示例#1
0
文件: IDIM.cpp 项目: bchretien/RBDyn
Eigen::VectorXd multiBodyToInertialVector(const rbd::MultiBody& mb)
{
	Eigen::VectorXd vec(mb.nrBodies()*10, 1);
	for(int i = 0; i < mb.nrBodies(); ++i)
	{
		vec.segment(i*10, 10).noalias() = inertiaToVector(mb.body(i).inertia());
	}
	return vec;
}
示例#2
0
void checkMultiBodyEq(const rbd::MultiBody& mb, std::vector<rbd::Body> bodies,
	std::vector<rbd::Joint> joints, std::vector<int> pred, std::vector<int> succ,
	std::vector<int> parent,
	std::vector<sva::PTransformd> Xt)
{
	// bodies
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.bodies().begin(), mb.bodies().end(),
					bodies.begin(), bodies.end());
	// joints
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.joints().begin(), mb.joints().end(),
					joints.begin(), joints.end());
	// pred
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.predecessors().begin(), mb.predecessors().end(),
					pred.begin(), pred.end());
	// succ
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.successors().begin(), mb.successors().end(),
					succ.begin(), succ.end());
	// parent
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.parents().begin(), mb.parents().end(),
					parent.begin(), parent.end());

	// Xt
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.transforms().begin(),
		mb.transforms().end(),
		Xt.begin(), Xt.end());

	// nrBodies
	BOOST_CHECK_EQUAL(mb.nrBodies(), bodies.size());
	// nrJoints
	BOOST_CHECK_EQUAL(mb.nrJoints(), bodies.size());

	int params = 0, dof = 0;
	for(int i = 0; i < static_cast<int>(joints.size()); ++i)
	{
		BOOST_CHECK_EQUAL(mb.jointPosInParam(i), params);
		BOOST_CHECK_EQUAL(mb.jointsPosInParam()[i], params);
		BOOST_CHECK_EQUAL(mb.sJointPosInParam(i), params);

		BOOST_CHECK_EQUAL(mb.jointPosInDof(i), dof);
		BOOST_CHECK_EQUAL(mb.jointsPosInDof()[i], dof);
		BOOST_CHECK_EQUAL(mb.sJointPosInDof(i), dof);

		params += joints[i].params();
		dof += joints[i].dof();
	}

	BOOST_CHECK_EQUAL(params, mb.nrParams());
	BOOST_CHECK_EQUAL(dof, mb.nrDof());

	BOOST_CHECK_THROW(mb.sJointPosInParam(mb.nrJoints()), std::out_of_range);
	BOOST_CHECK_THROW(mb.sJointPosInDof(mb.nrJoints()), std::out_of_range);
}
示例#3
0
void QPSolver::nrVars(const rbd::MultiBody& mb,
	std::vector<UnilateralContact> uni,
	std::vector<BilateralContact> bi)
{
	data_.normalAccB_.resize(mb.nrBodies());
	data_.alphaD_ = mb.nrDof();
	data_.lambda_ = 0;
	data_.torque_ = (mb.nrDof() - mb.joint(0).dof());
	data_.uniCont_ = uni;
	data_.biCont_ = bi;

	// counting unilateral contact
	for(const UnilateralContact& c: data_.uniCont_)
	{
		for(std::size_t i = 0; i < c.points.size(); ++i)
		{
			data_.lambda_ += c.nrLambda(int(i));
		}
	}
	data_.lambdaUni_ = data_.lambda_;

	// counting bilateral contact
	for(const BilateralContact& c: data_.biCont_)
	{
		for(std::size_t i = 0; i < c.points.size(); ++i)
		{
			data_.lambda_ += c.nrLambda(int(i));
		}
	}
	data_.lambdaBi_ = data_.lambda_ - data_.lambdaUni_;

	data_.nrVars_ = data_.alphaD_ + data_.lambda_;

	for(Task* t: tasks_)
	{
		t->updateNrVars(mb, data_);
	}

	for(Constraint* c: constr_)
	{
		c->updateNrVars(mb, data_);
	}

	solver_->updateSize(data_.nrVars_, maxEqLines_, maxInEqLines_, maxGenInEqLines_);
}
示例#4
0
	NormalAccCoMUpdater(const rbd::MultiBody& mb):
		normalAccB(mb.nrBodies())
	{}
示例#5
0
文件: IDIM.cpp 项目: bchretien/RBDyn
IDIM::IDIM(const rbd::MultiBody& mb):
	Y_(Eigen::MatrixXd::Zero(mb.nrDof(), mb.nrBodies()*10))
{ }