GCC Code Coverage Report

Directory: ./
File: include/pinocchio/algorithm/compute-all-terms.hxx
Date: 2024-08-27 18:20:05
Exec Total Coverage
Lines: 85 85 100.0%
Branches: 154 335 46.0%
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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>
22 class JointCollectionTpl,
23 typename ConfigVectorType,
24 typename TangentVectorType>
25 struct CATForwardStep
26 : public fusion::JointUnaryVisitorBase<
27 CATForwardStep<Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType>>
28 {
29 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
30 typedef DataTpl<Scalar, Options, JointCollectionTpl> Data;
31
32 typedef boost::fusion::
33 vector<const Model &, Data &, const ConfigVectorType &, const TangentVectorType &>
34 ArgsType;
35
36 template<typename JointModel>
37 12162 static void algo(
38 const JointModelBase<JointModel> & jmodel,
39 JointDataBase<typename JointModel::JointDataDerived> & jdata,
40 const Model & model,
41 Data & data,
42 const Eigen::MatrixBase<ConfigVectorType> & q,
43 const Eigen::MatrixBase<TangentVectorType> & v)
44 {
45 typedef typename Model::JointIndex JointIndex;
46 typedef
47 typename SizeDepType<JointModel::NV>::template ColsReturn<typename Data::Matrix6x>::Type
48 ColsBlock;
49
50
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 12162 const JointIndex i = jmodel.id();
51 12162 const JointIndex parent = model.parents[i];
52
53
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 12162 jmodel.calc(jdata.derived(), q.derived(), v.derived());
54
55 // CRBA
56
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 12162 data.liMi[i] = model.jointPlacements[i] * jdata.M();
57
58 // Jacobian + NLE
59
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 12162 data.v[i] = jdata.v();
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 12162 if (parent > 0)
62 {
63
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 11678 data.oMi[i] = data.oMi[parent] * data.liMi[i];
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 11678 data.v[i] += data.liMi[i].actInv(data.v[parent]);
65 }
66 else
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 484 data.oMi[i] = data.liMi[i];
68
69
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 12162 data.ov[i] = data.oMi[i].act(data.v[i]);
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 12162 data.oYcrb[i] = data.oMi[i].act(model.inertias[i]);
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 12162 data.doYcrb[i] = data.oYcrb[i].variation(data.ov[i]);
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 12162 ColsBlock J_cols = jmodel.jointCols(data.J);
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 12162 J_cols = data.oMi[i].act(jdata.S());
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 12162 ColsBlock dJ_cols = jmodel.jointCols(data.dJ);
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 12162 motionSet::motionAction(data.ov[i], J_cols, dJ_cols);
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 12162 data.a_gf[i] = data.a[i] = jdata.c() + (data.v[i] ^ jdata.v());
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 12162 if (parent > 0)
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 11678 data.a[i] += data.liMi[i].actInv(data.a[parent]);
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 12162 data.a_gf[i] += data.liMi[i].actInv(data.a_gf[parent]);
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 12162 data.h[i] = model.inertias[i] * data.v[i];
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 12162 data.f[i] = model.inertias[i] * data.a_gf[i] + data.v[i].cross(data.h[i]); // -f_ext
88 }
89 };
90
91 template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
92 struct CATBackwardStep
93 : public fusion::JointUnaryVisitorBase<CATBackwardStep<Scalar, Options, JointCollectionTpl>>
94 {
95 typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model;
96 typedef DataTpl<Scalar, Options, JointCollectionTpl> Data;
97
98 typedef boost::fusion::vector<const Model &, Data &> ArgsType;
99
100 template<typename JointModel>
101 12148 static void algo(
102 const JointModelBase<JointModel> & jmodel,
103 JointDataBase<typename JointModel::JointDataDerived> & jdata,
104 const Model & model,
105 Data & data)
106 {
107 typedef typename Model::JointIndex JointIndex;
108 typedef
109 typename SizeDepType<JointModel::NV>::template ColsReturn<typename Data::Matrix6x>::Type
110 ColsBlock;
111
112
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 12148 const JointIndex i = jmodel.id();
113 12148 const JointIndex parent = model.parents[i];
114
115
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 12148 ColsBlock J_cols = jmodel.jointCols(data.J);
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 12148 ColsBlock dJ_cols = jmodel.jointCols(data.dJ);
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 12148 ColsBlock Ag_cols = jmodel.jointCols(data.Ag);
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 12148 ColsBlock dAg_cols = jmodel.jointCols(data.dAg);
119
120 // Calc Ag = Y * S
121
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 12148 motionSet::inertiaAction(data.oYcrb[i], J_cols, Ag_cols);
122
123 // Calc dAg = Ivx + vxI
124
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 12148 dAg_cols.noalias() = data.doYcrb[i] * J_cols;
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 12148 motionSet::inertiaAction<ADDTO>(data.oYcrb[i], dJ_cols, dAg_cols);
126
127 /* M[i,SUBTREE] = S'*F[1:6,SUBTREE] */
128
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 12148 data.M.block(jmodel.idx_v(), jmodel.idx_v(), jmodel.nv(), data.nvSubtree[i]).noalias() =
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 12148 J_cols.transpose() * data.Ag.middleCols(jmodel.idx_v(), data.nvSubtree[i]);
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 12148 jmodel.jointVelocitySelector(data.nle) = jdata.S().transpose() * data.f[i];
132
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 12148 data.oYcrb[parent] += data.oYcrb[i];
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 12148 data.doYcrb[parent] += data.doYcrb[i];
