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76 lines
2.7 KiB
76 lines
2.7 KiB
#include "drake/systems/sensors/gyroscope.h"
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#include "drake/multibody/math/spatial_algebra.h"
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namespace drake {
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namespace systems {
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namespace sensors {
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using math::RigidTransform;
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using multibody::SpatialVelocity;
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template <typename T>
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Gyroscope<T>::Gyroscope(const multibody::Body<T>& body,
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const RigidTransform<double>& X_BS)
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: Gyroscope(body.index(), X_BS) {}
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template <typename T>
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Gyroscope<T>::Gyroscope(const multibody::BodyIndex& body_index,
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const RigidTransform<double>& X_BS)
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: LeafSystem<T>(SystemTypeTag<Gyroscope>{}),
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body_index_(body_index),
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X_BS_(X_BS) {
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// Declare measurement output port.
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measurement_output_port_ = &this->DeclareVectorOutputPort(
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"measurement", 3, &Gyroscope<T>::CalcOutput);
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body_poses_input_port_ = &this->DeclareAbstractInputPort(
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"body_poses", Value<std::vector<RigidTransform<T>>>());
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body_velocities_input_port_ = &this->DeclareAbstractInputPort(
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"body_spatial_velocities", Value<std::vector<SpatialVelocity<T>>>());
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}
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template <typename T>
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void Gyroscope<T>::CalcOutput(const Context<T>& context,
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BasicVector<T>* output) const {
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const auto& X_WB =
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get_body_poses_input_port().template Eval<std::vector<RigidTransform<T>>>(
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context)[body_index_];
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const auto& V_WB =
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get_body_velocities_input_port()
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.template Eval<std::vector<SpatialVelocity<T>>>(context)[body_index_];
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// Calculate rotation from world to gyroscope: R_SW = R_SB * R_BW.
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const auto R_SB = X_BS_.rotation().matrix().template cast<T>().transpose();
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const auto R_BW = X_WB.rotation().matrix().transpose();
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const auto R_SW = R_SB * R_BW;
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// Re-express in local frame and return.
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output->SetFromVector(R_SW * V_WB.rotational());
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}
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template <typename T>
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const Gyroscope<T>& Gyroscope<T>::AddToDiagram(
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const multibody::Body<T>& body, const RigidTransform<double>& X_BS,
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const multibody::MultibodyPlant<T>& plant, DiagramBuilder<T>* builder) {
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const auto& gyroscope =
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*builder->template AddSystem<Gyroscope<T>>(body, X_BS);
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builder->Connect(plant.get_body_poses_output_port(),
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gyroscope.get_body_poses_input_port());
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builder->Connect(plant.get_body_spatial_velocities_output_port(),
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gyroscope.get_body_velocities_input_port());
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return gyroscope;
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}
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template <typename T>
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template <typename U>
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Gyroscope<T>::Gyroscope(const Gyroscope<U>& other)
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: Gyroscope(other.body_index(), other.pose()) {}
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DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(
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class ::drake::systems::sensors::Gyroscope)
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} // namespace sensors
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} // namespace systems
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} // namespace drake
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