Main class for forward dynamics computation. More...

#include <psim.h>

Inheritance diagram for pSim:

Public Member Functions
int	AutoSchedule (int max_procs)
	Automatic scheduling for `max_procs` processors. More...

virtual void	Clear ()

int	ConstraintForces (fVec &cf)
	Extract the constraint forces. More...

void	DumpSchedule (ostream &ost)
	Dump the schedule information to `ost`. More...

void	GetPJoint (Joint _joint, pJoint _pjoints[2])

int	NumLeaves ()

	pSim ()
	Default constructor. More...

int	Schedule ()
	Creates default schedule, which is optimized for serial computation. More...

int	Schedule (Joint **joints)
	Creates a schedule that assembles the chain in the specified order of joints. More...

int	ScheduleDepth ()

int	TotalCost ()
	Approximate indicators of total computational cost. More...

int	Update ()
	Compute joint accelerations. More...

int	Update (double timestep, std::vector< class SDContactPair *> &sdContactPairs)
	Compute joint accelerations and contact forces. More...

	~pSim ()

Public Member Functions inherited from Chain
void	add_scale_object (const scale_object &_s)

int	AddJoint (Joint target, Joint p)
	Add a new joint `target` as a child of joint `p`. More...

int	AddJoint (Joint target, const char parent_name, const char *charname=0)
	Add a new joint `target` as a child of joint with name `parent_name`. More...

Joint *	AddJoint (JointData joint_data, const char charname=0)
	Create and add a joint using `JointData` structure. More...

Joint *	AddRoot (const char *name=0, const fVec3 &grav=fVec3(0.0, 0.0, 9.8))
	Add the (unique) root joint. More...

int	AddRoot (Joint *r)
	Add the (unique) root joint. More...

void	ApplyGeomScale (SceneGraph *sg)

int	BeginCreateChain (int append=false)
	Indicates begining of creating a kinematic chain. More...

void	CalcAcceleration ()

void	CalcPosition ()
	Forward kinematics. More...

void	CalcVelocity ()

	Chain ()

void	clear_scale_object_list ()

int	ClearExtForce ()
	Clear the external forces/torques. More...

int	ClearJointForce ()
	Clear the joint forces/torques. More...

double	ComJacobian (fMat &J, fVec3 &com, const char *chname=0)
	Computes the com Jacobian. More...

int	Connect (Joint virtual_joint, Joint parent_joint)
	Connect two links by adding a new virtual joint. More...

int	CreateParallel (int num_char, const char prmname, const char charname, const fVec3 &init_pos=0.0, const fMat33 &init_att=1.0, const fVec3 &pos_offset=0.0, const fMat33 &att_offset=1.0, int init_num=0)
	Automatically generate multiple identical chains. More...

int	CreateSerial (int num_joint, const JointData &joint_data, const char charname=0, Joint parent_joint=0)
	Automatically generate a serial chain. More...

int	Disconnect (Joint *j)
	Disconnect the loop at the specified virtual joint. More...

int	EndCreateChain (SceneGraph *sg=NULL)
	End editing a chain. More...

Joint *	FindCharacterRoot (const char *charname)
	Find the root joint of the character with name `charname`. More...

Joint *	FindJoint (const char jname, const char charname=0)
	Find a joint from name. More...

Joint *	FindJoint (int _id)
	Find a joint with ID `_id`. More...

int	GetJointAcc (fVec &accs)

int	GetJointForce (fVec &forces)
	Obtain the joint forces/torques. More...

int	GetJointList (Joint **&joints)
	Obtain a list of pointers to all joints. More...

int	GetJointNameList (char **&jnames)
	Obtain a list of joint names. More...

int	GetJointValue (fVec &values)
	Obtain the joint values/velocities/accelerations. More...

int	GetJointVel (fVec &vels)

int	Integrate (double timestep)
	Performs Euler integration with timestep `timestep` [s]. More...

int	IntegrateAdaptive (double &timestep, int step, double min_timestep=DEFAULT_MIN_TIMESTEP, double max_integ_error=DEFAULT_MAX_INTEG_ERROR)
	Performs Euler integration with adaptive timestep. More...

int	IntegrateRK4 (double timestep, int step)
	Performs 4-th order Runge-Kutta integration. More...

int	IntegrateRK4Value (double timestep, int step)

int	IntegrateRK4Velocity (double timestep, int step)

int	IntegrateValue (double timestep)
	Integrate value/velocity only. More...

int	IntegrateVelocity (double timestep)

void	InvDyn (fVec &tau)
	Inverse dynamics. More...

int	Load (const char fname, const char charname=0)
	Load the chain from a file in original (*.prm) format. More...

int	LoadXML (const char fname, const char charname=0)
	Load the chain from an XML file. More...

int	NumDOF ()
	Total degrees of freedom. More...

int	NumJoint ()
	Total number of joints. More...

int	NumValue ()
	Dimension of the joint value vector (using Euler parameter representation for orientation). More...

int	RemoveJoint (Joint *j)
	disconnect joint `j` from its parent More...

