/usr/include/kido/dynamics/MultiDofJoint.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2014-2015, 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_MULTIDOFJOINT_HPP_
#define KIDO_DYNAMICS_MULTIDOFJOINT_HPP_
#include <string>
#include <array>
#include "kido/config.hpp"
#include "kido/common/Console.hpp"
#include "kido/math/Helpers.hpp"
#include "kido/dynamics/BodyNode.hpp"
#include "kido/dynamics/Joint.hpp"
#include "kido/dynamics/Skeleton.hpp"
#include "kido/dynamics/DegreeOfFreedom.hpp"
namespace kido {
namespace dynamics {
class BodyNode;
class Skeleton;
/// class MultiDofJoint
template<size_t DOF>
class MultiDofJoint : public Joint
{
public:
typedef Eigen::Matrix<double, DOF, 1> Vector;
MultiDofJoint(const MultiDofJoint&) = delete;
struct UniqueProperties
{
/// Lower limit of position
Vector mPositionLowerLimits;
/// Upper limit of position
Vector mPositionUpperLimits;
/// Initial positions
Vector mInitialPositions;
/// Min value allowed.
Vector mVelocityLowerLimits;
/// Max value allowed.
Vector mVelocityUpperLimits;
/// Initial velocities
Vector mInitialVelocities;
/// Min value allowed.
Vector mAccelerationLowerLimits;
/// upper limit of generalized acceleration
Vector mAccelerationUpperLimits;
/// Min value allowed.
Vector mForceLowerLimits;
/// Max value allowed.
Vector mForceUpperLimits;
/// Joint spring stiffness
Vector mSpringStiffnesses;
/// Rest joint position for joint spring
Vector mRestPositions;
/// Joint damping coefficient
Vector mDampingCoefficients;
/// Joint Coulomb friction
Vector mFrictions;
/// True if the name of the corresponding DOF is not allowed to be
/// overwritten
std::array<bool, DOF> mPreserveDofNames;
/// The name of the DegreesOfFreedom for this Joint
std::array<std::string, DOF> mDofNames;
/// Default constructor
UniqueProperties(
const Vector& _positionLowerLimits = Vector::Constant(-KIDO_DBL_INF),
const Vector& _positionUpperLimits = Vector::Constant( KIDO_DBL_INF),
const Vector& _velocityLowerLimits = Vector::Constant(-KIDO_DBL_INF),
const Vector& _velocityUpperLimits = Vector::Constant( KIDO_DBL_INF),
const Vector& _accelerationLowerLimits = Vector::Constant(-KIDO_DBL_INF),
const Vector& _accelerationUpperLimits = Vector::Constant( KIDO_DBL_INF),
const Vector& _forceLowerLimits = Vector::Constant(-KIDO_DBL_INF),
const Vector& _forceUpperLimits = Vector::Constant( KIDO_DBL_INF),
const Vector& _springStiffness = Vector::Constant(0.0),
const Vector& _restPosition = Vector::Constant(0.0),
const Vector& _dampingCoefficient = Vector::Constant(0.0),
const Vector& _coulombFrictions = Vector::Constant(0.0));
// TODO(MXG): In version 6.0, we should add mInitialPositions and
// mInitialVelocities to the constructor arguments. For now we must wait in
// order to avoid breaking the API.
/// Copy constructor
// Note: we only need this because VS2013 lacks full support for std::array
// Once std::array is properly supported, this should be removed.
