521 lines
16 KiB
C++
521 lines
16 KiB
C++
|
#include <UnitTest++.h>
|
||
|
|
#include "rbdl/rbdl.h"
|
||
|
|
#include "rbdl/Constraints.h"
|
||
|
|
#include <cassert>
|
||
|
|
|
||
|
|
#include "PendulumModels.h"
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
using namespace RigidBodyDynamics;
|
||
|
|
using namespace RigidBodyDynamics::Math;
|
||
|
|
|
||
|
|
const double TEST_PREC = 1.0e-11;
|
||
|
|
|
||
|
|
|
||
|
|
struct PinJointCustomConstraint : public RigidBodyDynamics::CustomConstraint
|
||
|
|
{
|
||
|
|
|
||
|
|
PinJointCustomConstraint():RigidBodyDynamics::CustomConstraint(5){
|
||
|
|
}
|
||
|
|
|
||
|
|
PinJointCustomConstraint(unsigned int x0y1z2):RigidBodyDynamics::CustomConstraint(5){
|
||
|
|
TuP.resize(mConstraintCount);
|
||
|
|
for(unsigned int i=0; i<TuP.size(); ++i){
|
||
|
|
TuP[i].setZero();
|
||
|
|
}
|
||
|
|
|
||
|
|
/*A pin joint has constraints about these axis when expressed
|
||
|
|
in the frame of the predecessor body:
|
||
|
|
0 1 2 3 4 5
|
||
|
|
wx wy wz rx ry rz
|
||
|
|
0: [ 0 1 0 0 0 0 ]
|
||
|
|
1: [ 0 0 1 0 0 0 ]
|
||
|
|
2: [ 0 0 0 1 0 0 ]
|
||
|
|
3: [ 0 0 0 0 1 0 ]
|
||
|
|
4: [ 0 0 0 0 0 1 ]
|
||
|
|
*/
|
||
|
|
switch(x0y1z2){
|
||
|
|
case 0:
|
||
|
|
{
|
||
|
|
TuP[3][1] = 1;
|
||
|
|
TuP[4][2] = 1;
|
||
|
|
}break;
|
||
|
|
case 1:{
|
||
|
|
TuP[3][0] = 1;
|
||
|
|
TuP[4][2] = 1;
|
||
|
|
}break;
|
||
|
|
case 2:{
|
||
|
|
TuP[3][0] = 1;
|
||
|
|
TuP[4][1] = 1;
|
||
|
|
}break;
|
||
|
|
default: {
|
||
|
|
cerr << "Invalid AxisOfRotation argument" << endl;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
TuP[0][3] = 1;
|
||
|
|
TuP[1][4] = 1;
|
||
|
|
TuP[2][5] = 1;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
virtual void CalcConstraintsJacobianAndConstraintAxis(
|
||
|
|
Model &model,
|
||
|
|
unsigned int ccid,
|
||
|
|
const Math::VectorNd &Q,
|
||
|
|
ConstraintSet &CS,
|
||
|
|
Math::MatrixNd &G,
|
||
|
|
unsigned int GrowStart,
|
||
|
|
unsigned int GcolStart)
|
||
|
|
{
|
||
|
|
|
||
|
|
|
||
|
|
//Set the working matrices for the previous/successor point Jacobians
|
||
|
|
//to zero
|
||
|
|
CS.GSpi.setZero();
|
||
|
|
CS.GSsi.setZero();
|
||
|
|
|
||
|
|
CalcPointJacobian6D(model,Q,CS.body_p[ccid],CS.X_p[ccid].r,CS.GSpi,false);
|
||
|
|
CalcPointJacobian6D(model,Q,CS.body_s[ccid],CS.X_s[ccid].r,CS.GSsi,false);
|
||
|
|
CS.GSJ = CS.GSsi-CS.GSpi;
|
||
|
|
|
||
|
|
r0P0 = CalcBodyToBaseCoordinates (model, Q, CS.body_p[ccid],
|
||
|
|
CS.X_p[ccid].r, false);
|
||
|
|
rmP0 = CalcBodyWorldOrientation (model, Q, CS.body_p[ccid], false
|
||
|
|
).transpose()* CS.X_p[ccid].E;
|
||
|
|
xP0 = SpatialTransform (rmP0, r0P0);
|
||
|
|
|
||
|
|
for(unsigned int i=0; i<TuP.size(); ++i){
|
||
|
|
eT0 = xP0.apply(TuP[i]);
|
||
|
|
CS.constraintAxis[ccid+i] = TuP[i]; //To keep it up to date.
