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pinocchio
Commit 08fb287d authored by Justin Carpentier's avatar Justin Carpentier
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data: init all the quantities 

This will make easy the serialization of the Data struct
parent c8ada6ea
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Showing with 73 additions and 83 deletions
src/multibody/data.hpp
View file @ 08fb287d
......@@ -142,7 +142,7 @@ namespace pinocchio
container::aligned_vector<Inertia> Ycrb;
/// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}\f$. See Data::Ycrb for more details.
container::aligned_vector<typename Inertia::Matrix6> dYcrb; // TODO: change with dense symmetric matrix6
container::aligned_vector<Matrix6> dYcrb; // TODO: change with dense symmetric matrix6
/// \brief The joint space inertia matrix (a square matrix of dim model.nv).
MatrixXs M;
......@@ -175,19 +175,19 @@ namespace pinocchio
Matrix6x IS;
/// \brief Right variation of the inertia matrix
container::aligned_vector<typename Inertia::Matrix6> vxI;
container::aligned_vector<Matrix6> vxI;
/// \brief Left variation of the inertia matrix
container::aligned_vector<typename Inertia::Matrix6> Ivx;
container::aligned_vector<Matrix6> Ivx;
/// \brief Inertia quantities expressed in the world frame
container::aligned_vector<Inertia> oYcrb;
/// \brief Time variation of the inertia quantities expressed in the world frame
container::aligned_vector<typename Inertia::Matrix6> doYcrb;
container::aligned_vector<Matrix6> doYcrb;
/// \brief Temporary for derivative algorithms
typename Inertia::Matrix6 Itmp;
Matrix6 Itmp;
/// \brief Temporary for derivative algorithms
Matrix6 M6tmp;
......@@ -199,7 +199,7 @@ namespace pinocchio
// ABA internal data
/// \brief Inertia matrix of the subtree expressed as dense matrix [ABA]
container::aligned_vector<typename Inertia::Matrix6> Yaba; // TODO: change with dense symmetric matrix6
container::aligned_vector<Matrix6> Yaba; // TODO: change with dense symmetric matrix6
/// \brief Intermediate quantity corresponding to apparent torque [ABA]
TangentVectorType u; // Joint Inertia
......
src/multibody/data.hxx
View file @ 08fb287d
......@@ -23,79 +23,79 @@ namespace pinocchio
inline DataTpl<Scalar,Options,JointCollectionTpl>::
DataTpl(const Model & model)
: joints(0)
, a((std::size_t)model.njoints)
, oa((std::size_t)model.njoints)
, a_gf((std::size_t)model.njoints)
, oa_gf((std::size_t)model.njoints)
, v((std::size_t)model.njoints)
, ov((std::size_t)model.njoints)
, f((std::size_t)model.njoints)
, of((std::size_t)model.njoints)
, h((std::size_t)model.njoints)
, oh((std::size_t)model.njoints)
, oMi((std::size_t)model.njoints)
, liMi((std::size_t)model.njoints)
, tau(model.nv)
, nle(model.nv)
, g(model.nv)
, oMf((std::size_t)model.nframes)
, Ycrb((std::size_t)model.njoints)
, dYcrb((std::size_t)model.njoints)
, M(model.nv,model.nv)
, Minv(model.nv,model.nv)
, C(model.nv,model.nv)
, dHdq(6,model.nv)
, dFdq(6,model.nv)
, dFdv(6,model.nv)
, dFda(6,model.nv)
, SDinv(6,model.nv)
, UDinv(6,model.nv)
, IS(6,model.nv)
, vxI((std::size_t)model.njoints)
, Ivx((std::size_t)model.njoints)
, oYcrb((std::size_t)model.njoints)
, doYcrb((std::size_t)model.njoints)
, ddq(model.nv)
, Yaba((std::size_t)model.njoints)
, u(model.nv)
, Ag(6,model.nv)
, dAg(6,model.nv)
, Fcrb((std::size_t)model.njoints)
, a((std::size_t)model.njoints,Motion::Zero())
, oa((std::size_t)model.njoints,Motion::Zero())
, a_gf((std::size_t)model.njoints,Motion::Zero())
, oa_gf((std::size_t)model.njoints,Motion::Zero())
, v((std::size_t)model.njoints,Motion::Zero())
, ov((std::size_t)model.njoints,Motion::Zero())
, f((std::size_t)model.njoints,Force::Zero())
, of((std::size_t)model.njoints,Force::Zero())
, h((std::size_t)model.njoints,Force::Zero())
, oh((std::size_t)model.njoints,Force::Zero())
, oMi((std::size_t)model.njoints,SE3::Identity())
, liMi((std::size_t)model.njoints,SE3::Identity())
, tau(VectorXs::Zero(model.nv))
, nle(VectorXs::Zero(model.nv))
, g(VectorXs::Zero(model.nv))
