{"action":"created","comment":{"url":"https://api.github.com/repos/jrl-umi3218/RBDyn/pulls/comments/191295861","pull_request_review_id":123837978,"id":191295861,"diff_hunk":"@@ -0,0 +1,147 @@\n+#include \"RBDyn/Coriolis.h\"\n+\n+namespace rbd\n+{\n+Eigen::MatrixXd expand(const rbd::Jacobian& jac,\n+\t\t\tconst rbd::MultiBody& mb,\n+\t\t\tconst Eigen::MatrixXd& jacMat)\n+{\n+\tEigen::MatrixXd res = Eigen::MatrixXd::Zero(mb.nrDof(), mb.nrDof());\n+\texpandAdd(jac, mb, jacMat, res);\n+\treturn res;\n+}\n+\n+void expandAdd(const rbd::Jacobian& jac,\n+\t\t\tconst rbd::MultiBody& mb,\n+\t\t\tconst Eigen::MatrixXd& jacMat,\n+\t\t\tEigen::MatrixXd& res)\n+{\n+\tint rowJac = 0;\n+\tint colJac = 0;\n+\tfor(int i : jac.jointsPath())\n+\t{\n+\t\tcolJac = 0;\n+\t\tfor(int j : jac.jointsPath())\n+\t\t{\n+\t\t\tres.block(mb.jointPosInDof(i), mb.jointPosInDof(j), mb.joint(i).dof(), mb.joint(j).dof())\n+\t\t\t\t+= jacMat.block(rowJac, colJac, mb.joint(i).dof(), mb.joint(j).dof());\n+\t\t\tcolJac += mb.joint(j).dof();\n+\t\t}\n+\t\trowJac += mb.joint(i).dof();\n+\t}\n+}\n+\n+std::vector<std::array<int, 3>> compactPath(const rbd::Jacobian& jac,\n+\t\t\t\t\t\tconst rbd::MultiBody& mb)\n+{\n+\tstd::vector<std::array<int, 3>> res;\n+\n+\tint start_block = mb.jointPosInDof(jac.jointsPath()[0]);\n+\tint len_block = mb.joint(jac.jointsPath()[0]).dof();\n+\n+\tint start;\n+\tint startJac = 0;\n+\n+\tfor(int i : jac.jointsPath())\n+\t{\n+\t\tif(i == jac.jointsPath()[0])\n+\t\t{\n+\t\t\tcontinue;\n+\t\t}\n+\n+\t\tstart = mb.jointPosInDof(i);\n+\n+\t\tif(start != start_block + len_block)\n+\t\t{\n+\t\t\tres.push_back({{start_block, startJac, len_block}});\n+\t\t\tstart_block = start;\n+\t\t\tstartJac += len_block;\n+\t\t\tlen_block = 0;\n+\t\t}\n+\t\tlen_block += mb.joint(i).dof();\n+\t}\n+\tres.push_back({{start_block, startJac, len_block}});\n+\treturn res;\n+}\n+\n+void compactExpandAdd(const std::vector<std::array<int, 3>>& compactPath,\n+\t\t\tconst Eigen::MatrixXd& jacMat,\n+\t\t\tEigen::MatrixXd& res)\n+{\n+\tfor(const auto& b1 : compactPath)\n+\t{\n+\t\tfor(const auto& b2 : compactPath)\n+\t\t{\n+\t\t\tres.block(b1[0], b2[0], b1[2], b2[2])\n+\t\t\t\t+= jacMat.block(b1[1], b2[1], b1[2], b2[2]);\n+\t\t}\n+\t}\n+}\n+\n+Coriolis::Coriolis(const rbd::MultiBody& mb)\n+{\n+\tEigen::Vector3d com;\n+\tdouble mass;\n+\tfor(int i = 0; i < mb.nrBodies(); ++i)\n+\t{\n+\t\tmass = mb.body(i).inertia().mass();\n+\t\tif(mass > 0)\n+\t\t{\n+\t\t\tcom = mb.body(i).inertia().momentum()/mass;\n+\t\t}\n+\t\telse\n+\t\t{\n+\t\t\tcom.setZero();\n+\t\t}\n+\t\tjacs_.push_back(rbd::Jacobian(mb, mb.body(i).name(), com));\n+\t\tjacMats_.push_back(Eigen::MatrixXd(6, jacs_[i].dof()));\n+\t\tjacDotMats_.push_back(Eigen::MatrixXd(6, jacs_[i].dof()));\n+\t\tcompactPaths_.push_back(compactPath(jacs_[i], mb));\n+\t}\n+}\n+\n+Eigen::MatrixXd Coriolis::coriolis(const rbd::MultiBody& mb, const rbd::MultiBodyConfig& mbc)\n+{\n+\tEigen::MatrixXd coriolis = Eigen::MatrixXd::Zero(mb.nrDof(), mb.nrDof());\n+\n+\tEigen::Matrix3d rot;\n+\tEigen::Matrix3d rDot;\n+\n+\tEigen::Matrix3d inertia;\n+\n+\tfor(int i = 0; i < mb.nrBodies(); ++i)\n+\t{\n+\t\tjacMats_[i] = jacs_[i].jacobian(mb, mbc);\n+\n+\t\tjacDotMats_[i] = jacs_[i].jacobianDot(mb, mbc);\n+\n+\t\trot = mbc.bodyPosW[i].rotation().transpose();\n+\t\trDot.noalias() = sva::vector3ToCrossMatrix(mbc.bodyVelW[i].angular())*rot;\n+\n+\t\tauto