/usr/include/kido/dynamics/PointMass.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2013-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_DYNAMICS_POINTMASS_HPP_
#define KIDO_DYNAMICS_POINTMASS_HPP_
#include <vector>
#include <Eigen/Dense>
#include "kido/dynamics/Entity.hpp"
namespace kido {
namespace renderer {
class RenderInterface;
} // namespace renderer
} // namespace kido
namespace kido {
namespace dynamics {
class EllipsoidShape;
class SoftBodyNode;
class PointMassNotifier;
///
class PointMass : public common::Subject
{
public:
friend class SoftBodyNode;
struct Properties
{
/// Resting position viewed in the parent SoftBodyNode frame
Eigen::Vector3d mX0;
/// Mass.
double mMass;
/// Indices of connected Point Masses
std::vector<size_t> mConnectedPointMassIndices;
/// Lower limit of position
Eigen::Vector3d mPositionLowerLimits; // Currently unused
/// Upper limit of position
Eigen::Vector3d mPositionUpperLimits; // Currently unused
/// Min value allowed.
Eigen::Vector3d mVelocityLowerLimits; // Currently unused
/// Max value allowed.
Eigen::Vector3d mVelocityUpperLimits; // Currently unused
/// Min value allowed.
Eigen::Vector3d mAccelerationLowerLimits; // Currently unused
/// upper limit of generalized acceleration
Eigen::Vector3d mAccelerationUpperLimits; // Currently unused
/// Min value allowed.
Eigen::Vector3d mForceLowerLimits; // Currently unused
/// Max value allowed.
Eigen::Vector3d mForceUpperLimits; // Currently unused
Properties(const Eigen::Vector3d& _X0 = Eigen::Vector3d::Zero(),
double _mass = 0.0005,
const std::vector<size_t>& _connections = std::vector<size_t>(),
const Eigen::Vector3d& _positionLowerLimits =
Eigen::Vector3d::Constant(-KIDO_DBL_INF),
const Eigen::Vector3d& _positionUpperLimits =
Eigen::Vector3d::Constant( KIDO_DBL_INF),
const Eigen::Vector3d& _velocityLowerLimits =
Eigen::Vector3d::Constant(-KIDO_DBL_INF),
const Eigen::Vector3d& _velocityUpperLimits =
Eigen::Vector3d::Constant( KIDO_DBL_INF),
const Eigen::Vector3d& _accelerationLowerLimits =
Eigen::Vector3d::Constant(-KIDO_DBL_INF),
const Eigen::Vector3d& _accelerationUpperLimits =
Eigen::Vector3d::Constant( KIDO_DBL_INF),
const Eigen::Vector3d& _forceLowerLimits =
Eigen::Vector3d::Constant(-KIDO_DBL_INF),
const Eigen::Vector3d& _forceUpperLimits =
Eigen::Vector3d::Constant( KIDO_DBL_INF));
void setRestingPosition(const Eigen::Vector3d& _x);
void setMass(double _mass);
};
//--------------------------------------------------------------------------
// Constructor and Desctructor
//--------------------------------------------------------------------------
/// Default destructor
virtual ~PointMass();
///
size_t getIndexInSoftBodyNode() const;
///
void setMass(double _mass);
///
double getMass() const;
///
double getPsi() const;
///
double getImplicitPsi() const;
///
double getPi() const;
///
double getImplicitPi() const;
///
void addConnectedPointMass(PointMass* _pointMass);
///
size_t getNumConnectedPointMasses() const;
///
PointMass* getConnectedPointMass(size_t _idx);
///
const PointMass* getConnectedPointMass(size_t _idx) const;
/// Set whether this point mass is colliding with others.
/// \param[in] True if this point mass is colliding.
void setColliding(bool _isColliding);
/// Get whether this point mass is colliding with others.
