/// Gets the spatial constraints for this joint SMatrix6N& Joint::get_spatial_constraints(ReferenceFrameType rftype, SMatrix6N& s) { const unsigned X = 0, Y = 1, Z = 2; Real Cq[7]; // get the outboard link and its orientation quaternion RigidBodyPtr outboard = get_outboard_link(); assert(outboard); const Quat& q = outboard->get_orientation(); // resize the spatial constraint matrix s.resize(6, num_constraint_eqns()); // calculate the constraint Jacobian in relation to the outboard link for (unsigned i=0; i< num_constraint_eqns(); i++) { // calculate the constraint Jacobian calc_constraint_jacobian_rodrigues(outboard, i, Cq); // convert the differential quaternion constraints to an angular velocity // representation Vector3 omega = q.G_mult(Cq[3], Cq[4], Cq[5], Cq[6]) * (Real) 0.5; // setup the column of the constraint Jacobian s(0,i) = omega[X]; s(1,i) = omega[Y]; s(2,i) = omega[Z]; s(3,i) = Cq[X]; s(4,i) = Cq[Y]; s(5,i) = Cq[Z]; } // TODO: this should be in link-global frame -- fix this! assert(false); // convert to link frame if necessary (constraints computed in global frame) if (rftype == eLink) { SpatialTransform Xi0 = outboard->get_spatial_transform_global_to_link(); for (unsigned i=0; i< num_constraint_eqns(); i++) { SVector6 scol = s.get_column(i); scol = Xi0.transform(scol); s.set_column(i, scol); } } return s; }
/** * \param inv_dyn_data a mapping from links to the external forces (and * torques) applied to them and to the desired inner joint * accelerations; note that all links in the robot should be included * in this map (even the base link, although inner joint acceleration * is not applicable in that case and will be ignored for it) * \return a mapping from joints to actuator forces */ map<JointPtr, VectorN> RNEAlgorithm::calc_inv_dyn_floating_base(RCArticulatedBodyPtr body, const map<RigidBodyPtr, RCArticulatedBodyInvDynData>& inv_dyn_data) const { queue<RigidBodyPtr> link_queue; map<RigidBodyPtr, RCArticulatedBodyInvDynData>::const_iterator idd_iter; vector<SpatialRBInertia> Iiso, I; vector<SVector6> Z, v, a; FILE_LOG(LOG_DYNAMICS) << "RNEAlgorithm::calc_inv_dyn_floating_base() entered" << endl; // get the reference frame type ReferenceFrameType rftype = body->computation_frame_type; // get the set of links const vector<RigidBodyPtr>& links = body->get_links(); // ** STEP 0: compute isolated inertias // get the isolated inertiae Iiso.resize(links.size()); for (unsigned i=0; i< links.size(); i++) { unsigned idx = links[i]->get_index(); Iiso[idx] = links[i]->get_spatial_iso_inertia(rftype); } // ** STEP 1: compute velocities and relative accelerations // set all desired velocities and accelerations (latter relative to the base) // to zero initially v.resize(links.size()); a.resize(links.size()); for (unsigned i=0; i< links.size(); i++) v[i] = a[i] = ZEROS_6; // get the base link RigidBodyPtr base = links.front(); // set velocity for the base v.front() = base->get_spatial_velocity(rftype); // add all child links of the base to the processing queue list<RigidBodyPtr> child_links; base->get_child_links(std::back_inserter(child_links)); BOOST_FOREACH(RigidBodyPtr rb, child_links) link_queue.push(rb); // process all links while (!link_queue.empty()) { // get the link off of the front of the queue RigidBodyPtr link = link_queue.front(); link_queue.pop(); // add all child links of the link to the processing queue child_links.clear(); link->get_child_links(std::back_inserter(child_links)); BOOST_FOREACH(RigidBodyPtr rb, child_links) link_queue.push(rb); // get the parent link RigidBodyPtr parent(link->get_parent_link()); // get the index of this link and its parent unsigned i = link->get_index(); unsigned im1 = parent->get_index(); // get the spatial axes (and derivative) of this link's inner joint JointPtr joint(link->get_inner_joint_implicit()); const SMatrix6N& s = joint->get_spatial_axes(rftype); const SMatrix6N& s_dot = joint->get_spatial_axes_dot(rftype); // compute s * qdot SVector6 sqd = s.mult(joint->qd); // get the desired acceleration for the current link idd_iter = inv_dyn_data.find(link); assert(idd_iter != inv_dyn_data.end()); const VectorN& qdd_des = idd_iter->second.qdd; // compute velocity and relative acceleration