public void getWrench(Wrench wrenchToPack) { wrenchToPack.setToZero(successorWrench.getBodyFrame(), successorWrench.getExpressedInFrame()); wrenchToPack.setAngularPartY(successorWrench.getAngularPartY()); wrenchToPack.setLinearPartX(successorWrench.getLinearPartX()); wrenchToPack.setLinearPartZ(successorWrench.getLinearPartZ()); }
public Wrench computeTotalExternalWrench(ReferenceFrame referenceFrame) { Wrench totalGroundReactionWrench = new Wrench(referenceFrame, referenceFrame); Wrench temporaryWrench = new Wrench(); for (int i = 0; i < listOfBodiesWithExternalWrenches.size(); i++) { Wrench externalWrench = externalWrenches.get(listOfBodiesWithExternalWrenches.get(i)); temporaryWrench.set(externalWrench); temporaryWrench.changeFrame(referenceFrame); temporaryWrench.changeBodyFrameAttachedToSameBody(referenceFrame); totalGroundReactionWrench.add(temporaryWrench); } return totalGroundReactionWrench; }
protected void putYoValuesIntoWrench() { wrench.setToZero(bodyFrame, expressedInFrame); wrench.setLinearPart(linearPart.getFrameTuple()); wrench.setAngularPart(angularPart.getFrameTuple()); }
public void computeTotalWrench(Wrench totalGroundReactionWrenchToPack, Collection<Wrench> wrenches, ReferenceFrame referenceFrame) { totalGroundReactionWrenchToPack.setToZero(referenceFrame, referenceFrame); for (Wrench wrench : wrenches) { temporaryWrench.set(wrench); temporaryWrench.changeFrame(referenceFrame); temporaryWrench.changeBodyFrameAttachedToSameBody(referenceFrame); totalGroundReactionWrenchToPack.add(temporaryWrench); } } }
@Override public void getWrench(Wrench wrenchToPack) { wrenchToPack.changeBodyFrameAttachedToSameBody(measurementFrame); wrenchToPack.set(measurementFrame, wrench); }
public void update(Wrench sensorWrench) { sensorWrench.changeFrame(world); yoSensorForce.set(sensorWrench.getExpressedInFrame(), sensorWrench.getLinearPartX(), sensorWrench.getLinearPartY(), sensorWrench.getLinearPartZ()); yoSensorTorque.set(sensorWrench.getExpressedInFrame(), sensorWrench.getAngularPartX(), sensorWrench.getAngularPartY(), sensorWrench.getAngularPartZ()); if (addSimulatedSensorNoise.getBooleanValue()) { double amp = 0.1; double bias = 0.25; yoSensorForce.add(amp*2.0*(Math.random()-0.5)+bias, amp*2.0*(Math.random()-0.5)+bias, amp*2.0*(Math.random()-0.5)+bias); yoSensorTorque.add(amp*2.0*(Math.random()-0.5)+bias, amp*2.0*(Math.random()-0.5)+bias, amp*2.0*(Math.random()-0.5)+bias); } updateSensorPosition(); updateCenterOfMass(); yoSensorToDistalCoMvectorInWorld.sub(distalCoMInWorld, yoSensorPositionInWorld); distalMassWrench.setToZero(world); distalMassWrench.setUsingArm(world, distalMassForceInWorld.getFrameTuple().getVector(), yoSensorToDistalCoMvectorInWorld.getFrameTuple().getVector()); yoSensorForceFromDistalMass.set(distalMassWrench.getExpressedInFrame(), distalMassWrench.getLinearPartX(), distalMassWrench.getLinearPartY(), distalMassWrench.getLinearPartZ()); yoSensorTorqueFromDistalMass.set(distalMassWrench.getExpressedInFrame(), distalMassWrench.getAngularPartX(), distalMassWrench.getAngularPartY(), distalMassWrench.getAngularPartZ()); yoSensorForceMassCompensated.sub(yoSensorForce, yoSensorForceFromDistalMass); yoSensorTorqueMassCompensated.sub(yoSensorTorque, yoSensorTorqueFromDistalMass); }
