forked from bartvdbraak/blender
65 lines
1.3 KiB
C++
65 lines
1.3 KiB
C++
/** \file itasc/ControlledObject.cpp
|
|
* \ingroup itasc
|
|
*/
|
|
/* $Id$
|
|
* ControlledObject.cpp
|
|
*
|
|
* Created on: Jan 5, 2009
|
|
* Author: rubensmits
|
|
*/
|
|
|
|
#include "ControlledObject.hpp"
|
|
|
|
|
|
namespace iTaSC {
|
|
ControlledObject::ControlledObject():
|
|
Object(Controlled),m_nq(0),m_nc(0),m_nee(0)
|
|
{
|
|
// max joint variable = 0.52 radian or 0.52 meter in one timestep
|
|
m_maxDeltaQ = e_scalar(0.52);
|
|
}
|
|
|
|
void ControlledObject::initialize(unsigned int _nq,unsigned int _nc, unsigned int _nee)
|
|
{
|
|
assert(_nee >= 1);
|
|
m_nq = _nq;
|
|
m_nc = _nc;
|
|
m_nee = _nee;
|
|
if (m_nq > 0) {
|
|
m_Wq = e_identity_matrix(m_nq,m_nq);
|
|
m_qdot = e_zero_vector(m_nq);
|
|
}
|
|
if (m_nc > 0) {
|
|
m_Wy = e_scalar_vector(m_nc,1.0);
|
|
m_ydot = e_zero_vector(m_nc);
|
|
}
|
|
if (m_nc > 0 && m_nq > 0)
|
|
m_Cq = e_zero_matrix(m_nc,m_nq);
|
|
// clear all Jacobian if any
|
|
m_JqArray.clear();
|
|
// reserve one more to have a zero matrix handy
|
|
if (m_nq > 0)
|
|
m_JqArray.resize(m_nee+1, e_zero_matrix(6,m_nq));
|
|
}
|
|
|
|
ControlledObject::~ControlledObject() {}
|
|
|
|
|
|
|
|
const e_matrix& ControlledObject::getJq(unsigned int ee) const
|
|
{
|
|
assert(m_nq > 0);
|
|
return m_JqArray[(ee>m_nee)?m_nee:ee];
|
|
}
|
|
|
|
double ControlledObject::getMaxTimestep(double& timestep)
|
|
{
|
|
e_scalar maxQdot = m_qdot.cwise().abs().maxCoeff();
|
|
if (timestep*maxQdot > m_maxDeltaQ) {
|
|
timestep = m_maxDeltaQ/maxQdot;
|
|
}
|
|
return timestep;
|
|
}
|
|
|
|
}
|