|
||
|
|
G.block(GrowStart+i,GcolStart,1,model.dof_count)
|
||
|
|
= eT0.transpose()*CS.GSJ;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void CalcGamma( Model &model,
|
||
|
|
unsigned int ccid,
|
||
|
|
const Math::VectorNd &Q,
|
||
|
|
const Math::VectorNd &QDot,
|
||
|
|
ConstraintSet &CS,
|
||
|
|
const MatrixNd &UNUSED(Gblock),
|
||
|
|
Math::VectorNd &gamma,
|
||
|
|
unsigned int gammaStartIndex)
|
||
|
|
{
|
||
|
|
/*
|
||
|
|
Position-level
|
||
|
|
|
||
|
|
phi(q) = 0
|
||
|
|
r0P-r0S = 0 : the points p and q are coincident.
|
||
|
|
e1x'e2y = 0 : the x axis of frame 1 is perp. to y axis of frame 2
|
||
|
|
e1x'e2z = 0 : the x axis of frame 1 is perp. to z axis of frame 2
|
||
|
|
|
||
|
|
Velocity-level
|
||
|
|
D_phi(q)_Dq * dq/dt = 0
|
||
|
|
[J_r0P0_q - J_r0Q0_q] dq/dt = 0
|
||
|
|
[J_e1x0_q'*e2y0 + e1x1'*J_e2y0_q] dq/dt = 0
|
||
|
|
[J_e1x0_q'*e2z0 + e1x1'*J_e2z0_q] dq/dt = 0
|
||
|
|
|
||
|
|
Or equivalently
|
||
|
|
|
||
|
|
Tu[vP - vS] = 0
|
||
|
|
|
||
|
|
where Tu are the directions the constraint is applied in and
|
||
|
|
vP and vQ are the spatial velocities of points P and Q. This
|
||
|
|
can be re-worked into:
|
||
|
|
|
||
|
|
G(q)*dq/dt = 0
|
||
|
|
|
||
|
|
Where G(q) is the Jacobian of the constraint phi w.r.t. q.
|
||
|
|
|
||
|
|
Acceleration-level
|
||
|
|
|
||
|
|
d/dt(Tu)[vP - vS] + Tu[aP - aS] = 0
|
||
|
|
|
||
|
|
This is equivalent to
|
||
|
|
|
||
|
|
G(q)*d^2q/dt^2 + [D_G(q)_Dq * dq/dt]*dq/dt = 0.
|
||
|
|
|
||
|
|
Gamma is the term on the right. Note that it has no d^2q/dt^2 terms.
|
||
|
|
Thus the gamma term can be computed by evaluating
|
||
|
|
|
||
|
|
Gamma = - (vP x Tu)[vP - vS] - Tu[aP* - aS*]
|
||
|
|
|
||
|
|
where aP* and aQ* are the spatial accelerations of points P and Q
|
||
|
|
evaluated with d^2q/dt^2 = 0.
