implement dynamics modeling

aerial_robot_debian.rosinstall

@@ -56,3 +56,9 @@
     local-name: mocap_optitrack
     uri: https://github.com/sugikazu75/mocap_optitrack.git
     version: 50fb60d
+
+# pinocchio
+- git:
+    local-name: pinocchio
+    uri: https://github.com/stack-of-tasks/pinocchio.git
+    version: 666d5d4

aerial_robot_dynamics/CMakeLists.txt

@@ -0,0 +1,79 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(aerial_robot_dynamics)
+
+add_compile_options(-std=c++17)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  urdf
+  )
+
+find_package(Eigen3 REQUIRED)
+find_package(pinocchio REQUIRED)
+find_package(OsqpEigen REQUIRED)
+find_package(urdfdom_headers REQUIRED)
+
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g -DNDEBUG")
+
+option(BUILD_TEST "Build Test Code" ON)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES robot_model
+  )
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+  ${OsqpEigen_INCLUDE_DIRS}
+  ${pinocchio_INCLUDE_DIRS}
+  ${urdfdom_headers_INCLUDE_DIRS}
+  )
+
+add_library(robot_model src/robot_model.cpp)
+target_link_libraries(robot_model
+  ${catkin_LIBRARIES}
+  ${OsqpEigen_LIBRARIES}
+  ${pinocchio_LIBRARIES}
+  )
+
+if(BUILD_TEST)
+  add_library(robot_model_test
+    src/test/fd_test.cpp
+    src/test/fd_derivative_test.cpp
+    src/test/id_test.cpp
+    src/test/id_derivative_test.cpp
+    src/test/tauext_by_thrust_q_derivative_test.cpp
+    src/test/tauext_by_thrust_derivative_q_derivative_test.cpp
+    )
+  target_link_libraries(robot_model_test
+    robot_model
+    ${catkin_LIBRARIES}
+    ${OsqpEigen_LIBRARIES}
+    ${pinocchio_LIBRARIES}
+    )
+
+  add_executable(test_node src/test/test_node.cpp)
+  target_link_libraries(test_node
+    robot_model
+    robot_model_test
+    ${catkin_LIBRARIES}
+    ${OsqpEigen_LIBRARIES}
+    ${pinocchio_LIBRARIES}
+    )
+endif()
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(TARGETS robot_model
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(DIRECTORY launch scripts
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)

aerial_robot_dynamics/config/rviz_config

@@ -0,0 +1,216 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.3529411852359772
+    Tree Height: 555
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: false
+      Links:
+        All Links Enabled:
+          {}
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        gimbal1_pitch_link:
+          Value: true
+        gimbal1_roll_link:
+          Value: true
+        gimbal2_pitch_link:
+          Value: true
+        gimbal2_roll_link:
+          Value: true
+        gimbal3_pitch_link:
+          Value: true
+        gimbal3_roll_link:
+          Value: true
+        gimbal4_pitch_link:
+          Value: true
+        gimbal4_roll_link:
+          Value: true
+        joint1_link:
+          Value: true
+        joint2_link:
+          Value: true
+        joint3_link:
+          Value: true
+        link1:
+          Value: true
+        link2:
+          Value: true
+        link3:
+          Value: true
+        link4:
+          Value: true
+        root:
+          Value: true
+        thrust1:
+          Value: true
+        thrust2:
+          Value: true
+        thrust3:
+          Value: true
+        thrust4:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 0.6000000238418579
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        root:
+          link1:
+            gimbal1_roll_link:
+              gimbal1_pitch_link:
+                thrust1:
+                  {}
+            joint1_link:
+              link2:
+                gimbal2_roll_link:
+                  gimbal2_pitch_link:
+                    thrust2:
+                      {}
+                joint2_link:
+                  link3:
+                    gimbal3_roll_link:
+                      gimbal3_pitch_link:
+                        thrust3:
+                          {}
+                    joint3_link:
+                      link4:
+                        gimbal4_roll_link:
+                          gimbal4_pitch_link:
+                            thrust4:
+                              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: root
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.9182982444763184
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 1.0487598180770874
+        Y: 0.029148178175091743
+        Z: -0.06674248725175858
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6303991079330444
+      Target Frame: <Fixed Frame>
+      Yaw: 4.308587074279785
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000031600fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1200
+  X: 4059
+  Y: 514

aerial_robot_dynamics/include/aerial_robot_dynamics/math_utils.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <Eigen/Dense>
+#include <vector>
+
+namespace aerial_robot_dynamics
+{
+inline void addNoise(Eigen::VectorXd& vec, double sigma)
+{
+  std::default_random_engine generator(std::random_device{}());
+  std::normal_distribution<double> distribution(0.0, sigma);
+  for (int i = 0; i < vec.size(); ++i)
+  {
+    vec(i) += distribution(generator);
+  }
+}
+
+inline Eigen::MatrixXd tensorContraction(const std::vector<Eigen::MatrixXd>& tensor1, const Eigen::VectorXd& vector1)
+{
+  for (int i = 0; i < tensor1.size(); i++)
+  {
+    if (tensor1.at(i).cols() != vector1.size())
+    {
+      throw std::invalid_argument("Tensor and vector dimensions do not match.");
+    }
+  }
+
+  Eigen::MatrixXd ret = Eigen::MatrixXd::Zero(tensor1.at(0).rows(), tensor1.size());
+  for (int i = 0; i < tensor1.size(); i++)
+  {
+    ret.col(i) = tensor1.at(i) * vector1;
+  }
+  return ret;
+}
+}  // namespace aerial_robot_dynamics