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462 lines
15 KiB
C++
462 lines
15 KiB
C++
#include "MultiBodyTree.hpp"
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#include <cmath>
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#include <limits>
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#include <vector>
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#include "IDMath.hpp"
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#include "details/MultiBodyTreeImpl.hpp"
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#include "details/MultiBodyTreeInitCache.hpp"
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namespace btInverseDynamics {
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MultiBodyTree::MultiBodyTree()
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: m_is_finalized(false),
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m_mass_parameters_are_valid(true),
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m_accept_invalid_mass_parameters(false),
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m_impl(0x0),
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m_init_cache(0x0) {
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m_init_cache = new InitCache();
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}
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MultiBodyTree::~MultiBodyTree() {
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delete m_impl;
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delete m_init_cache;
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}
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void MultiBodyTree::setAcceptInvalidMassParameters(bool flag) {
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m_accept_invalid_mass_parameters = flag;
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}
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bool MultiBodyTree::getAcceptInvalidMassProperties() const {
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return m_accept_invalid_mass_parameters;
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}
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int MultiBodyTree::getBodyOrigin(const int body_index, vec3 *world_origin) const {
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return m_impl->getBodyOrigin(body_index, world_origin);
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}
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int MultiBodyTree::getBodyCoM(const int body_index, vec3 *world_com) const {
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return m_impl->getBodyCoM(body_index, world_com);
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}
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int MultiBodyTree::getBodyTransform(const int body_index, mat33 *world_T_body) const {
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return m_impl->getBodyTransform(body_index, world_T_body);
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}
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int MultiBodyTree::getBodyAngularVelocity(const int body_index, vec3 *world_omega) const {
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return m_impl->getBodyAngularVelocity(body_index, world_omega);
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}
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int MultiBodyTree::getBodyLinearVelocity(const int body_index, vec3 *world_velocity) const {
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return m_impl->getBodyLinearVelocity(body_index, world_velocity);
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}
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int MultiBodyTree::getBodyLinearVelocityCoM(const int body_index, vec3 *world_velocity) const {
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return m_impl->getBodyLinearVelocityCoM(body_index, world_velocity);
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}
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int MultiBodyTree::getBodyAngularAcceleration(const int body_index, vec3 *world_dot_omega) const {
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return m_impl->getBodyAngularAcceleration(body_index, world_dot_omega);
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}
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int MultiBodyTree::getBodyLinearAcceleration(const int body_index, vec3 *world_acceleration) const {
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return m_impl->getBodyLinearAcceleration(body_index, world_acceleration);
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}
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int MultiBodyTree::getParentRParentBodyRef(const int body_index, vec3* r) const {
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return m_impl->getParentRParentBodyRef(body_index, r);
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}
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int MultiBodyTree::getBodyTParentRef(const int body_index, mat33* T) const {
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return m_impl->getBodyTParentRef(body_index, T);
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}
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int MultiBodyTree::getBodyAxisOfMotion(const int body_index, vec3* axis) const {
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return m_impl->getBodyAxisOfMotion(body_index, axis);
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}
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void MultiBodyTree::printTree() { m_impl->printTree(); }
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void MultiBodyTree::printTreeData() { m_impl->printTreeData(); }
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int MultiBodyTree::numBodies() const { return m_impl->m_num_bodies; }
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int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; }
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int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u,
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vecx *joint_forces) {
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if (false == m_is_finalized) {
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces)) {
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bt_id_error_message("error in inverse dynamics calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinematics,
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const bool initialize_matrix,
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const bool set_lower_triangular_matrix, matxx *mass_matrix) {
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if (false == m_is_finalized) {
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 ==
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m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix,
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set_lower_triangular_matrix, mass_matrix)) {
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bt_id_error_message("error in mass matrix calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::calculateMassMatrix(const vecx &q, matxx *mass_matrix) {
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return calculateMassMatrix(q, true, true, true, mass_matrix);
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}
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int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx& dot_u) {
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vec3 world_gravity(m_impl->m_world_gravity);
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// temporarily set gravity to zero, to ensure we get the actual accelerations
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setZero(m_impl->m_world_gravity);
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if (false == m_is_finalized) {
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateKinematics(q, u, dot_u,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION)) {
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bt_id_error_message("error in kinematics calculation\n");
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return -1;
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}
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m_impl->m_world_gravity=world_gravity;
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return 0;
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}
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int MultiBodyTree::calculatePositionKinematics(const vecx& q) {
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if (false == m_is_finalized) {
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateKinematics(q, q, q,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
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bt_id_error_message("error in kinematics calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u) {
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if (false == m_is_finalized) {
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateKinematics(q, u, u,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
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bt_id_error_message("error in kinematics calculation\n");
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return -1;
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}
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return 0;
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}
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#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
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int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) {
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if (false == m_is_finalized) {
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateJacobians(q, u,
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MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
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bt_id_error_message("error in jacobian calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::calculateJacobians(const vecx& q){
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if (false == m_is_finalized) {
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bt_id_error_message("system has not been initialized\n");
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return -1;
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}
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if (-1 == m_impl->calculateJacobians(q, q,
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MultiBodyTree::MultiBodyImpl::POSITION_ONLY)) {
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bt_id_error_message("error in jacobian calculation\n");
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return -1;
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}
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return 0;
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}
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int MultiBodyTree::getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const {
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return m_impl->getBodyDotJacobianTransU(body_index,world_dot_jac_trans_u);
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}
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int MultiBodyTree::getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const {
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return m_impl->getBodyDotJacobianRotU(body_index,world_dot_jac_rot_u);
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}
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int MultiBodyTree::getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const {
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return m_impl->getBodyJacobianTrans(body_index,world_jac_trans);
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}
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int MultiBodyTree::getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const {
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return m_impl->getBodyJacobianRot(body_index,world_jac_rot);
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}
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#endif
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int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_type,
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const vec3 &parent_r_parent_body_ref, const mat33 &body_T_parent_ref,
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const vec3 &body_axis_of_motion_, idScalar mass,
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const vec3 &body_r_body_com, const mat33 &body_I_body,
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const int user_int, void *user_ptr) {
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if (body_index < 0) {
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bt_id_error_message("body index must be positive (got %d)\n", body_index);
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return -1;
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}
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vec3 body_axis_of_motion(body_axis_of_motion_);
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switch (joint_type) {
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case REVOLUTE:
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case PRISMATIC:
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// check if axis is unit vector
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if (!isUnitVector(body_axis_of_motion)) {
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bt_id_warning_message(
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"axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n",
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body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2));
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idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) +
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BT_ID_POW(body_axis_of_motion(1), 2) +
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BT_ID_POW(body_axis_of_motion(2), 2));
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if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min())) {
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bt_id_error_message("axis of motion vector too short (%e)\n", length);
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return -1;
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}
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body_axis_of_motion = (1.0 / length) * body_axis_of_motion;
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}
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break;
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case FIXED:
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break;
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case FLOATING:
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break;
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default:
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bt_id_error_message("unknown joint type %d\n", joint_type);
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return -1;
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}
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// sanity check for mass properties. Zero mass is OK.
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if (mass < 0) {
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m_mass_parameters_are_valid = false;
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bt_id_error_message("Body %d has invalid mass %e\n", body_index, mass);
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if (!m_accept_invalid_mass_parameters) {
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return -1;
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}
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}
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if (!isValidInertiaMatrix(body_I_body, body_index, FIXED == joint_type)) {
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m_mass_parameters_are_valid = false;
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// error message printed in function call
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if (!m_accept_invalid_mass_parameters) {
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return -1;
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}
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}
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if (!isValidTransformMatrix(body_T_parent_ref)) {
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return -1;
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}
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return m_init_cache->addBody(body_index, parent_index, joint_type, parent_r_parent_body_ref,
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body_T_parent_ref, body_axis_of_motion, mass, body_r_body_com,
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body_I_body, user_int, user_ptr);
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}
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int MultiBodyTree::getParentIndex(const int body_index, int *parent_index) const {
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return m_impl->getParentIndex(body_index, parent_index);
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}
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int MultiBodyTree::getUserInt(const int body_index, int *user_int) const {
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return m_impl->getUserInt(body_index, user_int);
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}
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int MultiBodyTree::getUserPtr(const int body_index, void **user_ptr) const {
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return m_impl->getUserPtr(body_index, user_ptr);
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}
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int MultiBodyTree::setUserInt(const int body_index, const int user_int) {
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return m_impl->setUserInt(body_index, user_int);
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}
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int MultiBodyTree::setUserPtr(const int body_index, void *const user_ptr) {
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return m_impl->setUserPtr(body_index, user_ptr);
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}
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int MultiBodyTree::finalize() {
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const int &num_bodies = m_init_cache->numBodies();
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const int &num_dofs = m_init_cache->numDoFs();
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if(num_dofs<=0) {
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bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
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//return -1;
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}
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// 1 allocate internal MultiBody structure
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m_impl = new MultiBodyImpl(num_bodies, num_dofs);
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// 2 build new index set assuring index(parent) < index(child)
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if (-1 == m_init_cache->buildIndexSets()) {
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return -1;
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}
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m_init_cache->getParentIndexArray(&m_impl->m_parent_index);
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// 3 setup internal kinematic and dynamic data
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for (int index = 0; index < num_bodies; index++) {
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InertiaData inertia;
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JointData joint;
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if (-1 == m_init_cache->getInertiaData(index, &inertia)) {
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return -1;
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}
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if (-1 == m_init_cache->getJointData(index, &joint)) {
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return -1;
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}
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RigidBody &rigid_body = m_impl->m_body_list[index];
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rigid_body.m_mass = inertia.m_mass;
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rigid_body.m_body_mass_com = inertia.m_mass * inertia.m_body_pos_body_com;
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rigid_body.m_body_I_body = inertia.m_body_I_body;
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rigid_body.m_joint_type = joint.m_type;
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rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
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rigid_body.m_body_T_parent_ref = joint.m_child_T_parent_ref;
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rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
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rigid_body.m_joint_type = joint.m_type;
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int user_int;
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if (-1 == m_init_cache->getUserInt(index, &user_int)) {
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return -1;
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}
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if (-1 == m_impl->setUserInt(index, user_int)) {
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return -1;
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}
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void* user_ptr;
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if (-1 == m_init_cache->getUserPtr(index, &user_ptr)) {
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return -1;
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}
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if (-1 == m_impl->setUserPtr(index, user_ptr)) {
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return -1;
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}
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// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
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// matrices.
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switch (rigid_body.m_joint_type) {
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case REVOLUTE:
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rigid_body.m_Jac_JR(0) = joint.m_child_axis_of_motion(0);
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rigid_body.m_Jac_JR(1) = joint.m_child_axis_of_motion(1);
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rigid_body.m_Jac_JR(2) = joint.m_child_axis_of_motion(2);
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rigid_body.m_Jac_JT(0) = 0.0;
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rigid_body.m_Jac_JT(1) = 0.0;
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rigid_body.m_Jac_JT(2) = 0.0;
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break;
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case PRISMATIC:
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rigid_body.m_Jac_JR(0) = 0.0;
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rigid_body.m_Jac_JR(1) = 0.0;
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rigid_body.m_Jac_JR(2) = 0.0;
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rigid_body.m_Jac_JT(0) = joint.m_child_axis_of_motion(0);
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rigid_body.m_Jac_JT(1) = joint.m_child_axis_of_motion(1);
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rigid_body.m_Jac_JT(2) = joint.m_child_axis_of_motion(2);
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break;
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case FIXED:
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// NOTE/TODO: dimension really should be zero ..
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rigid_body.m_Jac_JR(0) = 0.0;
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rigid_body.m_Jac_JR(1) = 0.0;
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rigid_body.m_Jac_JR(2) = 0.0;
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rigid_body.m_Jac_JT(0) = 0.0;
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rigid_body.m_Jac_JT(1) = 0.0;
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rigid_body.m_Jac_JT(2) = 0.0;
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break;
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case FLOATING:
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// NOTE/TODO: this is not really correct.
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// the Jacobians should be 3x3 matrices here !
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rigid_body.m_Jac_JR(0) = 0.0;
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rigid_body.m_Jac_JR(1) = 0.0;
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rigid_body.m_Jac_JR(2) = 0.0;
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rigid_body.m_Jac_JT(0) = 0.0;
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rigid_body.m_Jac_JT(1) = 0.0;
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rigid_body.m_Jac_JT(2) = 0.0;
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break;
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default:
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bt_id_error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
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return -1;
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}
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}
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// 4 assign degree of freedom indices & build per-joint-type index arrays
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if (-1 == m_impl->generateIndexSets()) {
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bt_id_error_message("generating index sets\n");
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return -1;
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}
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// 5 do some pre-computations ..
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m_impl->calculateStaticData();
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// 6. make sure all user forces are set to zero, as this might not happen
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// in the vector ctors.
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m_impl->clearAllUserForcesAndMoments();
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m_is_finalized = true;
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return 0;
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}
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int MultiBodyTree::setGravityInWorldFrame(const vec3 &gravity) {
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return m_impl->setGravityInWorldFrame(gravity);
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}
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int MultiBodyTree::getJointType(const int body_index, JointType *joint_type) const {
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return m_impl->getJointType(body_index, joint_type);
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}
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int MultiBodyTree::getJointTypeStr(const int body_index, const char **joint_type) const {
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return m_impl->getJointTypeStr(body_index, joint_type);
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}
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int MultiBodyTree::getDoFOffset(const int body_index, int *q_offset) const {
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return m_impl->getDoFOffset(body_index, q_offset);
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}
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int MultiBodyTree::setBodyMass(const int body_index, idScalar mass) {
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return m_impl->setBodyMass(body_index, mass);
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}
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int MultiBodyTree::setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment) {
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return m_impl->setBodyFirstMassMoment(body_index, first_mass_moment);
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}
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int MultiBodyTree::setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment) {
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return m_impl->setBodySecondMassMoment(body_index, second_mass_moment);
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}
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int MultiBodyTree::getBodyMass(const int body_index, idScalar *mass) const {
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return m_impl->getBodyMass(body_index, mass);
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}
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int MultiBodyTree::getBodyFirstMassMoment(const int body_index, vec3 *first_mass_moment) const {
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return m_impl->getBodyFirstMassMoment(body_index, first_mass_moment);
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}
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int MultiBodyTree::getBodySecondMassMoment(const int body_index, mat33 *second_mass_moment) const {
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return m_impl->getBodySecondMassMoment(body_index, second_mass_moment);
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}
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void MultiBodyTree::clearAllUserForcesAndMoments() { m_impl->clearAllUserForcesAndMoments(); }
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int MultiBodyTree::addUserForce(const int body_index, const vec3 &body_force) {
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return m_impl->addUserForce(body_index, body_force);
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}
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int MultiBodyTree::addUserMoment(const int body_index, const vec3 &body_moment) {
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return m_impl->addUserMoment(body_index, body_moment);
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}
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}
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