jvi = jacMats_[i].bottomRows<3>();\n+\t\tauto jDvi = jacDotMats_[i].bottomRows<3>();\n+\n+\t\tauto jwi = jacMats_[i].topRows<3>();\n+\t\tauto jDwi = jacDotMats_[i].topRows<3>();\n+\n+\t\tdouble mass = mb.body(i).inertia().mass();\n+\t\tinertia = mb.body(i).inertia().inertia()\n+\t\t\t- sva::vector3ToCrossMatrix<double>(mass*jacs_[i].point())*sva::vector3ToCrossMatrix(jacs_[i].point()).transpose();","path":"src/Coriolis.cpp","position":null,"original_position":129,"commit_id":"ebab1b698314db6dc42f3b1f3e2f11cdf13552ec","original_commit_id":"adaea48943eb633928c478250390536d2b68c7aa","user":{"login":"haudren","id":4352562,"avatar_url":"https://avatars2.githubusercontent.com/u/4352562?v=4","gravatar_id":"","url":"https://api.github.com/users/haudren","html_url":"https://github.com/haudren","followers_url":"https://api.github.com/users/haudren/followers","following_url":"https://api.github.com/users/haudren/following{/other_user}","gists_url":"https://api.github.com/users/haudren/gists{/gist_id}","starred_url":"https://api.github.com/users/haudren/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/haudren/subscriptions","organizations_url":"https://api.github.com/users/haudren/orgs","repos_url":"https://api.github.com/users/haudren/repos","events_url":"https://api.github.com/users/haudren/events{/privacy}","received_events_url":"https://api.github.com/users/haudren/received_events","type":"User","site_admin":false},"body":"Do you really think we would gain much by splitting this into a function?","created_at":"2018-05-29T03:09:13Z","updated_at":"2018-05-29T03:09:13Z","html_url":"https://github.com/jrl-umi3218/RBDyn/pull/49#discussion_r191295861","pull_request_url":"https://api.github.com/repos/jrl-umi3218/RBDyn/pulls/49","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/jrl-umi3218/RBDyn/pulls/comments/191295861"},"html":{"href":"https://github.com/jrl-umi3218/RBDyn/pull/49#discussion_r191295861"},"pull_request":{"href":"https://api.github.com/repos/jrl-umi3218/RBDyn/pulls/49"}},"in_reply_to_id":191101107},"pull_request":{"url":"https://api.github.com/repos/jrl-umi3218/RBDyn/pulls/49","id":185105954,"html_url":"https://github.com/jrl-umi3218/RBDyn/pull/49","diff_url":"https://github.com/jrl-umi3218/RBDyn/pull/49.diff","patch_url":"https://github.com/jrl-umi3218/RBDyn/pull/49.patch","issue_url":"https://api.github.com/repos/jrl-umi3218/RBDyn/issues/49","number":49,"state":"open","locked":false,"title":"Add coriolis matrix computation","user":{"login":"haudren","id":4352562,"avatar_url":"https://avatars2.githubusercontent.com/u/4352562?v=4","gravatar_id":"","url":"https://api.github.com/users/haudren","html_url":"https://github.com/haudren","followers_url":"https://api.github.com/users/haudren/followers","following_url":"https://api.github.com/users/haudren/following{/other_user}","gists_url":"https://api.github.com/users/haudren/gists{/gist_id}","starred_url":"https://api.github.com/users/haudren/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/haudren/subscriptions","organizations_url":"https://api.github.com/users/haudren/orgs","repos_url":"https://api.github.com/users/haudren/repos","events_url":"https://api.github.com/users/haudren/events{/privacy}","received_events_url":"https://api.github.com/users/haudren/received_events","type":"User","site_admin":false},"body":"This PR adds the work I did while I was still at the lab: it allows to compute the full Coriolis matrix (i.e. `C(q, qd)` instead of `C(q, qd)qd`).