate in
/// this Joint
virtual size_t getIndexInTree(size_t _index) const = 0;
/// Get the index of this Joint within its Skeleton
size_t getJointIndexInSkeleton() const;
/// Get the index of this Joint within its tree
size_t getJointIndexInTree() const;
/// Get the index of the tree that this Joint belongs to
size_t getTreeIndex() const;
/// Get an object to access the _index-th degree of freedom (generalized
/// coordinate) of this Joint
virtual DegreeOfFreedom* getDof(size_t _index) = 0;
/// Get an object to access the _index-th degree of freedom (generalized
/// coordinate) of this Joint
virtual const DegreeOfFreedom* getDof(size_t _index) const = 0;
/// Alternative to DegreeOfFreedom::setName()
virtual const std::string& setDofName(size_t _index,
const std::string& _name,
bool _preserveName=true) = 0;
/// Alternative to DegreeOfFreedom::preserveName()
virtual void preserveDofName(size_t _index, bool _preserve) = 0;
/// Alternative to DegreeOfFreedom::isNamePreserved()
virtual bool isDofNamePreserved(size_t _index) const = 0;
/// Alternative to DegreeOfFreedom::getName()
virtual const std::string& getDofName(size_t _index) const = 0;
/// Get number of generalized coordinates
virtual size_t getNumDofs() const = 0;
//----------------------------------------------------------------------------
/// \{ \name Command
//----------------------------------------------------------------------------
/// Set a single command
virtual void setCommand(size_t _index, double _command) = 0;
/// Get a single command
virtual double getCommand(size_t _index) const = 0;
/// Set all commands for this Joint
virtual void setCommands(const Eigen::VectorXd& _commands) = 0;
/// Get all commands for this Joint
virtual Eigen::VectorXd getCommands() const = 0;
/// Set all the commands for this Joint to zero
virtual void resetCommands() = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Position
//----------------------------------------------------------------------------
/// Set the position of a single generalized coordinate
virtual void setPosition(size_t _index, double _position) = 0;
/// Get the position of a single generalized coordinate
virtual double getPosition(size_t _index) const = 0;
/// Set the positions of all generalized coordinates in this Joint
virtual void setPositions(const Eigen::VectorXd& _positions) = 0;
/// Get the positions of all generalized coordinates in this Joint
virtual Eigen::VectorXd getPositions() const = 0;
/// Set lower limit for position
virtual void setPositionLowerLimit(size_t _index, double _position) = 0;
/// Get lower limit for position
virtual double getPositionLowerLimit(size_t _index) const = 0;
/// Set upper limit for position
virtual void setPositionUpperLimit(size_t _index, double _position) = 0;
/// Get upper limit for position
virtual double getPositionUpperLimit(size_t _index) const = 0;
/// Get whether a generalized coordinate is cyclic. Return true if and only
/// if this generalized coordinate has an infinite number of positions that
/// produce the same local transform. Note that, for a multi-DOF joint,
/// producing a cycle may require altering the position of this Joint's other
/// generalized coordinates.
virtual bool isCyclic(size_t _index) const = 0;
/// Get whether the position of a generalized coordinate has limits.
virtual bool hasPositionLimit(size_t _index) const = 0;
/// Set the position of this generalized coordinate to its initial position
virtual void resetPosition(size_t _index) = 0;
/// Set the positions of all generalized coordinates in this Joint to their
/// initial positions
virtual void resetPositions() = 0;
/// Change the position that resetPositions() will give to this coordinate
virtual void setInitialPosition(size_t _index, double _initial) = 0;
/// Get the position that resetPosition() will give to this coordinate
virtual double getInitialPosition(size_t _index) const = 0;
/// Change the positions that resetPositions() will give to this Joint's
/// coordinates
virtual void setInitialPositions(const Eigen::VectorXd& _initial) = 0;
/// Get the positions that resetPositions() will give to this Joint's
/// coordinates
virtual Eigen::VectorXd getInitialPositions() const = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Velocity
//----------------------------------------------------------------------------
/// Set the velocity of a single generalized coordinate
virtual void setVelocity(size_t _index, double _velocity) = 0;
/// Get the velocity of a single generalized coordinate
virtual double getVelocity(size_t _index) const = 0;
/// Set the velocities of all generalized coordinates in this Joint
virtual void setVelocities(const Eigen::VectorXd& _velocities) = 0;
/// Get the velocities of all generalized coordinates in this Joint
virtual Eigen::VectorXd getVelocities() const = 0;
/// Set lower limit for velocity
virtual void setVelocityLowerLimit(size_t _index, double _velocity) = 0;
/// Get lower limit for velocity
virtual double getVelocityLowerLimit(size_t _index) const = 0;
/// Set upper limit for velocity
virtual void setVelocityUpperLimit(size_t _index, double _velocity) = 0;
/// Get upper limit for velocity
virtual double getVelocityUpperLimit(size_t _index) const = 0;
/// Set the velocity of a generalized coordinate in this Joint to its initial
/// velocity
virtual void resetVelocity(size_t _index) = 0;
/// Set the velocities of all generalized coordinates in this Joint to their
/// initial velocities
virtual void resetVelocities() = 0;
/// Change the velocity that resetVelocity() will give to this coordinate
virtual void setInitialVelocity(size_t _index, double _initial) = 0;
/// Get the velocity that resetVelocity() will give to this coordinate
virtual double getInitialVelocity(size_t _index) const = 0;
/// Change the velocities that resetVelocities() will give to this Joint's
/// coordinates
virtual void setInitialVelocities(const Eigen::VectorXd& _initial) = 0;
/// Get the velocities that resetVelocities() will give to this Joint's
/// coordinates
virtual Eigen::VectorXd getInitialVelocities() const = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Acceleration
//----------------------------------------------------------------------------
/// Set the acceleration of a single generalized coordinate
virtual void setAcceleration(size_t _index, double _acceleration) = 0;
/// Get the acceleration of a single generalized coordinate
virtual double getAcceleration(size_t _index) const = 0;
/// Set the accelerations of all generalized coordinates in this Joint
virtual void setAccelerations(const Eigen::VectorXd& _accelerations) = 0;
/// Get the accelerations of all generalized coordinates in this Joint
virtual Eigen::VectorXd getAccelerations() const = 0;
/// Set the accelerations of all generalized coordinates in this Joint to zero
virtual void resetAccelerations() = 0;
/// Set lower limit for acceleration
virtual void setAccelerationLowerLimit(size_t _index, double _acceleration) = 0;
/// Get lower limit for acceleration
virtual double getAccelerationLowerLimit(size_t _index) const = 0;
/// Set upper limit for acceleration
virtual void setAccelerationUpperLimit(size_t _index, double _acceleration) = 0;
/// Get upper limit for acceleration
virtual double getAccelerationUpperLimit(size_t _index) const = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Force
//----------------------------------------------------------------------------
/// Set the force of a single generalized coordinate
virtual void setForce(size_t _index, double _force) = 0;
/// Get the force of a single generalized coordinate
virtual double getForce(size_t _index) = 0;
/// Set the forces of all generalized coordinates in this Joint
virtual void setForces(const Eigen::VectorXd& _forces) = 0;
/// Get the forces of all generalized coordinates in this Joint
virtual Eigen::VectorXd getForces() const = 0;
/// Set the forces of all generalized coordinates in this Joint to zero
virtual void resetForces() = 0;
/// Set lower limit for force
virtual void setForceLowerLimit(size_t _index, double _force) = 0;
/// Get lower limit for force
virtual double getForceLowerLimit(size_t _index) const = 0;
/// Set upper limit for force
virtual void setForceUpperLimit(size_t _index, double _force) = 0;
/// Get upper limit for force
virtual double getForceUpperLimit(size_t _index) const = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Sanity Check
