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// |
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// Copyright (c) 2018-2020 CNRS INRIA |
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// |
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#ifndef __pinocchio_algorithm_regressor_hpp__ |
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#define __pinocchio_algorithm_regressor_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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/// \copydoc computeJointKinematicRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> |
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/// &,const DataTpl<Scalar,Options,JointCollectionTpl> &, const JointIndex, const ReferenceFrame, |
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/// const SE3Tpl<Scalar,Options> &) |
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/// |
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/// \param[out] kinematic_regressor The kinematic regressor containing the result. Matrix of size |
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/// 6*(model.njoints-1) initialized to 0. |
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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 Matrix6xReturnType> |
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void computeJointKinematicRegressor( |
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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 joint_id, |
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const ReferenceFrame rf, |
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const SE3Tpl<Scalar, Options> & placement, |
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const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor); |
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/// |
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/// \brief Computes the kinematic regressor that links the joint placements variations of the |
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/// whole kinematic tree |
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/// to the placement variation of the frame rigidly attached to the joint and given by its |
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/// placement w.r.t. to the joint frame. |
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/// |
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/// \remarks It assumes that the \ref forwardKinematics(const |
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/// ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, |
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/// const Eigen::MatrixBase<ConfigVectorType> &) has been called first. |
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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] joint_id Index of the joint. |
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/// \param[in] rf Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or |
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/// WORLD). \param[in] placement Relative placement to the joint frame. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x computeJointKinematicRegressor( |
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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 joint_id, |
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const ReferenceFrame rf, |
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const SE3Tpl<Scalar, Options> & placement) |
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{ |
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typedef typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x ReturnType; |
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ReturnType res(ReturnType::Zero(6, (model.njoints - 1) * 6)); |
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computeJointKinematicRegressor(model, data, joint_id, rf, placement, res); |
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return res; |
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} |
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/// |
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/// \copydoc computeJointKinematicRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> |
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/// &,const DataTpl<Scalar,Options,JointCollectionTpl> &, const JointIndex, const ReferenceFrame) |
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/// |
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/// \param[out] kinematic_regressor The kinematic regressor containing the result. Matrix of size |
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/// 6*(model.njoints-1) initialized to 0. |
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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 Matrix6xReturnType> |
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void computeJointKinematicRegressor( |
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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 joint_id, |
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const ReferenceFrame rf, |
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const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor); |
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/// |
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/// \brief Computes the kinematic regressor that links the joint placement variations of the whole |
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/// kinematic tree |
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/// to the placement variation of the joint given as input. |
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/// |
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/// \remarks It assumes that the \ref forwardKinematics(const |
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/// ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, |
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/// const Eigen::MatrixBase<ConfigVectorType> &) has been called first. |
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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] joint_id Index of the joint. |
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/// \param[in] rf Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or |
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/// WORLD). |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x computeJointKinematicRegressor( |
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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 joint_id, |
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const ReferenceFrame rf) |
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{ |
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typedef typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x ReturnType; |
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ReturnType res(ReturnType::Zero(6, (model.njoints - 1) * 6)); |
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computeJointKinematicRegressor(model, data, joint_id, rf, res); |
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return res; |
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} |
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/// |
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/// \copydoc computeFrameKinematicRegressor(const ModelTpl<Scalar,Options,JointCollectionTpl> &, |
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/// DataTpl<Scalar,Options,JointCollectionTpl> &, const FrameIndex, const ReferenceFrame) |
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/// |
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/// \param[out] kinematic_regressor The kinematic regressor containing the result. Matrix of size |
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/// 6*(model.njoints-1) initialized to 0. |
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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 Matrix6xReturnType> |
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void computeFrameKinematicRegressor( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const FrameIndex frame_id, |
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const ReferenceFrame rf, |
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const Eigen::MatrixBase<Matrix6xReturnType> & kinematic_regressor); |
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/// |
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/// \brief Computes the kinematic regressor that links the joint placement variations of the whole |
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/// kinematic tree |
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/// to the placement variation of the frame given as input. |
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/// |