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 12148 data.h[parent] += data.liMi[i].act(data.h[i]);
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 12148 data.f[parent] += data.liMi[i].act(data.f[i]);
137
138 // CoM
139 12148 data.mass[i] = data.oYcrb[i].mass();
140
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 12148 data.com[i] = data.oMi[i].actInv(data.oYcrb[i].lever());
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 12148 data.vcom[i] = data.h[i].linear() / data.mass[i];
142 }
143 };
144
145 template<
146 typename Scalar,
147 int Options,
148 template<typename, int>
149 class JointCollectionTpl,
150 typename ConfigVectorType,
151 typename TangentVectorType>
152 242 void computeAllTerms(
153 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
154 DataTpl<Scalar, Options, JointCollectionTpl> & data,
155 const Eigen::MatrixBase<ConfigVectorType> & q,
156 const Eigen::MatrixBase<TangentVectorType> & v)
157 {
158
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 242 assert(model.check(data) && "data is not consistent with model.");
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 242 PINOCCHIO_CHECK_ARGUMENT_SIZE(
160 q.size(), model.nq, "The configuration vector is not of right size");
161
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 242 PINOCCHIO_CHECK_ARGUMENT_SIZE(v.size(), model.nv, "The velocity vector is not of right size");
162
163 typedef DataTpl<Scalar, Options, JointCollectionTpl> Data;
164
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 242 data.v[0].setZero();
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 242 data.a[0].setZero();
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 242 data.h[0].setZero();
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 242 data.a_gf[0] = -model.gravity;
169
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 242 data.oYcrb[0].setZero();
170
171 typedef CATForwardStep<
172 Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType>
173 Pass1;
174
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 6323 for (JointIndex i = 1; i < (JointIndex)model.njoints; ++i)
175 {
176
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 6081 Pass1::run(
177 6081 model.joints[i], data.joints[i],
178
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 12162 typename Pass1::ArgsType(model, data, q.derived(), v.derived()));
179 }
180
181 typedef CATBackwardStep<Scalar, Options, JointCollectionTpl> Pass2;
182
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 6323 for (JointIndex i = (JointIndex)(model.njoints - 1); i > 0; --i)
183 {
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 6081 Pass2::run(model.joints[i], data.joints[i], typename Pass2::ArgsType(model, data));
185 }
186
187 // CoM
188 242 data.mass[0] = data.oYcrb[0].mass();
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 242 data.com[0] = data.oYcrb[0].lever();
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 242 data.vcom[0] = data.h[0].linear() / data.mass[0];
191
192 // Centroidal
193 typedef Eigen::Block<typename Data::Matrix6x, 3, -1> Block3x;
194
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 242 const Block3x Ag_lin = data.Ag.template middleRows<3>(Force::LINEAR);
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 242 Block3x Ag_ang = data.Ag.template middleRows<3>(Force::ANGULAR);
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 7458 for (long i = 0; i < model.nv; ++i)
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 7216 Ag_ang.col(i) += Ag_lin.col(i).cross(data.com[0]);
198
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 242 const Block3x dAg_lin = data.dAg.template middleRows<3>(Force::LINEAR);
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 242 Block3x dAg_ang = data.dAg.template middleRows<3>(Force::ANGULAR);
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 7458 for (Eigen::DenseIndex i = 0; i < model.nv; ++i)
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 7216 dAg_ang.col(i) += dAg_lin.col(i).cross(data.com[0]) + Ag_lin.col(i).cross(data.vcom[0]);
203
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 242 data.hg = data.h[0];
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 242 data.hg.angular() += data.hg.linear().cross(data.com[0]);
206
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 242 data.dhg = data.f[0];
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 242 data.dhg.angular() += data.dhg.linear().cross(data.com[0]);
209
210 // Add the armature contribution
211
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 242 data.M.diagonal() += model.armature;
212
213 // JCoM
214
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 242 data.Jcom = data.Ag.template middleRows<3>(Force::LINEAR) / data.mass[0];
215
216 242 data.Ig.mass() = data.oYcrb[0].mass();
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 242 data.Ig.lever().setZero();
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 242 data.Ig.inertia() = data.oYcrb[0].inertia();
219
220 // Gravity
221
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 242 data.g.noalias() =
222
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 242 -data.Ag.template middleRows<3>(Force::LINEAR).transpose() * model.gravity.linear();
223
224 // Energy
225
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 242 ::pinocchio::computeMechanicalEnergy(model, data);
226 242 }
227 } // namespace impl
228
229 template<
230 typename Scalar,
231 int Options,
232 template<typename, int>
233 class JointCollectionTpl,
234 typename ConfigVectorType,
235 typename TangentVectorType>
236 20 void computeAllTerms(
237 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
238 DataTpl<Scalar, Options, JointCollectionTpl> & data,
239 const Eigen::MatrixBase<ConfigVectorType> & q,
240 const Eigen::MatrixBase<TangentVectorType> & v)
241 {
242
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 20 pinocchio::impl::computeAllTerms(model, data, make_const_ref(q), make_const_ref(v));
243 20 }
244
245 } // namespace pinocchio
246
247 /// \endinternal
248
249 #endif // ifndef __pinocchio_compute_all_terms_hxx__
250