//----------------------------------------------------------------------------
/// Returns false if the initial position or initial velocity are outside of
/// limits
// TODO: Consider extending this to a more comprehensive sanity check
bool checkSanity(bool _printWarnings = true) const;
//----------------------------------------------------------------------------
/// \{ \name Velocity change
//----------------------------------------------------------------------------
/// Set a single velocity change
virtual void setVelocityChange(size_t _index, double _velocityChange) = 0;
/// Get a single velocity change
virtual double getVelocityChange(size_t _index) const = 0;
/// Set zero all the velocity change
virtual void resetVelocityChanges() = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Constraint impulse
//----------------------------------------------------------------------------
/// Set a single constraint impulse
virtual void setConstraintImpulse(size_t _index, double _impulse) = 0;
/// Get a single constraint impulse
virtual double getConstraintImpulse(size_t _index) const = 0;
/// Set zero all the constraint impulses
virtual void resetConstraintImpulses() = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Integration and finite difference
//----------------------------------------------------------------------------
/// Integrate positions using Euler method
virtual void integratePositions(double _dt) = 0;
/// Integrate velocities using Euler method
virtual void integrateVelocities(double _dt) = 0;
/// Return the difference of two generalized coordinates which are measured in
/// the configuration space of this Skeleton.
virtual Eigen::VectorXd getPositionDifferences(
const Eigen::VectorXd& _q2, const Eigen::VectorXd& _q1) const = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Passive forces - spring, viscous friction, Coulomb friction
//----------------------------------------------------------------------------
/// Set stiffness of joint spring force.
/// \param[in] _index Index of joint axis.
/// \param[in] _k Spring stiffness.
virtual void setSpringStiffness(size_t _index, double _k) = 0;
/// Get stiffness of joint spring force.
/// \param[in] _index Index of joint axis.
virtual double getSpringStiffness(size_t _index) const = 0;
/// Set rest position of spring force.
/// \param[in] _index Index of joint axis.
/// \param[in] _q0 Rest position.
virtual void setRestPosition(size_t _index, double _q0) = 0;
/// Get rest position of spring force.
/// \param[in] _index Index of joint axis.
/// \return Rest position.
virtual double getRestPosition(size_t _index) const = 0;
/// Set coefficient of joint damping (viscous friction) force.
/// \param[in] _index Index of joint axis.
/// \param[in] _coeff Damping coefficient.
virtual void setDampingCoefficient(size_t _index, double _coeff) = 0;
/// Get coefficient of joint damping (viscous friction) force.
/// \param[in] _index Index of joint axis.
virtual double getDampingCoefficient(size_t _index) const = 0;
/// Set joint Coulomb friction froce.
/// \param[in] _index Index of joint axis.
/// \param[in] _friction Joint Coulomb friction froce given index.
virtual void setCoulombFriction(size_t _index, double _friction) = 0;
/// Get joint Coulomb friction froce.
/// \param[in] _index Index of joint axis.
virtual double getCoulombFriction(size_t _index) const = 0;
/// \}
//----------------------------------------------------------------------------
/// Get potential energy
virtual double getPotentialEnergy() const = 0;
//----------------------------------------------------------------------------
/// Get transformation from parent BodyNode to child BodyNode
const Eigen::Isometry3d& getLocalTransform() const;
/// Get the velocity from the parent BodyNode to the child BodyNode
const Eigen::Vector6d& getLocalSpatialVelocity() const;
/// Get the acceleration from the parent BodyNode to the child BodyNode
const Eigen::Vector6d& getLocalSpatialAcceleration() const;
/// Get the J * q_dd of this joint
const Eigen::Vector6d& getLocalPrimaryAcceleration() const;
/// Get generalized Jacobian from parent body node to child body node
/// w.r.t. local generalized coordinate
virtual const math::Jacobian getLocalJacobian() const = 0;
/// Get generalized Jacobian from parent body node to child body node
/// w.r.t. local generalized coordinate
virtual math::Jacobian getLocalJacobian(
const Eigen::VectorXd& _positions) const = 0;
/// Get time derivative of generalized Jacobian from parent body node
/// to child body node w.r.t. local generalized coordinate
virtual const math::Jacobian getLocalJacobianTimeDeriv() const = 0;
/// Get whether this joint contains _genCoord
/// \param[in] Generalized coordinate to see
/// \return True if this joint contains _genCoord
// bool contains(const GenCoord* _genCoord) const;
/// Get local index of the dof at this joint; if the dof is not presented at
/// this joint, return -1
// int getGenCoordLocalIndex(int _dofSkelIndex) const;
/// Get constraint wrench expressed in body node frame
virtual Eigen::Vector6d getBodyConstraintWrench() const = 0;
// TODO: Need more informative name.
