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BJoint.cpp
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BJoint.cpp
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/* BJoint 31/01/2024
$$$$$$$$$$$$$$$$$$
$ BJoint.cpp $
$$$$$$$$$$$$$$$$$$
by W.B. Yates
Copyright (c) W.B. Yates. All rights reserved.
History:
*/
#ifndef __BJOINT_H__
#include "BJoint.h"
#endif
#define GLM_ENABLE_EXPERIMENTAL
#include <glm/geometric.hpp> // for glm::length
#include <glm/gtx/quaternion.hpp> // for toMat3
const std::vector<std::vector<BScalar>> BJoint::m_ZERO_6x3(6, {0.0, 0.0, 0.0});
const std::vector<std::vector<BScalar>> BJoint::m_ZERO_1x6(1, {0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
const std::vector<std::vector<BScalar>> BJoint::m_ZERO_6x6(6, {0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
BJoint::BJoint(BJointType joint_type) : m_qidx(0),
m_widx(0),
m_jtype(joint_type),
m_X_lambda(BIDENTITY_3x3, BZERO_3),
m_X_J(BIDENTITY_3x3, BZERO_3),
m_X_T(BIDENTITY_3x3, BZERO_3),
m_v_J(BZERO_6),
m_c_J(BZERO_6),
m_S(m_ZERO_1x6),
m_jointAxes(1)
{
if (m_jtype == BJointType::BRevoluteX)
{
m_jointAxes[0] = BSpatialVector(BXAXIS, BZERO_3);
}
else if (m_jtype == BJointType::BRevoluteY)
{
m_jointAxes[0] = BSpatialVector(BYAXIS, BZERO_3);
}
else if (m_jtype == BJointType::BRevoluteZ)
{
m_jointAxes[0] = BSpatialVector(BZAXIS, BZERO_3);
}
else if (m_jtype == BJointType::BSpherical)
{
m_jointAxes.resize(3);
m_jointAxes[0] = BSpatialVector(BZAXIS, BZERO_3);
m_jointAxes[1] = BSpatialVector(BYAXIS, BZERO_3);
m_jointAxes[2] = BSpatialVector(BXAXIS, BZERO_3);
}
else if (m_jtype == BJointType::BEulerZYX)
{
m_jointAxes.resize(3);
m_jointAxes[0] = BSpatialVector(BZAXIS, BZERO_3);
m_jointAxes[1] = BSpatialVector(BYAXIS, BZERO_3);
m_jointAxes[2] = BSpatialVector(BXAXIS, BZERO_3);
}
else if (m_jtype == BJointType::BEulerXYZ)
{
m_jointAxes.resize(3);
m_jointAxes[0] = BSpatialVector(BXAXIS, BZERO_3);
m_jointAxes[1] = BSpatialVector(BYAXIS, BZERO_3);
m_jointAxes[2] = BSpatialVector(BZAXIS, BZERO_3);
}
else if (m_jtype == BJointType::BEulerYXZ)
{
m_jointAxes.resize(3);
m_jointAxes[0] = BSpatialVector(BYAXIS, BZERO_3);
m_jointAxes[1] = BSpatialVector(BXAXIS, BZERO_3);
m_jointAxes[2] = BSpatialVector(BZAXIS, BZERO_3);
}
else if (m_jtype == BJointType::BEulerZXY)
{
m_jointAxes.resize(3);
m_jointAxes[0] = BSpatialVector(BZAXIS, BZERO_3);
m_jointAxes[1] = BSpatialVector(BXAXIS, BZERO_3);
m_jointAxes[2] = BSpatialVector(BYAXIS, BZERO_3);
}
else if (m_jtype == BJointType::BTranslationXYZ)
{
m_jointAxes.resize(3);
m_jointAxes[0] = BSpatialVector(BXAXIS, BZERO_3);
m_jointAxes[1] = BSpatialVector(BYAXIS, BZERO_3);
m_jointAxes[2] = BSpatialVector(BZAXIS, BZERO_3);
}
else if (m_jtype >= BJointType::B1DoF && m_jtype <= BJointType::B6DoF)
{
// create a joint and allocate memory for it.
