General improvement of DynamicalSystem and implementation of FixedBaseDynamics #242

GiulioRomualdi · 2021-03-18T23:16:56Z

With this PR:

Integrators and DynamicalSystems are now in the ContinuousDynamicalSystem component
Enhance the CRPT in DynamicalSystem and Integrator
Remove useless include in TimeVaryingDCMPlanner.cpp
Implement FixedBaseDynamics class (@isorrentino you can use it to test Implement FixedBase inverse dynamics in TSID #230)

cmake/BipedalLocomotionFrameworkDependencies.cmake

...DynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/CompliantContactWrench.h

...tinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/DynamicalSystem.h

...nuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FixedBaseDynamics.h

...ousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FixedStepIntegrator.h

...calSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseSystemKinematics.h

- Integrators and DynamicalSystems are now in the ContinuousDynamicalSystem component - Enhance the CRPT in DynamicalSystem and Integrator

…cro to simplify the definition of a DynamicalSystem

…s class

...tinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/DynamicalSystem.h

prashanthr05 · 2021-03-25T19:35:24Z

...lude/BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseDynamicsWithCompliantContacts.h

@@ -42,20 +65,10 @@ namespace System
 *   - Eigen::VectorXd: the joint velocities [in rad/s].
 * - DynamicalSystem::InputType is described by an std::tuple containing:
 *   - Eigen::VectorXd: the joint torques [in Nm];
- *   - std::vector<ContactWrench>: List of contact wrenches.
+ *   - std::vector<CompliantContactWrench>: List of contact wrenches.


I think the class name in the documentation needs to be updated?

prashanthr05

Minor comments.

...calSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseSystemKinematics.h

prashanthr05 · 2021-03-25T19:50:20Z

src/ContinuousDynamicalSystem/src/FixedBaseDynamics.cpp

+    }
+
+    m_knownCoefficent *= -1;
+    m_knownCoefficent.tail(m_actuatedDoFs) += jointTorques;


add a comment here maybe, saying that jointTorques account for both internal and external stress?

I think I didn't understand your comment. Here actually we are interested only in the joint dynamics in case of zero external wrench applied on the system

what I meant to say was to add a comment saying that J'f = 0 in this case.

what I meant to say was to add a comment saying that J'f = 0 in this case, but clearly I wrote something else. ;D

src/TextLogging/include/BipedalLocomotion/TextLogging/Logger.h

… class

GiulioRomualdi · 2021-03-26T11:40:53Z

Hi @prashanthr05, in 95d596b I tried to improve the documentation of the classes

prashanthr05 · 2021-03-26T14:48:09Z

Hi @prashanthr05, in 95d596b I tried to improve the documentation of the classes

Great, thanks @GiulioRomualdi !! It's a green flag from my side for this PR.

GiulioRomualdi · 2021-03-26T17:05:13Z

@S-Dafarra let me know if you are fine with the PR 😃

S-Dafarra · 2021-03-26T17:22:30Z

...amicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/LinearTimeInvariantSystem.h

+     * @param handler pointer to the parameter handler.
+     * @return true in case of success/false otherwise.
+     */
+    bool initalize(std::weak_ptr<ParametersHandler::IParametersHandler> handler);


Typo: initalize

Oh noooooooooooooo 😢

Fixed in 84e69ad (The same for the others)

S-Dafarra · 2021-03-26T17:23:16Z

...nuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FixedBaseDynamics.h

+     * |    `gravity`   | `double` |     Value of the Gravity. If not defined Math::StandardAccelerationOfGravitation is used     |    No     |
+     * @return true in case of success/false otherwise.
+     */
+    bool initalize(std::weak_ptr<ParametersHandler::IParametersHandler> handler);


Typo initalize

S-Dafarra · 2021-03-26T17:24:31Z

...lude/BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseDynamicsWithCompliantContacts.h

+     * |      `rho`     | `double` |       Baumgarte stabilization parameter over the SO(3) group. The default value is 0.01      |    No     |
+     * @return true in case of success/false otherwise.
+     */
+    bool initalize(std::weak_ptr<ParametersHandler::IParametersHandler> handler);


S-Dafarra · 2021-03-26T17:24:46Z

...calSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseSystemKinematics.h

+     * |      `rho`     | `double` | Baumgarte stabilization parameter over the SO(3) group. The default value is 0.01 |    No     |
+     * @return true in case of success/false otherwise.
+     */
+    bool initalize(std::weak_ptr<ParametersHandler::IParametersHandler> handler);


GiulioRomualdi requested review from traversaro, prashanthr05 and S-Dafarra March 18, 2021 23:16

GiulioRomualdi self-assigned this Mar 18, 2021

S-Dafarra reviewed Mar 19, 2021

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GiulioRomualdi force-pushed the DynamicalSystem branch from 434d0fd to 86953d6 Compare March 25, 2021 16:54

GiulioRomualdi added 11 commits March 25, 2021 17:56

General refactoring of System component

23930a3

- Integrators and DynamicalSystems are now in the ContinuousDynamicalSystem component - Enhance the CRPT in DynamicalSystem and Integrator

Enable the compilation of ContinuousDynamicalSystem

51e5053

Fix QPInverseKinematicsTest after the DynamicalSystem refactoring

f0c1bf3

Remove useless include in TimeVaryingDCMPlanner.cpp

193931d

Add the possibiliy to print eigen vector with spdlog

80c322e

Implement FixedBaseDynamics

fcd1c69

Update the CHANGELOG.md

4d8db12

Fix typo in BipedalLocomotionFrameworkDependencies.cmake

1a9313f

Implement BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE ma…

f4d3239

…cro to simplify the definition of a DynamicalSystem

Correctly advance the time in the Integrator class

863e220

Implement BLF_DEFINE_INTEGRATOR_STRUCTURE macro

cea6f53

GiulioRomualdi force-pushed the DynamicalSystem branch from 86953d6 to cea6f53 Compare March 25, 2021 16:56

Improve the documentation of the FixedBaseDynamics class

0f9ca4b

GiulioRomualdi mentioned this pull request Mar 25, 2021

Rename the ContactModels class in CompliantContactModel #250

Open

GiulioRomualdi added 2 commits March 25, 2021 18:53

Improve the documentation in FloatingBaseDynamicsWithCompliantContact…

b66630d

…s class

Improve the documentation in FloatingBaseSystemKinematics class

2999360

traversaro approved these changes Mar 25, 2021

View reviewed changes

prashanthr05 reviewed Mar 25, 2021

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...tinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/DynamicalSystem.h Show resolved Hide resolved

prashanthr05 reviewed Mar 25, 2021

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prashanthr05 approved these changes Mar 25, 2021

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isorrentino mentioned this pull request Mar 26, 2021

Implementation of Fixed Base Task Space Inverse Dynamics #251

Merged

GiulioRomualdi added 2 commits March 26, 2021 12:36

General improvement of the documentation in ContinuousDynamicalSystem…

95d596b

… class

Improve the documentation TextLogging/Logger.h

b714a9d

S-Dafarra reviewed Mar 26, 2021

View reviewed changes

Fixed typos in ContinuousDynamicalSystem component

84e69ad

S-Dafarra approved these changes Mar 26, 2021

View reviewed changes

GiulioRomualdi merged commit de3a3f8 into master Mar 26, 2021

GiulioRomualdi deleted the DynamicalSystem branch March 26, 2021 20:34

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General improvement of DynamicalSystem and implementation of FixedBaseDynamics #242

General improvement of DynamicalSystem and implementation of FixedBaseDynamics #242

GiulioRomualdi commented Mar 18, 2021 •

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General improvement of DynamicalSystem and implementation of FixedBaseDynamics #242

General improvement of DynamicalSystem and implementation of FixedBaseDynamics #242

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GiulioRomualdi commented Mar 26, 2021

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GiulioRomualdi commented Mar 18, 2021 •

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