/// Get spring force
///
/// We apply spring force in implicit manner. The spring force is
/// F = -(springStiffness * q(k+1)), where q(k+1) is approximated as
/// q(k) + h * dq(k) * h^2 * ddq(k). Since, in the recursive forward dynamics
/// algorithm, ddq(k) is unknown variable that we want to obtain as the
/// result, the spring force here is just
/// F = -springStiffness * (q(k) + h * dq(k)) and
/// -springStiffness * h^2 * ddq(k) term is rearranged at the recursive
/// forward dynamics algorithm, and it affects on the articulated inertia.
/// \sa BodyNode::updateArticulatedInertia(double).
///
/// \param[in] _timeStep Time step used for approximating q(k+1).
// Eigen::VectorXd getSpringForces(double _timeStep) const;
/// Get damping force
///
/// We apply the damping force in implicit manner. The damping force is
/// F = -(dampingCoefficient * dq(k+1)), where dq(k+1) is approximated as
/// dq(k) + h * ddq(k). Since, in the recursive forward dynamics algorithm,
/// ddq(k) is unknown variable that we want to obtain as the result, the
/// damping force here is just F = -(dampingCoefficient * dq(k)) and
/// -dampingCoefficient * h * ddq(k) term is rearranged at the recursive
/// forward dynamics algorithm, and it affects on the articulated inertia.
/// \sa BodyNode::updateArticulatedInertia(double).
// Eigen::VectorXd getDampingForces() const;
//----------------------------------------------------------------------------
// Rendering
//----------------------------------------------------------------------------
///
void applyGLTransform(renderer::RenderInterface* _ri);
//----------------------------------------------------------------------------
// Friendship
//----------------------------------------------------------------------------
friend class BodyNode;
friend class SoftBodyNode;
friend class Skeleton;
protected:
/// Constructor called by inheriting class
Joint(const Properties& _properties);
/// Create a clone of this Joint. This may only be called by the Skeleton
/// class.
virtual Joint* clone() const = 0;
/// Called by the Skeleton class
virtual void registerDofs() = 0;
/// \brief Create a DegreeOfFreedom pointer.
/// \param[in] _name DegreeOfFreedom's name.
/// \param[in] _indexInJoint DegreeOfFreedom's index within the joint. Note
/// that the index should be unique within the joint.
///
/// DegreeOfFreedom should be created by the Joint because the DegreeOfFreedom
/// class has a protected constructor, and the Joint is responsible for memory
/// management of the pointer which is returned.
