Commit 50930799 authored by Timothee Habra's avatar Timothee Habra

merge simbody primitive branch

parents 3918dcdb 4d1b91c0
......@@ -13,7 +13,7 @@
# compile with C++
option (FLAG_CXX_PROJECT
"Use C++" OFF)
"Use C++" ON)
# let the use choose the compiler
option (FLAG_COMPILER_PROPERTIES
......@@ -65,11 +65,11 @@ option (FLAG_STOP_SIMULATION
# Simbody
option (FLAG_SIMBODY
"Simbody" OFF)
"Simbody" ON)
# 3D model
option (FLAG_3D_MODEL
"3D model" OFF)
"3D model" ON)
# Release flag
option (FLAG_RELEASE_VERSION
......@@ -94,9 +94,9 @@ option (FLAG_ADAPTIVE_TIME_STEP
#set(COMAN_VERSION "Basic_version")
#set(COMAN_VERSION "Short_feet")
#set(COMAN_VERSION "Compliant_feet")
set(COMAN_VERSION "Long_arms")
#set(COMAN_VERSION "Long_arms")
#set(COMAN_VERSION "SkyWalker")
set(COMAN_VERSION "Box_handling")
## ---- FLAGS DEPENDENCIES ---- ##
......@@ -285,6 +285,7 @@ message(STATUS "CMake generator: ${CMAKE_GENERATOR}")
# Project name in Robotran
file(GLOB_RECURSE ROBOTRAN_ROJECT_NAME "${PROJECT_SOURCE_DIR}/src/other/CoMan_versions/${COMAN_VERSION}/${MODEL_STANDALONE}/dataR/*.mbs")
message(STATUS "---------------> ${PROJECT_SOURCE_DIR}/src/other/CoMan_versions/${COMAN_VERSION}/${MODEL_STANDALONE}/dataR/*.mbs")
get_filename_component(ROBOTRAN_ROJECT_NAME ${ROBOTRAN_ROJECT_NAME} NAME_WE)
message(STATUS "Robotran project name: ${ROBOTRAN_ROJECT_NAME}")
......@@ -529,6 +530,11 @@ if (${COMAN_VERSION} STREQUAL "Long_arms")
add_definitions( -DSHORT_FEET )
endif (${COMAN_VERSION} STREQUAL "Long_arms")
# box handling
if (${COMAN_VERSION} STREQUAL "Box_handling")
add_definitions( -DBOX_HANDLING )
add_definitions( -DSHORT_FEET )
endif (${COMAN_VERSION} STREQUAL "Box_handling")
## ---- EXTERNAL LIBRARIES ---- ##
......
......@@ -24,8 +24,17 @@ typedef struct ContactPropertiesStruct
double ScaleFactor; //how to scale a mesh
double Rotation[3]; //how to rotate a mesh
double Transform[3]; //how to shift a mesh
char FileName[LENGTHOFFILENAME];
int Geometry; // 0 means OneHalfSpace; 1 means mesh
// specific to mesh contact
char FileName[LENGTHOFFILENAME];
// specific to sphere primitive contact
double radius; // sphere radius
// specific to box primitive contact
double box_dim[3]; // half length of the box
} ContactPropertiesStruct;
typedef struct SimbodyBodiesStruct
......
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<Njoint idx="1" type="double" size="1 1">35</Njoint>
<qu idx="1" type="double" size="1 35">1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35</qu>
<nqu idx="1" type="double" size="1 1">35</nqu>
<qc idx="1" type="double" size="0 0"/>
<nqc idx="1" type="double" size="1 1">0</nqc>
<qlocked idx="1" type="double" size="0 0"/>
<nqlocked idx="1" type="double" size="1 1">0</nqlocked>
<qdriven idx="1" type="double" size="0 0"/>
<nqdriven idx="1" type="double" size="1 1">0</nqdriven>
<qa idx="1" type="double" size="0 0"/>
<nqa idx="1" type="double" size="1 1">0</nqa>
<qv idx="1" type="double" size="0 0"/>
<nqv idx="1" type="double" size="1 1">0</nqv>
<hu idx="1" type="double" size="0 0"/>
<nhu idx="1" type="double" size="1 1">0</nhu>
<hv idx="1" type="double" size="0 0"/>
<q idx="1" type="double" size="35 1">0 0 0.5268 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.2 0 0.55 0 0 0</q>
<qd idx="1" type="double" size="35 1">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</qd>
<qdd idx="1" type="double" size="35 1">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</qdd>
<qmin idx="1" type="double" size="35 1">-1 -1 -0.4732 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -0.8 -1 -0.45 -1 -1 -1</qmin>
<qmax idx="1" type="double" size="35 1">1 1 1.5268 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1.2 1 1.55 1 1 1</qmax>
<frc idx="1" type="double" size="3 35">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</frc>
<trq idx="1" type="double" size="3 35">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</trq>
<Qq idx="1" type="double" size="35 1">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</Qq>
<tsim idx="1" type="double" size="1 1">0</tsim>
<lrod idx="1" type="double" size="0 0"/>
<Nloopc idx="1" type="double" size="1 1">0</Nloopc>
<Ncons idx="1" type="double" size="1 1">0</Ncons>
<lambda idx="1" type="double" size="0 0"/>
<Nuserc idx="1" type="double" size="1 1">0</Nuserc>
<user_constraints idx="1" type="cell" size="0 0"/>
<Nlink idx="1" type="double" size="1 1">0</Nlink>
<Z idx="1" type="double" size="0 0"/>
<Zd idx="1" type="double" size="0 0"/>
<Fl idx="1" type="double" size="0 0"/>
<Nlink3D idx="1" type="double" size="1 1">0</Nlink3D>
<link3D idx="1" type="double" size="0 0"/>
<Nsensor idx="1" type="double" size="1 1">52</Nsensor>
<Nxfrc idx="1" type="double" size="1 1">6</Nxfrc>
<xfidpt idx="1" type="double" size="1 6">16 29 35 47 56 57</xfidpt>
<SWr idx="1" type="double" size="0 0"/>
<xfscale idx="1" type="double" size="3 6">0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001</xfscale>
<rnom idx="1" type="double" size="0 0"/>
<Nwheel idx="1" type="double" size="1 1">0</Nwheel>
<Nuser_model idx="1" type="double" size="1 1">1</Nuser_model>
<user_model idx="1" type="cell" size="0 0"/>
<ux idx="1" type="double" size="46 1">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</ux>
<uxd idx="1" type="double" size="46 1">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</uxd>
<ux0 idx="1" type="double" size="46 1">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</ux0>
<Nux idx="1" type="double" size="1 1">46</Nux>
<user_var idx="1" type="struct" size="0 0"/>
<DonePart idx="1" type="double" size="1 1">1</DonePart>
<DoneDirdyn idx="1" type="double" size="1 1">0</DoneDirdyn>
<DoneInvdyn idx="1" type="double" size="1 1">0</DoneInvdyn>
<DoneEquil idx="1" type="double" size="1 1">0</DoneEquil>
<inbody idx="1" type="double" size="1 35">0 1 2 3 4 5 6 7 8 9 10 11 6 13 14 15 16 17 6 19 20 21 22 23 24 21 26 27 28 0 30 31 32 33 34</inbody>
<prjpath idx="1" type="char" size="1 38">/home/nico/Documents/Robotran/Projects</prjpath>
<mbspath idx="1" type="char" size="1 44">/home/nico/Documents/Robotran/Robotran_files</mbspath>
</mbsdata>
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#include "MBSdataStruct.h"
#include "MBSfun.h"
void cons_hJ(double *h,double **Jac, MBSdataStruct *s, double tsim)
{
}
#include "MBSdataStruct.h"
#include "MBSfun.h"
void cons_jdqd(double *Jdqd, MBSdataStruct *s, double tsim)
{
}
This source diff could not be displayed because it is too large. You can view the blob instead.
#include "MBSdataStruct.h"
#include "MBSfun.h"
void link3D(double **frc,double **trq, MBSdataStruct *s, double tsim)
{
}
#include "MBSdataStruct.h"
#include "MBSfun.h"
#ifdef __cplusplus
void link1D(double **frc,double **trq,double *Flnk,double *Z,double *Zd,MBSdataStruct *s, double tsim)
#else
void link(double **frc,double **trq,double *Flnk,double *Z,double *Zd,MBSdataStruct *s, double tsim)
#endif
{
}
##############################################################
# file9b.gen 14/02/2015 12:46:26 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file3.gen 14/02/2015 12:46:26 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file7.gen 14/02/2015 12:46:26 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file4.gen 14/02/2015 12:46:26 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file1b.gen 14/02/2015 12:46:27 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file10.gen 14/02/2015 12:46:27 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file0.gen 14/02/2015 12:46:28 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file6.gen 14/02/2015 12:46:28 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file11.gen 14/02/2015 12:46:28 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file9.gen 14/02/2015 12:46:28 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file15.gen 14/02/2015 12:46:28 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file5.gen 14/02/2015 12:46:28 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file2.gen 14/02/2015 12:46:28 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file12.gen 14/02/2015 12:46:28 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file8.gen 14/02/2015 12:46:29 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file1.gen 14/02/2015 12:46:29 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file13.gen 14/02/2015 12:46:29 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
##############################################################
# file14.gen 14/02/2015 12:46:29 errors
##############################################################
/usr/local/robotran/bin/robotran: /usr/lib/libxml2.so.2: no version information available (required by /usr/local/robotran/bin/robotran)
......@@ -14,7 +14,7 @@
IF (UNIX)
IF (APPLE)
## ---- MAC OS ---- ##
......@@ -24,28 +24,36 @@ IF (APPLE)
ELSE (APPLE)
## ---- LINUX ---- ##
## ---- LINUX ---- ##
# possible paths for: 'Simbody.h'
SET(TRIAL_PATHS_INC
/usr/local/simbody/include
/usr/local/include/simbody
/usr/local/simbody/include/simbody
)
# possible paths for: 'libSimTKcommon.so'
SET(TRIAL_PATHS_LIB_COM
/usr/local/simbody/lib
/usr/local/simbody/lib/x86_64-linux-gnu
/usr/local/lib
)
# possible paths for: 'libSimTKmath.so'
SET(TRIAL_PATHS_LIB_MATH
/usr/local/simbody/lib
/usr/local/simbody/lib/x86_64-linux-gnu
/usr/local/lib
)
# possible paths for: 'libSimTKsimbody.so'
SET(TRIAL_PATHS_LIB_SIMB
/usr/local/simbody/lib
/usr/local/simbody/lib/x86_64-linux-gnu
/usr/local/lib
)
FIND_PATH(SIMBODY_INCLUDE_PATH Simbody.h ${TRIAL_PATHS_INC})
......
