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// |
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// Copyright (c) 2015-2022 CNRS INRIA |
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// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#ifndef __pinocchio_multibody_data_hxx__ |
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#define __pinocchio_multibody_data_hxx__ |
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#include "pinocchio/spatial/fwd.hpp" |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/utils/string-generator.hpp" |
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#include "pinocchio/multibody/liegroup/liegroup-algo.hpp" |
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/// @cond DEV |
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namespace pinocchio |
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{ |
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template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
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392 |
inline DataTpl<Scalar,Options,JointCollectionTpl>:: |
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DataTpl(const Model & model) |
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: joints(0) |
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, a((std::size_t)model.njoints,Motion::Zero()) |
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392 |
, oa((std::size_t)model.njoints,Motion::Zero()) |
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392 |
, a_gf((std::size_t)model.njoints,Motion::Zero()) |
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, oa_gf((std::size_t)model.njoints,Motion::Zero()) |
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392 |
, v((std::size_t)model.njoints,Motion::Zero()) |
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392 |
, ov((std::size_t)model.njoints,Motion::Zero()) |
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392 |
, f((std::size_t)model.njoints,Force::Zero()) |
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, of((std::size_t)model.njoints,Force::Zero()) |
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392 |
, h((std::size_t)model.njoints,Force::Zero()) |
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, oh((std::size_t)model.njoints,Force::Zero()) |
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, oMi((std::size_t)model.njoints,SE3::Identity()) |
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, liMi((std::size_t)model.njoints,SE3::Identity()) |
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392 |
, tau(VectorXs::Zero(model.nv)) |
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, nle(VectorXs::Zero(model.nv)) |
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37 |
392 |
, g(VectorXs::Zero(model.nv)) |
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392 |
, oMf((std::size_t)model.nframes,SE3::Identity()) |
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, Ycrb((std::size_t)model.njoints,Inertia::Zero()) |
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, dYcrb((std::size_t)model.njoints,Inertia::Zero()) |
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, M(MatrixXs::Zero(model.nv,model.nv)) |
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, Minv(MatrixXs::Zero(model.nv,model.nv)) |
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, C(MatrixXs::Zero(model.nv,model.nv)) |
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, dHdq(Matrix6x::Zero(6,model.nv)) |
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, dFdq(Matrix6x::Zero(6,model.nv)) |
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, dFdv(Matrix6x::Zero(6,model.nv)) |
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, dFda(Matrix6x::Zero(6,model.nv)) |
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48 |
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, SDinv(Matrix6x::Zero(6,model.nv)) |
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, UDinv(Matrix6x::Zero(6,model.nv)) |
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, IS(MatrixXs::Zero(6,model.nv)) |
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, vxI((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
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, Ivx((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
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, B((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
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, oinertias((std::size_t)model.njoints,Inertia::Zero()) |
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, oYcrb((std::size_t)model.njoints,Inertia::Zero()) |
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, doYcrb((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
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, ddq(VectorXs::Zero(model.nv)) |
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, Yaba((std::size_t)model.njoints,Inertia::Matrix6::Zero()) |
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, u(VectorXs::Zero(model.nv)) |
