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-rw-r--r--thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp1286
1 files changed, 0 insertions, 1286 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
deleted file mode 100644
index ec9a562295..0000000000
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
+++ /dev/null
@@ -1,1286 +0,0 @@
-#include "MultiBodyTreeImpl.hpp"
-
-namespace btInverseDynamics
-{
-MultiBodyTree::MultiBodyImpl::MultiBodyImpl(int num_bodies_, int num_dofs_)
- : m_num_bodies(num_bodies_), m_num_dofs(num_dofs_)
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
- ,
- m_m3x(3, m_num_dofs)
-#endif
-{
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
- resize(m_m3x, m_num_dofs);
-#endif
- m_body_list.resize(num_bodies_);
- m_parent_index.resize(num_bodies_);
- m_child_indices.resize(num_bodies_);
- m_user_int.resize(num_bodies_);
- m_user_ptr.resize(num_bodies_);
-
- m_world_gravity(0) = 0.0;
- m_world_gravity(1) = 0.0;
- m_world_gravity(2) = -9.8;
-}
-
-const char *MultiBodyTree::MultiBodyImpl::jointTypeToString(const JointType &type) const
-{
- switch (type)
- {
- case FIXED:
- return "fixed";
- case REVOLUTE:
- return "revolute";
- case PRISMATIC:
- return "prismatic";
- case FLOATING:
- return "floating";
- case SPHERICAL:
- return "spherical";
- }
- return "error: invalid";
-}
-
-inline void indent(const int &level)
-{
- for (int j = 0; j < level; j++)
- id_printf(" "); // indent
-}
-
-void MultiBodyTree::MultiBodyImpl::printTree()
-{
- id_printf("body %.2d[%s]: root\n", 0, jointTypeToString(m_body_list[0].m_joint_type));
- printTree(0, 0);
-}
-
-void MultiBodyTree::MultiBodyImpl::printTreeData()
-{
- for (idArrayIdx i = 0; i < m_body_list.size(); i++)
- {
- RigidBody &body = m_body_list[i];
- id_printf("body: %d\n", static_cast<int>(i));
- id_printf("type: %s\n", jointTypeToString(body.m_joint_type));
- id_printf("q_index= %d\n", body.m_q_index);
- id_printf("Jac_JR= [%f;%f;%f]\n", body.m_Jac_JR(0), body.m_Jac_JR(1), body.m_Jac_JR(2));
- id_printf("Jac_JT= [%f;%f;%f]\n", body.m_Jac_JT(0), body.m_Jac_JT(1), body.m_Jac_JT(2));
-
- id_printf("mass = %f\n", body.m_mass);
- id_printf("mass * com = [%f %f %f]\n", body.m_body_mass_com(0), body.m_body_mass_com(1),
- body.m_body_mass_com(2));
- id_printf(
- "I_o= [%f %f %f;\n"
- " %f %f %f;\n"
- " %f %f %f]\n",
- body.m_body_I_body(0, 0), body.m_body_I_body(0, 1), body.m_body_I_body(0, 2),
- body.m_body_I_body(1, 0), body.m_body_I_body(1, 1), body.m_body_I_body(1, 2),
- body.m_body_I_body(2, 0), body.m_body_I_body(2, 1), body.m_body_I_body(2, 2));
-
- id_printf("parent_pos_parent_body_ref= [%f %f %f]\n", body.m_parent_pos_parent_body_ref(0),
- body.m_parent_pos_parent_body_ref(1), body.m_parent_pos_parent_body_ref(2));
- }
-}
-int MultiBodyTree::MultiBodyImpl::bodyNumDoFs(const JointType &type) const
-{
- switch (type)
- {
- case FIXED:
- return 0;
- case REVOLUTE:
- case PRISMATIC:
- return 1;
- case FLOATING:
- return 6;
- case SPHERICAL:
- return 3;
- }
- bt_id_error_message("unknown joint type %d\n", type);
- return 0;
-}
-
-void MultiBodyTree::MultiBodyImpl::printTree(int index, int indentation)
-{
- // this is adapted from URDF2Bullet.
- // TODO: fix this and print proper graph (similar to git --log --graph)
- int num_children = m_child_indices[index].size();
-
- indentation += 2;
- int count = 0;
-
- for (int i = 0; i < num_children; i++)
- {
- int child_index = m_child_indices[index][i];
- indent(indentation);
- id_printf("body %.2d[%s]: %.2d is child no. %d (qi= %d .. %d) \n", index,
- jointTypeToString(m_body_list[index].m_joint_type), child_index, (count++) + 1,
- m_body_list[index].m_q_index,
- m_body_list[index].m_q_index + bodyNumDoFs(m_body_list[index].m_joint_type));
- // first grandchild
- printTree(child_index, indentation);
- }
-}
-
-int MultiBodyTree::MultiBodyImpl::setGravityInWorldFrame(const vec3 &gravity)
-{
- m_world_gravity = gravity;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::generateIndexSets()
-{
- m_body_revolute_list.resize(0);
- m_body_prismatic_list.resize(0);
- int q_index = 0;
- for (idArrayIdx i = 0; i < m_body_list.size(); i++)
- {
- RigidBody &body = m_body_list[i];
- body.m_q_index = -1;
- switch (body.m_joint_type)
- {
- case REVOLUTE:
- m_body_revolute_list.push_back(i);
- body.m_q_index = q_index;
- q_index++;
- break;
- case PRISMATIC:
- m_body_prismatic_list.push_back(i);
- body.m_q_index = q_index;
- q_index++;
- break;
- case FIXED:
- // do nothing
- break;
- case FLOATING:
- m_body_floating_list.push_back(i);
- body.m_q_index = q_index;
- q_index += 6;
- break;
- case SPHERICAL:
- m_body_spherical_list.push_back(i);
- body.m_q_index = q_index;
- q_index += 3;
- break;
- default:
- bt_id_error_message("unsupported joint type %d\n", body.m_joint_type);