//---------------------------
// Nicolas Van der Noot
//
// Creation : 19-Sep-2013
// Last update : 13-Oct-2014
//---------------------------
#include <stdlib.h>
#include "ControllersStruct.h"
// ---- Controlleres initialization ---- //
// ControllerInputsStruc
ControllerInputs * init_ControllerInputs(void)
{
ControllerInputs *cvs;
int i;
cvs = (ControllerInputs*) malloc(sizeof(ControllerInputs));
//---------------------------
// Nicolas Van der Noot
//
// Creation : 24-Jan-2014
// Last update : Tue Feb 17 15:55:09 2015
//---------------------------
#include <stdlib.h>
#include "ControllersStruct.h"
// ---- Controllers initialization ---- //
// ControllerInputs
ControllerInputs * init_ControllerInputs(void)
{
ControllerInputs *cvs;
int i;
cvs = (ControllerInputs*) malloc(sizeof(ControllerInputs));
cvs->t = 0.0;
for (i=0;i<29;i++)
......@@ -83,18 +83,18 @@ ControllerInputs * init_ControllerInputs(void)
cvs->IMU_Acceleration[i] = 0.0;
}
return cvs;
}
// ControllerOutputsStruc
ControllerOutputs * init_ControllerOutputs(void)
{
ControllerOutputs *cvs;
int i;
cvs = (ControllerOutputs*) malloc(sizeof(ControllerOutputs));
return cvs;
}
// ControllerOutputs
ControllerOutputs * init_ControllerOutputs(void)
{
ControllerOutputs *cvs;
int i;
cvs = (ControllerOutputs*) malloc(sizeof(ControllerOutputs));
for (i=0;i<29;i++)
{
cvs->q_ref[i] = 0.0;
......@@ -115,18 +115,18 @@ ControllerOutputs * init_ControllerOutputs(void)
cvs->imp_ctrl_index[i] = 0;
}
return cvs;
}
// ControllerStructStruc
ControllerStruct * init_ControllerStruct(void)
{
ControllerStruct *cvs;
int i;
cvs = (ControllerStruct*) malloc(sizeof(ControllerStruct));
return cvs;
}
// ControllerStruct
ControllerStruct * init_ControllerStruct(void)
{
ControllerStruct *cvs;
int i;
cvs = (ControllerStruct*) malloc(sizeof(ControllerStruct));
cvs->Inputs = init_ControllerInputs();
cvs->Outputs = init_ControllerOutputs();
......@@ -152,30 +152,30 @@ ControllerStruct * init_ControllerStruct(void)
cvs->q_ref_l_elb = 0.0;
return cvs;
}
// ---- Controllers: free ---- //
// ControllerInputs
void free_ControllerInputs(ControllerInputs *cvs)
{
free(cvs);
}
// ControllerOutputs
void free_ControllerOutputs(ControllerOutputs *cvs)
{
free(cvs);
}
// ControllerStruct
void free_ControllerStruct(ControllerStruct *cvs)
{
return cvs;
}
// ---- Controllers: free ---- //
// ControllerInputs
void free_ControllerInputs(ControllerInputs *cvs)
{
free(cvs);
}
// ControllerOutputs
void free_ControllerOutputs(ControllerOutputs *cvs)
{
free(cvs);
}
// ControllerStruct
void free_ControllerStruct(ControllerStruct *cvs)
{
free_ControllerInputs(cvs->Inputs);
free_ControllerOutputs(cvs->Outputs);
free(cvs);
}
free(cvs);
}
//---------------------------
// Nicolas Van der Noot
//
// Creation : 19-Sep-2013
// Last update : 13-Oct-2014
//---------------------------
#ifndef ControllerStruct_h
#define ControllerStruct_h