Joint *	Root ()

int	Save (const char fname, const char charname=0) const
	Save the chain data to a file in original (*.prm) format. More...

int	Save (ostream &ost, const char *charname=0) const

int	SaveStatus (fVec &value, fVec &vel, fVec &acc)
	Save current joint values, velocities, and accelerations. More...

int	SaveXML (const char fname, const char charname=0) const
	Save the chain data to a file in XML format. More...

int	SaveXML (ostream &ost, const char *charname=0) const

int	set_abs_position_orientation (Joint *jnt, const fVec3 &abs_pos, const fMat33 &abs_att)

int	SetAllTorqueGiven (int _tg)
	Change torque/motion control property of all joints. More...

int	SetCharacterTorqueGiven (const char *charname, int _tg)
	Change torque/motion control property of a character. More...

int	SetJointAcc (const fVec &accs)

int	SetJointForce (const fVec &forces)
	Set all joint forces/torques. More...

int	SetJointValue (const fVec &values)
	Set all joint values. More...

int	SetJointVel (const fVec &vels)
	Set all joint velocities/accelerations. More...

int	SetStatus (const fVec &value, const fVec &vel, const fVec &acc)
	Set current joint values, velocities, and accelerations. More...

int	SetTorqueGiven (Joint *_joint, int _tg)
	Change torque/motion control property of a joint. More...

double	TotalCOM (fVec3 &com, const char *chname=0)
	Center of mass of the chain. More...

virtual	~Chain ()

Protected Member Functions
virtual int	clear_contact ()

virtual int	clear_data ()
	Clear arrays only; don't delete joints. More...

virtual int	init (SceneGraph *sg)
	Initialize the parameters. More...

int	init_contact ()

int	myinit ()

Protected Member Functions inherited from Chain
void	_apply_scale (Joint *jnt, double scale)

void	apply_geom_scale (SceneGraph sg, Joint cur)

virtual void	apply_scale ()

void	apply_scale (const scale_object &_s)

void	apply_scale_sub (Joint *cur, double scale)

void	apply_scale_top (Joint *top, double scale)

void	calc_abs_positions (Joint cur, SceneGraph sg)

void	calc_rel_positions (Joint cur, SceneGraph sg)

void	init_scale (SceneGraph *sg)

void	init_scale_sub (Node *node)

void	reset_scale ()

void	reset_scale_sub (Joint *jnt)

void	set_all_torque_given (Joint *cur, int _tg)

void	set_relative_positions (SceneGraph *sg)

Private Member Functions
int	build_subchain_tree (int _n_joints, Joint **joints, subchain_list &buf)

void	build_subchain_tree (Joint *cur_joint, subchain_list &buf)

void	calc_consts ()

void	calc_dvel ()

void	col_disassembly ()

int	contact_vjoint_index (Joint *_jnt)

pSubChain *	default_schedule (pSubChain p, Joint j)

void	default_schedule_virtual (Joint *j)

void	disassembly ()

int	in_subchain (pSubChain sc, pLink pl)

void	setup_pjoint (Joint *j)

void	setup_pjoint_virtual (Joint *j)

void	update_collision ()

void	update_position ()

void	update_velocity ()

Private Attributes
std::vector< fVec3 >	all_jdot_r

std::vector< fVec3 >	all_jdot_v

std::vector< fMat >	all_Jr

std::vector< fMat >	all_Jv

joint_list	all_vjoints

fVec3	cone_dir [N_FRIC_CONE_DIV]

std::vector< fVec3 >	contact_relvels

joint_list	contact_vjoints

std::vector< double >	fric_coefs

JointInfo *	joint_info

pSubChain *	subchains

Friends
class	pJoint

class	pLink

class	pSubChain

Additional Inherited Members
Protected Attributes inherited from Chain
double **	all_value
	Pointers to the integration variables. More...

double **	all_value_dot

double **	all_vel

double **	all_vel_dot

int	do_connect
	true after Connect() was called; application (or subclass) must reset the flag More...

int	in_create_chain
	true if between `BeginCreateChain()` and `EndCreateChain()`. More...

double *	init_value

double *	init_vel

double *	j_acc_p [4]

double *	j_value_dot [4]
	for 4-th order Runge-Kutta More...

int	n_dof

int	n_joint

int	n_thrust
	total DOF of the joints with t_given = false More...

int	n_value

Joint *	root
	Chain information. More...

std::list< scale_object >	scale_object_list

Detailed Description

Main class for forward dynamics computation.

