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Automatic Moment of Inertia Calculations for Basic Shapes #1299
Automatic Moment of Inertia Calculations for Basic Shapes #1299
Commits on Jun 13, 2023
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Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Jun 19, 2023
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Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Jun 30, 2023
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Update SDF schema version in CMakeLists.txt
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Added <material_density> element to <collision
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Added auto attribute to <inertia> tag
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Added gz::math::Material member to Collision
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Commits on Jul 3, 2023
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Added MassMatrix() functions to Box, Capsule, Cylinder, Ellipsoid & S…
…phere Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Added MassMatrix() functions to sdf::Geometry class
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Replaced gz::math::Material member of sdf::Collision with double density
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Added getter setter functions for density in sdf::Collision
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Added MassMatrix() function to sdf::Collision class
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Update Link::Load() to check for inertia auto attr & call MassMatrix …
…for each collision Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Jul 13, 2023
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Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Jul 17, 2023
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Corrected default density value
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Commits on Jul 31, 2023
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Changed <material_density> tag to <density>
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Updated Collision:MassMatrix() to use gz::math::Inertial object as pa…
…rameter Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Updated Link::Load() to add inertials from multiple collisions
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Commits on Aug 7, 2023
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Shifted auto attribute from <inertia> to <inertial>
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Added CalculateInertial() function to sdf::Root
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Added CalculateInertial() function to sdf::Model
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Added CalculateInertial() function to sdf::World
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Added CalculateInertial() function to sdf::Link to check for auto and…
… set inertials Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Update Collision::MassMatrix() to set inertial pose using collision p…
…ose in link frame Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Aug 8, 2023
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Called World::CalculateInertials() in Root::Load() function
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Added check for no collisions when auto is true & return an Element M…
…issing Error Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Aug 10, 2023
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Used enforcePolicyCondition() to print <density> element missing mess…
…age in Collision::Load() Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Restored original flow of Link::Load() to set inertial values & updat…
…ed CalculateInertials() Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Renamed & changed MassMatrix() functions for all shapes to return gz:…
…:math::Inertial objects Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Renamed & updated MassMatrix() function for sdf::Geometry to return o…
…pitonal gz::math::Inertiald object Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Renamed & Updated MassMatrix() function of sdf::Collision to use Iner…
…tial object Added check for geometry type before setting inertial pose Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Updated call to collision inertia calculation function with the new name
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Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Aug 11, 2023
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Removed const type qualifier from double density param for CalculateI…
…nertial() functions Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Shifted check for density element from Collision::Load() to Collision…
…::CalculateInertials() Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Shifted CalculateInertials() call to end of Root:Load()
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Update CalculateInertials() function in Root, World, Model, Link & Co…
…llision to take ParserConfig as param Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Removed const specifier for double density from Geometry & Collision
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Commits on Aug 14, 2023
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Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Aug 17, 2023
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Removed warning for missing <inertial> element
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Added warning for overwritting of user given inertial value sif auto …
…is true Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Removed call to CalculateInertial() from Root::Load()
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Commits on Aug 21, 2023
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Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Aug 22, 2023
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Added unit tests for CalculateInertial() function in Box, Capsule, Cy…
…linder, Ellipsoid & Sphere Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Added unit tests for CalculateInertial() in Geometry
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Updated construction unit test of Collision with checks for density v…
…alue Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Updated CalculateInertial() unit test to test for std::nullopt return…
… in case of invalid inertial Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Added unit tests for CalculateInertial() in sdf::Collision
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Commits on Aug 24, 2023
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Added enum class for CalculateInertial() configuration
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Added check for CalculateInertialConfiguration in Root::Load()
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Renamed CALCULATE_AND_SAVE value to SAVE_CALCULATION in COnfigureCalc…
…ulateInertial enum Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Added boolean autoInertiaSaved member to link
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Added check for autoInertiaSaved & SAVE_CALCULATION configuration in …
…CalculateInertial() function Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Added //inertial/density to the spec
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Updated Geometry::CalculateInertial() to accept density & parser conf…
…ig as parameter Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Updated Geometry::CalculateInertial() to give warning when a not supp…
…orted geometry type is used Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Updated Geometry unit test for not supported geom type
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Updated Collision::ToElement() to set density
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Added unit tests for collision pose relative to some other frame test…
… case Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Added unit tests for ParserConfig
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Replaced tabs with spaces in sdf string in Link_Test
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Updated ParserConfig Unit test to test SetCalculateInertialConfigurat…
…ion() Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Added test for CalculateInertial() called with auto set to false
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Added unit test for World::CalculateInertial()
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Added unit test for CalculateInertial() call with SAVE_CALCULATION co…
…nfiguration Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Commits on Aug 25, 2023
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Commits on Aug 26, 2023
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Removed redundant sdf/Model.hh include from Collision_TEST
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Commits on Aug 27, 2023
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Commits on Aug 28, 2023
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Updated CalculateInertial() documentation for Box, Capsule, Cylinder,…
… Ellipsoid & Sphere Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Updated Collision::Density() & Collision::SetDensity() docs
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Updated Root::CalculateInertial() docs
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Updated description for <density> element in <inertial>
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Added doc for autoInertiaSaved variable in sdf::Link
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- Updated all functions returning Errors object to take errors object as an output param - Updated function params to take errors as a first params Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
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Added flag to track if density was set at load
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Added separate variable to track if auto inertia is enabled or not
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Commits on Aug 29, 2023
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Updated Collision::CalculateInertial() API
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Updated check for geometry type before resolving inertial pose
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Updated Root::CalculateInertial() docs
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Added const specifier to variables where needed
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Commits on Aug 30, 2023
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Rename CalculateInertials() API in Root, World, Model & Link
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