- return -1;
- }
- }
- // sanity check
- if (q_index != m_num_dofs)
- {
- bt_id_error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs);
- return -1;
- }
-
- m_child_indices.resize(m_body_list.size());
-
- for (idArrayIdx child = 1; child < m_parent_index.size(); child++)
- {
- const int &parent = m_parent_index[child];
- if (parent >= 0 && parent < (static_cast<int>(m_parent_index.size()) - 1))
- {
- m_child_indices[parent].push_back(child);
- }
- else
- {
- if (-1 == parent)
- {
- // multiple bodies are directly linked to the environment, ie, not a single root
- bt_id_error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child);
- }
- else
- {
- // should never happen
- bt_id_error_message(
- "building index sets. parent_index[%zu]= %d, but m_parent_index.size()= %d\n",
- child, parent, static_cast<int>(m_parent_index.size()));
- }
- return -1;
- }
- }
-
- return 0;
-}
-
-void MultiBodyTree::MultiBodyImpl::calculateStaticData()
-{
- // relative kinematics that are not a function of q, u, dot_u
- for (idArrayIdx i = 0; i < m_body_list.size(); i++)
- {
- RigidBody &body = m_body_list[i];
- switch (body.m_joint_type)
- {
- case REVOLUTE:
- body.m_parent_vel_rel(0) = 0;
- body.m_parent_vel_rel(1) = 0;
- body.m_parent_vel_rel(2) = 0;
- body.m_parent_acc_rel(0) = 0;
- body.m_parent_acc_rel(1) = 0;
- body.m_parent_acc_rel(2) = 0;
- body.m_parent_pos_parent_body = body.m_parent_pos_parent_body_ref;
- break;
- case PRISMATIC:
- body.m_body_T_parent = body.m_body_T_parent_ref;
- body.m_parent_Jac_JT = body.m_body_T_parent_ref.transpose() * body.m_Jac_JT;
- body.m_body_ang_vel_rel(0) = 0;
- body.m_body_ang_vel_rel(1) = 0;
- body.m_body_ang_vel_rel(2) = 0;
- body.m_body_ang_acc_rel(0) = 0;
- body.m_body_ang_acc_rel(1) = 0;
- body.m_body_ang_acc_rel(2) = 0;
- break;
- case FIXED:
- body.m_parent_pos_parent_body = body.m_parent_pos_parent_body_ref;
- body.m_body_T_parent = body.m_body_T_parent_ref;
- body.m_body_ang_vel_rel(0) = 0;
- body.m_body_ang_vel_rel(1) = 0;
- body.m_body_ang_vel_rel(2) = 0;
- body.m_parent_vel_rel(0) = 0;
- body.m_parent_vel_rel(1) = 0;
- body.m_parent_vel_rel(2) = 0;
- body.m_body_ang_acc_rel(0) = 0;
- body.m_body_ang_acc_rel(1) = 0;
- body.m_body_ang_acc_rel(2) = 0;
- body.m_parent_acc_rel(0) = 0;
- body.m_parent_acc_rel(1) = 0;
- body.m_parent_acc_rel(2) = 0;
- break;
- case FLOATING:
- // no static data
- break;
- case SPHERICAL:
- //todo: review
- body.m_parent_pos_parent_body = body.m_parent_pos_parent_body_ref;
- body.m_parent_vel_rel(0) = 0;
- body.m_parent_vel_rel(1) = 0;
- body.m_parent_vel_rel(2) = 0;
- body.m_parent_acc_rel(0) = 0;
- body.m_parent_acc_rel(1) = 0;
- body.m_parent_acc_rel(2) = 0;
- break;
- }
-
- // resize & initialize jacobians to zero.
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
- body.m_body_dot_Jac_T_u(0) = 0.0;
- body.m_body_dot_Jac_T_u(1) = 0.0;
- body.m_body_dot_Jac_T_u(2) = 0.0;
- body.m_body_dot_Jac_R_u(0) = 0.0;
- body.m_body_dot_Jac_R_u(1) = 0.0;
- body.m_body_dot_Jac_R_u(2) = 0.0;
- resize(body.m_body_Jac_T, m_num_dofs);
- resize(body.m_body_Jac_R, m_num_dofs);
- body.m_body_Jac_T.setZero();
- body.m_body_Jac_R.setZero();
-#endif //
- }
-}
-
-int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const vecx &u,
- const vecx &dot_u, vecx *joint_forces)
-{
- if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs ||
- joint_forces->size() != m_num_dofs)
- {
- bt_id_error_message(
- "wrong vector dimension. system has %d DOFs,\n"
- "but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d, dim(joint_forces)= %d\n",
- m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
- static_cast<int>(dot_u.size()), static_cast<int>(joint_forces->size()));
- return -1;
- }
- // 1. relative kinematics
- if (-1 == calculateKinematics(q, u, dot_u, POSITION_VELOCITY_ACCELERATION))
- {
- bt_id_error_message("error in calculateKinematics\n");
- return -1;
- }
- // 2. update contributions to equations of motion for every body.
- for (idArrayIdx i = 0; i < m_body_list.size(); i++)
- {
- RigidBody &body = m_body_list[i];
- // 3.4 update dynamic terms (rate of change of angular & linear momentum)
- body.m_eom_lhs_rotational =
- body.m_body_I_body * body.m_body_ang_acc + body.m_body_mass_com.cross(body.m_body_acc) +
- body.m_body_ang_vel.cross(body.m_body_I_body * body.m_body_ang_vel) -
- body.m_body_moment_user;
- body.m_eom_lhs_translational =
- body.m_body_ang_acc.cross(body.m_body_mass_com) + body.m_mass * body.m_body_acc +
- body.m_body_ang_vel.cross(body.m_body_ang_vel.cross(body.m_body_mass_com)) -
- body.m_body_force_user;
- }
-
- // 3. calculate full set of forces at parent joint
- // (not directly calculating the joint force along the free direction
- // simplifies inclusion of fixed joints.
