Public Member Functions | Private Attributes
KDL::ChainDynParam Class Reference

#include <chaindynparam.hpp>

List of all members.

Public Member Functions

 ChainDynParam (const Chain &chain, Vector _grav)
virtual int JntToCoriolis (const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
virtual int JntToGravity (const JntArray &q, JntArray &gravity)
virtual int JntToMass (const JntArray &q, JntSpaceInertiaMatrix &H)
 ~ChainDynParam ()

Private Attributes

Twist ag
const Chain chain
ChainIdSolver_RNE chainidsolver_coriolis
ChainIdSolver_RNE chainidsolver_gravity
Wrench F
Vector grav
< ArticulatedBodyInertia
JntArray jntarraynull
unsigned int nj
int nr
unsigned int ns
std::vector< TwistS
Vector vectornull
std::vector< Wrenchwrenchnull
std::vector< FrameX

Detailed Description

Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives. (inverse dynamics)

The algorithm implementation for H is based on the book "Rigid Body Dynamics Algorithms" of Roy Featherstone, 2008 (ISBN:978-0-387-74314-1) See page 107 for the pseudo-code. This algorithm is extended for the use of fixed joints

It calculates the joint-space inertia matrix, given the motion of the joints (q,qdot,qdotdot), external forces on the segments (expressed in the segments reference frame) and the dynamical parameters of the segments.

Definition at line 46 of file chaindynparam.hpp.

Constructor & Destructor Documentation

KDL::ChainDynParam::ChainDynParam ( const Chain chain,
Vector  _grav 

Definition at line 28 of file chaindynparam.cpp.

Definition at line 133 of file chaindynparam.cpp.

Member Function Documentation

int KDL::ChainDynParam::JntToCoriolis ( const JntArray &  q,
const JntArray &  q_dot,
JntArray &  coriolis 
) [virtual]

Definition at line 109 of file chaindynparam.cpp.

int KDL::ChainDynParam::JntToGravity ( const JntArray &  q,
JntArray &  gravity 
) [virtual]

Definition at line 122 of file chaindynparam.cpp.

int KDL::ChainDynParam::JntToMass ( const JntArray &  q,
JntSpaceInertiaMatrix &  H 
) [virtual]

Definition at line 45 of file chaindynparam.cpp.

Member Data Documentation

Definition at line 72 of file chaindynparam.hpp.

Definition at line 57 of file chaindynparam.hpp.

Definition at line 64 of file chaindynparam.hpp.

Definition at line 65 of file chaindynparam.hpp.

Definition at line 71 of file chaindynparam.hpp.

Definition at line 61 of file chaindynparam.hpp.

Definition at line 70 of file chaindynparam.hpp.

Definition at line 63 of file chaindynparam.hpp.

unsigned int KDL::ChainDynParam::nj [private]

Definition at line 59 of file chaindynparam.hpp.

int KDL::ChainDynParam::nr [private]

Definition at line 58 of file chaindynparam.hpp.

unsigned int KDL::ChainDynParam::ns [private]

Definition at line 60 of file chaindynparam.hpp.

std::vector<Twist> KDL::ChainDynParam::S [private]

Definition at line 68 of file chaindynparam.hpp.

Definition at line 62 of file chaindynparam.hpp.

std::vector<Wrench> KDL::ChainDynParam::wrenchnull [private]

Definition at line 66 of file chaindynparam.hpp.

std::vector<Frame> KDL::ChainDynParam::X [private]

Definition at line 67 of file chaindynparam.hpp.

The documentation for this class was generated from the following files:

Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:26