, oMf((std::size_t)model.nframes,SE3::Identity())
, Ycrb((std::size_t)model.njoints,Inertia::Zero())
, dYcrb((std::size_t)model.njoints,Inertia::Zero())
, M(MatrixXs::Zero(model.nv,model.nv))
, Minv(MatrixXs::Zero(model.nv,model.nv))
, C(MatrixXs::Zero(model.nv,model.nv))
, dHdq(Matrix6x::Zero(6,model.nv))
, dFdq(Matrix6x::Zero(6,model.nv))
, dFdv(Matrix6x::Zero(6,model.nv))
, dFda(Matrix6x::Zero(6,model.nv))
, SDinv(Matrix6x::Zero(6,model.nv))
, UDinv(Matrix6x::Zero(6,model.nv))
, IS(MatrixXs::Zero(6,model.nv))
, vxI((std::size_t)model.njoints,Inertia::Matrix6::Zero())
, Ivx((std::size_t)model.njoints,Inertia::Matrix6::Zero())
, oYcrb((std::size_t)model.njoints,Inertia::Zero())
, doYcrb((std::size_t)model.njoints,Inertia::Matrix6::Zero())
, ddq(VectorXs::Zero(model.nv))
, Yaba((std::size_t)model.njoints,Inertia::Matrix6::Zero())
, u(VectorXs::Zero(model.nv))
, Ag(Matrix6x::Zero(6,model.nv))
, dAg(Matrix6x::Zero(6,model.nv))
, Fcrb((std::size_t)model.njoints,Matrix6x::Zero(6,model.nv))
, lastChild((std::size_t)model.njoints)
, nvSubtree((std::size_t)model.njoints)
, start_idx_v_fromRow((std::size_t)model.nv)
, end_idx_v_fromRow((std::size_t)model.nv)
, U(model.nv,model.nv)
, D(model.nv)
, Dinv(model.nv)
, tmp(model.nv)
, U(MatrixXs::Identity(model.nv,model.nv))
, D(VectorXs::Zero(model.nv))
, Dinv(VectorXs::Zero(model.nv))
, tmp(VectorXs::Zero(model.nv))
, parents_fromRow((std::size_t)model.nv)
, supports_fromRow((std::size_t)model.nv)
, nvSubtree_fromRow((std::size_t)model.nv)
, J(6,model.nv)
, dJ(6,model.nv)
, dVdq(6,model.nv)
, dAdq(6,model.nv)
, dAdv(6,model.nv)
, J(Matrix6x::Zero(6,model.nv))
, dJ(Matrix6x::Zero(6,model.nv))
, dVdq(Matrix6x::Zero(6,model.nv))
, dAdq(Matrix6x::Zero(6,model.nv))
, dAdv(Matrix6x::Zero(6,model.nv))
, dtau_dq(MatrixXs::Zero(model.nv,model.nv))
, dtau_dv(MatrixXs::Zero(model.nv,model.nv))
, ddq_dq(MatrixXs::Zero(model.nv,model.nv))
, ddq_dv(MatrixXs::Zero(model.nv,model.nv))
, iMf((std::size_t)model.njoints)
, com((std::size_t)model.njoints)
, vcom((std::size_t)model.njoints)
, acom((std::size_t)model.njoints)
, mass((std::size_t)model.njoints)
, Jcom(3,model.nv)
, iMf((std::size_t)model.njoints,SE3::Identity())
, com((std::size_t)model.njoints,Vector3::Zero())
, vcom((std::size_t)model.njoints,Vector3::Zero())
, acom((std::size_t)model.njoints,Vector3::Zero())
, mass((std::size_t)model.njoints,(Scalar)(-1))
, Jcom(Matrix3x::Zero(3,model.nv))
, JMinvJt()
, llt_JMinvJt()
, lambda_c()
, sDUiJt(model.nv,model.nv)
, torque_residual(model.nv)
, dq_after(model.nv)
, sDUiJt(MatrixXs::Zero(model.nv,model.nv))
, torque_residual(VectorXs::Zero(model.nv))
, dq_after(VectorXs::Zero(model.nv))
, impulse_c()
, staticRegressor(3,4*(model.njoints-1))
, jointTorqueRegressor(model.nv,10*(model.njoints-1))
, staticRegressor(Matrix3x::Zero(3,4*(model.njoints-1)))
, jointTorqueRegressor(MatrixXs::Zero(model.nv,10*(model.njoints-1)))
#if EIGEN_VERSION_AT_LEAST(3,2,90) && !EIGEN_VERSION_AT_LEAST(3,2,93)
, kinematic_hessians(6,std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons
#else
......@@ -116,32 +116,13 @@ namespace pinocchio
computeLastChild(model);
/* Init for Coriolis */
C.setZero();
/* Init for Cholesky */
U.setIdentity();
computeParents_fromRow(model);
computeSupports_fromRow(model);
/* Init Jacobian */
J.setZero();
Ag.setZero();
/* Init universe states relatively to itself */
a[0].setZero();
oa[0].setZero();
v[0].setZero();
ov[0].setZero();
a_gf[0] = -model.gravity;
f[0].setZero();
h[0].setZero();
oMi[0].setIdentity();
liMi[0].setIdentity();
oMf[0].setIdentity();
Yaba[0].setZero();
Ycrb[0].setZero();
kinematic_hessians.setZero();
}
......@@ -225,6 +206,15 @@ namespace pinocchio
}
}
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
bool operator==(const DataTpl<Scalar,Options,JointCollectionTpl> & data1,
const DataTpl<Scalar,Options,JointCollectionTpl> & data2)
{
return
data1.joints == data2.joints
;
}
} // namespace pinocchio
/// @endcond
......
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