/// \return True if this point mass is colliding.
bool isColliding();
//----------------------------------------------------------------------------
// Documentation inherited
size_t getNumDofs() const;
// // Documentation inherited
// void setIndexInSkeleton(size_t _index, size_t _indexInSkeleton);
// // Documentation inherited
// size_t getIndexInSkeleton(size_t _index) const;
//----------------------------------------------------------------------------
// Position
//----------------------------------------------------------------------------
// Documentation inherited
void setPosition(size_t _index, double _position);
// Documentation inherited
double getPosition(size_t _index) const;
// Documentation inherited
void setPositions(const Eigen::Vector3d& _positions);
// Documentation inherited
const Eigen::Vector3d& getPositions() const;
// Documentation inherited
void resetPositions();
//----------------------------------------------------------------------------
// Velocity
//----------------------------------------------------------------------------
// Documentation inherited
void setVelocity(size_t _index, double _velocity);
// Documentation inherited
double getVelocity(size_t _index) const;
// Documentation inherited
void setVelocities(const Eigen::Vector3d& _velocities);
// Documentation inherited
const Eigen::Vector3d& getVelocities() const;
// Documentation inherited
void resetVelocities();
//----------------------------------------------------------------------------
// Acceleration
//----------------------------------------------------------------------------
// Documentation inherited
void setAcceleration(size_t _index, double _acceleration);
// Documentation inherited
double getAcceleration(size_t _index) const;
// Documentation inherited
void setAccelerations(const Eigen::Vector3d& _accelerations);
// Documentation inherited
const Eigen::Vector3d& getAccelerations() const;
/// Get the Eta term of this PointMass
const Eigen::Vector3d& getPartialAccelerations() const;
// Documentation inherited
void resetAccelerations();
//----------------------------------------------------------------------------
// Force
//----------------------------------------------------------------------------
// Documentation inherited
void setForce(size_t _index, double _force);
// Documentation inherited
double getForce(size_t _index);
// Documentation inherited
void setForces(const Eigen::Vector3d& _forces);
// Documentation inherited
const Eigen::Vector3d& getForces() const;
// Documentation inherited
void resetForces();
//----------------------------------------------------------------------------
// Velocity change
//----------------------------------------------------------------------------
// Documentation inherited
void setVelocityChange(size_t _index, double _velocityChange);
// Documentation inherited
double getVelocityChange(size_t _index);
// Documentation inherited
void resetVelocityChanges();
//----------------------------------------------------------------------------
// Constraint impulse
//----------------------------------------------------------------------------
// Documentation inherited
void setConstraintImpulse(size_t _index, double _impulse);
// Documentation inherited
double getConstraintImpulse(size_t _index);
// Documentation inherited
void resetConstraintImpulses();
//----------------------------------------------------------------------------
// Integration
//----------------------------------------------------------------------------
// Documentation inherited
void integratePositions(double _dt);
// Documentation inherited
void integrateVelocities(double _dt);
//----------------------------------------------------------------------------
/// Add linear Cartesian force to this node.
/// \param[in] _force External force.
/// \param[in] _isForceLocal True if _force's reference frame is of the parent
/// soft body node. False if _force's reference frame
/// is of the world.
void addExtForce(const Eigen::Vector3d& _force, bool _isForceLocal = false);
///
void clearExtForce();
//----------------------------------------------------------------------------
// Constraints
// - Following functions are managed by constraint solver.
//----------------------------------------------------------------------------
/// Set constraint impulse
void setConstraintImpulse(const Eigen::Vector3d& _constImp,
bool _isLocal = false);
/// Add constraint impulse
void addConstraintImpulse(const Eigen::Vector3d& _constImp,
bool _isLocal = false);
/// Clear constraint impulse
void clearConstraintImpulse();
/// Get constraint impulse
Eigen::Vector3d getConstraintImpulses() const;
//----------------------------------------------------------------------------
///
void setRestingPosition(const Eigen::Vector3d& _p);
///
const Eigen::Vector3d& getRestingPosition() const;
///
const Eigen::Vector3d& getLocalPosition() const;
///
const Eigen::Vector3d& getWorldPosition() const;
/// \todo Temporary function.
Eigen::Matrix<double, 3, Eigen::Dynamic> getBodyJacobian();
Eigen::Matrix<double, 3, Eigen::Dynamic> getWorldJacobian();
/// Return velocity change due to impulse
const Eigen::Vector3d& getBodyVelocityChange() const;
///
SoftBodyNode* getParentSoftBodyNode();
///
const SoftBodyNode* getParentSoftBodyNode() const;
/// The number of the generalized coordinates by which this node is
/// affected.
// int getNumDependentGenCoords() const;
/// Return a generalized coordinate index from the array index
/// (< getNumDependentDofs).
