/// Set body-relative coord. and update auxiliary variables
/// Also, current position becomes the 'resting position' coordinates
/// for the current time.
public void Impose_Rel_Coord(ChCoordsys m_coord)
{
ChQuaternion qtemp;// = new ChQuaternion(1, 0, 0, 0);
// set the actual coordinates
FrameMoving.SetCoord(m_coord);
// set the resting position coordinates
rest_coord.pos.x = m_coord.pos.x - motion_X.Get_y(ChTime);
rest_coord.pos.y = m_coord.pos.y - motion_Y.Get_y(ChTime);
rest_coord.pos.z = m_coord.pos.z - motion_Z.Get_y(ChTime);
qtemp = ChQuaternion.Q_from_AngAxis2(-(motion_ang.Get_y(ChTime)), motion_axis);
rest_coord.rot = ChQuaternion.Qcross(m_coord.rot, qtemp); // ***%%% check
// set also the absolute positions, and other.
UpdateState();
}
public override void update(double mytime, bool update_assets)
{
// Inherit parent class:
base.update(mytime, update_assets);
// Override the rotational jacobian [Cq] and the rotational residual C,
// by assuming an additional hidden frame that rotates about frame2:
if (this.Body1 != null && this.Body2 != null)
{
ChFrame <double> aframe1 = ChFrame <double> .BitShiftRight(this.frame1, (this.Body1));
ChFrame <double> aframe2 = ChFrame <double> .BitShiftRight(this.frame2, (this.Body2));
ChFrame <double> aframe12 = new ChFrame <double>();
aframe2.TransformParentToLocal(aframe1, aframe12);
ChFrame <double> aframe2rotating = new ChFrame <double>();
double aux_rotation;
if (this.avoid_angle_drift)
{
aux_rotation = this.aux_dt + this.rot_offset;
}
else
{
// to have it aligned to current rot, to allow C=0.
aux_rotation = aframe12.GetRot().Q_to_Rotv().z;
}
aframe2rotating.SetRot(aframe2.GetRot() * ChQuaternion.Q_from_AngAxis2(aux_rotation, ChVector.VECT_Z));
// TODO this needs to be addressed, with it it causes rotation problems, seems to work fine without the TransformParentToLocal?
ChFrame <double> aframe12rotating = new ChFrame <double>();
// aframe2rotating.TransformParentToLocal(aframe1, aframe12rotating);
ChMatrix33 <double> Jw1 = new ChMatrix33 <double>();
ChMatrix33 <double> Jw2 = new ChMatrix33 <double>();
ChMatrix33 <double> mtempM = new ChMatrix33 <double>();
ChMatrix33 <double> mtempQ = new ChMatrix33 <double>();
ChMatrix33 <double> abs_plane_rotating = aframe2rotating.GetA();
Jw1.nm.matrix.MatrTMultiply(abs_plane_rotating.nm.matrix, Body1.GetA().nm.matrix);
Jw2.nm.matrix.MatrTMultiply(abs_plane_rotating.nm.matrix, Body2.GetA().nm.matrix);
Jw2.nm.matrix.MatrNeg();
// TODO this also needs to be addressed, with it it causes rotation problems/
// Premultiply by Jw1 and Jw2 by 0.5*[Fp(q_resid)]' to get residual as imaginary part of a quaternion.
/* mtempM.Set_X_matrix((aframe12rotating.GetRot().GetVector()) * 0.5);
* mtempM[0, 0] = 0.5 * aframe12rotating.GetRot().e0;
* mtempM[1, 1] = 0.5 * aframe12rotating.GetRot().e0;
* mtempM[2, 2] = 0.5 * aframe12rotating.GetRot().e0;
* mtempQ.MatrTMultiply(mtempM, Jw1);
* Jw1 = mtempQ;
* mtempQ.MatrTMultiply(mtempM, Jw2);
* Jw2 = mtempQ;*/
int nc = 0;
if (c_x)
{
nc++;
}
if (c_y)
{
nc++;
}
if (c_z)
{
nc++;
}
if (c_rx)
{
this.C.matrix.ElementN(nc) = aframe12rotating.GetRot().e1;
this.mask.Constr_N(nc).Get_Cq_a().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_b().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_a().PasteClippedMatrix(Jw1.nm.matrix, 0, 0, 1, 3, 0, 3);
this.mask.Constr_N(nc).Get_Cq_b().PasteClippedMatrix(Jw2.nm.matrix, 0, 0, 1, 3, 0, 3);
nc++;
}
if (c_ry)
{
this.C.matrix.ElementN(nc) = aframe12rotating.GetRot().e2;
this.mask.Constr_N(nc).Get_Cq_a().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_b().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_a().PasteClippedMatrix(Jw1.nm.matrix, 1, 0, 1, 3, 0, 3);
this.mask.Constr_N(nc).Get_Cq_b().PasteClippedMatrix(Jw2.nm.matrix, 1, 0, 1, 3, 0, 3);
nc++;
}
if (c_rz)
{
this.C.matrix.ElementN(nc) = aframe12rotating.GetRot().e3;
this.mask.Constr_N(nc).Get_Cq_a().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_b().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_a().PasteClippedMatrix(Jw1.nm.matrix, 2, 0, 1, 3, 0, 3);
this.mask.Constr_N(nc).Get_Cq_b().PasteClippedMatrix(Jw2.nm.matrix, 2, 0, 1, 3, 0, 3);
nc++;
}
}
}
//
// UPDATING
//
/// Updates the time.dependant variables (ex: ChFunction objects
/// which impose the body-relative motion, etc.)
public void UpdateTime(double mytime)
{
ChCoordsys csys = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
ChCoordsys csys_dt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
ChCoordsys csys_dtdt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
ChQuaternion qtemp;// = new ChQuaternion(1, 0, 0, 0);
double ang, ang_dt, ang_dtdt;
ChTime = mytime;
// if a imposed motion (keyframed movement) affects the marker position (example,from R3D animation system),
// compute the speed and acceleration values by BDF (example,see the UpdatedExternalTime() function, later)
// so the updating via motion laws can be skipped!
if (motion_type == eChMarkerMotion.M_MOTION_KEYFRAMED)
{
return;
}
// skip relative-position-functions evaluation also if
// someone is already handling this from outside..
if (motion_type == eChMarkerMotion.M_MOTION_EXTERNAL)
{
return;
}
// positions:
// update positions: rel_pos
csys.pos.x = motion_X.Get_y(mytime);
csys.pos.y = motion_Y.Get_y(mytime);
csys.pos.z = motion_Z.Get_y(mytime);
if (motion_X.Get_Type() != ChFunction.FunctionType.FUNCT_MOCAP)
{
csys.pos += rest_coord.pos;
}
// update speeds: rel_pos_dt
csys_dt.pos.x = motion_X.Get_y_dx(mytime);
csys_dt.pos.y = motion_Y.Get_y_dx(mytime);
csys_dt.pos.z = motion_Z.Get_y_dx(mytime);
// update accelerations
csys_dtdt.pos.x = motion_X.Get_y_dxdx(mytime);
csys_dtdt.pos.y = motion_Y.Get_y_dxdx(mytime);
csys_dtdt.pos.z = motion_Z.Get_y_dxdx(mytime);
// rotations:
ang = motion_ang.Get_y(mytime);
ang_dt = motion_ang.Get_y_dx(mytime);
ang_dtdt = motion_ang.Get_y_dxdx(mytime);
if ((ang != 0) || (ang_dt != 0) || (ang_dtdt != 0))
{
// update q
ChVector motion_axis_versor = ChVector.Vnorm(motion_axis);
qtemp = ChQuaternion.Q_from_AngAxis2(ang, motion_axis_versor);
csys.rot = ChQuaternion.Qcross(qtemp, rest_coord.rot);
// update q_dt
csys_dt.rot = ChQuaternion.Qdt_from_AngAxis(csys.rot, ang_dt, motion_axis_versor);
// update q_dtdt
csys_dtdt.rot = ChQuaternion.Qdtdt_from_AngAxis(ang_dtdt, motion_axis_versor, csys.rot, csys_dt.rot);
}
else
{
csys.rot = FrameMoving.coord.rot; // rel_pos.rot;
csys_dt.rot = ChQuaternion.QNULL;
csys_dtdt.rot = ChQuaternion.QNULL;
}
// Set the position, speed and acceleration in relative space,
// automatically getting also the absolute values,
if (!(csys == this.FrameMoving.coord))
{
FrameMoving.SetCoord(csys);
}
if (!(csys_dt == this.FrameMoving.coord_dt) || !(csys_dt.rot == new ChQuaternion(0, 0, 0, 0)))
{
FrameMoving.SetCoord_dt(csys_dt);
}
if (!(csys_dtdt == this.FrameMoving.coord_dtdt) || !(csys_dtdt.rot == new ChQuaternion(0, 0, 0, 0)))
{
FrameMoving.SetCoord_dtdt(csys_dtdt);
}
}
public override void update(double mytime, bool update_assets)
{
// Inherit parent class:
base.update(mytime, update_assets);
// Override the rotational jacobian [Cq] and the rotational residual C,
// by assuming an additional hidden frame that rotates about frame2:
if (this.Body1 != null && this.Body2 != null)
{
ChFrame <double> aframe1 = this.frame1.BitShiftRight(this.Body1);
ChFrame <double> aframe2 = this.frame2.BitShiftRight(this.Body2);
ChFrame <double> aframe12 = new ChFrame <double>();// ChFrame<double>.FNULL;
aframe2.TransformParentToLocal(aframe1, aframe12);
ChFrame <double> aframe2rotating = new ChFrame <double>();// ChFrame<double>.FNULL;
double aux_rotation;
aux_rotation = m_func.Get_y(mytime) + rot_offset;
aframe2rotating.SetRot(aframe2.GetRot() * ChQuaternion.Q_from_AngAxis2(aux_rotation, ChVector.VECT_Z));
ChFrame <double> aframe12rotating = new ChFrame <double>();
// aframe2rotating.TransformParentToLocal(aframe1, aframe12rotating);
ChMatrix33 <double> Jw1 = new ChMatrix33 <double>(0), Jw2 = new ChMatrix33 <double>(0);
ChMatrix33 <double> mtempM = new ChMatrix33 <double>(0), mtempQ = new ChMatrix33 <double>(0);
ChMatrix33 <double> abs_plane_rotating = aframe2rotating.GetA();
Jw1.nm.matrix.MatrTMultiply(abs_plane_rotating.nm.matrix, Body1.GetA().nm.matrix);
Jw2.nm.matrix.MatrTMultiply(abs_plane_rotating.nm.matrix, Body2.GetA().nm.matrix);
Jw2.nm.matrix.MatrNeg();
// Premultiply by Jw1 and Jw2 by 0.5*[Fp(q_resid)]' to get residual as imaginary part of a quaternion.
/* mtempM.Set_X_matrix((aframe12rotating.GetRot().GetVector()) * 0.5);
* mtempM.nm.matrix[0, 0] = 0.5 * aframe12rotating.GetRot().e0;
* mtempM.nm.matrix[1, 1] = 0.5 * aframe12rotating.GetRot().e0;
* mtempM.nm.matrix[2, 2] = 0.5 * aframe12rotating.GetRot().e0;
* mtempQ.nm.matrix.MatrTMultiply(mtempM.nm.matrix, Jw1.nm.matrix);
* Jw1 = mtempQ;
* mtempQ.nm.matrix.MatrTMultiply(mtempM.nm.matrix, Jw2.nm.matrix);
* Jw2 = mtempQ;*/
int nc = 0;
if (c_x)
{
nc++;
}
if (c_y)
{
nc++;
}
if (c_z)
{
nc++;
}
if (c_rx)
{
this.C.matrix.ElementN(nc) = aframe12rotating.GetRot().e1;
this.mask.Constr_N(nc).Get_Cq_a().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_b().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_a().PasteClippedMatrix(Jw1.nm.matrix, 0, 0, 1, 3, 0, 3);
this.mask.Constr_N(nc).Get_Cq_b().PasteClippedMatrix(Jw2.nm.matrix, 0, 0, 1, 3, 0, 3);
nc++;
}
if (c_ry)
{
this.C.matrix.ElementN(nc) = aframe12rotating.GetRot().e2;
this.mask.Constr_N(nc).Get_Cq_a().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_b().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_a().PasteClippedMatrix(Jw1.nm.matrix, 1, 0, 1, 3, 0, 3);
this.mask.Constr_N(nc).Get_Cq_b().PasteClippedMatrix(Jw2.nm.matrix, 1, 0, 1, 3, 0, 3);
nc++;
}
if (c_rz)
{
this.C.matrix.ElementN(nc) = aframe12rotating.GetRot().e3;
this.mask.Constr_N(nc).Get_Cq_a().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_b().FillElem(0);
this.mask.Constr_N(nc).Get_Cq_a().PasteClippedMatrix(Jw1.nm.matrix, 2, 0, 1, 3, 0, 3);
this.mask.Constr_N(nc).Get_Cq_b().PasteClippedMatrix(Jw2.nm.matrix, 2, 0, 1, 3, 0, 3);
nc++;
}
}
}
/// Updates motion laws, etc. for the impose rotation / impose speed modes
public override void UpdateTime(double mytime)
{
// First, inherit to parent class
base.UpdateTime(mytime);
if (!IsActive())
{
return;
}
// DEFAULTS compute rotation vars...
// by default for torque control..
motion_axis = ChVector.VECT_Z; // motion axis is always the marker2 Z axis (in m2 relative coords)
mot_rot = relAngle;
mot_rot_dt = ChVector.Vdot(relWvel, motion_axis);
mot_rot_dtdt = ChVector.Vdot(relWacc, motion_axis);
mot_rerot = mot_rot / mot_tau;
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
// nothing more to do here for torque control
if (eng_mode == eCh_eng_mode.ENG_MODE_TORQUE)
{
return;
}
// If LEARN MODE, just record motion
if (learn)
{
deltaC.pos = ChVector.VNULL;
deltaC_dt.pos = ChVector.VNULL;
deltaC_dtdt.pos = ChVector.VNULL;
if (!(limit_Rx.Get_active() || limit_Ry.Get_active() || limit_Rz.Get_active()))
{
deltaC.rot = ChQuaternion.QUNIT;
deltaC_dt.rot = ChQuaternion.QNULL;
deltaC_dtdt.rot = ChQuaternion.QNULL;
}
if (eng_mode == eCh_eng_mode.ENG_MODE_ROTATION)
{
if (rot_funct.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
{
rot_funct = new ChFunction_Recorder();
}
// record point
double rec_rot = relAngle; // ***TO DO*** compute also rotations with cardano mode?
if (impose_reducer)
{
rec_rot = rec_rot / mot_tau;
}
ChFunction_Recorder rec = (ChFunction_Recorder)rot_funct;
rec.AddPoint(mytime, rec_rot, 1); // x=t
}
if (eng_mode == eCh_eng_mode.ENG_MODE_SPEED)
{
if (spe_funct.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
{
spe_funct = new ChFunction_Recorder();
}
// record point
double rec_spe = ChVector.Vlength(relWvel); // ***TO DO*** compute also with cardano mode?
if (impose_reducer)
{
rec_spe = rec_spe / mot_tau;
}
ChFunction_Recorder rec = (ChFunction_Recorder)spe_funct;
rec.AddPoint(mytime, rec_spe, 1); // x=t
}
}
if (learn)
{
return; // no need to go on further...--.>>>
}
// Impose relative positions/speeds
deltaC.pos = ChVector.VNULL;
deltaC_dt.pos = ChVector.VNULL;
deltaC_dtdt.pos = ChVector.VNULL;
if (eng_mode == eCh_eng_mode.ENG_MODE_ROTATION)
{
if (impose_reducer)
{
mot_rerot = rot_funct.Get_y(ChTime);
mot_rerot_dt = rot_funct.Get_y_dx(ChTime);
mot_rerot_dtdt = rot_funct.Get_y_dxdx(ChTime);
mot_rot = mot_rerot * mot_tau;
mot_rot_dt = mot_rerot_dt * mot_tau;
mot_rot_dtdt = mot_rerot_dtdt * mot_tau;
}
else
{
mot_rot = rot_funct.Get_y(ChTime);
mot_rot_dt = rot_funct.Get_y_dx(ChTime);
mot_rot_dtdt = rot_funct.Get_y_dxdx(ChTime);
mot_rerot = mot_rot / mot_tau;
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
}
deltaC.rot = ChQuaternion.Q_from_AngAxis2(mot_rot, motion_axis);
deltaC_dt.rot = ChQuaternion.Qdt_from_AngAxis(deltaC.rot, mot_rot_dt, motion_axis);
deltaC_dtdt.rot = ChQuaternion.Qdtdt_from_AngAxis(mot_rot_dtdt, motion_axis, deltaC.rot, deltaC_dt.rot);
}
if (eng_mode == eCh_eng_mode.ENG_MODE_SPEED)
{
if (impose_reducer)
{
mot_rerot_dt = spe_funct.Get_y(ChTime);
mot_rerot_dtdt = spe_funct.Get_y_dx(ChTime);
mot_rot_dt = mot_rerot_dt * mot_tau;
mot_rot_dtdt = mot_rerot_dtdt * mot_tau;
}
else
{
mot_rot_dt = spe_funct.Get_y(ChTime);
mot_rot_dtdt = spe_funct.Get_y_dx(ChTime);
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
}
deltaC.rot = ChQuaternion.Qnorm(GetRelM().rot); // just keep current position, -assume always good after integration-.
ChMatrix33 <double> relA = new ChMatrix33 <double>(0);
relA.Set_A_quaternion(GetRelM().rot); // ..but adjust to keep Z axis aligned to shaft, anyway!
ChVector displaced_z_axis = relA.Get_A_Zaxis();
ChVector adjustment = ChVector.Vcross(displaced_z_axis, ChVector.VECT_Z);
deltaC.rot = ChQuaternion.Q_from_AngAxis2(ChVector.Vlength(adjustment), ChVector.Vnorm(adjustment)) % deltaC.rot;
deltaC_dt.rot = ChQuaternion.Qdt_from_AngAxis(deltaC.rot, mot_rot_dt, motion_axis);
deltaC_dtdt.rot = ChQuaternion.Qdtdt_from_AngAxis(mot_rot_dtdt, motion_axis, deltaC.rot, deltaC_dt.rot);
}
}
