sot-dynamic-pinocchio.cpp

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/*
 * Copyright 2016,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
#include <dynamic-graph/all-commands.h>
#include <sot/dynamic-pinocchio/dynamic-pinocchio.h>
 
#include <boost/filesystem.hpp>
#include <boost/format.hpp>
#include <boost/version.hpp>
#include <pinocchio/algorithm/center-of-mass.hpp>
#include <pinocchio/algorithm/centroidal.hpp>
#include <pinocchio/algorithm/crba.hpp>
#include <pinocchio/algorithm/jacobian.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/fwd.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/spatial/motion.hpp>
#include <sot/core/debug.hh>
 
#include "../src/dynamic-command.h"
 
using namespace dynamicgraph::sot;
using namespace dynamicgraph;
 
const std::string dg::sot::DynamicPinocchio::CLASS_NAME = "DynamicPinocchio";
 
DynamicPinocchio::DynamicPinocchio(const std::string& name)
    : Entity(name),
      m_model(NULL),
      m_data()
 
      ,
      jointPositionSIN(
          NULL, "sotDynamicPinocchio(" + name + ")::input(vector)::position"),
      freeFlyerPositionSIN(
          NULL, "sotDynamicPinocchio(" + name + ")::input(vector)::ffposition"),
      jointVelocitySIN(
          NULL, "sotDynamicPinocchio(" + name + ")::input(vector)::velocity"),
      freeFlyerVelocitySIN(
          NULL, "sotDynamicPinocchio(" + name + ")::input(vector)::ffvelocity"),
      jointAccelerationSIN(NULL, "sotDynamicPinocchio(" + name +
                                     ")::input(vector)::acceleration"),
      freeFlyerAccelerationSIN(NULL, "sotDynamicPinocchio(" + name +
                                         ")::input(vector)::ffacceleration")
 
      ,
      pinocchioPosSINTERN(
          boost::bind(&DynamicPinocchio::getPinocchioPos, this, _1, _2),
          jointPositionSIN << freeFlyerPositionSIN,
          "sotDynamicPinocchio(" + name + ")::intern(dummy)::pinocchioPos"),
      pinocchioVelSINTERN(
          boost::bind(&DynamicPinocchio::getPinocchioVel, this, _1, _2),
          jointVelocitySIN << freeFlyerVelocitySIN,
          "sotDynamicPinocchio(" + name + ")::intern(dummy)::pinocchioVel"),
      pinocchioAccSINTERN(
          boost::bind(&DynamicPinocchio::getPinocchioAcc, this, _1, _2),
          jointAccelerationSIN << freeFlyerAccelerationSIN,
          "sotDynamicPinocchio(" + name + ")::intern(dummy)::pinocchioAcc")
 
      ,
      newtonEulerSINTERN(
          boost::bind(&DynamicPinocchio::computeNewtonEuler, this, _1, _2),
          pinocchioPosSINTERN << pinocchioVelSINTERN << pinocchioAccSINTERN,
          "sotDynamicPinocchio(" + name + ")::intern(dummy)::newtoneuler"),
      jacobiansSINTERN(
          boost::bind(&DynamicPinocchio::computeJacobians, this, _1, _2),
          pinocchioPosSINTERN,
          "sotDynamicPinocchio(" + name + ")::intern(dummy)::computeJacobians"),
      forwardKinematicsSINTERN(
          boost::bind(&DynamicPinocchio::computeForwardKinematics, this, _1,
                      _2),
          pinocchioPosSINTERN << pinocchioVelSINTERN << pinocchioAccSINTERN,
          "sotDynamicPinocchio(" + name +
              ")::intern(dummy)::computeForwardKinematics"),
      ccrbaSINTERN(
          boost::bind(&DynamicPinocchio::computeCcrba, this, _1, _2),
          pinocchioPosSINTERN << pinocchioVelSINTERN,
          "sotDynamicPinocchio(" + name + ")::intern(dummy)::computeCcrba"),
      zmpSOUT(boost::bind(&DynamicPinocchio::computeZmp, this, _1, _2),
              newtonEulerSINTERN,
              "sotDynamicPinocchio(" + name + ")::output(vector)::zmp"),
      JcomSOUT(boost::bind(&DynamicPinocchio::computeJcom, this, _1, _2),
               pinocchioPosSINTERN,
               "sotDynamicPinocchio(" + name + ")::output(matrix)::Jcom"),
      comSOUT(boost::bind(&DynamicPinocchio::computeCom, this, _1, _2),
              forwardKinematicsSINTERN,
              "sotDynamicPinocchio(" + name + ")::output(vector)::com"),
      inertiaSOUT(boost::bind(&DynamicPinocchio::computeInertia, this, _1, _2),
                  pinocchioPosSINTERN,
                  "sotDynamicPinocchio(" + name + ")::output(matrix)::inertia"),
      footHeightSOUT(
          boost::bind(&DynamicPinocchio::computeFootHeight, this, _1, _2),
          pinocchioPosSINTERN,
          "sotDynamicPinocchio(" + name + ")::output(double)::footHeight"),
      upperJlSOUT(
          boost::bind(&DynamicPinocchio::getUpperPositionLimits, this, _1, _2),
          sotNOSIGNAL,
          "sotDynamicPinocchio(" + name + ")::output(vector)::upperJl")
 
      ,
      lowerJlSOUT(
          boost::bind(&DynamicPinocchio::getLowerPositionLimits, this, _1, _2),
          sotNOSIGNAL,
          "sotDynamicPinocchio(" + name + ")::output(vector)::lowerJl")
 
      ,
      upperVlSOUT(
          boost::bind(&DynamicPinocchio::getUpperVelocityLimits, this, _1, _2),
          sotNOSIGNAL,
          "sotDynamicPinocchio(" + name + ")::output(vector)::upperVl")
 
