Program Listing for File centroidal.hxx
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//
// Copyright (c) 2015-2023 CNRS INRIA
//
#ifndef __pinocchio_algorithm_centroidal_hxx__
#define __pinocchio_algorithm_centroidal_hxx__
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/spatial/act-on-set.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/check.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
computeCentroidalMomentum(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data)
{
assert(model.check(data) && "data is not consistent with model.");
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef typename Model::JointIndex JointIndex;
for(JointIndex i=1; i<(JointIndex)(model.njoints); ++i)
{
const typename Data::Inertia & Y = model.inertias[i];
data.mass[i] = Y.mass();
data.com[i] = Y.mass() * Y.lever();
data.h[i] = Y * data.v[i];
}
data.mass[0] = 0.; data.com[0].setZero(); data.h[0].setZero();
for(JointIndex i=(JointIndex)(model.njoints-1); i>0; --i)
{
const JointIndex & parent = model.parents[i];
const typename Data::SE3 & liMi = data.liMi[i];
data.mass[parent] += data.mass[i];
data.com[parent] += liMi.rotation()*data.com[i] + data.mass[i]*liMi.translation();
data.h[parent] += data.liMi[i].act(data.h[i]);
}
data.com[0] /= data.mass[0];
data.hg = data.h[0];
data.hg.angular() += data.hg.linear().cross(data.com[0]);
data.vcom[0].noalias() = data.hg.linear()/data.mass[0];
return data.hg;
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Force &
computeCentroidalMomentumTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data)
{
assert(model.check(data) && "data is not consistent with model.");
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef typename Model::JointIndex JointIndex;
for(JointIndex i=1; i<(JointIndex)(model.njoints); ++i)
{
const typename Data::Inertia & Y = model.inertias[i];
data.mass[i] = Y.mass();
data.com[i] = Y.mass() * Y.lever();
data.h[i] = Y * data.v[i];
data.f[i] = Y * data.a[i] + data.v[i].cross(data.h[i]);
}
data.mass[0] = 0.; data.com[0].setZero();
data.h[0].setZero();
data.f[0].setZero();
for(JointIndex i=(JointIndex)(model.njoints-1); i>0; --i)
{
const JointIndex & parent = model.parents[i];
const typename Data::SE3 & liMi = data.liMi[i];
data.mass[parent] += data.mass[i];
data.com[parent] += liMi.rotation()*data.com[i] + data.mass[i]*liMi.translation();
data.h[parent] += data.liMi[i].act(data.h[i]);
data.f[parent] += data.liMi[i].act(data.f[i]);
}
data.com[0] /= data.mass[0];
data.hg = data.h[0];
data.hg.angular() += data.hg.linear().cross(data.com[0]);
data.dhg = data.f[0];
data.dhg.angular() += data.dhg.linear().cross(data.com[0]);
data.vcom[0].noalias() = data.hg.linear()/data.mass[0];
return data.dhg;
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct CcrbaBackwardStep
: public fusion::JointUnaryVisitorBase< CcrbaBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef boost::fusion::vector<const Model &,
Data &
> ArgsType;
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & jmodel,
JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data)
{
typedef typename Model::JointIndex JointIndex;
typedef typename SizeDepType<JointModel::NV>::template ColsReturn<typename Data::Matrix6x>::Type ColsBlock;
const JointIndex & i = jmodel.id();
const JointIndex & parent = model.parents[i];
ColsBlock J_cols = jmodel.jointCols(data.J);
J_cols = data.oMi[i].act(jdata.S());
ColsBlock Ag_cols = jmodel.jointCols(data.Ag);
motionSet::inertiaAction(data.oYcrb[i],J_cols,Ag_cols);
data.oYcrb[parent] += data.oYcrb[i];
}
}; // struct CcrbaBackwardStep
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
ccrba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v)
{
assert(model.check(data) && "data is not consistent with model.");
