int _setJointAngles (double* ja)
{
for ( int i = 0; i < m_robot->numJoints(); i++ ) {
m_robot->joint(i)->q = ja[i];
}
m_robot->calcForwardKinematics();
return 0;
}
void hrp::calcRootLinkWrenchFromInverseDynamics(hrp::BodyPtr _m_robot, InvDynStateBuffer& _idsb, hrp::Vector3& _f_ans, hrp::Vector3& _t_ans){
for(int i=0;i<_m_robot->numJoints();i++){
_m_robot->joint(i)->dq = _idsb.dq(i);
_m_robot->joint(i)->ddq = _idsb.ddq(i);
}
_m_robot->rootLink()->vo = _idsb.base_v - _idsb.base_w.cross(_idsb.base_p);
_m_robot->rootLink()->dvo = _idsb.base_dv - _idsb.base_dw.cross(_idsb.base_p) - _idsb.base_w.cross(_idsb.base_v); // calc in differential way
_m_robot->rootLink()->w = _idsb.base_w;
_m_robot->rootLink()->dw = _idsb.base_dw;
_m_robot->calcForwardKinematics(true,true);// calc every link's acc and vel
_m_robot->calcInverseDynamics(_m_robot->rootLink(), _f_ans, _t_ans);// this returns f,t at the coordinate origin (not at base link pos)
};