\r\n\r\nI know it is not perfect, but I would like to put it out there !\r\n\r\nThere might also be some overlap with #46 as I had to implement a \"block expand\" functionality to obtain decent performance.\r\n\r\nThings to fix:\r\n- [x] Indentation should use tabs\r\n- [x] Tests should be a real test, not just a print\r\n- [x] Windows build is probably broken\r\n\r\nMaybes (what's your opinion @gergondet ):\r\n- [ ] Make a Coriolis benchmark\r\n- [ ] Split the Jacobian expand logic from the Coriolis side\r\n- [ ] Add python bindings","created_at":"2018-05-01T01:54:52Z","updated_at":"2018-05-29T03:09:13Z","closed_at":null,"merged_at":null,"merge_commit_sha":"9bcd16946f27e99b8f7608571329d6f3f329ea1c","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/jrl-umi3218/RBDyn/pulls/49/commits","review_comments_url":"https://api.github.com/repos/jrl-umi3218/RBDyn/pulls/49/comments","review_comment_url":"https://api.github.com/repos/jrl-umi3218/RBDyn/pulls/comments{/number}","comments_url":"https://api.github.com/repos/jrl-umi3218/RBDyn/issues/49/comments","statuses_url":"https://api.github.com/repos/jrl-umi3218/RBDyn/statuses/ebab1b698314db6dc42f3b1f3e2f11cdf13552ec","head":{"label":"jrl-umi3218:topic/addCoriolis","ref":"topic/addCoriolis","sha":"ebab1b698314db6dc42f3b1f3e2f11cdf13552ec","user":{"login":"jrl-umi3218","id":410812,"avatar_url":"https://avatars0.githubusercontent.com/u/410812?v=4","gravatar_id":"","url":"https://api.github.com/users/jrl-umi3218","html_url":"https://github.com/jrl-umi3218","followers_url":"https://api.github.com/users/jrl-umi3218/followers","following_url":"https://api.github.com/users/jrl-umi3218/following{/other_user}","gists_url":"https://api.github.com/users/jrl-umi3218/gists{/gist_id}","starred_url":"https://api.github.com/users/jrl-umi3218/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jrl-umi3218/subscriptions","organizations_url":"https://api.github.com/users/jrl-umi3218/orgs","repos_url":"https://api.github.com/users/jrl-umi3218/repos","events_url":"https://api.github.com/users/jrl-umi3218/events{/privacy}","received_events_url":"https://api.github.com/users/jrl-umi3218/received_events","type":"Organization","site_admin":false},"repo":{"id":3740096,"name":"RBDyn","full_name":"jrl-umi3218/RBDyn","owner":{"login":"jrl-umi3218","id":410812,"avatar_url":"https://avatars0.githubusercontent.com/u/410812?v=4","gravatar_id":"","url":"https://api.github.com/users/jrl-umi3218","html_url":"https://github.com/jrl-umi3218","followers_url":"https://api.github.com/users/jrl-umi3218/followers","following_url":"https://api.github.com/users/jrl-umi3218/following{/other_user}","gists_url":"https://api.github.com/users/jrl-umi3218/gists{/gist_id}","starred_url":"https://api.github.com/users/jrl-umi3218/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jrl-umi3218/subscriptions","organizations_url":"https://api.github.com/users/jrl-umi3218/orgs","repos_url":"https://api.github.com/users/jrl-umi3218/repos","events_url":"https://api.github.com/users/jrl-umi3218/events{/privacy}","received_events_url":"https://api.github.com/users/jrl-umi3218/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/jrl-umi3218/RBDyn","description":"RBDyn 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