GenericJoint.hpp

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#ifndef DART_DYNAMICS_GENERICJOINT_HPP_
#define DART_DYNAMICS_GENERICJOINT_HPP_
 
#include <array>
#include <string>
#include "dart/dynamics/detail/GenericJointAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class DegreeOfFreedom;
 
template <class ConfigSpaceT>
class GenericJoint
  : public detail::GenericJointBase<GenericJoint<ConfigSpaceT>, ConfigSpaceT>
{
public:
  static constexpr std::size_t NumDofs = ConfigSpaceT::NumDofs;
 
  using ThisClass = GenericJoint<ConfigSpaceT>;
  using Base = detail::GenericJointBase<ThisClass, ConfigSpaceT>;
 
  using Point = typename ConfigSpaceT::Point;
  using EuclideanPoint = typename ConfigSpaceT::EuclideanPoint;
  using Vector = typename ConfigSpaceT::Vector;
  using JacobianMatrix = typename ConfigSpaceT::JacobianMatrix;
  using Matrix = typename ConfigSpaceT::Matrix;
 
  using UniqueProperties = detail::GenericJointUniqueProperties<ConfigSpaceT>;
  using Properties = detail::GenericJointProperties<ConfigSpaceT>;
  using AspectState = typename Base::AspectState;
  using AspectProperties = typename Base::AspectProperties;
 
  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(
      typename ThisClass::Aspect, GenericJointAspect)
 
  GenericJoint(const ThisClass&) = delete;
 
  virtual ~GenericJoint();
 
  void setProperties(const Properties& properties);
 
  void setProperties(const UniqueProperties& properties);
 
  void setAspectState(const AspectState& state);
 
  void setAspectProperties(const AspectProperties& properties);
 
  Properties getGenericJointProperties() const;
 
  void copy(const ThisClass& otherJoint);
 
  void copy(const ThisClass* otherJoint);
 
  ThisClass& operator=(const ThisClass& other);
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  DegreeOfFreedom* getDof(std::size_t index) override;
 
  // Documentation inherited
  const DegreeOfFreedom* getDof(std::size_t _index) const override;
 
  // Documentation inherited
  std::size_t getNumDofs() const override;
 
  // Documentation inherited
  const std::string& setDofName(
      std::size_t index,
      const std::string& name,
      bool preserveName = true) override;
 
  // Documentation inherited
  void preserveDofName(size_t index, bool preserve) override;
 
  // Documentation inherited
  bool isDofNamePreserved(size_t index) const override;
 
  // Documentation inherited
  const std::string& getDofName(size_t index) const override;
 
  // Documentation inherited
  size_t getIndexInSkeleton(size_t index) const override;
 
  // Documentation inherited
  size_t getIndexInTree(size_t index) const override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void setCommand(std::size_t index, double command) override;
 
  // Documentation inherited
  double getCommand(std::size_t index) const override;
 
  // Documentation inherited
  void setCommands(const Eigen::VectorXd& commands) override;
 
  // Documentation inherited
  Eigen::VectorXd getCommands() const override;
 
  // Documentation inherited
  void resetCommands() override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void setPosition(std::size_t index, double position) override;
 
  // Documentation inherited
  double getPosition(std::size_t index) const override;
 
  // Documentation inherited
  void setPositions(const Eigen::VectorXd& positions) override;
 
  // Documentation inherited
  Eigen::VectorXd getPositions() const override;
 
  // Documentation inherited
  void setPositionLowerLimit(std::size_t index, double position) override;
 
  // Documentation inherited
  double getPositionLowerLimit(std::size_t index) const override;
 
  // Documentation inherited
  void setPositionLowerLimits(const Eigen::VectorXd& lowerLimits) override;
 
  // Documentation inherited
  Eigen::VectorXd getPositionLowerLimits() const override;
 
  // Documentation inherited
  void setPositionUpperLimit(std::size_t index, double position) override;
 
  // Documentation inherited
  double getPositionUpperLimit(std::size_t index) const override;
 
  // Documentation inherited
  void setPositionUpperLimits(const Eigen::VectorXd& upperLimits) override;
 
  // Documentation inherited
  Eigen::VectorXd getPositionUpperLimits() const override;
 
