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// Copyright (c) 2015-2020 CNRS INRIA |
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// |
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#ifndef __pinocchio_algorithm_center_of_mass_hpp__ |
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#define __pinocchio_algorithm_center_of_mass_hpp__ |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/data.hpp" |
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namespace pinocchio |
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{ |
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/// |
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/// \brief Compute the total mass of the model and return it. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// |
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/// \return Total mass of the model. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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inline Scalar computeTotalMass(const ModelTpl<Scalar, Options, JointCollectionTpl> & model); |
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/// |
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/// \brief Compute the total mass of the model, put it in data.mass[0] and return it. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// |
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/// \warning This method does not fill the whole data.mass vector. Only data.mass[0] is updated. |
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/// If you need the whole data.mass vector to be computed, use computeSubtreeMasses |
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/// |
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/// \return Total mass of the model. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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Scalar computeTotalMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data); |
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/// |
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/// \brief Compute the mass of each kinematic subtree and store it in data.mass. The element |
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/// mass[0] corresponds to the total mass of the model. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// |
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/// \note If you are only interested in knowing the total mass of the model, computeTotalMass will |
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/// probably be slightly faster. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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void computeSubtreeMasses( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data); |
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/// |
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/// \brief Computes the center of mass position of a given model according to a particular joint |
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/// configuration. |
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/// The result is accessible through data.com[0] for the full body com and data.com[i] for |
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/// the subtree supported by joint i (expressed in the joint i frame). |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] q The joint configuration vector (dim model.nq). |
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/// \param[in] computeSubtreeComs If true, the algorithm computes also the center of mass of the |
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/// subtrees. |
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/// |
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/// \return The center of mass position of the full rigid body system expressed in the world |
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/// frame. |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType> |
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const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const bool computeSubtreeComs = true); |
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/// |
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/// \brief Computes the center of mass position and velocity of a given model according to a |
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/// particular joint configuration and velocity. |
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/// The result is accessible through data.com[0], data.vcom[0] for the full body com |
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/// position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by |
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/// joint i (expressed in the joint i frame). |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
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/// \tparam TangentVectorType Type of the joint velocity vector. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] q The joint configuration vector (dim model.nq). |
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/// \param[in] v The joint velocity vector (dim model.nv). |
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/// \param[in] computeSubtreeComs If true, the algorithm computes also the center of mass of the |
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/// subtrees. |
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/// |
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/// \return The center of mass position of the full rigid body system expressed in the world |
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/// frame. |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType, |
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typename TangentVectorType> |
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const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const Eigen::MatrixBase<TangentVectorType> & v, |
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const bool computeSubtreeComs = true); |
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/// |
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/// \brief Computes the center of mass position, velocity and acceleration of a given model |
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/// according to a particular joint configuration, velocity and acceleration. |
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/// The result is accessible through data.com[0], data.vcom[0], data.acom[0] for the full |
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/// body com position, velocity and acceleation. And data.com[i], data.vcom[i] and |
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/// data.acom[i] for the subtree supported by joint i (expressed in the joint i frame). |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
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/// \tparam TangentVectorType1 Type of the joint velocity vector. |
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/// \tparam TangentVectorType2 Type of the joint acceleration vector. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] q The joint configuration vector (dim model.nq). |
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/// \param[in] v The joint velocity vector (dim model.nv). |
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/// \param[in] a The joint acceleration vector (dim model.nv). |
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/// \param[in] computeSubtreeComs If true, the algorithm computes also the center of mass of the |
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/// subtrees. |
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/// |
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/// \return The center of mass position of the full rigid body system expressed in the world |
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/// frame. |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType, |
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typename TangentVectorType1, |
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typename TangentVectorType2> |
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const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const Eigen::MatrixBase<TangentVectorType1> & v, |
