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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/mass-apparent.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(MassApparent, "MassApparent"); |
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MassApparent::MassApparent(const std::string& name) |
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: Entity(name), |
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jacobianSIN(NULL, |
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"sotMassApparent(" + name + ")::input(vector)::jacobian"), |
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inertiaInverseSIN( |
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NULL, "sotMassApparent(" + name + ")::input(vector)::inertiaInverse"), |
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massInverseSOUT( |
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boost::bind(&MassApparent::computeMassInverse, this, _1, _2), |
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jacobianSIN << inertiaInverseSIN, |
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"sotMassApparent(" + name + ")::output(Vector)::massInverse"), |
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massSOUT(boost::bind(&MassApparent::computeMass, this, _1, _2), |
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massInverseSOUT, |
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"sotMassApparent(" + name + ")::output(Vector)::mass") |
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, |
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inertiaSIN(NULL, "sotMassApparent(" + name + ")::input(vector)::inertia"), |
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inertiaInverseSOUT( |
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boost::bind(&MassApparent::computeInertiaInverse, this, _1, _2), |
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inertiaSIN, |
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"sotMassApparent(" + name + ")::input(vector)::inertiaInverseOUT") { |
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sotDEBUGIN(5); |
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signalRegistration(jacobianSIN); |
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signalRegistration(inertiaInverseSIN); |
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signalRegistration(massInverseSOUT); |
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signalRegistration(massSOUT); |
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signalRegistration(inertiaSIN); |
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signalRegistration(inertiaInverseSOUT); |
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inertiaInverseSIN.plug(&inertiaInverseSOUT); |
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sotDEBUGOUT(5); |
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} |
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MassApparent::~MassApparent(void) { return; } |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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/* --- SIGNALS -------------------------------------------------------------- */ |
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dynamicgraph::Matrix& MassApparent::computeMassInverse( |
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dynamicgraph::Matrix& res, const int& time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Matrix& J = jacobianSIN(time); |
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const dynamicgraph::Matrix& A = inertiaInverseSIN(time); |
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dynamicgraph::Matrix AJt(J.cols(), J.rows()); |
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AJt = A * J.transpose(); |
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res.resize(J.rows(), J.rows()); |
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res = J * AJt; |
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sotDEBUGOUT(15); |
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return res; |
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} |
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dynamicgraph::Matrix& MassApparent::computeMass(dynamicgraph::Matrix& res, |
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const int& time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Matrix& omega = massInverseSOUT(time); |
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res = omega.inverse(); |
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sotDEBUGOUT(15); |
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return res; |
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} |
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dynamicgraph::Matrix& MassApparent::computeInertiaInverse( |
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dynamicgraph::Matrix& res, const int& time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Matrix& A = inertiaSIN(time); |
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res = A.inverse(); |
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sotDEBUGOUT(15); |
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return res; |
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} |
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