  // Documentation inherited
  bool hasPositionLimit(std::size_t index) const override;
 
  // Documentation inherited
  void resetPosition(std::size_t index) override;
 
  // Documentation inherited
  void resetPositions() override;
 
  // Documentation inherited
  void setInitialPosition(std::size_t index, double initial) override;
 
  // Documentation inherited
  double getInitialPosition(std::size_t index) const override;
 
  // Documentation inherited
  void setInitialPositions(const Eigen::VectorXd& initial) override;
 
  // Documentation inherited
  Eigen::VectorXd getInitialPositions() const override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Note: The fixed-size versions of these functions exist to make it easier
  // to comply with the auto-updating design. Use these functions to avoid
  // accessing mPosition directly, that way it is easier to ensure that the
  // auto-updating design assumptions are being satisfied when reviewing the
  // code.
 
  void setPositionsStatic(const Vector& positions);
 
  const Vector& getPositionsStatic() const;
 
  void setVelocitiesStatic(const Vector& velocities);
 
  const Vector& getVelocitiesStatic() const;
 
  void setAccelerationsStatic(const Vector& accels);
 
  const Vector& getAccelerationsStatic() const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void setVelocity(std::size_t index, double velocity) override;
 
  // Documentation inherited
  double getVelocity(std::size_t index) const override;
 
  // Documentation inherited
  void setVelocities(const Eigen::VectorXd& velocities) override;
 
  // Documentation inherited
  Eigen::VectorXd getVelocities() const override;
 
  // Documentation inherited
  void setVelocityLowerLimit(std::size_t index, double velocity) override;
 
  // Documentation inherited
  double getVelocityLowerLimit(std::size_t index) const override;
 
  // Documentation inherited
  void setVelocityLowerLimits(const Eigen::VectorXd& lowerLimits) override;
 
  // Documentation inherited
  Eigen::VectorXd getVelocityLowerLimits() const override;
 
  // Documentation inherited
  void setVelocityUpperLimit(std::size_t index, double velocity) override;
 
  // Documentation inherited
  double getVelocityUpperLimit(std::size_t index) const override;
 
  // Documentation inherited
  void setVelocityUpperLimits(const Eigen::VectorXd& upperLimits) override;
 
  // Documentation inherited
  Eigen::VectorXd getVelocityUpperLimits() const override;
 
  // Documentation inherited
  void resetVelocity(std::size_t index) override;
 
  // Documentation inherited
  void resetVelocities() override;
 
  // Documentation inherited
  void setInitialVelocity(std::size_t index, double initial) override;
 
  // Documentation inherited
  double getInitialVelocity(std::size_t index) const override;
 
  // Documentation inherited
  void setInitialVelocities(const Eigen::VectorXd& initial) override;
 
  // Documentation inherited
  Eigen::VectorXd getInitialVelocities() const override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void setAcceleration(std::size_t index, double acceleration) override;
 
  // Documentation inherited
  double getAcceleration(std::size_t index) const override;
 
  // Documentation inherited
  void setAccelerations(const Eigen::VectorXd& accelerations) override;
 
  // Documentation inherited
  Eigen::VectorXd getAccelerations() const override;
 
  // Documentation inherited
  void setAccelerationLowerLimit(size_t index, double acceleration) override;
 
  // Documentation inherited
  double getAccelerationLowerLimit(std::size_t index) const override;
 
  // Documentation inherited
  void setAccelerationLowerLimits(const Eigen::VectorXd& lowerLimits) override;
 
  // Documentation inherited
  Eigen::VectorXd getAccelerationLowerLimits() const override;
 
  // Documentation inherited
  void setAccelerationUpperLimit(
      std::size_t index, double acceleration) override;
 
  // Documentation inherited
  double getAccelerationUpperLimit(std::size_t index) const override;
 
  // Documentation inherited
  void setAccelerationUpperLimits(const Eigen::VectorXd& upperLimits) override;
 
  // Documentation inherited
  Eigen::VectorXd getAccelerationUpperLimits() const override;
 
  // Documentation inherited
  void resetAccelerations() override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void setForce(std::size_t index, double force) override;
 
  // Documentation inherited
  double getForce(std::size_t index) const override;
 