|
||
|
|
*/
|
||
|
|
v0P0 = CalcPointVelocity6D(model, Q, QDot,
|
||
|
|
CS.body_p[ccid],
|
||
|
|
CS.X_p[ccid].r,false);
|
||
|
|
|
||
|
|
v0S0 = CalcPointVelocity6D(model, Q, QDot,
|
||
|
|
CS.body_s[ccid],
|
||
|
|
CS.X_s[ccid].r,false);
|
||
|
|
|
||
|
|
dv0P0nl = CalcPointAcceleration6D(model, Q, QDot,
|
||
|
|
VectorNd::Zero(model.dof_count),
|
||
|
|
CS.body_p[ccid],
|
||
|
|
CS.X_p[ccid].r,false);
|
||
|
|
|
||
|
|
dv0S0nl = CalcPointAcceleration6D(model, Q, QDot,
|
||
|
|
VectorNd::Zero(model.dof_count),
|
||
|
|
CS.body_s[ccid],
|
||
|
|
CS.X_s[ccid].r,false);
|
||
|
|
r0P0 = CalcBodyToBaseCoordinates (model, Q, CS.body_p[ccid], CS.X_p[ccid].r,
|
||
|
|
false);
|
||
|
|
rmP0 = CalcBodyWorldOrientation (model, Q, CS.body_p[ccid], false
|
||
|
|
).transpose() * CS.X_p[ccid].E;
|
||
|
|
|
||
|
|
xP0 = SpatialTransform (rmP0, r0P0);
|
||
|
|
|
||
|
|
for(unsigned int i=0; i<TuP.size(); ++i){
|
||
|
|
eT0 = xP0.apply(TuP[i]);
|
||
|
|
eT0Dot = crossm(v0P0,eT0);
|
||
|
|
gamma[i+gammaStartIndex] = -eT0.dot(dv0S0nl-dv0P0nl)
|
||
|
|
-eT0Dot.dot(v0S0-v0P0);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void CalcPositionError( Model &model,
|
||
|
|
unsigned int ccid,
|
||
|
|
const Math::VectorNd &Q,
|
||
|
|
ConstraintSet &CS,
|
||
|
|
Math::VectorNd &errPos,
|
||
|
|
unsigned int errStartIndex)
|
||
|
|
{
|
||
|
|
r0P0 = CalcBodyToBaseCoordinates (model, Q, CS.body_p[ccid],
|
||
|
|
CS.X_p[ccid].r, false);
|
||
|
|
r0S0 = CalcBodyToBaseCoordinates (model, Q, CS.body_s[ccid],
|
||
|
|
CS.X_s[ccid].r, false);
|
||
|
|
rmP0 = CalcBodyWorldOrientation (model, Q, CS.body_p[ccid], false
|
||
|
|
).transpose()* CS.X_p[ccid].E;
|
||
|
|
rmS0 = CalcBodyWorldOrientation (model, Q, CS.body_s[ccid], false
|
||
|
|
).transpose()* CS.X_s[ccid].E;
|
||
|
|
rmPS = rmP0.transpose()*rmS0;
|
||
|
|
|
||
|
|
//From Davide Corradi's nice expressions for the relative
|
||
|
|
//orientation error. To do: CHECK THIS!
|
||
|
|
err[0] = -0.5 * (rmPS(1,2) - rmPS(2,1));
|
||
|
|
err[1] = -0.5 * (rmPS(2,0) - rmPS(0,2));
|
||
|
|
err[2] = -0.5 * (rmPS(0,1) - rmPS(1,0));
|
||
|
|
err.block<3,1>(3,0) = rmP0.transpose() * (r0S0 - r0P0);
|
||
|
|
|
||
|
|
for(unsigned int i=0; i < TuP.size(); ++i){
|
||
|
|
errPos[i+errStartIndex] = TuP[i].transpose()*err;
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void CalcVelocityError( Model &UNUSED(model),
|
||
|
|
unsigned int UNUSED(custom_constraint_id),
|
||
|
|
const Math::VectorNd &UNUSED(Q),
|
||
|
|
const Math::VectorNd &QDot,
|
||
|
|
ConstraintSet &UNUSED(CS),
|
||
|
|
const Math::MatrixNd &Gblock,
|
||
|
|
Math::VectorNd &errVel,
|
||
|
|
unsigned int errStartIndex)
|
||
|
|
{
|
||
|
|
//Since this is a time-invariant constraint the expression for
|
||
|
|
//the velocity error is quite straight forward:
|
||
|
|
errVelBlock = Gblock*QDot;
|
||
|
|
for(unsigned int i=0; i < errVelBlock.rows();++i){
|
||
|
|
errVel[errStartIndex+i] = errVelBlock[i];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
std::vector < SpatialVector > TuP; //Constraint direction vectors resolved in
|
||
|
|
//the frame that P is on.
