61 lines
1.5 KiB
C++
61 lines
1.5 KiB
C++
|
/*
|
||
|
|
* RBDL - Rigid Body Dynamics Library
|
||
|
|
* Copyright (c) 2011-2018 Martin Felis <martin@fysx.org>
|
||
|
|
*
|
||
|
|
* Licensed under the zlib license. See LICENSE for more details.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <iostream>
|
||
|
|
|
||
|
|
#include <rbdl/rbdl.h>
|
||
|
|
#include <rbdl/rbdl_utils.h>
|
||
|
|
|
||
|
|
#ifndef RBDL_BUILD_ADDON_LUAMODEL
|
||
|
|
#error "Error: RBDL addon LuaModel not enabled."
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#include <rbdl/addons/luamodel/luamodel.h>
|
||
|
|
|
||
|
|
using namespace RigidBodyDynamics;
|
||
|
|
using namespace RigidBodyDynamics::Math;
|
||
|
|
|
||
|
|
int main (int argc, char* argv[]) {
|
||
|
|
rbdl_check_api_version (RBDL_API_VERSION);
|
||
|
|
|
||
|
|
Model* model = NULL;
|
||
|
|
|
||
|
|
model = new Model();
|
||
|
|
|
||
|
|
if (argc != 2) {
|
||
|
|
std::cerr << "Error: Invalid number of arguments." << std::endl;
|
||
|
|
std::cerr << "usage: " << argv[0] << " <model.lua>" << std::endl;
|
||
|
|
exit(-1);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!Addons::LuaModelReadFromFile (argv[1], model, false)) {
|
||
|
|
std::cerr << "Error loading model " << argv[1] << std::endl;
|
||
|
|
abort();
|
||
|
|
}
|
||
|
|
|
||
|
|
std::cout << "Degree of freedom overview:" << std::endl;
|
||
|
|
std::cout << Utils::GetModelDOFOverview(*model);
|
||
|
|
|
||
|
|
std::cout << "Model Hierarchy:" << std::endl;
|
||
|
|
std::cout << Utils::GetModelHierarchy(*model);
|
||
|
|
|
||
|
|
VectorNd Q = VectorNd::Zero (model->q_size);
|
||
|
|
VectorNd QDot = VectorNd::Zero (model->qdot_size);
|
||
|
|
VectorNd Tau = VectorNd::Zero (model->qdot_size);
|
||
|
|
VectorNd QDDot = VectorNd::Zero (model->qdot_size);
|
||
|
|
|
||
|
|
std::cout << "Forward Dynamics with q, qdot, tau set to zero:" << std::endl;
|
||
|
|
ForwardDynamics (*model, Q, QDot, Tau, QDDot);
|
||
|
|
|
||
|
|
std::cout << QDDot.transpose() << std::endl;
|
||
|
|
|
||
|
|
delete model;
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|