  // Documentation inherited
  void setForces(const Eigen::VectorXd& forces) override;
 
  // Documentation inherited
  Eigen::VectorXd getForces() const override;
 
  // Documentation inherited
  void setForceLowerLimit(size_t index, double force) override;
 
  // Documentation inherited
  double getForceLowerLimit(std::size_t index) const override;
 
  // Documentation inherited
  void setForceLowerLimits(const Eigen::VectorXd& lowerLimits) override;
 
  // Documentation inherited
  Eigen::VectorXd getForceLowerLimits() const override;
 
  // Documentation inherited
  void setForceUpperLimit(size_t index, double force) override;
 
  // Documentation inherited
  double getForceUpperLimit(size_t index) const override;
 
  // Documentation inherited
  void setForceUpperLimits(const Eigen::VectorXd& upperLimits) override;
 
  // Documentation inherited
  Eigen::VectorXd getForceUpperLimits() const override;
 
  // Documentation inherited
  void resetForces() override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void setVelocityChange(std::size_t index, double velocityChange) override;
 
  // Documentation inherited
  double getVelocityChange(std::size_t index) const override;
 
  // Documentation inherited
  void resetVelocityChanges() override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void setConstraintImpulse(std::size_t index, double impulse) override;
 
  // Documentation inherited
  double getConstraintImpulse(std::size_t index) const override;
 
  // Documentation inherited
  void resetConstraintImpulses() override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void integratePositions(double dt) override;
 
  // Documentation inherited
  void integrateVelocities(double dt) override;
 
  // Documentation inherited
  Eigen::VectorXd getPositionDifferences(
      const Eigen::VectorXd& q2, const Eigen::VectorXd& q1) const override;
 
  virtual Vector getPositionDifferencesStatic(
      const Vector& q2, const Vector& q1) const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void setSpringStiffness(std::size_t index, double k) override;
 
  // Documentation inherited
  double getSpringStiffness(std::size_t index) const override;
 
  // Documentation inherited
  void setRestPosition(std::size_t index, double q0) override;
 
  // Documentation inherited
  double getRestPosition(std::size_t index) const override;
 
  // Documentation inherited
  void setDampingCoefficient(std::size_t index, double coeff) override;
 
  // Documentation inherited
  double getDampingCoefficient(std::size_t index) const override;
 
  // Documentation inherited
  void setCoulombFriction(std::size_t index, double friction) override;
 
  // Documentation inherited
  double getCoulombFriction(std::size_t index) const override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  double computePotentialEnergy() const override;
 
 
  // Documentation inherited
  Eigen::Vector6d getBodyConstraintWrench() const override;
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  const math::Jacobian getRelativeJacobian() const override;
 
  const typename GenericJoint<ConfigSpaceT>::JacobianMatrix&
  getRelativeJacobianStatic() const;
 
  // Documentation inherited
  math::Jacobian getRelativeJacobian(
      const Eigen::VectorXd& _positions) const override;
 
  virtual JacobianMatrix getRelativeJacobianStatic(
      const Vector& positions) const = 0;
 
  // Documentation inherited
  const math::Jacobian getRelativeJacobianTimeDeriv() const override;
 
  const JacobianMatrix& getRelativeJacobianTimeDerivStatic() const;
 
 
protected:
  GenericJoint(const Properties& properties);
 
  // Documentation inherited
  void registerDofs() override;
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  const Matrix& getInvProjArtInertia() const;
 
  const Matrix& getInvProjArtInertiaImplicit() const;
 
  // Documentation inherited
  void updateRelativeSpatialVelocity() const override;
 
  // Documentation inherited
  void updateRelativeSpatialAcceleration() const override;
 
  // Documentation inherited
  void updateRelativePrimaryAcceleration() const override;
 
  // Documentation inherited
  void addVelocityTo(Eigen::Vector6d& vel) override;
 
  // Documentation inherited
  void setPartialAccelerationTo(
      Eigen::Vector6d& partialAcceleration,
      const Eigen::Vector6d& childVelocity) override;
 
  // Documentation inherited
  void addAccelerationTo(Eigen::Vector6d& acc) override;
 
