diff --git a/src/main/java/us/ihmc/mecano/algorithms/CenterOfMassJacobian.java b/src/main/java/us/ihmc/mecano/algorithms/CenterOfMassJacobian.java index 3ebd009..18664c8 100644 --- a/src/main/java/us/ihmc/mecano/algorithms/CenterOfMassJacobian.java +++ b/src/main/java/us/ihmc/mecano/algorithms/CenterOfMassJacobian.java @@ -51,13 +51,9 @@ public class CenterOfMassJacobian implements ReferenceFrameHolder * expressed in the center of mass frame. */ private final ReferenceFrame rootFrame; - /** - * Defines the multi-body system to use with this calculator. - */ + /** Defines the multi-body system to use with this calculator. */ private final MultiBodySystemReadOnly input; - /** - * The root of the internal recursive algorithm. - */ + /** The root of the internal recursive algorithm. */ private final RecursionStep initialRecursionStep; /** * Only the first pass of this algorithm has to be recursive, the two other passes can be iterative @@ -65,36 +61,22 @@ public class CenterOfMassJacobian implements ReferenceFrameHolder */ private final RecursionStep[] recursionSteps; - /** - * The center of mass Jacobian. - */ + /** The center of mass Jacobian. */ private final DMatrixRMaj jacobianMatrix; - /** - * Matrix containing the velocities of the joints to consider. - */ + /** Matrix containing the velocities of the joints to consider. */ private final DMatrixRMaj jointVelocityMatrix; - /** - * Intermediate variable for garbage free operations. - */ + /** Intermediate variable for garbage free operations. */ private final DMatrixRMaj centerOfMassVelocityMatrix = new DMatrixRMaj(3, 1); - /** - * Intermediate variable to store one column of the Jacobian matrix. - */ + /** Intermediate variable to store one column of the Jacobian matrix. */ private final FixedFrameVector3DBasics jacobianColumn; - /** - * Intermediate variable to store the unit-twist of the parent joint. - */ + /** Intermediate variable to store the unit-twist of the parent joint. */ private final Twist jointUnitTwist = new Twist(); - /** - * The center of mass velocity. - */ + /** The center of mass velocity. */ private final FixedFrameVector3DBasics centerOfMassVelocity = MecanoFactories.newFixedFrameVector3DBasics(this); - /** - * Whether the Jacobian has been updated since the last call to {@link #reset()}. - */ + /** Whether the Jacobian has been updated since the last call to {@link #reset()}. */ private boolean isJacobianUpToDate = false; /** * Whether the center of mass velocity has been updated since the last call to {@link #reset()}. diff --git a/src/main/java/us/ihmc/mecano/algorithms/CentroidalMomentumCalculator.java b/src/main/java/us/ihmc/mecano/algorithms/CentroidalMomentumCalculator.java index 49f566f..0bb4f69 100644 --- a/src/main/java/us/ihmc/mecano/algorithms/CentroidalMomentumCalculator.java +++ b/src/main/java/us/ihmc/mecano/algorithms/CentroidalMomentumCalculator.java @@ -41,61 +41,35 @@ */ public class CentroidalMomentumCalculator implements ReferenceFrameHolder { - /** - * Defines the multi-body system to use with this calculator. - */ + /** Defines the multi-body system to use with this calculator. */ private final MultiBodySystemReadOnly input; - /** - * The center of mass centroidal momentum matrix. - */ + /** The center of mass centroidal momentum matrix. */ private final ReferenceFrame matrixFrame; - /** - * Array for each iteration of this algorithm. - */ + /** Array for each iteration of this algorithm. */ private final IterativeStep[] iterativeSteps; - /** - * Intermediate variable to store the unit-twist of the parent joint. - */ + /** Intermediate variable to store the unit-twist of the parent joint. */ private final Twist jointUnitTwist; - /** - * Intermediate variable for garbage free operations. - */ + /** Intermediate variable for garbage free operations. */ private final Twist intermediateUnitTwist; - /** - * Intermediate variable to store one column of the centroidal momentum matrix. - */ + /** Intermediate variable to store one column of the centroidal momentum matrix. */ private final Momentum unitMomentum; - /** - * Intermediate variable for garbage free operations. - */ + /** Intermediate variable for garbage free operations. */ private final Momentum intermediateMomentum; - /** - * The total momentum of the system. - */ + /** The total momentum of the system. */ private final FixedFrameMomentumBasics momentum; - /** - * The