id.cpp

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/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * The University of Tokyo
 */
/*
 * id.cpp
 * Create: Katsu Yamane, Univ. of Tokyo, 03.08.29
 */
 
#include "chain.h"
 
void Chain::InvDyn(fVec& tau)
{
        CalcAcceleration();
        root->inv_dyn();
        root->calc_joint_force(tau);
}
 
void Joint::inv_dyn()
{
        inv_dyn_1();
        child->inv_dyn();
        brother->inv_dyn();
        inv_dyn_2();
        //      cerr << name << ": force = " << joint_f << joint_n << endl;
}
 
void Joint::inv_dyn_1()
{
        // compute total force around com
        static fVec3 v1, v2;
        total_f.mul(mass, loc_com_acc);
        v1.mul(inertia, loc_ang_vel);
        v2.cross(loc_ang_vel, v1);
        total_n.mul(inertia, loc_ang_acc);
        total_n += v2;
 
        joint_f.zero();
        joint_n.zero();
}
 
void Joint::inv_dyn_2()
{
        static fVec3 v1;
        joint_f += total_f;
        joint_n += total_n;
        v1.cross(loc_com, joint_f);
        joint_n += v1;
        // external force/moment
        joint_f -= ext_force;
        joint_n -= ext_moment;
//      cout << name << ": joint_f = " << joint_f << ", joint_n = " << joint_n << endl;
        if(parent)
        {
                // force
                v1.mul(rel_att, joint_f);
                parent->joint_f += v1;
                // moment
                v1.mul(rel_att, joint_n);
                parent->joint_n += v1;
                static fVec3 p, f;
                f.mul(rel_att, joint_f);
                p.sub(parent->loc_com, rel_pos);
                v1.cross(p, f);
                parent->joint_n -= v1;
        }
}
 
void Joint::calc_joint_force(fVec& tau)
{
        double t;
//      cerr << name << ": force = " << joint_f << joint_n << endl;
        if(i_dof >= 0)
        {
                switch(j_type)
                {
                case JROTATE:
                        t = axis * joint_n;
                        tau(i_dof) = t;
                        break;
                case JSLIDE:
                        t = axis * joint_f;
                        tau(i_dof) = t;
                        break;
                case JSPHERE:
                        tau(i_dof+0) = joint_n(0);
                        tau(i_dof+1) = joint_n(1);
                        tau(i_dof+2) = joint_n(2);
                        break;
                case JFREE:
                        tau(i_dof+0) = joint_f(0);
                        tau(i_dof+1) = joint_f(1);
                        tau(i_dof+2) = joint_f(2);
                        tau(i_dof+3) = joint_n(0);
                        tau(i_dof+4) = joint_n(1);
                        tau(i_dof+5) = joint_n(2);
                        break;
                default:
                        break;
                }
        }
        child->calc_joint_force(tau);
        brother->calc_joint_force(tau);
}