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Fix #378 Added one example join_motor_position

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This commit is contained in:
pellico
2022-11-27 18:47:35 +01:00
committed by Sébastien Crozet
parent c33b4eeb5c
commit 6432909110
4 changed files with 91 additions and 16 deletions
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30
src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs
View File

@@ -12,6 +12,8 @@ use na::{DVector, SVector};
#[cfg(feature = "dim3")]
use crate::utils::WAngularInertia;
#[cfg(feature = "dim2")]
const PI: Real = std::f64::consts::PI as Real;
impl SolverBody<Real, 1> {
pub fn fill_jacobians(
@@ -413,11 +415,17 @@ impl JointVelocityConstraintBuilder<Real> {
let mut rhs_wo_bias = 0.0;
if motor_params.erp_inv_dt != 0.0 {
#[cfg(feature = "dim2")]
let s_ang_dist = self.ang_err.im;
{
let s_ang_dist = self.ang_err.angle();
let s_target_ang = motor_params.target_pos;
rhs_wo_bias += ((s_ang_dist - s_target_ang) % (2.0*PI))/(2.0*PI) * motor_params.erp_inv_dt;
}
#[cfg(feature = "dim3")]
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.sin();
rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
{
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.sin();
rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
}
}
let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel);
@@ -791,11 +799,17 @@ impl JointVelocityConstraintBuilder<Real> {
let mut rhs = 0.0;
if motor_params.erp_inv_dt != 0.0 {
#[cfg(feature = "dim2")]
let s_ang_dist = self.ang_err.im;
{
let s_ang_dist = self.ang_err.angle();
let s_target_ang = motor_params.target_pos;
rhs += ((s_ang_dist - s_target_ang) % (2.0*PI))/(2.0*PI) * motor_params.erp_inv_dt;
}
#[cfg(feature = "dim3")]
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.sin();
rhs += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
{
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.sin();
rhs += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
}
}
let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel);

29
src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
View File

@@ -354,11 +354,18 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
let mut rhs_wo_bias = N::zero();
if motor_params.erp_inv_dt != N::zero() {
#[cfg(feature = "dim2")]
let s_ang_dist = self.ang_err.im;
{
let s_ang_dist = self.ang_err.angle();
let s_target_ang = motor_params.target_pos;
rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi())/N::simd_two_pi() * motor_params.erp_inv_dt;
}
#[cfg(feature = "dim3")]
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.simd_sin();
rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
{
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.simd_sin();
rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
}
}
let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel);
@@ -795,11 +802,17 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
let mut rhs_wo_bias = N::zero();
if motor_params.erp_inv_dt != N::zero() {
#[cfg(feature = "dim2")]
let s_ang_dist = self.ang_err.im;
{
let s_ang_dist = self.ang_err.angle();
let s_target_ang = motor_params.target_pos;
rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi())/N::simd_two_pi() * motor_params.erp_inv_dt;
}
#[cfg(feature = "dim3")]
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.simd_sin();
rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
{
let s_ang_dist = self.ang_err.imag()[_motor_axis];
let s_target_ang = motor_params.target_pos.simd_sin();
rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt;
}
}
let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel);