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File: include/pinocchio/multibody/model.hpp
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1 //
2 // Copyright (c) 2015-2020 CNRS INRIA
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #ifndef __pinocchio_multibody_model_hpp__
7 #define __pinocchio_multibody_model_hpp__
8
9 #include "pinocchio/spatial/fwd.hpp"
10 #include "pinocchio/spatial/se3.hpp"
11 #include "pinocchio/spatial/force.hpp"
12 #include "pinocchio/spatial/motion.hpp"
13 #include "pinocchio/spatial/inertia.hpp"
14
15 #include "pinocchio/multibody/fwd.hpp"
16 #include "pinocchio/multibody/frame.hpp"
17 #include "pinocchio/multibody/joint/joint-generic.hpp"
18
19 #include "pinocchio/container/aligned-vector.hpp"
20
21 #include "pinocchio/serialization/serializable.hpp"
22
23 #include <map>
24 #include <iterator>
25
26 namespace pinocchio
27 {
28 template<
29 typename NewScalar,
30 typename Scalar,
31 int Options,
32 template<typename, int> class JointCollectionTpl>
33 struct CastType<NewScalar, ModelTpl<Scalar, Options, JointCollectionTpl>>
34 {
35 typedef ModelTpl<NewScalar, Options, JointCollectionTpl> type;
36 };
37
38 template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
39 struct traits<ModelTpl<_Scalar, _Options, JointCollectionTpl>>
40 {
41 typedef _Scalar Scalar;
42 };
43
44 template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
45 struct ModelTpl
46 : serialization::Serializable<ModelTpl<_Scalar, _Options, JointCollectionTpl>>
47 , NumericalBase<ModelTpl<_Scalar, _Options, JointCollectionTpl>>
48 {
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
50
51 typedef _Scalar Scalar;
52 enum
53 {
54 Options = _Options
55 };
56
57 typedef JointCollectionTpl<Scalar, Options> JointCollection;
58 typedef DataTpl<Scalar, Options, JointCollectionTpl> Data;
59
60 typedef SE3Tpl<Scalar, Options> SE3;
61 typedef MotionTpl<Scalar, Options> Motion;
62 typedef ForceTpl<Scalar, Options> Force;
63 typedef InertiaTpl<Scalar, Options> Inertia;
64 typedef FrameTpl<Scalar, Options> Frame;
65
66 typedef pinocchio::Index Index;
67 typedef pinocchio::JointIndex JointIndex;
68 typedef pinocchio::GeomIndex GeomIndex;
69 typedef pinocchio::FrameIndex FrameIndex;
70 typedef std::vector<Index> IndexVector;
71
72 typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel;
73 typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointData;
74
75 typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector;
76 typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector;
77
78 typedef PINOCCHIO_ALIGNED_STD_VECTOR(Frame) FrameVector;
79
80 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs;
81 typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3;
82
83 typedef PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) InertiaVector;
84 typedef PINOCCHIO_ALIGNED_STD_VECTOR(SE3) SE3Vector;
85
86 /// \brief Dense vectorized version of a joint configuration vector.
87 typedef VectorXs ConfigVectorType;
88
89 /// \brief Map between a string (key) and a configuration vector
90 typedef std::map<std::string, ConfigVectorType> ConfigVectorMap;
91
92 /// \brief Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration,
93 /// etc).
94 /// It also handles the notion of co-tangent vector (e.g. torque, etc).
95 typedef VectorXs TangentVectorType;
96
97 /// \brief Dimension of the configuration vector representation.
98 int nq;
99
100 /// \brief Dimension of the velocity vector space.
101 int nv;
102
103 /// \brief Dimension of the jacobian space.
104 int nvExtended;
105
106 /// \brief Number of joints.
107 int njoints;
108
109 /// \brief Number of bodies.
110 int nbodies;
111
112 /// \brief Number of operational frames.
113 int nframes;
114
115 /// \brief Vector of spatial inertias supported by each joint.