|
||
|
|
SpatialVector err, eT0, eT0Dot, v0P0, v0S0, dv0P0nl ,dv0S0nl;
|
||
|
|
Vector3d r0P0, r0S0;
|
||
|
|
Matrix3d rmP0, rmS0, rmPS;
|
||
|
|
SpatialTransform xP0;
|
||
|
|
|
||
|
|
VectorNd errVelBlock;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
struct DoublePerpendicularPendulumCustomConstraint {
|
||
|
|
DoublePerpendicularPendulumCustomConstraint()
|
||
|
|
: model()
|
||
|
|
, cs()
|
||
|
|
, q()
|
||
|
|
, qd()
|
||
|
|
, qdd()
|
||
|
|
, tau()
|
||
|
|
, l1(1.)
|
||
|
|
, l2(1.)
|
||
|
|
, m1(1.)
|
||
|
|
, m2(1.)
|
||
|
|
, idB1(0)
|
||
|
|
, idB2(0)
|
||
|
|
, X_p1(Xtrans(Vector3d(0., 0., 0.)))
|
||
|
|
, X_s1(Xtrans(Vector3d(0., 0., 0.)))
|
||
|
|
, X_p2(Xtrans(Vector3d(0.,-l1, 0.)))
|
||
|
|
, X_s2(Xtrans(Vector3d(0., 0., 0.))){
|
||
|
|
|
||
|
|
model.gravity = Vector3d(0.,-9.81,0.);
|
||
|
|
//Planar pendulum is at 0 when it is hanging down.
|
||
|
|
// x: points to the right
|
||
|
|
// y: points up
|
||
|
|
// z: out of the page
|
||
|
|
Body link1 = Body(m1, Vector3d( 0., -l1*0.5, 0.),
|
||
|
|
Matrix3d( m1*l1*l1/3., 0., 0.,
|
||
|
|
0., m1*l1*l1/30., 0.,
|
||
|
|
0., 0., m1*l1*l1/3.));
|
||
|
|
|
||
|
|
|
||
|
|
Body link2 = Body(m2, Vector3d( l2*0.5, 0., 0.),
|
||
|
|
Matrix3d( m2*l2*l2/30., 0., 0.,
|
||
|
|
0., m2*l2*l2/3., 0.,
|
||
|
|
0., 0., m2*l2*l2/3.));
|
||
|
|
|
||
|
|
//Joint joint_free(JointTypeFloatingBase);
|
||
|
|
Joint jointEA123T123(SpatialVector(0.,0.,0.,1.,0.,0.),
|
||
|
|
SpatialVector(0.,0.,0.,0.,1.,0.),
|
||
|
|
SpatialVector(0.,0.,0.,0.,0.,1.),
|
||
|
|
SpatialVector(0.,0.,1.,0.,0.,0.),
|
||
|
|
SpatialVector(0.,1.,0.,0.,0.,0.),
|
||
|
|
SpatialVector(1.,0.,0.,0.,0.,0.));
|
||
|
|
|
||
|
|
idB1 = model.AddBody(0, Xtrans(Vector3d(0., 0., 0. )),
|
||
|
|
jointEA123T123, link1);
|
||
|
|
|
||
|
|
idB2 = model.AddBody(0, Xtrans(Vector3d(0., 0., 0.)),
|
||
|
|
jointEA123T123, link2);
|
||
|
|
|
||
|
|
//Make the revolute joints about the y axis using 5 constraints
|
||
|
|
//between the end points
|
||
|
|
|
||
|
|
ccPJZaxis = PinJointCustomConstraint(2);
|
||
|
|
ccPJYaxis = PinJointCustomConstraint(1);
|
||
|
|
|
||
|
|
cs.AddCustomConstraint(&ccPJZaxis, 0,idB1, X_p1, X_s1, false, 0.1);
|
||
|
|
cs.AddCustomConstraint(&ccPJYaxis,idB1,idB2, X_p2, X_s2, false, 0.1);
|
||
|
|
|
||
|
|
|
||
|
|
cs.Bind(model);
|
||
|
|
|
||
|
|
q = VectorNd::Zero(model.dof_count);
|
||
|
|
qd = VectorNd::Zero(model.dof_count);
|
||
|
|
qdd = VectorNd::Zero(model.dof_count);
|
||
|
|
tau = VectorNd::Zero(model.dof_count);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
Model model;
|
||
|
|
ConstraintSet cs;
|
||
|
|
|
||
|
|
VectorNd q;
|
||
|
|
VectorNd qd;
|
||
|
|
VectorNd qdd;
|
||
|
|
VectorNd tau;
|
||
|
|
|
||
|
|
double l1;
|
||
|
|
double l2;
|
||
|
|
double m1;
|
||
|
|
double m2;
|
||
|
|
|
||
|
|
unsigned int idB1;
|
||
|
|
unsigned int idB2;
|
||
|
|