  // Documentation inherited
  void addVelocityChangeTo(Eigen::Vector6d& velocityChange) override;
 
  // Documentation inherited
  void addChildArtInertiaTo(
      Eigen::Matrix6d& parentArtInertia,
      const Eigen::Matrix6d& childArtInertia) override;
 
  // Documentation inherited
  void addChildArtInertiaImplicitTo(
      Eigen::Matrix6d& parentArtInertiaImplicit,
      const Eigen::Matrix6d& childArtInertiaImplicit) override;
 
  // Documentation inherited
  void updateInvProjArtInertia(const Eigen::Matrix6d& artInertia) override;
 
  // Documentation inherited
  void updateInvProjArtInertiaImplicit(
      const Eigen::Matrix6d& artInertia, double timeStep) override;
 
  // Documentation inherited
  void addChildBiasForceTo(
      Eigen::Vector6d& parentBiasForce,
      const Eigen::Matrix6d& childArtInertia,
      const Eigen::Vector6d& childBiasForce,
      const Eigen::Vector6d& childPartialAcc) override;
 
  // Documentation inherited
  void addChildBiasImpulseTo(
      Eigen::Vector6d& parentBiasImpulse,
      const Eigen::Matrix6d& childArtInertia,
      const Eigen::Vector6d& childBiasImpulse) override;
 
  // Documentation inherited
  void updateTotalForce(
      const Eigen::Vector6d& bodyForce, double timeStep) override;
 
  // Documentation inherited
  void updateTotalImpulse(const Eigen::Vector6d& bodyImpulse) override;
 
  // Documentation inherited
  void resetTotalImpulses() override;
 
  // Documentation inherited
  void updateAcceleration(
      const Eigen::Matrix6d& artInertia,
      const Eigen::Vector6d& spatialAcc) override;
 
  // Documentation inherited
  void updateVelocityChange(
      const Eigen::Matrix6d& artInertia,
      const Eigen::Vector6d& velocityChange) override;
 
  // Documentation inherited
  void updateForceID(
      const Eigen::Vector6d& bodyForce,
      double timeStep,
      bool withDampingForces,
      bool withSpringForces) override;
 
  // Documentation inherited
  void updateForceFD(
      const Eigen::Vector6d& bodyForce,
      double timeStep,
      bool withDampingForcese,
      bool withSpringForces) override;
 
  // Documentation inherited
  void updateImpulseID(const Eigen::Vector6d& bodyImpulse) override;
 
  // Documentation inherited
  void updateImpulseFD(const Eigen::Vector6d& bodyImpulse) override;
 
  // Documentation inherited
  void updateConstrainedTerms(double timeStep) override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void addChildBiasForceForInvMassMatrix(
      Eigen::Vector6d& parentBiasForce,
      const Eigen::Matrix6d& childArtInertia,
      const Eigen::Vector6d& childBiasForce) override;
 
  // Documentation inherited
  void addChildBiasForceForInvAugMassMatrix(
      Eigen::Vector6d& parentBiasForce,
      const Eigen::Matrix6d& childArtInertia,
      const Eigen::Vector6d& childBiasForce) override;
 
  // Documentation inherited
  void updateTotalForceForInvMassMatrix(
      const Eigen::Vector6d& bodyForce) override;
 
  // Documentation inherited
  void getInvMassMatrixSegment(
      Eigen::MatrixXd& invMassMat,
      const size_t col,
      const Eigen::Matrix6d& artInertia,
      const Eigen::Vector6d& spatialAcc) override;
 
  // Documentation inherited
  void getInvAugMassMatrixSegment(
      Eigen::MatrixXd& invMassMat,
      const size_t col,
      const Eigen::Matrix6d& artInertia,
      const Eigen::Vector6d& spatialAcc) override;
 
  // Documentation inherited
  void addInvMassMatrixSegmentTo(Eigen::Vector6d& acc) override;
 
  // Documentation inherited
  Eigen::VectorXd getSpatialToGeneralized(
      const Eigen::Vector6d& spatial) override;
 
 
protected:
  std::array<DegreeOfFreedom*, NumDofs> mDofs;
 
  //----------------------------------------------------------------------------
  // Impulse
  //----------------------------------------------------------------------------
 