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/// \remarks It assumes that the \ref framesForwardKinematics(const |
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/// ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, |
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/// const Eigen::MatrixBase<ConfigVectorType> &) has been called first. |
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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] frame_id Index of the frame. |
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/// \param[in] rf Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or |
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/// WORLD). |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x computeFrameKinematicRegressor( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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const FrameIndex frame_id, |
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const ReferenceFrame rf) |
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{ |
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typedef typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x ReturnType; |
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ReturnType res(ReturnType::Zero(6, (model.njoints - 1) * 6)); |
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computeFrameKinematicRegressor(model, data, frame_id, rf, res); |
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return res; |
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} |
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/// |
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/// \brief Computes the static regressor that links the center of mass positions of all the links |
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/// to the center of mass of the complete model according to the current configuration of |
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/// the robot. |
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/// |
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/// The result is stored in `data.staticRegressor` and it corresponds to a matrix \f$ Y \f$ such |
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/// that \f$ c = Y(q,\dot{q},\ddot{q})\tilde{\pi} \f$ where \f$ \tilde{\pi} = |
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/// (\tilde{\pi}_1^T\ \dots\ \tilde{\pi}_n^T)^T \f$ and \f$ \tilde{\pi}_i = |
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/// \text{model.inertias[i].toDynamicParameters().head<4>()} \f$ |
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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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/// |
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/// \return The static regressor of the system. |
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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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inline typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & computeStaticRegressor( |
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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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/// |
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/// \brief Computes the regressor for the dynamic parameters of a single rigid body. |
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/// |
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/// The result is such that |
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/// \f$ I a + v \times I v = bodyRegressor(v,a) * I.toDynamicParameters() \f$ |
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/// |
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/// \param[in] v Velocity of the rigid body |
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/// \param[in] a Acceleration of the rigid body |
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/// \param[out] regressor The resulting regressor of the body. |
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/// |
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template<typename MotionVelocity, typename MotionAcceleration, typename OutputType> |
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inline void bodyRegressor( |
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const MotionDense<MotionVelocity> & v, |
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const MotionDense<MotionAcceleration> & a, |
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const Eigen::MatrixBase<OutputType> & regressor); |
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/// |
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/// \brief Computes the regressor for the dynamic parameters of a single rigid body. |
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/// |
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/// The result is such that |
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/// \f$ I a + v \times I v = bodyRegressor(v,a) * I.toDynamicParameters() \f$ |
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/// |
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/// \param[in] v Velocity of the rigid body |
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/// \param[in] a Acceleration of the rigid body |
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/// |
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/// \return The regressor of the body. |
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/// |
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template<typename MotionVelocity, typename MotionAcceleration> |
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inline Eigen::Matrix< |
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typename MotionVelocity::Scalar, |
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6, |
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10, |
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PINOCCHIO_EIGEN_PLAIN_TYPE(typename MotionVelocity::Vector3)::Options> |
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bodyRegressor(const MotionDense<MotionVelocity> & v, const MotionDense<MotionAcceleration> & a); |
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/// |
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/// \brief Computes the regressor for the dynamic parameters of a rigid body attached to a given |
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/// joint, |
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/// puts the result in data.bodyRegressor and returns it. |
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/// |
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/// This algorithm assumes RNEA has been run to compute the acceleration and gravitational |
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/// effects. |
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/// |
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/// The result is such that |
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/// \f$ f = \text{jointBodyRegressor(model,data,joint_id) * I.toDynamicParameters()} \f$ |
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/// where \f$ f \f$ is the net force acting on the body, including gravity |
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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] joint_id The id of the joint. |
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/// |
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/// \return The regressor of the body. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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inline typename DataTpl<Scalar, Options, JointCollectionTpl>::BodyRegressorType & |
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jointBodyRegressor( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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JointIndex joint_id); |
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/// |
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/// \brief Computes the regressor for the dynamic parameters of a rigid body attached to a given |
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/// frame, |
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/// puts the result in data.bodyRegressor and returns it. |
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/// |
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/// This algorithm assumes RNEA has been run to compute the acceleration and gravitational |
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/// effects. |
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/// |
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/// The result is such that |
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/// \f$ f = \text{frameBodyRegressor(model,data,frame_id) * I.toDynamicParameters()} \f$ |
