| Directory: | ./ |
|---|---|
| File: | examples/forward-dynamics-derivatives.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 15 | 15 | 100.0% |
| Branches: | 25 | 58 | 43.1% |
| Line | Branch | Exec | Source |
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| 1 | #include "pinocchio/parsers/urdf.hpp" | ||
| 2 | |||
| 3 | #include "pinocchio/algorithm/joint-configuration.hpp" | ||
| 4 | #include "pinocchio/algorithm/aba-derivatives.hpp" | ||
| 5 | |||
| 6 | #include <iostream> | ||
| 7 | |||
| 8 | // PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own directory here. | ||
| 9 | #ifndef PINOCCHIO_MODEL_DIR | ||
| 10 | #define PINOCCHIO_MODEL_DIR "path_to_the_model_dir" | ||
| 11 | #endif | ||
| 12 | |||
| 13 | 1 | int main(int argc, char ** argv) | |
| 14 | { | ||
| 15 | using namespace pinocchio; | ||
| 16 | |||
| 17 | // You should change here to set up your own URDF file or just pass it as an argument of this | ||
| 18 | // example. | ||
| 19 | const std::string urdf_filename = | ||
| 20 | (argc <= 1) ? PINOCCHIO_MODEL_DIR | ||
| 21 |
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2 | + std::string("/example-robot-data/robots/ur_description/urdf/ur5_robot.urdf") |
| 22 |
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2 | : argv[1]; |
| 23 | |||
| 24 | // Load the URDF model | ||
| 25 |
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1 | Model model; |
| 26 |
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1 | pinocchio::urdf::buildModel(urdf_filename, model); |
| 27 | |||
| 28 | // Build a data related to model | ||
| 29 |
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1 | Data data(model); |
| 30 | |||
| 31 | // Sample a random joint configuration as well as random joint velocity and torque | ||
| 32 |
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1 | Eigen::VectorXd q = randomConfiguration(model); |
| 33 |
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1 | Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv); |
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1 | Eigen::VectorXd tau = Eigen::VectorXd::Zero(model.nv); |
| 35 | |||
| 36 | // Allocate result container | ||
| 37 |
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1 | Eigen::MatrixXd djoint_acc_dq = Eigen::MatrixXd::Zero(model.nv, model.nv); |
| 38 |
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1 | Eigen::MatrixXd djoint_acc_dv = Eigen::MatrixXd::Zero(model.nv, model.nv); |
| 39 |
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1 | Eigen::MatrixXd djoint_acc_dtau = Eigen::MatrixXd::Zero(model.nv, model.nv); |
| 40 | |||
| 41 | // Computes the forward dynamics (ABA) derivatives for all the joints of the robot | ||
| 42 |
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1 | computeABADerivatives(model, data, q, v, tau, djoint_acc_dq, djoint_acc_dv, djoint_acc_dtau); |
| 43 | |||
| 44 | // Get access to the joint acceleration | ||
| 45 |
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1 | std::cout << "Joint acceleration: " << data.ddq.transpose() << std::endl; |
| 46 | 1 | } | |
| 47 |