PINOCCHIO_CHECK_ARGUMENT_SIZE(q.size(), model.nq, "The configuration vector is not of right size");
PINOCCHIO_CHECK_ARGUMENT_SIZE(v.size(), model.nv, "The velocity vector is not of right size");
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef typename Model::JointIndex JointIndex;
forwardKinematics(model, data, q);
data.oYcrb[0].setZero();
for(JointIndex i=1; i<(JointIndex)(model.njoints); ++i)
data.oYcrb[i] = data.oMi[i].act(model.inertias[i]);
typedef CcrbaBackwardStep<Scalar,Options,JointCollectionTpl> Pass2;
for(JointIndex i=(JointIndex)(model.njoints-1); i>0; --i)
{
Pass2::run(model.joints[i],data.joints[i],
typename Pass2::ArgsType(model,data));
}
// Express the centroidal map around the center of mass
data.com[0] = data.oYcrb[0].lever();
typedef Eigen::Block<typename Data::Matrix6x,3,-1> Block3x;
const Block3x Ag_lin = data.Ag.template middleRows<3>(Force::LINEAR);
Block3x Ag_ang = data.Ag.template middleRows<3>(Force::ANGULAR);
for (long i = 0; i<model.nv; ++i)
Ag_ang.col(i) += Ag_lin.col(i).cross(data.com[0]);
data.hg.toVector().noalias() = data.Ag*v;
data.Ig.mass() = data.oYcrb[0].mass();
data.Ig.lever().setZero();
data.Ig.inertia() = data.oYcrb[0].inertia();
return data.Ag;
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
computeCentroidalMap(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q)
{
assert(model.check(data) && "data is not consistent with model.");
PINOCCHIO_CHECK_ARGUMENT_SIZE(q.size(), model.nq, "The configuration vector is not of right size");
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef typename Model::JointIndex JointIndex;
forwardKinematics(model, data, q);
data.oYcrb[0].setZero();
for(JointIndex i=1; i<(JointIndex)(model.njoints); ++i)
data.oYcrb[i] = data.oMi[i].act(model.inertias[i]);
typedef CcrbaBackwardStep<Scalar,Options,JointCollectionTpl> Pass2;
for(JointIndex i=(JointIndex)(model.njoints-1); i>0; --i)
{
Pass2::run(model.joints[i],data.joints[i],
typename Pass2::ArgsType(model,data));
}
// Express the centroidal map around the center of mass
data.com[0] = data.oYcrb[0].lever();
typedef Eigen::Block<typename Data::Matrix6x,3,-1> Block3x;
const Block3x Ag_lin = data.Ag.template middleRows<3>(Force::LINEAR);
Block3x Ag_ang = data.Ag.template middleRows<3>(Force::ANGULAR);
for (long i = 0; i<model.nv; ++i)
Ag_ang.col(i) += Ag_lin.col(i).cross(data.com[0]);
return data.Ag;
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
struct DCcrbaBackwardStep
: public fusion::JointUnaryVisitorBase< DCcrbaBackwardStep<Scalar,Options,JointCollectionTpl> >
{
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef boost::fusion::vector<const Model &,
Data &
> ArgsType;
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & jmodel,
JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data)
{
typedef typename Model::JointIndex JointIndex;
typedef typename Data::Inertia Inertia;
typedef typename SizeDepType<JointModel::NV>::template ColsReturn<typename Data::Matrix6x>::Type ColsBlock;
const JointIndex & i = jmodel.id();
const JointIndex & parent = model.parents[i];
const Inertia & Y = data.oYcrb[i];
const typename Inertia::Matrix6 & doYcrb = data.doYcrb[i];
ColsBlock J_cols = jmodel.jointCols(data.J);
J_cols = data.oMi[i].act(jdata.S());
ColsBlock dJ_cols = jmodel.jointCols(data.dJ);
motionSet::motionAction(data.ov[i],J_cols,dJ_cols);
data.oYcrb[parent] += Y;
if(parent > 0)
data.doYcrb[parent] += doYcrb;
// Calc Ag
ColsBlock Ag_cols = jmodel.jointCols(data.Ag);
motionSet::inertiaAction(Y,J_cols,Ag_cols);
// Calc dAg = Ivx + vxI
ColsBlock dAg_cols = jmodel.jointCols(data.dAg);
dAg_cols.noalias() = doYcrb * J_cols;
motionSet::inertiaAction<ADDTO>(Y,dJ_cols,dAg_cols);
}
}; // struct DCcrbaBackwardStep
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