UniqueProperties(const UniqueProperties& _other);
virtual ~UniqueProperties() = default;
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
struct Properties : Joint::Properties, UniqueProperties
{
Properties(
const Joint::Properties& _jointProperties = Joint::Properties(),
const UniqueProperties& _multiDofProperties = UniqueProperties());
virtual ~Properties();
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
/// Destructor
virtual ~MultiDofJoint();
/// Set the Properties of this MultiDofJoint
void setProperties(const Properties& _properties);
/// Set the Properties of this MultiDofJoint
void setProperties(const UniqueProperties& _properties);
/// Get the Properties of this MultiDofJoint
Properties getMultiDofJointProperties() const;
/// Copy the Properties of another MultiDofJoint
void copy(const MultiDofJoint<DOF>& _otherJoint);
/// Copy the Properties of another MultiDofJoint
void copy(const MultiDofJoint<DOF>* _otherJoint);
/// Same as copy(const MutliDofJoint&)
MultiDofJoint<DOF>& operator=(const MultiDofJoint<DOF>& _otherJoint);
//----------------------------------------------------------------------------
// Interface for generalized coordinates
//----------------------------------------------------------------------------
// Documentation inherited
DegreeOfFreedom* getDof(size_t index) override;
// Documentation inherited
const DegreeOfFreedom* getDof(size_t _index) const override;
// Documentation inherited
size_t getNumDofs() const override;
// Documentation inherited
const std::string& setDofName(size_t _index,
const std::string& _name,
bool _preserveName=true) override;
// Docuemntation inherited
void preserveDofName(size_t _index, bool _preserve) override;
// Documentation inherited
bool isDofNamePreserved(size_t _index) const override;
// Documentation inherited
const std::string& getDofName(size_t _index) const override;
// Documentation inherited
virtual size_t getIndexInSkeleton(size_t _index) const override;
// Documentation inherited
virtual size_t getIndexInTree(size_t _index) const override;
//----------------------------------------------------------------------------
// Command
//----------------------------------------------------------------------------
// Documentation inherited
virtual void setCommand(size_t _index, double _command) override;
// Documentation inherited
virtual double getCommand(size_t _index) const override;
// Documentation inherited
virtual void setCommands(const Eigen::VectorXd& _commands) override;
// Documentation inherited
virtual Eigen::VectorXd getCommands() const override;
// Documentation inherited
virtual void resetCommands() override;
//----------------------------------------------------------------------------
// Position
//----------------------------------------------------------------------------
// Documentation inherited
void setPosition(size_t _index, double _position) override;
// Documentation inherited
double getPosition(size_t _index) const override;
// Documentation inherited
void setPositions(const Eigen::VectorXd& _positions) override;
// Documentation inherited
Eigen::VectorXd getPositions() const override;
// Documentation inherited
void setPositionLowerLimit(size_t _index, double _position) override;
// Documentation inherited
double getPositionLowerLimit(size_t _index) const override;
// Documentation inherited
void setPositionUpperLimit(size_t _index, double _position) override;
// Documentation inherited
double getPositionUpperLimit(size_t _index) const override;
// Documentation inherited
virtual bool hasPositionLimit(size_t _index) const override;
// Documentation inherited
void resetPosition(size_t _index) override;
// Documentation inherited
void resetPositions() override;
// Documentation inherited
void setInitialPosition(size_t _index, double _initial) override;
// Documentation inherited
double getInitialPosition(size_t _index) const override;
// Documentation inherited
void setInitialPositions(const Eigen::VectorXd& _initial) override;
// Documentation inherited
Eigen::VectorXd getInitialPositions() const override;
//----------------------------------------------------------------------------
// Velocity
//----------------------------------------------------------------------------
// Documentation inherited
void setVelocity(size_t _index, double _velocity) override;
// Documentation inherited
double getVelocity(size_t _index) const override;