unsigned int idB01;
|
||
|
|
unsigned int idB02;
|
||
|
|
|
||
|
|
SpatialTransform X_p1;
|
||
|
|
SpatialTransform X_s1;
|
||
|
|
SpatialTransform X_p2;
|
||
|
|
SpatialTransform X_s2;
|
||
|
|
|
||
|
|
PinJointCustomConstraint ccPJZaxis;
|
||
|
|
PinJointCustomConstraint ccPJYaxis;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
TEST(CustomConstraintCorrectnessTest) {
|
||
|
|
|
||
|
|
//Test to add:
|
||
|
|
// Jacobian vs. num Jacobian
|
||
|
|
DoublePerpendicularPendulumCustomConstraint dbcc
|
||
|
|
= DoublePerpendicularPendulumCustomConstraint();
|
||
|
|
DoublePerpendicularPendulumAbsoluteCoordinates dba
|
||
|
|
= DoublePerpendicularPendulumAbsoluteCoordinates();
|
||
|
|
DoublePerpendicularPendulumJointCoordinates dbj
|
||
|
|
= DoublePerpendicularPendulumJointCoordinates();
|
||
|
|
|
||
|
|
//1. Set the pendulum modeled using joint coordinates to a specific
|
||
|
|
// state and then compute the spatial acceleration of the body.
|
||
|
|
dbj.q[0] = M_PI/3.0; //About z0
|
||
|
|
dbj.q[1] = M_PI/6.0; //About y1
|
||
|
|
dbj.qd[0] = M_PI; //About z0
|
||
|
|
dbj.qd[1] = M_PI/2.0; //About y1
|
||
|
|
dbj.tau[0]= 0.;
|
||
|
|
dbj.tau[1]= 0.;
|
||
|
|
|
||
|
|
ForwardDynamics(dbj.model,dbj.q,dbj.qd,dbj.tau,dbj.qdd);
|
||
|
|
|
||
|
|
Vector3d r010 = CalcBodyToBaseCoordinates(
|
||
|
|
dbj.model,dbj.q,dbj.idB1,
|
||
|
|
Vector3d(0.,0.,0.),true);
|
||
|
|
Vector3d r020 = CalcBodyToBaseCoordinates(
|
||
|
|
dbj.model,dbj.q,dbj.idB2,
|
||
|
|
Vector3d(0.,0.,0.),true);
|
||
|
|
// Vector3d r030 = CalcBodyToBaseCoordinates(
|
||
|
|
// dbj.model,dbj.q,dbj.idB2,
|
||
|
|
// Vector3d(dbj.l2,0.,0.),true);
|
||
|
|
|
||
|
|
SpatialVector v010 = CalcPointVelocity6D(
|
||
|
|
dbj.model,dbj.q,dbj.qd,dbj.idB1,
|
||
|
|
Vector3d(0.,0.,0.),true);
|
||
|
|
SpatialVector v020 = CalcPointVelocity6D(
|
||
|
|
dbj.model,dbj.q,dbj.qd,dbj.idB2,
|
||
|
|
Vector3d(0.,0.,0.),true);
|
||
|
|
// SpatialVector v030 = CalcPointVelocity6D(
|
||
|
|
// dbj.model,dbj.q,dbj.qd,dbj.idB2,
|
||
|
|
// Vector3d(dbj.l2,0.,0.),true);
|
||
|
|
|
||
|
|
SpatialVector a010 = CalcPointAcceleration6D(
|
||
|
|
dbj.model,dbj.q,dbj.qd,dbj.qdd,
|
||
|
|
dbj.idB1,Vector3d(0.,0.,0.),true);
|
||
|
|
SpatialVector a020 = CalcPointAcceleration6D(
|
||
|
|
dbj.model,dbj.q,dbj.qd,dbj.qdd,
|
||
|
|
dbj.idB2,Vector3d(0.,0.,0.),true);
|
||
|
|
SpatialVector a030 = CalcPointAcceleration6D(
|
||
|
|
dbj.model,dbj.q,dbj.qd,dbj.qdd,
|
||
|
|
dbj.idB2,Vector3d(dbj.l2,0.,0.),true);
|
||
|
|
|
||
|
|
//2. Set the pendulum modelled using absolute coordinates to the
|
||
|
|
// equivalent state as the pendulum modelled using joint
|
||
|
|
// coordinates. Next
|
||
|
|
|
||
|
|
double qError = 1.0;
|
||
|
|
double qDotError = 1.0;
|
||
|
|
|
||
|
|
//Pefectly initialize the pendulum made with custom constraints and
|
||
|
|
//perturb the initialization a bit.
|
||
|
|
dbcc.q[0] = r010[0];
|
||
|
|
dbcc.q[1] = r010[1]+qError;
|
||
|
|
dbcc.q[2] = r010[2];
|
||
|
|
dbcc.q[3] = dbj.q[0];
|
||
|
|
dbcc.q[4] = 0;
|
||
|
|
dbcc.q[5] = 0;
|
||
|
|
dbcc.q[6] = r020[0];
|
||
|
|
dbcc.q[7] = r020[1];
|
||
|
|
dbcc.q[8] = r020[2];
|
||
|
|
dbcc.q[9] = dbj.q[0];
|
||
|
|
dbcc.q[10] = dbj.q[1];
|
||
|
|
dbcc.q[11] = 0;
|
||
|
|
|
||
|
|
dbcc.qd[0] = v010[3];
|
||
|
|
dbcc.qd[1] = v010[4]+qDotError;
|
||
|
|
dbcc.qd[2] = v010[5];
|
||
|
|
dbcc.qd[3] = dbj.qd[0];
|
||
|
|
dbcc.qd[4] = 0;
|
||
|
|
dbcc.qd[5] = 0;
|
||
|
|
dbcc.qd[6] = v020[3];
|
||
|
|
dbcc.qd[7] = v020[4];
|
||
|
|
dbcc.qd[8] = v020[5];
|
||
|
|
dbcc.qd[9] = dbj.qd[0];
|
||
|
|
dbcc.qd[10] = dbj.qd[1];
|
||
|
|
dbcc.qd[11] = 0;
|
||
|
|
|
||
|
|
VectorNd err(dbcc.cs.size());
|
||
|
|
VectorNd errd(dbcc.cs.size());
|
||
|
|
|
||
|
|
|
||
|
|
CalcConstraintsPositionError(dbcc.model,dbcc.q,dbcc.cs,err,true);
|
||
|
|
CalcConstraintsVelocityError(dbcc.model,dbcc.q,dbcc.qd,dbcc.cs,errd,true);
|
||
|
|
|
||
|
|
|
||
|
|
CHECK(err.norm() >= qError);
|
||
|
|
CHECK(errd.norm() >= qDotError);
|
||
|
|
|
||
|
|
//Solve for the initial q and qdot terms that satisfy the constraints
|
||
|
|
VectorNd qAsm,qDotAsm,w;
|
||
|
|
qAsm.resize(dbcc.q.rows());
|
||
|
|
qDotAsm.resize(dbcc.q.rows());
|
||
|
|
w.resize(dbcc.q.rows());
|
||
|
|
for(unsigned int i=0; i<w.rows();++i){
|
||
|
|
w[i] = 1.0;
|
||
|
|
}
|
||
|
|
double tol = 1e-8;
|
||
|
|
unsigned int maxIter = 100;
|
||
|
|
|
||
|
|
CalcAssemblyQ(dbcc.model,dbcc.q,dbcc.cs,qAsm,w,tol,maxIter);
|
||
|
|
for(unsigned int i=0; i<dbcc.q.rows();++i){
|
||
|
|
dbcc.q[i] = qAsm[i];
|
||
|
|
}
|
||
|
|
|
||
|
|
CalcAssemblyQDot(dbcc.model,dbcc.q,dbcc.qd,dbcc.cs,qDotAsm,w);
|
||
|
|
for(unsigned int i=0; i<dbcc.q.rows();++i){
|
||
|
|
dbcc.qd[i] = qDotAsm[i];
|
||
|
|
}
|
||
|
|
|
||
|
|
CalcConstraintsPositionError(dbcc.model,dbcc.q,dbcc.cs,err,true);
|
||
|
|
CalcConstraintsVelocityError(dbcc.model,dbcc.q,dbcc.qd,dbcc.cs,errd,true);
|
||
|
|
|
||
|
|
|
||
|
|
//The constraint errors at the position and velocity level
|
||
|
|
//must be zero before the accelerations can be tested.