private void handleSpatialAccelerationCommand(SpatialAccelerationCommand command) { RigidBody controlledBody = command.getEndEffector(); SpatialAccelerationVector accelerationVector = command.getSpatialAcceleration(); accelerationVector.changeBaseFrameNoRelativeAcceleration(ReferenceFrame.getWorldFrame()); twistCalculator.getTwistOfBody(tmpTwist, controlledBody); tmpWrench.setToZero(accelerationVector.getBodyFrame(), accelerationVector.getExpressedInFrame()); conversionInertias.get(controlledBody).computeDynamicWrenchInBodyCoordinates(accelerationVector, tmpTwist, tmpWrench); tmpWrench.changeBodyFrameAttachedToSameBody(controlledBody.getBodyFixedFrame()); tmpWrench.changeFrame(ReferenceFrame.getWorldFrame()); VirtualWrenchCommand virtualWrenchCommand = new VirtualWrenchCommand(); virtualWrenchCommand.set(controlledBody, tmpWrench, command.getSelectionMatrix()); virtualWrenchCommandList.addCommand(virtualWrenchCommand); if (controlledBody == controlRootBody) { tmpExternalWrench.set(tmpWrench); tmpExternalWrench.negate(); tmpExternalWrench.changeFrame(controlledBody.getBodyFixedFrame()); optimizationControlModule.submitExternalWrench(controlledBody, tmpExternalWrench); } optimizationControlModule.addSelection(command.getSelectionMatrix()); }
if ((wrench = wrenches.get(rigidBody)) != null) tempWrench.set(wrench); tempWrench.changeFrame(tempWrench.getBodyFrame()); tempVector.setToZero(tempWrench.getExpressedInFrame()); tempWrench.getLinearPart(tempVector); tempVector.changeFrame(ReferenceFrame.getWorldFrame()); force.set(tempVector); tempVector.setToZero(tempWrench.getExpressedInFrame()); tempWrench.getAngularPart(tempVector); tempVector.changeFrame(ReferenceFrame.getWorldFrame()); torque.set(tempVector); tempPoint.setToZero(wrench.getBodyFrame()); tempPoint.changeFrame(ReferenceFrame.getWorldFrame()); pointOfApplication.set(tempPoint);
private void cancelHandWeight(RobotSide robotSide, Wrench wrenchToSubstractHandWeightTo, ReferenceFrame measurementFrame) { CenterOfMassReferenceFrame handCoMFrame = wristsubtreeCenterOfMassFrames.get(robotSide); handCoMFrame.update(); tempForce.setIncludingFrame(worldFrame, 0.0, 0.0, -wristSubtreeMass.get(robotSide).getDoubleValue() * gravity); tempForce.changeFrame(handCoMFrame); wristWrenchDueToGravity.setToZero(measurementFrame, handCoMFrame); wristWrenchDueToGravity.setLinearPart(tempForce); wristWrenchDueToGravity.changeFrame(measurementFrame); wrenchToSubstractHandWeightTo.sub(wristWrenchDueToGravity); }
protected void getYoValuesFromWrench() { linearPart.set(wrench.getExpressedInFrame(), wrench.getLinearPartX(), wrench.getLinearPartY(), wrench.getLinearPartZ()); angularPart.set(wrench.getExpressedInFrame(), wrench.getAngularPartX(), wrench.getAngularPartY(), wrench.getAngularPartZ()); }
private void updateWristMeasuredWrench(FrameVector measuredForceToPack, FrameVector measuredTorqueToPack) { momentumBasedController.getWristMeasuredWrenchHandWeightCancelled(measuredWrench, robotSide); measuredWrench.getLinearPartIncludingFrame(tempForceVector); measuredWrench.getAngularPartIncludingFrame(tempTorqueVector); deadzoneMeasuredForce.update(tempForceVector); deadzoneMeasuredTorque.update(tempTorqueVector); filteredMeasuredForce.update(); filteredMeasuredTorque.update(); filteredMeasuredForce.getFrameTupleIncludingFrame(tempForceVector); filteredMeasuredTorque.getFrameTupleIncludingFrame(tempTorqueVector); measuredWrench.setLinearPart(tempForceVector); measuredWrench.setAngularPart(tempTorqueVector); measuredWrench.changeFrame(controlFrame); measuredWrench.getLinearPartIncludingFrame(measuredForceToPack); measuredWrench.getAngularPartIncludingFrame(measuredTorqueToPack); }