Definition at line 446 of file psim.h.

Constructor & Destructor Documentation

◆ pSim()

pSim::pSim ( )

inline

Default constructor.

Parameters

_rank Rank of the process on which the instance is generated (only for parallel processing).

Definition at line 461 of file psim.h.

◆ ~pSim()

pSim::~pSim ( )

inline

Definition at line 482 of file psim.h.

Member Function Documentation

◆ AutoSchedule()

int pSim::AutoSchedule ( int max_procs )

Automatic scheduling for max_procs processors.

Definition at line 765 of file schedule.cpp.

◆ build_subchain_tree() [1/2]

int pSim::build_subchain_tree	(	int	_n_joints,
		Joint **	joints,
		subchain_list &	buf
	)

private

Definition at line 1352 of file schedule.cpp.

◆ build_subchain_tree() [2/2]

void pSim::build_subchain_tree	(	Joint *	cur_joint,
		subchain_list &	buf
	)

private

Definition at line 1363 of file schedule.cpp.

◆ calc_consts()

void pSim::calc_consts ( )

private

Definition at line 286 of file psim.cpp.

◆ calc_dvel()

void pSim::calc_dvel ( )

private

Definition at line 574 of file update.cpp.

◆ Clear()

void pSim::Clear ( )

virtual

Clear

Reimplemented from Chain.

Definition at line 87 of file psim.cpp.

◆ clear_contact()

int pSim::clear_contact ( )

protectedvirtual

Definition at line 123 of file psim.cpp.

◆ clear_data()

int pSim::clear_data ( )

protectedvirtual

Clear arrays only; don't delete joints.

Reimplemented from Chain.

Definition at line 105 of file psim.cpp.

◆ col_disassembly()

void pSim::col_disassembly ( )

private

Definition at line 676 of file update.cpp.

◆ ConstraintForces()

int pSim::ConstraintForces ( fVec & cf )

Extract the constraint forces.

psim.cpp Create: Katsu Yamane, 04.02.23

Definition at line 17 of file psim.cpp.

◆ contact_vjoint_index()

int pSim::contact_vjoint_index ( Joint * _jnt )

inlineprivate

Definition at line 589 of file psim.h.

◆ default_schedule()

pSubChain * pSim::default_schedule	(	pSubChain *	p,
		Joint *	j
	)

private

Definition at line 1072 of file schedule.cpp.

◆ default_schedule_virtual()

void pSim::default_schedule_virtual ( Joint * j )

private

Definition at line 1117 of file schedule.cpp.

◆ disassembly()

void pSim::disassembly ( )

private

disassembly

Definition at line 1155 of file update.cpp.

◆ DumpSchedule()

void pSim::DumpSchedule ( ostream & ost )

Dump the schedule information to ost.

Definition at line 336 of file psim.cpp.

◆ GetPJoint()

void pSim::GetPJoint	(	Joint *	_joint,
		pJoint *	_pjoints[2]
	)

inline

Definition at line 544 of file psim.h.

◆ in_subchain()

int pSim::in_subchain	(	pSubChain *	sc,
		pLink *	pl
	)

private

Definition at line 1407 of file schedule.cpp.

◆ init()

int pSim::init ( SceneGraph * sg )

protectedvirtual

Initialize the parameters.

Reimplemented from Chain.

Definition at line 218 of file psim.cpp.

◆ init_contact()

int pSim::init_contact ( )

protected

Init

Definition at line 173 of file psim.cpp.

◆ myinit()

int pSim::myinit ( )

protected

Definition at line 231 of file psim.cpp.

◆ NumLeaves()

int pSim::NumLeaves ( )

Definition at line 65 of file psim.cpp.

◆ Schedule() [1/2]

int pSim::Schedule ( )

Creates default schedule, which is optimized for serial computation.

default schedule: most efficient for serial computation

Definition at line 1060 of file schedule.cpp.

◆ Schedule() [2/2]

int pSim::Schedule ( Joint ** joints )

Creates a schedule that assembles the chain in the specified order of joints.

manual schedule: specify the order

Definition at line 1336 of file schedule.cpp.