116 InertiaVector inertias;
117
118 /// \brief Vector of joint placements: placement of a joint *i* wrt its parent joint frame.
119 SE3Vector jointPlacements;
120
121 /// \brief Vector of joint models.
122 JointModelVector joints;
123
124 /// \brief Vector of starting index of the *i*th joint in the configuration space.
125 std::vector<int> idx_qs;
126
127 /// \brief Vector of dimension of the joint configuration subspace.
128 std::vector<int> nqs;
129
130 /// \brief Starting index of the *i*th joint in the tangent configuration space.
131 std::vector<int> idx_vs;
132
133 /// \brief Dimension of the *i*th joint tangent subspace.
134 std::vector<int> nvs;
135
136 /// \brief Starting index of the *i*th joint in the jacobian space.
137 std::vector<int> idx_vExtendeds;
138
139 /// \brief Dimension of the *i*th joint jacobian subspace.
140 std::vector<int> nvExtendeds;
141
142 /// \brief Vector of parent joint indexes. The parent of joint *i*, denoted *li*, corresponds to
143 /// li==parents[i].
144 std::vector<JointIndex> parents;
145
146 /// \brief Vector of children index. Chidren of the *i*th joint, denoted *mu(i)* corresponds to
147 /// the set (i==parents[k] for k in mu(i)).
148 std::vector<IndexVector> children;
149
150 /// \brief Vector of mimicking joints in the tree (with type MimicTpl)
151 std::vector<JointIndex> mimicking_joints;
152
153 /// \brief Vector of mimicked joints in the tree (can be any joint type)
154 /// The i-th element of this vector correspond to the mimicked joint of the i-th mimicking
155 /// vector in mimicking_joints
156 std::vector<JointIndex> mimicked_joints;
157
158 /// \brief Name of the joints.
159 std::vector<std::string> names;
160
161 /// \brief Map of reference configurations, indexed by user given names.
162 ConfigVectorMap referenceConfigurations;
163
164 /// \brief Vector of armature values expressed at the joint level
165 /// This vector may contain the contribution of rotor inertia effects for instance.
166 VectorXs armature;
167
168 /// \brief Vector of rotor inertia parameters
169 TangentVectorType rotorInertia;
170
171 /// \brief Vector of rotor gear ratio parameters
172 TangentVectorType rotorGearRatio;
173
174 /// \brief Vector of joint friction parameters
175 TangentVectorType friction;
176
177 /// \brief Vector of joint damping parameters
178 TangentVectorType damping;
179
180 /// \brief Vector of maximal joint torques
181 TangentVectorType effortLimit;
182
183 /// \brief Vector of maximal joint velocities
184 TangentVectorType velocityLimit;
185
186 /// \brief Lower joint configuration limit
187 ConfigVectorType lowerPositionLimit;
188
189 /// \brief Upper joint configuration limit
190 ConfigVectorType upperPositionLimit;
191
192 /// \brief Vector of operational frames registered on the model.
193 FrameVector frames;
194
195 /// \brief Vector of joint supports.
196 /// supports[j] corresponds to the vector of indices of the joints located on the path between
197 /// joint *j* and "universe".
198 /// The first element of supports[j] is "universe", the last one is the index of joint *j*
199 /// itself.
200 std::vector<IndexVector> supports;
201
202 /// \brief Vector of mimic supports joints.
203 /// mimic_joint_supports[j] corresponds to the vector of mimic joints indices located on the
204 /// path between joint *j* and "universe". The first element of mimic_joint_supports[j] is
205 /// "universe". If *j* is a mimic, the last element is the index of joint *j* itself.
206 std::vector<IndexVector> mimic_joint_supports;
207
208 /// \brief Vector of joint subtrees.
209 /// subtree[j] corresponds to the subtree supported by the joint *j*.
210 /// The first element of subtree[j] is the index of the joint *j* itself.