      ,
      upperTlSOUT(
          boost::bind(&DynamicPinocchio::getMaxEffortLimits, this, _1, _2),
          sotNOSIGNAL,
          "sotDynamicPinocchio(" + name + ")::output(vector)::upperTl")
 
      ,
      inertiaRotorSOUT("sotDynamicPinocchio(" + name +
                       ")::output(matrix)::inertiaRotor"),
      gearRatioSOUT("sotDynamicPinocchio(" + name +
                    ")::output(matrix)::gearRatio"),
      inertiaRealSOUT(
          boost::bind(&DynamicPinocchio::computeInertiaReal, this, _1, _2),
          inertiaSOUT << gearRatioSOUT << inertiaRotorSOUT,
          "sotDynamicPinocchio(" + name + ")::output(matrix)::inertiaReal"),
      MomentaSOUT(boost::bind(&DynamicPinocchio::computeMomenta, this, _1, _2),
                  ccrbaSINTERN,
                  "sotDynamicPinocchio(" + name + ")::output(vector)::momenta"),
      AngularMomentumSOUT(
          boost::bind(&DynamicPinocchio::computeAngularMomentum, this, _1, _2),
          ccrbaSINTERN,
          "sotDynamicPinocchio(" + name + ")::output(vector)::angularmomentum"),
      dynamicDriftSOUT(
          boost::bind(&DynamicPinocchio::computeTorqueDrift, this, _1, _2),
          newtonEulerSINTERN,
          "sotDynamicPinocchio(" + name + ")::output(vector)::dynamicDrift") {
  sotDEBUGIN(5);
 
  // TODO-------------------------------------------
 
  // if( build ) buildModel();
  // firstSINTERN.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
  // DEBUG: Why =0? should be function. firstSINTERN.setConstant(0);
  // endTODO--------------------------------------------
 
  signalRegistration(jointPositionSIN);
  signalRegistration(freeFlyerPositionSIN);
  signalRegistration(jointVelocitySIN);
  signalRegistration(freeFlyerVelocitySIN);
  signalRegistration(jointAccelerationSIN);
  signalRegistration(freeFlyerAccelerationSIN);
  signalRegistration(zmpSOUT);
  signalRegistration(comSOUT);
  signalRegistration(JcomSOUT);
  signalRegistration(footHeightSOUT);
  signalRegistration(upperJlSOUT);
  signalRegistration(lowerJlSOUT);
  signalRegistration(upperVlSOUT);
  signalRegistration(upperTlSOUT);
  signalRegistration(inertiaSOUT);
  signalRegistration(inertiaRealSOUT);
  signalRegistration(inertiaRotorSOUT);
  signalRegistration(gearRatioSOUT);
  signalRegistration(MomentaSOUT);
  signalRegistration(AngularMomentumSOUT);
  signalRegistration(dynamicDriftSOUT);
 
  //
  // Commands
  //
  std::string docstring;
  // setFiles
 
  docstring =
      "\n"
      "    Display the current robot configuration.\n"
      "\n"
      "      Input:\n"
      "        - none \n"
      "\n";
  addCommand("displayModel", new command::DisplayModel(*this, docstring));
  docstring =
      "    \n"
      "    Get the dimension of the robot configuration.\n"
      "    \n"
      "      Return:\n"
      "        an unsigned int: the dimension.\n"
      "    \n";
  addCommand("getDimension", new command::GetDimension(*this, docstring));
 
  {
    using namespace ::dg::command;
    // CreateOpPoint
    // TODO add operational joints
    docstring =
        "    \n"
        "    Create an operational point attached to a robot joint local "
        "frame.\n"
        "    \n"
        "      Input: \n"
        "        - a string: name of the operational point,\n"
        "        - a string: name the joint, or among (gaze, left-ankle, right "
        "ankle\n"
        "          , left-wrist, right-wrist, waist, chest).\n"
        "\n";
    addCommand(
        "createOpPoint",
        makeCommandVoid2(*this, &DynamicPinocchio::cmd_createOpPointSignals,
                         docstring));
 
    docstring = docCommandVoid2(
        "Create a jacobian (world frame) signal only for one joint.",
        "string (signal name)", "string (joint name)");
    addCommand("createJacobian",
               makeCommandVoid2(
                   *this, &DynamicPinocchio::cmd_createJacobianWorldSignal,
                   docstring));
 
    docstring = docCommandVoid2(
        "Create a jacobian (endeff frame) signal only for one joint.",
        "string (signal name)", "string (joint name)");
    addCommand(
        "createJacobianEndEff",
        makeCommandVoid2(*this,
                         &DynamicPinocchio::cmd_createJacobianEndEffectorSignal,
                         docstring));
 
    docstring = docCommandVoid2(
        "Create a jacobian (endeff frame) signal only for one joint. "
        "The returned jacobian is placed at the joint position, but oriented "
        "with the world axis.",
        "string (signal name)", "string (joint name)");
    addCommand(
        "createJacobianEndEffWorld",
        makeCommandVoid2(
            *this, &DynamicPinocchio::cmd_createJacobianEndEffectorWorldSignal,
            docstring));
 
    docstring = docCommandVoid2(
        "Create a position (matrix homo) signal only for one joint.",
        "string (signal name)", "string (joint name)");
    addCommand(
        "createPosition",
        makeCommandVoid2(*this, &DynamicPinocchio::cmd_createPositionSignal,
                         docstring));
 
    docstring =
        docCommandVoid2("Create a velocity (vector) signal only for one joint.",
                        "string (signal name)", "string (joint name)");
    addCommand(
        "createVelocity",
        makeCommandVoid2(*this, &DynamicPinocchio::cmd_createVelocitySignal,
                         docstring));
 
    docstring = docCommandVoid2(
        "Create an acceleration (vector) signal only for one joint.",
        "string (signal name)", "string (joint name)");
    addCommand(
        "createAcceleration",
        makeCommandVoid2(*this, &DynamicPinocchio::cmd_createAccelerationSignal,
                         docstring));
    docstring =
        "\n"
        "  Return robot joint names.\n\n";
    addCommand("getJointNames", new command::GetJointNames(*this, docstring));
  }
 
  sphericalJoints.clear();
 
  sotDEBUG(10) << "Dynamic class_name address" << &CLASS_NAME << std::endl;
  sotDEBUGOUT(5);
}
 