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, Ag(Matrix6x::Zero(6,model.nv)) |
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, dAg(Matrix6x::Zero(6,model.nv)) |
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, hg(Force::Zero()) |
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, dhg(Force::Zero()) |
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, Ig(Inertia::Zero()) |
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784 |
, Fcrb((std::size_t)model.njoints,Matrix6x::Zero(6,model.nv)) |
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, lastChild((std::size_t)model.njoints,-1) |
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, nvSubtree((std::size_t)model.njoints,-1) |
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, start_idx_v_fromRow((std::size_t)model.nv,-1) |
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, end_idx_v_fromRow((std::size_t)model.nv,-1) |
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392 |
, U(MatrixXs::Identity(model.nv,model.nv)) |
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, D(VectorXs::Zero(model.nv)) |
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, Dinv(VectorXs::Zero(model.nv)) |
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, tmp(VectorXs::Zero(model.nv)) |
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, parents_fromRow((std::size_t)model.nv,-1) |
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, supports_fromRow((std::size_t)model.nv) |
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, nvSubtree_fromRow((std::size_t)model.nv,-1) |
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, J(Matrix6x::Zero(6,model.nv)) |
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, dJ(Matrix6x::Zero(6,model.nv)) |
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, ddJ(Matrix6x::Zero(6, model.nv)) |
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, psid(Matrix6x::Zero(6, model.nv)) |
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, psidd(Matrix6x::Zero(6, model.nv)) |
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, dVdq(Matrix6x::Zero(6,model.nv)) |
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, dAdq(Matrix6x::Zero(6,model.nv)) |
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, dAdv(Matrix6x::Zero(6,model.nv)) |
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, dtau_dq(MatrixXs::Zero(model.nv,model.nv)) |
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, dtau_dv(MatrixXs::Zero(model.nv,model.nv)) |
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, ddq_dq(MatrixXs::Zero(model.nv,model.nv)) |
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, ddq_dv(MatrixXs::Zero(model.nv,model.nv)) |
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, iMf((std::size_t)model.njoints,SE3::Identity()) |
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, com((std::size_t)model.njoints,Vector3::Zero()) |
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, vcom((std::size_t)model.njoints,Vector3::Zero()) |
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, acom((std::size_t)model.njoints,Vector3::Zero()) |
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, mass((std::size_t)model.njoints,(Scalar)(-1)) |
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, Jcom(Matrix3x::Zero(3,model.nv)) |
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, kinetic_energy((Scalar)-1) |
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, potential_energy((Scalar)-1) |
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, JMinvJt() |
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, llt_JMinvJt() |
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, lambda_c() |
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, sDUiJt(MatrixXs::Zero(model.nv,model.nv)) |
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, torque_residual(VectorXs::Zero(model.nv)) |
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, dq_after(VectorXs::Zero(model.nv)) |
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, impulse_c() |
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, staticRegressor(Matrix3x::Zero(3,4*(model.njoints-1))) |
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, bodyRegressor(BodyRegressorType::Zero()) |
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, jointTorqueRegressor(MatrixXs::Zero(model.nv,10*(model.njoints-1))) |
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#if EIGEN_VERSION_AT_LEAST(3,2,90) && !EIGEN_VERSION_AT_LEAST(3,2,93) |
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, kinematic_hessians(6,std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
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, d2tau_dqdq(std::max(1,model.nv),std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
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, d2tau_dvdv(std::max(1,model.nv),std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
