/usr/include/kido/dynamics/ZeroDofJoint.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_ZERODOFJOINT_HPP_
#define KIDO_DYNAMICS_ZERODOFJOINT_HPP_
#include <string>
#include "kido/dynamics/Joint.hpp"
namespace kido {
namespace dynamics {
class BodyNode;
class Skeleton;
/// class ZeroDofJoint
class ZeroDofJoint : public Joint
{
public:
struct Properties : Joint::Properties
{
Properties(const Joint::Properties& _properties = Joint::Properties());
virtual ~Properties() = default;
};
ZeroDofJoint(const ZeroDofJoint&) = delete;
/// Destructor
virtual ~ZeroDofJoint();
/// Get the Properties of this ZeroDofJoint
Properties getZeroDofJointProperties() const;
//----------------------------------------------------------------------------
// Interface for generalized coordinates
//----------------------------------------------------------------------------
// Documentation inherited
virtual DegreeOfFreedom* getDof(size_t) override;
// Documentation inherited
virtual const DegreeOfFreedom* getDof(size_t) const override;
// Documentation inherited
const std::string& setDofName(size_t, const std::string&, bool ) override;
// Documentation inherited
void preserveDofName(size_t, bool) override;
// Documentation inherited
bool isDofNamePreserved(size_t) const override;
const std::string& getDofName(size_t) const override;
// Documentation inherited
virtual size_t getNumDofs() 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
virtual void setPosition(size_t, double) override;
// Documentation inherited
virtual double getPosition(size_t _index) const override;
// Documentation inherited
virtual void setPositions(const Eigen::VectorXd& _positions) override;
// Documentation inherited
virtual Eigen::VectorXd getPositions() const override;
// Documentation inherited
virtual void setPositionLowerLimit(size_t _index, double _position) override;
// Documentation inherited
virtual double getPositionLowerLimit(size_t _index) const override;
// Documentation inherited
virtual void setPositionUpperLimit(size_t _index, double _position) override;
// Documentation inherited
virtual double getPositionUpperLimit(size_t _index) const override;
// Documentation inherited
virtual bool hasPositionLimit(size_t _index) const override;
// Documentation inherited
virtual void resetPosition(size_t _index) override;
// Documentation inherited
virtual void resetPositions() override;
// Documentation inherited
virtual void setInitialPosition(size_t _index, double _initial) override;
// Documentation inherited
virtual double getInitialPosition(size_t _index) const override;
// Documentation inherited
virtual void setInitialPositions(const Eigen::VectorXd& _initial) override;
// Documentation inherited
virtual Eigen::VectorXd getInitialPositions() const override;
//----------------------------------------------------------------------------
// Velocity
//----------------------------------------------------------------------------
// Documentation inherited
virtual void setVelocity(size_t _index, double _velocity) override;
// Documentation inherited
virtual double getVelocity(size_t _index) const override;
// Documentation inherited
virtual void setVelocities(const Eigen::VectorXd& _velocities) override;
// Documentation inherited
virtual Eigen::VectorXd getVelocities() const override;
// Documentation inherited
virtual void setVelocityLowerLimit(size_t _index, double _velocity) override;
// Documentation inherited
virtual double getVelocityLowerLimit(size_t _index) const override;
// Documentation inherited
virtual void setVelocityUpperLimit(size_t _index, double _velocity) override;
// Documentation inherited
virtual double getVelocityUpperLimit(size_t _index) const override;
// Documentation inherited
virtual void resetVelocity(size_t _index) override;
// Documentation inherited
virtual void resetVelocities() override;
// Documentation inherited
virtual void setInitialVelocity(size_t _index, double _initial) override;
// Documentation inherited
virtual double getInitialVelocity(size_t _index) const override;
// Documentation inherited
virtual void setInitialVelocities(const Eigen::VectorXd& _initial) override;
// Documentation inherited
virtual Eigen::VectorXd getInitialVelocities() const override;
//----------------------------------------------------------------------------
// Acceleration
//----------------------------------------------------------------------------
// Documentation inherited
virtual void setAcceleration(size_t _index, double _acceleration) override;
// Documentation inherited
virtual double getAcceleration(size_t _index) const override;
// Documentation inherited
virtual void setAccelerations(const Eigen::VectorXd& _accelerations) override;
// Documentation inherited
virtual Eigen::VectorXd getAccelerations() const override;
// Documentation inherited
virtual void resetAccelerations() override;
// Documentation inherited
virtual void setAccelerationLowerLimit(size_t _index, double _acceleration) override;
// Documentation inherited
virtual double getAccelerationLowerLimit(size_t _index) const override;
