289 lines
12 KiB
C++
289 lines
12 KiB
C++
// The structs and classes defined here provide a basic inverse fynamics implementation used
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// by MultiBodyTree
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// User interaction should be through MultiBodyTree
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#ifndef MULTI_BODY_REFERENCE_IMPL_HPP_
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#define MULTI_BODY_REFERENCE_IMPL_HPP_
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#include "../IDConfig.hpp"
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#include "../MultiBodyTree.hpp"
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namespace btInverseDynamics
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{
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/// Structure for for rigid body mass properties, connectivity and kinematic state
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/// all vectors and matrices are in body-fixed frame, if not indicated otherwise.
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/// The body-fixed frame is located in the joint connecting the body to its parent.
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struct RigidBody
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{
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ID_DECLARE_ALIGNED_ALLOCATOR();
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// 1 Inertial properties
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/// Mass
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idScalar m_mass;
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/// Mass times center of gravity in body-fixed frame
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vec3 m_body_mass_com;
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/// Moment of inertia w.r.t. body-fixed frame
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mat33 m_body_I_body;
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// 2 dynamic properties
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/// Left-hand side of the body equation of motion, translational part
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vec3 m_eom_lhs_translational;
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/// Left-hand side of the body equation of motion, rotational part
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vec3 m_eom_lhs_rotational;
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/// Force acting at the joint when the body is cut from its parent;
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/// includes impressed joint force in J_JT direction,
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/// as well as constraint force,
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/// in body-fixed frame
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vec3 m_force_at_joint;
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/// Moment acting at the joint when the body is cut from its parent;
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/// includes impressed joint moment in J_JR direction, and constraint moment
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/// in body-fixed frame
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vec3 m_moment_at_joint;
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/// external (user provided) force acting at the body-fixed frame's origin, written in that
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/// frame
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vec3 m_body_force_user;
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/// external (user provided) moment acting at the body-fixed frame's origin, written in that
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/// frame
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vec3 m_body_moment_user;
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// 3 absolute kinematic properties
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/// Position of body-fixed frame relative to world frame
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/// this is currently only for debugging purposes
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vec3 m_body_pos;
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/// Absolute velocity of body-fixed frame
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vec3 m_body_vel;
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/// Absolute acceleration of body-fixed frame
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/// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational
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/// acceleration!
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vec3 m_body_acc;
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/// Absolute angular velocity
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vec3 m_body_ang_vel;
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/// Absolute angular acceleration
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/// NOTE: if gravitational acceleration is not zero, this is the accelation PLUS gravitational
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/// acceleration!
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vec3 m_body_ang_acc;
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// 4 relative kinematic properties.
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// these are in the parent body frame
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/// Transform from world to body-fixed frame;
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/// this is currently only for debugging purposes
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mat33 m_body_T_world;
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/// Transform from parent to body-fixed frame
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mat33 m_body_T_parent;
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/// Vector from parent to child frame in parent frame
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vec3 m_parent_pos_parent_body;
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/// Relative angular velocity
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vec3 m_body_ang_vel_rel;
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/// Relative linear velocity
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vec3 m_parent_vel_rel;
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/// Relative angular acceleration
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vec3 m_body_ang_acc_rel;
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/// Relative linear acceleration
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vec3 m_parent_acc_rel;
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// 5 Data describing the joint type and geometry
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/// Type of joint
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JointType m_joint_type;
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/// Position of joint frame (body-fixed frame at q=0) relative to the parent frame
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/// Components are in body-fixed frame of the parent
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vec3 m_parent_pos_parent_body_ref;
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/// Orientation of joint frame (body-fixed frame at q=0) relative to the parent frame
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mat33 m_body_T_parent_ref;
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/// Joint rotational Jacobian, ie, the partial derivative of the body-fixed frames absolute
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/// angular velocity w.r.t. the generalized velocity of this body's relative degree of freedom.
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/// For revolute joints this is the joint axis, for prismatic joints it is a null matrix.
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/// (NOTE: dimensions will have to be dynamic for additional joint types!)
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vec3 m_Jac_JR;
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/// Joint translational Jacobian, ie, the partial derivative of the body-fixed frames absolute
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/// linear velocity w.r.t. the generalized velocity of this body's relative degree of freedom.
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/// For prismatic joints this is the joint axis, for revolute joints it is a null matrix.
