/usr/include/kido/dynamics/ReferentialSkeleton.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael X. Grey <mxgrey@gatech.edu>
*
* 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_REFERENTIALSKELETON_HPP_
#define KIDO_DYNAMICS_REFERENTIALSKELETON_HPP_
#include <unordered_map>
#include "kido/dynamics/MetaSkeleton.hpp"
#include "kido/dynamics/SmartPointer.hpp"
namespace kido {
namespace dynamics {
/// ReferentialSkeleton is a base class used to implement Linkage, Group, and
/// other classes that are used to reference subsections of Skeletons.
class ReferentialSkeleton : public MetaSkeleton
{
public:
/// Remove copy operator
/// TODO(MXG): Consider allowing this
ReferentialSkeleton& operator=(const ReferentialSkeleton& _other) = delete;
/// Default destructor
virtual ~ReferentialSkeleton() = default;
//----------------------------------------------------------------------------
/// \{ \name Name
//----------------------------------------------------------------------------
// Documentation inherited
const std::string& setName(const std::string& _name) override;
// Documentation inherited
const std::string& getName() const override;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Structural Properties
//----------------------------------------------------------------------------
// Documentation inherited
size_t getNumBodyNodes() const override;
// Documentation inherited
BodyNode* getBodyNode(size_t _idx) override;
// Documentation inherited
const BodyNode* getBodyNode(size_t _idx) const override;
// Documentation inherited
const std::vector<BodyNode*>& getBodyNodes() override;
// Documentation inherited
const std::vector<const BodyNode*>& getBodyNodes() const override;
// Documentation inherited
size_t getIndexOf(const BodyNode* _bn, bool _warning=true) const override;
// Documentation inherited
size_t getNumJoints() const override;
// Documentation inherited
Joint* getJoint(size_t _idx) override;
// Documentation inherited
const Joint* getJoint(size_t _idx) const override;
// Documentation inherited
size_t getIndexOf(const Joint* _joint, bool _warning=true) const override;
// Documentation inherited
size_t getNumDofs() const override;
// Documentation inherited
DegreeOfFreedom* getDof(size_t _idx) override;
// Documentation inherited
const DegreeOfFreedom* getDof(size_t _idx) const override;
// Documentation inherited
const std::vector<DegreeOfFreedom*>& getDofs() override;
// Documentation inherited
std::vector<const DegreeOfFreedom*> getDofs() const override;
// Documentation inherited
size_t getIndexOf(const DegreeOfFreedom* _dof,
bool _warning=true) const override;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Jacobians
//----------------------------------------------------------------------------
// Documentation inherited
math::Jacobian getJacobian(const JacobianNode* _node) const override;
// Documentation inherited
math::Jacobian getJacobian(
const JacobianNode* _node,
const Frame* _inCoordinatesOf) const override;
// Documentation inherited
math::Jacobian getJacobian(
const JacobianNode* _node,
const Eigen::Vector3d& _localOffset) const override;
// Documentation inherited
math::Jacobian getJacobian(
const JacobianNode* _node,
const Eigen::Vector3d& _localOffset,
const Frame* _inCoordinatesOf) const override;
// Documentation inherited
math::Jacobian getWorldJacobian(const JacobianNode* _node) const override;
// Documentation inherited
math::Jacobian getWorldJacobian(const JacobianNode* _node,
const Eigen::Vector3d& _localOffset) const override;
// Documentation inherited
math::LinearJacobian getLinearJacobian(
const JacobianNode* _node,
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::LinearJacobian getLinearJacobian(
const JacobianNode* _node,
const Eigen::Vector3d& _localOffset,
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::AngularJacobian getAngularJacobian(
const JacobianNode* _node,
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::Jacobian getJacobianSpatialDeriv(
const JacobianNode* _node) const override;
// Documentation inherited
math::Jacobian getJacobianSpatialDeriv(
const JacobianNode* _node,
const Frame* _inCoordinatesOf) const override;
// Documentation inherited
math::Jacobian getJacobianSpatialDeriv(
const JacobianNode* _node,
const Eigen::Vector3d& _localOffset) const override;
// Documentation inherited
math::Jacobian getJacobianSpatialDeriv(
