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) };
void hrp::calcAccelerationsForInverseDynamics(const hrp::BodyPtr _m_robot, InvDynStateBuffer& _idsb){ for(int i=0;i<_m_robot->numJoints();i++)_idsb.q(i) = _m_robot->joint(i)->q; _idsb.dq = (_idsb.q - _idsb.q_old) / _idsb.DT; _idsb.ddq = (_idsb.q - 2 * _idsb.q_old + _idsb.q_oldold) / (_idsb.DT * _idsb.DT); const hrp::Vector3 g(0, 0, 9.80665); _idsb.base_p = _m_robot->rootLink()->p; _idsb.base_v = (_idsb.base_p - _idsb.base_p_old) / _idsb.DT; _idsb.base_dv = g + (_idsb.base_p - 2 * _idsb.base_p_old + _idsb.base_p_oldold) / (_idsb.DT * _idsb.DT); _idsb.base_R = _m_robot->rootLink()->R; _idsb.base_dR = (_idsb.base_R - _idsb.base_R_old) / _idsb.DT; _idsb.base_w_hat = _idsb.base_dR * _idsb.base_R.transpose(); _idsb.base_w = hrp::Vector3(_idsb.base_w_hat(2,1), - _idsb.base_w_hat(0,2), _idsb.base_w_hat(1,0)); _idsb.base_dw = (_idsb.base_w - _idsb.base_w_old) / _idsb.DT; };