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Feature/calculator inertia updates #15

Merged
merged 43 commits into from
Jan 19, 2024
Merged

Feature/calculator inertia updates #15

merged 43 commits into from
Jan 19, 2024

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james-p-foster
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If merged, this PR will provide all of the relevant calculators in the algorithms module with the ability to handle time-varying inertial parameters (mass, center of mass offset, and moment of inertia).

In the corresponding test classes, testModifiedRigidBodyParameters methods have been added, which will typically:

  1. create a random multibody system
  2. perform suitable checks before changing anything (usually pulled from existing tests)
  3. a randomly selected rigid body is varied inertially
  4. the same checks are performed again, one the same calculator, to ensure it has updated correctly

SylvainBertrand and others added 30 commits September 26, 2023 16:37
@SylvainBertrand
Use directly the inertia from the body instead of a local copy
4478ac1
@james-p-foster
Make update subtree inertia method private, add iterative subtree ine…
de67864 
…rtia to correct field
@james-p-foster
Update JointTorqueRegressorCalculator to match new ID API
b15f352
@james-p-foster
Update CenterOfMassJacobian
b53a6b7
@james-p-foster
Update CentroidalMomentumCalculator
613a14c
@james-p-foster
Removed some redundant if lines
b545b29
@james-p-foster
Forgot to add in bodyInertia manipulations
eb9515b
@james-p-foster
Update CentroidalMomentumRateCalculator
09d8d6b
@james-p-foster
Update CompositeRigidBodyMassMatrixCalculator
27fdd73
@james-p-foster
Update ForwardDynamicsCalculator
2835224
@james-p-foster
Forgot to make some update subtree methods private
06e398d
@james-p-foster
Update MultiBodyGravityGradientCalculator
98dac41
@james-p-foster
Simplified some logic
c9ddf02
@james-p-foster
Working on test for validating CenterOfMassJacobian when inertial par…
8ac7e8a 
…ameters are changed
@james-p-foster
Added test for CenterOfMassJacobian when varying inertial parameters;…
a6ef43f 
… note cannot vary CoM offset because of frame issues
@james-p-foster
Added test for CentroidalMomentumCalculator when varying inertial par…
37c89e4 
…ameters
@james-p-foster
Added test for CentroidalMomentumRateCalculator when varying inertial…
7a3e7ff 
… parameters; note cannot vary CoM offset due to wrench computation assuming zero offset
@james-p-foster
Added test for ForwardDynamicsCalculator when varying inertial parame…
6f817db 
…ters; note cannot vary CoM offset because of not positive definite articulated body inertia issues
@james-p-foster
Added test for CompositeRigidBodyMassMatrixCalculator
2fab3b0
@james-p-foster
Missed setting some subtree inertia components in CompositeRigidBodyM…
28ed6fb 
…assMatrixCalculator
@james-p-foster
Removed some redundant lines
1715caf
@james-p-foster
Added parallel axis contribution of center of mass offset to random s…
df79fc2 
…patial inertia methods
@james-p-foster
Sylvain fixed CenterOfMassJacobianTest
21bb208
@james-p-foster
Working on InverseDynamicsCalculator tests
1ea13d8
@james-p-foster
Merge branch 'develop' into feature/calculator-inertia-updates
3529446
@james-p-foster
Fixed CenterOfMassJacobianTest
67f6bac
@james-p-foster
Fixed CentroidalMomentumRateCalculatorTest
b42096f
@james-p-foster
Fixed ForwardDynamicsCalculatorTest
4bc9d88
@james-p-foster
Passing MultiBodyGravityGradientCalculatorTest apart from center of m…
a57bfe2 
…ass offset variations
@james-p-foster
Unused imports
acabb7b
james-p-foster and others added 13 commits November 2, 2023 16:37
@james-p-foster
Remove pointless test, sort out imports
f87e7f0
@james-p-foster
More import shenanigans
c82bb11
@james-p-foster
Removed toSkewSymmetricMatrix from MecanoRandomTools, added additiona…
c157295 
…l toTildeForm methods in MecanoTools
@james-p-foster
Braces for the brace god
5b6cfe3
@james-p-foster
Remove silly logic that Sylvain found
29c9001
@james-p-foster
Merge remote-tracking branch 'origin/develop' into feature/calculator…
94b80c7 
…-inertia-updates
@james-p-foster
Merge remote-tracking branch 'origin/develop' into feature/calculator…
5b6157c 
…-inertia-updates

# Conflicts:
#	src/main/java/us/ihmc/mecano/tools/MecanoRandomTools.java
#	src/main/java/us/ihmc/mecano/tools/MecanoTools.java
#	src/test/java/us/ihmc/mecano/tools/MecanoToolsTest.java
@james-p-foster
Merge branch 'develop' into feature/calculator-inertia-updates
6577ac0 
# Conflicts:
#	src/main/java/us/ihmc/mecano/algorithms/ForwardDynamicsCalculator.java
#	src/main/java/us/ihmc/mecano/algorithms/InverseDynamicsCalculator.java
#	src/test/java/us/ihmc/mecano/algorithms/ForwardDynamicsCalculatorTest.java
@james-p-foster
Updated to be compatible with develop
f42af18
@james-p-foster
More WIP on MultiBodyGravityGradientCalculator
1a94212
@james-p-foster
Remove print statements to clear up test output
179c050
@james-p-foster
Formatting and cleanup
cbf8135
@james-p-foster
More minor formatting to reduce diff
a2ba51b
SylvainBertrand
SylvainBertrand approved these changes Jan 19, 2024
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Woot woot! Looks good to me!

@james-p-foster james-p-foster merged commit 42d4660 into develop Jan 19, 2024
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@james-p-foster james-p-foster deleted the feature/calculator-inertia-updates branch January 19, 2024 15:00
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@SylvainBertrand SylvainBertrand SylvainBertrand approved these changes

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@james-p-foster @SylvainBertrand