- // An alternative would be to fuse bodies in a pre-processing step,
- // but that would make changing masses online harder (eg, payload masses
- // added with fixed joints to a gripper)
- // Also, this enables adding zero weight bodies as a way to calculate frame poses
- // for force elements, etc.
-
- for (int body_idx = m_body_list.size() - 1; body_idx >= 0; body_idx--)
- {
- // sum of forces and moments acting on this body from its children
- vec3 sum_f_children;
- vec3 sum_m_children;
- setZero(sum_f_children);
- setZero(sum_m_children);
- for (idArrayIdx child_list_idx = 0; child_list_idx < m_child_indices[body_idx].size();
- child_list_idx++)
- {
- const RigidBody &child = m_body_list[m_child_indices[body_idx][child_list_idx]];
- vec3 child_joint_force_in_this_frame =
- child.m_body_T_parent.transpose() * child.m_force_at_joint;
- sum_f_children -= child_joint_force_in_this_frame;
- sum_m_children -= child.m_body_T_parent.transpose() * child.m_moment_at_joint +
- child.m_parent_pos_parent_body.cross(child_joint_force_in_this_frame);
- }
- RigidBody &body = m_body_list[body_idx];
-
- body.m_force_at_joint = body.m_eom_lhs_translational - sum_f_children;
- body.m_moment_at_joint = body.m_eom_lhs_rotational - sum_m_children;
- }
-
- // 4. Calculate Joint forces.
- // These are the components of force_at_joint/moment_at_joint
- // in the free directions given by Jac_JT/Jac_JR
- // 4.1 revolute joints
- for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_revolute_list[i]];
- // (*joint_forces)(body.m_q_index) = body.m_Jac_JR.transpose() * body.m_moment_at_joint;
- (*joint_forces)(body.m_q_index) = body.m_Jac_JR.dot(body.m_moment_at_joint);
- }
- // 4.2 for prismatic joints
- for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_prismatic_list[i]];
- // (*joint_forces)(body.m_q_index) = body.m_Jac_JT.transpose() * body.m_force_at_joint;
- (*joint_forces)(body.m_q_index) = body.m_Jac_JT.dot(body.m_force_at_joint);
- }
- // 4.3 floating bodies (6-DoF joints)
- for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_floating_list[i]];
- (*joint_forces)(body.m_q_index + 0) = body.m_moment_at_joint(0);
- (*joint_forces)(body.m_q_index + 1) = body.m_moment_at_joint(1);
- (*joint_forces)(body.m_q_index + 2) = body.m_moment_at_joint(2);
-
- (*joint_forces)(body.m_q_index + 3) = body.m_force_at_joint(0);
- (*joint_forces)(body.m_q_index + 4) = body.m_force_at_joint(1);
- (*joint_forces)(body.m_q_index + 5) = body.m_force_at_joint(2);
- }
-
- // 4.4 spherical bodies (3-DoF joints)
- for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++)
- {
- //todo: review
- RigidBody &body = m_body_list[m_body_spherical_list[i]];
- (*joint_forces)(body.m_q_index + 0) = body.m_moment_at_joint(0);
- (*joint_forces)(body.m_q_index + 1) = body.m_moment_at_joint(1);
- (*joint_forces)(body.m_q_index + 2) = body.m_moment_at_joint(2);
- }
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx &u, const vecx &dot_u,
- const KinUpdateType type)
-{
- if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs)
- {
- bt_id_error_message(
- "wrong vector dimension. system has %d DOFs,\n"
- "but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d\n",
- m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
- static_cast<int>(dot_u.size()));
- return -1;
- }
- if (type != POSITION_ONLY && type != POSITION_VELOCITY && type != POSITION_VELOCITY_ACCELERATION)
- {
- bt_id_error_message("invalid type %d\n", type);
- return -1;
- }
-
- // 1. update relative kinematics
- // 1.1 for revolute
- for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_revolute_list[i]];
- mat33 T;
- bodyTParentFromAxisAngle(body.m_Jac_JR, q(body.m_q_index), &T);
- body.m_body_T_parent = T * body.m_body_T_parent_ref;
- if (type >= POSITION_VELOCITY)
- {
- body.m_body_ang_vel_rel = body.m_Jac_JR * u(body.m_q_index);
- }
- if (type >= POSITION_VELOCITY_ACCELERATION)
- {
- body.m_body_ang_acc_rel = body.m_Jac_JR * dot_u(body.m_q_index);
- }
- }
- // 1.2 for prismatic
- for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_prismatic_list[i]];
- body.m_parent_pos_parent_body =
- body.m_parent_pos_parent_body_ref + body.m_parent_Jac_JT * q(body.m_q_index);
- if (type >= POSITION_VELOCITY)
- {
- body.m_parent_vel_rel =
- body.m_body_T_parent_ref.transpose() * body.m_Jac_JT * u(body.m_q_index);
- }
- if (type >= POSITION_VELOCITY_ACCELERATION)
- {
- body.m_parent_acc_rel = body.m_parent_Jac_JT * dot_u(body.m_q_index);
- }
- }
- // 1.3 fixed joints: nothing to do
- // 1.4 6dof joints:
- for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_floating_list[i]];
-
- body.m_body_T_parent = transformZ(q(body.m_q_index + 2)) *
- transformY(q(body.m_q_index + 1)) *
- transformX(q(body.m_q_index));
- body.m_parent_pos_parent_body(0) = q(body.m_q_index + 3);
- body.m_parent_pos_parent_body(1) = q(body.m_q_index + 4);