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, d2tau_dqdv(std::max(1,model.nv),std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
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, d2tau_dadq(std::max(1,model.nv),std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons |
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#else |
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392 |
, kinematic_hessians(6,model.nv,model.nv) |
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, d2tau_dqdq(model.nv,model.nv,model.nv) |
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, d2tau_dvdv(model.nv,model.nv,model.nv) |
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, d2tau_dqdv(model.nv,model.nv,model.nv) |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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, d2tau_dadq(model.nv,model.nv,model.nv) |
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#endif |
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{ |
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typedef typename Model::JointIndex JointIndex; |
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/* Create data structure associated to the joints */ |
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✓✓ | 10271 |
for(JointIndex i=0;i<(JointIndex)(model.njoints);++i) |
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✓✗✓✗ |
9879 |
joints.push_back(CreateJointData<Scalar,Options,JointCollectionTpl>::run(model.joints[i])); |
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/* Init for CRBA */ |
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✓✗✓✗ |
392 |
M.setZero(); Minv.setZero(); |
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✓✓ | 10271 |
for(JointIndex i=0;i<(JointIndex)(model.njoints);++i) |
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✓✗ | 9879 |
{ Fcrb[i].resize(6,model.nv); } |
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✓✗ | 392 |
computeLastChild(model); |
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/* Init for Coriolis */ |
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/* Init for Cholesky */ |
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✓✗ | 392 |
computeParents_fromRow(model); |
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✓✗ | 392 |
computeSupports_fromRow(model); |
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/* Init universe states relatively to itself */ |
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✓✗ | 392 |
a_gf[0] = -model.gravity; |
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✓✗ | 392 |
kinematic_hessians.setZero(); |
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✓✗ | 392 |
d2tau_dqdq.setZero(); |
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✓✗ | 392 |
d2tau_dvdv.setZero(); |
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✓✗ | 392 |
d2tau_dqdv.setZero(); |
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✓✗ | 392 |
d2tau_dadq.setZero(); |
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} |
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template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
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inline void DataTpl<Scalar,Options,JointCollectionTpl>:: |
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computeLastChild(const Model & model) |
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{ |
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typedef typename Model::Index Index; |
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✓✗ | 392 |
std::fill(lastChild.begin(),lastChild.end(),-1); |
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✓✓ | 10271 |
for( int i=model.njoints-1;i>=0;--i ) |
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{ |
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✓✓ | 9879 |
if(lastChild[(Index)i] == -1) lastChild[(Index)i] = i; |
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9879 |
const Index & parent = model.parents[(Index)i]; |
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9879 |
lastChild[parent] = std::max<int>(lastChild[(Index)i],lastChild[parent]); |
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19758 |
nvSubtree[(Index)i] |
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9879 |
= idx_v(model.joints[(Index)lastChild[(Index)i]]) + nv(model.joints[(Index)lastChild[(Index)i]]) |
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9879 |
- idx_v(model.joints[(Index)i]); |
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} |
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} |
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template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
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inline void DataTpl<Scalar,Options,JointCollectionTpl> |
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::computeParents_fromRow(const Model & model) |
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{ |
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typedef typename Model::Index Index; |
