77 lines
2.2 KiB
Matlab
77 lines
2.2 KiB
Matlab
function J = CalcRigidJacobian(M, V, p_local, p_global)
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n = size(M, 1)/3;
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% Get the current 3D shape (not affected by global transform, as this
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% is how the Jacobian was derived (for derivation please see
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% ../derivations/orthoJacobian
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shape3D = GetShape3D(M, V, p_local);
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% Get the rotation matrix corresponding to current global orientation
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R = Euler2Rot(p_global(2:4));
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s = p_global(1);
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% Rigid Jacobian is laid out as follows
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% dx_1/ds, dx_1/dr1, dx_1/dr2, dx_1/dr3, dx_1/dtx, dx_1/dty
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% dx_2/ds, dx_2/dr1, dx_2/dr2, dx_2/dr3, dx_2/dtx, dx_2/dty
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% ...
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% dx_n/ds, dx_n/dr1, dx_n/dr2, dx_n/dr3, dx_n/dtx, dx_n/dty
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% dy_1/ds, dy_1/dr1, dy_1/dr2, dy_1/dr3, dy_1/dtx, dy_1/dty
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% ...
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% dy_n/ds, dy_n/dr1, dy_n/dr2, dy_n/dr3, dy_n/dtx, dy_n/dty
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J = zeros(n*2, 6);
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% dx/ds = X * r11 + Y * r12 + Z * r13
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% dx/dr1 = s*(r13 * Y - r12 * Z)
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% dx/dr2 = -s*(r13 * X - r11 * Z)
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% dx/dr3 = s*(r12 * X - r11 * Y)
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% dx/dtx = 1
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% dx/dty = 0
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% dy/ds = X * r21 + Y * r22 + Z * r23
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% dy/dr1 = s * (r23 * Y - r22 * Z)
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% dy/dr2 = -s * (r23 * X - r21 * Z)
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% dy/dr3 = s * (r22 * X - r21 * Y)
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% dy/dtx = 0
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% dy/dty = 1
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% set the Jacobian for x's
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% with respect to scaling factor
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J(1:n,1) = shape3D * R(1,:)';
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% with respect to angular rotation around x, y, and z axes
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% Change of x with respect to change in axis angle rotation
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dxdR = [ 0, R(1,3), -R(1,2);
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-R(1,3), 0, R(1,1);
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R(1,2), -R(1,1), 0];
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J(1:n,2:4) = s*(dxdR * shape3D')';
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% with respect to translation
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J(1:n,5) = 1;
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J(1:n,6) = 0;
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% set the Jacobian for y's
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% with respect to scaling factor
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J(n+1:end,1) = shape3D * R(2,:)';
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% with respect to angular rotation around x, y, and z axes
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% Change of y with respect to change in axis angle rotation
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dydR = [ 0, R(2,3), -R(2,2);
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-R(2,3), 0, R(2,1);
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R(2,2), -R(2,1), 0];
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J(n+1:end,2:4) = s*(dydR * shape3D')';
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% with respect to translation
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J(n+1:end,5) = 0;
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J(n+1:end,6) = 1;
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end
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