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

#include <chaindynparam.hpp>

Inheritance diagram for KDL::ChainDynParam:
Inheritance graph

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)
virtual void updateInternalDataStructures ()
virtual ~ChainDynParam ()

Private Attributes

Twist ag
const Chainchain
ChainIdSolver_RNE chainidsolver_coriolis
ChainIdSolver_RNE chainidsolver_gravity
Wrench F
Vector grav
< ArticulatedBodyInertia,
< 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 47 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 148 of file chaindynparam.cpp.

Member Function Documentation

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

Definition at line 126 of file chaindynparam.cpp.

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

Definition at line 138 of file chaindynparam.cpp.

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

Definition at line 59 of file chaindynparam.cpp.

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.

Definition at line 45 of file chaindynparam.cpp.

Member Data Documentation

Definition at line 76 of file chaindynparam.hpp.

const Chain& KDL::ChainDynParam::chain [private]

Definition at line 61 of file chaindynparam.hpp.

Definition at line 68 of file chaindynparam.hpp.

Definition at line 69 of file chaindynparam.hpp.

Definition at line 75 of file chaindynparam.hpp.

Definition at line 65 of file chaindynparam.hpp.

std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> > KDL::ChainDynParam::Ic [private]

Definition at line 74 of file chaindynparam.hpp.

Definition at line 67 of file chaindynparam.hpp.

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

Definition at line 63 of file chaindynparam.hpp.

int KDL::ChainDynParam::nr [private]

Definition at line 62 of file chaindynparam.hpp.

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

Definition at line 64 of file chaindynparam.hpp.

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

Definition at line 72 of file chaindynparam.hpp.

Definition at line 66 of file chaindynparam.hpp.

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

Definition at line 70 of file chaindynparam.hpp.

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

Definition at line 71 of file chaindynparam.hpp.

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

autogenerated on Fri Jun 14 2019 19:33:23