/** * Computed joint actuator forces are stored in inv_dyn_data. */ map<JointPtr, VectorN> RNEAlgorithm::calc_inv_dyn_fixed_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; FILE_LOG(LOG_DYNAMICS) << "RNEAlgorithm::calc_inv_dyn_fixed_base() entered" << endl; // get the reference frame for computation ReferenceFrameType rftype = body->computation_frame_type; // ** STEP 0: compute isolated inertias // get the set of links const vector<RigidBodyPtr>& links = body->get_links(); // get the isolated inertiae Iiso.resize(links.size()); for (unsigned i=1; i< links.size(); i++) { unsigned idx = links[i]->get_index(); Iiso[idx] = links[i]->get_spatial_iso_inertia(rftype); } // ** STEP 1: compute velocities and accelerations // get the base link RigidBodyPtr base = links.front(); // setup the vector of link accelerations vector<SVector6> accels(links.size(), ZEROS_6); // 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(); unsigned idx = link->get_index(); // push all children of the link onto the 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 link's parent RigidBodyPtr parent(link->get_parent_link()); unsigned pidx = parent->get_index(); // get the joint for this link JointPtr joint(link->get_inner_joint_implicit()); // get the spatial link velocity const SVector6& v = link->get_spatial_velocity(rftype); // get the reference to the spatial link acceleration SVector6& a = accels[idx]; // get spatial axes for this link's inner joint const SMatrix6N& s = joint->get_spatial_axes(rftype); // get derivative of the spatial axes for this link's inner joint const SMatrix6N& s_dot = joint->get_spatial_axes_dot(rftype); // get the current joint velocity const VectorN& qd = joint->qd; // **** compute acceleration // get the desired joint acceleration idd_iter = inv_dyn_data.find(link); assert(idd_iter != inv_dyn_data.end()); const VectorN& qdd_des = idd_iter->second.qdd; // add this link's contribution a += SVector6::spatial_cross(v, s.mult(qd)) + s.mult(qdd_des) + s_dot.mult(qd); // now add parent's contribution if (rftype == eGlobal) a += accels[pidx]; else { SpatialTransform X_i_im1 = link->get_spatial_transform_forward(); a += X_i_im1.transform(accels[pidx]); } FILE_LOG(LOG_DYNAMICS) << " computing link velocity / acceleration; processing link " << link->id << endl; FILE_LOG(LOG_DYNAMICS) << " spatial axis: " << s << endl; FILE_LOG(LOG_DYNAMICS) << " spatial joint velocity: " << s.mult(qd) << endl; FILE_LOG(LOG_DYNAMICS) << " link velocity: " << v << endl; FILE_LOG(LOG_DYNAMICS) << " link accel: " << a << endl; } // ** STEP 2: compute link forces -- backward recursion vector<bool> processed(links.size(), false); vector<SVector6> forces(links.size(), SVector6(0,0,0,0,0,0)); // add all leaf links to the queue for (unsigned i=1; i< links.size(); i++) if (links[i]->num_child_links() == 0) link_queue.push(links[i]); // process all links up to, but not including, the base while (!link_queue.empty()) { // get the link off of the front of the queue RigidBodyPtr link = link_queue.front(); link_queue.pop(); unsigned idx = link->get_index(); // if this link has already been processed, do not process it again if (processed[idx]) continue; // if the link is the base, continue the loop if (link->is_base()) continue; // link is not the base; add the parent to the queue for processing RigidBodyPtr parent(link->get_parent_link()); link_queue.push(parent); unsigned pidx = parent->get_index(); // get the forces for this link and this link's parent SVector6& fi = forces[idx]; SVector6& fim1 = forces[pidx]; FILE_LOG(LOG_DYNAMICS) << " computing necessary force; processing link " << link->id << endl; FILE_LOG(LOG_DYNAMICS) << " currently determined link force: " << fi << endl; FILE_LOG(LOG_DYNAMICS) << " I * a = " << (Iiso[idx] * accels[idx]) << endl; // get the spatial velocity for this link const SVector6& v = link->get_spatial_velocity(rftype); // add I*a to the link force fi += Iiso[idx] * accels[idx]; // update the determined force to this link w/Coriolis + centrifugal terms fi += SVector6::spatial_cross(v, Iiso[idx] * v); FILE_LOG(LOG_DYNAMICS) << " force (+ I*a): " << fi << endl; // determine external forces 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)); // subtract external forces in the appropriate frame if (rftype == eGlobal) { SpatialTransform X_0_i = link->get_spatial_transform_link_to_global(); fi -= X_0_i.transform(fx); } else fi -= fx; FILE_LOG(LOG_DYNAMICS) << " force on link after subtracting external force: " << fi << endl; // indicate that this link has been processed processed[idx] = true; // update the parent force, if the parent is not the base if (parent->is_base()) continue; else if (rftype == eGlobal) fim1 += fi; else fim1 += link->get_spatial_transform_backward().transform(fi); } // ** STEP 3: compute joint forces // setup a map from joints to actuator forces map<JointPtr, VectorN> actuator_forces; // compute actuator forces for (unsigned i=1; i< links.size(); i++) { RigidBodyPtr link = links[i]; JointPtr joint(link->get_inner_joint_implicit()); const SMatrix6N& s = joint->get_spatial_axes(rftype); VectorN& Q = actuator_forces[joint]; s.transpose_mult(forces[link->get_index()], Q); FILE_LOG(LOG_DYNAMICS) << "joint " << joint->id << " inner joint force: " << actuator_forces[joint] << endl; } FILE_LOG(LOG_DYNAMICS) << "RNEAlgorithm::calc_inv_dyn_fixed_base() exited" << endl; return actuator_forces; }
/** * \pre Uses joint accelerations computed by forward dynamics, so the * appropriate forward dynamics function must be run first. */ void RNEAlgorithm::calc_constraint_forces(RCArticulatedBodyPtr body) { queue<RigidBodyPtr> link_queue; SMatrix6N s; vector<SpatialRBInertia> Iiso; FILE_LOG(LOG_DYNAMICS) << "RNEAlgorithm::calc_constraint_forces() entered" << endl; // get the reference frame for computation ReferenceFrameType rftype = body->computation_frame_type; // ** STEP 0: compute isolated inertias // get the set of links const vector<RigidBodyPtr>& links = body->get_links(); // get the isolated inertiae Iiso.resize(links.size()); for (unsigned i=1; i< links.size(); i++) { unsigned idx = links[i]->get_index(); Iiso[idx] = links[i]->get_spatial_iso_inertia(rftype); } // ** STEP 1: compute velocities and accelerations // get the base link RigidBodyPtr base = links.front(); // setup the vector of link accelerations vector<SVector6> accels(links.size(), ZEROS_6); // 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); // ** STEP 1: compute link forces -- backward recursion vector<bool> processed(links.size(), false); vector<SVector6> forces(links.size(), ZEROS_6); // add all leaf links to the queue for (unsigned i=1; i< links.size(); i++) if (links[i]->num_child_links() == 0) link_queue.push(links[i]); // process all links up to, but not including, the base while (!link_queue.empty()) { // get the link off of the front of the queue and push all children of the link onto the queue RigidBodyPtr link = link_queue.front(); link_queue.pop(); unsigned idx = link->get_index(); // if this link has already been processed, do not process it again if (processed[idx]) continue; // if the link is the base, continue the loop if (link->is_base()) continue; // link is not the base; add the parent to the queue for processing RigidBodyPtr parent(link->get_parent_link()); link_queue.push(parent); unsigned pidx = parent->get_index(); // get the forces for this link and this link's parent SVector6& fi = forces[idx]; SVector6& fim1 = forces[pidx]; // get this link's acceleration SVector6 a = link->get_spatial_accel(rftype); FILE_LOG(LOG_DYNAMICS) << " computing necessary force; processing link " << link->id << endl; FILE_LOG(LOG_DYNAMICS) << " currently determined link force: " << fi << endl; FILE_LOG(LOG_DYNAMICS) << " I * a = " << (Iiso[idx] * a) << endl; // get the spatial velocity for this link const SVector6& v = link->get_spatial_velocity(rftype); // add I*a to the link force fi += Iiso[idx] * a; // update the determined force to this link w/Coriolis + centrifugal terms fi += SVector6::spatial_cross(v, Iiso[idx] * v); FILE_LOG(LOG_DYNAMICS) << " force (+ I*a): " << fi << endl; // determine external forces in link frame const Vector3& fext = link->sum_forces(); const Vector3& text = link->sum_torques(); const Matrix4& T = link->get_transform(); SVector6 fx(T.transpose_mult_vector(fext), T.transpose_mult_vector(text)); // subtract external forces in the appropriate frame if (rftype == eGlobal) { SpatialTransform X_0_i = link->get_spatial_transform_link_to_global(); fi -= X_0_i.transform(fx); } else fi -= fx; FILE_LOG(LOG_DYNAMICS) << " force on link after subtracting external force: " << fi << endl; // indicate that this link has been processed processed[idx] = true; // update the parent force, if the parent is not the base if (parent->is_base()) continue; else { if (rftype == eGlobal) fim1 += fi; else fim1 += link->get_spatial_transform_backward().transform(fi); } } // ** STEP 2: compute constraint forces // compute actuator forces for (unsigned i=1; i< links.size(); i++) { RigidBodyPtr link = links[i]; JointPtr joint(link->get_inner_joint_implicit()); joint->get_spatial_constraints(rftype, s); s.transpose_mult(forces[link->get_index()], joint->lambda); FILE_LOG(LOG_DYNAMICS) << "joint " << joint->id << " constraint force: " << joint->lambda << endl; } FILE_LOG(LOG_DYNAMICS) << "RNEAlgorithm::calc_constraint_forces() exited" << endl; }