DynamicPinocchio::~DynamicPinocchio(void) {
  sotDEBUGIN(15);
  // TODO currently, m_model and m_data are pointers owned by the Python
  // interpreter so we should not delete them. I (Joseph Mirabel) think it would
  // be wiser to make them belong to this class but I do not know the impact it
  // has. if (0!=m_data ) { delete m_data ; m_data =NULL; } if (0!=m_model) {
  // delete m_model; m_model=NULL; }
 
  for (std::list<SignalBase<sigtime_t>*>::iterator iter =
           genericSignalRefs.begin();
       iter != genericSignalRefs.end(); ++iter) {
    SignalBase<sigtime_t>* sigPtr = *iter;
    delete sigPtr;
  }
  sotDEBUGOUT(15);
}
 
void DynamicPinocchio::setModel(pinocchio::Model* modelPtr) {
  this->m_model = modelPtr;
 
  if (this->m_model->nq > m_model->nv) {
    if (pinocchio::nv(this->m_model->joints[1]) == 6)
      sphericalJoints.push_back(3);  // FreeFlyer Orientation
 
    for (int i = 1; i < this->m_model->njoints; i++)     // 0: universe
      if (pinocchio::nq(this->m_model->joints[i]) == 4)  // Spherical Joint Only
        sphericalJoints.push_back(pinocchio::idx_v(this->m_model->joints[i]));
  }
 
  createData();
}
 
void DynamicPinocchio::createData() {
  m_data.reset(new pinocchio::Data(*m_model));
}
 
/*--------------------------------GETTERS-------------------------------------------*/
 
dg::Vector& DynamicPinocchio::getLowerPositionLimits(dg::Vector& res,
                                                     const sigtime_t&) const {
  sotDEBUGIN(15);
  assert(m_model);
 
  res.resize(m_model->nv);
  if (!sphericalJoints.empty()) {
    int fillingIndex = 0;  // SoTValue
    int origIndex = 0;     // PinocchioValue
    for (std::vector<int>::const_iterator it = sphericalJoints.begin();
         it < sphericalJoints.end(); it++) {
      if (*it - fillingIndex > 0) {
        res.segment(fillingIndex, *it - fillingIndex) =
            m_model->lowerPositionLimit.segment(origIndex, *it - fillingIndex);
 
        // Don't Change this order
        origIndex += *it - fillingIndex;
        fillingIndex += *it - fillingIndex;
      }
      // Found a Spherical Joint.
      // Assuming that spherical joint limits are unset
      // Version C++11
      // res(fillingIndex) = std::numeric_limits<double>::lowest();
      // res(fillingIndex + 1) = std::numeric_limits<double>::lowest();
      // res(fillingIndex + 2) = std::numeric_limits<double>::lowest();
      // For now use C++98
      res(fillingIndex) = -std::numeric_limits<double>::max();
      res(fillingIndex + 1) = -std::numeric_limits<double>::max();
      res(fillingIndex + 2) = -std::numeric_limits<double>::max();
 
      fillingIndex += 3;
      origIndex += 4;
    }
 
    assert(m_model->nv - fillingIndex == m_model->nq - origIndex);
    if (m_model->nv > fillingIndex)
      res.segment(fillingIndex, m_model->nv - fillingIndex) =
          m_model->lowerPositionLimit.segment(origIndex,
                                              m_model->nv - fillingIndex);
  } else {
    res = m_model->lowerPositionLimit;
  }
  sotDEBUG(15) << "lowerLimit (" << res << ")=" << std::endl;
  sotDEBUGOUT(15);
  return res;
}
 
dg::Vector& DynamicPinocchio::getUpperPositionLimits(dg::Vector& res,
                                                     const sigtime_t&) const {
  sotDEBUGIN(15);
  assert(m_model);
 
  res.resize(m_model->nv);
  if (!sphericalJoints.empty()) {
    int fillingIndex = 0;  // SoTValue
    int origIndex = 0;     // PinocchioValue
    for (std::vector<int>::const_iterator it = sphericalJoints.begin();
         it < sphericalJoints.end(); it++) {
      if (*it - fillingIndex > 0) {
        res.segment(fillingIndex, *it - fillingIndex) =
            m_model->upperPositionLimit.segment(origIndex, *it - fillingIndex);
 
        // Don't Change this order
        origIndex += *it - fillingIndex;
        fillingIndex += *it - fillingIndex;
      }
      // Found a Spherical Joint.
      // Assuming that spherical joint limits are unset
      res(fillingIndex) = std::numeric_limits<double>::max();
      res(fillingIndex + 1) = std::numeric_limits<double>::max();
      res(fillingIndex + 2) = std::numeric_limits<double>::max();
      fillingIndex += 3;
      origIndex += 4;
    }
    assert(m_model->nv - fillingIndex == m_model->nq - origIndex);
    if (m_model->nv > fillingIndex)
      res.segment(fillingIndex, m_model->nv - fillingIndex) =
          m_model->upperPositionLimit.segment(origIndex,
                                              m_model->nv - fillingIndex);
  } else {
    res = m_model->upperPositionLimit;
  }
  sotDEBUG(15) << "upperLimit (" << res << ")=" << std::endl;
  sotDEBUGOUT(15);
  return res;
}
 
