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[InverseDynamics] Support for Jacobians & derivatives

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This change adds support for calculating Jacobians and
dot(Jacobian)*u terms, along with the required support for
the 3xN matrices in the standalone math library.
It also adds functions to compute kinematics only (position, velocity, accel).
To facilitate tests, the Cl also adds a RandomTreeCreator to create
randomized multibody trees.
Thanks to Thomas Buschmann for this contribution!
This commit is contained in:
Erwin Coumans
2016-08-25 16:24:28 -07:00
parent 7db9a020b9
commit ba8964c4ac
25 changed files with 1474 additions and 201 deletions
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10
src/BulletInverseDynamics/IDMath.hpp
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@@ -19,6 +19,16 @@ idScalar maxAbs(const vecx& v);
/// return maximum absolute value
idScalar maxAbs(const vec3& v);
#endif //ID_LINEAR_MATH_USE_EIGEN
#if (defined BT_ID_HAVE_MAT3X)
idScalar maxAbsMat3x(const mat3x& m);
void setZero(mat3x&m);
// define math functions on mat3x here to avoid allocations in operators.
void mul(const mat33&a, const mat3x&b, mat3x* result);
void add(const mat3x&a, const mat3x&b, mat3x* result);
void sub(const mat3x&a, const mat3x&b, mat3x* result);
#endif
/// get offset vector & transform matrix from DH parameters
/// TODO: add documentation
void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3* r, mat33* T);