|
||
|
|
for(unsigned int i=0; i<err.rows();++i){
|
||
|
|
CHECK_CLOSE(0,err[i],TEST_PREC);
|
||
|
|
}
|
||
|
|
for(unsigned int i=0; i<errd.rows();++i){
|
||
|
|
CHECK_CLOSE(0,errd[i],TEST_PREC);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
//Evaluate the accelerations of the constrained pendulum and
|
||
|
|
//compare those to the joint-coordinate pendulum
|
||
|
|
dba.q = dbcc.q;
|
||
|
|
dba.qd= dbcc.qd;
|
||
|
|
|
||
|
|
for(unsigned int i=0; i<dbcc.tau.rows();++i){
|
||
|
|
dbcc.tau[i] = 0.;
|
||
|
|
}
|
||
|
|
ForwardDynamicsConstraintsDirect(dbcc.model,dbcc.q,dbcc.qd,
|
||
|
|
dbcc.tau,dbcc.cs,dbcc.qdd);
|
||
|
|
|
||
|
|
ForwardDynamicsConstraintsDirect(dba.model, dba.q, dba.qd,
|
||
|
|
dba.tau, dba.cs, dba.qdd);
|
||
|
|
|
||
|
|
for(unsigned int i = 0; i < dba.cs.G.rows(); ++i){
|
||
|
|
for(unsigned int j=0; j< dba.cs.G.cols();++j){
|
||
|
|
CHECK_CLOSE(dba.cs.G(i,j),dbcc.cs.G(i,j),TEST_PREC);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
for(unsigned int i = 0; i < dba.cs.gamma.rows(); ++i){
|
||
|
|
CHECK_CLOSE(dba.cs.gamma[i],dbcc.cs.gamma[i],TEST_PREC);
|
||
|
|
}
|
||
|
|
|
||
|
|
for(unsigned int i =0; i < dba.cs.constraintAxis.size(); ++i){
|
||
|
|
for(unsigned int j=0; j< dba.cs.constraintAxis[0].rows();++j){
|
||
|
|
CHECK_CLOSE(dba.cs.constraintAxis[i][j],
|
||
|
|
dbcc.cs.constraintAxis[i][j],TEST_PREC);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
SpatialVector a010c =
|
||
|
|
CalcPointAcceleration6D(dbcc.model,dbcc.q,dbcc.qd,dbcc.qdd,
|
||
|
|
dbcc.idB1,Vector3d(0.,0.,0.),true);
|
||
|
|
SpatialVector a020c =
|
||
|
|
CalcPointAcceleration6D(dbcc.model,dbcc.q,dbcc.qd,dbcc.qdd,
|
||
|
|
dbcc.idB2,Vector3d(0.,0.,0.),true);
|
||
|
|
SpatialVector a030c =
|
||
|
|
CalcPointAcceleration6D(dbcc.model,dbcc.q,dbcc.qd,dbcc.qdd,
|
||
|
|
dbcc.idB2,Vector3d(dbcc.l2,0.,0.),true);
|
||
|
|
|
||
|
|
for(unsigned int i=0; i<6;++i){
|
||
|
|
CHECK_CLOSE(a010[i],a010c[i],TEST_PREC);
|
||
|
|
CHECK_CLOSE(a020[i],a020c[i],TEST_PREC);
|
||
|
|
CHECK_CLOSE(a030[i],a030c[i],TEST_PREC);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|