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This PR adds the pose jacobian derivative in the DQ_Kinematic class #115

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Merged
merged 9 commits into from
May 14, 2025
Merged

This PR adds the pose jacobian derivative in the DQ_Kinematic class #115

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2e4d2ac
[DQ_Kinematics] Updated the copyright year and the Juancho's email.
juanjqo May 7, 2025
2aef384
[DQ_Kinematics] Added the pose_jacobian_derivative method.
juanjqo May 7, 2025
a0eb23d
[DQ_HolonomicBase.m] Added the pose_jacobian_derivative method. Howev…
juanjqo May 7, 2025
d03e1c6
[DQ_DifferentialDriveRobot] Added the pose_jacobian_derivative method…
juanjqo May 7, 2025
2755ebf
[DQ_SerialWholeBody.m] Added the pose_jacobian_derivative method. How…
juanjqo May 7, 2025
3381209
[DQ_WholeBody.m] Added the pose_jacobian_derivative method. However, …
juanjqo May 7, 2025
7c16779
[DQ_HolonomicBase.m] Updated the Bruno's email.
juanjqo May 14, 2025
5afd4ac
[DQ_DifferentialDriveRobot.m] Updated the Bruno's email.
juanjqo May 14, 2025
f81e31e
[DQ_WholeBody.m] Updated the Bruno's email.
juanjqo May 14, 2025
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20 changes: 18 additions & 2 deletions robot_modeling/DQ_DifferentialDriveRobot.m
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Expand Up @@ -14,7 +14,7 @@
% See also DQ_HolonomicBase.


% (C) Copyright 2011-2019 DQ Robotics Developers
% (C) Copyright 2011-2025 DQ Robotics Developers
%
% This file is part of DQ Robotics.
%
Expand All @@ -34,7 +34,11 @@
% DQ Robotics website: dqrobotics.github.io
%
% Contributors to this file:
% Bruno Vihena Adorno - adorno@ufmg.br
% 1. Bruno Vihena Adorno - adorno@ieee.org
%
% 2. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
% - Added the method pose_jacobian_derivative().
% However, the method is not implemented yet.

classdef DQ_DifferentialDriveRobot < DQ_HolonomicBase

Expand Down Expand Up @@ -78,5 +82,17 @@
J_holonomic = pose_jacobian@DQ_HolonomicBase(obj,q);
J = J_holonomic*obj.constraint_jacobian(q(3));
end

function J_dot = pose_jacobian_derivative(obj, q, q_dot)
% J_dot = pose_jacobian_derivative(q, q_dot) returns the time
% derivative of the Jacobian matrix that satisfies
% vec8(h_dot_dot) = J_dot*[wr,wl]' + J*[wr_dot,wl_dot]', where h_dot is the time
% derivative of the unit dual quaternion that represent the
% mobile base pose and wr and wl are the angular velocities of the
% right and left wheels, respectively.
% q = [x,y,phi] is the robot configuration

error('pose_jacobian_derivative is not implemented yet');
end
end
end
18 changes: 16 additions & 2 deletions robot_modeling/DQ_HolonomicBase.m
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Expand Up @@ -16,7 +16,7 @@
%
% See also DQ_MobileBase, DQ_DifferentialDriveRobot

% (C) Copyright 2011-2019 DQ Robotics Developers
% (C) Copyright 2011-2025 DQ Robotics Developers
%
% This file is part of DQ Robotics.
%
Expand All @@ -36,7 +36,11 @@
% DQ Robotics website: dqrobotics.github.io
%
% Contributors to this file:
% Bruno Vihena Adorno - adorno@ufmg.br
% 1. Bruno Vihena Adorno - adorno@ieee.org
%
% 2. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
% - Added the method pose_jacobian_derivative().
% However, the method is not implemented yet.

classdef DQ_HolonomicBase < DQ_MobileBase

Expand Down Expand Up @@ -137,6 +141,16 @@
J = haminus8(obj.frame_displacement)*obj.raw_pose_jacobian(q);
end
end

function J_dot = pose_jacobian_derivative(obj, q, q_dot, ~)
% POSE_JACOBIAN_DERIVATIVE(q, q_dot) returns, given the configuration
% q = [x,y,phi]', the mobile-base pose Jacobian derivative J_dot that satisfies
% x_dot_dot = J_dot*q_dot + J*q_dot_dot, where x_dot is the time derivative
% of the unit dual quaternion that represents the mobile-base pose. It takes into
% consideration the base frame displacement (e.g., base height).

error('pose_jacobian_derivative is not implemented yet');
end

function set_base_diameter(obj,diameter)
% Set the base diameter, in meters. This function must be
Expand Down
12 changes: 10 additions & 2 deletions robot_modeling/DQ_Kinematics.m
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Expand Up @@ -37,7 +37,7 @@
% translation_jacobian - Compute the translation Jacobian.
% See also DQ_SerialManipulator, DQ_MobileBase, DQ_CooperativeDualTaskSpace.