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const Eigen::MatrixBase<TangentVectorType2> & a, |
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const bool computeSubtreeComs = true); |
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/// |
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/// \brief Computes the center of mass position, velocity and acceleration of a given model |
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/// according to the current kinematic values contained in data and the requested kinematic_level. |
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/// The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the |
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/// full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree |
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/// supported by joint i (expressed in the joint i frame). |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] kinematic_level if = POSITION, computes the CoM position, if = VELOCITY, also |
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/// computes the CoM velocity and if = ACCELERATION, it also computes the CoM acceleration. |
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/// \param[in] computeSubtreeComs If true, the algorithm computes also the center of mass of the |
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/// subtrees. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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KinematicLevel kinematic_level, |
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const bool computeSubtreeComs = true); |
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/// |
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/// \brief Computes the center of mass position, velocity and acceleration of a given model |
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/// according to the current kinematic values contained in data. |
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/// The result is accessible through data.com[0], data.vcom[0] and data.acom[0] for the |
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/// full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree |
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/// supported by joint i (expressed in the joint i frame). |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] computeSubtreeComs If true, the algorithm computes also the center of mass of the |
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/// subtrees, expressed in the local coordinate frame of each joint. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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✗ |
const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const bool computeSubtreeComs = true) |
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{ |
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✗ |
return centerOfMass(model, data, ACCELERATION, computeSubtreeComs); |
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} |
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/// |
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/// \brief Computes both the jacobian and the the center of mass position of a given model |
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/// according to a particular joint configuration. |
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/// The results are accessible through data.Jcom and data.com[0] and are both expressed in |
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/// the world frame. In addition, the algorithm also computes the Jacobian of all the |
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/// joints (\sa pinocchio::computeJointJacobians). And data.com[i] gives the center of mass |
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/// of the subtree supported by joint i (expressed in the world frame). |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] q The joint configuration vector (dim model.nq). |
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/// \param[in] computeSubtreeComs If true, the algorithm also computes the centers of mass of the |
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/// subtrees, expressed in the world coordinate frame. |
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/// |
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/// \return The jacobian of center of mass position of the rigid body system expressed in the |
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/// world frame (matrix 3 x model.nv). |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType> |
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const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & jacobianCenterOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const bool computeSubtreeComs = true); |
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/// |
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/// \brief Computes both the jacobian and the the center of mass position of a given model |
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/// according to the current value stored in data. |
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/// It assumes that forwardKinematics has been called first. |
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/// The results are accessible through data.Jcom and data.com[0] and are both expressed in |
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/// the world frame. In addition, the algorithm also computes the Jacobian of all the |
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/// joints (\sa pinocchio::computeJointJacobians). And data.com[i] gives the center of mass |
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/// of the subtree supported by joint i (expressed in the world frame). |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] computeSubtreeComs If true, the algorithm also computes the center of mass of the |
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/// subtrees, expressed in the world coordinate frame. |
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/// |
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/// \return The jacobian of center of mass position of the rigid body system expressed in the |
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/// world frame (matrix 3 x model.nv). |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & jacobianCenterOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const bool computeSubtreeComs = true); |
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/// |
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/// \brief Computes the Jacobian of the center of mass of the given subtree according to a |
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/// particular joint configuration. |
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/// In addition, the algorithm also computes the Jacobian of all the joints (\sa |
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/// pinocchio::computeJointJacobians). |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
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/// \tparam Matrix3xLike Type of the output Jacobian matrix. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] q The joint configuration vector (dim model.nq). |
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/// \param[in] rootSubtreeId Index of the parent joint supporting the subtree. |
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/// \param[out] res The Jacobian matrix where the results will be stored in (dim 3 x model.nv). |
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/// You must first fill J with zero elements, e.g. J.setZero(). |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename ConfigVectorType, |
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typename Matrix3xLike> |
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void jacobianSubtreeCenterOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const JointIndex & rootSubtreeId, |
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const Eigen::MatrixBase<Matrix3xLike> & res); |
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/// |