// Documentation inherited
void setVelocities(const Eigen::VectorXd& _velocities) override;
// Documentation inherited
Eigen::VectorXd getVelocities() const override;
// Documentation inherited
void setVelocityLowerLimit(size_t _index, double _velocity) override;
// Documentation inherited
double getVelocityLowerLimit(size_t _index) const override;
// Documentation inherited
void setVelocityUpperLimit(size_t _index, double _velocity) override;
// Documentation inherited
double getVelocityUpperLimit(size_t _index) const override;
// Documentation inherited
void resetVelocity(size_t _index) override;
// Documentation inherited
void resetVelocities() override;
// Documentation inherited
void setInitialVelocity(size_t _index, double _initial) override;
// Documentation inherited
double getInitialVelocity(size_t _index) const override;
// Documentation inherited
void setInitialVelocities(const Eigen::VectorXd& _initial) override;
// Documentation inherited
Eigen::VectorXd getInitialVelocities() const override;
//----------------------------------------------------------------------------
// Acceleration
//----------------------------------------------------------------------------
// Documentation inherited
void setAcceleration(size_t _index, double _acceleration) override;
// Documentation inherited
double getAcceleration(size_t _index) const override;
// Documentation inherited
void setAccelerations(const Eigen::VectorXd& _accelerations) override;
// Documentation inherited
Eigen::VectorXd getAccelerations() const override;
// Documentation inherited
void resetAccelerations() override;
// Documentation inherited
void setAccelerationLowerLimit(size_t _index, double _acceleration) override;
// Documentation inherited
double getAccelerationLowerLimit(size_t _index) const override;
// Documentation inherited
void setAccelerationUpperLimit(size_t _index, double _acceleration) override;
// Documentation inherited
double getAccelerationUpperLimit(size_t _index) const override;
//----------------------------------------------------------------------------
// Fixed-size mutators and accessors
//----------------------------------------------------------------------------
// Note: The fixed-size versions of these functions exist to make it easier
// to comply with the auto-updating design. Use these functions to avoid
// accessing mPosition directly, that way it is easier to ensure that the
// auto-updating design assumptions are being satisfied when reviewing the
// code.
/// Fixed-size version of setPositions()
void setPositionsStatic(const Vector& _positions);
/// Fixed-size version of getPositions()
const Vector& getPositionsStatic() const;
/// Fixed-size version of setVelocities()
void setVelocitiesStatic(const Vector& _velocities);
/// Fixed-size version of getVelocities()
const Vector& getVelocitiesStatic() const;
/// Fixed-size version of setAccelerations()
void setAccelerationsStatic(const Vector& _accels);
/// Fixed-size version of getAccelerations()
const Vector& getAccelerationsStatic() const;
//----------------------------------------------------------------------------
// Force
//----------------------------------------------------------------------------
// Documentation inherited
void setForce(size_t _index, double _force) override;
// Documentation inherited
double getForce(size_t _index) override;
// Documentation inherited
void setForces(const Eigen::VectorXd& _forces) override;
// Documentation inherited
Eigen::VectorXd getForces() const override;
// Documentation inherited
void resetForces() override;
// Documentation inherited
void setForceLowerLimit(size_t _index, double _force) override;
// Documentation inherited
double getForceLowerLimit(size_t _index) const override;
// Documentation inherited
void setForceUpperLimit(size_t _index, double _force) override;
// Documentation inherited
double getForceUpperLimit(size_t _index) const override;
//----------------------------------------------------------------------------
// Velocity change
//----------------------------------------------------------------------------
// Documentation inherited
virtual void setVelocityChange(size_t _index, double _velocityChange) override;
// Documentation inherited
virtual double getVelocityChange(size_t _index) const override;
// Documentation inherited
virtual void resetVelocityChanges() override;
