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Diffstat (limited to 'thirdparty/bullet/src/BulletInverseDynamics/MultiBodyTree.hpp')
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diff --git a/thirdparty/bullet/src/BulletInverseDynamics/MultiBodyTree.hpp b/thirdparty/bullet/src/BulletInverseDynamics/MultiBodyTree.hpp deleted file mode 100644 index d235aa6e76..0000000000 --- a/thirdparty/bullet/src/BulletInverseDynamics/MultiBodyTree.hpp +++ /dev/null @@ -1,363 +0,0 @@ -#ifndef MULTIBODYTREE_HPP_ -#define MULTIBODYTREE_HPP_ - -#include "IDConfig.hpp" -#include "IDMath.hpp" - -namespace btInverseDynamics { - -/// Enumeration of supported joint types -enum JointType { - /// no degree of freedom, moves with parent - FIXED = 0, - /// one rotational degree of freedom relative to parent - REVOLUTE, - /// one translational degree of freedom relative to parent - PRISMATIC, - /// six degrees of freedom relative to parent - FLOATING -}; - -/// Interface class for calculating inverse dynamics for tree structured -/// multibody systems -/// -/// Note on degrees of freedom -/// The q vector contains the generalized coordinate set defining the tree's configuration. -/// Every joint adds elements that define the corresponding link's frame pose relative to -/// its parent. For the joint types that is: -/// - FIXED: none -/// - REVOLUTE: angle of rotation [rad] -/// - PRISMATIC: displacement [m] -/// - FLOATING: Euler x-y-z angles [rad] and displacement in body-fixed frame of parent [m] -/// (in that order) -/// The u vector contains the generalized speeds, which are -/// - FIXED: none -/// - REVOLUTE: time derivative of angle of rotation [rad/s] -/// - PRISMATIC: time derivative of displacement [m/s] -/// - FLOATING: angular velocity [rad/s] (*not* time derivative of rpy angles) -/// and time derivative of displacement in parent frame [m/s] -/// -/// The q and u vectors are obtained by stacking contributions of all bodies in one -/// vector in the order of body indices. -/// -/// Note on generalized forces: analogous to u, i.e., -/// - FIXED: none -/// - REVOLUTE: moment [Nm], about joint axis -/// - PRISMATIC: force [N], along joint axis -/// - FLOATING: moment vector [Nm] and force vector [N], both in body-fixed frame -/// (in that order) -/// -/// TODO - force element interface (friction, springs, dampers, etc) -/// - gears and motor inertia -class MultiBodyTree { -public: - ID_DECLARE_ALIGNED_ALLOCATOR(); - /// The contructor. - /// Initialization & allocation is via addBody and buildSystem calls. - MultiBodyTree(); - /// the destructor. This also deallocates all memory - ~MultiBodyTree(); - - /// Add body to the system. this allocates memory and not real-time safe. - /// This only adds the data to an initial cache. After all bodies have been - /// added, - /// the system is setup using the buildSystem call - /// @param body_index index of the body to be added. Must >=0, <number of bodies, - /// and index of parent must be < index of body - /// @param parent_index index of the parent body - /// The root of the tree has index 0 and its parent (the world frame) - /// is assigned index -1 - /// the rotation and translation relative to the parent are taken as - /// pose of the root body relative to the world frame. Other parameters - /// are ignored - /// @param JointType type of joint connecting the body to the parent - /// @param mass the mass of the body - /// @param body_r_body_com the center of mass of the body relative to and - /// described in - /// the body fixed frame, which is located in the joint axis connecting - /// the body to its parent - /// @param body_I_body the moment of inertia of the body w.r.t the body-fixed - /// frame - /// (ie, the reference point is the origin of the body-fixed frame and - /// the matrix is written - /// w.r.t. those unit vectors) - /// @param parent_r_parent_body_ref position of joint relative to the parent - /// body's reference frame - /// for q=0, written in the parent bodies reference frame - /// @param body_axis_of_motion translation/rotation axis in body-fixed frame. - /// Ignored for joints that are not revolute or prismatic. - /// must be a unit vector. - /// @param body_T_parent_ref transform matrix from parent to body reference - /// frame for q=0. - /// This is the matrix transforming a vector represented in the - /// parent's reference frame into one represented - /// in this body's reference frame. - /// ie, if