211 std::vector<IndexVector> subtrees;
212
213 /// \brief Spatial gravity of the model.
214 Motion gravity;
215
216 /// \brief Default 3D gravity vector (=(0,0,-9.81)).
217 static const Vector3 gravity981;
218
219 /// \brief Model name.
220 std::string name;
221
222 /// \brief Default constructor. Builds an empty model with no joints.
223 1016 ModelTpl()
224 1016 : nq(0)
225 1016 , nv(0)
226 1016 , nvExtended(0)
227 1016 , njoints(1)
228 1016 , nbodies(1)
229 1016 , nframes(0)
230
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 1016 , inertias(1, Inertia::Zero())
231
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 1016 , jointPlacements(1, SE3::Identity())
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 1016 , idx_qs(1, 0)
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 1016 , nqs(1, 0)
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 1016 , nvs(1, 0)
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 1016 , idx_vExtendeds(1, 0)
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 1016 , nvExtendeds(1, 0)
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 1016 , parents(1, 0)
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 1016 , names(1)
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 1016 , supports(1, IndexVector(1, 0))
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 1016 , mimic_joint_supports(1, IndexVector(1, 0))
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 3048 , gravity(gravity981, Vector3::Zero())
246 {
247
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 1016 names[0] = "universe"; // Should be "universe joint (trivial)"
248 // FIXME Should the universe joint be a FIXED_JOINT even if it is
249 // in the list of joints ? See comment in definition of
250 // Model::addJointFrame and Model::addBodyFrame
251
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 1016 addFrame(Frame("universe", 0, 0, SE3::Identity(), FIXED_JOINT));
252 1016 }
253
254 ///
255 /// \brief Copy constructor by casting
256 ///
257 /// \param[in] other model to copy to *this
258 ///
259 template<typename S2, int O2>
260 1 explicit ModelTpl(const ModelTpl<S2, O2> & other)
261
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 1 {
262
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 1 *this = other.template cast<Scalar>();
263 1 }
264
265 /// \returns A new copy of *this with the Scalar type casted to NewScalar.
266 template<typename NewScalar>
267 typename CastType<NewScalar, ModelTpl>::type cast() const;
268
269 ///
270 /// \brief Equality comparison operator.
271 ///
272 /// \returns true if *this is equal to other.
273 ///
274 bool operator==(const ModelTpl & other) const;
275
276 ///
277 /// \returns true if *this is NOT equal to other.
278 ///
279 4 bool operator!=(const ModelTpl & other) const
280 {
281 4 return !(*this == other);
282 }
283
284 ///
285 /// \brief Add a joint to the kinematic tree with infinite bounds.
286 ///
287 /// \remarks This method does not add a Frame of same name to the vector of frames.
288 /// Use Model::addJointFrame.
289 /// \remarks The inertia supported by the joint is set to Zero.
290 /// \remark Joints need to be added to the tree in a depth-first order.
291 ///
292 /// \tparam JointModelDerived The type of the joint model.
293 ///
294 /// \param[in] parent Index of the parent joint.
295 /// \param[in] joint_model The joint model.
296 /// \param[in] joint_placement Placement of the joint inside its parent joint.
297 /// \param[in] joint_name Name of the joint. If empty, the name is random.
298 ///
299 /// \return The index of the new joint.
300 ///
301 /// \sa Model::appendBodyToJoint
302 ///
303 JointIndex addJoint(
304 const JointIndex parent,
305 const JointModel & joint_model,
306 const SE3 & joint_placement,
307 const std::string & joint_name);
308
309 ///
310 /// \copydoc ModelTpl::addJoint(const JointIndex,const JointModel &,const SE3 &,const
311 /// std::string &)
312 ///
313 /// \param[in] max_effort Maximal joint torque.
314 /// \param[in] max_velocity Maximal joint velocity.
315 /// \param[in] min_config Lower joint configuration.
316 /// \param[in] max_config Upper joint configuration.