//----------------------------------------------------------------------------
// Constraint impulse
//----------------------------------------------------------------------------
// Documentation inherited
virtual void setConstraintImpulse(size_t _index, double _impulse) override;
// Documentation inherited
virtual double getConstraintImpulse(size_t _index) const override;
// Documentation inherited
virtual void resetConstraintImpulses() override;
//----------------------------------------------------------------------------
// Integration and finite difference
//----------------------------------------------------------------------------
// Documentation inherited
virtual void integratePositions(double _dt) override;
// Documentation inherited
virtual void integrateVelocities(double _dt) override;
// Documentation inherited
Eigen::VectorXd getPositionDifferences(
const Eigen::VectorXd& _q2, const Eigen::VectorXd& _q1) const override;
/// Fixed-size version of getPositionDifferences()
virtual Eigen::Matrix<double, DOF, 1> getPositionDifferencesStatic(
const Vector& _q2, const Vector& _q1) const;
//----------------------------------------------------------------------------
/// \{ \name Passive forces - spring, viscous friction, Coulomb friction
//----------------------------------------------------------------------------
// Documentation inherited
virtual void setSpringStiffness(size_t _index, double _k) override;
// Documentation inherited
virtual double getSpringStiffness(size_t _index) const override;
// Documentation inherited
virtual void setRestPosition(size_t _index, double _q0) override;
// Documentation inherited
virtual double getRestPosition(size_t _index) const override;
// Documentation inherited
virtual void setDampingCoefficient(size_t _index, double _d) override;
// Documentation inherited
virtual double getDampingCoefficient(size_t _index) const override;
// Documentation inherited
virtual void setCoulombFriction(size_t _index, double _friction) override;
// Documentation inherited
virtual double getCoulombFriction(size_t _index) const override;
/// \}
//----------------------------------------------------------------------------
// Documentation inherited
virtual double getPotentialEnergy() const override;
// Documentation inherited
virtual Eigen::Vector6d getBodyConstraintWrench() const override;
protected:
/// Constructor called by inheriting classes
MultiDofJoint(const Properties& _properties);
// Docuemntation inherited
void registerDofs() override;
//----------------------------------------------------------------------------
/// \{ \name Recursive dynamics routines
//----------------------------------------------------------------------------
// Documentation inherited
const math::Jacobian getLocalJacobian() const override;
/// Fixed-size version of getLocalJacobian()
const Eigen::Matrix<double, 6, DOF>& getLocalJacobianStatic() const;
// Documentation inherited
math::Jacobian getLocalJacobian(
const Eigen::VectorXd& _positions) const override;
/// Fixed-size version of getLocalJacobian()
virtual Eigen::Matrix<double, 6, DOF> getLocalJacobianStatic(
const Eigen::Matrix<double, DOF, 1>& _positions) const = 0;
// Documentation inherited
const math::Jacobian getLocalJacobianTimeDeriv() const override;
/// Fixed-size version of getLocalJacobianTimeDeriv()
const Eigen::Matrix<double, 6, DOF>& getLocalJacobianTimeDerivStatic() const;
/// Get the inverse of the projected articulated inertia
const Eigen::Matrix<double, DOF, DOF>& getInvProjArtInertia() const;
/// Get the inverse of projected articulated inertia for implicit joint
/// damping and spring forces
const Eigen::Matrix<double, DOF, DOF>& getInvProjArtInertiaImplicit() const;
// Documentation inherited
void updateLocalSpatialVelocity() const override;
// Documentation inherited
void updateLocalSpatialAcceleration() const override;
// Documentation inherited
void updateLocalPrimaryAcceleration() const override;
// Documentation inherited
void addVelocityTo(Eigen::Vector6d& _vel) override;
// Documentation inherited
void setPartialAccelerationTo(
Eigen::Vector6d& _partialAcceleration,
const Eigen::Vector6d& _childVelocity) override;
// Documentation inherited
virtual void addAccelerationTo(Eigen::Vector6d& _acc) override;
// Documentation inherited
virtual void addVelocityChangeTo(Eigen::Vector6d& _velocityChange) override;