v[i] = v[im1] + sqd; a[i] = a[im1] + s.mult(qdd_des) + s_dot.mult(joint->qd) + SVector6::spatial_cross(v[i], sqd); FILE_LOG(LOG_DYNAMICS) << " s: " << s << endl; FILE_LOG(LOG_DYNAMICS) << " velocity for link " << links[i]->id << ": " << v[i] << endl; FILE_LOG(LOG_DYNAMICS) << " s * qdd: " << s.mult(qdd_des) << endl; FILE_LOG(LOG_DYNAMICS) << " v x s * qd: " << SVector6::spatial_cross(v[i], sqd) << endl; FILE_LOG(LOG_DYNAMICS) << " relative accel for link " << links[i]->id << ": " << a[i] << endl; } // ** STEP 2: compute composite inertias and Z.A. forces // resize vectors of spatial inertias and Z.A. vectors I.resize(links.size()); Z.resize(links.size()); // zero out I and Z for (unsigned i=0; i< links.size(); i++) { I[i].set_zero(); Z[i] = ZEROS_6; } // set all spatial isolated inertias and Z.A. forces for (unsigned i=0; i< links.size(); i++) { // get the i'th link RigidBodyPtr link = links[i]; unsigned idx = link->get_index(); // add the spatial isolated inertia for this link to the composite inertia I[idx] += Iiso[idx]; // setup forces due to (relative) acceleration on link Z[idx] = Iiso[idx] * a[idx]; // add coriolis and centrifugal forces on link Z[idx] += SVector6::spatial_cross(v[i], Iiso[idx] * v[idx]); // determine external forces on the link in link frame idd_iter = inv_dyn_data.find(link); assert(idd_iter != inv_dyn_data.end()); const Vector3& fext = idd_iter->second.fext; const Vector3& text = idd_iter->second.text; const Matrix4& T = link->get_transform(); SVector6 fx(T.transpose_mult_vector(fext), T.transpose_mult_vector(text)); // transform external forces and subtract from Z.A. vector SpatialTransform X_0_i = link->get_spatial_transform_link_to_global(); Z[idx] -= X_0_i.transform(fx); FILE_LOG(LOG_DYNAMICS) << " -- processing link " << link->id << endl; FILE_LOG(LOG_DYNAMICS) << " external force / torque: " << fext << " / " << text << endl; FILE_LOG(LOG_DYNAMICS) << " ZA vector: " << Z[idx] << endl; FILE_LOG(LOG_DYNAMICS) << " isolated spatial-inertia: " << endl << Iiso[idx]; } // *** compute composite inertias and zero acceleration vectors // setup vector that indicates when links have been processed vector<bool> processed(links.size(), false); // put all leaf links into the queue for (unsigned i=0; i< links.size(); i++) if (links[i]->num_child_links() == 0) link_queue.push(links[i]); // process all links while (!link_queue.empty()) { // get the link off of the front of the queue RigidBodyPtr link = link_queue.front(); link_queue.pop(); // get the index for this link unsigned i = link->get_index(); // see whether this link has already been processed if (processed[i]) continue; // process the parent link, if possible RigidBodyPtr parent(link->get_parent_link()); if (parent) { // put the parent on the queue link_queue.push(parent); // get the parent index unsigned im1 = parent->get_index(); // add this inertia and Z.A. force to its parent I[im1] += I[i]; Z[im1] += Z[i]; // indicate that the link has been processed processed[i] = true; } } // ** STEP 3: compute base acceleration a.front() = I.front().inverse_mult(-Z.front()); SpatialTransform X_i_0 = base->get_spatial_transform_global_to_link(); FILE_LOG(LOG_DYNAMICS) << " Composite inertia for the base: " << endl << I.front(); FILE_LOG(LOG_DYNAMICS) << " ZA vector for the base (link frame): " << X_i_0.transform(Z.front()) << endl; FILE_LOG(LOG_DYNAMICS) << " Determined base acceleration (link frame): " << X_i_0.transform(a.front()) << endl; // ** STEP 4: compute joint forces // setup the map of actuator forces map<JointPtr, VectorN> actuator_forces; // compute the forces for (unsigned i=1; i< links.size(); i++) { unsigned idx = links[i]->get_index(); JointPtr joint(links[i]->get_inner_joint_implicit()); const SMatrix6N& s = joint->get_spatial_axes(rftype); VectorN& Q = actuator_forces[joint]; s.transpose_mult((I[idx] * a.front()) + Z[idx], Q); FILE_LOG(LOG_DYNAMICS) << " processing link: " << links[i]->id << endl; FILE_LOG(LOG_DYNAMICS) << " spatial axis: " << endl << s; FILE_LOG(LOG_DYNAMICS) << " I: " << endl << I[idx]; FILE_LOG(LOG_DYNAMICS) << " Z: " << endl << Z[idx]; FILE_LOG(LOG_DYNAMICS) << " actuator force: " << actuator_forces[joint] << endl; } FILE_LOG(LOG_DYNAMICS) << "RNEAlgorithm::calc_inv_dyn_floating_base() exited" << endl; return actuator_forces; }