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// Copyright (c) 2016, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include "hpp/pinocchio/center-of-mass-computation.hh" |
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#include <algorithm> |
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#include <boost/foreach.hpp> |
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#include <boost/serialization/vector.hpp> |
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#include <hpp/pinocchio/joint-collection.hh> |
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#include <hpp/util/exception-factory.hh> |
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#include <hpp/util/serialization.hh> |
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#include <pinocchio/algorithm/center-of-mass.hpp> |
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#include <pinocchio/algorithm/copy.hpp> |
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#include "hpp/pinocchio/device.hh" |
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#include "hpp/pinocchio/joint.hh" |
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#include "hpp/pinocchio/serialization.hh" |
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namespace hpp { |
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namespace pinocchio { |
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CenterOfMassComputationPtr_t CenterOfMassComputation::create( |
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const DevicePtr_t& d) { |
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return CenterOfMassComputationPtr_t(new CenterOfMassComputation(d)); |
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} |
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void CenterOfMassComputation::compute(DeviceData& d, |
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const Computation_t& flag) { |
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const Model& model = robot_->model(); |
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bool computeCOM = (flag & COM); |
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bool computeJac = (flag & JACOBIAN); |
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assert(computeCOM && "This does nothing"); |
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assert(!(computeJac && !computeCOM)); // JACOBIAN => COM |
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Data& data = *d.data_; |
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data.mass[0] = 0; |
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if (computeCOM) data.com[0].setZero(); |
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if (computeJac) data.Jcom.setZero(); |
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// Propagate COM initialization on all joints. |
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// Could be done only on subtree, with minor gain (possibly loss because of |
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// more difficult branch prediction). I dont recommend to implement it. |
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for (JointIndex jid = 1; jid < JointIndex(model.joints.size()); ++jid) { |
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const double& mass = model.inertias[jid].mass(); |
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data.mass[jid] = mass; |
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data.com[jid] = mass * data.oMi[jid].act(model.inertias[jid].lever()); |
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} |
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// Nullify non-subtree com and mass. |
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std::size_t root = 0; |
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std::size_t rootId = roots_[root]; |
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for (std::size_t jid = 1; jid < model.joints.size(); ++jid) { |
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if (jid == rootId) { |
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jid = (std::size_t)data.lastChild[rootId]; |
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root++; |
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if (root < roots_.size()) |
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rootId = roots_[root]; |
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else |
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// After last root, make sure that all joints set to 0. |
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rootId = model.joints.size(); |
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} else { |
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data.mass[jid] = 0; |
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data.com[jid].setZero(); |
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} |
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} |
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// TODO as of now, it is not possible to access the template parameter |
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// JointCollectionTpl of Model so we use the default one. |
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typedef ::pinocchio::JacobianCenterOfMassBackwardStep< |
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Model::Scalar, Model::Options, JointCollectionTpl |
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#if PINOCCHIO_VERSION_AT_LEAST(2, 1, 6) |
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, |
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Data::Matrix3x |
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#endif |
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> |
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Pass; |
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// Assume root is sorted from smallest id. |
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// Nasty cast below, from (u-long) size_t to int. |
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for (int root = int(roots_.size() - 1); root >= 0; --root) { |
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std::size_t rootId = roots_[(std::size_t)root]; |
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// Backward loop on descendents of joint rootId. |
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for (JointIndex jid = (JointIndex)data.lastChild[rootId]; jid >= rootId; |
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--jid) { |
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if (computeJac) |
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Pass::run(model.joints[jid], data.joints[jid], |
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Pass::ArgsType(model, data, |
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#if PINOCCHIO_VERSION_AT_LEAST(2, 1, 6) |
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data.Jcom, |
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#endif |
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false)); |
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else { |
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assert(computeCOM); |
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const JointIndex& parent = model.parents[jid]; |
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data.com[parent] += data.com[jid]; |
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data.mass[parent] += data.mass[jid]; |
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} |
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// std::cout << data.oMi [jid] << std::endl; |
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// std::cout << data.mass[jid] << std::endl; |
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// std::cout << data.com [jid].transpose() << std::endl; |
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} // end for jid |
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// Backward loop on ancestors of joint rootId |
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JointIndex jid = model.parents[rootId]; // loop variable |
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rootId = (root > 0) ? roots_[(std::size_t)(root - 1)] |
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: 0; // root of previous subtree in roots_ |
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while (jid > rootId) // stop when meeting the next subtree |
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{ |
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const JointIndex& parent = model.parents[jid]; |
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if (computeJac) |
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Pass::run(model.joints[jid], data.joints[jid], |
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Pass::ArgsType(model, data, |
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#if PINOCCHIO_VERSION_AT_LEAST(2, 1, 6) |
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data.Jcom, |
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#endif |
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false)); |
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else { |
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assert(computeCOM); |
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data.com[parent] += data.com[jid]; |
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data.mass[parent] += data.mass[jid]; |
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} |
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jid = parent; |
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} // end while |
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} // end for root in roots_ |
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if (computeCOM) data.com[0] /= data.mass[0]; |
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if (computeJac) data.Jcom /= data.mass[0]; |
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} |
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CenterOfMassComputation::CenterOfMassComputation(const DevicePtr_t& d) |
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: robot_(d), roots_() { |
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assert(d->modelPtr()); |
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} |
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void CenterOfMassComputation::add(const JointPtr_t& j) { |
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const Data& data = robot_->data(); |
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JointIndex jid = j->index(); |
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BOOST_FOREACH (const JointIndex rootId, roots_) { |
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assert(std::size_t(rootId) < robot_->model().joints.size()); |
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// Assert that the new root is not in already-recorded subtrees. |
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if ((jid >= rootId) && (data.lastChild[rootId] >= int(jid))) |
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// We are doing something stupid. Should we throw an error |
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// or just return silently ? |
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HPP_THROW(std::invalid_argument, |
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"Joint " << j->name() << " (" << jid |
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<< ") is already in a subtree [" << rootId << ", " |
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<< data.lastChild[rootId] << "]"); |
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} |
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roots_.push_back(jid); |
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} |
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CenterOfMassComputation::~CenterOfMassComputation() {} |
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template <class Archive> |
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void CenterOfMassComputation::serialize(Archive& ar, |
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const unsigned int version) { |
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(void)version; |
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ar& BOOST_SERIALIZATION_NVP(robot_); |
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ar& BOOST_SERIALIZATION_NVP(roots_); |
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} |
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HPP_SERIALIZATION_IMPLEMENT(CenterOfMassComputation); |
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} // namespace pinocchio |
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} // namespace hpp |
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