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✓✓ | 9879 |
for(Index joint=1;joint<(Index)(model.njoints);joint++) |
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{ |
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178 |
9487 |
const Index & parent = model.parents[joint]; |
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9487 |
const int nvj = nv (model.joints[joint]); |
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180 |
9487 |
const int idx_vj = idx_v(model.joints[joint]); |
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✓✗✓✗ |
9487 |
assert(idx_vj >= 0 && idx_vj < model.nv); |
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✓✓ | 9487 |
if(parent>0) parents_fromRow[(size_t)idx_vj] = idx_v(model.joints[parent])+nv(model.joints[parent])-1; |
185 |
392 |
else parents_fromRow[(size_t)idx_vj] = -1; |
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9487 |
nvSubtree_fromRow[(size_t)idx_vj] = nvSubtree[joint]; |
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9487 |
start_idx_v_fromRow[(size_t)idx_vj] = idx_vj; |
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9487 |
end_idx_v_fromRow[(size_t)idx_vj] = idx_vj+nvj-1; |
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✓✓ | 11299 |
for(int row=1;row<nvj;++row) |
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{ |
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1812 |
parents_fromRow[(size_t)(idx_vj+row)] = idx_vj+row-1; |
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1812 |
nvSubtree_fromRow[(size_t)(idx_vj+row)] = nvSubtree[joint]-row; |
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1812 |
start_idx_v_fromRow[(size_t)(idx_vj+row)] = start_idx_v_fromRow[(size_t)idx_vj]; |
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1812 |
end_idx_v_fromRow[(size_t)(idx_vj+row)] = end_idx_v_fromRow[(size_t)idx_vj]; |
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} |
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} |
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392 |
} |
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template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
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201 |
392 |
inline void DataTpl<Scalar,Options,JointCollectionTpl> |
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::computeSupports_fromRow(const Model & model) |
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{ |
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typedef typename Model::JointIndex JointIndex; |
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205 |
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206 |
9879 |
for(JointIndex joint_id = 1; |
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✓✓ | 9879 |
joint_id < (JointIndex)(model.njoints); |
208 |
joint_id++) |
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{ |
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210 |
✓✗ | 9487 |
const int nvj = nv (model.joints[joint_id]); |
211 |
✓✗ | 9487 |
const int idx_vj = idx_v(model.joints[joint_id]); |
212 |
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213 |
✓✗✓✗ |
9487 |
assert(idx_vj >= 0 && idx_vj < model.nv); |
214 |
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215 |
9487 |
const int parent_fromRow = parents_fromRow[(size_t)idx_vj]; |
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216 |
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217 |
✓✓ | 9487 |
if(parent_fromRow >= 0) |
218 |
✓✗ | 9093 |
supports_fromRow[(size_t)idx_vj] = supports_fromRow[(size_t)parent_fromRow]; |
219 |
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220 |
✓✗ | 9487 |
supports_fromRow[(size_t)idx_vj].push_back(idx_vj); |
221 |
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222 |
✓✓ | 11299 |
for(int row = 1; row < nvj; ++row) |
223 |
{ |
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224 |
✓✗ | 1812 |
supports_fromRow[(size_t)(idx_vj+row)] = supports_fromRow[(size_t)(idx_vj+row-1)]; |
225 |
✓✗ | 1812 |
supports_fromRow[(size_t)(idx_vj+row)].push_back(idx_vj+row); |
226 |
} |
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227 |
} |
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228 |
392 |
} |
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229 |
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230 |
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
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231 |
10 |
bool operator==(const DataTpl<Scalar,Options,JointCollectionTpl> & data1, |
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232 |
const DataTpl<Scalar,Options,JointCollectionTpl> & data2) |
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233 |
{ |
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234 |
10 |
bool value = |
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235 |
10 |
data1.joints == data2.joints |
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236 |
✓✗ | 10 |
&& data1.a == data2.a |
237 |
✓✗ | 10 |
&& data1.oa == data2.oa |
238 |
✓✗ | 10 |
&& data1.a_gf == data2.a_gf |
239 |
