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add dJdqi in to dJdqi #5

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3 changes: 2 additions & 1 deletion matlab-diff/+redmax/Scene.m
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ function reset(this)
end

%%
function saveHistory(this,Hl,Hu,Hp,M,f,K,D,J)
function saveHistory(this,Hl,Hu,Hp,M,f,K,D,J,dJdq)
[q,qdot] = this.joints{1}.getQ();
this.history(this.k).q = q;
this.history(this.k).qdot = qdot;
Expand All @@ -146,6 +146,7 @@ function saveHistory(this,Hl,Hu,Hp,M,f,K,D,J)
this.history(this.k).K = K;
this.history(this.k).D = D;
this.history(this.k).J = J;
this.history(this.k).dJdq = dJdq;
end
if ~isempty(this.task)
% Used by the adjoint method
Expand Down
7 changes: 7 additions & 0 deletions matlab-diff/+redmax/TaskBDF1PointPos.m
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,13 @@ function calcStep(this)
R = E(1:3,1:3);
dxdqm(:,this.body.idxM) = R*se3.Gamma(this.xlocal);
J = this.scene.history(k).J;

nr = redmax.Scene.countR();
for i = 1 : nr
dJdqi = this.scene.history(k).dJdq(:,:,i);
J(:,i) = J(:,i) + dJdqi*q;
end

this.dPdq{k} = J'*dxdqm'*dx*wp;
else
this.dPdq{k} = zeros(nr,1);
Expand Down
16 changes: 9 additions & 7 deletions matlab-diff/driverRedMaxAdjointBDF1.m
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ function simLoop(scene)

% Compute new state
q1 = q0 + h*qdot0; % initial guess
[q1,GL,GU,Gp,M,f,K,D,J] = newton(@(q1)evalBDF1(q1,scene),q1);
[q1,GL,GU,Gp,M,f,K,D,J,dJdq] = newton(@(q1)evalBDF1(q1,scene),q1);
qdot1 = (q1 - q0)/h;

% Save new state
Expand All @@ -94,23 +94,23 @@ function simLoop(scene)
scene.k = k + 1;

% End of step
scene.saveHistory(GL,GU,Gp,M,f,K,D,J);
scene.saveHistory(GL,GU,Gp,M,f,K,D,J,dJdq);
scene.draw();
end
%fprintf('%d steps\n',nsteps);

end

%%
function [x,Hl,Hu,Hp,M,f,K,D,J] = newton(evalFcn,xInit)
function [x,Hl,Hu,Hp,M,f,K,D,J,dJdq] = newton(evalFcn,xInit)
tol = 1e-9;
dxMax = 1e3;
iterMax = 5*length(xInit);
testGrad = false;
x = xInit;
iter = 1;
while true
[g,H,M,f,K,D,J] = evalFcn(x);
[g,H,M,f,K,D,J,dJdq] = evalFcn(x);
if testGrad
% Finite difference test
sqrteps = sqrt(eps); %#ok<UNRCH>
Expand Down Expand Up @@ -146,7 +146,7 @@ function simLoop(scene)
end

%%
function [g,H,M,f,K,D,J] = evalBDF1(q1,scene)
function [g,H,M,f,K,D,J,dJdq] = evalBDF1(q1,scene)
h = scene.h;
h2 = h*h;
nr = redmax.Scene.countR();
Expand All @@ -165,7 +165,7 @@ function simLoop(scene)
g = M*dqtmp - h2*f;
else
jroot.update();
[M,f,dMdq,K,D,J] = computeValues(scene);
[M,f,dMdq,K,D,J,dJdq] = computeValues(scene);
g = M*dqtmp - h2*f;
H = M - h*D - h2*K;
for i = 1 : nr
Expand All @@ -176,13 +176,15 @@ function simLoop(scene)
end

%%
function [M,f,dMdq,K,D,J] = computeValues(scene)
function [M,f,dMdq,K,D,J,dJdq] = computeValues(scene)
nr = redmax.Scene.countR();
broot = scene.bodies{1};
jroot = scene.joints{1};
froot = scene.forces{1};

qdot = jroot.getQdot();
nm = redmax.Scene.countM();
dJdq = zeros(nm,nr,nr);
if nargout == 2
[J,Jdot] = jroot.computeJacobian();
[Mm,fm] = broot.computeMassGrav(scene.grav);
Expand Down