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src/SoftRobots/component/constraint/JointConstraint.cpp
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/****************************************************************************** | ||
* SOFA, Simulation Open-Framework Architecture * | ||
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * | ||
* * | ||
* This program is free software; you can redistribute it and/or modify it * | ||
* under the terms of the GNU Lesser General Public License as published by * | ||
* the Free Software Foundation; either version 2.1 of the License, or (at * | ||
* your option) any later version. * | ||
* * | ||
* This program is distributed in the hope that it will be useful, but WITHOUT * | ||
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * | ||
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * | ||
* for more details. * | ||
* * | ||
* You should have received a copy of the GNU Lesser General Public License * | ||
* along with this program. If not, see <http://www.gnu.org/licenses/>. * | ||
******************************************************************************* | ||
* Plugin SoftRobots * | ||
* * | ||
* This plugin is also distributed under the GNU LGPL (Lesser General * | ||
* Public License) license with the same conditions than SOFA. * | ||
* * | ||
* Contributors: Defrost team (INRIA, University of Lille, CNRS, * | ||
* Ecole Centrale de Lille) * | ||
* * | ||
* Contact information: https://project.inria.fr/softrobot/contact/ * | ||
******************************************************************************/ | ||
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#define SOFTROBOTS_JOINTCONSTRAINT_CPP | ||
#include <SoftRobots/component/constraint/JointConstraint.inl> | ||
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#include <sofa/core/ObjectFactory.h> | ||
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namespace softrobots::constraint | ||
{ | ||
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//////////////////////////////////////PositionConstraintConstraintResolution1Dof///////////////////////////////////////////// | ||
using namespace sofa::defaulttype; | ||
using namespace sofa::helper; | ||
using namespace sofa::core; | ||
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//----------- Displacement constraint -------------- | ||
JointDisplacementConstraintResolution::JointDisplacementConstraintResolution(const double& imposedDisplacement, const double &min, const double &max) | ||
: sofa::core::behavior::ConstraintResolution(1) | ||
, m_imposedDisplacement(imposedDisplacement) | ||
, m_minForce(min) | ||
, m_maxForce(max) | ||
{ } | ||
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void JointDisplacementConstraintResolution::init(int line, double** w, double * lambda) | ||
{ | ||
SOFA_UNUSED(lambda); | ||
m_wActuatorActuator = w[line][line]; | ||
} | ||
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void JointDisplacementConstraintResolution::resolution(int line, double** w, double* d, double* lambda, double* dfree) | ||
{ | ||
SOFA_UNUSED(dfree); | ||
SOFA_UNUSED(w); | ||
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// da=Waa*(lambda_a) + Sum Wai * lambda_i = m_imposedDisplacement | ||
lambda[line] -= (d[line]-m_imposedDisplacement) / m_wActuatorActuator; | ||
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std::clamp(lambda[line], m_minForce, m_maxForce); | ||
} | ||
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//--------------- Force constraint ------------- | ||
JointForceConstraintResolution::JointForceConstraintResolution(const double &imposedForce, const double& min, const double& max) | ||
: ConstraintResolution(1) | ||
, m_imposedForce(imposedForce) | ||
, m_minDisplacement(min) | ||
, m_maxDisplacement(max) | ||
{ } | ||
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void JointForceConstraintResolution::init(int line, double** w, double * lambda) | ||
{ | ||
SOFA_UNUSED(lambda); | ||
m_wActuatorActuator = w[line][line]; | ||
} | ||
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void JointForceConstraintResolution::resolution(int line, double** w, double* d, double* lambda, double* dfree) | ||
{ | ||
SOFA_UNUSED(dfree); | ||
SOFA_UNUSED(w); | ||
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double displacement = m_wActuatorActuator*m_imposedForce + d[line]; | ||
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if (displacement<m_minDisplacement) | ||
{ | ||
displacement=m_minDisplacement; | ||
lambda[line] -= (d[line]-displacement) / m_wActuatorActuator; | ||
} | ||
else if (displacement>m_maxDisplacement) | ||
{ | ||
displacement=m_maxDisplacement; | ||
lambda[line] -= (d[line]-displacement) / m_wActuatorActuator; | ||
} | ||
else | ||
lambda[line] = m_imposedForce; | ||
} | ||
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////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
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//////////////////////////////////////////// FACTORY ////////////////////////////////////////////// | ||
int JointConstraintClass = RegisterObject("Simulate a Force Applied on a Joint (Vec1)") | ||
.add< JointConstraint<Vec1Types> >(true) | ||
; | ||
//////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
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template class SOFA_SOFTROBOTS_API JointConstraint<Vec1Types>; | ||
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} // namespace | ||
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/****************************************************************************** | ||
* SOFA, Simulation Open-Framework Architecture * | ||
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * | ||
* * | ||
* This program is free software; you can redistribute it and/or modify it * | ||
* under the terms of the GNU Lesser General Public License as published by * | ||
* the Free Software Foundation; either version 2.1 of the License, or (at * | ||
* your option) any later version. * | ||
* * | ||
* This program is distributed in the hope that it will be useful, but WITHOUT * | ||
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * | ||
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * | ||
* for more details. * | ||
* * | ||
* You should have received a copy of the GNU Lesser General Public License * | ||
* along with this program. If not, see <http://www.gnu.org/licenses/>. * | ||
******************************************************************************* | ||
* Plugin SoftRobots * | ||
* * | ||
* This plugin is also distributed under the GNU LGPL (Lesser General * | ||
* Public License) license with the same conditions than SOFA. * | ||
* * | ||
* Contributors: Defrost team (INRIA, University of Lille, CNRS, * | ||
* Ecole Centrale de Lille) * | ||
* * | ||
* Contact information: https://project.inria.fr/softrobot/contact/ * | ||
******************************************************************************/ | ||
#pragma once | ||
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#include <SoftRobots/component/initSoftRobots.h> | ||
#include <sofa/helper/OptionsGroup.h> | ||
#include <sofa/core/behavior/ConstraintResolution.h> | ||
#include <SoftRobots/component/behavior/SoftRobotsConstraint.h> | ||
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namespace softrobots::constraint | ||
{ | ||
using sofa::linearalgebra::BaseVector; | ||
using sofa::core::ConstraintParams; | ||
using sofa::type::Vec; | ||
using sofa::core::visual::VisualParams ; | ||
using sofa::core::behavior::ConstraintResolution; | ||
using sofa::core::behavior::SoftRobotsConstraint; | ||
using sofa::core::behavior::SoftRobotsBaseConstraint; | ||
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class JointDisplacementConstraintResolution : public ConstraintResolution | ||
{ | ||
public: | ||
JointDisplacementConstraintResolution(const double &imposedDisplacement, const double& min, const double& max); | ||
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//////////////////// Inherited from ConstraintResolution //////////////////// | ||
void init(int line, double** w, double *lambda) override; | ||
void resolution(int line, double** w, double* d, double* lambda, double* dfree) override; | ||
///////////////////////////////////////////////////////////////////////////// | ||
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protected: | ||
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double m_wActuatorActuator; | ||
double m_imposedDisplacement; | ||
double m_minForce; | ||
double m_maxForce; | ||
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}; | ||
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class JointForceConstraintResolution : public ConstraintResolution | ||
{ | ||
public: | ||
JointForceConstraintResolution(const double& imposedForce, const double& min, const double& max); | ||
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//////////////////// Inherited from ConstraintResolution //////////////////// | ||
void init(int line, double** w, double *force) override; | ||
void resolution(int line, double** w, double* d, double* force, double* dfree) override; | ||
///////////////////////////////////////////////////////////////////////////// | ||
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protected: | ||
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double m_wActuatorActuator; | ||
double m_imposedForce; | ||
double m_minDisplacement; | ||
double m_maxDisplacement; | ||
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}; | ||
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template< class DataTypes > | ||
class JointConstraint : public SoftRobotsConstraint<DataTypes> | ||
{ | ||
public: | ||
SOFA_CLASS(SOFA_TEMPLATE(JointConstraint,DataTypes), SOFA_TEMPLATE(SoftRobotsConstraint,DataTypes)); | ||
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typedef typename DataTypes::VecCoord VecCoord; | ||
typedef typename DataTypes::VecDeriv VecDeriv; | ||
typedef typename DataTypes::Coord Coord; | ||
typedef typename DataTypes::Deriv Deriv; | ||
typedef typename DataTypes::MatrixDeriv MatrixDeriv; | ||
typedef typename Coord::value_type Real; | ||
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typedef typename sofa::core::behavior::MechanicalState<DataTypes> MechanicalState; | ||
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typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; | ||
typedef sofa::Data<VecCoord> DataVecCoord; | ||
typedef sofa::Data<VecDeriv> DataVecDeriv; | ||
typedef sofa::Data<MatrixDeriv> DataMatrixDeriv; | ||
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typedef sofa::type::vector<unsigned int> SetIndexArray; | ||
using SoftRobotsBaseConstraint::m_constraintType ; | ||
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public: | ||
JointConstraint(MechanicalState* object = nullptr); | ||
~JointConstraint() override; | ||
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/////////////// Inherited from BaseObject ////////////////////// | ||
void init() override; | ||
void reinit() override; | ||
/////////////////////////////////////////////////////////////// | ||
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//////////////// Inherited from SoftRobotsConstraint /////////////// | ||
void buildConstraintMatrix(const ConstraintParams* cParams , | ||
DataMatrixDeriv &cMatrix, | ||
unsigned int &cIndex, | ||
const DataVecCoord &x) override; | ||
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void getConstraintViolation(const ConstraintParams* cParams , | ||
BaseVector *resV, | ||
const BaseVector *Jdx) override; | ||
///////////////////////////////////////////////////////////////////////// | ||
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/////////////////// Inherited from BaseConstraint /////////////// | ||
void getConstraintResolution(const sofa::core::ConstraintParams *cParam, | ||
std::vector<ConstraintResolution*>& resTab, | ||
unsigned int& offset) override; | ||
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//////////////////////////////////////////////////////////////// | ||
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/////////////// Inherited from BaseSoftRobotsConstraint ///////////// | ||
void storeLambda(const ConstraintParams* cParams, | ||
sofa::core::MultiVecDerivId res, | ||
const BaseVector* lambda) override; | ||
///////////////////////////////////////////////////////////// | ||
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protected: | ||
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////////////////////////// Inherited attributes //////////////////////////// | ||
using SoftRobotsConstraint<DataTypes>::m_state ; | ||
using SoftRobotsConstraint<DataTypes>::m_constraintId ; | ||
using SoftRobotsConstraint<DataTypes>::m_nbLines ; | ||
using SoftRobotsConstraint<DataTypes>::d_componentState ; | ||
//////////////////////////////////////////////////////////////////////////// | ||
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//Input data | ||
sofa::Data<unsigned int> d_index; ///< indice of considered node | ||
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sofa::Data<double> d_force; ///< force applied on the points | ||
sofa::Data<double> d_displacement; ///< displacement of the points | ||
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sofa::Data<double> d_maxForce; ///< maximum force applied on the points | ||
sofa::Data<double> d_minForce; ///< minimum force applied on the points | ||
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sofa::Data<double> d_maxPositiveDisplacement; ///< maximum displacement of the points in the positive direction | ||
sofa::Data<double> d_maxNegativeDisplacement; ///< maximum displacement of the points in the negative direction | ||
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sofa::Data<double> d_value; | ||
sofa::Data<sofa::helper::OptionsGroup> d_valueType; | ||
// displacement = the constraint will impose the displacement provided in data d_inputValue[d_iputIndex] | ||
// force = the constraint will impose the force provided in data d_inputValue[d_iputIndex] | ||
void internalInit(); | ||
void checkIndicesRegardingState(); | ||
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double m_initAngle; | ||
double m_currentAngle; | ||
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private: | ||
void setUpDisplacementLimits(double& imposedValue, double& minForce, double& maxForce); | ||
void setUpForceLimits(double& imposedValue, double& minDisplacement, double& maxDisplacement); | ||
}; | ||
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// #if !defined(SOFTROBOTS_JOINTCONSTRAINT_CPP) | ||
// extern template class SOFA_SOFTROBOTS_API JointConstraint<sofa::defaulttype::Vec1Types>; | ||
// #endif | ||
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} // namespace | ||
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