// Documentation inherited
virtual void addChildArtInertiaTo(
Eigen::Matrix6d& _parentArtInertia,
const Eigen::Matrix6d& _childArtInertia) override;
// Documentation inherited
void addChildArtInertiaImplicitTo(
Eigen::Matrix6d& _parentArtInertia,
const Eigen::Matrix6d& _childArtInertia) override;
// Documentation inherited
void updateInvProjArtInertia(
const Eigen::Matrix6d& _artInertia) override;
// Documentation inherited
void updateInvProjArtInertiaImplicit(
const Eigen::Matrix6d& _artInertia, double _timeStep) override;
// Documentation inherited
void addChildBiasForceTo(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce,
const Eigen::Vector6d& _childPartialAcc) override;
// Documentation inherited
void addChildBiasImpulseTo(
Eigen::Vector6d& _parentBiasImpulse,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasImpulse) override;
// Documentation inherited
void updateTotalForce(const Eigen::Vector6d& _bodyForce,
double _timeStep) override;
// Documentation inherited
void updateTotalImpulse(
const Eigen::Vector6d& _bodyImpulse) override;
// Documentation inherited
void resetTotalImpulses() override;
// Documentation inherited
void updateAcceleration(
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) override;
// Documentation inherited
void updateVelocityChange(
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _velocityChange) override;
// Documentation inherited
virtual void updateForceID(const Eigen::Vector6d& _bodyForce,
double _timeStep,
bool _withDampingForces,
bool _withSpringForces) override;
// Documentation inherited
virtual void updateForceFD(const Eigen::Vector6d& _bodyForce,
double _timeStep,
bool _withDampingForces,
bool _withSpringForces) override;
// Documentation inherited
virtual void updateImpulseID(const Eigen::Vector6d& _bodyImpulse) override;
// Documentation inherited
virtual void updateImpulseFD(const Eigen::Vector6d& _bodyImpulse) override;
// Documentation inherited
virtual void updateConstrainedTerms(double _timeStep) override;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Recursive algorithm routines for equations of motion
//----------------------------------------------------------------------------
// Documentation inherited
void addChildBiasForceForInvMassMatrix(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce) override;
// Documentation inherited
void addChildBiasForceForInvAugMassMatrix(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce) override;
// Documentation inherited
void updateTotalForceForInvMassMatrix(
const Eigen::Vector6d& _bodyForce) override;
// Documentation inherited
void getInvMassMatrixSegment(Eigen::MatrixXd& _invMassMat,
const size_t _col,
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) override;
// Documentation inherited
void getInvAugMassMatrixSegment(Eigen::MatrixXd& _invMassMat,
const size_t _col,
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) override;
// Documentation inherited
void addInvMassMatrixSegmentTo(Eigen::Vector6d& _acc) override;
// Documentation inherited
Eigen::VectorXd getSpatialToGeneralized(
const Eigen::Vector6d& _spatial) override;
/// \}
protected:
/// Properties of this MultiDofJoint
typename MultiDofJoint<DOF>::UniqueProperties mMultiDofP;
/// Array of DegreeOfFreedom objects
std::array<DegreeOfFreedom*, DOF> mDofs;
/// Command
Vector mCommands;
//----------------------------------------------------------------------------
// Configuration
//----------------------------------------------------------------------------
/// Position
Vector mPositions;
/// Derivatives w.r.t. an arbitrary scalr variable
Vector mPositionDeriv;
//----------------------------------------------------------------------------
// Velocity
//----------------------------------------------------------------------------
/// Generalized velocity
Vector mVelocities;
/// Derivatives w.r.t. an arbitrary scalr variable
Vector mVelocitiesDeriv;
//----------------------------------------------------------------------------
// Acceleration
//----------------------------------------------------------------------------
/// Generalized acceleration
Vector mAccelerations;
/// Derivatives w.r.t. an arbitrary scalr variable
Vector mAccelerationsDeriv;
//----------------------------------------------------------------------------
// Force
//----------------------------------------------------------------------------
/// Generalized force