dccrba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v)
{
assert(model.check(data) && "data is not consistent with model.");
PINOCCHIO_CHECK_ARGUMENT_SIZE(q.size(), model.nq, "The configuration vector is not of right size");
PINOCCHIO_CHECK_ARGUMENT_SIZE(v.size(), model.nv, "The velocity vector is not of right size");
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef typename Model::JointIndex JointIndex;
forwardKinematics(model,data,q,v);
data.oYcrb[0].setZero();
for(JointIndex i=1; i<(JointIndex)(model.njoints); ++i)
{
data.oYcrb[i] = data.oMi[i].act(model.inertias[i]);
data.ov[i] = data.oMi[i].act(data.v[i]); // v_i expressed in the world frame
data.doYcrb[i] = data.oYcrb[i].variation(data.ov[i]);
}
typedef DCcrbaBackwardStep<Scalar,Options,JointCollectionTpl> Pass2;
for(JointIndex i=(JointIndex)(model.njoints-1); i>0; --i)
{
Pass2::run(model.joints[i],data.joints[i],
typename Pass2::ArgsType(model,data));
}
// Express the centroidal map around the center of mass
data.com[0] = data.oYcrb[0].lever();
typedef Eigen::Block<typename Data::Matrix6x,3,-1> Block3x;
const Block3x Ag_lin = data.Ag.template middleRows<3> (Force::LINEAR);
Block3x Ag_ang = data.Ag.template middleRows<3> (Force::ANGULAR);
for(Eigen::DenseIndex i = 0; i<model.nv; ++i)
Ag_ang.col(i) += Ag_lin.col(i).cross(data.com[0]);
data.hg.toVector().noalias() = data.Ag*v;
data.vcom[0].noalias() = data.hg.linear()/data.oYcrb[0].mass();
const Block3x dAg_lin = data.dAg.template middleRows<3>(Force::LINEAR);
Block3x dAg_ang = data.dAg.template middleRows<3>(Force::ANGULAR);
for(Eigen::DenseIndex i = 0; i<model.nv; ++i)
dAg_ang.col(i) += dAg_lin.col(i).cross(data.com[0]) + Ag_lin.col(i).cross(data.vcom[0]);
data.Ig.mass() = data.oYcrb[0].mass();
data.Ig.lever().setZero();
data.Ig.inertia() = data.oYcrb[0].inertia();
return data.dAg;
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
computeCentroidalMapTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v)
{
assert(model.check(data) && "data is not consistent with model.");
PINOCCHIO_CHECK_ARGUMENT_SIZE(q.size(), model.nq, "The configuration vector is not of right size");
PINOCCHIO_CHECK_ARGUMENT_SIZE(v.size(), model.nv, "The velocity vector is not of right size");
typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
typedef DataTpl<Scalar,Options,JointCollectionTpl> Data;
typedef typename Model::JointIndex JointIndex;
forwardKinematics(model,data,q,v);
data.oYcrb[0].setZero();
for(JointIndex i=1; i<(JointIndex)(model.njoints); ++i)
{
data.oYcrb[i] = data.oMi[i].act(model.inertias[i]);
data.ov[i] = data.oMi[i].act(data.v[i]); // v_i expressed in the world frame
data.doYcrb[i] = data.oYcrb[i].variation(data.ov[i]);
}
typedef DCcrbaBackwardStep<Scalar,Options,JointCollectionTpl> Pass2;
for(JointIndex i=(JointIndex)(model.njoints-1); i>0; --i)
{
Pass2::run(model.joints[i],data.joints[i],
typename Pass2::ArgsType(model,data));
}
// Express the centroidal map around the center of mass
data.com[0] = data.oYcrb[0].lever();
typedef Eigen::Block<typename Data::Matrix6x,3,-1> Block3x;
const Block3x Ag_lin = data.Ag.template middleRows<3> (Force::LINEAR);
Block3x Ag_ang = data.Ag.template middleRows<3> (Force::ANGULAR);
for(Eigen::DenseIndex i = 0; i<model.nv; ++i)
Ag_ang.col(i) += Ag_lin.col(i).cross(data.com[0]);
// Express the centroidal time derivative map around the center of mass
const Block3x dAg_lin = data.dAg.template middleRows<3>(Force::LINEAR);
Block3x dAg_ang = data.dAg.template middleRows<3>(Force::ANGULAR);
for(Eigen::DenseIndex i = 0; i<model.nv; ++i)
{
dAg_ang.col(i) += dAg_lin.col(i).cross(data.com[0]) + Ag_lin.col(i).cross(data.vcom[0]);
}
return data.dAg;
}
} // namespace pinocchio
#endif // ifndef __pinocchio_algorithm_centroidal_hxx__