parent_vec is a vector in R^3 whose components are w.r.t to - /// the parent's reference frame, - /// then the same vector written w.r.t. this body's frame (for q=0) is - /// given by - /// body_vec = parent_R_body_ref * parent_vec - /// @param user_ptr pointer to user data - /// @param user_int pointer to user integer - /// @return 0 on success, -1 on error - int addBody(int body_index, int parent_index, JointType joint_type, - const vec3& parent_r_parent_body_ref, const mat33& body_T_parent_ref, - const vec3& body_axis_of_motion, idScalar mass, const vec3& body_r_body_com, - const mat33& body_I_body, const int user_int, void* user_ptr); - /// set policy for invalid mass properties - /// @param flag if true, invalid mass properties are accepted, - /// the default is false - void setAcceptInvalidMassParameters(bool flag); - /// @return the mass properties policy flag - bool getAcceptInvalidMassProperties() const; - /// build internal data structures - /// call this after all bodies have been added via addBody - /// @return 0 on success, -1 on error - int finalize(); - /// pretty print ascii description of tree to stdout - void printTree(); - /// print tree data to stdout - void printTreeData(); - /// Calculate joint forces for given generalized state & derivatives. - /// This also updates kinematic terms computed in calculateKinematics. - /// If gravity is not set to zero, acceleration terms will contain - /// gravitational acceleration. - /// @param q generalized coordinates - /// @param u generalized velocities. In the general case, u=T(q)*dot(q) and dim(q)>=dim(u) - /// @param dot_u time derivative of u - /// @param joint_forces this is where the resulting joint forces will be - /// stored. dim(joint_forces) = dim(u) - /// @return 0 on success, -1 on error - int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u, - vecx* joint_forces); - /// Calculate joint space mass matrix - /// @param q generalized coordinates - /// @param initialize_matrix if true, initialize mass matrix with zero. - /// If mass_matrix is initialized to zero externally and only used - /// for mass matrix computations for the same system, it is safe to - /// set this to false. - /// @param set_lower_triangular_matrix if true, the lower triangular section of mass_matrix - /// is also populated, otherwise not. - /// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q)) - /// @return -1 on error, 0 on success - int calculateMassMatrix(const vecx& q, const bool update_kinematics, - const bool initialize_matrix, const bool set_lower_triangular_matrix, - matxx* mass_matrix); - - /// Calculate joint space mass matrix. - /// This version will update kinematics, initialize all mass_matrix elements to zero and - /// populate all mass matrix entries. - /// @param q generalized coordinates - /// @param mass_matrix matrix for storing the output (should be dim(q)xdim(q)) - /// @return -1 on error, 0 on success - int calculateMassMatrix(const vecx& q, matxx* mass_matrix); - - - /// Calculates kinematics also calculated in calculateInverseDynamics, - /// but not dynamics. - /// This function ensures that correct accelerations are computed that do not - /// contain gravitational acceleration terms. - /// Does not calculate Jacobians, but only vector quantities (positions, velocities & accelerations) - int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u); - /// Calculate position kinematics - int calculatePositionKinematics(const vecx& q); - /// Calculate position and velocity kinematics - int calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u); - -#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS) - /// Calculate Jacobians (dvel/du), as well as velocity-dependent accelearation components - /// d(Jacobian)/dt*u - /// This function assumes that calculateInverseDynamics was called, or calculateKinematics, - /// or calculatePositionAndVelocityKinematics - int calculateJacobians(const vecx& q, const vecx& u); - /// Calculate Jacobians (dvel/du) - /// This function assumes that calculateInverseDynamics was called, or - /// one of the calculateKineamtics functions - int calculateJacobians(const vecx& q); -#endif // BT_ID_HAVE_MAT3X - - - /// set gravitational acceleration - /// the default is [0;0;-9.8] in the world frame - /// @param gravity the gravitational acceleration in world frame - /// @return 0 on success, -1 on error - int setGravityInWorldFrame(const vec3& gravity); - /// returns