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Adding angular acceleration to the Link class #1288

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merged 4 commits into from
Jan 13, 2022
Merged

Adding angular acceleration to the Link class #1288

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fe3a501
Adding angular acceleration.
caguero Jan 12, 2022
73afcaf
add test
iche033 Jan 12, 2022
da78b81
update link api tutorial
iche033 Jan 13, 2022
296fd61
Merge branch 'ign-gazebo6' into world_angular_acceleration
caguero Jan 13, 2022
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8 changes: 8 additions & 0 deletions include/ignition/gazebo/Link.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -220,6 +220,14 @@ namespace ignition
public: void EnableVelocityChecks(EntityComponentManager &_ecm,
bool _enable = true) const;

/// \brief Get the angular acceleration of the body in the world frame.
/// \param[in] _ecm Entity-component manager.
/// \return Angular acceleration of the body in the world frame or
/// nullopt if acceleration checks aren't enabled.
/// \sa EnableAccelerationChecks
public: std::optional<math::Vector3d> WorldAngularAcceleration(
const EntityComponentManager &_ecm) const;

/// \brief Get the linear acceleration of the body in the world frame.
/// \param[in] _ecm Entity-component manager.
/// \return Linear acceleration of the body in the world frame or nullopt
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13 changes: 13 additions & 0 deletions src/Link.cc
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Expand Up @@ -17,6 +17,7 @@

#include <ignition/msgs/Utility.hh>

#include "ignition/gazebo/components/AngularAcceleration.hh"
#include "ignition/gazebo/components/AngularVelocity.hh"
#include "ignition/gazebo/components/CanonicalLink.hh"
#include "ignition/gazebo/components/Collision.hh"
Expand Down Expand Up @@ -245,6 +246,14 @@ void Link::EnableVelocityChecks(EntityComponentManager &_ecm, bool _enable)
_enable);
}

//////////////////////////////////////////////////
std::optional<math::Vector3d> Link::WorldAngularAcceleration(
const EntityComponentManager &_ecm) const
{
return _ecm.ComponentData<components::WorldAngularAcceleration>(
this->dataPtr->id);
}

//////////////////////////////////////////////////
std::optional<math::Vector3d> Link::WorldLinearAcceleration(
const EntityComponentManager &_ecm) const
Expand All @@ -257,6 +266,10 @@ std::optional<math::Vector3d> Link::WorldLinearAcceleration(
void Link::EnableAccelerationChecks(EntityComponentManager &_ecm, bool _enable)
const
{
enableComponent<components::WorldAngularAcceleration>(_ecm, this->dataPtr->id,
_enable);
enableComponent<components::AngularAcceleration>(_ecm, this->dataPtr->id,
_enable);
enableComponent<components::WorldLinearAcceleration>(_ecm, this->dataPtr->id,
_enable);
enableComponent<components::LinearAcceleration>(_ecm, this->dataPtr->id,
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13 changes: 12 additions & 1 deletion test/integration/link.cc
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Expand Up @@ -20,6 +20,7 @@
#include <ignition/common/Console.hh>
#include <ignition/common/Util.hh>

#include <ignition/gazebo/components/AngularAcceleration.hh>
#include <ignition/gazebo/components/AngularVelocity.hh>
#include <ignition/gazebo/components/CanonicalLink.hh>
#include <ignition/gazebo/components/Collision.hh>
Expand Down Expand Up @@ -315,23 +316,33 @@ TEST_F(LinkIntegrationTest, LinkAccelerations)

// Before we enable acceleration, acceleration should return nullopt
EXPECT_EQ(std::nullopt, link.WorldLinearAcceleration(ecm));
EXPECT_EQ(std::nullopt, link.WorldAngularAcceleration(ecm));

// After enabling, they should return default values
link.EnableAccelerationChecks(ecm);
EXPECT_EQ(math::Vector3d::Zero, link.WorldLinearAcceleration(ecm));
EXPECT_EQ(math::Vector3d::Zero, link.WorldAngularAcceleration(ecm));
EXPECT_NE(nullptr, ecm.Component<components::WorldLinearAcceleration>(eLink));
EXPECT_NE(nullptr,
ecm.Component<components::WorldAngularAcceleration>(eLink));

// After setting acceleration, we get the value
math::Vector3d linAccel{1.0, 0.0, 0.0};
ecm.SetComponentData<components::WorldLinearAcceleration>(eLink, linAccel);

EXPECT_EQ(linAccel, link.WorldLinearAcceleration(ecm));

math::Vector3d angAccel{0.0, 1.0, 0.0};
ecm.SetComponentData<components::WorldAngularAcceleration>(eLink, angAccel);
EXPECT_EQ(angAccel, link.WorldAngularAcceleration(ecm));

// Disabling accelerations goes back to nullopt
link.EnableAccelerationChecks(ecm, false);

EXPECT_EQ(std::nullopt, link.WorldLinearAcceleration(ecm));
EXPECT_EQ(std::nullopt, link.WorldAngularAcceleration(ecm));
EXPECT_EQ(nullptr, ecm.Component<components::WorldLinearAcceleration>(eLink));
EXPECT_EQ(nullptr,
ecm.Component<components::WorldAngularAcceleration>(eLink));
}

//////////////////////////////////////////////////
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2 changes: 1 addition & 1 deletion tutorials/migration_link_api.md
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Expand Up @@ -141,7 +141,7 @@ URI | TODO
UpdateParameters | TODO
VisualPose | See visual API
WindMode | `ignition::gazebo::Link::WindMode`
WorldAngularAccel | TODO
WorldAngularAccel | `ignition::gazebo::Link::WorldAngularAcceleration`
WorldAngularMomentum | TODO
WorldAngularVel | `ignition::gazebo::Link::WorldAngularVelocity`
WorldCoGLinearVel | TODO
Expand Down