dg::Vector& DynamicPinocchio::getUpperVelocityLimits(dg::Vector& res,
                                                     const sigtime_t&) const {
  sotDEBUGIN(15);
  assert(m_model);
 
  res.resize(m_model->nv);
  res = m_model->velocityLimit;
 
  sotDEBUG(15) << "upperVelocityLimit (" << res << ")=" << std::endl;
  sotDEBUGOUT(15);
  return res;
}
 
dg::Vector& DynamicPinocchio::getMaxEffortLimits(dg::Vector& res,
                                                 const sigtime_t&) const {
  sotDEBUGIN(15);
  assert(m_model);
 
  res.resize(m_model->nv);
  res = m_model->effortLimit;
 
  sotDEBUGOUT(15);
  return res;
}
 
/* ---------------- INTERNAL ------------------------------------------------ */
dg::Vector& DynamicPinocchio::getPinocchioPos(dg::Vector& q,
                                              const sigtime_t& time) {
  sotDEBUGIN(15);
  dg::Vector qJoints = jointPositionSIN.access(time);
  if (!sphericalJoints.empty()) {
    if (freeFlyerPositionSIN) {
      dg::Vector qFF = freeFlyerPositionSIN.access(time);
      qJoints.head<6>() = qFF;  // Overwrite qJoints ff with ffposition value
      assert(sphericalJoints[0] == 3);  // FreeFlyer should ideally be present.
    }
    q.resize(qJoints.size() + sphericalJoints.size());
    int fillingIndex = 0;
    int origIndex = 0;
    for (std::vector<int>::const_iterator it = sphericalJoints.begin();
         it < sphericalJoints.end(); it++) {
      if (*it - origIndex > 0) {
        q.segment(fillingIndex, *it - origIndex) =
            qJoints.segment(origIndex, *it - origIndex);
        fillingIndex += *it - origIndex;
        origIndex += *it - origIndex;
      }
      assert(*it == origIndex);
      Eigen::Quaternion<double> temp =
          Eigen::AngleAxisd(qJoints(origIndex + 2), Eigen::Vector3d::UnitZ()) *
          Eigen::AngleAxisd(qJoints(origIndex + 1), Eigen::Vector3d::UnitY()) *
          Eigen::AngleAxisd(qJoints(origIndex), Eigen::Vector3d::UnitX());
      q(fillingIndex) = temp.x();
      q(fillingIndex + 1) = temp.y();
      q(fillingIndex + 2) = temp.z();
      q(fillingIndex + 3) = temp.w();
      fillingIndex += 4;
      origIndex += 3;
    }
    if (qJoints.size() > origIndex)
      q.segment(fillingIndex, qJoints.size() - origIndex) =
          qJoints.tail(qJoints.size() - origIndex);
  } else {
    q.resize(qJoints.size());
    q = qJoints;
  }
 
  sotDEBUG(15) << "Position out" << q << std::endl;
  sotDEBUGOUT(15);
  return q;
}
 
dg::Vector& DynamicPinocchio::getPinocchioVel(dg::Vector& v,
                                              const sigtime_t& time) {
  const Eigen::VectorXd vJoints = jointVelocitySIN.access(time);
  if (freeFlyerVelocitySIN) {
    const Eigen::VectorXd vFF = freeFlyerVelocitySIN.access(time);
    if (v.size() != vJoints.size() + vFF.size())
      v.resize(vJoints.size() + vFF.size());
    v << vFF, vJoints;
    return v;
  } else {
    v = vJoints;
    return v;
  }
}
 
dg::Vector& DynamicPinocchio::getPinocchioAcc(dg::Vector& a,
                                              const sigtime_t& time) {
  const Eigen::VectorXd aJoints = jointAccelerationSIN.access(time);
  if (freeFlyerAccelerationSIN) {
    const Eigen::VectorXd aFF = freeFlyerAccelerationSIN.access(time);
    if (a.size() != aJoints.size() + aFF.size())
      a.resize(aJoints.size() + aFF.size());
    a << aFF, aJoints;
    return a;
  } else {
    a = aJoints;
    return a;
  }
}
 
/* --- SIGNAL ACTIVATION ---------------------------------------------------- */
dg::SignalTimeDependent<dg::Matrix, sigtime_t>&
DynamicPinocchio::createJacobianSignal(const std::string& signame,
                                       const std::string& jointName) {
  sotDEBUGIN(15);
  assert(m_model);
  dg::SignalTimeDependent<dg::Matrix, sigtime_t>* sig;
  if (m_model->existFrame(jointName)) {
    long int frameId = m_model->getFrameId(jointName);
    sig = new dg::SignalTimeDependent<dg::Matrix, sigtime_t>(
        boost::bind(&DynamicPinocchio::computeGenericJacobian, this, true,
                    frameId, _1, _2),
        jacobiansSINTERN,
        "sotDynamicPinocchio(" + name + ")::output(matrix)::" + signame);
  } else if (m_model->existJointName(jointName)) {
    long int jointId = m_model->getJointId(jointName);
    sig = new dg::SignalTimeDependent<dg::Matrix, sigtime_t>(
        boost::bind(&DynamicPinocchio::computeGenericJacobian, this, false,
                    jointId, _1, _2),
        jacobiansSINTERN,
        "sotDynamicPinocchio(" + name + ")::output(matrix)::" + signame);
  } else
    SOT_THROW ExceptionDynamic(
        ExceptionDynamic::GENERIC,
        "Robot has no joint corresponding to " + jointName);
 
  genericSignalRefs.push_back(sig);
  signalRegistration(*sig);
  sotDEBUGOUT(15);
  return *sig;
}
 
dg::SignalTimeDependent<dg::Matrix, sigtime_t>&
DynamicPinocchio::createEndeffJacobianSignal(const std::string& signame,
                                             const std::string& jointName,
                                             const bool isLocal) {
  sotDEBUGIN(15);
  assert(m_model);
  dg::SignalTimeDependent<dg::Matrix, sigtime_t>* sig;
 