317 ///
318 JointIndex addJoint(
319 const JointIndex parent,
320 const JointModel & joint_model,
321 const SE3 & joint_placement,
322 const std::string & joint_name,
323 const VectorXs & max_effort,
324 const VectorXs & max_velocity,
325 const VectorXs & min_config,
326 const VectorXs & max_config);
327
328 ///
329 /// \copydoc ModelTpl::addJoint(const JointIndex,const JointModel &,const SE3 &,const
330 /// std::string &,const VectorXs &,const VectorXs &,const VectorXs &,const VectorXs &)
331 ///
332 /// \param[in] friction Joint friction parameters.
333 /// \param[in] damping Joint damping parameters.
334 ///
335 JointIndex addJoint(
336 const JointIndex parent,
337 const JointModel & joint_model,
338 const SE3 & joint_placement,
339 const std::string & joint_name,
340 const VectorXs & max_effort,
341 const VectorXs & max_velocity,
342 const VectorXs & min_config,
343 const VectorXs & max_config,
344 const VectorXs & friction,
345 const VectorXs & damping);
346
347 ///
348 /// \brief Add a joint to the frame tree.
349 ///
350 /// \param[in] jointIndex Index of the joint.
351 /// \param[in] frameIndex Index of the parent frame. If negative,
352 /// the parent frame is the frame of the parent joint.
353 ///
354 /// \return The index of the new frame
355 ///
356 FrameIndex addJointFrame(const JointIndex & joint_index, int previous_frame_index = -1);
357
358 ///
359 /// \brief Append a body to a given joint of the kinematic tree.
360 ///
361 /// \param[in] joint_index Index of the supporting joint.
362 /// \param[in] Y Spatial inertia of the body.
363 /// \param[in] body_placement The relative placement of the body regarding to the parent joint.
364 /// Set default to the Identity placement.
365 ///
366 /// \sa Model::addJoint
367 ///
368 void appendBodyToJoint(
369 const JointIndex joint_index,
370 const Inertia & Y,
371 const SE3 & body_placement = SE3::Identity());
372
373 ///
374 /// \brief Add a body to the frame tree.
375 ///
376 /// \param[in] body_name Name of the body.
377 /// \param[in] parentJoint Index of the parent joint.
378 /// \param[in] body_placement The relative placement of the body regarding to the parent joint.
379 /// Set default to the Identity placement. \param[in] parentFrame Index of the parent frame. If
380 /// negative,
381 /// the parent frame is the frame of the parent joint.
382 ///
383 /// \return The index of the new frame
384 ///
385 FrameIndex addBodyFrame(
386 const std::string & body_name,
387 const JointIndex & parentJoint,
388 const SE3 & body_placement = SE3::Identity(),
389 int parentFrame = -1);
390
391 ///
392 /// \brief Return the index of a body given by its name.
393 ///
394 /// \warning If no body is found, return the number of elements at time T.
395 /// This can lead to errors if the model is expanded after this method is called
396 /// (for example to get the id of a parent body)
397 ///
398 /// \param[in] name Name of the body.
399 ///
400 /// \return Index of the body.
401 ///
402 FrameIndex getBodyId(const std::string & name) const;
403
404 ///
405 /// \brief Check if a body given by its name exists.
406 ///
407 /// \param[in] name Name of the body.
408 ///
409 /// \return True if the body exists in the kinematic tree.
410 ///
411 bool existBodyName(const std::string & name) const;
412
413 ///
414 /// \brief Return the index of a joint given by its name.
415 ///
416 /// \warning If no joint is found, return the number of elements at time T.
417 /// This can lead to errors if the model is expanded after this method is called
418 /// (for example to get the id of a parent joint)
419 /// \param[in] name Name of the joint.
420 ///
421 /// \return Index of the joint.
422 ///
423 JointIndex getJointId(const std::string & name) const;
424
425 ///
426 /// \brief Check if a joint given by its name exists.
427 ///
428 /// \param[in] name Name of the joint.