const JacobianNode* _node,
const Eigen::Vector3d& _localOffset,
const Frame* _inCoordinatesOf) const override;
// Documentation inherited
math::Jacobian getJacobianClassicDeriv(
const JacobianNode* _node) const override;
// Documentation inherited
math::Jacobian getJacobianClassicDeriv(
const JacobianNode* _node,
const Frame* _inCoordinatesOf) const override;
// Documentation inherited
math::Jacobian getJacobianClassicDeriv(
const JacobianNode* _node,
const Eigen::Vector3d& _localOffset,
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::LinearJacobian getLinearJacobianDeriv(
const JacobianNode* _node,
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::LinearJacobian getLinearJacobianDeriv(
const JacobianNode* _node,
const Eigen::Vector3d& _localOffset = Eigen::Vector3d::Zero(),
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::AngularJacobian getAngularJacobianDeriv(
const JacobianNode* _node,
const Frame* _inCoordinatesOf = Frame::World()) const override;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Equations of Motion
//----------------------------------------------------------------------------
/// Get the total mass of all BodyNodes in this ReferentialSkeleton. For
/// ReferentialSkeleton::getMass(), the total mass is computed upon request,
/// so this is a linear-time O(N) operation. The Skeleton::getMass() version,
/// however, is constant-time.
double getMass() const override;
// Documentation inherited
const Eigen::MatrixXd& getMassMatrix() const override;
// Documentation inherited
const Eigen::MatrixXd& getAugMassMatrix() const override;
// Documentation inherited
const Eigen::MatrixXd& getInvMassMatrix() const override;
// Documentation inherited
const Eigen::MatrixXd& getInvAugMassMatrix() const override;
// Documentation inherited
const Eigen::VectorXd& getCoriolisForces() const override;
// Documentation inherited
const Eigen::VectorXd& getGravityForces() const override;
// Documentation inherited
const Eigen::VectorXd& getCoriolisAndGravityForces() const override;
// Documentation inherited
const Eigen::VectorXd& getExternalForces() const override;
// Documentation inherited
const Eigen::VectorXd& getConstraintForces() const override;
// Documentation inherited
void clearExternalForces() override;
// Documentation inherited
void clearInternalForces() override;
// Documentation inherited
double getKineticEnergy() const override;
// Documentation inherited
double getPotentialEnergy() const override;
/// \}
//----------------------------------------------------------------------------
/// \{ \name Center of Mass Jacobian
//----------------------------------------------------------------------------
// Documentation inherited
Eigen::Vector3d getCOM(
const Frame* _withRespectTo = Frame::World()) const override;
// Documentation inherited
Eigen::Vector6d getCOMSpatialVelocity(
const Frame* _relativeTo = Frame::World(),
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
Eigen::Vector3d getCOMLinearVelocity(
const Frame* _relativeTo = Frame::World(),
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
Eigen::Vector6d getCOMSpatialAcceleration(
const Frame* _relativeTo = Frame::World(),
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
Eigen::Vector3d getCOMLinearAcceleration(
const Frame* _relativeTo = Frame::World(),
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::Jacobian getCOMJacobian(
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::LinearJacobian getCOMLinearJacobian(
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::Jacobian getCOMJacobianSpatialDeriv(
const Frame* _inCoordinatesOf = Frame::World()) const override;
// Documentation inherited
math::LinearJacobian getCOMLinearJacobianDeriv(
const Frame* _inCoordinatesOf = Frame::World()) const override;
/// \}
protected:
/// Default constructor. Protected to avoid blank and useless instantiations
/// of ReferentialSkeleton.
ReferentialSkeleton() = default;
/// Add a BodyNode, along with its parent Joint and parent DegreesOfFreedom
/// to this ReferentialSkeleton. This can only be used by derived classes.
void registerComponent(BodyNode* _bn);
/// Add a BodyNode to this ReferentialSkeleton, ignoring its Joint and
/// DegreesOfFreedom. This can only be used by derived classes.
void registerBodyNode(BodyNode* _bn);
/// Add a Joint to this Referential Skeleton, ignoring its DegreesOfFreedom.