- body.m_parent_pos_parent_body(2) = q(body.m_q_index + 5);
- body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
-
- if (type >= POSITION_VELOCITY)
- {
- body.m_body_ang_vel_rel(0) = u(body.m_q_index + 0);
- body.m_body_ang_vel_rel(1) = u(body.m_q_index + 1);
- body.m_body_ang_vel_rel(2) = u(body.m_q_index + 2);
-
- body.m_parent_vel_rel(0) = u(body.m_q_index + 3);
- body.m_parent_vel_rel(1) = u(body.m_q_index + 4);
- body.m_parent_vel_rel(2) = u(body.m_q_index + 5);
-
- body.m_parent_vel_rel = body.m_body_T_parent.transpose() * body.m_parent_vel_rel;
- }
- if (type >= POSITION_VELOCITY_ACCELERATION)
- {
- body.m_body_ang_acc_rel(0) = dot_u(body.m_q_index + 0);
- body.m_body_ang_acc_rel(1) = dot_u(body.m_q_index + 1);
- body.m_body_ang_acc_rel(2) = dot_u(body.m_q_index + 2);
-
- body.m_parent_acc_rel(0) = dot_u(body.m_q_index + 3);
- body.m_parent_acc_rel(1) = dot_u(body.m_q_index + 4);
- body.m_parent_acc_rel(2) = dot_u(body.m_q_index + 5);
-
- body.m_parent_acc_rel = body.m_body_T_parent.transpose() * body.m_parent_acc_rel;
- }
- }
-
- for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++)
- {
- //todo: review
- RigidBody &body = m_body_list[m_body_spherical_list[i]];
-
- mat33 T;
-
- T = transformX(q(body.m_q_index)) *
- transformY(q(body.m_q_index + 1)) *
- transformZ(q(body.m_q_index + 2));
- body.m_body_T_parent = T * body.m_body_T_parent_ref;
-
- body.m_parent_pos_parent_body(0)=0;
- body.m_parent_pos_parent_body(1)=0;
- body.m_parent_pos_parent_body(2)=0;
-
- body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
-
- if (type >= POSITION_VELOCITY)
- {
- body.m_body_ang_vel_rel(0) = u(body.m_q_index + 0);
- body.m_body_ang_vel_rel(1) = u(body.m_q_index + 1);
- body.m_body_ang_vel_rel(2) = u(body.m_q_index + 2);
- body.m_parent_vel_rel = body.m_body_T_parent.transpose() * body.m_parent_vel_rel;
- }
- if (type >= POSITION_VELOCITY_ACCELERATION)
- {
- body.m_body_ang_acc_rel(0) = dot_u(body.m_q_index + 0);
- body.m_body_ang_acc_rel(1) = dot_u(body.m_q_index + 1);
- body.m_body_ang_acc_rel(2) = dot_u(body.m_q_index + 2);
- body.m_parent_acc_rel = body.m_body_T_parent.transpose() * body.m_parent_acc_rel;
- }
- }
-
- // 2. absolute kinematic quantities (vector valued)
- // NOTE: this should be optimized by specializing for different body types
- // (e.g., relative rotation is always zero for prismatic joints, etc.)
-
- // calculations for root body
- {
- RigidBody &body = m_body_list[0];
- // 3.1 update absolute positions and orientations:
- // will be required if we add force elements (eg springs between bodies,
- // or contacts)
- // not required right now, added here for debugging purposes
- body.m_body_pos = body.m_body_T_parent * body.m_parent_pos_parent_body;
- body.m_body_T_world = body.m_body_T_parent;
-
- if (type >= POSITION_VELOCITY)
- {
- // 3.2 update absolute velocities
- body.m_body_ang_vel = body.m_body_ang_vel_rel;
- body.m_body_vel = body.m_parent_vel_rel;
- }
- if (type >= POSITION_VELOCITY_ACCELERATION)
- {
- // 3.3 update absolute accelerations
- // NOTE: assumption: dot(J_JR) = 0; true here, but not for general joints
- body.m_body_ang_acc = body.m_body_ang_acc_rel;
- body.m_body_acc = body.m_body_T_parent * body.m_parent_acc_rel;
- // add gravitational acceleration to root body
- // this is an efficient way to add gravitational terms,
- // but it does mean that the kinematics are no longer
- // correct at the acceleration level
- // NOTE: To get correct acceleration kinematics, just set world_gravity to zero
- body.m_body_acc = body.m_body_acc - body.m_body_T_parent * m_world_gravity;
- }
- }
-
- for (idArrayIdx i = 1; i < m_body_list.size(); i++)
- {
- RigidBody &body = m_body_list[i];
- RigidBody &parent = m_body_list[m_parent_index[i]];
- // 2.1 update absolute positions and orientations:
- // will be required if we add force elements (eg springs between bodies,
- // or contacts) not required right now added here for debugging purposes
- body.m_body_pos =
- body.m_body_T_parent * (parent.m_body_pos + body.m_parent_pos_parent_body);
- body.m_body_T_world = body.m_body_T_parent * parent.m_body_T_world;
-
- if (type >= POSITION_VELOCITY)
- {
- // 2.2 update absolute velocities
- body.m_body_ang_vel =
- body.m_body_T_parent * parent.m_body_ang_vel + body.m_body_ang_vel_rel;
-
- body.m_body_vel =
- body.m_body_T_parent *
- (parent.m_body_vel + parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body) +
- body.m_parent_vel_rel);
- }
- if (type >= POSITION_VELOCITY_ACCELERATION)
- {
- // 2.3 update absolute accelerations
- // NOTE: assumption: dot(J_JR) = 0; true here, but not for general joints
- body.m_body_ang_acc =
- body.m_body_T_parent * parent.m_body_ang_acc -
- body.m_body_ang_vel_rel.cross(body.m_body_T_parent * parent.m_body_ang_vel) +
- body.m_body_ang_acc_rel;