center of mass velocity. - */ + /** The center of mass velocity. */ private final FixedFrameVector3DBasics centerOfMassVelocity; - /** - * The centroidal momentum matrix. - */ + /** The centroidal momentum matrix. */ private final DMatrixRMaj centroidalMomentumMatrix; - /** - * Matrix containing the velocities of the joints to consider. - */ + /** Matrix containing the velocities of the joints to consider. */ private final DMatrixRMaj jointVelocityMatrix; - /** - * The total momentum of the system. - */ + /** The total momentum of the system. */ private final DMatrixRMaj momentumMatrix = new DMatrixRMaj(6, 1); - /** - * The total system mass. - */ + /** The total system mass. */ private double totalMass = 0.0; /** @@ -106,13 +80,9 @@ public class CentroidalMomentumCalculator implements ReferenceFrameHolder * Whether the joint velocity matrix has been updated since the last call to {@link #reset()}. */ private boolean isJointVelocityMatrixUpToDate = false; - /** - * Whether the momentum has been updated since the last call to {@link #reset()}. - */ + /** Whether the momentum has been updated since the last call to {@link #reset()}. */ private boolean isMomentumUpToDate = false; - /** - * Whether the total mass has been updated since the last call to {@link #reset()}. - */ + /** Whether the total mass has been updated since the last call to {@link #reset()}. */ private boolean isTotalMassUpToDate = false; /** * Whether the center of mass velocity has been updated since the last call to {@link #reset()}. @@ -524,7 +494,7 @@ public void passTwo() *
* h = (∑i=0:n Ii) * T ≡ ∑i=0:n (Ii * T) *- *
+ * * where h is the resulting unit-momentum, Ii is the spatial inertia of * the ith body, and T is the unit-twist. * diff --git a/src/main/java/us/ihmc/mecano/algorithms/CentroidalMomentumRateCalculator.java b/src/main/java/us/ihmc/mecano/algorithms/CentroidalMomentumRateCalculator.java index 25bf2ce..8726c6a 100644 --- a/src/main/java/us/ihmc/mecano/algorithms/CentroidalMomentumRateCalculator.java +++ b/src/main/java/us/ihmc/mecano/algorithms/CentroidalMomentumRateCalculator.java @@ -36,7 +36,7 @@ * -- h = A * qDDot + | -- A | * qDot = A * qDDot + b * dt \ dt / * - *
+ *
* where h is the system's momentum, qDot and qDDot are the joint
* velocity and acceleration vectors, A is the centroidal momentum matrix, and b
* represents the convective term that this calculator also compute and that can be obtained via
@@ -51,17 +51,11 @@
*/
public class CentroidalMomentumRateCalculator implements ReferenceFrameHolder
{
- /**
- * Defines the multi-body system to use with this calculator.
- */
+ /** Defines the multi-body system to use with this calculator. */
private final MultiBodySystemReadOnly input;
- /**
- * The center of mass centroidal momentum matrix.
- */
+ /** The center of mass centroidal momentum matrix. */
private final ReferenceFrame matrixFrame;
- /**
- * The root of the internal recursive algorithm.
- */
+ /** The root of the internal recursive algorithm. */
private final RecursionStep initialRecursionStep;
/**
* Only the first pass of this algorithm has to be recursive, the rest can be iterative which can
@@ -69,68 +63,42 @@ public class CentroidalMomentumRateCalculator implements ReferenceFrameHolder
*/
private final RecursionStep[] recursionSteps;
private final Map
+ *
* where h is the resulting unit-momentum, Ii is the spatial inertia of
* the ith body, and T is the unit-twist.
*
diff --git a/src/main/java/us/ihmc/mecano/algorithms/CompositeRigidBodyMassMatrixCalculator.java b/src/main/java/us/ihmc/mecano/algorithms/CompositeRigidBodyMassMatrixCalculator.java
index e29e393..bedb7ec 100644
--- a/src/main/java/us/ihmc/mecano/algorithms/CompositeRigidBodyMassMatrixCalculator.java
+++ b/src/main/java/us/ihmc/mecano/algorithms/CompositeRigidBodyMassMatrixCalculator.java
@@ -47,7 +47,7 @@
*
+ *
* where τ, q, qDot, and qDDot are the joint effort,
* configuration, velocity, and acceleration vectors, H is the joint-space inertia matrix
* or also called here mass matrix, C is the Coriolis and centrifugal matrix, G
@@ -70,7 +70,7 @@
* -- = A * qDDot + -- * qDot = A * qDDot + b
* dt dt
*
- *
+ *
* where h is the system's momentum and A is the centroidal momentum matrix, the
* term introduce b represents the convective term.
*
+ *
* where IA is this handle's articulated-body inertia, and S is the
* parent joint motion subspace.
