KDL::ChainIdSolver_Vereshchagin Class Reference

#include <chainidsolver_vereshchagin.hpp>

Classes
struct	segment_info
Public Member Functions
int	CartToJnt (const JntArray &q, const JntArray &q_dot, JntArray &q_dotdot, const Jacobian &alfa, const JntArray &beta, const Wrenches &f_ext, JntArray &torques)
	ChainIdSolver_Vereshchagin (const Chain &chain, Twist root_acc, unsigned int nc)
	~ChainIdSolver_Vereshchagin ()
Private Member Functions
void	constraint_calculation (const JntArray &beta)
void	downwards_sweep (const Jacobian &alfa, const JntArray &torques)
void	final_upwards_sweep (JntArray &q_dotdot, JntArray &torques)
void	initial_upwards_sweep (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext)
Private Attributes
Twist	acc_root
Jacobian	alfa_N
Jacobian	alfa_N2
JntArray	beta_N
Chain	chain
Frame	F_total
Eigen::MatrixXd	M_0_inverse
unsigned int	nc
unsigned int	nj
unsigned int	ns
Eigen::VectorXd	nu
Eigen::VectorXd	nu_sum
Wrench	qdotdot_sum
std::vector< segment_info >	results
Eigen::VectorXd	Sm
Eigen::VectorXd	tmpm
Eigen::MatrixXd	Um
Eigen::MatrixXd	Vm

Detailed Description

Definition at line 43 of file chainidsolver_vereshchagin.hpp.

Constructor & Destructor Documentation

KDL::ChainIdSolver_Vereshchagin::ChainIdSolver_Vereshchagin	(	const Chain &	chain,
		Twist	root_acc,
		unsigned int	nc
	)

Constructor for the solver, it will allocate all the necessary memory

Parameters:

	chain	The kinematic chain to calculate the inverse dynamics for, an internal copy will be made.
	root_acc	The acceleration vector of the root to use during the calculation.(most likely contains gravity)

Definition at line 28 of file chainidsolver_vereshchagin.cpp.

KDL::ChainIdSolver_Vereshchagin::~ChainIdSolver_Vereshchagin ( ) [inline]

Definition at line 54 of file chainidsolver_vereshchagin.hpp.

Member Function Documentation

int KDL::ChainIdSolver_Vereshchagin::CartToJnt	(	const JntArray &	q,
		const JntArray &	q_dot,
		JntArray &	q_dotdot,
		const Jacobian &	alfa,
		const JntArray &	beta,
		const Wrenches &	f_ext,
		JntArray &	torques
	)

This method calculates joint space constraint torques and total joint space acceleration. It returns 0 when it succeeds, otherwise -1 or -2 for unmatching matrix and array sizes. Input parameters;

Parameters:

	q	The current joint positions
	q_dot	The current joint velocities
	f_ext	The external forces (no gravity, it is given in root acceleration) on the segments. Output parameters:
	q_dotdot	The joint accelerations
	torques	the resulting constraint torques for the joints

Definition at line 43 of file chainidsolver_vereshchagin.cpp.

void KDL::ChainIdSolver_Vereshchagin::constraint_calculation ( const JntArray & beta ) [private]

This method calculates constraint force magnitudes.

Definition at line 237 of file chainidsolver_vereshchagin.cpp.

void KDL::ChainIdSolver_Vereshchagin::downwards_sweep	(	const Jacobian &	alfa,
		const JntArray &	torques
	)			`[private]`

This method is a force balance sweep. It calculates articulated body inertias and bias forces. Additionally, acceleration energies generated by bias forces and unit forces are calculated here.

Definition at line 122 of file chainidsolver_vereshchagin.cpp.

void KDL::ChainIdSolver_Vereshchagin::final_upwards_sweep	(	JntArray &	q_dotdot,
		JntArray &	torques
	)			`[private]`

This method puts all acceleration contributions (constraint, bias, nullspace and parent accelerations) together.

Definition at line 272 of file chainidsolver_vereshchagin.cpp.

void KDL::ChainIdSolver_Vereshchagin::initial_upwards_sweep	(	const JntArray &	q,
		const JntArray &	q_dot,
		const JntArray &	q_dotdot,
		const Wrenches &	f_ext
	)			`[private]`