- body.m_body_acc =
- body.m_body_T_parent *
- (parent.m_body_acc + parent.m_body_ang_acc.cross(body.m_parent_pos_parent_body) +
- parent.m_body_ang_vel.cross(parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body)) +
- 2.0 * parent.m_body_ang_vel.cross(body.m_parent_vel_rel) + body.m_parent_acc_rel);
- }
- }
-
- return 0;
-}
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-
-void MultiBodyTree::MultiBodyImpl::addRelativeJacobianComponent(RigidBody &body)
-{
- const int &idx = body.m_q_index;
- switch (body.m_joint_type)
- {
- case FIXED:
- break;
- case REVOLUTE:
- setMat3xElem(0, idx, body.m_Jac_JR(0), &body.m_body_Jac_R);
- setMat3xElem(1, idx, body.m_Jac_JR(1), &body.m_body_Jac_R);
- setMat3xElem(2, idx, body.m_Jac_JR(2), &body.m_body_Jac_R);
- break;
- case PRISMATIC:
- setMat3xElem(0, idx, body.m_body_T_parent_ref(0, 0) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 0) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 0) * body.m_Jac_JT(2),
- &body.m_body_Jac_T);
- setMat3xElem(1, idx, body.m_body_T_parent_ref(0, 1) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 1) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 1) * body.m_Jac_JT(2),
- &body.m_body_Jac_T);
- setMat3xElem(2, idx, body.m_body_T_parent_ref(0, 2) * body.m_Jac_JT(0) + body.m_body_T_parent_ref(1, 2) * body.m_Jac_JT(1) + body.m_body_T_parent_ref(2, 2) * body.m_Jac_JT(2),
- &body.m_body_Jac_T);
- break;
- case FLOATING:
- setMat3xElem(0, idx + 0, 1.0, &body.m_body_Jac_R);
- setMat3xElem(1, idx + 1, 1.0, &body.m_body_Jac_R);
- setMat3xElem(2, idx + 2, 1.0, &body.m_body_Jac_R);
- // body_Jac_T = body_T_parent.transpose();
- setMat3xElem(0, idx + 3, body.m_body_T_parent(0, 0), &body.m_body_Jac_T);
- setMat3xElem(0, idx + 4, body.m_body_T_parent(1, 0), &body.m_body_Jac_T);
- setMat3xElem(0, idx + 5, body.m_body_T_parent(2, 0), &body.m_body_Jac_T);
-
- setMat3xElem(1, idx + 3, body.m_body_T_parent(0, 1), &body.m_body_Jac_T);
- setMat3xElem(1, idx + 4, body.m_body_T_parent(1, 1), &body.m_body_Jac_T);
- setMat3xElem(1, idx + 5, body.m_body_T_parent(2, 1), &body.m_body_Jac_T);
-
- setMat3xElem(2, idx + 3, body.m_body_T_parent(0, 2), &body.m_body_Jac_T);
- setMat3xElem(2, idx + 4, body.m_body_T_parent(1, 2), &body.m_body_Jac_T);
- setMat3xElem(2, idx + 5, body.m_body_T_parent(2, 2), &body.m_body_Jac_T);
-
- break;
- case SPHERICAL:
- //todo: review
- setMat3xElem(0, idx + 0, 1.0, &body.m_body_Jac_R);
- setMat3xElem(1, idx + 1, 1.0, &body.m_body_Jac_R);
- setMat3xElem(2, idx + 2, 1.0, &body.m_body_Jac_R);
- break;
- }
-}
-
-int MultiBodyTree::MultiBodyImpl::calculateJacobians(const vecx &q, const vecx &u, const KinUpdateType type)
-{
- if (q.size() != m_num_dofs || u.size() != m_num_dofs)
- {
- bt_id_error_message(
- "wrong vector dimension. system has %d DOFs,\n"
- "but dim(q)= %d, dim(u)= %d\n",
- m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()));
- return -1;
- }
- if (type != POSITION_ONLY && type != POSITION_VELOCITY)
- {
- bt_id_error_message("invalid type %d\n", type);
- return -1;
- }
-
- addRelativeJacobianComponent(m_body_list[0]);
- for (idArrayIdx i = 1; i < m_body_list.size(); i++)
- {
- RigidBody &body = m_body_list[i];
- RigidBody &parent = m_body_list[m_parent_index[i]];
-
- mul(body.m_body_T_parent, parent.m_body_Jac_R, &body.m_body_Jac_R);
- body.m_body_Jac_T = parent.m_body_Jac_T;
- mul(tildeOperator(body.m_parent_pos_parent_body), parent.m_body_Jac_R, &m_m3x);
- sub(body.m_body_Jac_T, m_m3x, &body.m_body_Jac_T);
-
- addRelativeJacobianComponent(body);
- mul(body.m_body_T_parent, body.m_body_Jac_T, &body.m_body_Jac_T);
-
- if (type >= POSITION_VELOCITY)
- {
- body.m_body_dot_Jac_R_u = body.m_body_T_parent * parent.m_body_dot_Jac_R_u -
- body.m_body_ang_vel_rel.cross(body.m_body_T_parent * parent.m_body_ang_vel);
- body.m_body_dot_Jac_T_u = body.m_body_T_parent *
- (parent.m_body_dot_Jac_T_u + parent.m_body_dot_Jac_R_u.cross(body.m_parent_pos_parent_body) +
- parent.m_body_ang_vel.cross(parent.m_body_ang_vel.cross(body.m_parent_pos_parent_body)) +
- 2.0 * parent.m_body_ang_vel.cross(body.m_parent_vel_rel));
- }
- }
- return 0;
-}
-#endif
-
-static inline void setThreeDoFJacobians(const int dof, vec3 &Jac_JR, vec3 &Jac_JT)
-{
- switch (dof)
- {
- // rotational part
- case 0:
- Jac_JR(0) = 1;
- Jac_JR(1) = 0;
- Jac_JR(2) = 0;
- setZero(Jac_JT);
- break;
- case 1:
- Jac_JR(0) = 0;
- Jac_JR(1) = 1;
- Jac_JR(2) = 0;
- setZero(Jac_JT);
- break;
- case 2:
- Jac_JR(0) = 0;
- Jac_JR(1) = 0;
- Jac_JR(2) = 1;
- setZero(Jac_JT);
- break;
- }
-}
-
-static inline void setSixDoFJacobians(const int dof, vec3 &Jac_JR, vec3 &Jac_JT)
-{
- switch (dof)
- {
- // rotational part
- case 0:
- Jac_JR(0) = 1;
- Jac_JR(1) = 0;
- Jac_JR(2) = 0;
- setZero(Jac_JT);
- break;
- case 1:
- Jac_JR(0) = 0;
- Jac_JR(1) = 1;
- Jac_JR(2) = 0;
- setZero(Jac_JT);