/// This can only be used by derived classes.
void registerJoint(Joint* _joint);
/// Add a DegreeOfFreedom to this ReferentialSkeleton. This can only be used
/// by derived classes.
void registerDegreeOfFreedom(DegreeOfFreedom* _dof);
/// Completely remove a BodyNode and its parent DegreesOfFreedom from this
/// ReferentialSkeleton. This can only be used by derived classes.
void unregisterComponent(BodyNode* _bn);
/// Remove a BodyNode from this ReferentialSkeleton, ignoring its parent
/// DegreesOfFreedom. This can only be used by derived classes.
void unregisterBodyNode(BodyNode* _bn, bool _unregisterDofs);
/// Remove a Joint from this ReferentialSkeleton. This can only be used by
/// derived classes.
void unregisterJoint(BodyNode* _child);
/// Remove a DegreeOfFreedom from this ReferentialSkeleton. This can only be
/// used by derived classes.
void unregisterDegreeOfFreedom(BodyNode* _bn, size_t _localIndex);
/// Update the caches to match any changes to the structure of this
/// ReferentialSkeleton
void updateCaches();
/// Weak pointer to this Skeleton
std::weak_ptr<MetaSkeleton> mPtr;
/// A simple struct that contains the indexing of a BodyNode and its parent
/// DegreesOfFreedom
struct IndexMap
{
/// Index of the BodyNode
size_t mBodyNodeIndex;
/// Index of the parent Joint
size_t mJointIndex;
/// Indices of the parent DegreesOfFreedom
std::vector<size_t> mDofIndices;
/// Default constructor. Initializes mBodyNodeIndex and mJointIndex to
/// INVALID_INDEX
IndexMap();
/// Returns true if nothing in this entry is mapping to a valid index any
/// longer.
bool isExpired() const;
};
/// Name of this ReferentialSkeleton
std::string mName;
/// BodyNodes that this ReferentialSkeleton references. These hold strong
/// references to ensure that the BodyNodes do not disappear
std::vector<BodyNodePtr> mBodyNodes;
/// Raw BodyNode pointers. This vector is used for the MetaSkeleton API
mutable std::vector<BodyNode*> mRawBodyNodes;
/// Raw const BodyNode pointers. This vector is used for the MetaSkeleton API
mutable std::vector<const BodyNode*> mRawConstBodyNodes;
/// Joints that this ReferentialSkeleton references
std::vector<JointPtr> mJoints;
/// DegreesOfFreedom that this ReferentialSkeleton references
std::vector<DegreeOfFreedomPtr> mDofs;
/// Raw DegreeOfFreedom vector. This vector is used for the MetaSkeleton API
mutable std::vector<DegreeOfFreedom*> mRawDofs;
/// Raw const DegreeOfFreedom vector. This vector is used for the MetaSkeleton
/// API
mutable std::vector<const DegreeOfFreedom*> mRawConstDofs;
/// Raw const DegreeOfFreedom. This vector is used for the MetaSkeleton API
/// Map for keeping track of the indices of BodyNodes, Joints, and
/// DegreesOfFreedom
std::unordered_map<const BodyNode*, IndexMap> mIndexMap;
/// Cache for Mass Matrix
mutable Eigen::MatrixXd mM;
/// Cache for Augmented Mass Matrix
mutable Eigen::MatrixXd mAugM;
/// Cache for inverse Mass Matrix
mutable Eigen::MatrixXd mInvM;
/// Cache for inverse Augmented Mass Matrix
mutable Eigen::MatrixXd mInvAugM;
/// Cache for Coriolis vector
mutable Eigen::VectorXd mCvec;
/// Cache for gravity vector
mutable Eigen::VectorXd mG;
/// Cache for combined Coriolis and gravity vector
mutable Eigen::VectorXd mCg;
/// Cache for external force vector
mutable Eigen::VectorXd mFext;
/// Cache for constraint force vector
mutable Eigen::VectorXd mFc;
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_REFERENTIALSKELETON_HPP_
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