private void computeJointWrenchesAndTorques() { for (int jointIndex = allJoints.size() - 1; jointIndex >= 0; jointIndex--) { InverseDynamicsJoint joint = allJoints.get(jointIndex); RigidBody successor = joint.getSuccessor(); Wrench jointWrench = jointWrenches.get(joint); jointWrench.set(netWrenches.get(successor)); Wrench externalWrench = externalWrenches.get(successor); jointWrench.sub(externalWrench); List<InverseDynamicsJoint> childrenJoints = successor.getChildrenJoints(); for (int childIndex = 0; childIndex < childrenJoints.size(); childIndex++) { InverseDynamicsJoint child = childrenJoints.get(childIndex); if (!jointsToIgnore.contains(child)) { Wrench wrenchExertedOnChild = jointWrenches.get(child); ReferenceFrame successorFrame = successor.getBodyFixedFrame(); wrenchExertedByChild.set(wrenchExertedOnChild); wrenchExertedByChild.changeBodyFrameAttachedToSameBody(successorFrame); wrenchExertedByChild.scale(-1.0); // Action = -reaction wrenchExertedByChild.changeFrame(jointWrench.getExpressedInFrame()); jointWrench.sub(wrenchExertedByChild); } } joint.setTorqueFromWrench(jointWrench); } }
private Wrench createEmptyWrench() { return new Wrench(bodyFrame, expressedInFrame); }
public void control(SpatialAccelerationVector handSpatialAccelerationVector, Wrench toolWrench) { if (!hasBeenInitialized) { update(); initialize(); } update(); toolAcceleration.set(handSpatialAccelerationVector); toolAcceleration.changeFrameNoRelativeMotion(toolJoint.getFrameAfterJoint()); // TODO: Take relative acceleration between uTorsoCoM and elevator in account toolAcceleration.changeBaseFrameNoRelativeAcceleration(elevatorFrame); toolAcceleration.changeBodyFrameNoRelativeAcceleration(toolJoint.getFrameAfterJoint()); toolJoint.setDesiredAcceleration(toolAcceleration); inverseDynamicsCalculator.compute(); inverseDynamicsCalculator.getJointWrench(toolJoint, toolWrench); toolWrench.negate(); toolWrench.changeFrame(handFixedFrame); toolWrench.changeBodyFrameAttachedToSameBody(handFixedFrame); // Visualization temporaryVector.setIncludingFrame(handFixedFrame, toolWrench.getLinearPartX(), toolWrench.getLinearPartY(), toolWrench.getLinearPartZ()); temporaryVector.changeFrame(ReferenceFrame.getWorldFrame()); temporaryVector.scale(0.01); objectForceInWorld.set(temporaryVector); }
public void setExternalWrenchToCompensateFor(RigidBody rigidBody, Wrench wrench) { boolean containsRigidBody = externalWrenchesToCompensateFor.get(rigidBody) != null; if (!containsRigidBody) { externalWrenches.put(rigidBody, new Wrench(rigidBody.getBodyFixedFrame(), rigidBody.getBodyFixedFrame())); externalWrenchesToCompensateFor.put(rigidBody, new Wrench(rigidBody.getBodyFixedFrame(), rigidBody.getBodyFixedFrame())); externalWrenchesToCompensateForList.add(externalWrenchesToCompensateFor.get(rigidBody)); rigidBodiesWithWrenchToCompensateFor.add(rigidBody); } ReferenceFrame bodyFixedFrame = rigidBody.getBodyFixedFrame(); wrench.getBodyFrame().checkReferenceFrameMatch(bodyFixedFrame); wrench.getExpressedInFrame().checkReferenceFrameMatch(bodyFixedFrame); externalWrenchesToCompensateFor.get(rigidBody).set(wrench); }
@Override public void doControl() { forceSensorData.getWrench(tempWrench); for(int i = 0; i < yoTorqueInJoints.size(); i++) { ImmutablePair<FrameVector, DoubleYoVariable> pair = yoTorqueInJoints.get(i); FrameVector jointAxis = pair.getLeft(); DoubleYoVariable torqueAboutJointAxis = pair.getRight(); tempWrench.changeFrame(jointAxis.getReferenceFrame()); tempFrameVector.setToZero(tempWrench.getExpressedInFrame()); tempWrench.getAngularPart(tempFrameVector); torqueAboutJointAxis.set(-tempFrameVector.dot(jointAxis)); } }