number of bodies in tree - int numBodies() const; - /// returns number of mechanical degrees of freedom (dimension of q-vector) - int numDoFs() const; - /// get origin of a body-fixed frame, represented in world frame - /// @param body_index index for frame/body - /// @param world_origin pointer for return data - /// @return 0 on success, -1 on error - int getBodyOrigin(const int body_index, vec3* world_origin) const; - /// get center of mass of a body, represented in world frame - /// @param body_index index for frame/body - /// @param world_com pointer for return data - /// @return 0 on success, -1 on error - int getBodyCoM(const int body_index, vec3* world_com) const; - /// get transform from of a body-fixed frame to the world frame - /// @param body_index index for frame/body - /// @param world_T_body pointer for return data - /// @return 0 on success, -1 on error - int getBodyTransform(const int body_index, mat33* world_T_body) const; - /// get absolute angular velocity for a body, represented in the world frame - /// @param body_index index for frame/body - /// @param world_omega pointer for return data - /// @return 0 on success, -1 on error - int getBodyAngularVelocity(const int body_index, vec3* world_omega) const; - /// get linear velocity of a body, represented in world frame - /// @param body_index index for frame/body - /// @param world_velocity pointer for return data - /// @return 0 on success, -1 on error - int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const; - /// get linear velocity of a body's CoM, represented in world frame - /// (not required for inverse dynamics, provided for convenience) - /// @param body_index index for frame/body - /// @param world_vel_com pointer for return data - /// @return 0 on success, -1 on error - int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const; - /// get origin of a body-fixed frame, represented in world frame - /// @param body_index index for frame/body - /// @param world_origin pointer for return data - /// @return 0 on success, -1 on error - int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const; - /// get origin of a body-fixed frame, represented in world frame - /// NOTE: this will include the gravitational acceleration, so the actual acceleration is - /// obtainened by setting gravitational acceleration to zero, or subtracting it. - /// @param body_index index for frame/body - /// @param world_origin pointer for return data - /// @return 0 on success, -1 on error - int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const; - -#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS) - // get translational jacobian, in world frame (dworld_velocity/du) - int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const; - // get rotational jacobian, in world frame (dworld_omega/du) - int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const; - // get product of translational jacobian derivative * generatlized velocities - int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const; - // get product of rotational jacobian derivative * generatlized velocities - int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const; -#endif // BT_ID_HAVE_MAT3X - - /// returns the (internal) index of body - /// @param body_index is the index of a body - /// @param parent_index pointer to where parent index will be stored - /// @return 0 on success, -1 on error - int getParentIndex(const int body_index, int* parent_index) const; - /// get joint type - /// @param body_index index of the body - /// @param joint_type the corresponding joint type - /// @return 0 on success, -1 on failure - int getJointType(const int body_index, JointType* joint_type) const; - /// get joint type as string - /// @param body_index index of the body - /// @param joint_type string naming the corresponding joint type - /// @return 0 on success, -1 on failure - int getJointTypeStr(const int body_index, const char** joint_type) const; - /// get offset translation to parent body (see addBody) - /// @param body_index index of the body - /// @param r the offset translation (see above) - /// @return 0 on success, -1 on failure - int getParentRParentBodyRef(const int body_index, vec3* r) const; - /// get offset rotation to parent body (see addBody) - /// @param body_index index of the body - /// @param T the transform (see above) - /// @return 0 on success, -1 on failure - int getBodyTParentRef(const int body_index, mat33* T) const; - /// get