429 ///
430 /// \return True if the joint exists in the kinematic tree.
431 ///
432 bool existJointName(const std::string & name) const;
433
434 ///
435 /// \brief Returns the index of a frame given by its name.
436 /// \sa Model::existFrame to check if the frame exists or not.
437 ///
438 /// \warning If no frame is found, returns the size of the vector of Model::frames.
439 /// This can lead to errors if the model is expanded after this method is called
440 /// (for example to get the id of a parent frame).
441 ///
442 /// \param[in] name Name of the frame.
443 /// \param[in] type Type of the frame.
444 ///
445 /// \return Index of the frame.
446 ///
447 FrameIndex getFrameId(
448 const std::string & name,
449
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 3433 const FrameType & type = (FrameType)(JOINT | FIXED_JOINT | BODY | OP_FRAME | SENSOR)) const;
450
451 ///
452 /// \brief Checks if a frame given by its name exists.
453 ///
454 /// \param[in] name Name of the frame.
455 /// \param[in] type Type of the frame.
456 ///
457 /// \return Returns true if the frame exists.
458 ///
459 bool existFrame(
460 const std::string & name,
461
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 235 const FrameType & type = (FrameType)(JOINT | FIXED_JOINT | BODY | OP_FRAME | SENSOR)) const;
462
463 ///
464 /// \brief Adds a frame to the kinematic tree.
465 /// The inertia stored within the frame will be happened to the inertia supported by the
466 /// joint (frame.parentJoint).
467 ///
468 /// \param[in] frame The frame to add to the kinematic tree.
469 /// \param[in] append_inertia Append the inertia contained in the Frame to the inertia supported
470 /// by the joint.
471 ///
472 /// \return Returns the index of the frame if it has been successfully added or if it already
473 /// exists in the kinematic tree.
474 ///
475 FrameIndex addFrame(const Frame & frame, const bool append_inertia = true);
476
477 ///
478 /// \brief Check the validity of the attributes of Model with respect to the specification of
479 /// some algorithms.
480 ///
481 /// The method is a template so that the checkers can be defined in each algorithms.
482 /// \param[in] checker a class, typically defined in the algorithm module, that
483 /// validates the attributes of model.
484 ///
485 /// \return true if the Model is valid, false otherwise.
486 ///
487 template<typename D>
488 10998 bool check(const AlgorithmCheckerBase<D> & checker = AlgorithmCheckerBase<D>()) const
489 {
490 10998 return checker.checkModel(*this);
491 }
492
493 ///
494 /// \brief Check if joints have configuration limits
495 ///
496 /// \return Returns list of boolean of size model.nq.
497 ///
498 std::vector<bool> hasConfigurationLimit();
499
500 ///
501 /// \brief Check if joints have configuration limits
502 ///
503 /// \return Returns list of boolean of size model.nq.
504 ///
505 std::vector<bool> hasConfigurationLimitInTangent();
506
507 /// Run check(fusion::list) with DEFAULT_CHECKERS as argument.
508 bool check() const;
509
510 ///
511 /// \brief Run checkData on data and current model.
512 ///
513 /// \param[in] data to be checked wrt *this.
514 ///
515 /// \return true if the data is valid, false otherwise.
516 ///
517 bool check(const Data & data) const;
518
519 protected:
520 ///
521 /// \brief Add the joint_id to its parent subtrees.
522 ///
523 /// \param[in] joint_id The id of the joint to add to the subtrees
524 ///
525 void addJointIndexToParentSubtrees(const JointIndex joint_id);
526 };
527
528 } // namespace pinocchio
529
530 /* --- Details -------------------------------------------------------------- */
531 /* --- Details -------------------------------------------------------------- */
532 /* --- Details -------------------------------------------------------------- */
533 #include "pinocchio/multibody/model.hxx"
534
535 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
536 #include "pinocchio/multibody/model.txx"
537 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
538
539 #endif // ifndef __pinocchio_multibody_model_hpp__
540