void IDIM::computeY(const MultiBody& mb, const MultiBodyConfig& mbc)
{
const std::vector<Body>& bodies = mb.bodies();
const std::vector<Joint>& joints = mb.joints();
const std::vector<int>& pred = mb.predecessors();
Eigen::Matrix<double, 6, 10> bodyFPhi;
for(int i = static_cast<int>(bodies.size()) - 1; i >= 0; --i)
{
const sva::MotionVecd& vb_i = mbc.bodyVelB[i];
Eigen::Matrix<double, 6, 10> vb_i_Phi(IMPhi(vb_i));
bodyFPhi.noalias() = IMPhi(mbc.bodyAccB[i]);
// bodyFPhi += vb_i x* IMPhi(vb_i)
// is faster to convert each col in a ForceVecd
// than using sva::vector6ToCrossDualMatrix
for(int c = 0; c < 10; ++c)
{
bodyFPhi.col(c).noalias() +=
(vb_i.crossDual(sva::ForceVecd(vb_i_Phi.col(c)))).vector();
}
int iDofPos = mb.jointPosInDof(i);
Y_.block(iDofPos, i*10, joints[i].dof(), 10).noalias() =
mbc.motionSubspace[i].transpose()*bodyFPhi;
int j = i;
while(pred[j] != -1)
{
const sva::PTransformd& X_p_j = mbc.parentToSon[j];
// bodyFPhi = X_p_j^T bodyFPhi
// is faster to convert each col in a ForceVecd
// than using X_p_j.inv().dualMatrix()
for(int c = 0; c < 10; ++c)
{
bodyFPhi.col(c) =
X_p_j.transMul(sva::ForceVecd(bodyFPhi.col(c))).vector();
}
j = pred[j];
int jDofPos = mb.jointPosInDof(j);
if(joints[j].dof() != 0)
{
Y_.block(jDofPos, i*10, joints[j].dof(), 10).noalias() =
mbc.motionSubspace[j].transpose()*bodyFPhi;
}
}
}
}
void forwardKinematics(const MultiBody& mb, MultiBodyConfig& mbc)
{
const std::vector<Joint>& joints = mb.joints();
const std::vector<int>& pred = mb.predecessors();
const std::vector<int>& succ = mb.successors();
const std::vector<sva::PTransformd>& Xt = mb.transforms();
for(std::size_t i = 0; i < joints.size(); ++i)
{
mbc.jointConfig[i] = joints[i].pose(mbc.q[i]);
mbc.parentToSon[i] = mbc.jointConfig[i]*Xt[i];
if(pred[i] != -1)
mbc.bodyPosW[succ[i]] = mbc.parentToSon[i]*mbc.bodyPosW[pred[i]];
else
mbc.bodyPosW[succ[i]] = mbc.parentToSon[i];
}
}
InverseKinematics::InverseKinematics(const MultiBody& mb, int ef_index):
max_iterations_(ik::MAX_ITERATIONS),
lambda_(ik::LAMBDA),
threshold_(ik::THRESHOLD),
almost_zero_(ik::ALMOST_ZERO),
ef_index_(ef_index),
jac_(mb, mb.body(ef_index).name()),
svd_()
{
}
void forwardAcceleration(const MultiBody& mb, MultiBodyConfig& mbc,
const sva::MotionVecd& A_0)
{
const std::vector<Joint>& joints = mb.joints();
const std::vector<int>& pred = mb.predecessors();
const std::vector<int>& succ = mb.successors();
for(std::size_t i = 0; i < joints.size(); ++i)
{
const sva::PTransformd& X_p_i = mbc.parentToSon[i];
const sva::MotionVecd& vj_i = mbc.jointVelocity[i];
sva::MotionVecd ai_tan = joints[i].tanAccel(mbc.alphaD[i]);
const sva::MotionVecd& vb_i = mbc.bodyVelB[i];
if(pred[i] != -1)
mbc.bodyAccB[succ[i]] = X_p_i*mbc.bodyAccB[pred[i]] + ai_tan + vb_i.cross(vj_i);
else
mbc.bodyAccB[succ[i]] = X_p_i*A_0 + ai_tan + vb_i.cross(vj_i);
}
}
void forwardVelocity(const MultiBody& mb, MultiBodyConfig& mbc)
{
const std::vector<Joint>& joints = mb.joints();
const std::vector<int>& pred = mb.predecessors();
const std::vector<int>& succ = mb.successors();
for(std::size_t i = 0; i < joints.size(); ++i)
{
const sva::PTransformd& X_p_i = mbc.parentToSon[i];
mbc.jointVelocity[i] = joints[i].motion(mbc.alpha[i]);
mbc.motionSubspace[i] = joints[i].motionSubspace();
if(pred[i] != -1)
mbc.bodyVelB[succ[i]] = X_p_i*mbc.bodyVelB[pred[i]] + mbc.jointVelocity[i];
else
mbc.bodyVelB[succ[i]] = mbc.jointVelocity[i];
sva::PTransformd E_0_i(mbc.bodyPosW[succ[i]].rotation());
mbc.bodyVelW[succ[i]] = E_0_i.invMul(mbc.bodyVelB[succ[i]]);
}
}
int createRobot(const std::string & fileName, const std::string & robotName, bool useFingers)
{
std::cout << std::endl << " ** Creating the model for "<< fileName <<" ** useFingers " << useFingers << std::endl;
cleanupStaticData();
DECLARE_IFSTREAM(file_wrl, ("../data/"+robotName+"/VRMLmain.wrl").c_str());
DECLARE_IFSTREAM(file_jointLimits, ("../data/"+robotName+"/jointLimits.dat").c_str());
DECLARE_IFSTREAM(file_torqueLimits, ("../data/"+robotName+"/torqueLimits.dat").c_str());
DECLARE_IFSTREAM(file_TagToBody, ("../data/"+robotName+"/tag_to_bodyname.txt").c_str());
// if the wrml file is not found, stop right there.
