C++ (Cpp) JointModelBase::calc示例

示例#1

文件： rnea.hpp 项目： zamzami/pinocchio

    static void algo(const se3::JointModelBase<JointModel> & jmodel,
		    se3::JointDataBase<typename JointModel::JointData> & jdata,
		    const se3::Model& model,
		    se3::Data& data,
		    const int &i,
		    const Eigen::VectorXd & q,
		    const Eigen::VectorXd & v,
		    const Eigen::VectorXd & a)
    {
      using namespace Eigen;
      using namespace se3;
      
      jmodel.calc(jdata.derived(),q,v);
      
      const Model::Index & parent = model.parents[(Model::Index)i];
      data.liMi[(Model::Index)i] = model.jointPlacements[(Model::Index)i]*jdata.M();
      
      data.v[(Model::Index)i] = jdata.v();
      if(parent>0) data.v[(Model::Index)i] += data.liMi[(Model::Index)i].actInv(data.v[parent]);
      
      data.a_gf[(Model::Index)i] = jdata.S()*jmodel.jointVelocitySelector(a) + jdata.c() + (data.v[(Model::Index)i] ^ jdata.v()) ;
      data.a_gf[(Model::Index)i] += data.liMi[(Model::Index)i].actInv(data.a_gf[parent]);
      
      data.f[(Model::Index)i] = model.inertias[(Model::Index)i]*data.a_gf[(Model::Index)i] + model.inertias[(Model::Index)i].vxiv(data.v[(Model::Index)i]); // -f_ext
    }

示例#2

文件： kinematics.hpp 项目： zamzami/pinocchio

 static void algo(const se3::JointModelBase<JointModel> & jmodel,
                  se3::JointDataBase<typename JointModel::JointData> & jdata,
                  const se3::Model & model,
                  se3::Data & data,
                  const Model::Index i,
                  const Eigen::VectorXd & q,
                  const Eigen::VectorXd & v,
                  const Eigen::VectorXd & a)
 {
   jmodel.calc(jdata.derived(),q,v);
   
   const Model::Index & parent = model.parents[i];
   data.v[i] = jdata.v();
   data.liMi[i] = model.jointPlacements[i] * jdata.M();
   
   if(parent>0)
   {
     data.oMi[i] = data.oMi[parent] * data.liMi[i];
     data.v[i] += data.liMi[i].actInv(data.v[parent]);
   }
   else
     data.oMi[i] = data.liMi[i];
   
   data.a[i]  = jdata.S() * jmodel.jointVelocitySelector(a) + jdata.c() + (data.v[i] ^ jdata.v()) ;
   data.a[i] += data.liMi[i].actInv(data.a[parent]);
 }

示例#3

文件： kinematics.hpp 项目： zamzami/pinocchio

    static void algo(const se3::JointModelBase<JointModel> & jmodel,
		    se3::JointDataBase<typename JointModel::JointData> & jdata,
		    const se3::Model& model,
		    se3::Data& data,
		    const Model::Index i,
		    const Eigen::VectorXd & q,
		    const Eigen::VectorXd & v)
    {
      using namespace Eigen;
      using namespace se3;
      
      jmodel.calc(jdata.derived(),q,v);
      
      const Model::Index & parent = model.parents[i];
      data.v[i] = jdata.v();
      data.liMi[i] = model.jointPlacements[i]*jdata.M();
      
      if(parent>0)
      {
        data.oMi[i] = data.oMi[parent]*data.liMi[i];
        data.v[i] += data.liMi[i].actInv(data.v[parent]);
      }
      else
        data.oMi[i] = data.liMi[i];
    }

示例#4

文件： center-of-mass.hpp 项目： Kevin-Giraud-Esclasse/pinocchio

    static void algo(const se3::JointModelBase<JointModel> & jmodel,
		     se3::JointDataBase<typename JointModel::JointData> & jdata,
		     const se3::Model& model,
		     se3::Data& data,
		     const Eigen::VectorXd & q)
    {
      using namespace Eigen;
      using namespace se3;

      const Model::Index & i      = jmodel.id();
      const Model::Index & parent = model.parents[i];

      jmodel.calc(jdata.derived(),q);
      
      data.liMi[i]      = model.jointPlacements[i]*jdata.M();
      if(parent>0) data.oMi[i] = data.oMi[parent]*data.liMi[i];
      else         data.oMi[i] = data.liMi[i];
      
      data.com[i]   = model.inertias[i].mass()*data.oMi[i].act(model.inertias[i].lever());
      data.mass[i]  = model.inertias[i].mass();
    }

示例#5

文件： center-of-mass.hpp 项目： Kevin-Giraud-Esclasse/pinocchio

    static void algo(const se3::JointModelBase<JointModel> & jmodel,
		     se3::JointDataBase<typename JointModel::JointData> & jdata,
		     const se3::Model& model,
		     se3::Data& data,
		     const Eigen::VectorXd & q,
		     const bool & computeSubtreeComs)
    {
      using namespace Eigen;
      using namespace se3;

      const std::size_t & i      = jmodel.id();
      const std::size_t & parent = model.parents[i];

      jmodel.calc(jdata.derived(),q);
      
      data.liMi[i]      = model.jointPlacements[i]*jdata.M();
      data.com[parent]  += (data.liMi[i].rotation()*data.com[i]
			    +data.mass[i]*data.liMi[i].translation());
      data.mass[parent] += data.mass[i];  

      if( computeSubtreeComs )
	data.com[i] /= data.mass[i]; 
    }

示例#6

文件： non-linear-effects.hpp 项目： Kevin-Giraud-Esclasse/pinocchio

    static void algo(const se3::JointModelBase<JointModel> & jmodel,
		    se3::JointDataBase<typename JointModel::JointData> & jdata,
		    const se3::Model & model,
		    se3::Data & data,
		    const size_t i,
		    const Eigen::VectorXd & q,
		    const Eigen::VectorXd & v)
    {
      using namespace Eigen;
      using namespace se3;
      
      jmodel.calc(jdata.derived(),q,v);
      
      const Model::Index & parent = model.parents[i];
      data.liMi[i] = model.jointPlacements[i]*jdata.M();
      
      data.v[i] = jdata.v();
      if(parent>0) data.v[i] += data.liMi[i].actInv(data.v[(size_t) parent]);
      
      data.a[i]  = jdata.c() + (data.v[i] ^ jdata.v());
      data.a[i] += data.liMi[i].actInv(data.a[(size_t) parent]);
      
      data.f[i] = model.inertias[i]*data.a[i] + model.inertias[i].vxiv(data.v[i]); // -f_ext
    }