// int getDependentGenCoord(int _arrayIndex) const;
/// Get the generalized velocity at the position of this point mass
/// where the velocity is expressed in the parent soft body node frame.
const Eigen::Vector3d& getBodyVelocity() const;
/// Get the generalized velocity at the position of this point mass
/// where the velocity is expressed in the world frame.
Eigen::Vector3d getWorldVelocity() const;
/// Get the generalized acceleration at the position of this point mass
/// where the acceleration is expressed in the parent soft body node
/// frame.
const Eigen::Vector3d& getBodyAcceleration() const;
/// Get the generalized acceleration at the position of this point mass
/// where the acceleration is expressed in the world frame.
Eigen::Vector3d getWorldAcceleration() const;
protected:
/// Constructor used by SoftBodyNode
explicit PointMass(SoftBodyNode* _softBodyNode);
///
void init();
//----------------------------------------------------------------------------
/// \{ \name Recursive dynamics routines
//----------------------------------------------------------------------------
/// \brief Update transformation.
void updateTransform() const;
/// \brief Update body velocity.
void updateVelocity() const;
/// \brief Update partial body acceleration due to parent joint's velocity.
void updatePartialAcceleration() const;
/// \brief Update articulated body inertia. Forward dynamics routine.
/// \param[in] _timeStep Rquired for implicit joint stiffness and damping.
void updateArtInertiaFD(double _timeStep) const;
/// \brief Update bias force associated with the articulated body inertia.
/// Forward dynamics routine.
/// \param[in] _gravity Vector of gravitational acceleration
/// \param[in] _timeStep Rquired for implicit joint stiffness and damping.
void updateBiasForceFD(double _dt, const Eigen::Vector3d& _gravity);
/// \brief Update bias impulse associated with the articulated body inertia.
/// Impulse-based forward dynamics routine.
void updateBiasImpulseFD();
/// \brief Update body acceleration with the partial body acceleration.
void updateAccelerationID() const;
/// \brief Update body acceleration. Forward dynamics routine.
void updateAccelerationFD();
/// \brief Update body velocity change. Impluse-based forward dynamics
/// routine.
void updateVelocityChangeFD();
/// \brief Update body force. Inverse dynamics routine.
void updateTransmittedForceID(const Eigen::Vector3d& _gravity,
bool _withExternalForces = false);
/// \brief Update body force. Forward dynamics routine.
void updateTransmittedForce();
/// \brief Update body force. Impulse-based forward dynamics routine.
void updateTransmittedImpulse();
/// \brief Update the joint force. Inverse dynamics routine.
void updateJointForceID(double _timeStep,
double _withDampingForces,
double _withSpringForces);
/// \brief Update constrained terms due to the constraint impulses. Foward
/// dynamics routine.
void updateConstrainedTermsFD(double _timeStep);
/// \}
//----------------------------------------------------------------------------
/// \{ \name Equations of motion related routines
//----------------------------------------------------------------------------
///
void updateMassMatrix();
///
void aggregateMassMatrix(Eigen::MatrixXd& _MCol, int _col);
///
void aggregateAugMassMatrix(Eigen::MatrixXd& _MCol, int _col,
double _timeStep);
///
void updateInvMassMatrix();
///
void updateInvAugMassMatrix();
///
void aggregateInvMassMatrix(Eigen::MatrixXd& _MInvCol, int _col);
///
void aggregateInvAugMassMatrix(Eigen::MatrixXd& _MInvCol, int _col,
double _timeStep);
///
void aggregateGravityForceVector(Eigen::VectorXd& _g,
const Eigen::Vector3d& _gravity);
///
void updateCombinedVector();
///
void aggregateCombinedVector(Eigen::VectorXd& _Cg,
const Eigen::Vector3d& _gravity);
/// Aggregate the external forces mFext in the generalized
/// coordinates recursively.
void aggregateExternalForces(Eigen::VectorXd& _Fext);
/// \}
//-------------------- Cache Data for Mass Matrix ----------------------------
///
Eigen::Vector3d mM_dV;
///
Eigen::Vector3d mM_F;
//----------------- Cache Data for Mass Inverse Matrix -----------------------
///
Eigen::Vector3d mBiasForceForInvMeta;
//---------------- Cache Data for Gravity Force Vector -----------------------
///
Eigen::Vector3d mG_F;
//------------------- Cache Data for Combined Vector -------------------------
///
Eigen::Vector3d mCg_dV;
///
Eigen::Vector3d mCg_F;
//---------------------------- Rendering -------------------------------------
///
virtual void draw(renderer::RenderInterface* _ri = nullptr,
const Eigen::Vector4d& _color = Eigen::Vector4d::Ones(),
bool _useDefaultColor = true) const;
protected:
// TODO(JS): Need?