int DoFCount = joint_type - B1DoF + 1;
m_jointAxes.resize(DoFCount, BZERO_6);
std::cout << "Warning: zero vector " << m_jointAxes[0] << std::endl;
}
else if (m_jtype != BJointType::BFixed && m_jtype != BJointType::BFloatingBase)
{
std::cout << "Error: Invalid use of Joint constructor Joint(BJointType type). Only allowed when type == BFixed or BSpherical." << std::endl;
exit(EXIT_FAILURE);
}
if (!m_jointAxes.empty())
{
setMotionSpace(m_jointAxes[0]);
m_v_J = m_jointAxes[0];
}
}
// only joint_type BRevolute or BPrismatic
BJoint::BJoint( BJointType joint_type, const BVector3 &joint_axis ) : m_qidx(0),
m_widx(0),
m_jtype(joint_type),
m_X_lambda(BIDENTITY_3x3, BZERO_3),
m_X_J(BIDENTITY_3x3, BZERO_3),
m_X_T(BIDENTITY_3x3, BZERO_3),
m_v_J(BZERO_6),
m_c_J(BZERO_6),
m_S(m_ZERO_1x6),
m_jointAxes(1)
{
// Only rotation around the Z-axis
assert( joint_type == BJointType::BRevolute || joint_type == BJointType::BPrismatic );
if (m_jtype == BJointType::BRevolute)
{
// make sure we have a unit axis
// assert (joint_axis.length() - 1.0 > BSMALL_VALUE);
m_jointAxes[0].set( joint_axis, BZERO_3 );
}
else if (m_jtype == BJointType::BPrismatic)
{
// make sure we have a unit axis
// assert (joint_axis.length() - 1.0 > BSMALL_VALUE);
m_jointAxes[0].set( BZERO_3, joint_axis );
}
if (!m_jointAxes.empty())
{
setMotionSpace(m_jointAxes[0]);
m_v_J = m_jointAxes[0];
}
}
/** \brief Constructs a 1 DoF joint with the given motion subspaces.
*
* The motion subspaces are of the format:
* \f[ (r_x, r_y, r_z, t_x, t_y, t_z) \f]
*
* \param axis_0 Motion subspace for axis 0
*/
BJoint::BJoint( const BSpatialVector &axis_0 ): m_qidx(0),
m_widx(0),
m_jtype(BJointType::BUndefined),
m_X_lambda(BIDENTITY_3x3, BZERO_3),
m_X_J(BIDENTITY_3x3, BZERO_3),
m_X_T(BIDENTITY_3x3, BZERO_3),
m_v_J(BZERO_6),
m_c_J(BZERO_6),
m_S(m_ZERO_1x6),
m_jointAxes(1, axis_0)
{
setMotionSpace(m_jointAxes[0]);
m_v_J = m_jointAxes[0];
// TODO: this has to be properly determined AND test case. Try Matt's dot product idea
if (axis_0 == BSpatialVector(BXAXIS, BZERO_3))
{
m_jtype = BJointType::BRevoluteX;
}
else if (axis_0 == BSpatialVector(BYAXIS, BZERO_3))
{
m_jtype = BJointType::BRevoluteY;
}
else if (axis_0 == BSpatialVector(BZAXIS, BZERO_3))
{
m_jtype = BJointType::BRevoluteZ;
}
else if (axis_0.head() == BZERO_3)
{
m_jtype = BJointType::BPrismatic;
}
else
{
m_jtype = BJointType::BHelical;
}
validate_spatial_axis(m_jointAxes[0]);
}
BJoint::BJoint( const BSpatialVector &axis_0,
const BSpatialVector &axis_1) : m_qidx(0),
m_widx(0),
m_jtype(BJointType::BUndefined),
