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express the accelerations in the body frame #16

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Merged
merged 1 commit into from
Jan 15, 2019
Merged

express the accelerations in the body frame #16

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27 changes: 13 additions & 14 deletions tasks/ModelTask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ void ModelTask::setGazeboModel(WorldPtr _world, ModelPtr _model)
_model_frame.set(_model->GetName());
if (_world_frame.get().empty())
_world_frame.set(GzGet((*_world), Name, ()));
}
}

void ModelTask::InternalJointExport::addJoint(JointPtr joint, std::string name)
{
Expand Down Expand Up @@ -86,7 +86,7 @@ void ModelTask::setupJoints()
}
exported_joints.push_back(main_joint_export);


std::vector<JointExport> requested_exports =
_exported_joints.get();

Expand Down Expand Up @@ -337,7 +337,7 @@ void ModelTask::updateLinks(base::Time const& time)
for(auto& exported_link : link_export_setup)
{
//do not update the link if the last port writing happened
//in less then link_period.
//in less then link_period.
if (!(exported_link.last_update.isNull()))
{
if ((time - exported_link.last_update) <= exported_link.port_period)
Expand All @@ -346,16 +346,16 @@ void ModelTask::updateLinks(base::Time const& time)

Pose3d source2world = Pose3d::Zero;
Vector3d sourceInWorld_linear_vel = Vector3d::Zero;
Vector3d source_angular_vel = Vector3d::Zero;
Vector3d sourceInWorld_linear_acc = Vector3d::Zero;
Vector3d source_angular_acc = Vector3d::Zero;
Vector3d sourceRelative_angular_vel = Vector3d::Zero;
Vector3d sourceRelative_linear_acc = Vector3d::Zero;
Vector3d sourceRelative_angular_acc = Vector3d::Zero;
if (exported_link.source_link_ptr)
{
source2world = GzGetIgn((*(exported_link.source_link_ptr)), WorldPose, ());
sourceInWorld_linear_vel = GzGetIgn((*(exported_link.source_link_ptr)), WorldLinearVel, ());
source_angular_vel = GzGetIgn((*(exported_link.source_link_ptr)), RelativeAngularVel, ());
sourceInWorld_linear_acc = GzGetIgn((*(exported_link.source_link_ptr)), WorldLinearAccel, ());
source_angular_acc = GzGetIgn((*(exported_link.source_link_ptr)), RelativeAngularAccel, ());
sourceInWorld_linear_vel = GzGetIgn((*(exported_link.source_link_ptr)), WorldLinearVel, ());
sourceRelative_angular_vel = GzGetIgn((*(exported_link.source_link_ptr)), RelativeAngularVel, ());
sourceRelative_linear_acc = GzGetIgn((*(exported_link.source_link_ptr)), RelativeLinearAccel, ());
sourceRelative_angular_acc = GzGetIgn((*(exported_link.source_link_ptr)), RelativeAngularAccel, ());
}

Pose3d target2world = Pose3d::Zero;
Expand All @@ -364,7 +364,6 @@ void ModelTask::updateLinks(base::Time const& time)

Pose3d source2target( Pose3d(source2world - target2world) );
Vector3d sourceInTarget_linear_vel (target2world.Rot().RotateVectorReverse(sourceInWorld_linear_vel));
Vector3d sourceInTarget_linear_acc (target2world.Rot().RotateVectorReverse(sourceInWorld_linear_acc));

RigidBodyState rbs;
rbs.sourceFrame = exported_link.source_frame;
Expand All @@ -379,17 +378,17 @@ void ModelTask::updateLinks(base::Time const& time)
sourceInTarget_linear_vel.X(),sourceInTarget_linear_vel.Y(),sourceInTarget_linear_vel.Z());
rbs.cov_velocity = exported_link.cov_velocity;
rbs.angular_velocity = base::Vector3d(
source_angular_vel.X(),source_angular_vel.Y(),source_angular_vel.Z());
sourceRelative_angular_vel.X(),sourceRelative_angular_vel.Y(),sourceRelative_angular_vel.Z());
rbs.cov_angular_velocity = exported_link.cov_angular_velocity;
rbs.time = time;
exported_link.port->write(rbs);

base::samples::RigidBodyAcceleration rba;
rba.cov_acceleration = exported_link.cov_acceleration;
rba.acceleration = base::Vector3d(
sourceInTarget_linear_acc.X(),sourceInTarget_linear_acc.Y(),sourceInTarget_linear_acc.Z());
sourceRelative_linear_acc.X(),sourceRelative_linear_acc.Y(),sourceRelative_linear_acc.Z());
rba.angular_acceleration = base::Vector3d(
source_angular_acc.X(),source_angular_acc.Y(),source_angular_acc.Z());
sourceRelative_angular_acc.X(),sourceRelative_angular_acc.Y(),sourceRelative_angular_acc.Z());
rba.cov_angular_acceleration = exported_link.cov_angular_acceleration;
rba.time = time;
exported_link.rba_port->write(rba);
Expand Down