DegreeOfFreedom* createDofPointer(size_t _indexInJoint);
/// Update the names of the joint's degrees of freedom. Used when setName() is
/// called with _renameDofs set to true.
virtual void updateDegreeOfFreedomNames() = 0;
//----------------------------------------------------------------------------
/// \{ \name Recursive dynamics routines
//----------------------------------------------------------------------------
/// Update transformation from parent BodyNode to child BodyNode
virtual void updateLocalTransform() const = 0;
/// Update velocity from the parent BodyNode to the child BodyNode
virtual void updateLocalSpatialVelocity() const = 0;
/// Update acceleration from the parent BodyNode to the child BodyNode
virtual void updateLocalSpatialAcceleration() const = 0;
/// Update the J * q_dd of this joint
virtual void updateLocalPrimaryAcceleration() const = 0;
/// Update generalized Jacobian from parent body node to child body
/// node w.r.t. local generalized coordinate
///
/// The _mandatory argument can be set to false if the Jacobian update request
/// is due to a change in Joint positions, because not all Joint types have a
/// Local Jacobian that depends on their Joint positions, so a Local Jacobian
/// update would not actually be required.
virtual void updateLocalJacobian(bool _mandatory=true) const = 0;
/// Update time derivative of generalized Jacobian from parent body
/// node to child body node w.r.t. local generalized coordinate
///
/// If the Local Jacobian Time Derivative of this Joint is zero, then this
/// function will be a no op.
virtual void updateLocalJacobianTimeDeriv() const = 0;
/// Tells the Skeleton to update the articulated inertia if it needs updating
void updateArticulatedInertia() const;
/// Add joint velocity to _vel
virtual void addVelocityTo(Eigen::Vector6d& _vel) = 0;
/// Set joint partial acceleration to _partialAcceleration
virtual void setPartialAccelerationTo(
Eigen::Vector6d& _partialAcceleration,
const Eigen::Vector6d& _childVelocity) = 0;
// TODO(JS): Rename with more informative name
/// Add joint acceleration to _acc
virtual void addAccelerationTo(Eigen::Vector6d& _acc) = 0;
/// Add joint velocity change to _velocityChange
virtual void addVelocityChangeTo(Eigen::Vector6d& _velocityChange) = 0;
/// Add child's articulated inertia to parent's one
virtual void addChildArtInertiaTo(
Eigen::Matrix6d& _parentArtInertia,
const Eigen::Matrix6d& _childArtInertia) = 0;
/// Add child's articulated inertia to parent's one. Forward dynamics routine.
virtual void addChildArtInertiaImplicitTo(
Eigen::Matrix6d& _parentArtInertiaImplicit,
const Eigen::Matrix6d& _childArtInertiaImplicit) = 0;
// TODO(JS): rename to updateAInertiaChildAInertia()
/// Update inverse of projected articulated body inertia
virtual void updateInvProjArtInertia(const Eigen::Matrix6d& _artInertia) = 0;
/// Forward dynamics routine.
virtual void updateInvProjArtInertiaImplicit(
const Eigen::Matrix6d& _artInertia,
double _timeStep) = 0;
// TODO(JS): rename to updateAInertiaPsi()
/// Add child's bias force to parent's one
virtual void addChildBiasForceTo(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce,
const Eigen::Vector6d& _childPartialAcc) = 0;
/// Add child's bias impulse to parent's one
virtual void addChildBiasImpulseTo(
Eigen::Vector6d& _parentBiasImpulse,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasImpulse) = 0;
/// Update joint total force
virtual void updateTotalForce(const Eigen::Vector6d& _bodyForce,
double _timeStep) = 0;
// TODO: rename
/// Update joint total impulse
virtual void updateTotalImpulse(const Eigen::Vector6d& _bodyImpulse) = 0;
// TODO: rename
/// Set total impulses to zero
virtual void resetTotalImpulses() = 0;
/// Update joint acceleration
virtual void updateAcceleration(const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) = 0;
/// Update joint velocity change
/// \param _artInertia
/// \param _velocityChange
virtual void updateVelocityChange(
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _velocityChange) = 0;
/// Update joint force for inverse dynamics.
/// \param[in] _bodyForce Transmitting spatial body force from the parent
/// BodyNode to the child BodyNode. The spatial force is expressed in the
/// child BodyNode's frame.
virtual void updateForceID(const Eigen::Vector6d& _bodyForce,
double _timeStep,
bool _withDampingForces,
bool _withSpringForces) = 0;
/// Update joint force for forward dynamics.
