GCC Code Coverage Report

Directory: ./
File: include/pinocchio/algorithm/compute-all-terms.hxx
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 85 85 100.0%
Branches: 154 341 45.2%
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1 //
2 // Copyright (c) 2015-2021 CNRS INRIA
3 //
4
5 #ifndef __pinocchio_compute_all_terms_hxx__
6 #define __pinocchio_compute_all_terms_hxx__
7
8 #include "pinocchio/multibody/visitor.hpp"
9 #include "pinocchio/spatial/act-on-set.hpp"
10 #include "pinocchio/algorithm/center-of-mass.hpp"
11 #include "pinocchio/algorithm/energy.hpp"
12 #include "pinocchio/algorithm/check.hpp"
13
14 namespace pinocchio
15 {
16 namespace impl
17 {
18 template<
19 typename Scalar,
20 int Options,
21 template<typename, int> class JointCollectionTpl,
22 typename ConfigVectorType,
23 typename TangentVectorType>
24 struct CATForwardStep
25 : public fusion::JointUnaryVisitorBase<
26 CATForwardStep<Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType>>
27 {
28 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
29 typedef DataTpl<Scalar, Options, JointCollectionTpl> Data;
30
31 typedef boost::fusion::
32 vector<const Model &, Data &, const ConfigVectorType &, const TangentVectorType &>
33 ArgsType;
34
35 template<typename JointModel>
36 12774 static void algo(
37 const JointModelBase<JointModel> & jmodel,
38 JointDataBase<typename JointModel::JointDataDerived> & jdata,
39 const Model & model,
40 Data & data,
41 const Eigen::MatrixBase<ConfigVectorType> & q,
42 const Eigen::MatrixBase<TangentVectorType> & v)
43 {
44 typedef typename Model::JointIndex JointIndex;
45 typedef
46 typename SizeDepType<JointModel::NV>::template ColsReturn<typename Data::Matrix6x>::Type
47 ColsBlock;
48
49
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 12774 const JointIndex i = jmodel.id();
50 12774 const JointIndex parent = model.parents[i];
51
52
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 12774 jmodel.calc(jdata.derived(), q.derived(), v.derived());
53
54 // CRBA
55
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 12774 data.liMi[i] = model.jointPlacements[i] * jdata.M();
56
57 // Jacobian + NLE
58
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 12774 data.v[i] = jdata.v();
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60
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 12774 if (parent > 0)
61 {
62
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 12254 data.oMi[i] = data.oMi[parent] * data.liMi[i];
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 12254 data.v[i] += data.liMi[i].actInv(data.v[parent]);
64 }
65 else
66
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 520 data.oMi[i] = data.liMi[i];
67
68
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 12774 data.ov[i] = data.oMi[i].act(data.v[i]);
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70
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 12774 data.oYcrb[i] = data.oMi[i].act(model.inertias[i]);
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 12774 data.doYcrb[i] = data.oYcrb[i].variation(data.ov[i]);
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 12774 ColsBlock J_cols = jmodel.jointCols(data.J);
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 12774 J_cols = data.oMi[i].act(jdata.S());
75
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 12774 ColsBlock dJ_cols = jmodel.jointCols(data.dJ);
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 12774 motionSet::motionAction(data.ov[i], J_cols, dJ_cols);
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 12774 data.a_gf[i] = data.a[i] = jdata.c() + (data.v[i] ^ jdata.v());
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 12774 if (parent > 0)
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 12254 data.a[i] += data.liMi[i].actInv(data.a[parent]);
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 12774 data.a_gf[i] += data.liMi[i].actInv(data.a_gf[parent]);
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 12774 data.h[i] = model.inertias[i] * data.v[i];
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 12774 data.f[i] = model.inertias[i] * data.a_gf[i] + data.v[i].cross(data.h[i]); // -f_ext
87 }
88 };
89
90 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
91 struct CATBackwardStep
92 : public fusion::JointUnaryVisitorBase<CATBackwardStep<Scalar, Options, JointCollectionTpl>>
93 {
94 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
95 typedef DataTpl<Scalar, Options, JointCollectionTpl> Data;
96
97 typedef boost::fusion::vector<const Model &, Data &> ArgsType;
98
99 template<typename JointModel>
100 12774 static void algo(
101 const JointModelBase<JointModel> & jmodel,
102 JointDataBase<typename JointModel::JointDataDerived> & jdata,
103 const Model & model,
104 Data & data)
105 {
106 typedef typename Model::JointIndex JointIndex;
107 typedef
108 typename SizeDepType<JointModel::NV>::template ColsReturn<typename Data::Matrix6x>::Type
109 ColsBlock;
110
111
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 12774 const JointIndex i = jmodel.id();
112 12774 const JointIndex parent = model.parents[i];
113
114
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 12774 ColsBlock J_cols = jmodel.jointCols(data.J);
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 12774 ColsBlock dJ_cols = jmodel.jointCols(data.dJ);
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 12774 ColsBlock Ag_cols = jmodel.jointCols(data.Ag);
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 12774 ColsBlock dAg_cols = jmodel.jointCols(data.dAg);
118
119 // Calc Ag = Y * S
120
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 12774 motionSet::inertiaAction(data.oYcrb[i], J_cols, Ag_cols);
121
122 // Calc dAg = Ivx + vxI
123
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 12774 dAg_cols.noalias() = data.doYcrb[i] * J_cols;
124
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 12774 motionSet::inertiaAction<ADDTO>(data.oYcrb[i], dJ_cols, dAg_cols);
125
126 /* M[i,SUBTREE] = S'*F[1:6,SUBTREE] */
127
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 12774 data.M.block(jmodel.idx_v(), jmodel.idx_v(), jmodel.nv(), data.nvSubtree[i]).noalias() =
128
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 12774 J_cols.transpose() * data.Ag.middleCols(jmodel.idx_v(), data.nvSubtree[i]);
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 12774 jmodel.jointVelocitySelector(data.nle) = jdata.S().transpose() * data.f[i];