  if (m_model->existFrame(jointName)) {
    long int frameId = m_model->getFrameId(jointName);
    sig = new dg::SignalTimeDependent<dg::Matrix, sigtime_t>(
        boost::bind(&DynamicPinocchio::computeGenericEndeffJacobian, this, true,
                    isLocal, frameId, _1, _2),
        jacobiansSINTERN << forwardKinematicsSINTERN,
        "sotDynamicPinocchio(" + name + ")::output(matrix)::" + signame);
  } else if (m_model->existJointName(jointName)) {
    long int jointId = m_model->getJointId(jointName);
    sig = new dg::SignalTimeDependent<dg::Matrix, sigtime_t>(
        boost::bind(&DynamicPinocchio::computeGenericEndeffJacobian, this,
                    false, isLocal, jointId, _1, _2),
        jacobiansSINTERN << forwardKinematicsSINTERN,
        "sotDynamicPinocchio(" + name + ")::output(matrix)::" + signame);
  } else
    SOT_THROW ExceptionDynamic(
        ExceptionDynamic::GENERIC,
        "Robot has no joint corresponding to " + jointName);
  genericSignalRefs.push_back(sig);
  signalRegistration(*sig);
  sotDEBUGOUT(15);
  return *sig;
}
 
dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>&
DynamicPinocchio::createPositionSignal(const std::string& signame,
                                       const std::string& jointName) {
  sotDEBUGIN(15);
  assert(m_model);
  dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>* sig;
  if (m_model->existFrame(jointName)) {
    long int frameId = m_model->getFrameId(jointName);
    sig = new dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>(
        boost::bind(&DynamicPinocchio::computeGenericPosition, this, true,
                    frameId, _1, _2),
        forwardKinematicsSINTERN,
        "sotDynamicPinocchio(" + name + ")::output(matrixHomo)::" + signame);
  } else if (m_model->existJointName(jointName)) {
    long int jointId = m_model->getJointId(jointName);
    sig = new dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>(
        boost::bind(&DynamicPinocchio::computeGenericPosition, this, false,
                    jointId, _1, _2),
        forwardKinematicsSINTERN,
        "sotDynamicPinocchio(" + name + ")::output(matrixHomo)::" + signame);
  } else
    SOT_THROW ExceptionDynamic(
        ExceptionDynamic::GENERIC,
        "Robot has no joint corresponding to " + jointName);
 
  genericSignalRefs.push_back(sig);
  signalRegistration(*sig);
  sotDEBUGOUT(15);
  return *sig;
}
 
SignalTimeDependent<dg::Vector, sigtime_t>&
DynamicPinocchio::createVelocitySignal(const std::string& signame,
                                       const std::string& jointName) {
  sotDEBUGIN(15);
  assert(m_model);
  long int jointId = m_model->getJointId(jointName);
 
  SignalTimeDependent<dg::Vector, sigtime_t>* sig =
      new SignalTimeDependent<dg::Vector, sigtime_t>(
          boost::bind(&DynamicPinocchio::computeGenericVelocity, this, jointId,
                      _1, _2),
          forwardKinematicsSINTERN,
          "sotDynamicPinocchio(" + name + ")::output(dg::Vector)::" + signame);
  genericSignalRefs.push_back(sig);
  signalRegistration(*sig);
 
  sotDEBUGOUT(15);
  return *sig;
}
 
dg::SignalTimeDependent<dg::Vector, sigtime_t>&
DynamicPinocchio::createAccelerationSignal(const std::string& signame,
                                           const std::string& jointName) {
  sotDEBUGIN(15);
  assert(m_model);
  long int jointId = m_model->getJointId(jointName);
  dg::SignalTimeDependent<dg::Vector, sigtime_t>* sig =
      new dg::SignalTimeDependent<dg::Vector, sigtime_t>(
          boost::bind(&DynamicPinocchio::computeGenericAcceleration, this,
                      jointId, _1, _2),
          forwardKinematicsSINTERN,
          "sotDynamicPinocchio(" + name + ")::output(dg::Vector)::" + signame);
 
  genericSignalRefs.push_back(sig);
  signalRegistration(*sig);
 
  sotDEBUGOUT(15);
  return *sig;
}
 
void DynamicPinocchio::destroyJacobianSignal(const std::string& signame) {
  sotDEBUGIN(15);
 
  bool deletable = false;
  dg::SignalTimeDependent<dg::Matrix, sigtime_t>* sig = &jacobiansSOUT(signame);
  for (std::list<SignalBase<sigtime_t>*>::iterator iter =
           genericSignalRefs.begin();
       iter != genericSignalRefs.end(); ++iter) {
    if ((*iter) == sig) {
      genericSignalRefs.erase(iter);
      deletable = true;
      break;
    }
  }
 
  if (!deletable) {
    SOT_THROW ExceptionDynamic(
        ExceptionDynamic::CANT_DESTROY_SIGNAL, "Cannot destroy signal",
        " (while trying to remove generic jac. signal <%s>).", signame.c_str());
  }
  signalDeregistration(signame);
  delete sig;
}
 
void DynamicPinocchio::destroyPositionSignal(const std::string& signame) {
  sotDEBUGIN(15);
  bool deletable = false;
  dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>* sig =
      &positionsSOUT(signame);
  for (std::list<SignalBase<sigtime_t>*>::iterator iter =
           genericSignalRefs.begin();
       iter != genericSignalRefs.end(); ++iter) {
    if ((*iter) == sig) {
      genericSignalRefs.erase(iter);
      deletable = true;
      break;
    }
  }
 
  if (!deletable) {
    SOT_THROW ExceptionDynamic(
        ExceptionDynamic::CANT_DESTROY_SIGNAL, "Cannot destroy signal",
        " (while trying to remove generic pos. signal <%s>).", signame.c_str());
  }
 