/// \param[in] _bodyForce Transmitting spatial body force from the parent
/// BodyNode to the child BodyNode. The spatial force is expressed in the
/// child BodyNode's frame.
virtual void updateForceFD(const Eigen::Vector6d& _bodyForce,
double _timeStep,
bool _withDampingForcese,
bool _withSpringForces) = 0;
/// Update joint impulses for inverse dynamics
virtual void updateImpulseID(const Eigen::Vector6d& _bodyImpulse) = 0;
/// Update joint impulses for forward dynamics
virtual void updateImpulseFD(const Eigen::Vector6d& _bodyImpulse) = 0;
/// Update constrained terms for forward dynamics
virtual void updateConstrainedTerms(double _timeStep) = 0;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Recursive algorithm routines for equations of motion
//----------------------------------------------------------------------------
/// Add child's bias force to parent's one
virtual void addChildBiasForceForInvMassMatrix(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce) = 0;
/// Add child's bias force to parent's one
virtual void addChildBiasForceForInvAugMassMatrix(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce) = 0;
///
virtual void updateTotalForceForInvMassMatrix(
const Eigen::Vector6d& _bodyForce) = 0;
///
virtual void getInvMassMatrixSegment(Eigen::MatrixXd& _invMassMat,
const size_t _col,
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) = 0;
///
virtual void getInvAugMassMatrixSegment(Eigen::MatrixXd& _invMassMat,
const size_t _col,
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) = 0;
///
virtual void addInvMassMatrixSegmentTo(Eigen::Vector6d& _acc) = 0;
///
virtual Eigen::VectorXd getSpatialToGeneralized(
const Eigen::Vector6d& _spatial) = 0;
/// \}
/// Notify that a position update is needed
void notifyPositionUpdate();
/// Notify that a velocity update is needed
void notifyVelocityUpdate();
/// Notify that an acceleration update is needed
void notifyAccelerationUpdate();
protected:
/// Properties of this Joint
Properties mJointP;
/// Child BodyNode pointer that this Joint belongs to
BodyNode* mChildBodyNode;
/// Local transformation
///
/// Do not use directly! Use getLocalTransform() to access this
mutable Eigen::Isometry3d mT;
/// Relative spatial velocity from parent BodyNode to child BodyNode where the
/// velocity is expressed in child body Frame
///
/// Do not use directly! Use getLocalSpatialVelocity() to access this
mutable Eigen::Vector6d mSpatialVelocity;
/// Relative spatial acceleration from parent BodyNode to child BodyNode where
/// the acceleration is expressed in the child body Frame
///
/// Do not use directly! Use getLocalSpatialAcceleration() to access this
mutable Eigen::Vector6d mSpatialAcceleration;
/// J * q_dd
///
/// Do not use directly! Use getLocalPrimaryAcceleration() to access this
mutable Eigen::Vector6d mPrimaryAcceleration;
/// True iff this joint's position has changed since the last call to
/// getLocalTransform()
mutable bool mNeedTransformUpdate;
/// True iff this joint's position or velocity has changed since the last call
/// to getLocalSpatialVelocity()
mutable bool mNeedSpatialVelocityUpdate;
/// True iff this joint's position, velocity, or acceleration has changed
/// since the last call to getLocalSpatialAcceleration()
mutable bool mNeedSpatialAccelerationUpdate;
/// True iff this joint's position, velocity, or acceleration has changed
/// since the last call to getLocalPrimaryAcceleration()
mutable bool mNeedPrimaryAccelerationUpdate;
/// True iff this joint's local Jacobian has not been updated since the last
/// position change
mutable bool mIsLocalJacobianDirty;
/// True iff this joint's local Jacobian time derivative has not been updated
/// since the last position or velocity change
mutable bool mIsLocalJacobianTimeDerivDirty;
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_JOINT_HPP_
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