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/// where \f$ f \f$ is the net force acting on the body, including gravity |
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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] frame_id The id of the frame. |
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/// |
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/// \return The dynamic regressor of the body. |
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/// |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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inline typename DataTpl<Scalar, Options, JointCollectionTpl>::BodyRegressorType & |
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frameBodyRegressor( |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
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FrameIndex frame_id); |
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/// |
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/// \brief Computes the joint torque regressor that links the joint torque |
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/// to the dynamic parameters of each link according to the current the robot motion. |
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/// |
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/// The result is stored in `data.jointTorqueRegressor` and it corresponds to a matrix \f$ Y \f$ |
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/// such that \f$ \tau = Y(q,\dot{q},\ddot{q})\pi \f$ where \f$ \pi = (\pi_1^T\ \dots\ \pi_n^T)^T |
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/// \f$ and \f$ \pi_i = \text{model.inertias[i].toDynamicParameters()} \f$ |
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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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/// |
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/// \return The joint torque regressor of the system. |
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/// |
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/// \warning This function writes temporary information in data.bodyRegressor. This means if you |
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/// have valuable data in it it will be overwritten. |
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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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inline typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & |
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computeJointTorqueRegressor( |
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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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/// |
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/// \brief Computes the kinetic energy regressor that links the kinetic energy of the system to |
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/// the dynamic parameters of each link according to the current robot motion. |
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/// |
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/// The result is stored in `data.kineticEnergyRegressor` and it corresponds to a matrix |
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/// \f$ Y_e \f$ such that \f$ K = Y_e(q,\dot{q})\pi \f$ where |
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/// \pi_i = \text{model.inertias[i].toDynamicParameters()} \f$ |
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/// |
| 331 |
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/// \tparam JointCollection Collection of Joint types. |
| 332 |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
| 333 |
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/// \tparam TangentVectorType Type of the joint velocity vector. |
| 334 |
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/// |
| 335 |
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/// \param[in] model The model structure of the rigid body system. |
| 336 |
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/// \param[in] data The data structure of the rigid body system. |
| 337 |
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/// \param[in] q The joint configuration vector (dim model.nq). |
| 338 |
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/// \param[in] v The joint velocity vector (dim model.nv). |
| 339 |
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/// |
| 340 |
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/// \return The kinetic energy regressor of the system. |
| 341 |
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template< |
| 342 |
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typename Scalar, |
| 343 |
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int Options, |
| 344 |
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template<typename, int> |
| 345 |
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class JointCollectionTpl, |
| 346 |
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typename ConfigVectorType, |
| 347 |
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typename TangentVectorType> |
| 348 |
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const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs & |
| 349 |
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computeKineticEnergyRegressor( |
| 350 |
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 351 |
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 352 |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
| 353 |
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const Eigen::MatrixBase<TangentVectorType> & v); |
| 354 |
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|
| 355 |
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/// |
| 356 |
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/// \brief Computes the potential energy regressor that links the potential energy |
| 357 |
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/// of the system to the dynamic parameters of each link according to the current robot motion. |
| 358 |
|
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/// |
| 359 |
|
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/// The result is stored in `data.potentialEnergyRegressor` and it corresponds to a matrix |
| 360 |
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/// \f$ Y_p \f$ such that \f$ P = Y_p(q)\pi \f$ where |
| 361 |
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/// \pi_i = \text{model.inertias[i].toDynamicParameters()} \f$ |
| 362 |
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/// |
| 363 |
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/// \tparam JointCollection Collection of Joint types. |
| 364 |
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/// \tparam ConfigVectorType Type of the joint configuration vector. |
| 365 |
|
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/// |
| 366 |
|
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/// \param[in] model The model structure of the rigid body system. |
| 367 |
|
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/// \param[in] data The data structure of the rigid body system. |
| 368 |
|
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/// \param[in] q The joint configuration vector (dim model.nq). |
| 369 |
|
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/// |
| 370 |
|
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/// \return The kinetic energy regressor of the system. |
| 371 |
|
|
template< |
| 372 |
|
|
typename Scalar, |
| 373 |
|
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int Options, |
| 374 |
|
|
template<typename, int> |
| 375 |
|
|
class JointCollectionTpl, |
| 376 |
|
|
typename ConfigVectorType> |
| 377 |
|
|
const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs & |
| 378 |
|
|
computePotentialEnergyRegressor( |
| 379 |
|
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const ModelTpl<Scalar, Options, JointCollectionTpl> & model, |
| 380 |
|
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DataTpl<Scalar, Options, JointCollectionTpl> & data, |
| 381 |
|
|
const Eigen::MatrixBase<ConfigVectorType> & q); |
| 382 |
|
|
} // namespace pinocchio |
| 383 |
|
|
|
| 384 |
|
|
/* --- Details -------------------------------------------------------------------- */ |
| 385 |
|
|
#include "pinocchio/algorithm/regressor.hxx" |
| 386 |
|
|
|
| 387 |
|
|
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION |
| 388 |
|
|
#include "pinocchio/algorithm/regressor.txx" |
| 389 |
|
|
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION |
| 390 |
|
|
|
| 391 |
|
|
#endif // ifndef __pinocchio_algorithm_regressor_hpp__ |
| 392 |
|
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|