void computeCentroid(vector& centroid, const list<vector*> &vectors) {
if(vectors.size() == 0)
return;
list<iter*> iters;
for(int i=0; i<vectors.size(); i++) {
iter *it = new iter;
it->size = vectors.get(i)->size;
iters.add(it);
}
int stop = 0;
while(!stop) {
int min_key = 1 << 30;
stop = 1;
for(int i=0; i<iters.size(); i++) {
iter& it = *(iters.get(i));
int key = vectors.get(i)->keys[it.index];
if(key < min_key && it.index < it.size) {
stop = 0;
min_key = key;
}
}
if(stop)
break;
expandVector(centroid);
centroid.keys[centroid.size - 1] = min_key;
double value = 0;
for(int i=0; i<iters.size(); i++) {
iter& it = *(iters.get(i));
int key = vectors.get(i)->keys[it.index];
double val = vectors.get(i)->values[it.index];
if(key == min_key && it.index < it.size) {
value += val;
it.index++;
}
}
centroid.values[centroid.size - 1] = value;
}
for(int i=0; i<centroid.size; i++)
centroid.values[i] /= vectors.size();
for(int i=0; i<iters.size(); i++)
delete iters.get(i);
}
SICONOS_EXPORT void controlLaw(double * t, double * q, double * qdot, int * NDOF, int * NCONT, double * torques)
{
int ndof;
int contacts;
char lagrangianModelName[20] = "";
getLagrangianModelName(lagrangianModelName);
getActiveDOFsize(&ndof);
vector<int> activeDOF(ndof);
if (ndof > 0)
getActiveDOF(&(activeDOF[0]));
else
ndof = *NDOF;
///////////////////////////////////////////
// Computation of the Lagrangian model
///////////////////////////////////////////
matrix<double, column_major> M(*NDOF, *NDOF);
vector<double> N(*NDOF);
if (strcmp(lagrangianModelName, "Human36") == 0)
{
double L[31];
double addl[84];
double mass;
GetModelMass(&mass);
GetAnatomicalLengths(L);
GetTag2JointLengths(addl);
InertiaH36(&(M(0, 0)), q, L, addl, mass);
NLEffectsH36(&(N[0]), q, qdot, L, addl, mass);
}
else
{
Inertia(&(M(0, 0)), q);
NLEffects(&(N[0]), q, qdot);
}
//////////////////////////////////////////////////
//Additionnal forces
/////////////////////////////////////////////////
vector<double> fAdditionnal(*NDOF);
if (strcmp(lagrangianModelName, "PA10") == 0)
Friction(&(fAdditionnal[0]), q, qdot);
else if (strcmp(lagrangianModelName, "RX90") == 0)
SpringForce(&(fAdditionnal[0]), q);
else
fAdditionnal.clear();
///////////////////////////////////////////////////
// Limitation to the selected degrees of freedom
///////////////////////////////////////////////////
reduceMatrix(M, activeDOF, activeDOF);
N = reduceVector(N, activeDOF);
fAdditionnal = reduceVector(fAdditionnal, activeDOF);
//////////////////////////////////////////////////
// Proportionnel-derivee in the task space
//////////////////////////////////////////////////
vector<double> sDesired(*NDOF);
vector<double> sdotDesired(*NDOF);
matrix<double, column_major> sddotDesiredMATRIX(*NDOF, 1);
matrix_column<matrix<double, column_major> > sddotDesired(sddotDesiredMATRIX, 1);
//vector<double> sddotDesired(*NDOF);
trajectory(t, &(sDesired[0]), &(sdotDesired[0]), &(sddotDesired[0]), &contacts);
//v = Kp*(s_desiree-TaskFunction(q))+Kv*(sdot_desiree-H*qdot)-h+sddot_desiree;
vector<double> TF(*NDOF);
vector<double> h(*NDOF);
matrix<double, column_major> H(*NDOF, *NDOF);
TaskFunction(&(TF[0]), q);
TaskJacobian(&(H(0, 0)), q);
TaskNLEffects(&(h[0]), q, qdot);
double Kp = 100.0;
double Kv = 30.0;
vector<double, array_adaptor<double> > tmp_cast(*NDOF, array_adaptor<double> (*NDOF, qdot));
sddotDesired += Kp * (sDesired - TF) + Kv * (sdotDesired - prod(H, tmp_cast)) - h;
/////////////////////////////////////////////////////////////
// Generalized Torques to make the realisation of the command
/////////////////////////////////////////////////////////////
//qddot = inv(H)*v;
vector<int> ipiv(*NDOF);
// lapack::getrf(H, ipiv);
// sddotDesired = prod(H, sddotDesired);
lapack::gesv(H, ipiv, sddotDesiredMATRIX);
//D = M*qddot(ActiveDOF) + N + FAdditionnal;
sddotDesired = reduceVector(sddotDesired, activeDOF);
N += prod(M, sddotDesired) + fAdditionnal;
//nmot = sum(ActiveDOF<=size(q, 1)); en fait ici nmot = ndof
//Torques = zeros(q);
//Torques(ActiveDOF(1:nmot)) = D(1:nmot);
for (int i = 0; i < *NDOF; i++)
torques[i] = 0;
expandVector(torques, N, activeDOF);
}
