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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#include <dynamic-graph/factory.h> |
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#include <sot/dynamic-pinocchio/integrator-force-rk4.h> |
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#include <sot/core/debug.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(IntegratorForceRK4, "IntegratorForceRK4"); |
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IntegratorForceRK4::IntegratorForceRK4(const std::string& name) |
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: IntegratorForce(name) { |
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sotDEBUGIN(5); |
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velocityDerivativeSOUT.setFunction( |
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boost::bind(&IntegratorForceRK4::computeDerivativeRK4, this, _1, _2)); |
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sotDEBUGOUT(5); |
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} |
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IntegratorForceRK4::~IntegratorForceRK4(void) { |
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sotDEBUGIN(5); |
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sotDEBUGOUT(5); |
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return; |
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} |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* The derivative of the signal is such that: M v_dot + B v = f. We deduce: |
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* v_dot = M^-1 (f - Bv) |
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* Using RK4 method (doc: wikipedia ;) ): dv= dt/6 ( k1 + 2.k2 + 2.k3 + k4) |
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*/ |
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static const double rk_fact[4] = {1., 2., 2., 1.}; |
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dynamicgraph::Vector& IntegratorForceRK4::computeDerivativeRK4( |
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dynamicgraph::Vector& res, const int& time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Vector& force = forceSIN(time); |
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const dynamicgraph::Matrix& massInverse = massInverseSIN(time); |
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const dynamicgraph::Matrix& friction = frictionSIN(time); |
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long int nf = force.size(), nv = friction.cols(); |
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res.resize(nv); |
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res.fill(0); |
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if (!velocityPrecSIN) { |
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dynamicgraph::Vector zero(nv); |
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zero.fill(0); |
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velocityPrecSIN = zero; |
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} |
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const dynamicgraph::Vector& vel = velocityPrecSIN(time); |
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double& dt = this->IntegratorForce::timeStep; // this is & |
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sotDEBUG(15) << "force = " << force; |
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sotDEBUG(15) << "vel = " << vel; |
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sotDEBUG(25) << "Mi = " << massInverse; |
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sotDEBUG(25) << "B = " << friction; |
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sotDEBUG(25) << "dt = " << dt << std::endl; |
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std::vector<dynamicgraph::Vector> v(4); |
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dynamicgraph::Vector ki(nv), fi(nf); |
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double sumFact = 0; |
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v[0] = vel; |
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for (unsigned int i = 0; i < 4; ++i) { |
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sotDEBUG(35) << "v" << i << " = " << v[i]; |
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fi = friction * v[i]; |
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fi *= -1; |
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fi += force; |
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sotDEBUG(35) << "f" << i << " = " << fi; |
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ki = massInverse * fi; |
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sotDEBUG(35) << "k" << i << " = " << ki; |
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if (i + 1 < 4) { |
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v[i + 1] = ki; |
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v[i + 1] *= (dt / rk_fact[i + 1]); |
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v[i + 1] += vel; |
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} |
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ki *= rk_fact[i]; |
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res += ki; |
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sotDEBUG(35) << "sum_k" << i << " = " << res; |
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sumFact += rk_fact[i]; |
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} |
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sotDEBUG(35) << "sum_ki = " << res; |
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res *= (1 / sumFact); |
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sotDEBUGOUT(15); |
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return res; |
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} |
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