// Documentation inherited
virtual void setAccelerationUpperLimit(size_t _index, double _acceleration) override;
// Documentation inherited
virtual double getAccelerationUpperLimit(size_t _index) const override;
//----------------------------------------------------------------------------
// Force
//----------------------------------------------------------------------------
// Documentation inherited
virtual void setForce(size_t _index, double _force) override;
// Documentation inherited
virtual double getForce(size_t _index) override;
// Documentation inherited
virtual void setForces(const Eigen::VectorXd& _forces) override;
// Documentation inherited
virtual Eigen::VectorXd getForces() const override;
// Documentation inherited
virtual void resetForces() override;
// Documentation inherited
virtual void setForceLowerLimit(size_t _index, double _force) override;
// Documentation inherited
virtual double getForceLowerLimit(size_t _index) const override;
// Documentation inherited
virtual void setForceUpperLimit(size_t _index, double _force) override;
// Documentation inherited
virtual 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;
//----------------------------------------------------------------------------
/// \{ \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;
/// \}
//----------------------------------------------------------------------------
/// Get potential energy
virtual double getPotentialEnergy() const override;
// Documentation inherited
virtual Eigen::Vector6d getBodyConstraintWrench() const override;
protected:
/// Constructor called by inheriting classes
ZeroDofJoint(const Properties& _properties);
// Documentation inherited
void registerDofs() override;
// Documentation inherited
virtual void updateDegreeOfFreedomNames() override;
//----------------------------------------------------------------------------
/// \{ \name Recursive dynamics routines
//----------------------------------------------------------------------------
// Documentation inherited
virtual const math::Jacobian getLocalJacobian() const override;
// Documentation inherited
math::Jacobian getLocalJacobian(
const Eigen::VectorXd& _positions) const override;
// Documentation inherited
virtual const math::Jacobian getLocalJacobianTimeDeriv() const override;
// Documentation inherited
virtual void addVelocityTo(Eigen::Vector6d& _vel) override;
// Documentation inherited
virtual 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
virtual void addChildArtInertiaImplicitTo(
Eigen::Matrix6d& _parentArtInertia,
const Eigen::Matrix6d& _childArtInertia) override;
// Documentation inherited
virtual void updateInvProjArtInertia(
const Eigen::Matrix6d& _artInertia) override;
// Documentation inherited
virtual void updateInvProjArtInertiaImplicit(
const Eigen::Matrix6d& _artInertia,
double _timeStep) override;
// Documentation inherited
virtual void addChildBiasForceTo(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce,
const Eigen::Vector6d& _childPartialAcc) override;
// Documentation inherited
virtual void addChildBiasImpulseTo(
Eigen::Vector6d& _parentBiasImpulse,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasImpulse) override;
// Documentation inherited
virtual void updateTotalForce(const Eigen::Vector6d& _bodyForce,
double _timeStep) override;
// Documentation inherited
virtual void updateTotalImpulse(
const Eigen::Vector6d& _bodyImpulse) override;
// Documentation inherited
virtual void resetTotalImpulses() override;
// Documentation inherited
virtual void updateAcceleration(
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) override;
// Documentation inherited
virtual 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
//----------------------------------------------------------------------------
/// Add child's bias force to parent's one
virtual void addChildBiasForceForInvMassMatrix(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce) override;
/// Add child's bias force to parent's one
virtual void addChildBiasForceForInvAugMassMatrix(
Eigen::Vector6d& _parentBiasForce,
const Eigen::Matrix6d& _childArtInertia,
const Eigen::Vector6d& _childBiasForce) override;
///
virtual void updateTotalForceForInvMassMatrix(
const Eigen::Vector6d& _bodyForce) override;
// Documentation inherited
virtual void getInvMassMatrixSegment(Eigen::MatrixXd& _invMassMat,
const size_t _col,
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) override;
// Documentation inherited
virtual void getInvAugMassMatrixSegment(Eigen::MatrixXd& _invMassMat,
const size_t _col,
const Eigen::Matrix6d& _artInertia,
const Eigen::Vector6d& _spatialAcc) override;
// Documentation inherited
virtual void addInvMassMatrixSegmentTo(Eigen::Vector6d& _acc) override;
// Documentation inherited
virtual Eigen::VectorXd getSpatialToGeneralized(
const Eigen::Vector6d& _spatial) override;
/// \}
private:
/// Used by getDofName()
const std::string emptyString;
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_ZERODOFJOINT_HPP_
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