*/
@@ -827,7 +817,7 @@ class ArticulatedBodyRecursionStep
*
+ *
* where IA is this handle's articulated-body inertia, and S is the
* parent joint motion subspace.
*/
@@ -839,7 +829,7 @@ class ArticulatedBodyRecursionStep
* D = ST U
* = ST IA S
*
- *
+ *
* where IA is this handle's articulated-body inertia, and S is the
* parent joint motion subspace.
*/
@@ -851,7 +841,7 @@ class ArticulatedBodyRecursionStep
* D-1 = ( ST U )-1
* = ( ST IA S )-1
*
- *
+ *
* where IA is this handle's articulated-body inertia, and S is the
* parent joint motion subspace.
*/
@@ -863,7 +853,7 @@ class ArticulatedBodyRecursionStep
* U D-1 = U ( ST U )-1
* = IA S ( ST IA S )-1
*
- *
+ *
* where IA is this handle's articulated-body inertia, and S is the
* parent joint motion subspace.
*/
@@ -875,7 +865,7 @@ class ArticulatedBodyRecursionStep
* U D-1 UT = U ( ST U )-1 UT
* = IA S ( ST IA S )-1 ST IA
*
- *
+ *
* where IA is this handle's articulated-body inertia, and S is the
* parent joint motion subspace.
*/
@@ -891,7 +881,7 @@ class ArticulatedBodyRecursionStep
*
+ *
* where τ is the N-by-1 vector representing the joint effort, N being the number of
* DoFs for this joint, S is the joint motion subspace, and pA some
* bias forces exerted on this joint.
@@ -903,7 +893,7 @@ class ArticulatedBodyRecursionStep
*
+ *
* where v is the twist of this body, S the joint motion subspace, and
* qDot the N-by-1 vector for this joint velocity, with N being the number of DoFs for this
* joint.
@@ -916,7 +906,7 @@ class ArticulatedBodyRecursionStep
* pa = pA + Ia c + U D-1 u
* = pA + Ia c + IA S ( ST IA S )-1 ( τ - ST pA )
*
- *
+ *
* where pA are the bias forces acting on this joint, Ia is
* the apparent articulated-body inertia for the parent, S is the joint motion subspace,
* IA this handle's articulated-body inertia, τ this joint effort,
diff --git a/src/main/java/us/ihmc/mecano/algorithms/InverseDynamicsCalculator.java b/src/main/java/us/ihmc/mecano/algorithms/InverseDynamicsCalculator.java
index aeab976..4a6a732 100644
--- a/src/main/java/us/ihmc/mecano/algorithms/InverseDynamicsCalculator.java
+++ b/src/main/java/us/ihmc/mecano/algorithms/InverseDynamicsCalculator.java
@@ -40,39 +40,23 @@ public class InverseDynamicsCalculator
private static final boolean DEFAULT_CONSIDER_ACCELERATIONS = true;
private static final boolean DEFAULT_CONSIDER_CORIOLIS = true;
- /**
- * Defines the multi-body system to use with this calculator.
- */
+ /** Defines the multi-body system to use with this calculator. */
private final MultiBodySystemReadOnly input;
- /**
- * The root of the internal recursive algorithm.
- */
+ /** The root of the internal recursive algorithm. */
final RecursionStep initialRecursionStep;
- /**
- * Map to quickly retrieve information for each rigid-body.