✓✗ | 10 |
&& data1.oa_gf == data2.oa_gf |
240 |
✓✗ | 10 |
&& data1.v == data2.v |
241 |
✓✗ | 10 |
&& data1.ov == data2.ov |
242 |
✓✗ | 10 |
&& data1.f == data2.f |
243 |
✓✗ | 10 |
&& data1.of == data2.of |
244 |
✓✗ | 10 |
&& data1.h == data2.h |
245 |
✓✗ | 10 |
&& data1.oh == data2.oh |
246 |
✓✓ | 10 |
&& data1.oMi == data2.oMi |
247 |
✓✗ | 9 |
&& data1.liMi == data2.liMi |
248 |
✓✗ | 9 |
&& data1.tau == data2.tau |
249 |
✓✗ | 9 |
&& data1.nle == data2.nle |
250 |
✓✗ | 9 |
&& data1.g == data2.g |
251 |
✓✗ | 9 |
&& data1.oMf == data2.oMf |
252 |
✓✗ | 9 |
&& data1.Ycrb == data2.Ycrb |
253 |
✓✗ | 9 |
&& data1.dYcrb == data2.dYcrb |
254 |
✓✗ | 9 |
&& data1.M == data2.M |
255 |
✓✗ | 9 |
&& data1.Minv == data2.Minv |
256 |
✓✗ | 9 |
&& data1.C == data2.C |
257 |
✓✗ | 9 |
&& data1.dHdq == data2.dHdq |
258 |
✓✗ | 9 |
&& data1.dFdq == data2.dFdq |
259 |
✓✗ | 9 |
&& data1.dFdv == data2.dFdv |
260 |
✓✗ | 9 |
&& data1.dFda == data2.dFda |
261 |
✓✗ | 9 |
&& data1.SDinv == data2.SDinv |
262 |
✓✗ | 9 |
&& data1.UDinv == data2.UDinv |
263 |
✓✗ | 9 |
&& data1.IS == data2.IS |
264 |
✓✗ | 9 |
&& data1.vxI == data2.vxI |
265 |
✓✗ | 9 |
&& data1.Ivx == data2.Ivx |
266 |
✓✗ | 9 |
&& data1.oinertias == data2.oinertias |
267 |
✓✗ | 9 |
&& data1.oYcrb == data2.oYcrb |
268 |
✓✗ | 9 |
&& data1.doYcrb == data2.doYcrb |
269 |
✓✗ | 9 |
&& data1.ddq == data2.ddq |
270 |
✓✗ | 9 |
&& data1.Yaba == data2.Yaba |
271 |
✓✗ | 9 |
&& data1.u == data2.u |
272 |
✓✗ | 9 |
&& data1.Ag == data2.Ag |
273 |
✓✗ | 9 |
&& data1.dAg == data2.dAg |
274 |
✓✗ | 9 |
&& data1.hg == data2.hg |
275 |
✓✗ | 9 |
&& data1.dhg == data2.dhg |
276 |
✓✗ | 9 |
&& data1.Ig == data2.Ig |
277 |
✓✗ | 9 |
&& data1.Fcrb == data2.Fcrb |
278 |
✓✗ | 9 |
&& data1.lastChild == data2.lastChild |
279 |
✓✗ | 9 |
&& data1.nvSubtree == data2.nvSubtree |
280 |
✓✗ | 9 |
&& data1.start_idx_v_fromRow == data2.start_idx_v_fromRow |
281 |
✓✗ | 9 |
&& data1.end_idx_v_fromRow == data2.end_idx_v_fromRow |
282 |
✓✗ | 9 |
&& data1.U == data2.U |
283 |
✓✗ | 9 |
&& data1.D == data2.D |
284 |
✓✗ | 9 |
&& data1.Dinv == data2.Dinv |
285 |
✓✗ | 9 |
&& data1.parents_fromRow == data2.parents_fromRow |
286 |
✓✗ | 9 |
&& data1.supports_fromRow == data2.supports_fromRow |
287 |
✓✗ | 9 |
&& data1.nvSubtree_fromRow == data2.nvSubtree_fromRow |
288 |
✓✗ | 9 |
&& data1.J == data2.J |
289 |
✓✗ | 9 |
&& data1.dJ == data2.dJ |
290 |
✓✗ | 9 |
&& data1.ddJ == data2.ddJ |
291 |
✓✗ | 9 |
&& data1.psid == data2.psid |
292 |
✓✗ | 9 |
&& data1.psidd == data2.psidd |
293 |
✓✗ | 9 |
&& data1.dVdq == data2.dVdq |
294 |
✓✗ | 9 |
&& data1.dAdq == data2.dAdq |
295 |
✓✗ | 9 |
&& data1.dAdv == data2.dAdv |
296 |
✓✗ | 9 |
&& data1.dtau_dq == data2.dtau_dq |
297 |
✓✗ | 9 |
&& data1.dtau_dv == data2.dtau_dv |
298 |
✓✗ | 9 |
&& data1.ddq_dq == data2.ddq_dq |
299 |
✓✗ | 9 |
&& data1.ddq_dv == data2.ddq_dv |
300 |
✓✗ | 9 |
&& data1.iMf == data2.iMf |
301 |
✓✗ | 9 |
&& data1.com == data2.com |
302 |
✓✗ | 9 |
&& data1.vcom == data2.vcom |
303 |
✓✗ | 9 |
&& data1.acom == data2.acom |
304 |
✓✗ | 9 |
&& data1.mass == data2.mass |
305 |
✓✗ | 9 |
&& data1.Jcom == data2.Jcom |
306 |
✓✗ | 9 |
&& data1.kinetic_energy == data2.kinetic_energy |
307 |
✓✗ | 9 |
&& data1.potential_energy == data2.potential_energy |
308 |
✓✗ | 9 |
&& data1.JMinvJt == data2.JMinvJt |
309 |
✓✗ | 9 |
&& data1.lambda_c == data2.lambda_c |
310 |
✓✗ | 9 |
&& data1.torque_residual == data2.torque_residual |
311 |
✓✗ | 9 |
&& data1.dq_after == data2.dq_after |
312 |
✓✗ | 9 |
&& data1.impulse_c == data2.impulse_c |
313 |
✓✗ | 9 |
&& data1.staticRegressor == data2.staticRegressor |
314 |
✓✗ | 9 |
&& data1.bodyRegressor == data2.bodyRegressor |
315 |
✓✗✓✗ |
20 |
&& data1.jointTorqueRegressor == data2.jointTorqueRegressor |
316 |
; |
||
317 |
|||
318 |
// operator== for Eigen::Tensor provides an Expression which might be not evaluated as a boolean |
||
319 |
✓✗✓✗ ✗✗ |
20 |
value &= Tensor<bool, 0>((data1.kinematic_hessians == data2.kinematic_hessians).all())(0) |
320 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✗ |
20 |
&& Tensor<bool, 0>((data1.d2tau_dqdq == data2.d2tau_dqdq).all())(0) |
321 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✗ |
20 |
&& Tensor<bool, 0>((data1.d2tau_dvdv == data2.d2tau_dvdv).all())(0) |
322 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✗ |
20 |
&& Tensor<bool, 0>((data1.d2tau_dqdv == data2.d2tau_dqdv).all())(0) |
323 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✗ |
30 |
&& Tensor<bool, 0>((data1.d2tau_dadq == data2.d2tau_dadq).all())(0); |
324 |
|||
325 |
10 |
return value; |
|
326 |
} |
||
327 |
|||
328 |
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl> |
||
329 |
1 |
bool operator!=(const DataTpl<Scalar,Options,JointCollectionTpl> & data1, |
|
330 |
const DataTpl<Scalar,Options,JointCollectionTpl> & data2) |
||
331 |
{ |
||
332 |
1 |
return !(data1 == data2); |
|
333 |
} |
||
334 |
|||
335 |
} // namespace pinocchio |
||
336 |
|||
337 |
/// @endcond |
||
338 |
|||
339 |
#endif // ifndef __pinocchio_multibody_data_hxx__ |
| Generated by: GCOVR (Version 4.2) |