Vector mForces;
/// Derivatives w.r.t. an arbitrary scalr variable
Vector mForcesDeriv;
//----------------------------------------------------------------------------
// Impulse
//----------------------------------------------------------------------------
/// Change of generalized velocity
Vector mVelocityChanges;
/// Generalized impulse
Vector mImpulses;
/// Generalized constraint impulse
Vector mConstraintImpulses;
//----------------------------------------------------------------------------
// For recursive dynamics algorithms
//----------------------------------------------------------------------------
/// Spatial Jacobian expressed in the child body frame
///
/// Do not use directly! Use getLocalJacobianStatic() to access this quantity
mutable Eigen::Matrix<double, 6, DOF> mJacobian;
/// Time derivative of spatial Jacobian expressed in the child body frame
///
/// Do not use directly! Use getLocalJacobianTimeDerivStatic() to access this
/// quantity
mutable Eigen::Matrix<double, 6, DOF> mJacobianDeriv;
/// Inverse of projected articulated inertia
///
/// Do not use directly! Use getInvProjArtInertia() to get this quantity
mutable Eigen::Matrix<double, DOF, DOF> mInvProjArtInertia;
/// Inverse of projected articulated inertia for implicit joint damping and
/// spring forces
///
/// Do not use directly! Use getInvProjArtInertiaImplicit() to access this
/// quantity
mutable Eigen::Matrix<double, DOF, DOF> mInvProjArtInertiaImplicit;
/// Total force projected on joint space
Vector mTotalForce;
/// Total impluse projected on joint space
Vector mTotalImpulse;
//----------------------------------------------------------------------------
// For equations of motion
//----------------------------------------------------------------------------
///
Vector mInvM_a;
///
Vector mInvMassMatrixSegment;
private:
//----------------------------------------------------------------------------
/// \{ \name Recursive dynamics routines
//----------------------------------------------------------------------------
void addChildArtInertiaToDynamic(
Eigen::Matrix6d& _parentArtInertia,
const Eigen::Matrix6d& _childArtInertia);
void addChildArtInertiaToKinematic(
Eigen::Matrix6d& _parentArtInertia,
const Eigen::Matrix6d& _childArtInertia);
void addChildArtInertiaImplicitToDynamic(
Eigen::Matrix6d& _parentArtInertia,
const Eigen::Matrix6d& _childArtInertia);
void addChildArtInertiaImplicitToKinematic(
Eigen::Matrix6d& _parentArtInertia,
const Eigen::Matrix6d& _childArtInertia);
void updateInvProjArtInertiaDynamic(
const Eigen::Matrix6d& _artInertia);
void updateInvProjArtInertiaKinematic(
const Eigen::Matrix6d& _artInertia);
void updateInvProjArtInertiaImplicitDynamic(
const Eigen::Matrix6d& _artInertia, double _timeStep);
void updateInvProjArtInertiaImplicitKinematic(
const Eigen::Matrix6d& _artInertia, double _timeStep);
void addChildBiasForceToDynamic(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce,
const Eigen::Vector6d& _childPartialAcc);
void addChildBiasForceToKinematic(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce,
const Eigen::Vector6d& _childPartialAcc);
void addChildBiasImpulseToDynamic(
Eigen::Vector6d& _parentBiasImpulse,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasImpulse);
void addChildBiasImpulseToKinematic(
Eigen::Vector6d& _parentBiasImpulse,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasImpulse);
void updateTotalForceDynamic(const Eigen::Vector6d& _bodyForce,
double _timeStep);
void updateTotalForceKinematic(const Eigen::Vector6d& _bodyForce,
double _timeStep);
void updateTotalImpulseDynamic(
const Eigen::Vector6d& _bodyImpulse);
void updateTotalImpulseKinematic(
const Eigen::Vector6d& _bodyImpulse);
void updateAccelerationDynamic(
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc);
void updateAccelerationKinematic(
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc);
void updateVelocityChangeDynamic(
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _velocityChange);
void updateVelocityChangeKinematic(
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _velocityChange);
void updateConstrainedTermsDynamic(double _timeStep);
void updateConstrainedTermsKinematic(double _timeStep);
/// \}
};
#include "kido/dynamics/detail/MultiDofJoint.hpp"
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_MULTIDOFJOINT_HPP_
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