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mobile_robotics
wolf_projects
wolf_lib
plugins
bodydynamics
Commits
6a18e6a4
Commit
6a18e6a4
authored
2 years ago
by
Joan Vallvé Navarro
Browse files
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Plain Diff
reimplemented betweenStates and new betweenStatesGlobalAcceleration
parent
75cbd856
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1 merge request
!32
Draft: External forces to force torque inertial preintegration
Changes
1
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include/bodydynamics/math/force_torque_inertial_delta_tools.h
+124
-33
124 additions, 33 deletions
...ude/bodydynamics/math/force_torque_inertial_delta_tools.h
with
124 additions
and
33 deletions
include/bodydynamics/math/force_torque_inertial_delta_tools.h
+
124
−
33
View file @
6a18e6a4
...
...
@@ -644,22 +644,24 @@ template <typename D1,
typename
D16
,
typename
D17
,
typename
D18
,
typename
D19
,
class
T
>
inline
void
betweenStates
(
const
MatrixBase
<
D1
>&
p1
,
const
MatrixBase
<
D2
>&
v1
,
const
MatrixBase
<
D5
>&
L1
,
const
QuaternionBase
<
D6
>&
q1
,
const
MatrixBase
<
D7
>&
p2
,
const
MatrixBase
<
D8
>&
v2
,
const
MatrixBase
<
D11
>&
L2
,
const
QuaternionBase
<
D12
>&
q2
,
const
T
dt
,
MatrixBase
<
D13
>&
dpi
,
MatrixBase
<
D14
>&
dvi
,
MatrixBase
<
D15
>&
dpd
,
MatrixBase
<
D16
>&
dvd
,
MatrixBase
<
D17
>&
dL
,
QuaternionBase
<
D18
>&
dq
)
inline
void
betweenStatesGlobalAcceleration
(
const
MatrixBase
<
D1
>&
p1
,
const
MatrixBase
<
D2
>&
v1
,
const
MatrixBase
<
D5
>&
L1
,
const
QuaternionBase
<
D6
>&
q1
,
const
MatrixBase
<
D7
>&
p2
,
const
MatrixBase
<
D8
>&
v2
,
const
MatrixBase
<
D11
>&
L2
,
const
QuaternionBase
<
D12
>&
q2
,
const
MatrixBase
<
D13
>&
g
,
const
T
dt
,
MatrixBase
<
D14
>&
dpi
,
MatrixBase
<
D15
>&
dvi
,
MatrixBase
<
D16
>&
dpd
,
MatrixBase
<
D17
>&
dvd
,
MatrixBase
<
D18
>&
dL
,
QuaternionBase
<
D19
>&
dq
)
{
MatrixSizeCheck
<
3
,
1
>::
check
(
p1
);
MatrixSizeCheck
<
3
,
1
>::
check
(
v1
);
...
...
@@ -667,25 +669,31 @@ inline void betweenStates(const MatrixBase<D1>& p1,
MatrixSizeCheck
<
3
,
1
>::
check
(
p2
);
MatrixSizeCheck
<
3
,
1
>::
check
(
v2
);
MatrixSizeCheck
<
3
,
1
>::
check
(
L2
);
MatrixSizeCheck
<
3
,
1
>::
check
(
g
);
MatrixSizeCheck
<
3
,
1
>::
check
(
dpi
);
MatrixSizeCheck
<
3
,
1
>::
check
(
dvi
);
MatrixSizeCheck
<
3
,
1
>::
check
(
dpd
);
MatrixSizeCheck
<
3
,
1
>::
check
(
dvd
);
MatrixSizeCheck
<
3
,
1
>::
check
(
dL
);
dpi
=
q1
.
conjugate
()
*
(
p2
-
p1
-
v1
*
dt
-
0.5
*
g
ravity
()
*
dt
*
dt
);
dvi
=
q1
.
conjugate
()
*
(
v2
-
v1
-
g
ravity
()
*
dt
);
dpi
=
q1
.
conjugate
()
*
(
p2
-
p1
-
v1
*
dt
-
0.5
*
g
*
dt
*
dt
);
dvi
=
q1
.
conjugate
()
*
(
v2
-
v1
-
g
*
dt
);
dpd
=
dpi
;
dvd
=
dvi
;
dL
=
q1
.
conjugate
()
*
(
L2
-
L1
);
dq
=
q1
.