- break;
- case 2:
- Jac_JR(0) = 0;
- Jac_JR(1) = 0;
- Jac_JR(2) = 1;
- setZero(Jac_JT);
- break;
- // translational part
- case 3:
- setZero(Jac_JR);
- Jac_JT(0) = 1;
- Jac_JT(1) = 0;
- Jac_JT(2) = 0;
- break;
- case 4:
- setZero(Jac_JR);
- Jac_JT(0) = 0;
- Jac_JT(1) = 1;
- Jac_JT(2) = 0;
- break;
- case 5:
- setZero(Jac_JR);
- Jac_JT(0) = 0;
- Jac_JT(1) = 0;
- Jac_JT(2) = 1;
- break;
- }
-}
-
-static inline int jointNumDoFs(const JointType &type)
-{
- switch (type)
- {
- case FIXED:
- return 0;
- case REVOLUTE:
- case PRISMATIC:
- return 1;
- case FLOATING:
- return 6;
- case SPHERICAL:
- return 3;
- }
- // this should never happen
- bt_id_error_message("invalid joint type\n");
- // TODO add configurable abort/crash function
- abort();
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool update_kinematics,
- const bool initialize_matrix,
- const bool set_lower_triangular_matrix,
- matxx *mass_matrix)
-{
- // This calculates the joint space mass matrix for the multibody system.
- // The algorithm is essentially an implementation of "method 3"
- // in "Efficient Dynamic Simulation of Robotic Mechanisms" (Walker and Orin, 1982)
- // (Later named "Composite Rigid Body Algorithm" by Featherstone).
- //
- // This implementation, however, handles branched systems and uses a formulation centered
- // on the origin of the body-fixed frame to avoid re-computing various quantities at the com.
-
- if (q.size() != m_num_dofs || mass_matrix->rows() != m_num_dofs ||
- mass_matrix->cols() != m_num_dofs)
- {
- bt_id_error_message(
- "Dimension error. System has %d DOFs,\n"
- "but dim(q)= %d, dim(mass_matrix)= %d x %d\n",
- m_num_dofs, static_cast<int>(q.size()), static_cast<int>(mass_matrix->rows()),
- static_cast<int>(mass_matrix->cols()));
- return -1;
- }
-
- // TODO add optimized zeroing function?
- if (initialize_matrix)
- {
- for (int i = 0; i < m_num_dofs; i++)
- {
- for (int j = 0; j < m_num_dofs; j++)
- {
- setMatxxElem(i, j, 0.0, mass_matrix);
- }
- }
- }
-
- if (update_kinematics)
- {
- // 1. update relative kinematics
- // 1.1 for revolute joints
- for (idArrayIdx i = 0; i < m_body_revolute_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_revolute_list[i]];
- // from reference orientation (q=0) of body-fixed frame to current orientation
- mat33 body_T_body_ref;
- bodyTParentFromAxisAngle(body.m_Jac_JR, q(body.m_q_index), &body_T_body_ref);
- body.m_body_T_parent = body_T_body_ref * body.m_body_T_parent_ref;
- }
- // 1.2 for prismatic joints
- for (idArrayIdx i = 0; i < m_body_prismatic_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_prismatic_list[i]];
- // body.m_body_T_parent= fixed
- body.m_parent_pos_parent_body =
- body.m_parent_pos_parent_body_ref + body.m_parent_Jac_JT * q(body.m_q_index);
- }
- // 1.3 fixed joints: nothing to do
- // 1.4 6dof joints:
- for (idArrayIdx i = 0; i < m_body_floating_list.size(); i++)
- {
- RigidBody &body = m_body_list[m_body_floating_list[i]];
-
- body.m_body_T_parent = transformZ(q(body.m_q_index + 2)) *
- transformY(q(body.m_q_index + 1)) *
- transformX(q(body.m_q_index));
- body.m_parent_pos_parent_body(0) = q(body.m_q_index + 3);
- body.m_parent_pos_parent_body(1) = q(body.m_q_index + 4);
- body.m_parent_pos_parent_body(2) = q(body.m_q_index + 5);
-
- body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
- }
-
- for (idArrayIdx i = 0; i < m_body_spherical_list.size(); i++)
- {
- //todo: review
- RigidBody &body = m_body_list[m_body_spherical_list[i]];
-
- mat33 T;
-
- T = transformX(q(body.m_q_index)) *
- transformY(q(body.m_q_index + 1)) *
- transformZ(q(body.m_q_index + 2));
- body.m_body_T_parent = T * body.m_body_T_parent_ref;
-
- body.m_parent_pos_parent_body(0)=0;
- body.m_parent_pos_parent_body(1)=0;
- body.m_parent_pos_parent_body(2)=0;
-
- body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
- }
- }
- for (int i = m_body_list.size() - 1; i >= 0; i--)
- {
- RigidBody &body = m_body_list[i];
- // calculate mass, center of mass and inertia of "composite rigid body",
- // ie, sub-tree starting at current body
- body.m_subtree_mass = body.m_mass;
- body.m_body_subtree_mass_com = body.m_body_mass_com;
- body.m_body_subtree_I_body = body.m_body_I_body;
-
- for (idArrayIdx c = 0; c < m_child_indices[i].size(); c++)
- {
- RigidBody &child = m_body_list[m_child_indices[i][c]];
- mat33 body_T_child = child.m_body_T_parent.transpose();
-
- body.m_subtree_mass += child.m_subtree_mass;
- body.m_body_subtree_mass_com += body_T_child * child.m_body_subtree_mass_com +
- child.m_parent_pos_parent_body * child.m_subtree_mass;
- body.m_body_subtree_I_body +=
- body_T_child * child.m_body_subtree_I_body * child.m_body_T_parent;
-
- if (child.m_subtree_mass > 0)
- {
- // Shift the reference point for the child subtree inertia using the
- // Huygens-Steiner ("parallel axis") theorem.
