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dynrec.cpp
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dynrec.cpp
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#include "dynrec.h"
// Sets ids, positions, model node, inertia parameters.
void dynpart::setup(map<modelnode*,int>& mnode_id_map){
modelnode* pmnode;
mnode = opart->get_mnode();
pmnode = mnode->get_parent();
id = mnode_id_map[mnode];
parent_id = (pmnode)? mnode_id_map[pmnode] : -1;
recompute();
set_inertial_params();
}
void dynpart::print(){
cout << "--- dynpart ---" << endl;
cout << "name: " << opart->get_part_name() << endl;
cout << "id = " << id << endl;
cout << "parent id = " << parent_id << endl;
cout << "joint_pos: ";
joint_pos.print();
cout << "com_pos: ";
com_pos.print();
if(foot_flag){
cout << "foot_pos: ";
foot_pos.print();
}
}
// Sets joint_pos.
void dynpart::set_joint_pos(){
modeljoint* joint = mnode->get_joint();
if(joint){
joint->get_A_ground()->get_translation(joint_pos);
} else {
mnode->get_A_ground()->get_translation(joint_pos);
}
//joint_pos.print();
}
// Sets com_pos.
void dynpart::set_com_pos(){
opart->get_com_pos(com_pos);
}
// Sets joint, com and foot positions.
void dynpart::recompute(){
set_joint_pos();
set_com_pos();
if(foot_flag){set_foot_pos();}
}
const affine* dynpart::get_A_ground(){
return mnode->get_A_ground();
}
affine* dynpart::get_inertia_tensor(){
return &inertia;
}
// Copies inertial parameters from ode-body.
void dynpart::set_inertial_params(){
dMass m;
dBodyGetMass(opart->get_odebody(),&m);
mass = m.mass;
inertia.set_rotation(m.I);
//cout<<mass<<endl;inertia.print();
}
// Sets foot flag and position.
void dynpart::setup_foot(const set<modelnode*>& foot_set){
if(foot_set.count(mnode)){
foot_flag = true;
set_foot_pos();
} else {foot_flag = false;}
}
// Sets foot_pos.
void dynpart::set_foot_pos(){
opart->get_foot_pos(foot_pos);
}
// Gets z-component of joint axis.
void dynpart::get_joint_zaxis(extvec& axis){
modeljoint* joint = mnode->get_joint();
if(joint){
affine* A = joint->get_A_ground();
double *p = A->get_data() + 8;
axis.set(p);
} else {
axis.set_zeros();
}
}
dynrecord::dynrecord(int n_, int nf_){
n = n_;
nf = nf_;
pos = new extvec [n];
jpos = new extvec [n];
vel = new extvec [n];
mom = new extvec [n];
mom_rate = new extvec [n];
acc = new extvec [n];
ust = new extvec [n];
ang_vel = new extvec [n];
ang_mom = new extvec [n];
ang_mom_rate = new extvec [n];
fpos = new extvec [nf];
jzaxis = new extvec [n];
rot = new affine [n];
contacts = new bool [nf];
}
dynrecord::~dynrecord(){
delete [] pos;
delete [] jpos;
delete [] vel;
delete [] mom;
delete [] mom_rate;
delete [] acc;
delete [] ust;
delete [] ang_vel;
delete [] ang_mom;
delete [] ang_mom_rate;
delete [] fpos;
delete [] jzaxis;
delete [] rot;
delete [] contacts;
}
// Sets all non-dynamic quantities:
// pos, jpos, ust, fpos, jzaxis, rot, contacts.