  signalDeregistration(signame);
 
  delete sig;
}
 
void DynamicPinocchio::destroyVelocitySignal(const std::string& signame) {
  sotDEBUGIN(15);
  bool deletable = false;
  SignalTimeDependent<dg::Vector, sigtime_t>* sig = &velocitiesSOUT(signame);
  for (std::list<SignalBase<sigtime_t>*>::iterator iter =
           genericSignalRefs.begin();
       iter != genericSignalRefs.end(); ++iter) {
    if ((*iter) == sig) {
      genericSignalRefs.erase(iter);
      deletable = true;
      break;
    }
  }
 
  if (!deletable) {
    SOT_THROW ExceptionDynamic(
        ExceptionDynamic::CANT_DESTROY_SIGNAL, "Cannot destroy signal",
        " (while trying to remove generic pos. signal <%s>).", signame.c_str());
  }
 
  signalDeregistration(signame);
 
  delete sig;
}
 
void DynamicPinocchio::destroyAccelerationSignal(const std::string& signame) {
  sotDEBUGIN(15);
  bool deletable = false;
  dg::SignalTimeDependent<dg::Vector, sigtime_t>* sig =
      &accelerationsSOUT(signame);
  for (std::list<SignalBase<sigtime_t>*>::iterator iter =
           genericSignalRefs.begin();
       iter != genericSignalRefs.end(); ++iter) {
    if ((*iter) == sig) {
      genericSignalRefs.erase(iter);
      deletable = true;
      break;
    }
  }
 
  if (!deletable) {
    SOT_THROW ExceptionDynamic(ExceptionDynamic::CANT_DESTROY_SIGNAL,
                               getName() + ":cannot destroy signal",
                               " (while trying to remove generic acc "
                               "signal <%s>).",
                               signame.c_str());
  }
 
  signalDeregistration(signame);
 
  delete sig;
}
 
/* --------------------- COMPUTE
 * ------------------------------------------------- */
 
dg::Vector& DynamicPinocchio::computeZmp(dg::Vector& res,
                                         const sigtime_t& time) {
  // TODO: To be verified
  sotDEBUGIN(25);
  assert(m_data);
  if (res.size() != 3) res.resize(3);
  newtonEulerSINTERN(time);
 
  const pinocchio::Force& ftau = m_data->oMi[1].act(m_data->f[1]);
  const pinocchio::Force::Vector3& tau = ftau.angular();
  const pinocchio::Force::Vector3& f = ftau.linear();
  res(0) = -tau[1] / f[2];
  res(1) = tau[0] / f[2];
  res(2) = 0;
 
  sotDEBUGOUT(25);
 
  return res;
}
 
// In world coordinates
 
// Updates the jacobian matrix in m_data
int& DynamicPinocchio::computeJacobians(int& dummy, const sigtime_t& time) {
  sotDEBUGIN(25);
  forwardKinematicsSINTERN(time);
  pinocchio::computeJointJacobians(*m_model, *m_data);
  sotDEBUG(25) << "Jacobians updated" << std::endl;
  sotDEBUGOUT(25);
  return dummy;
}
int& DynamicPinocchio::computeForwardKinematics(int& dummy,
                                                const sigtime_t& time) {
  sotDEBUGIN(25);
  assert(m_model);
  assert(m_data);
  const Eigen::VectorXd& q = pinocchioPosSINTERN.access(time);
  const Eigen::VectorXd& v = pinocchioVelSINTERN.access(time);
  const Eigen::VectorXd& a = pinocchioAccSINTERN.access(time);
  pinocchio::forwardKinematics(*m_model, *m_data, q, v, a);
  sotDEBUG(25) << "Kinematics updated" << std::endl;
  sotDEBUGOUT(25);
  return dummy;
}
 
int& DynamicPinocchio::computeCcrba(int& dummy, const sigtime_t& time) {
  sotDEBUGIN(25);
  const Eigen::VectorXd& q = pinocchioPosSINTERN.access(time);
  const Eigen::VectorXd& v = pinocchioVelSINTERN.access(time);
  pinocchio::ccrba(*m_model, *m_data, q, v);
  sotDEBUG(25) << "Inertia and Momentum updated" << std::endl;
  sotDEBUGOUT(25);
  return dummy;
}
 
dg::Matrix& DynamicPinocchio::computeGenericJacobian(const bool isFrame,
                                                     const int jointId,
                                                     dg::Matrix& res,
                                                     const sigtime_t& time) {
  sotDEBUGIN(25);
  assert(m_model);
  assert(m_data);
  if (res.rows() != 6 || res.cols() != m_model->nv)
    res = Matrix::Zero(6, m_model->nv);
  jacobiansSINTERN(time);
 
  pinocchio::JointIndex id =
      isFrame ? m_model->frames[(pinocchio::JointIndex)jointId].parent
              : (pinocchio::JointIndex)jointId;
 
  // Computes Jacobian in world coordinates.
  pinocchio::getJointJacobian(*m_model, *m_data, id, pinocchio::WORLD, res);
  sotDEBUGOUT(25);
  return res;
}
 
dg::Matrix& DynamicPinocchio::computeGenericEndeffJacobian(
    const bool isFrame, const bool isLocal, const int id, dg::Matrix& res,
    const sigtime_t& time) {
  sotDEBUGIN(25);
  assert(m_model);
  assert(m_data);
  if (res.rows() != 6 || res.cols() != m_model->nv)
    res = Matrix::Zero(6, m_model->nv);
 
  jacobiansSINTERN(time);
 
  pinocchio::FrameIndex fid;
  pinocchio::JointIndex jid;
  bool changeFrame = !isLocal;
  pinocchio::SE3 M;
 