- // (First shift from child origin to child com, then from there to this body's
- // origin)
- vec3 r_com = body_T_child * child.m_body_subtree_mass_com / child.m_subtree_mass;
- mat33 tilde_r_child_com = tildeOperator(r_com);
- mat33 tilde_r_body_com = tildeOperator(child.m_parent_pos_parent_body + r_com);
- body.m_body_subtree_I_body +=
- child.m_subtree_mass *
- (tilde_r_child_com * tilde_r_child_com - tilde_r_body_com * tilde_r_body_com);
- }
- }
- }
-
- for (int i = m_body_list.size() - 1; i >= 0; i--)
- {
- const RigidBody &body = m_body_list[i];
-
- // determine DoF-range for body
- const int q_index_min = body.m_q_index;
- const int q_index_max = q_index_min + jointNumDoFs(body.m_joint_type) - 1;
- // loop over the DoFs used by this body
- // local joint jacobians (ok as is for 1-DoF joints)
- vec3 Jac_JR = body.m_Jac_JR;
- vec3 Jac_JT = body.m_Jac_JT;
- for (int col = q_index_max; col >= q_index_min; col--)
- {
- // set jacobians for 6-DoF joints
- if (FLOATING == body.m_joint_type)
- {
- setSixDoFJacobians(col - q_index_min, Jac_JR, Jac_JT);
- }
- if (SPHERICAL == body.m_joint_type)
- {
- //todo: review
- setThreeDoFJacobians(col - q_index_min, Jac_JR, Jac_JT);
- }
-
- vec3 body_eom_rot =
- body.m_body_subtree_I_body * Jac_JR + body.m_body_subtree_mass_com.cross(Jac_JT);
- vec3 body_eom_trans =
- body.m_subtree_mass * Jac_JT - body.m_body_subtree_mass_com.cross(Jac_JR);
- setMatxxElem(col, col, Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans), mass_matrix);
-
- // rest of the mass matrix column upwards
- {
- // 1. for multi-dof joints, rest of the dofs of this body
- for (int row = col - 1; row >= q_index_min; row--)
- {
- if (SPHERICAL == body.m_joint_type)
- {
- //todo: review
- setThreeDoFJacobians(row - q_index_min, Jac_JR, Jac_JT);
- const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
- setMatxxElem(col, row, Mrc, mass_matrix);
- }
- if (FLOATING == body.m_joint_type)
- {
- setSixDoFJacobians(row - q_index_min, Jac_JR, Jac_JT);
- const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
- setMatxxElem(col, row, Mrc, mass_matrix);
- }
- }
- // 2. ancestor dofs
- int child_idx = i;
- int parent_idx = m_parent_index[i];
- while (parent_idx >= 0)
- {
- const RigidBody &child_body = m_body_list[child_idx];
- const RigidBody &parent_body = m_body_list[parent_idx];
-
- const mat33 parent_T_child = child_body.m_body_T_parent.transpose();
- body_eom_rot = parent_T_child * body_eom_rot;
- body_eom_trans = parent_T_child * body_eom_trans;
- body_eom_rot += child_body.m_parent_pos_parent_body.cross(body_eom_trans);
-
- const int parent_body_q_index_min = parent_body.m_q_index;
- const int parent_body_q_index_max =
- parent_body_q_index_min + jointNumDoFs(parent_body.m_joint_type) - 1;
- vec3 Jac_JR = parent_body.m_Jac_JR;
- vec3 Jac_JT = parent_body.m_Jac_JT;
- for (int row = parent_body_q_index_max; row >= parent_body_q_index_min; row--)
- {
- if (SPHERICAL == parent_body.m_joint_type)
- {
- //todo: review
- setThreeDoFJacobians(row - parent_body_q_index_min, Jac_JR, Jac_JT);
- }
- // set jacobians for 6-DoF joints
- if (FLOATING == parent_body.m_joint_type)
- {
- setSixDoFJacobians(row - parent_body_q_index_min, Jac_JR, Jac_JT);
- }
- const double Mrc = Jac_JR.dot(body_eom_rot) + Jac_JT.dot(body_eom_trans);
- setMatxxElem(col, row, Mrc, mass_matrix);
- }
-
- child_idx = parent_idx;
- parent_idx = m_parent_index[child_idx];
- }
- }
- }
- }
-
- if (set_lower_triangular_matrix)
- {
- for (int col = 0; col < m_num_dofs; col++)
- {
- for (int row = 0; row < col; row++)
- {
- setMatxxElem(row, col, (*mass_matrix)(col, row), mass_matrix);
- }
- }
- }
- return 0;
-}
-
-// utility macro
-#define CHECK_IF_BODY_INDEX_IS_VALID(index) \
- do \
- { \
- if (index < 0 || index >= m_num_bodies) \
- { \
- bt_id_error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \
- return -1; \
- } \
- } while (0)
-
-int MultiBodyTree::MultiBodyImpl::getParentIndex(const int body_index, int *p)
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *p = m_parent_index[body_index];
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getUserInt(const int body_index, int *user_int) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *user_int = m_user_int[body_index];
- return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getUserPtr(const int body_index, void **user_ptr) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *user_ptr = m_user_ptr[body_index];
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::setUserInt(const int body_index, const int user_int)
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- m_user_int[body_index] = user_int;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::setUserPtr(const int body_index, void *const user_ptr)
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- m_user_ptr[body_index] = user_ptr;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyOrigin(int body_index, vec3 *world_origin) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- *world_origin = body.m_body_T_world.transpose() * body.m_body_pos;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyCoM(int body_index, vec3 *world_com) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- if (body.m_mass > 0)
- {
- *world_com = body.m_body_T_world.transpose() *
- (body.m_body_pos + body.m_body_mass_com / body.m_mass);
- }
- else
- {
- *world_com = body.m_body_T_world.transpose() * (body.m_body_pos);
- }
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyTransform(int body_index, mat33 *world_T_body) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- *world_T_body = body.m_body_T_world.transpose();
- return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyAngularVelocity(int body_index, vec3 *world_omega) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- *world_omega = body.m_body_T_world.transpose() * body.m_body_ang_vel;