m_X_lambda(BIDENTITY_3x3, BZERO_3),
m_X_J(BIDENTITY_3x3, BZERO_3),
m_X_T(BIDENTITY_3x3, BZERO_3),
m_v_J(BZERO_6),
m_c_J(BZERO_6),
m_S(m_ZERO_1x6),
m_jointAxes()
{
setJoint({axis_0, axis_1});
}
BJoint::BJoint( const BSpatialVector &axis_0,
const BSpatialVector &axis_1,
const BSpatialVector &axis_2 ): m_qidx(0),
m_widx(0),
m_jtype(BJointType::BUndefined),
m_X_lambda(BIDENTITY_3x3, BZERO_3),
m_X_J(BIDENTITY_3x3, BZERO_3),
m_X_T(BIDENTITY_3x3, BZERO_3),
m_v_J(BZERO_6),
m_c_J(BZERO_6),
m_S(m_ZERO_1x6),
m_jointAxes()
{
setJoint({axis_0, axis_1, axis_2});
}
BJoint::BJoint( const BSpatialVector &axis_0,
const BSpatialVector &axis_1,
const BSpatialVector &axis_2,
const BSpatialVector &axis_3 ): m_qidx(0),
m_widx(0),
m_jtype(BJointType::BUndefined),
m_X_lambda(BIDENTITY_3x3, BZERO_3),
m_X_J(BIDENTITY_3x3, BZERO_3),
m_X_T(BIDENTITY_3x3, BZERO_3),
m_v_J(BZERO_6),
m_c_J(BZERO_6),
m_S(m_ZERO_1x6),
m_jointAxes()
{
setJoint({axis_0, axis_1, axis_2, axis_3});
}
BJoint::BJoint( const BSpatialVector &axis_0,
const BSpatialVector &axis_1,
const BSpatialVector &axis_2,
const BSpatialVector &axis_3,
const BSpatialVector &axis_4 ): m_qidx(0),
m_widx(0),
m_jtype(BJointType::BUndefined),
m_X_lambda(BIDENTITY_3x3, BZERO_3),
m_X_J(BIDENTITY_3x3, BZERO_3),
m_X_T(BIDENTITY_3x3, BZERO_3),
m_v_J(BZERO_6),
m_c_J(BZERO_6),
m_S(m_ZERO_1x6),
m_jointAxes()
{
setJoint({axis_0, axis_1, axis_2, axis_3, axis_4});
}
BJoint::BJoint( const BSpatialVector &axis_0,
const BSpatialVector &axis_1,
const BSpatialVector &axis_2,
const BSpatialVector &axis_3,
const BSpatialVector &axis_4,
const BSpatialVector &axis_5 ): m_qidx(0),
m_widx(0),
m_jtype(BJointType::BUndefined),
m_X_lambda(BIDENTITY_3x3, BZERO_3),
m_X_J(BIDENTITY_3x3, BZERO_3),
m_X_T(BIDENTITY_3x3, BZERO_3),
m_v_J(BZERO_6),
m_c_J(BZERO_6),
m_S(m_ZERO_1x6),
m_jointAxes()
{
setJoint({axis_0, axis_1, axis_2, axis_3, axis_4, axis_5});
}
void
BJoint::setJoint( const std::vector<BSpatialVector> &axes )
// Constructs a N=2,..,6 DoF joint with the given motion subspaces.
{
int DoFCount = (int) axes.size();
m_jointAxes = axes;
// emulated 2-6 DoF joint.
switch (DoFCount)
{
case 2 : m_jtype = BJointType::B2DoF; break;
case 3 : m_jtype = BJointType::B3DoF; break;
case 4 : m_jtype = BJointType::B4DoF; break;
case 5 : m_jtype = BJointType::B5DoF; break;
case 6 : m_jtype = BJointType::B6DoF; break;
default: exit(EXIT_FAILURE); break;
}
for (int i = 0; i < DoFCount; ++i)
{
validate_spatial_axis(m_jointAxes[i]);
}
}
/** \brief Checks whether we have pure rotational or translational axis.
*
* This function is mainly used to print out warnings when specifying an
* axis that might not be intended.
*/
bool
BJoint::validate_spatial_axis( BSpatialVector &axis ) const
{
bool axis_rot = false;
bool axis_trans = false;
BVector3 rot(axis.head());
BVector3 trans(axis.tail());
const BScalar SMALL_VALUE = 1E-8;
BScalar rot_len = glm::length(rot);
BScalar trans_len = glm::length(trans);
if (rot_len > SMALL_VALUE)
{
axis_rot = true;
}
if (trans_len > SMALL_VALUE)
{
axis_trans = true;
}
if (axis_rot && rot_len - 1.0 > SMALL_VALUE)
{
std::cout << "Warning: joint rotation axis is not unit!" << std::endl;
}
if (axis_trans && trans_len - 1.0 > SMALL_VALUE)
{
std::cout << "Warning: joint translation axis is not unit! " << std::endl;
}
return axis_rot != axis_trans;
}
void
BJoint::init( void )
{
m_qidx = 0;
m_widx = 0;
m_jtype = BJointType::BUndefined;
m_X_lambda = BSpatialTransform(BIDENTITY_3x3, BZERO_3);
m_X_J = BSpatialTransform(BIDENTITY_3x3, BZERO_3);
m_X_T = BSpatialTransform(BIDENTITY_3x3, BZERO_3);
m_v_J = BSpatialVector(BZERO_6);
m_c_J = BSpatialVector(BZERO_6);
m_S = BMotionSpace(m_ZERO_1x6); // 1 DoF
m_jointAxes.clear();
}
BQuat
BJoint::getQuat(const std::vector<BScalar> &q) const
{
assert(m_jtype == BJointType::BSpherical);
return BQuat(q[m_qidx], q[m_qidx + 1], q[m_qidx + 2], q[m_widx]);
}
void
BJoint::SetQuat(const BQuat &quat, std::vector<BScalar> &q) const
{
assert(m_jtype == BJointType::BSpherical);
q[m_qidx] = quat[0];
q[m_qidx + 1] = quat[1];
q[m_qidx + 2] = quat[2];
q[m_widx] = quat[3];
}
void
BJoint::setMotionSpace( const BSpatialVector &v )
{
m_S = m_ZERO_1x6;
for (int i = 0; i < 6; ++i)
m_S[0][i] = v[i];
}
void
BJoint::setMotionSpace( const BMatrix63 &m )
{
m_S = m_ZERO_6x3;
const std::array<std::array<BScalar, 3>, 6>& d(m.data());
for (int i = 0; i < 6; ++i)
for (int j = 0; j < 3; ++j)
m_S[i][j] = d[i][j];
}
void
BJoint::setMotionSpace( const BSpatialMatrix &m )
{
m_S = m_ZERO_6x6;
const std::array<std::array<BScalar, 6>, 6>& d(m.data());
for (int i = 0; i < 6; ++i)
for (int j = 0; j < 6; ++j)
m_S[i][j] = d[i][j];
}
/** \brief Computes all variables for a joint model
*
* By appropriate modification of this function all types of joints can be
* modeled. See RBDA Section 4.4 for details.