◆ ScheduleDepth()

int pSim::ScheduleDepth ( )

Definition at line 51 of file psim.cpp.

◆ setup_pjoint()

void pSim::setup_pjoint ( Joint * j )

private

Definition at line 243 of file psim.cpp.

◆ setup_pjoint_virtual()

void pSim::setup_pjoint_virtual ( Joint * j )

private

Definition at line 265 of file psim.cpp.

◆ TotalCost()

int pSim::TotalCost ( )

Approximate indicators of total computational cost.

Definition at line 34 of file psim.cpp.

◆ Update() [1/2]

int pSim::Update ( )

Compute joint accelerations.

Definition at line 40 of file update.cpp.

◆ Update() [2/2]

int pSim::Update	(	double	timestep,
		std::vector< class SDContactPair *> &	sdContactPairs
	)

Compute joint accelerations and contact forces.

Compute joint accelerations and contact forces. Contact forces are computed such that the relative velocity becomes zero after timestep [s].

Parameters

[in]	timestep	Timestep of the integration.
[in]	sdContactPairs	Pointer to the ColInfo object containing the contact information.

◆ update_collision()

void pSim::update_collision ( )

private

collision

Definition at line 568 of file update.cpp.

◆ update_position()

void pSim::update_position ( )

private

position-dependent

Definition at line 146 of file update.cpp.

◆ update_velocity()

void pSim::update_velocity ( )

private

velocity-dependent

Definition at line 768 of file update.cpp.

Friends And Related Function Documentation

◆ pJoint

friend class pJoint

friend

Definition at line 449 of file psim.h.

◆ pLink

friend class pLink

friend

Definition at line 450 of file psim.h.

◆ pSubChain

friend class pSubChain

friend

Definition at line 451 of file psim.h.

Member Data Documentation

◆ all_jdot_r

std::vector<fVec3> pSim::all_jdot_r

private

Definition at line 585 of file psim.h.

◆ all_jdot_v

std::vector<fVec3> pSim::all_jdot_v

private

Definition at line 584 of file psim.h.

◆ all_Jr

std::vector<fMat> pSim::all_Jr

private

Definition at line 583 of file psim.h.

◆ all_Jv

std::vector<fMat> pSim::all_Jv

private

Definition at line 582 of file psim.h.

◆ all_vjoints

joint_list pSim::all_vjoints

private

Definition at line 581 of file psim.h.

◆ cone_dir

fVec3 pSim::cone_dir[N_FRIC_CONE_DIV]

private

Definition at line 587 of file psim.h.

◆ contact_relvels

std::vector<fVec3> pSim::contact_relvels

private

Definition at line 578 of file psim.h.

◆ contact_vjoints

joint_list pSim::contact_vjoints

private

Definition at line 577 of file psim.h.

◆ fric_coefs

std::vector<double> pSim::fric_coefs

private

Definition at line 579 of file psim.h.

◆ joint_info

JointInfo* pSim::joint_info

private

Definition at line 602 of file psim.h.

◆ subchains

pSubChain* pSim::subchains

private

Definition at line 603 of file psim.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ pSim()

◆ ~pSim()

Member Function Documentation

◆ AutoSchedule()

◆ build_subchain_tree() [1/2]

◆ build_subchain_tree() [2/2]

◆ calc_consts()

◆ calc_dvel()

◆ Clear()

◆ clear_contact()

◆ clear_data()

◆ col_disassembly()

◆ ConstraintForces()

◆ contact_vjoint_index()

◆ default_schedule()

◆ default_schedule_virtual()

◆ disassembly()

◆ DumpSchedule()

◆ GetPJoint()

◆ in_subchain()

◆ init()

◆ init_contact()

◆ myinit()

◆ NumLeaves()

◆ Schedule() [1/2]

◆ Schedule() [2/2]

◆ ScheduleDepth()

◆ setup_pjoint()

◆ setup_pjoint_virtual()

◆ TotalCost()

◆ Update() [1/2]

◆ Update() [2/2]

◆ update_collision()

◆ update_position()

◆ update_velocity()

Friends And Related Function Documentation

◆ pJoint

◆ pLink

◆ pSubChain

Member Data Documentation

◆ all_jdot_r

◆ all_jdot_v

◆ all_Jr

◆ all_Jv

◆ all_vjoints

◆ cone_dir

◆ contact_relvels

◆ contact_vjoints

◆ fric_coefs

◆ joint_info

◆ subchains