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/// (NOTE: dimensions might have to be dynamic for additional joint types!)
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vec3 m_Jac_JT;
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/// m_Jac_JT in the parent frame, it, m_body_T_parent_ref.transpose()*m_Jac_JT
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vec3 m_parent_Jac_JT;
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/// Start of index range for the position degree(s) of freedom describing this body's motion
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/// relative to
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/// its parent. The indices are wrt the multibody system's q-vector of generalized coordinates.
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int m_q_index;
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// 6 Scratch data for mass matrix computation using "composite rigid body algorithm"
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/// mass of the subtree rooted in this body
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idScalar m_subtree_mass;
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/// center of mass * mass for subtree rooted in this body, in body-fixed frame
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vec3 m_body_subtree_mass_com;
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/// moment of inertia of subtree rooted in this body, w.r.t. body origin, in body-fixed frame
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mat33 m_body_subtree_I_body;
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#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
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/// translational jacobian in body-fixed frame d(m_body_vel)/du
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mat3x m_body_Jac_T;
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/// rotationsl jacobian in body-fixed frame d(m_body_ang_vel)/du
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mat3x m_body_Jac_R;
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/// components of linear acceleration depending on u
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/// (same as is d(m_Jac_T)/dt*u)
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vec3 m_body_dot_Jac_T_u;
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/// components of angular acceleration depending on u
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/// (same as is d(m_Jac_T)/dt*u)
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vec3 m_body_dot_Jac_R_u;
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#endif
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};
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/// The MBS implements a tree structured multibody system
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class MultiBodyTree::MultiBodyImpl
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{
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friend class MultiBodyTree;
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public:
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ID_DECLARE_ALIGNED_ALLOCATOR();
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enum KinUpdateType
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{
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POSITION_ONLY,
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POSITION_VELOCITY,
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POSITION_VELOCITY_ACCELERATION
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};
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/// constructor
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/// @param num_bodies the number of bodies in the system
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/// @param num_dofs number of degrees of freedom in the system
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MultiBodyImpl(int num_bodies_, int num_dofs_);
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/// \copydoc MultiBodyTree::calculateInverseDynamics
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int calculateInverseDynamics(const vecx& q, const vecx& u, const vecx& dot_u,
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vecx* joint_forces);
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///\copydoc MultiBodyTree::calculateMassMatrix
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int calculateMassMatrix(const vecx& q, const bool update_kinematics,
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const bool initialize_matrix, const bool set_lower_triangular_matrix,
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matxx* mass_matrix);
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/// calculate kinematics (vector quantities)
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/// Depending on type, update positions only, positions & velocities, or positions, velocities
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/// and accelerations.
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int calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u, const KinUpdateType type);
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#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
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/// calculate jacobians and (if type == POSITION_VELOCITY), also velocity-dependent accelration terms.
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int calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type);
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/// \copydoc MultiBodyTree::getBodyDotJacobianTransU
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int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
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/// \copydoc MultiBodyTree::getBodyDotJacobianRotU
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int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
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/// \copydoc MultiBodyTree::getBodyJacobianTrans
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int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
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/// \copydoc MultiBodyTree::getBodyJacobianRot
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int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
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/// Add relative Jacobian component from motion relative to parent body
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/// @param body the body to add the Jacobian component for
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void addRelativeJacobianComponent(RigidBody& body);
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#endif
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/// generate additional index sets from the parent_index array
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/// @return -1 on error, 0 on success
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int generateIndexSets();
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/// set gravity acceleration in world frame
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/// @param gravity gravity vector in the world frame
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/// @return 0 on success, -1 on error
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int setGravityInWorldFrame(const vec3& gravity);
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/// pretty print tree
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void printTree();
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/// print tree data
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void printTreeData();
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/// initialize fixed data
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void calculateStaticData();
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/// \copydoc MultiBodyTree::getBodyFrame
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int getBodyFrame(const int index, vec3* world_origin, mat33* body_T_world) const;
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/// \copydoc MultiBodyTree::getParentIndex
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int getParentIndex(const int body_index, int* m_parent_index);
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/// \copydoc MultiBodyTree::getJointType
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int getJointType(const int body_index, JointType* joint_type) const;
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/// \copydoc MultiBodyTree::getJointTypeStr
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int getJointTypeStr(const int body_index, const char** joint_type) const;
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/// \copydoc MultiBodyTree::getParentRParentBodyRef
