本文整理汇总了C++中Joint::getPositionLowerLimit方法的典型用法代码示例。如果您正苦于以下问题:C++ Joint::getPositionLowerLimit方法的具体用法?C++ Joint::getPositionLowerLimit怎么用?C++ Joint::getPositionLowerLimit使用的例子?那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Joint
的用法示例。
在下文中一共展示了Joint::getPositionLowerLimit方法的1个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: compareEquationsOfMotion
//==============================================================================
void SoftDynamicsTest::compareEquationsOfMotion(const std::string& _fileName)
{
using namespace std;
using namespace Eigen;
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
//---------------------------- Settings --------------------------------------
// Number of random state tests for each skeletons
#ifndef NDEBUG // Debug mode
size_t nRandomItr = 1;
#else
size_t nRandomItr = 1;
#endif
// Lower and upper bound of configuration for system
double lb = -1.5 * DART_PI;
double ub = 1.5 * DART_PI;
// Lower and upper bound of joint damping and stiffness
double lbD = 0.0;
double ubD = 10.0;
double lbK = 0.0;
double ubK = 10.0;
simulation::World* myWorld = NULL;
//----------------------------- Tests ----------------------------------------
// Check whether multiplication of mass matrix and its inverse is identity
// matrix.
myWorld = utils::SkelParser::readWorld(_fileName);
EXPECT_TRUE(myWorld != NULL);
for (size_t i = 0; i < myWorld->getNumSkeletons(); ++i)
{
dynamics::Skeleton* skel = myWorld->getSkeleton(i);
dynamics::Skeleton* softSkel
= dynamic_cast<dynamics::Skeleton*>(skel);
int dof = skel->getNumDofs();
// int nBodyNodes = skel->getNumBodyNodes();
int nSoftBodyNodes = 0;
if (softSkel != NULL)
nSoftBodyNodes = softSkel->getNumSoftBodyNodes();
if (dof == 0)
{
dtmsg << "Skeleton [" << skel->getName() << "] is skipped since it has "
<< "0 DOF." << endl;
continue;
}
for (size_t j = 0; j < nRandomItr; ++j)
{
// Random joint stiffness and damping coefficient
for (size_t k = 0; k < skel->getNumBodyNodes(); ++k)
{
BodyNode* body = skel->getBodyNode(k);
Joint* joint = body->getParentJoint();
int localDof = joint->getNumDofs();
for (int l = 0; l < localDof; ++l)
{
joint->setDampingCoefficient(l, random(lbD, ubD));
joint->setSpringStiffness (l, random(lbK, ubK));
double lbRP = joint->getPositionLowerLimit(l);
double ubRP = joint->getPositionUpperLimit(l);
joint->setRestPosition (l, random(lbRP, ubRP));
}
}
// Set random states
VectorXd x = skel->getState();
for (int k = 0; k < x.size(); ++k)
x[k] = random(lb, ub);
skel->setState(x);
skel->computeForwardKinematics(true, true, false);
//------------------------ Mass Matrix Test ----------------------------
// Get matrices
MatrixXd M = skel->getMassMatrix();
MatrixXd M2 = getMassMatrix(skel);
MatrixXd InvM = skel->getInvMassMatrix();
MatrixXd M_InvM = M * InvM;
MatrixXd InvM_M = InvM * M;
MatrixXd AugM = skel->getAugMassMatrix();
MatrixXd AugM2 = getAugMassMatrix(skel);
MatrixXd InvAugM = skel->getInvAugMassMatrix();
MatrixXd AugM_InvAugM = AugM * InvAugM;
MatrixXd InvAugM_AugM = InvAugM * AugM;
MatrixXd I = MatrixXd::Identity(dof, dof);
// Check if the number of generalized coordinates and dimension of mass
//.........这里部分代码省略.........