Merge pull request #349 from pariterre/master

Added bunch of accessor so Casadi is not so slow!

Author: pariterre

binding/python3/CMakeLists.txt

@@ -4,6 +4,9 @@ if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.13")
 else()
     project(${BIORBD_NAME})
 endif()
+if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.27")
+    cmake_policy(SET CMP0148 OLD)
+endif()
 
 # Windows needs a bigobj option
 if(MSVC)

include/InternalForces/Geometry.h

@@ -62,36 +62,38 @@ class BIORBD_API Geometry
 
     ///
     /// \brief Updates the position and dynamic elements of the muscles.
-    /// \param model The joint model
+    /// \param updatedModel The joint model updated to the proper kinematics level
     /// \param Q The generalized coordinates of the joints (not needed if updateKin is less than 2)
     /// \param Qdot The generalized velocities of the joints (not needed if updateKin is less than 2)
-    /// \param updateKin Update kinematics (0: don't update, 1:only muscles, [2: both kinematics and muscles])
     ///
     /// updateKinematics MUST be called before retreiving data that are dependent on Q and/or Qdot
+    /// 
+    /// WARNING If one used updateKinematics providing the jacobian, using updateKinematics overrides
+    /// this previously sent position and jacobian
     ///
     void updateKinematics(
-        rigidbody::Joints &model,
+        rigidbody::Joints &updatedModel,
         const rigidbody::GeneralizedCoordinates* Q = nullptr,
-        const rigidbody::GeneralizedVelocity* Qdot = nullptr,
-        int updateKin = 2);
+        const rigidbody::GeneralizedVelocity* Qdot = nullptr);
 
     ///
     /// \brief Updates the position and dynamic elements of the muscles.
-    /// \param model The joint model
+    /// \param updatedModel The joint model updated to the proper kinematics level
     /// \param characteristics The muscle characteristics
     /// \param pathModifiers The path modifiers
     /// \param Q The generalized coordinates of the joints (not needed if updateKin is less than 2)
     /// \param Qdot The generalized velocities of the joints (not needed if updateKin is less than 2)
-    /// \param updateKin Update kinematics (0: don't update, 1:only muscles, [2: both kinematics and muscles])
     ///
     /// updateKinematics MUST be called before retreiving data that are dependent on Q and/or Qdot
+    /// 
+    /// WARNING If one used updateKinematics providing the jacobian, using updateKinematics overrides
+    /// this previously sent position and jacobian
     ///
     void updateKinematics(
-        rigidbody::Joints &model,
+        rigidbody::Joints &updatedModel,
         internal_forces::PathModifiers& pathModifiers,
         const rigidbody::GeneralizedCoordinates* Q = nullptr,
-        const rigidbody::GeneralizedVelocity* Qdot = nullptr,
-        int updateKin = 2);
+        const rigidbody::GeneralizedVelocity* Qdot = nullptr);
 
     ///
     /// \brief Updates the position and dynamic elements of the muscles by hand.

include/InternalForces/Ligaments/Ligament.h

@@ -90,53 +90,49 @@ class BIORBD_API Ligament : public Compound
 
     ///
     /// \brief Get the length of the ligament
-    /// \param model The joint model
+    /// \param updatedModel The joint model updated to the proper kinematic level
     /// \param Q The generalized coordinates
-    /// \param updateKin Update kinematics (0: don't update, 1:only ligaments, [2: both kinematics and ligaments])
+    /// \param updateLigamentKinematics If the kinematic parameters of the ligament should be updated
     /// \return The length of the ligament
     ///
     const utils::Scalar& length(
-        rigidbody::Joints& model,
+        rigidbody::Joints& updatedModel,
         const rigidbody::GeneralizedCoordinates& Q,
-        int updateKin = 2);
+        bool updateLigamentKinematics = true);
 
     ///
     /// \brief Return the velocity of the ligament
-    /// \param model The joint model
+    /// \param updatedModel The joint model
     /// \param Q The generalized coordinates
     /// \param Qdot The generalized velocities
-    /// \param updateKin Update kinematics (0: don't update, 1:only ligaments, [2: both kinematics and ligaments])
+    /// \param updateLigamentKinematics If the kinematic parameters of the ligament should be updated
     //// \return The velocity of the ligament
     ///
     const utils::Scalar& velocity(
-        rigidbody::Joints& model,
+        rigidbody::Joints& updatedModel,
         const rigidbody::GeneralizedCoordinates& Q,
         const rigidbody::GeneralizedVelocity& Qdot,
-        bool updateKin = true);
+        bool updateLigamentKinematics = true);
 