conjugate
()
*
q2
;
}
template
<
typename
D1
,
typename
D2
,
typename
D3
,
class
T
>
inline
void
betweenStates
(
const
MatrixBase
<
D1
>&
x1
,
const
MatrixBase
<
D2
>&
x2
,
T
dt
,
MatrixBase
<
D3
>&
x2_minus_x1
)
template
<
typename
D1
,
typename
D2
,
typename
D3
,
typename
D4
,
class
T
>
inline
void
betweenStatesGlobalAcceleration
(
const
MatrixBase
<
D1
>&
x1
,
const
MatrixBase
<
D2
>&
x2
,
const
MatrixBase
<
D3
>&
g
,
T
dt
,
MatrixBase
<
D4
>&
x2_minus_x1
)
{
MatrixSizeCheck
<
13
,
1
>::
check
(
x1
);
MatrixSizeCheck
<
13
,
1
>::
check
(
x2
);
MatrixSizeCheck
<
3
,
1
>::
check
(
g
);
MatrixSizeCheck
<
19
,
1
>::
check
(
x2_minus_x1
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>>
p1
(
&
x1
(
0
));
...
...
@@ -703,37 +711,120 @@ inline void betweenStates(const MatrixBase<D1>& x1, const MatrixBase<D2>& x2, T
Map
<
Matrix
<
typename
D3
::
Scalar
,
3
,
1
>>
dL
(
&
x2_minus_x1
(
12
));
Map
<
Quaternion
<
typename
D3
::
Scalar
>>
dq
(
&
x2_minus_x1
(
15
));
betweenStates
(
p1
,
v1
,
L1
,
q1
,
p2
,
v2
,
L2
,
q2
,
dt
,
dpi
,
dvi
,
dpd
,
dvd
,
dL
,
dq
);
betweenStates
GlobalAcceleration
(
p1
,
v1
,
L1
,
q1
,
p2
,
v2
,
L2
,
q2
,
g
,
dt
,
dpi
,
dvi
,
dpd
,
dvd
,
dL
,
dq
);
}
template
<
typename
D1
,
typename
D2
,
class
T
>
inline
Matrix
<
typename
D1
::
Scalar
,
19
,
1
>
betweenStates
(
const
MatrixBase
<
D1
>&
x1
,
const
MatrixBase
<
D2
>&
x2
,
T
dt
)
template
<
typename
D1
,
typename
D2
,
typename
D3
,
class
T
>
inline
Matrix
<
typename
D1
::
Scalar
,
19
,
1
>
betweenStatesGlobalAcceleration
(
const
MatrixBase
<
D1
>&
x1
,
const
MatrixBase
<
D2
>&
x2
,
const
MatrixBase
<
D3
>&
g
,
T
dt
)
{
Matrix
<
typename
D1
::
Scalar
,
19
,
1
>
ret
;
betweenStates
(
x1
,
x2
,
dt
,
ret
);
betweenStates
GlobalAcceleration
(
x1
,
x2
,
g
,
dt
,
ret
);
return
ret
;
}
inline
void
betweenStates
(
const
VectorComposite
&
x1
,
const
VectorComposite
&
x2
,
double
dt
,
VectorComposite
&
ret
)
inline
void
betweenStatesGlobalAcceleration
(
const
VectorComposite
&
x1
,
const
VectorComposite
&
x2
,
const
Vector3d
&
g
,
double
dt
,
VectorComposite
&
ret
)
{
Map
<
const
Quaterniond
>
q1
(
x1
.
at
(
'O'
).
data
());
Map
<
const
Quaterniond
>
q2
(
x2
.
at
(
'O'
).
data
());
ret
[
'P'
]
=
q1
.
conjugate
()
*
(
x2
.
at
(
'P'
)
-
x1
.
at
(
'P'
)
-
x1
.
at
(
'V'
)
*
dt
-
0.5
*
gravity
()
*
dt
*
dt
);
ret
[
'V'
]
=
q1
.
conjugate
()
*
(
x2
.
at
(
'V'
)
-
x1
.
at
(
'V'
)
-
gravity
()
*
dt
);
ret
[
'p'
]
=
ret
.
at
(
'P'
);
ret
[
'v'
]
=
ret
.
at
(
'V'
);
ret
[
'L'
]
=
q1
.
conjugate
()
*
(
x2
.
at
(
'L'
)
-
x1
.
at
(
'L'
));
ret
[
'O'
]
=
(
q1
.
conjugate
()
*
q2
).
coeffs
();
Map
<
Quaterniond
>
dq
(
ret
.
at
(
'O'
).
data
());
betweenStatesGlobalAcceleration
(
x1
.
at
(
'P'
),
x1
.