void dynrecord::initialize(vector<dynpart*>& dynparts, double rcap){
vector<dynpart*>::iterator it = dynparts.begin();
int fi = 0;
for(int i=0;i<n;i++){
dynpart* dpart = (*it);
pos[i] = (*dpart->get_com_pos());
jpos[i] = (*dpart->get_joint_pos());
const affine* A = dpart->get_A_ground();
double x = (A->get_a(2,1)-A->get_a(1,2))/2;
double y = (A->get_a(0,2)-A->get_a(2,0))/2;
double z = (A->get_a(1,0)-A->get_a(0,1))/2;
ust[i].set(x,y,z);
rot[i].set_rotation(*A);
if(dpart->if_foot()){
fpos[fi] = (*dpart->get_foot_pos());
contacts[fi] = (fpos[fi].get_data()[2] < rcap+1e-4);
fi++;
}
dpart->get_joint_zaxis(jzaxis[i]);
it++;
}
}
void dynrecord::print(int id){
cout << "--- dynrec ---" << endl;
cout << "pos: "; pos[id].print();
cout << "jpos: "; jpos[id].print();
cout << "vel: "; vel[id].print();
cout << "mom: "; mom[id].print();
cout << "mom_rate: "; mom_rate[id].print();
cout << "acc: "; acc[id].print();
cout << "ust: "; ust[id].print();
cout << "ang_vel: "; ang_vel[id].print();
cout << "ang_mom: "; ang_mom[id].print();
cout << "ang_mom_rate: "; ang_mom_rate[id].print();
cout << "rot: " << endl; rot[id].print();
}
// Computes first and second order time derivatives.
// First order: vel, ang_vel, mom, ang_mom.
// Second order: mom_rate, acc, ang_mom_rate.
void dynrecord::compute_ders(int stage, const dynrecord* prev_rec, const dynrecord* next_rec, double dt, periodic* per){
switch (stage) {
case 0: {
compute_ders(vel,prev_rec->pos,next_rec->pos,dt);
compute_ders(ang_vel,prev_rec->ust,next_rec->ust,dt);
compute_mom(per->get_masses());
compute_ang_mom(per);
} break;
case 1: {
compute_ders(mom_rate,prev_rec->mom,next_rec->mom,dt);
compute_ders(acc,prev_rec->vel,next_rec->vel,dt); // probably acc wont be needed
compute_ders(ang_mom_rate,prev_rec->ang_mom,next_rec->ang_mom,dt);
} break;
}
}
// Computes time derivative of a dynrec field.
void dynrecord::compute_ders(extvec *p_der, const extvec *p_func_prev, const extvec *p_func_next, double dt){
for(int i=0;i<n;i++){
//p_der->copy(*p_func_next);
*p_der = (*p_func_next);
p_der->subtract(*p_func_prev);
p_der->times(1./(2*dt));
p_der++;
p_func_prev++;
p_func_next++;
}
}
void dynrecord::compute_ang_mom(periodic* per){
for(int i=0;i<n;i++){
affine* A_I = per->get_dynpart(i)->get_inertia_tensor();
extvec v, u;
affine rot_tr;
rot_tr.copy_transposed(rot[i]);
rot_tr.mult(ang_vel[i],v);
A_I->mult(v,u);
rot[i].mult(u,ang_mom[i]);
}
}
void dynrecord::compute_mom(const double* masses){
for(int i=0;i<n;i++){
double mass = masses[i];
//mom[i].copy(vel[i]);
mom[i] = vel[i];
mom[i].times(mass);
}
}
// Sets ft matrix B and com-ft vector f.
void dynrecord::set_forcetorque_system(SpMat& B, VectorXd& f, const int* parentis, const double* masses){
for(int i=0;i<n;i++){
int pi = parentis[i];
ftsys_forces(i,pi,B,f);
ftsys_torques(i,pi,B,f);
ftsys_gravity(i,f,masses);
}
B.makeCompressed();
}
// Sets 1 entries to ft matrix B.
// i and pi are part's and part parent's ids.
void ftsys_unit_elems(int i, int pi, SpMat& B){
for(int j=0;j<3;j++){
int k = 3*i+j, k1 = 3*pi+j;
B.insert(k,k) = 1;
if(pi >= 0){B.insert(k1,k) = -1;}
}
// Force/torque acting on part's joint (id = i),
// also acts on its COM and on its parent with negative sign.