if (!file_wrl)
return 1;
//parsing
MultiBody * mb = new MultiBody(robotName);
mb->isRomeo_ = (robotName.size() > 5 && robotName.substr(0,5) == "romeo");
mb->parseWRL(file_wrl);
if(file_jointLimits)
mb->parseJointLimits(file_jointLimits);
if(file_torqueLimits)
mb->parseTorqueLimits(file_torqueLimits);
if(file_TagToBody)
mb->parseTags(file_TagToBody);
loadFeetData(fileName, mb);
// Finalize the parsing
//update the outer - inner body
int numJoints = mb->nbJoints();
for (int i=0; i<numJoints; ++i)
{
bool valid = true;
std::map<int,Joint*>::iterator it = mb->jointMap_.find(i);
Joint* j = it->second;
assert(j!=0x0 && "Null joint");
// update the inner, outer body info with the ids
std::map<std::string,int>::iterator itb = Body::bodyNameToId_.find(j->innerBodyName_);
if ( itb != Body::bodyNameToId_.end() )
j->innerBodyId_=itb->second;
else
{
j->innerBodyId_= -1;
std::cerr << "Unable to find inner body " << j->innerBodyName_ << " for the joint " << j->name_ << std::endl;
}
std::map<std::string,int>::iterator it2 = Body::bodyNameToId_.find(j->outerBodyName_);
if ( it2 != Body::bodyNameToId_.end() )
j->outerBodyId_=it2->second;
else
{
j->outerBodyId_= -1;
std::cerr << "Unable to find outer body " << j->outerBodyName_ << " for the joint " << j->name_ << std::endl;
}
// check existence of inner Body
if (mb->bodyMap_.find(j->innerBodyId_) != mb->bodyMap_.end() )
{
j->innerBody_ = mb->bodyMap_[j->innerBodyId_];
mb->bodyMap_[j->innerBodyId_]->outerJointList_.push_back(j);
}
else
valid = false;
// check existence of outer Body
if (mb->bodyMap_.find(j->outerBodyId_) != mb->bodyMap_.end() )
j->outerBody_ = mb->bodyMap_[j->outerBodyId_];
else
valid = false;
// if the joint is not valid, remove it
if ( valid == false )
{
std::cerr << "/!\\ The joint " << j->name_ << " cannot be considered as valid "
<< "(in: " << j->innerBodyId_ << ",out: " << j->outerBodyId_ << ")" << std::endl;
mb->jointMap_.erase(i);
}
}
// What do we do with the fingers?
std::map<int,Joint*>::iterator it;
for(it = mb->jointMap_.begin(); it != mb->jointMap_.end(); )
{
// if the id is negative (unofficial joint, we add it at the end
// after the other joints.
if (it->first < 0)
{
Joint * joint = it->second;
int idInit = joint->id_;
joint->id_ = Joint::jointGlobalId_ - idInit;
Joint::jointNameToId_[joint->name_] = joint->id_;
mb->jointMap_[joint->id_] = joint;
++it;
if (! useFingers)
joint->type_ = "fixed";
mb->jointMap_.erase(idInit);
}
else
{
++it;
}
}
// write data for amelif.
std::string amelifFolder (robotName+"_af/data/");
writeAmelif(mb, amelifFolder, fileName, robotName);
// write data for Humans.
std::string mapleFolder = (robotName+"_maple/src/MapleCodeGeneration/");
writeMaple(mb, mapleFolder, robotName, useFingers);
// write data for the sot.
string openHRPFolder(robotName+"_sot/data/");
writeOpenHRP(mb, openHRPFolder, fileName, robotName, useFingers);
// write data for the sot.
string urdfFolder(robotName+"_urdf/"+robotName+"_description/");
writeRos(mb, urdfFolder, fileName, robotName);
delete mb;
return 0;
}
