#include <ForwardDynamicsABM.h>
Public Member Functions | |
| virtual void | calcNextState () |
| ForwardDynamicsABM (BodyPtr body) | |
| virtual void | initialize () |
| ~ForwardDynamicsABM () | |
Private Member Functions | |
| void | calcABMFirstHalf () |
| void | calcABMLastHalf () |
| void | calcABMPhase1 () |
| void | calcABMPhase2 () |
| void | calcABMPhase2Part1 () |
| void | calcABMPhase2Part2 () |
| void | calcABMPhase3 () |
| void | calcMotionWithEulerMethod () |
| void | calcMotionWithRungeKuttaMethod () |
| void | integrateRungeKuttaOneStep (double r, double dt) |
| void | updateForceSensor (ForceSensor *sensor) |
| void | updateForceSensors () |
Private Attributes | |
| std::vector< double > | ddq |
| std::vector< double > | dq |
| std::vector< double > | dq0 |
| Vector3 | dvo |
| Vector3 | dw |
| Vector3 | p0 |
| std::vector< double > | q0 |
| Matrix33 | R0 |
| Vector3 | vo |
| Vector3 | vo0 |
| Vector3 | w |
| Vector3 | w0 |
Detailed Description
Forward dynamics calculation using Featherstone's Articulated Body Method (ABM)
Definition at line 33 of file ForwardDynamicsABM.h.
Constructor & Destructor Documentation
Definition at line 30 of file ForwardDynamicsABM.cpp.
Definition at line 41 of file ForwardDynamicsABM.cpp.
Member Function Documentation
| void ForwardDynamicsABM::calcABMFirstHalf | ( | ) | [inline, private] |
Definition at line 54 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcABMLastHalf | ( | ) | [inline, private] |
Definition at line 61 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcABMPhase1 | ( | ) | [private] |
compute position/orientation/velocity
Definition at line 221 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcABMPhase2 | ( | ) | [private] |
compute articulated inertia
Definition at line 305 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcABMPhase2Part1 | ( | ) | [private] |
Definition at line 358 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcABMPhase2Part2 | ( | ) | [private] |
Definition at line 397 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcABMPhase3 | ( | ) | [private] |
compute joint acceleration/spatial acceleration
Definition at line 427 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcMotionWithEulerMethod | ( | ) | [private] |
Definition at line 101 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcMotionWithRungeKuttaMethod | ( | ) | [private] |
Definition at line 161 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::calcNextState | ( | ) | [virtual] |
Implements hrp::ForwardDynamics.
Definition at line 68 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::initialize | ( | void | ) | [virtual] |
Implements hrp::ForwardDynamics.
Definition at line 47 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::integrateRungeKuttaOneStep | ( | double | r, |
| double | dt | ||
| ) | [private] |
Definition at line 131 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::updateForceSensor | ( | ForceSensor * | sensor | ) | [private] |
Definition at line 482 of file ForwardDynamicsABM.cpp.
| void ForwardDynamicsABM::updateForceSensors | ( | ) | [private] |
Definition at line 473 of file ForwardDynamicsABM.cpp.
Member Data Documentation
std::vector<double> hrp::ForwardDynamicsABM::ddq [private] |
Definition at line 85 of file ForwardDynamicsABM.h.
std::vector<double> hrp::ForwardDynamicsABM::dq [private] |
Definition at line 84 of file ForwardDynamicsABM.h.
std::vector<double> hrp::ForwardDynamicsABM::dq0 [private] |
Definition at line 78 of file ForwardDynamicsABM.h.
Vector3 hrp::ForwardDynamicsABM::dvo [private] |
Definition at line 82 of file ForwardDynamicsABM.h.
Vector3 hrp::ForwardDynamicsABM::dw [private] |
Definition at line 83 of file ForwardDynamicsABM.h.
Vector3 hrp::ForwardDynamicsABM::p0 [private] |
Definition at line 73 of file ForwardDynamicsABM.h.
std::vector<double> hrp::ForwardDynamicsABM::q0 [private] |
Definition at line 77 of file ForwardDynamicsABM.h.
Matrix33 hrp::ForwardDynamicsABM::R0 [private] |
Definition at line 74 of file ForwardDynamicsABM.h.
Vector3 hrp::ForwardDynamicsABM::vo [private] |
Definition at line 80 of file ForwardDynamicsABM.h.
Vector3 hrp::ForwardDynamicsABM::vo0 [private] |
Definition at line 75 of file ForwardDynamicsABM.h.
Vector3 hrp::ForwardDynamicsABM::w [private] |
Definition at line 81 of file ForwardDynamicsABM.h.
Vector3 hrp::ForwardDynamicsABM::w0 [private] |
Definition at line 76 of file ForwardDynamicsABM.h.
The documentation for this class was generated from the following files: