110 lines
4.1 KiB
C++
110 lines
4.1 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "articulatedbodyinertia.hpp"
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#include <Eigen/Core>
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using namespace Eigen;
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namespace KDL{
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ArticulatedBodyInertia::ArticulatedBodyInertia(const RigidBodyInertia& rbi)
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{
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this->M=Matrix3d::Identity()*rbi.m;
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this->I=Map<const Matrix3d>(rbi.I.data);
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this->H << 0,-rbi.h[2],rbi.h[1],
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rbi.h[2],0,-rbi.h[0],
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-rbi.h[1],rbi.h[0],0;
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}
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ArticulatedBodyInertia::ArticulatedBodyInertia(double m, const Vector& c, const RotationalInertia& Ic)
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{
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*this = RigidBodyInertia(m,c,Ic);
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}
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ArticulatedBodyInertia::ArticulatedBodyInertia(const Eigen::Matrix3d& M, const Eigen::Matrix3d& H, const Eigen::Matrix3d& I)
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{
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this->M=M;
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this->I=I;
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this->H=H;
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}
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ArticulatedBodyInertia operator*(double a,const ArticulatedBodyInertia& I){
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return ArticulatedBodyInertia(a*I.M,a*I.H,a*I.I);
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}
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ArticulatedBodyInertia operator+(const ArticulatedBodyInertia& Ia, const ArticulatedBodyInertia& Ib){
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return ArticulatedBodyInertia(Ia.M+Ib.M,Ia.H+Ib.H,Ia.I+Ib.I);
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}
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ArticulatedBodyInertia operator+(const RigidBodyInertia& Ia, const ArticulatedBodyInertia& Ib){
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return ArticulatedBodyInertia(Ia)+Ib;
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}
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ArticulatedBodyInertia operator-(const ArticulatedBodyInertia& Ia, const ArticulatedBodyInertia& Ib){
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return ArticulatedBodyInertia(Ia.M-Ib.M,Ia.H-Ib.H,Ia.I-Ib.I);
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}
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ArticulatedBodyInertia operator-(const RigidBodyInertia& Ia, const ArticulatedBodyInertia& Ib){
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return ArticulatedBodyInertia(Ia)-Ib;
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}
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Wrench operator*(const ArticulatedBodyInertia& I,const Twist& t){
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Wrench result;
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Vector3d::Map(result.force.data)=I.M*Vector3d::Map(t.vel.data)+I.H.transpose()*Vector3d::Map(t.rot.data);
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Vector3d::Map(result.torque.data)=I.I*Vector3d::Map(t.rot.data)+I.H*Vector3d::Map(t.vel.data);
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return result;
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}
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ArticulatedBodyInertia operator*(const Frame& T,const ArticulatedBodyInertia& I){
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Frame X=T.Inverse();
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//mb=ma
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//hb=R*(h-m*r)
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//Ib = R(Ia+r x h x + (h-m*r) x r x)R'
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Map<Matrix3d> E(X.M.data);
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Matrix3d rcross;
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rcross << 0,-X.p[2],X.p[1],
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X.p[2],0,-X.p[0],
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-X.p[1],X.p[0],0;
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Matrix3d HrM=I.H-rcross*I.M;
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return ArticulatedBodyInertia(E*I.M*E.transpose(),E*HrM*E.transpose(),E*(I.I-rcross*I.H.transpose()+HrM*rcross)*E.transpose());
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}
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ArticulatedBodyInertia operator*(const Rotation& M,const ArticulatedBodyInertia& I){
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Map<const Matrix3d> E(M.data);
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return ArticulatedBodyInertia(E.transpose()*I.M*E,E.transpose()*I.H*E,E.transpose()*I.I*E);
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}
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ArticulatedBodyInertia ArticulatedBodyInertia::RefPoint(const Vector& p){
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//mb=ma
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//hb=R*(h-m*r)
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//Ib = R(Ia+r x h x + (h-m*r) x r x)R'
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Matrix3d rcross;
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rcross << 0,-p[2],p[1],
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p[2],0,-p[0],
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-p[1],p[0],0;
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Matrix3d HrM=this->H-rcross*this->M;
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return ArticulatedBodyInertia(this->M,HrM,this->I-rcross*this->H.transpose()+HrM*rcross);
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}
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}//namespace
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