% (C) Copyright 2011-2023 DQ Robotics Developers
% (C) Copyright 2011-2025 DQ Robotics Developers
%
% This file is part of DQ Robotics.
%
Expand All @@ -60,10 +60,11 @@
% 1. Bruno Vihena Adorno (adorno@ieee.org)
% Responsible for the original implementation.
%
% 2. Juan Jose Quiroz Omana (juanjqo@g.ecc.u-tokyo.ac.jp)
% 2. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
% - Added the property dim_configuration_space.
% - Added the method line_to_line_angle_residual().
% - Added the methods check_ith_link() and check_q_vec().
% - Added the method pose_jacobian_derivative().

classdef DQ_Kinematics < handle
% DQ_Kinematics inherits the HANDLE superclass to avoid unnecessary copies
Expand Down Expand Up @@ -172,6 +173,13 @@ function check_q_vec(obj, q_vec)
% POSE_JACOBIAN(q, to_ith_link) calculates the forward kinematic model up to
% the ith element in the chain.
J = pose_jacobian(obj, q, to_ith_link);

% POSE_JACOBIAN_DERIVATIVE(q, q_dot) returns the Jacobian derivative 'J_dot' that satisfies
% vec8(x_pose_dot_dot) = J_dot * q_dot + J*q_dot_dot, where x_pose = fkm(q), 'x_pose_dot_dot' is
% the second time derivative of the 'x_pose' and 'q_dot' represents the robot configuration velocities.
% J_dot = pose_jacobian_derivative(obj, q, q_dot, to_ith_link) calculates the jacobian derivative up
% to the ith element in the chain.
J_dot = pose_jacobian_derivative(obj, q, q_dot, to_ith_link);
end

methods(Static)
Expand Down
19 changes: 17 additions & 2 deletions robot_modeling/DQ_SerialWholeBody.m
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Expand Up @@ -51,7 +51,7 @@
%
% See also DQ_kinematics, DQ_MobileBase

% (C) Copyright 2011-2023 DQ Robotics Developers
% (C) Copyright 2011-2025 DQ Robotics Developers
%
% This file is part of DQ Robotics.
%
Expand All @@ -71,7 +71,10 @@
% DQ Robotics website: dqrobotics.github.io
%
% Contributors to this file:
% Bruno Vihena Adorno - adorno@ieee.org
% 1. Bruno Vihena Adorno - adorno@ieee.org
%
% 2. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
% - Added the method pose_jacobian_derivative(). However, the method is not implemented yet.

classdef DQ_SerialWholeBody < DQ_Kinematics
properties (Access = protected)
Expand Down Expand Up @@ -591,5 +594,17 @@ function set_effector(obj,effector)
' in the kinematic chain is a DQ_SerialManipulator object']);
end
end

function J_dot = pose_jacobian_derivative(obj, q, q_dot, ith)
% Returns the whole-body pose Jacobian.
% J_dot = POSE_JACOBIAN_DERIVATIVE(q, q_dot) receives the configuration vector q and configuration
% velocity vector q_dot of the whole kinematic chain and returns the jacobian derivative J_dot that satisfies
% vec8(xdot_dot) = J_dot*q_dot + J*q_dot_dot, where q_dot is the configuration velocity
% and xdot is the time derivative of the unit dual quaternion that represents the end-effector pose.
% J = POSE_JACOBIAN_DERIVATIVE(q, q_dot, ith) calculates the Jacobian derivative up to the ith
% link of the combined kinematic chain.

error('pose_jacobian_derivative is not implemented yet');
end
end
end
21 changes: 19 additions & 2 deletions robot_modeling/DQ_WholeBody.m
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Expand Up @@ -42,7 +42,7 @@
%
% See also DQ_kinematics, DQ_MobileBase

% (C) Copyright 2011-2023 DQ Robotics Developers
% (C) Copyright 2011-2025 DQ Robotics Developers
%
% This file is part of DQ Robotics.
%
Expand All @@ -62,7 +62,11 @@
% DQ Robotics website: dqrobotics.github.io
%
% Contributors to this file:
% Bruno Vihena Adorno - adorno@ieee.org
% 1. Bruno Vihena Adorno - adorno@ieee.org
%
% 2. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
% - Added the method pose_jacobian_derivative().
% However, the method is not implemented yet.

classdef DQ_WholeBody < DQ_Kinematics
properties (Access = protected)
Expand Down Expand Up @@ -478,5 +482,18 @@ function set_effector(obj,effector)
' in the kinematic chain is a DQ_SerialManipulator object']);
end
end


function J_dot = pose_jacobian_derivative(obj, q, q_dot, ith)
% Returns the whole-body pose Jacobian.
% J_dot = POSE_JACOBIAN_DERIVATIVE(q, q_dot) receives the configuration vector q and configuration
% velocity vector q_dot of the whole kinematic chain and returns the jacobian derivative J_dot that satisfies
% vec8(xdot_dot) = J_dot*q_dot + J*q_dot_dot, where q_dot is the configuration velocity
% and xdot is the time derivative of the unit dual quaternion that represents the end-effector pose.
% J = POSE_JACOBIAN_DERIVATIVE(q, q_dot, ith) calculates the Jacobian derivative up to the ith
% link of the combined kinematic chain.

error('pose_jacobian_derivative is not implemented yet');
end
end
end
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