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// |
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// Copyright (c) 2022 CNRS INRIA LORIA |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include "tsid/contacts/measured-3Dforce.hpp" |
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#include "tsid/robots/robot-wrapper.hpp" |
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namespace tsid { |
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namespace contacts { |
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using namespace std; |
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using namespace math; |
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using namespace pinocchio; |
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typedef pinocchio::Data::Matrix6x Matrix6x; |
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Measured3Dforce::Measured3Dforce(const std::string &name, RobotWrapper &robot, |
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const std::string &frameName) |
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: MeasuredForceBase(name, robot), m_frame_name(frameName) { |
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assert(m_robot.model().existFrame(frameName)); |
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m_frame_id = m_robot.model().getFrameId(frameName); |
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m_fext.setZero(); |
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m_J.setZero(3, robot.nv()); |
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m_J_rotated.setZero(3, robot.nv()); |
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m_computedTorques.setZero(robot.nv()); |
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m_local_frame = true; |
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} |
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const Vector &Measured3Dforce::computeJointTorques(Data &data) { |
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Matrix6x J; |
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J.setZero(6, m_robot.nv()); |
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m_robot.frameJacobianLocal(data, m_frame_id, J); |
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m_J = J.topRows(3); |
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if (!m_local_frame) { |
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// Compute Jacobian in local world-oriented frame |
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SE3 oMi, oMi_rotation_only; |
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oMi_rotation_only.setIdentity(); |
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m_robot.framePosition(data, m_frame_id, oMi); |
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oMi_rotation_only.rotation(oMi.rotation()); |
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// Use an explicit temporary `m_J_rotated` here to avoid allocations. |
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m_J_rotated.noalias() = (oMi_rotation_only.toActionMatrix() * J).topRows(3); |
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m_J = m_J_rotated; |
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} |
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m_computedTorques = m_J.transpose() * m_fext; |
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return m_computedTorques; |
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} |
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void Measured3Dforce::setMeasuredContactForce(const Vector3 &fext) { |
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m_fext = fext; |
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} |
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const Vector3 &Measured3Dforce::getMeasuredContactForce() const { |
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return m_fext; |
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} |
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void Measured3Dforce::useLocalFrame(bool local_frame) { |
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m_local_frame = local_frame; |
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} |
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} // namespace contacts |
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} // namespace tsid |