- return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyLinearVelocity(int body_index,
- vec3 *world_velocity) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- *world_velocity = body.m_body_T_world.transpose() * body.m_body_vel;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyLinearVelocityCoM(int body_index,
- vec3 *world_velocity) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- vec3 com;
- if (body.m_mass > 0)
- {
- com = body.m_body_mass_com / body.m_mass;
- }
- else
- {
- com(0) = 0;
- com(1) = 0;
- com(2) = 0;
- }
-
- *world_velocity =
- body.m_body_T_world.transpose() * (body.m_body_vel + body.m_body_ang_vel.cross(com));
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyAngularAcceleration(int body_index,
- vec3 *world_dot_omega) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- *world_dot_omega = body.m_body_T_world.transpose() * body.m_body_ang_acc;
- return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyLinearAcceleration(int body_index,
- vec3 *world_acceleration) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- *world_acceleration = body.m_body_T_world.transpose() * body.m_body_acc;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getJointType(const int body_index, JointType *joint_type) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *joint_type = m_body_list[body_index].m_joint_type;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getJointTypeStr(const int body_index,
- const char **joint_type) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *joint_type = jointTypeToString(m_body_list[body_index].m_joint_type);
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getParentRParentBodyRef(const int body_index, vec3 *r) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *r = m_body_list[body_index].m_parent_pos_parent_body_ref;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyTParentRef(const int body_index, mat33 *T) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *T = m_body_list[body_index].m_body_T_parent_ref;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyAxisOfMotion(const int body_index, vec3 *axis) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- if (m_body_list[body_index].m_joint_type == REVOLUTE)
- {
- *axis = m_body_list[body_index].m_Jac_JR;
- return 0;
- }
- if (m_body_list[body_index].m_joint_type == PRISMATIC)
- {
- *axis = m_body_list[body_index].m_Jac_JT;
- return 0;
- }
- setZero(*axis);
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getDoFOffset(const int body_index, int *q_index) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *q_index = m_body_list[body_index].m_q_index;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::setBodyMass(const int body_index, const idScalar mass)
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- m_body_list[body_index].m_mass = mass;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::setBodyFirstMassMoment(const int body_index,
- const vec3 &first_mass_moment)
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- m_body_list[body_index].m_body_mass_com = first_mass_moment;
- return 0;
-}
-int MultiBodyTree::MultiBodyImpl::setBodySecondMassMoment(const int body_index,
- const mat33 &second_mass_moment)
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- m_body_list[body_index].m_body_I_body = second_mass_moment;
- return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyMass(const int body_index, idScalar *mass) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *mass = m_body_list[body_index].m_mass;
- return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodyFirstMassMoment(const int body_index,
- vec3 *first_mass_moment) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *first_mass_moment = m_body_list[body_index].m_body_mass_com;
- return 0;
-}
-int MultiBodyTree::MultiBodyImpl::getBodySecondMassMoment(const int body_index,
- mat33 *second_mass_moment) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- *second_mass_moment = m_body_list[body_index].m_body_I_body;
- return 0;
-}
-
-void MultiBodyTree::MultiBodyImpl::clearAllUserForcesAndMoments()
-{
- for (int index = 0; index < m_num_bodies; index++)
- {
- RigidBody &body = m_body_list[index];
- setZero(body.m_body_force_user);
- setZero(body.m_body_moment_user);
- }
-}
-
-int MultiBodyTree::MultiBodyImpl::addUserForce(const int body_index, const vec3 &body_force)
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- m_body_list[body_index].m_body_force_user += body_force;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::addUserMoment(const int body_index, const vec3 &body_moment)
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- m_body_list[body_index].m_body_moment_user += body_moment;
- return 0;
-}
-
-#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
-int MultiBodyTree::MultiBodyImpl::getBodyDotJacobianTransU(const int body_index, vec3 *world_dot_jac_trans_u) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- *world_dot_jac_trans_u = body.m_body_T_world.transpose() * body.m_body_dot_Jac_T_u;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyDotJacobianRotU(const int body_index, vec3 *world_dot_jac_rot_u) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- *world_dot_jac_rot_u = body.m_body_T_world.transpose() * body.m_body_dot_Jac_R_u;
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyJacobianTrans(const int body_index, mat3x *world_jac_trans) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- mul(body.m_body_T_world.transpose(), body.m_body_Jac_T, world_jac_trans);
- return 0;
-}
-
-int MultiBodyTree::MultiBodyImpl::getBodyJacobianRot(const int body_index, mat3x *world_jac_rot) const
-{
- CHECK_IF_BODY_INDEX_IS_VALID(body_index);
- const RigidBody &body = m_body_list[body_index];
- mul(body.m_body_T_world.transpose(), body.m_body_Jac_R, world_jac_rot);
- return 0;
-}
-
-#endif
-} // namespace btInverseDynamics
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