at
(
'V'
),
x1
.
at
(
'L'
),
q1
,
x2
.
at
(
'P'
),
x2
.
at
(
'V'
),
x2
.
at
(
'L'
),
q2
,
g
,
dt
,
ret
.
at
(
'P'
),
ret
.
at
(
'V'
),
ret
.
at
(
'p'
),
ret
.
at
(
'v'
),
ret
.
at
(
'L'
),
dq
);
// ret['P'] = q1.conjugate() * (x2.at('P') - x1.at('P') - x1.at('V') * dt - 0.5 * g * dt * dt);
// ret['V'] = q1.conjugate() * (x2.at('V') - x1.at('V') - g * dt);
// ret['p'] = ret.at('P');
// ret['v'] = ret.at('V');
// ret['L'] = q1.conjugate() * (x2.at('L') - x1.at('L'));
// ret['O'] = (q1.conjugate() * q2).coeffs();
}
inline
VectorComposite
betweenStates
(
const
VectorComposite
&
x1
,
const
VectorComposite
&
x2
,
double
dt
)
inline
VectorComposite
betweenStatesGlobalAcceleration
(
const
VectorComposite
&
x1
,
const
VectorComposite
&
x2
,
const
Vector3d
&
g
,
double
dt
)
{
VectorComposite
ret
;
betweenStates
(
x1
,
x2
,
dt
,
ret
);
betweenStates
GlobalAcceleration
(
x1
,
x2
,
g
,
dt
,
ret
);
return
ret
;
}
template
<
typename
D1
,
typename
D2
,
typename
D5
,
typename
D6
,
typename
D7
,
typename
D8
,
typename
D11
,
typename
D12
,
typename
D13
,
typename
D14
,
typename
D15
,
typename
D16
,
typename
D17
,
typename
D18
,
class
T
>
inline
void
betweenStates
(
const
MatrixBase
<
D1
>&
p1
,
const
MatrixBase
<
D2
>&
v1
,
const
MatrixBase
<
D5
>&
L1
,
const
QuaternionBase
<
D6
>&
q1
,
const
MatrixBase
<
D7
>&
p2
,
const
MatrixBase
<
D8
>&
v2
,
const
MatrixBase
<
D11
>&
L2
,
const
QuaternionBase
<
D12
>&
q2
,
const
T
dt
,
MatrixBase
<
D13
>&
dpi
,
MatrixBase
<
D14
>&
dvi
,
MatrixBase
<
D15
>&
dpd
,
MatrixBase
<
D16
>&
dvd
,
MatrixBase
<
D17
>&
dL
,
QuaternionBase
<
D18
>&
dq
)
{
betweenStatesGlobalAcceleration
(
p1
,
v1
,
L1
,
q1
,
p2
,
v2
,
L2
,
q2
,
gravity
(),
dt
,
dpi
,
dvi
,
dpd
,
dvd
,
dL
,
dq
);
}
template
<
typename
D1
,
typename
D2
,
typename
D3
,
class
T
>
inline
void
betweenStates
(
const
MatrixBase
<
D1
>&
x1
,
const
MatrixBase
<
D2
>&
x2
,
T
dt
,
MatrixBase
<
D3
>&
x2_minus_x1
)
{
betweenStatesGlobalAcceleration
(
x1
,
x2
,
gravity
(),
dt
,
x2_minus_x1
);
}
template
<
typename
D1
,
typename
D2
,
class
T
>
inline
Matrix
<
typename
D1
::
Scalar
,
19
,
1
>
betweenStates
(
const
MatrixBase
<
D1
>&
x1
,
const
MatrixBase
<
D2
>&
x2
,
T
dt
)
{
return
betweenStatesGlobalAcceleration
(
x1
,
x2
,
gravity
(),
dt
);;
}
inline
void
betweenStates
(
const
VectorComposite
&
x1
,
const
VectorComposite
&
x2
,
double
dt
,
VectorComposite
&
ret
)
{
betweenStatesGlobalAcceleration
(
x1
,
x2
,
gravity
(),
dt
,
ret
);
}
inline
VectorComposite
betweenStates
(
const
VectorComposite
&
x1
,
const
VectorComposite
&
x2
,
double
dt
)
{
return
betweenStatesGlobalAcceleration
(
x1
,
x2
,
gravity
(),
dt
);
}
template
<
typename
Derived
>
Matrix
<
typename
Derived
::
Scalar
,
18
,
1
>
log_fti
(
const
MatrixBase
<
Derived
>&
delta_in
)
{
...
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