131
132
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 12774 data.oYcrb[parent] += data.oYcrb[i];
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 12774 data.doYcrb[parent] += data.doYcrb[i];
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 12774 data.h[parent] += data.liMi[i].act(data.h[i]);
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 12774 data.f[parent] += data.liMi[i].act(data.f[i]);
136
137 // CoM
138
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 12774 data.mass[i] = data.oYcrb[i].mass();
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 12774 data.com[i] = data.oMi[i].actInv(data.oYcrb[i].lever());
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 12774 data.vcom[i] = data.h[i].linear() / data.mass[i];
141 }
142 };
143
144 template<
145 typename Scalar,
146 int Options,
147 template<typename, int> class JointCollectionTpl,
148 typename ConfigVectorType,
149 typename TangentVectorType>
150 262 void computeAllTerms(
151 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
152 DataTpl<Scalar, Options, JointCollectionTpl> & data,
153 const Eigen::MatrixBase<ConfigVectorType> & q,
154 const Eigen::MatrixBase<TangentVectorType> & v)
155 {
156
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 262 assert(model.check(data) && "data is not consistent with model.");
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 262 PINOCCHIO_CHECK_ARGUMENT_SIZE(
158 q.size(), model.nq, "The configuration vector is not of right size");
159
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 262 PINOCCHIO_CHECK_ARGUMENT_SIZE(v.size(), model.nv, "The velocity vector is not of right size");
160
161 typedef DataTpl<Scalar, Options, JointCollectionTpl> Data;
162
163
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 262 data.v[0].setZero();
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 262 data.a[0].setZero();
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 262 data.h[0].setZero();
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 262 data.a_gf[0] = -model.gravity;
167
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 262 data.oYcrb[0].setZero();
168
169 typedef CATForwardStep<
170 Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType>
171 Pass1;
172
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 6651 for (JointIndex i = 1; i < (JointIndex)model.njoints; ++i)
173 {
174
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 6389 Pass1::run(
175 6389 model.joints[i], data.joints[i],
176
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 12778 typename Pass1::ArgsType(model, data, q.derived(), v.derived()));
177 }
178
179 typedef CATBackwardStep<Scalar, Options, JointCollectionTpl> Pass2;
180
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 6651 for (JointIndex i = (JointIndex)(model.njoints - 1); i > 0; --i)
181 {
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 6389 Pass2::run(model.joints[i], data.joints[i], typename Pass2::ArgsType(model, data));
183 }
184
185 // CoM
186
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 262 data.mass[0] = data.oYcrb[0].mass();
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 262 data.com[0] = data.oYcrb[0].lever();
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 262 data.vcom[0] = data.h[0].linear() / data.mass[0];
189
190 // Centroidal
191 typedef Eigen::Block<typename Data::Matrix6x, 3, -1> Block3x;
192
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 262 const Block3x Ag_lin = data.Ag.template middleRows<3>(Force::LINEAR);
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 262 Block3x Ag_ang = data.Ag.template middleRows<3>(Force::ANGULAR);
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 7870 for (long i = 0; i < model.nv; ++i)
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 7608 Ag_ang.col(i) += Ag_lin.col(i).cross(data.com[0]);
196
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 262 const Block3x dAg_lin = data.dAg.template middleRows<3>(Force::LINEAR);
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 262 Block3x dAg_ang = data.dAg.template middleRows<3>(Force::ANGULAR);
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 7608 dAg_ang.col(i) += dAg_lin.col(i).cross(data.com[0]) + Ag_lin.col(i).cross(data.vcom[0]);
201
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 262 data.hg = data.h[0];
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 262 data.hg.angular() += data.hg.linear().cross(data.com[0]);
204
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 262 data.dhg = data.f[0];
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 262 data.dhg.angular() += data.dhg.linear().cross(data.com[0]);
207
208 // Add the armature contribution
209
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 262 data.M.diagonal() += model.armature;
210
211 // JCoM
212
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 262 data.Jcom = data.Ag.template middleRows<3>(Force::LINEAR) / data.mass[0];
213
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 262 data.Ig.mass() = data.oYcrb[0].mass();
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 262 data.Ig.lever().setZero();
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 262 data.Ig.inertia() = data.oYcrb[0].inertia();
217
218 // Gravity
219
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 262 data.g.noalias() =
220
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 262 -data.Ag.template middleRows<3>(Force::LINEAR).transpose() * model.gravity.linear();
221
222 // Energy
223
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 262 ::pinocchio::computeMechanicalEnergy(model, data);
224 262 }
225 } // namespace impl
226
227 template<
228 typename Scalar,
229 int Options,
230 template<typename, int> class JointCollectionTpl,
231 typename ConfigVectorType,
232 typename TangentVectorType>
233 274 void computeAllTerms(
234 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
235 DataTpl<Scalar, Options, JointCollectionTpl> & data,
236 const Eigen::MatrixBase<ConfigVectorType> & q,
237 const Eigen::MatrixBase<TangentVectorType> & v)
238 {
239
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 274 pinocchio::impl::computeAllTerms(model, data, make_const_ref(q), make_const_ref(v));
240 274 }
241
242 } // namespace pinocchio
243
244 /// \endinternal
245
246 #endif // ifndef __pinocchio_compute_all_terms_hxx__
247