  // Computes Jacobian in end-eff coordinates.
  if (isFrame) {
    changeFrame = true;
    fid = (pinocchio::FrameIndex)id;
    const pinocchio::Frame& frame = m_model->frames[fid];
    jid = frame.parent;
 
    M = frame.placement.inverse();
 
    if (!isLocal) {  // Express the jacobian is world coordinate system.
      // Need to compute frame placement for oMf.
      pinocchio::updateFramePlacement(*m_model, *m_data, fid);
 
      pinocchio::SE3 T;
      T.rotation() = m_data->oMf[fid].rotation();
      T.translation().setZero();
      M = T * M;
    }
  } else {
    jid = (pinocchio::JointIndex)id;
    if (!isLocal) {  // Express the jacobian is world coordinate system.
      M.rotation() = m_data->oMi[jid].rotation();
      M.translation().setZero();
    }
  }
  pinocchio::getJointJacobian(*m_model, *m_data, jid, pinocchio::LOCAL, res);
 
  if (changeFrame) pinocchio::motionSet::se3Action(M, res, res);
 
  sotDEBUGOUT(25);
  return res;
}
 
MatrixHomogeneous& DynamicPinocchio::computeGenericPosition(
    const bool isFrame, const int id, MatrixHomogeneous& res,
    const sigtime_t& time) {
  sotDEBUGIN(25);
  forwardKinematicsSINTERN(time);
  if (isFrame) {
    const pinocchio::Frame& frame = m_model->frames[id];
    res.matrix() =
        (m_data->oMi[frame.parent] * frame.placement).toHomogeneousMatrix();
  } else {
    res.matrix() = m_data->oMi[id].toHomogeneousMatrix();
  }
  sotDEBUG(25) << "For "
               << (isFrame ? m_model->frames[id].name : m_model->names[id])
               << " with id: " << id << " position is " << res << std::endl;
  sotDEBUGOUT(25);
  return res;
}
 
dg::Vector& DynamicPinocchio::computeGenericVelocity(const int jointId,
                                                     dg::Vector& res,
                                                     const sigtime_t& time) {
  sotDEBUGIN(25);
  forwardKinematicsSINTERN(time);
  res.resize(6);
  const pinocchio::Motion& aRV = m_data->v[jointId];
  res << aRV.linear(), aRV.angular();
  sotDEBUGOUT(25);
  return res;
}
 
dg::Vector& DynamicPinocchio::computeGenericAcceleration(
    const int jointId, dg::Vector& res, const sigtime_t& time) {
  sotDEBUGIN(25);
  forwardKinematicsSINTERN(time);
  res.resize(6);
  const pinocchio::Motion& aRA = m_data->a[jointId];
  res << aRA.linear(), aRA.angular();
  sotDEBUGOUT(25);
  return res;
}
 
int& DynamicPinocchio::computeNewtonEuler(int& dummy, const sigtime_t& time) {
  sotDEBUGIN(15);
  assert(m_model);
  assert(m_data);
  const Eigen::VectorXd& q = pinocchioPosSINTERN.access(time);
  const Eigen::VectorXd& v = pinocchioVelSINTERN.access(time);
  const Eigen::VectorXd& a = pinocchioAccSINTERN.access(time);
  pinocchio::rnea(*m_model, *m_data, q, v, a);
 
  sotDEBUG(1) << "pos = " << q << std::endl;
  sotDEBUG(1) << "vel = " << v << std::endl;
  sotDEBUG(1) << "acc = " << a << std::endl;
 
  sotDEBUGOUT(15);
  return dummy;
}
 
dg::Matrix& DynamicPinocchio::computeJcom(dg::Matrix& Jcom,
                                          const sigtime_t& time) {
  sotDEBUGIN(25);
  forwardKinematicsSINTERN(time);
  Jcom = pinocchio::jacobianCenterOfMass(*m_model, *m_data, false);
  sotDEBUGOUT(25);
  return Jcom;
}
 
dg::Vector& DynamicPinocchio::computeCom(dg::Vector& com,
                                         const sigtime_t& time) {
  sotDEBUGIN(25);
  if (JcomSOUT.needUpdate(time)) {
    forwardKinematicsSINTERN(time);
    pinocchio::centerOfMass(*m_model, *m_data, false);
  }
  com = m_data->com[0];
  sotDEBUGOUT(25);
  return com;
}
 
dg::Matrix& DynamicPinocchio::computeInertia(dg::Matrix& res,
                                             const sigtime_t& time) {
  sotDEBUGIN(25);
  const Eigen::VectorXd& q = pinocchioPosSINTERN.access(time);
  res = pinocchio::crba(*m_model, *m_data, q);
  res.triangularView<Eigen::StrictlyLower>() =
      res.transpose().triangularView<Eigen::StrictlyLower>();
  sotDEBUGOUT(25);
  return res;
}
 
dg::Matrix& DynamicPinocchio::computeInertiaReal(dg::Matrix& res,
                                                 const sigtime_t& time) {
  sotDEBUGIN(25);
 
  const dg::Matrix& A = inertiaSOUT(time);
  const dg::Vector& gearRatio = gearRatioSOUT(time);
  const dg::Vector& inertiaRotor = inertiaRotorSOUT(time);
 
  res = A;
  for (int i = 0; i < gearRatio.size(); ++i)
    res(i, i) += (gearRatio(i) * gearRatio(i) * inertiaRotor(i));
 
  sotDEBUGOUT(25);
  return res;
}
 
double& DynamicPinocchio::computeFootHeight(double& res, const sigtime_t&) {
  // Ankle position in local foot frame
  // TODO: Confirm that it is in the foot frame
  sotDEBUGIN(25);
  if (!m_model->existJointName("r_sole_joint")) {
    SOT_THROW ExceptionDynamic(ExceptionDynamic::GENERIC,
                               "Robot has no joint corresponding to rigthFoot");
  }
  long int jointId = m_model->getJointId("r_sole_joint");
  Eigen::Vector3d anklePosInLocalRefFrame = m_data->liMi[jointId].translation();
  // TODO: positive or negative? Current output:negative
  res = anklePosInLocalRefFrame(2);
  sotDEBUGOUT(25);
  return res;
}
 