public void reset() { for (int i = 0; i < listOfBodiesWithExternalWrenches.size(); i++) { Wrench externalWrench = externalWrenches.get(listOfBodiesWithExternalWrenches.get(i)); externalWrench.setToZero(externalWrench.getBodyFrame(), externalWrench.getExpressedInFrame()); } }
public void computeDynamicWrenchInBodyCoordinates(SpatialAccelerationVector acceleration, Twist twist, Wrench dynamicWrenchToPack) // TODO: write test { checkExpressedInBodyFixedFrame(); checkIsCrossPartZero(); // otherwise this operation would be a lot less efficient acceleration.getBodyFrame().checkReferenceFrameMatch(this.bodyFrame); acceleration.getBaseFrame().checkIsWorldFrame(); acceleration.getExpressedInFrame().checkReferenceFrameMatch(this.expressedInframe); twist.getBodyFrame().checkReferenceFrameMatch(this.bodyFrame); twist.getBaseFrame().checkIsWorldFrame(); twist.getExpressedInFrame().checkReferenceFrameMatch(this.expressedInframe); dynamicWrenchToPack.getBodyFrame().checkReferenceFrameMatch(this.bodyFrame); dynamicWrenchToPack.getExpressedInFrame().checkReferenceFrameMatch(this.expressedInframe); massMomentOfInertiaPart.transform(acceleration.getAngularPart(), tempVector); // J * omegad dynamicWrenchToPack.setAngularPart(tempVector); // [J * omegad; 0] massMomentOfInertiaPart.transform(twist.getAngularPart(), tempVector); // J * omega tempVector.cross(twist.getAngularPart(), tempVector); // omega x J * omega dynamicWrenchToPack.addAngularPart(tempVector); // [J * omegad + omega x J * omega; 0] tempVector.set(acceleration.getLinearPart()); // vd tempVector.scale(mass); // m * vd dynamicWrenchToPack.setLinearPart(tempVector); // [J * omegad + omega x J * omega; m * vd] tempVector.set(twist.getLinearPart()); // v tempVector.scale(mass); // m * v tempVector.cross(twist.getAngularPart(), tempVector); // omega x m * v dynamicWrenchToPack.addLinearPart(tempVector); // [J * omegad + omega x J * omega; m * vd + omega x m * v] }
public Map<RigidBody, Wrench> computeWrenchesFromRho(DenseMatrix64F rho) { // Reinintialize wrenches for (int i = 0; i < rigidBodies.size(); i++) { RigidBody rigidBody = rigidBodies.get(i); ReferenceFrame bodyFixedFrame = rigidBody.getBodyFixedFrame(); wrenchesFromRho.get(rigidBody).setToZero(bodyFixedFrame, bodyFixedFrame); } int rhoStartIndex = 0; for (int i = 0; i < rigidBodies.size(); i++) { RigidBody rigidBody = rigidBodies.get(i); ReferenceFrame bodyFixedFrame = rigidBody.getBodyFixedFrame(); PlaneContactStateToWrenchMatrixHelper helper = planeContactStateToWrenchMatrixHelpers.get(rigidBody); helper.computeWrenchFromRho(rhoStartIndex, rho); Wrench wrenchFromRho = helper.getWrenchFromRho(); wrenchFromRho.changeFrame(bodyFixedFrame); wrenchesFromRho.get(rigidBody).add(wrenchFromRho); rhoStartIndex += helper.getRhoSize(); } return wrenchesFromRho; }
wrench = new Wrench(centerOfMassFrame, centerOfMassFrame, momentumObjective); else wrench = new Wrench(centerOfMassFrame, centerOfMassFrame, new DenseMatrix64F(Wrench.SIZE, 1)); wrench.changeFrame(controlledBody.getBodyFixedFrame()); wrench.changeBodyFrameAttachedToSameBody(controlledBody.getBodyFixedFrame()); groundReactionWrenches.put(controlledBody, wrench); for (RigidBody rigidBody : rigidBodiesWithExternalWrench) externalWrenchSolution.get(rigidBody).changeFrame(centerOfMassFrame); externalWrenchSolution.get(rigidBody).getMatrix(tmpWrench); CommonOps.add(contactWrench, tmpWrench, contactWrench); externalWrenchSolution.get(rigidBody).changeFrame(rigidBody.getBodyFixedFrame());