  Vector mVelocityChanges;
 
  Vector mImpulses;
 
  Vector mConstraintImpulses;
 
  //----------------------------------------------------------------------------
  // For recursive dynamics algorithms
  //----------------------------------------------------------------------------
 
  mutable JacobianMatrix mJacobian;
 
  mutable JacobianMatrix mJacobianDeriv;
 
  mutable Matrix mInvProjArtInertia;
 
  mutable Matrix mInvProjArtInertiaImplicit;
 
  Vector mTotalForce;
 
  Vector mTotalImpulse;
 
  //----------------------------------------------------------------------------
  // For equations of motion
  //----------------------------------------------------------------------------
 
  Vector mInvM_a;
 
  Vector mInvMassMatrixSegment;
 
private:
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void addChildArtInertiaToDynamic(
      Eigen::Matrix6d& parentArtInertia,
      const Eigen::Matrix6d& childArtInertia);
 
  void addChildArtInertiaToKinematic(
      Eigen::Matrix6d& parentArtInertia,
      const Eigen::Matrix6d& childArtInertia);
 
  void addChildArtInertiaImplicitToDynamic(
      Eigen::Matrix6d& parentArtInertia,
      const Eigen::Matrix6d& childArtInertia);
 
  void addChildArtInertiaImplicitToKinematic(
      Eigen::Matrix6d& parentArtInertia,
      const Eigen::Matrix6d& childArtInertia);
 
  void updateInvProjArtInertiaDynamic(const Eigen::Matrix6d& artInertia);
 
  void updateInvProjArtInertiaKinematic(const Eigen::Matrix6d& artInertia);
 
  void updateInvProjArtInertiaImplicitDynamic(
      const Eigen::Matrix6d& artInertia, double timeStep);
 
  void updateInvProjArtInertiaImplicitKinematic(
      const Eigen::Matrix6d& artInertia, double timeStep);
 
  void addChildBiasForceToDynamic(
      Eigen::Vector6d& parentBiasForce,
      const Eigen::Matrix6d& childArtInertia,
      const Eigen::Vector6d& childBiasForce,
      const Eigen::Vector6d& childPartialAcc);
 
  void addChildBiasForceToKinematic(
      Eigen::Vector6d& parentBiasForce,
      const Eigen::Matrix6d& childArtInertia,
      const Eigen::Vector6d& childBiasForce,
      const Eigen::Vector6d& childPartialAcc);
 
  void addChildBiasImpulseToDynamic(
      Eigen::Vector6d& parentBiasImpulse,
      const Eigen::Matrix6d& childArtInertia,
      const Eigen::Vector6d& childBiasImpulse);
 
  void addChildBiasImpulseToKinematic(
      Eigen::Vector6d& parentBiasImpulse,
      const Eigen::Matrix6d& childArtInertia,
      const Eigen::Vector6d& childBiasImpulse);
 
  void updateTotalForceDynamic(
      const Eigen::Vector6d& bodyForce, double timeStep);
 
  void updateTotalForceKinematic(
      const Eigen::Vector6d& bodyForce, double timeStep);
 
  void updateTotalImpulseDynamic(const Eigen::Vector6d& bodyImpulse);
 
  void updateTotalImpulseKinematic(const Eigen::Vector6d& bodyImpulse);
 
  void updateAccelerationDynamic(
      const Eigen::Matrix6d& artInertia, const Eigen::Vector6d& spatialAcc);
 
  void updateAccelerationKinematic(
      const Eigen::Matrix6d& artInertia, const Eigen::Vector6d& spatialAcc);
 
  void updateVelocityChangeDynamic(
      const Eigen::Matrix6d& artInertia, const Eigen::Vector6d& velocityChange);
 
  void updateVelocityChangeKinematic(
      const Eigen::Matrix6d& artInertia, const Eigen::Vector6d& velocityChange);
 
  void updateConstrainedTermsDynamic(double timeStep);
 
  void updateConstrainedTermsKinematic(double timeStep);
 
};
 
} // namespace dynamics
} // namespace dart
 
#include "dart/dynamics/detail/GenericJoint.hpp"
 
#endif // DART_DYNAMICS_GENERICJOINT_HPP_