*
* \param q joint state variables
* \param qdot joint velocity variables
*/
void
BJoint::jcalc( const std::vector<BScalar> &q, const std::vector<BScalar> &qdot )
// calculate $\[ X_lambda, X_J, S_i, v_J, c_J \] = jcalc(jtype(i), q, qdot, i)$
{
if (m_jtype == BJointType::BRevoluteX) // 1 DoF
{
BScalar s = std::sin(q[m_qidx]);
BScalar c = std::cos(q[m_qidx]);
const BMatrix3 &E = m_X_T.E();
m_X_lambda.E( BMatrix3( E[0],
c * E[1] + s * E[2],
-s * E[1] + c * E[2] ));
m_X_lambda.r( m_X_T.r() );
m_v_J[0] = qdot[m_qidx];
}
else if (m_jtype == BJointType::BRevoluteY) // 1 DoF
{
BScalar s = std::sin(q[m_qidx]);
BScalar c = std::cos(q[m_qidx]);
const BMatrix3 &E = m_X_T.E();
m_X_lambda.E( BMatrix3( c * E[0] + -s * E[2],
E[1],
s * E[0] + c * E[2] ));
m_X_lambda.r( m_X_T.r() );
m_v_J[1] = qdot[m_qidx];
}
else if (m_jtype == BJointType::BRevoluteZ) // 1 DoF
{
BScalar s = std::sin(q[m_qidx]);
BScalar c = std::cos(q[m_qidx]);
const BMatrix3 &E = m_X_T.E();
m_X_lambda.E( BMatrix3( c * E[0] + s * E[1],
-s * E[0] + c * E[1],
E[2] ));
m_X_lambda.r( m_X_T.r() );
m_v_J[2] = qdot[m_qidx];
}
else if (m_jtype == BJointType::BRevolute) // 1 DoF
{
m_X_J = arb::Xrot(q[m_qidx], m_jointAxes[0].head());
// Note m_S should be non-zero here
BSpatialVector MS(m_S);
m_v_J = MS * qdot[m_qidx];
m_X_lambda = m_X_J * m_X_T;
}
else if (m_jtype == BJointType::BPrismatic) // 1 DoF
{
m_X_J = arb::Xtrans(m_jointAxes[0].tail() * q[m_qidx]);
// Note m_S should be non-zero here
BSpatialVector MS(m_S);
m_v_J = MS * qdot[m_qidx];
m_X_lambda = m_X_J * m_X_T;
}
else if (m_jtype == BJointType::BHelical) // 1 DoF
{
BVector3 head(m_jointAxes[0].head());
BVector3 tail(m_jointAxes[0].tail());
BSpatialTransform jrot = arb::Xrot(q[m_qidx], head);
BSpatialTransform jtrans = arb::Xtrans(tail * q[m_qidx]);
m_X_J = jrot * jtrans;
BVector3 strans = glm::transpose(m_X_J.E()) * tail;
BSpatialVector MS(head, strans);
BScalar Jqd = qdot[m_qidx];
m_v_J = MS * Jqd;
BVector3 c = glm::cross(head, strans);
c *= -Jqd * Jqd;
m_c_J = BSpatialVector(BZERO_3, c);
m_X_lambda = m_X_J * m_X_T;
setMotionSpace(MS);
}
else if (m_jtype == BJointType::BSpherical) // 3 DoF
{
m_X_J = BSpatialTransform(glm::toMat3(getQuat(q)));
m_v_J = BSpatialVector( BVector3(qdot[m_qidx], qdot[m_qidx+1], qdot[m_qidx+2]), BZERO_3 );
m_X_lambda = m_X_J * m_X_T;
m_S = m_ZERO_6x3;
