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https://github.com/bulletphysics/bullet3
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35 lines
1.7 KiB
C++
35 lines
1.7 KiB
C++
#ifndef INVDYN_BULLET_COMPARISON_HPP
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#define INVDYN_BULLET_COMPARISON_HPP
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class btMultiBody;
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class btVector3;
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namespace btInverseDynamics {
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class MultiBodyTree;
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class vecx;
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/// this function compares the forward dynamics computations implemented in btMultiBody to
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/// the inverse dynamics implementation in MultiBodyTree. This is done in three steps
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/// 1. run inverse dynamics for (q, u, dot_u) to obtain joint forces f
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/// 2. run forward dynamics (btMultiBody) for (q,u,f) to obtain dot_u_bullet
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/// 3. compare dot_u with dot_u_bullet for cross check of forward and inverse dynamics computations
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/// @param btmb the bullet forward dynamics model
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/// @param id_tree the inverse dynamics model
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/// @param q vector of generalized coordinates (matches id_tree)
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/// @param u vector of generalized speeds (matches id_tree)
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/// @param gravity gravitational acceleration in world frame
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/// @param dot_u vector of generalized accelerations (matches id_tree)
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/// @param gravity gravitational acceleration in world frame
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/// @param base_fixed set base joint to fixed or
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/// @param pos_error is set to the maximum of the euclidean norm of position+rotation errors of all
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/// center of gravity positions and link frames
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/// @param acc_error is set to the square root of the sum of squared differences of generalized
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/// accelerations
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/// computed in step 3 relative to dot_u
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/// @return -1 on error, 0 on success
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int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
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btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
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double *acc_error);
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}
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#endif // INVDYN_BULLET_COMPARISON_HPP
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