     ///
     /// \brief Update the position of the origin and insertion positions of the ligament
-    /// \param model The joint model
+    /// \param updatedModel The joint model updated to the proper kinematic level
     /// \param Q The generalized coordinates
-    /// \param updateKin Update kinematics (0: don't update, 1:only ligaments, [2: both kinematics and ligaments])
     ///
     void updateOrientations(
-        rigidbody::Joints &model,
-        const rigidbody::GeneralizedCoordinates &Q,
-        int updateKin = 2);
+        rigidbody::Joints &updatedModel,
+        const rigidbody::GeneralizedCoordinates &Q);
 
     ///
     /// \brief Update the position of the origin and insertion nodes of the ligament
-    /// \param model The joint model
+    /// \param updatedModel The joint model updated to the proper kinematic level
     /// \param Q The generalized coordinates
     /// \param Qdot The generalized velocities
-    /// \param updateKin Update kinematics (0: don't update, 1:only ligaments, [2: both kinematics and ligaments])
     ///
     void updateOrientations(
-        rigidbody::Joints &model,
+        rigidbody::Joints &updatedModel,
         const rigidbody::GeneralizedCoordinates &Q,
-        const rigidbody::GeneralizedVelocity &Qdot,
-        int updateKin = 2);
+        const rigidbody::GeneralizedVelocity &Qdot);
 
     ///
     /// \brief Update by hand the position of the origin and insertion nodes of the ligament
@@ -186,13 +182,15 @@ class BIORBD_API Ligament : public Compound
 
     ///
     /// \brief Return the ligament points in global reference frame
-    /// \param model The joint model
+    /// \param updatedModel The joint model updated to the proper kinematic level
     /// \param Q The generalized coordinates
+    /// \param updateLigamentKinematics If the kinematic parameters of the ligament should be updated
     /// \return The ligament points in global reference frame
     ///
     const std::vector<utils::Vector3d>& ligamentsPointsInGlobal(
-        rigidbody::Joints &model,
-        const rigidbody::GeneralizedCoordinates &Q);
+        rigidbody::Joints &updatedModel,
+        const rigidbody::GeneralizedCoordinates &Q, 
+        bool updateLigamentKinematics = true);
 
     ///
     /// \brief Return the previously computed ligament points in global reference frame
@@ -202,29 +200,29 @@ class BIORBD_API Ligament : public Compound
 
     ///
     /// \brief Return the computed force norm
-    /// \param model The joints model
+    /// \param updatedModel The joints model
     /// \param Q The generalized coordinates of the model
     /// \param Qdot The generalized velocities of the model
-    /// \param updateKin Update kinematics (0: don't update, 1:only ligaments, [2: both kinematics and ligaments])
+    /// \param updateLigamentKinematics If the kinematic parameters of the ligament should be updated
     /// \return The computed force
     ///
     virtual const utils::Scalar& force(
-        rigidbody::Joints& model,
+        rigidbody::Joints& updatedModel,
         const rigidbody::GeneralizedCoordinates& Q,
         const rigidbody::GeneralizedVelocity& Qdot,
-        int updateKin = 2);
+        bool updateLigamentKinematics = true);
 
     ///
     /// \brief Return the computed force norm
-    /// \param model The joints model
+    /// \param updatedModel The joint model updated to the proper kinematic level
     /// \param Q The generalized coordinates of the model
-    /// \param updateKin Update kinematics (0: don't update, 1:only ligaments, [2: both kinematics and ligaments])
+    /// \param updateLigamentKinematics If the kinematic parameters of the ligament should be updated
     /// \return The computed force
     ///
     virtual const utils::Scalar& force(
-        rigidbody::Joints& model,
+        rigidbody::Joints& updatedModel,
         const rigidbody::GeneralizedCoordinates& Q,
-        int updateKin = 2);
+        bool updateLigamentKinematics = true);
 
     ///
     /// \brief Return the computed force norm. The ligament orientation had to be computed before calling this function.