m_S[0][0] = 1.0;
m_S[1][1] = 1.0;
m_S[2][2] = 1.0;
}
else if (m_jtype == BJointType::BEulerZYX) // 3 DoF
{
BScalar q0 = q[m_qidx];
BScalar q1 = q[m_qidx + 1];
BScalar q2 = q[m_qidx + 2];
BScalar s0 = std::sin(q0);
BScalar c0 = std::cos(q0);
BScalar s1 = std::sin(q1);
BScalar c1 = std::cos(q1);
BScalar s2 = std::sin(q2);
BScalar c2 = std::cos(q2);
m_X_J = BSpatialTransform(BMatrix3( c0 * c1, s0 * c1, -s1,
c0 * s1 * s2 - s0 * c2, s0 * s1 * s2 + c0 * c2, c1 * s2,
c0 * s1 * c2 + s0 * s2, s0 * s1 * c2 - c0 * s2, c1 * c2 ));
m_S = m_ZERO_6x3;
BMatrix63 MS(BZERO_6x3);
m_S[0][0] = MS[0][0] = -s1;
m_S[0][2] = MS[0][2] = 1.0;
m_S[1][0] = MS[1][0] = c1 * s2;
m_S[1][1] = MS[1][1] = c2;
m_S[2][0] = MS[2][0] = c1 * c2;
m_S[2][1] = MS[2][1] = - s2;
BScalar qdot0 = qdot[m_qidx];
BScalar qdot1 = qdot[m_qidx + 1];
BScalar qdot2 = qdot[m_qidx + 2];
m_v_J = MS * BVector3(qdot0, qdot1, qdot2);
m_c_J.set(-c1*qdot0*qdot1,
-s1*s2*qdot0*qdot1 + c1*c2*qdot0*qdot2 - s2*qdot1*qdot2,
-s1*c2*qdot0*qdot1 - c1*s2*qdot0*qdot2 - c2*qdot1*qdot2,
0.0, 0.0, 0.0);
m_X_lambda = m_X_J * m_X_T;
}
else if (m_jtype == BJointType::BEulerXYZ) // 3 DoF
{
BScalar q0 = q[m_qidx];
BScalar q1 = q[m_qidx + 1];
BScalar q2 = q[m_qidx + 2];
BScalar s0 = std::sin(q0);
BScalar c0 = std::cos(q0);
BScalar s1 = std::sin(q1);
BScalar c1 = std::cos(q1);
BScalar s2 = std::sin(q2);
BScalar c2 = std::cos(q2);
m_X_J = BSpatialTransform(BMatrix3( c2 * c1, s2 * c0 + c2 * s1 * s0, s2 * s0 - c2 * s1 * c0,
-s2 * c1, c2 * c0 - s2 * s1 * s0, c2 * s0 + s2 * s1 * c0,
s1, -c1 * s0, c1 * c0 ));
m_S = m_ZERO_6x3;
BMatrix63 MS(BZERO_6x3);
m_S[0][0] = MS[0][0] = c2 * c1;
m_S[0][1] = MS[0][1] = s2;
m_S[1][0] = MS[1][0] = -s2 * c1;
m_S[1][1] = MS[1][1] = c2;
m_S[2][0] = MS[2][0] = s1;
m_S[2][2] = MS[2][2] = 1.0;
BScalar qdot0 = qdot[m_qidx];
BScalar qdot1 = qdot[m_qidx + 1];
BScalar qdot2 = qdot[m_qidx + 2];
m_v_J = MS * BVector3(qdot0, qdot1, qdot2);
m_c_J.set(-s2*c1*qdot2*qdot0 - c2*s1*qdot1*qdot0 + c2*qdot2*qdot1,
-c2*c1*qdot2*qdot0 + s2*s1*qdot1*qdot0 - s2*qdot2*qdot1,
c1*qdot1*qdot0,
0.0, 0.0, 0.0);
m_X_lambda = m_X_J * m_X_T;
}
else if (m_jtype == BJointType::BEulerYXZ) // 3 DoF
{
BScalar q0 = q[m_qidx];
BScalar q1 = q[m_qidx + 1];
BScalar q2 = q[m_qidx + 2];
BScalar s0 = std::sin(q0);
BScalar c0 = std::cos(q0);
BScalar s1 = std::sin(q1);
BScalar c1 = std::cos(q1);
