C++ Joint::setDampingCoefficient方法代码示例

//==============================================================================
void Controller::_setJointDamping()
{
  for (std::size_t i = 1; i < mAtlasRobot->getNumBodyNodes(); ++i)
  {
    Joint* joint = mAtlasRobot->getJoint(i);
    if (joint->getNumDofs() > 0)
    {
      for (std::size_t j = 0; j < joint->getNumDofs(); ++j)
        joint->setDampingCoefficient(j, 80.0);
    }
  }
}

//==============================================================================
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.........

//==============================================================================
void DynamicsTest::centerOfMass(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
  int nRandomItr = 10;
#else
  int nRandomItr = 100;
#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 (int i = 0; i < myWorld->getNumSkeletons(); ++i)
  {
    dynamics::Skeleton* skel = myWorld->getSkeleton(i);

    int dof            = skel->getNumGenCoords();
//    int nBodyNodes     = skel->getNumBodyNodes();

    if (dof == 0)
    {
      dtmsg << "Skeleton [" << skel->getName() << "] is skipped since it has "
            << "0 DOF." << endl;
      continue;
    }

    for (int j = 0; j < nRandomItr; ++j)
    {
      // Random joint stiffness and damping coefficient
      for (int k = 0; k < skel->getNumBodyNodes(); ++k)
      {
        BodyNode* body     = skel->getBodyNode(k);
        Joint*    joint    = body->getParentJoint();
        int       localDof = joint->getNumGenCoords();

        for (int l = 0; l < localDof; ++l)
        {
          joint->setDampingCoefficient(l, random(lbD,  ubD));
          joint->setSpringStiffness   (l, random(lbK,  ubK));

          double lbRP = joint->getGenCoord(l)->getPosMin();
          double ubRP = joint->getGenCoord(l)->getPosMax();
          if (lbRP < -DART_PI)
            lbRP = -DART_PI;
          if (ubRP > DART_PI)
            ubRP = DART_PI;
          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, true, true, false);

      VectorXd tau = skel->getGenForces();
      for (int k = 0; k < tau.size(); ++k)
        tau[k] = random(lb, ub);
      skel->setGenForces(tau);

      skel->computeForwardDynamics();

      VectorXd q  = skel->getConfigs();
      VectorXd dq = skel->getGenVels();
      VectorXd ddq = skel->getGenAccs();

      VectorXd com   = skel->getWorldCOM();
      VectorXd dcom  = skel->getWorldCOMVelocity();
      VectorXd ddcom = skel->getWorldCOMAcceleration();

      MatrixXd comJ  = skel->getWorldCOMJacobian();
      MatrixXd comdJ = skel->getWorldCOMJacobianTimeDeriv();

      VectorXd dcom2  = comJ * dq;
//.........这里部分代码省略.........