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/* SPDX-FileCopyrightText: 2009 Ruben Smits
*
* SPDX-License-Identifier: LGPL-2.1-or-later */
/** \file
* \ingroup intern_itasc
*/
#include "ControlledObject.hpp"
namespace iTaSC {
ControlledObject::ControlledObject():
Object(Controlled),m_nq(0),m_nc(0),m_nee(0)
{
// max joint variable = 0.52 radian or 0.52 meter in one timestep
m_maxDeltaQ = e_scalar(0.52);
}
void ControlledObject::initialize(unsigned int _nq,unsigned int _nc, unsigned int _nee)
{
assert(_nee >= 1);
m_nq = _nq;
m_nc = _nc;
m_nee = _nee;
if (m_nq > 0) {
m_Wq = e_identity_matrix(m_nq,m_nq);
m_qdot = e_zero_vector(m_nq);
}
if (m_nc > 0) {
m_Wy = e_scalar_vector(m_nc,1.0);
m_ydot = e_zero_vector(m_nc);
}
if (m_nc > 0 && m_nq > 0)
m_Cq = e_zero_matrix(m_nc,m_nq);
// clear all Jacobian if any
m_JqArray.clear();
// reserve one more to have a zero matrix handy
if (m_nq > 0)
m_JqArray.resize(m_nee+1, e_zero_matrix(6,m_nq));
}
ControlledObject::~ControlledObject() {}
const e_matrix& ControlledObject::getJq(unsigned int ee) const
{
assert(m_nq > 0);
return m_JqArray[(ee>m_nee)?m_nee:ee];
}
double ControlledObject::getMaxTimestep(double& timestep)
{
e_scalar maxQdot = m_qdot.array().abs().maxCoeff();
if (timestep*maxQdot > m_maxDeltaQ) {
timestep = m_maxDeltaQ/maxQdot;
}
return timestep;
}
}
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