BScalar s2 = std::sin(q2);
BScalar c2 = std::cos(q2);
m_X_J = BSpatialTransform(BMatrix3( c2 * c0 + s2 * s1 * s0, s2 * c1, -c2 * s0 + s2 * s1 * c0,
-s2 * c0 + c2 * s1 * s0, c2 * c1, s2 * s0 + c2 * s1 * c0,
c1 * s0, -s1, c1 * c0 ));
m_S = m_ZERO_6x3;
BMatrix63 MS(BZERO_6x3);
m_S[0][0] = MS[0][0] = s2 * c1;
m_S[0][1] = MS[0][1] = c2;
m_S[1][0] = MS[1][0] = c2 * c1;
m_S[1][1] = MS[1][1] = -s2;
m_S[2][0] = MS[2][0] = -s1;
m_S[2][2] = MS[2][2] = 1.0;
BScalar qdot0 = qdot[m_qidx];
BScalar qdot1 = qdot[m_qidx + 1];
BScalar qdot2 = qdot[m_qidx + 2];
m_v_J = MS * BVector3(qdot0, qdot1, qdot2);
m_c_J.set( c2*c1*qdot2*qdot0 - s2*s1*qdot1*qdot0 - s2*qdot2*qdot1,
-s2*c1*qdot2*qdot0 - c2*s1*qdot1*qdot0 - c2*qdot2*qdot1,
-c1*qdot1*qdot0,
0.0, 0.0, 0.0 );
m_X_lambda = m_X_J * m_X_T;
}
else if (m_jtype == BJointType::BEulerZXY) // 3 DoF
{
BScalar q0 = q[m_qidx];
BScalar q1 = q[m_qidx + 1];
BScalar q2 = q[m_qidx + 2];
BScalar s0 = std::sin(q0);
BScalar c0 = std::cos(q0);
BScalar s1 = std::sin(q1);
BScalar c1 = std::cos(q1);
BScalar s2 = std::sin(q2);
BScalar c2 = std::cos(q2);
m_X_lambda = BSpatialTransform( BMatrix3( -s0 * s1 * s2 + c0 * c2, s0 * c2 + s1 * s2 * c0, -s2 * c1,
-s0 * c1, c0 * c1, s1,
s0 * s1 * c2 + s2 * c0, s0 * s2 - s1 * c0 * c2, c1 * c2 )) * m_X_T;
m_S = m_ZERO_6x3;
BMatrix63 MS(BZERO_6x3);
m_S[0][0] = MS[0][0] = -s2 * c1;
m_S[0][1] = MS[0][1] = c2;
m_S[1][0] = MS[1][0] = s1;
m_S[1][2] = MS[1][2] = 1;
m_S[2][0] = MS[2][0] = c1 * c2;
m_S[2][1] = MS[2][1] = s2;
BScalar qdot0 = qdot[m_qidx];
BScalar qdot1 = qdot[m_qidx + 1];
BScalar qdot2 = qdot[m_qidx + 2];
m_v_J = MS * BVector3(qdot0, qdot1, qdot2);
m_c_J.set((-c1 * c2 * qdot2 + s1 * s2 * qdot1) * qdot0 - s2 * qdot1 * qdot2,
c1 * qdot1 * qdot0,
(-s1 * c2 * qdot1 - c1 * s2 * qdot2) * qdot0 + c2 * qdot2 * qdot1,
0.0, 0.0, 0.0);
}
else if (m_jtype == BJointType::BTranslationXYZ) // 3 DoF
{
m_S = m_ZERO_6x3;
BMatrix63 MS(BZERO_6x3);
m_S[3][0] = MS[3][0] = 1.0;
m_S[4][1] = MS[4][1] = 1.0;
m_S[5][2] = MS[5][2] = 1.0;
m_v_J = MS * BVector3(qdot[m_qidx], qdot[m_qidx + 1], qdot[m_qidx + 2]);
m_c_J = BZERO_6;
m_X_lambda.E( m_X_T.E() );
m_X_lambda.r( m_X_T.r() + glm::transpose(m_X_T.E()) * BVector3(q[m_qidx], q[m_qidx + 1], q[m_qidx + 2]));
}
else
{
std::cout << "Error jcalc: invalid joint type " << m_jtype << std::endl;
exit(EXIT_FAILURE);
}
}