66 lines
1.5 KiB
C++
66 lines
1.5 KiB
C++
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/*
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* RBDL - Rigid Body Dynamics Library
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* Copyright (c) 2011-2016 Martin Felis <martin@fysx.org>
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*
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* Licensed under the zlib license. See LICENSE for more details.
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*/
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#include <iostream>
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#include <rbdl/rbdl.h>
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using namespace RigidBodyDynamics;
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using namespace RigidBodyDynamics::Math;
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int main (int argc, char* argv[]) {
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rbdl_check_api_version (RBDL_API_VERSION);
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Model* model = NULL;
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unsigned int body_a_id, body_b_id, body_c_id;
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Body body_a, body_b, body_c;
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Joint joint_a, joint_b, joint_c;
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model = new Model();
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model->gravity = Vector3d (0., -9.81, 0.);
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body_a = Body (1., Vector3d (0.5, 0., 0.0), Vector3d (1., 1., 1.));
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joint_a = Joint(
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JointTypeRevolute,
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Vector3d (0., 0., 1.)
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);
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body_a_id = model->AddBody(0, Xtrans(Vector3d(0., 0., 0.)), joint_a, body_a);
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body_b = Body (1., Vector3d (0., 0.5, 0.), Vector3d (1., 1., 1.));
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joint_b = Joint (
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JointTypeRevolute,
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Vector3d (0., 0., 1.)
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);
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body_b_id = model->AddBody(body_a_id, Xtrans(Vector3d(1., 0., 0.)), joint_b, body_b);
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body_c = Body (0., Vector3d (0.5, 0., 0.), Vector3d (1., 1., 1.));
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joint_c = Joint (
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JointTypeRevolute,
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Vector3d (0., 0., 1.)
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);
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body_c_id = model->AddBody(body_b_id, Xtrans(Vector3d(0., 1., 0.)), joint_c, body_c);
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VectorNd Q = VectorNd::Zero (model->q_size);
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VectorNd QDot = VectorNd::Zero (model->qdot_size);
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VectorNd Tau = VectorNd::Zero (model->qdot_size);
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VectorNd QDDot = VectorNd::Zero (model->qdot_size);
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ForwardDynamics (*model, Q, QDot, Tau, QDDot);
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std::cout << QDDot.transpose() << std::endl;
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delete model;
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return 0;
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}
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