00001 // Copyright (C) 2009 Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #ifndef KDLCHAINDYNPARAM_HPP 00023 #define KDLCHAINDYNPARAM_HPP 00024 00025 #include "chainidsolver_recursive_newton_euler.hpp" 00026 #include "articulatedbodyinertia.hpp" 00027 #include "jntspaceinertiamatrix.hpp" 00028 00029 namespace KDL { 00030 00046 class ChainDynParam 00047 { 00048 public: 00049 ChainDynParam(const Chain& chain, Vector _grav); 00050 virtual ~ChainDynParam(); 00051 00052 virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis); 00053 virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix& H); 00054 virtual int JntToGravity(const JntArray &q,JntArray &gravity); 00055 00056 private: 00057 const Chain chain; 00058 int nr; 00059 unsigned int nj; 00060 unsigned int ns; 00061 Vector grav; 00062 Vector vectornull; 00063 JntArray jntarraynull; 00064 ChainIdSolver_RNE chainidsolver_coriolis; 00065 ChainIdSolver_RNE chainidsolver_gravity; 00066 std::vector<Wrench> wrenchnull; 00067 std::vector<Frame> X; 00068 std::vector<Twist> S; 00069 //std::vector<RigidBodyInertia> I; 00070 std::vector<ArticulatedBodyInertia> Ic; 00071 Wrench F; 00072 Twist ag; 00073 00074 }; 00075 00076 } 00077 00078 #endif