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;
};