}
// Sets entries corresponding to cross product of
// a positon vector (arg r) and a force. They descibe effect
// of the force applied at joint (id = j) on the torque
// at COM of part (id = i).
void ftsys_cross_elems(int i, int j, extvec& r, SpMat& B, int n){
int k = 3*(n+i), k1 = 3*j;
double *p = r.get_data();
int dk[3];
for(int l=0;l<3;l++){
for(int l1=0;l1<3;l1++){dk[l1] = (l+l1)%3;}
B.insert(k+dk[0],k1+dk[1]) = -p[dk[2]];
B.insert(k+dk[1],k1+dk[0]) = p[dk[2]];
}
}
// Sets all the cross-product entries arising from
// joint forces between part (id = i) and its parent (id = pi).
// ipos, jpos and ppos are part, joint and parent positions.
void ftsys_cross_elems(int i, int pi, extvec& ipos, extvec& jpos, extvec* ppos, SpMat& B, int n){
extvec r (jpos);
r.subtract(ipos);
ftsys_cross_elems(i,i,r,B,n);
r = (*ppos);
r.subtract(jpos);
ftsys_cross_elems(pi,i,r,B,n);
}
// Sets com-ft forces and force-related entries in ft matrix B.
void dynrecord::ftsys_forces(int i, int pi, SpMat& B, VectorXd& f){
ftsys_unit_elems(i,pi,B);
int k0 = 3*i;
mom_rate[i].get_components(f(k0),f(k0+1),f(k0+2));
}
// Sets com-ft torques and torque-related entries in ft matrix B.
void dynrecord::ftsys_torques(int i, int pi, SpMat& B, VectorXd& f){
int pi1 = (pi < 0)? pi : pi+n;
ftsys_unit_elems(i+n,pi1,B);
if (pi >= 0) {ftsys_cross_elems(i,pi,pos[i],jpos[i],&(pos[pi]),B,n);}
int k0 = 3*(n+i);
ang_mom_rate[i].get_components(f(k0),f(k0+1),f(k0+2));
}
// Adds gravity force to com-ft vector.
void dynrecord::ftsys_gravity(int i, VectorXd& f, const double* ms){
const double g = 1;
//const double g = 10;
f(3*i+2) += ms[i]*g;
}
// Counts number of contacts.
int dynrecord::get_ncontacts(){
int s = 0;
bool *p = contacts;
for(int i=0;i<nf;i++){s += *p++;}
return s;
}
// Sets force-torque system with contacts.
void dynrecord::set_forcetorque_system_contacts(SpMat& B, const int* footis){
set_forcetorque_system_contacts(B,footis,true);
}
// Sets force-torque system with optional contacts.
void dynrecord::set_forcetorque_system_contacts(SpMat& B, const int* footis, bool contact_feet_flag){
int ci = 0;
for(int fi=0;fi<nf;fi++){
if(contact_feet_flag){
if(!contacts[fi]){continue;}
}
int i = footis[fi];
ftsys_contact_forces(i,ci,B);
ftsys_contact_torques(fi,i,ci,B);
ci++;
}
B.makeCompressed();
}
// Sets entries arising from contact forces.
// For args i and ci see ftsys_contact_torques comment.
void dynrecord::ftsys_contact_forces(int i, int ci, SpMat& B){
for(int j=0;j<3;j++){
int k = 3*i+j, k1 = 3*(2*n+ci)+j;
B.insert(k,k1) = 1;
}
}
// Sets entries arising from contact force torques.
// Arg notations: i - foot part id,
// fi - foot id (different from foot part id),
// ci - contact id.
void dynrecord::ftsys_contact_torques(int fi, int i, int ci, SpMat& B){
extvec r (fpos[fi]);
r.subtract(pos[i]);
ftsys_cross_elems(i,2*n+ci,r,B,n);
}