New/fixing derivs no benchmarks#100
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DVolpi256
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May 26, 2026
DVolpi256
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- Implemented a new algorithm called firstOrderInverseDynamicsDerivatives in ClusterTreeDynamics.cpp that computes the first-order derivatives of rigid-body dynamics for closed-chain kinematic systems.
- Two new unit tests were added to validate the new algorithm: testInverseDynamicsDerivativesSimple validates the algorithm against a first-order finite difference to an accuracy on the order of 10^-8 and testInverseDynamicsDerivativesComplexStep validates the algorithm against a complex step derivative to an accuracy on the order of 10^-14 (i.e., machine precision).
- New terms were added to handle the new algorithm. This is especially apparent in GenericJoint.h and GenericJoint.cpp, where new CasADi functions to handle the presence of a configuration-dependent joint motion subspace matrix S.
- A new model of Agility Robotics' Cassie and model variants of the Tello robot were added to evaluate the algorithm's handling of closed-chain kinematic systems. A model of the KUKA LWR 4+ robot was also added to test a real robot arm.
Has temporary variables for the backward pass as well. Comments are made for new functions that need to be implemented.
…ded some efficiencies after review.
… two unit test files and fixed the resulting type issues.
Need Casadi to add additional terms
Merging to add support for Ubuntu 24 instead of 18
…tives function in testRBDAlgos
… 456 of ClusterTreeDyamics.cpp. The error pertains to a segmentation fault that I believe is related to the usage of the Psi_dot_ term.
…h a finite difference for fixed-base robots.
…finite difference and the other does a complex step. They work well for the double pendulum case. The three link and four link serial chains and Mini Cheetah have larger errors.
…s derivatives tests now pass.
… Cheetah. Examining how to get the complex step working and whether testRigidBodyDynamicsAlgosDerivatives is now broken.
…aking the existing unit tests.
- Reverted src/Dynamics/ClusterTreeDynamics.cpp to e1bf655 - Reverted include/grbda/Utils/OrientationTools.h to e1bf655 - Reverted src/Dynamics/ClusterJoints/FreeJoint.cpp to e1bf655 - Reverted src/Robots/MiniCheetah.cpp to e1bf655 - Reverted UnitTests/testHelpers.hpp to e1bf655 - Modified UnitTests/testInverseDynamicsDerivativesSimple.cpp: - Updated conf_add to use [pos(3), quat(4)] ordering - Use h=1e-6 for floating base (instead of 1e-8) - Use tolerance 1e-5 for floating base tests - Joint.h remains with [pos(3), quat(4)] ordering (e1bf655 baseline) Results: - testInverseDynamicsDerivativesSimple: 4/4 PASSED (including MiniCheetahQuaternion) - testRigidBodyDynamicsAlgosDerivatives: 14/14 PASSED
pwensing
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May 27, 2026
pwensing
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May 27, 2026
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Looks good. All pretty minor, with the exception of avoiding a few temporaries that lead to dynamic allocations in the main derivatives loop. Let me know via slack after you've responded to the lot.
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@nicholasadr Please see the specific call outs where it would be good to get your input. |
pwensing
reviewed
May 27, 2026
pwensing
reviewed
May 27, 2026
… declarations of alpha, beta, Sdotqd_q, and st_dq outside the loop
This reverts commit a8ca9f1.
This reverts commit 5f32d1a.
…:runtime_error to CasadiDerivatives.h, and refactored Spatial.h utils to accumulate or write diriectly to avoid returning by value
…le large block-diagonal matrices, which required some added utilities.
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