dg::Vector& DynamicPinocchio::computeTorqueDrift(dg::Vector& tauDrift,
                                                 const sigtime_t& time) {
  sotDEBUGIN(25);
  newtonEulerSINTERN(time);
  tauDrift = m_data->tau;
  sotDEBUGOUT(25);
  return tauDrift;
}
 
dg::Vector& DynamicPinocchio::computeMomenta(dg::Vector& Momenta,
                                             const sigtime_t& time) {
  sotDEBUGIN(25);
  ccrbaSINTERN(time);
  if (Momenta.size() != 6) Momenta.resize(6);
 
  Momenta = m_data->hg.toVector_impl();
 
  sotDEBUGOUT(25) << "Momenta :" << Momenta;
  return Momenta;
}
 
dg::Vector& DynamicPinocchio::computeAngularMomentum(dg::Vector& Momenta,
                                                     const sigtime_t& time) {
  sotDEBUGIN(25);
  ccrbaSINTERN(time);
 
  if (Momenta.size() != 3) Momenta.resize(3);
  Momenta = m_data->hg.angular_impl();
 
  sotDEBUGOUT(25) << "AngularMomenta :" << Momenta;
  return Momenta;
}
 
/* ------------------------ SIGNAL
 * CASTING--------------------------------------- */
 
dg::SignalTimeDependent<dg::Matrix, sigtime_t>& DynamicPinocchio::jacobiansSOUT(
    const std::string& name) {
  SignalBase<sigtime_t>& sigabs = Entity::getSignal(name);
  try {
    dg::SignalTimeDependent<dg::Matrix, sigtime_t>& res =
        dynamic_cast<dg::SignalTimeDependent<dg::Matrix, sigtime_t>&>(sigabs);
    return res;
  } catch (const std::bad_cast& e) {
    SOT_THROW ExceptionSignal(ExceptionSignal::BAD_CAST, "Impossible cast.",
                              " (while getting signal <%s> of type matrix.",
                              name.c_str());
  }
}
dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>&
DynamicPinocchio::positionsSOUT(const std::string& name) {
  SignalBase<sigtime_t>& sigabs = Entity::getSignal(name);
  try {
    dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>& res =
        dynamic_cast<dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>&>(
            sigabs);
    return res;
  } catch (const std::bad_cast& e) {
    SOT_THROW ExceptionSignal(ExceptionSignal::BAD_CAST, "Impossible cast.",
                              " (while getting signal <%s> of type matrixHomo.",
                              name.c_str());
  }
}
 
dg::SignalTimeDependent<dg::Vector, sigtime_t>&
DynamicPinocchio::velocitiesSOUT(const std::string& name) {
  SignalBase<sigtime_t>& sigabs = Entity::getSignal(name);
  try {
    dg::SignalTimeDependent<dg::Vector, sigtime_t>& res =
        dynamic_cast<dg::SignalTimeDependent<dg::Vector, sigtime_t>&>(sigabs);
    return res;
  } catch (const std::bad_cast& e) {
    SOT_THROW ExceptionSignal(ExceptionSignal::BAD_CAST, "Impossible cast.",
                              " (while getting signal <%s> of type Vector.",
                              name.c_str());
  }
}
 
dg::SignalTimeDependent<dg::Vector, sigtime_t>&
DynamicPinocchio::accelerationsSOUT(const std::string& name) {
  SignalBase<sigtime_t>& sigabs = Entity::getSignal(name);
  try {
    dg::SignalTimeDependent<dg::Vector, sigtime_t>& res =
        dynamic_cast<dg::SignalTimeDependent<dg::Vector, sigtime_t>&>(sigabs);
    return res;
  } catch (const std::bad_cast& e) {
    SOT_THROW ExceptionSignal(ExceptionSignal::BAD_CAST, "Impossible cast.",
                              " (while getting signal <%s> of type Vector.",
                              name.c_str());
  }
}
 
/*-------------------------------------------------------------------------*/
 
/*-------------------------------------------------------------------------*/
 
/* --- PARAMS --------------------------------------------------------------- */
 
// jointName is either a fixed-joint (pinocchio operational frame) or a
// movable joint (pinocchio joint-variant).
void DynamicPinocchio::cmd_createOpPointSignals(const std::string& opPointName,
                                                const std::string& jointName) {
  createEndeffJacobianSignal(std::string("J") + opPointName, jointName, true);
  createPositionSignal(opPointName, jointName);
}
void DynamicPinocchio::cmd_createJacobianWorldSignal(
    const std::string& signalName, const std::string& jointName) {
  createJacobianSignal(signalName, jointName);
}
void DynamicPinocchio::cmd_createJacobianEndEffectorSignal(
    const std::string& signalName, const std::string& jointName) {
  createEndeffJacobianSignal(signalName, jointName, true);
}
 
void DynamicPinocchio::cmd_createJacobianEndEffectorWorldSignal(
    const std::string& signalName, const std::string& jointName) {
  createEndeffJacobianSignal(signalName, jointName, false);
}
 
void DynamicPinocchio::cmd_createPositionSignal(const std::string& signalName,
                                                const std::string& jointName) {
  createPositionSignal(signalName, jointName);
}
void DynamicPinocchio::cmd_createVelocitySignal(const std::string& signalName,
                                                const std::string& jointName) {
  createVelocitySignal(signalName, jointName);
}
void DynamicPinocchio::cmd_createAccelerationSignal(
    const std::string& signalName, const std::string& jointName) {
  createAccelerationSignal(signalName, jointName);
}