axis of motion (see addBody) - /// @param body_index index of the body - /// @param axis the axis (see above) - /// @return 0 on success, -1 on failure - int getBodyAxisOfMotion(const int body_index, vec3* axis) const; - /// get offset for degrees of freedom of this body into the q-vector - /// @param body_index index of the body - /// @param q_offset offset the q vector - /// @return -1 on error, 0 on success - int getDoFOffset(const int body_index, int* q_offset) const; - /// get user integer. not used by the library. - /// @param body_index index of the body - /// @param user_int the user integer - /// @return 0 on success, -1 on error - int getUserInt(const int body_index, int* user_int) const; - /// get user pointer. not used by the library. - /// @param body_index index of the body - /// @param user_ptr the user pointer - /// @return 0 on success, -1 on error - int getUserPtr(const int body_index, void** user_ptr) const; - /// set user integer. not used by the library. - /// @param body_index index of the body - /// @param user_int the user integer - /// @return 0 on success, -1 on error - int setUserInt(const int body_index, const int user_int); - /// set user pointer. not used by the library. - /// @param body_index index of the body - /// @param user_ptr the user pointer - /// @return 0 on success, -1 on error - int setUserPtr(const int body_index, void* const user_ptr); - /// set mass for a body - /// @param body_index index of the body - /// @param mass the mass to set - /// @return 0 on success, -1 on failure - int setBodyMass(const int body_index, const idScalar mass); - /// set first moment of mass for a body - /// (mass * center of mass, in body fixed frame, relative to joint) - /// @param body_index index of the body - /// @param first_mass_moment the vector to set - /// @return 0 on success, -1 on failure - int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment); - /// set second moment of mass for a body - /// (moment of inertia, in body fixed frame, relative to joint) - /// @param body_index index of the body - /// @param second_mass_moment the inertia matrix - /// @return 0 on success, -1 on failure - int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment); - /// get mass for a body - /// @param body_index index of the body - /// @param mass the mass - /// @return 0 on success, -1 on failure - int getBodyMass(const int body_index, idScalar* mass) const; - /// get first moment of mass for a body - /// (mass * center of mass, in body fixed frame, relative to joint) - /// @param body_index index of the body - /// @param first_moment the vector - /// @return 0 on success, -1 on failure - int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const; - /// get second moment of mass for a body - /// (moment of inertia, in body fixed frame, relative to joint) - /// @param body_index index of the body - /// @param second_mass_moment the inertia matrix - /// @return 0 on success, -1 on failure - int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const; - /// set all user forces and moments to zero - void clearAllUserForcesAndMoments(); - /// Add an external force to a body, acting at the origin of the body-fixed frame. - /// Calls to addUserForce are cumulative. Set the user force and moment to zero - /// via clearAllUserForcesAndMoments() - /// @param body_force the force represented in the body-fixed frame of reference - /// @return 0 on success, -1 on error - int addUserForce(const int body_index, const vec3& body_force); - /// Add an external moment to a body. - /// Calls to addUserMoment are cumulative. Set the user force and moment to zero - /// via clearAllUserForcesAndMoments() - /// @param body_moment the moment represented in the body-fixed frame of reference - /// @return 0 on success, -1 on error - int addUserMoment(const int body_index, const vec3& body_moment); - -private: - // flag indicating if system has been initialized - bool m_is_finalized; - // flag indicating if mass properties are physically valid - bool m_mass_parameters_are_valid; - // flag defining if unphysical mass parameters are accepted - bool m_accept_invalid_mass_parameters; - // This struct implements the inverse dynamics calculations - class MultiBodyImpl; - MultiBodyImpl* m_impl; - // cache data structure for initialization - class InitCache; - InitCache* m_init_cache; -}; -} // namespace btInverseDynamics -#endif // MULTIBODYTREE_HPP_ |