- */
+ /** Map to quickly retrieve information for each rigid-body. */
final Map
* h = (∑i=0:n Ii) * T ≡ ∑i=0:n (Ii * T)
*
- *
* τ = H(q) qDDot + C(q, qDot) qDot + G(q) + ∑i Ji Wi, ext
*
- *
* U = IA S
*
- *
* u = τ - ST pA
*
- *
* c = v × ( S qDot )
*
- *
- * InverseDynamicsCalculator calculator = new InverseDynamicsCalculator(rootBody);
- * calculator.setConsiderCoriolisAndCentrifugalForces(considerCoriolisAndCentrifugalForces);
- * calculator.setConsiderJointAccelerations(considerJointAccelerations);
- *
+ * InverseDynamicsCalculator calculator = new InverseDynamicsCalculator(rootBody);
+ * calculator.setConsiderCoriolisAndCentrifugalForces(considerCoriolisAndCentrifugalForces);
+ * calculator.setConsiderJointAccelerations(considerJointAccelerations);
+ *
*/
@Deprecated
public InverseDynamicsCalculator(RigidBodyReadOnly rootBody, boolean considerCoriolisAndCentrifugalForces, boolean considerJointAccelerations)
@@ -127,10 +111,10 @@ public InverseDynamicsCalculator(RigidBodyReadOnly rootBody, boolean considerCor
* @deprecated Use the following code snippet instead:
*
*
- * InverseDynamicsCalculator calculator = new InverseDynamicsCalculator(input);
- * calculator.setConsiderCoriolisAndCentrifugalForces(considerCoriolisAndCentrifugalForces);
- * calculator.setConsiderJointAccelerations(considerJointAccelerations);
- *
+ * InverseDynamicsCalculator calculator = new InverseDynamicsCalculator(input);
+ * calculator.setConsiderCoriolisAndCentrifugalForces(considerCoriolisAndCentrifugalForces);
+ * calculator.setConsiderJointAccelerations(considerJointAccelerations);
+ *
*/
@Deprecated
public InverseDynamicsCalculator(MultiBodySystemReadOnly input, boolean considerCoriolisAndCentrifugalForces, boolean considerJointAccelerations)
@@ -167,10 +151,10 @@ public InverseDynamicsCalculator(MultiBodySystemReadOnly input, boolean consider
* @deprecated Use the following code snippet instead:
*
*
- * InverseDynamicsCalculator calculator = new InverseDynamicsCalculator(input, considerIgnoredSubtreesInertia);
- * calculator.setConsiderCoriolisAndCentrifugalForces(considerCoriolisAndCentrifugalForces);
- * calculator.setConsiderJointAccelerations(considerJointAccelerations);
- *
+ * InverseDynamicsCalculator calculator = new InverseDynamicsCalculator(input, considerIgnoredSubtreesInertia);
+ * calculator.setConsiderCoriolisAndCentrifugalForces(considerCoriolisAndCentrifugalForces);
+ * calculator.setConsiderJointAccelerations(considerJointAccelerations);
+ *
*/
@Deprecated
public InverseDynamicsCalculator(MultiBodySystemReadOnly input,
@@ -712,9 +696,7 @@ default String getSimpleNameForParent()
}
}
- /**
- * Intermediate result used for garbage free operations.
- */
+ /** Intermediate result used for garbage free operations. */
private final SpatialForce jointForceFromChild = new SpatialForce();
/**
diff --git a/src/main/java/us/ihmc/mecano/algorithms/JointTorqueRegressorCalculator.java b/src/main/java/us/ihmc/mecano/algorithms/JointTorqueRegressorCalculator.java
index e86ee59..99a3e1c 100644
--- a/src/main/java/us/ihmc/mecano/algorithms/JointTorqueRegressorCalculator.java
+++ b/src/main/java/us/ihmc/mecano/algorithms/JointTorqueRegressorCalculator.java
@@ -304,9 +304,7 @@ public enum SpatialInertiaBasisOption
{
M, MCOM_X, MCOM_Y, MCOM_Z, I_XX, I_XY, I_XZ, I_YY, I_YZ, I_ZZ;
- /**
- * Utility method to get all the basis options, for use in loops.
- */
+ /** Utility method to get all the basis options, for use in loops. */
public static final SpatialInertiaBasisOption[] values = values();
/**
diff --git a/src/main/java/us/ihmc/mecano/algorithms/MultiBodyGravityGradientCalculator.java b/src/main/java/us/ihmc/mecano/algorithms/MultiBodyGravityGradientCalculator.java
index cac1b2d..2a8c638 100644
--- a/src/main/java/us/ihmc/mecano/algorithms/MultiBodyGravityGradientCalculator.java
+++ b/src/main/java/us/ihmc/mecano/algorithms/MultiBodyGravityGradientCalculator.java
@@ -47,26 +47,18 @@
*/
public class MultiBodyGravityGradientCalculator
{
- /**
- * Defines the multi-body system to use with this calculator.
- */
+ /** Defines the multi-body system to use with this calculator. */
private final MultiBodySystemReadOnly input;
/**
* Output of this algorithm: joint efforts due to gravity and external wrenches for all the joint to
* consider.
*/
private final DMatrixRMaj tauMatrix;
- /**
- * Output of this algorithm: gradient of the {@link #tauMatrix}.
- */
+ /** Output of this algorithm: gradient of the {@link #tauMatrix}. */
private final DMatrixRMaj tauGradientMatrix;
- /**
- * The root of the internal recursive algorithm.
- */
+ /** The root of the internal recursive algorithm. */
private final AlgorithmStep initialStep;
- /**
- * Map to quickly retrieve information for each rigid-body.
- */
+ /** Map to quickly retrieve information for each rigid-body. */
private final Map