def velocities(robo):
symo = Symoro(None)
symo.file_open(robo, 'vel')
symo.write_params_table(robo, 'Link velocities')
antRj, antPj = compute_rot_trans(robo, symo)
w = Init.init_w(robo)
v = Init.init_v(robo)
for j in xrange(1, robo.NL):
jRant = antRj[j].T
qdj = Z_AXIS * robo.qdot[j]
wi = _omega_i(robo, symo, j, jRant, w)
w[j] = _omega_j(robo, j, jRant, w, wi, qdj)
symo.mat_replace(w[j], 'W', j, forced=True)
_v_j(robo, j, antPj, jRant, v, w, qdj)
symo.mat_replace(v[j], 'V', j, forced=True)
symo.file_close()
return symo
def inertia_matrix(robo):
"""Computes Inertia Matrix using composed link
Parameters
==========
robo : Robot
Instance of robot description container
Returns
=======
symo.sydi : dictionary
Dictionary with the information of all the sybstitution
"""
Jplus, MSplus, Mplus = Init.init_Jplus(robo)
AJE1 = Init.init_vec(robo)
f = Init.init_vec(robo, ext=1)
n = Init.init_vec(robo, ext=1)
A = sympy.zeros(robo.NL, robo.NL)
symo = Symoro()
symo.file_open(robo, 'inm')
title = 'Inertia Matrix using composite links'
symo.write_params_table(robo, title, inert=True, dynam=True)
# init transformation
antRj, antPj = compute_rot_trans(robo, symo)
for j in reversed(xrange(-1, robo.NL)):
replace_Jplus(robo, symo, j, Jplus, MSplus, Mplus)
if j != - 1:
compute_Jplus(robo, symo, j, antRj, antPj,
Jplus, MSplus, Mplus, AJE1)
for j in xrange(1, robo.NL):
compute_A_diagonal(robo, symo, j, Jplus, MSplus, Mplus, f, n, A)
ka = j
while ka != - 1:
k = ka
ka = robo.ant[ka]
compute_A_triangle(robo, symo, j, k, ka,
antRj, antPj, f, n, A, AJE1)
symo.mat_replace(A, 'A', forced=True, symmet=True)
J_base = inertia_spatial(Jplus[-1], MSplus[-1], Mplus[-1])
symo.mat_replace(J_base, 'JP', 0, forced=True, symmet=True)
symo.file_close()
return symo
def kinematic_constraints(robo):
symo = Symoro(None)
res = _kinematic_loop_constraints(robo, symo)
if res == FAIL:
return FAIL
W_a, W_p, W_ac, W_pc, W_c = res
symo.file_open(robo, 'ckel')
symo.write_params_table(robo, 'Constraint kinematic equations of loop',
equations=False)
symo.write_line('Active joint variables')
symo.write_line([robo.get_q(i) for i in robo.indx_active])
symo.write_line()
symo.write_line('Passive joints variables')
symo.write_line([robo.get_q(i) for i in robo.indx_passive])
symo.write_line()
symo.write_line('Cut joints variables')
symo.write_line([robo.get_q(i) for i in robo.indx_cut])
symo.write_line()
symo.mat_replace(W_a, 'WA', forced=True)
symo.mat_replace(W_p, 'WP', forced=True)
symo.mat_replace(W_ac, 'WPA', forced=True)
symo.mat_replace(W_pc, 'WPC', forced=True)
symo.mat_replace(W_c, 'WC', forced=True)
symo.file_close()
return symo
def jdot_qdot(robo):
symo = Symoro(None)
symo.file_open(robo, 'jpqp')
symo.write_params_table(robo, 'JdotQdot')
antRj, antPj = compute_rot_trans(robo, symo)
w = Init.init_w(robo)
wdot, vdot = Init.init_wv_dot(robo, gravity=False)
U = Init.init_U(robo)
for j in xrange(1, robo.NL):
jRant = antRj[j].T
qdj = Z_AXIS * robo.qdot[j]
qddj = Z_AXIS * ZERO
wi = _omega_i(robo, symo, j, jRant, w)
symo.mat_replace(wi, 'WI', j)
w[j] = _omega_j(robo, j, jRant, w, wi, qdj)
symo.mat_replace(w[j], 'W', j)
_omega_dot_j(robo, j, jRant, w, wi, wdot, qdj, qddj)
symo.mat_replace(wdot[j], 'WPJ', j, forced=True)
_v_dot_j(robo, symo, j, jRant, antPj, w, wi, wdot, U, vdot, qdj, qddj)
symo.mat_replace(vdot[j], 'VPJ', j, forced=True)
symo.file_close()
return symo