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int getParentRParentBodyRef(const int body_index, vec3* r) const;
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/// \copydoc MultiBodyTree::getBodyTParentRef
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int getBodyTParentRef(const int body_index, mat33* T) const;
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/// \copydoc MultiBodyTree::getBodyAxisOfMotion
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int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
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/// \copydoc MultiBodyTree:getDoFOffset
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int getDoFOffset(const int body_index, int* q_index) const;
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/// \copydoc MultiBodyTree::getBodyOrigin
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int getBodyOrigin(const int body_index, vec3* world_origin) const;
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/// \copydoc MultiBodyTree::getBodyCoM
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int getBodyCoM(const int body_index, vec3* world_com) const;
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/// \copydoc MultiBodyTree::getBodyTransform
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int getBodyTransform(const int body_index, mat33* world_T_body) const;
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/// \copydoc MultiBodyTree::getBodyAngularVelocity
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int getBodyAngularVelocity(const int body_index, vec3* world_omega) const;
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/// \copydoc MultiBodyTree::getBodyLinearVelocity
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int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const;
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/// \copydoc MultiBodyTree::getBodyLinearVelocityCoM
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int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const;
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/// \copydoc MultiBodyTree::getBodyAngularAcceleration
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int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const;
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/// \copydoc MultiBodyTree::getBodyLinearAcceleration
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int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
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/// \copydoc MultiBodyTree::getUserInt
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int getUserInt(const int body_index, int* user_int) const;
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/// \copydoc MultiBodyTree::getUserPtr
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int getUserPtr(const int body_index, void** user_ptr) const;
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/// \copydoc MultiBodyTree::setUserInt
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int setUserInt(const int body_index, const int user_int);
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/// \copydoc MultiBodyTree::setUserPtr
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int setUserPtr(const int body_index, void* const user_ptr);
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///\copydoc MultiBodytTree::setBodyMass
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int setBodyMass(const int body_index, const idScalar mass);
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///\copydoc MultiBodytTree::setBodyFirstMassMoment
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int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
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///\copydoc MultiBodytTree::setBodySecondMassMoment
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int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
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///\copydoc MultiBodytTree::getBodyMass
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int getBodyMass(const int body_index, idScalar* mass) const;
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///\copydoc MultiBodytTree::getBodyFirstMassMoment
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int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const;
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///\copydoc MultiBodytTree::getBodySecondMassMoment
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int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const;
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/// \copydoc MultiBodyTree::clearAllUserForcesAndMoments
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void clearAllUserForcesAndMoments();
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/// \copydoc MultiBodyTree::addUserForce
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int addUserForce(const int body_index, const vec3& body_force);
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/// \copydoc MultiBodyTree::addUserMoment
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int addUserMoment(const int body_index, const vec3& body_moment);
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private:
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// debug function. print tree structure to stdout
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void printTree(int index, int indentation);
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// get string representation of JointType (for debugging)
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const char* jointTypeToString(const JointType& type) const;
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// get number of degrees of freedom from joint type
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int bodyNumDoFs(const JointType& type) const;
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// number of bodies in the system
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int m_num_bodies;
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// number of degrees of freedom
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int m_num_dofs;
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// Gravitational acceleration (in world frame)
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vec3 m_world_gravity;
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// vector of bodies in the system
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// body 0 is used as an environment body and is allways fixed.
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// The bodies are ordered such that a parent body always has an index
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// smaller than its child.
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idArray<RigidBody>::type m_body_list;
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// Parent_index[i] is the index for i's parent body in body_list.
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// This fully describes the tree.
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idArray<int>::type m_parent_index;
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// child_indices[i] contains a vector of indices of
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// all children of the i-th body
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idArray<idArray<int>::type>::type m_child_indices;
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// Indices of rotary joints
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idArray<int>::type m_body_revolute_list;
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// Indices of prismatic joints
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idArray<int>::type m_body_prismatic_list;
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// Indices of floating joints
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idArray<int>::type m_body_floating_list;
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// Indices of spherical joints
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idArray<int>::type m_body_spherical_list;
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// a user-provided integer
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idArray<int>::type m_user_int;
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// a user-provided pointer
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idArray<void*>::type m_user_ptr;
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#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
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mat3x m_m3x;
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#endif
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};
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} // namespace btInverseDynamics
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#endif
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