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/// \brief Computes the Jacobian of the center of mass of the given subtree according to the |
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/// current value stored in data. |
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/// It assumes that forwardKinematics has been called first. |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam Matrix3xLike Type of the output Jacobian matrix. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] rootSubtreeId Index of the parent joint supporting the subtree. |
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/// \param[out] res The Jacobian matrix where the results will be stored in (dim 3 x model.nv). |
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/// You must first fill J with zero elements, e.g. J.setZero(). |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename Matrix3xLike> |
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void jacobianSubtreeCenterOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const JointIndex & rootSubtreeId, |
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const Eigen::MatrixBase<Matrix3xLike> & res); |
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/// |
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/// \brief Retrieves the Jacobian of the center of mass of the given subtree according to the |
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/// current value stored in data. |
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/// It assumes that pinocchio::jacobianCenterOfMass has been called first with |
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/// computeSubtreeComs equals to true. |
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/// |
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/// \tparam JointCollection Collection of Joint types. |
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/// \tparam Matrix3xLike Type of the output Jacobian matrix. |
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/// |
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/// \param[in] model The model structure of the rigid body system. |
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/// \param[in] data The data structure of the rigid body system. |
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/// \param[in] rootSubtreeId Index of the parent joint supporting the subtree. |
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/// \param[out] res The Jacobian matrix where the results will be stored in (dim 3 x model.nv). |
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/// You must first fill J with zero elements, e.g. J.setZero(). |
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/// |
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template< |
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typename Scalar, |
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int Options, |
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template<typename, int> |
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class JointCollectionTpl, |
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typename Matrix3xLike> |
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void getJacobianSubtreeCenterOfMass( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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const DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const JointIndex & rootSubtreeId, |
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const Eigen::MatrixBase<Matrix3xLike> & res); |
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/* If the CRBA has been run, then both COM and Jcom are easily available from |
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* the joint space mass matrix (data.M). |
| 349 |
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* Use the following function to infer them directly. In that case, |
| 350 |
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* the COM subtrees (also easily available from CRBA data) are not |
| 351 |
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* explicitely set. Use data.Ycrb[i].lever() to get them. */ |
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/// |
| 353 |
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/// \brief Extracts the center of mass position from the joint space inertia matrix (also called |
| 354 |
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/// the mass matrix). |
| 355 |
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/// |
| 356 |
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/// \tparam JointCollection Collection of Joint types. |
| 357 |
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/// \tparam Matrix3xLike Type of the output Jacobian matrix. |
| 358 |
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/// |
| 359 |
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/// \param[in] model The model structure of the rigid body system. |
| 360 |
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/// \param[in] data The data structure of the rigid body system. |
| 361 |
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/// |
| 362 |
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/// \return The center of mass position of the rigid body system expressed in the world frame |
| 363 |
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/// (vector 3). |
| 364 |
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/// |
| 365 |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 366 |
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const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & getComFromCrba( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 368 |
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DataTpl<Scalar, Options, JointCollectionTpl> & data); |
| 369 |
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|
| 370 |
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/// |
| 371 |
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/// \brief Extracts both the jacobian of the center of mass (CoM), the total mass of the system |
| 372 |
|
|
/// and the CoM position from the joint space inertia matrix (also called the mass matrix). |
| 373 |
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/// The results are accessible through data.Jcom, data.mass[0] and data.com[0] and are both |
| 374 |
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/// expressed in the world frame. |
| 375 |
|
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/// |
| 376 |
|
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/// \tparam JointCollection Collection of Joint types. |
| 377 |
|
|
/// |
| 378 |
|
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/// \param[in] model The model structure of the rigid body system. |
| 379 |
|
|
/// \param[in] data The data structure of the rigid body system. |
| 380 |
|
|
/// |
| 381 |
|
|
/// \return The jacobian of the CoM expressed in the world frame (matrix 3 x model.nv). |
| 382 |
|
|
/// |
| 383 |
|
|
/// \remarks This extraction of inertial quantities is only valid for free-floating base systems. |
| 384 |
|
|
/// |
| 385 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
| 386 |
|
|
const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & getJacobianComFromCrba( |
| 387 |
|
|
const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 388 |
|
|
DataTpl<Scalar, Options, JointCollectionTpl> & data); |
| 389 |
|
|
|
| 390 |
|
|
} // namespace pinocchio |
| 391 |
|
|
|
| 392 |
|
|
/* --- Details -------------------------------------------------------------------- */ |
| 393 |
|
|
/* --- Details -------------------------------------------------------------------- */ |
| 394 |
|
|
/* --- Details -------------------------------------------------------------------- */ |
| 395 |
|
|
#include "pinocchio/algorithm/center-of-mass.hxx" |
| 396 |
|
|
|
| 397 |
|
|
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION |
| 398 |
|
|
#include "pinocchio/algorithm/center-of-mass.txx" |
| 399 |
|
|
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION |
| 400 |
|
|
|
| 401 |
|
|
#endif // ifndef __pinocchio_algorithm_center_of_mass_hpp__ |
| 402 |
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