///
// Eigen::Matrix<size_t, 3, 1> mIndexInSkeleton;
/// SoftBodyNode that this PointMass belongs to
SoftBodyNode* mParentSoftBodyNode;
/// Index of this PointMass within the SoftBodyNode
size_t mIndex;
//----------------------------------------------------------------------------
// Configuration
//----------------------------------------------------------------------------
/// Position
Eigen::Vector3d mPositions;
/// Derivatives w.r.t. an arbitrary scalr variable
Eigen::Vector3d mPositionDeriv;
//----------------------------------------------------------------------------
// Velocity
//----------------------------------------------------------------------------
/// Generalized velocity
Eigen::Vector3d mVelocities;
/// Derivatives w.r.t. an arbitrary scalr variable
Eigen::Vector3d mVelocitiesDeriv;
//----------------------------------------------------------------------------
// Acceleration
//----------------------------------------------------------------------------
/// Generalized acceleration
Eigen::Vector3d mAccelerations;
/// Derivatives w.r.t. an arbitrary scalr variable
Eigen::Vector3d mAccelerationsDeriv;
//----------------------------------------------------------------------------
// Force
//----------------------------------------------------------------------------
/// Generalized force
Eigen::Vector3d mForces;
/// Derivatives w.r.t. an arbitrary scalr variable
Eigen::Vector3d mForcesDeriv;
//----------------------------------------------------------------------------
// Impulse
//----------------------------------------------------------------------------
/// Change of generalized velocity
Eigen::Vector3d mVelocityChanges;
// /// Generalized impulse
// Eigen::Vector3d mImpulse;
/// Generalized constraint impulse
Eigen::Vector3d mConstraintImpulses;
//----------------------------------------------------------------------------
/// Current position viewed in world frame.
mutable Eigen::Vector3d mW;
/// Current position viewed in parent soft body node frame.
mutable Eigen::Vector3d mX;
/// Current velocity viewed in parent soft body node frame.
mutable Eigen::Vector3d mV;
/// Partial Acceleration of this PointMass
mutable Eigen::Vector3d mEta;
///
Eigen::Vector3d mAlpha;
///
Eigen::Vector3d mBeta;
/// Current acceleration viewed in parent body node frame.
mutable Eigen::Vector3d mA;
///
Eigen::Vector3d mF;
///
mutable double mPsi;
///
mutable double mImplicitPsi;
///
mutable double mPi;
///
mutable double mImplicitPi;
/// Bias force
Eigen::Vector3d mB;
/// External force.
Eigen::Vector3d mFext;
/// A increasingly sorted list of dependent dof indices.
std::vector<int> mDependentGenCoordIndices;
/// Whether the node is currently in collision with another node.
bool mIsColliding;
//------------------------- Impulse-based Dyanmics ---------------------------
/// Velocity change due to constraint impulse
Eigen::Vector3d mDelV;
/// Impulsive bias force due to external impulsive force exerted on
/// bodies of the parent skeleton.
Eigen::Vector3d mImpB;
/// Cache data for mImpB
Eigen::Vector3d mImpAlpha;
/// Cache data for mImpB
Eigen::Vector3d mImpBeta;
/// Generalized impulsive body force w.r.t. body frame.
Eigen::Vector3d mImpF;
PointMassNotifier* mNotifier;
private:
EllipsoidShape* mShape;
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
//struct PointMassPair
//{
// PointMass* pm1;
// PointMass* pm2;
//};
class PointMassNotifier : public Entity
{
public:
PointMassNotifier(SoftBodyNode* _parentSoftBody, const std::string& _name);
bool needsPartialAccelerationUpdate() const;
void clearTransformNotice();
void clearVelocityNotice();
void clearPartialAccelerationNotice();
void clearAccelerationNotice();
void notifyTransformUpdate();
void notifyVelocityUpdate();
void notifyAccelerationUpdate();
protected:
bool mNeedPartialAccelerationUpdate;
SoftBodyNode* mParentSoftBodyNode;
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_POINTMASS_HPP_
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