JointDynamicsData Class Reference

#include <JointDynamicsData.h>

List of all members.

Public Member Functions
void	InitializeMaps (const KDL::Tree &tree)
	Initialize maps and iterate through elements.
	JointDynamicsData ()
	Constructor for Joint Dynamics Data.
int	PopulateExtForceInfo (const KDL::Chain &chain, KDL::Wrenches &f_ext)
	Match chain properties to jntArray properties and set segment force map.
int	PopulateExtForceInfo (const std::string &node, KDL::Wrenches &f_ext)
	Set segment force map at the specified node.
int	PopulateJointInfo (const KDL::Chain &chain, KDL::JntArray &q, KDL::JntArray &q_dot, KDL::JntArray &q_dotdot)
	Match chain properties to jntArray properties and set joint data for each joints.
int	StoreJointInertia (const KDL::Chain &chain, const KDL::JntArray &Hv)
	Match chain properties to jntArray properties and set inertia at each joint.
int	StoreJointTorqueCommands (const KDL::Chain &chain, const KDL::JntArray &tau)
	joint torque commands are the torques joints must apply to counteract forces
int	StoreSegmentWrenches (const KDL::Chain &chain, const KDL::Wrenches &f_seg)
	~JointDynamicsData ()
Public Attributes
std::map< std::string, KDL::Wrench >	extForceMap
std::map< std::string, JntDynData >	jointDataMap
std::map< std::string, double >	jointInertiaMap
std::map< std::string, double >	jointTorqueCommandMap
std::map< std::string, KDL::Wrench >	segForceMap

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Detailed Description

Definition at line 15 of file JointDynamicsData.h.

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Constructor & Destructor Documentation

JointDynamicsData::JointDynamicsData

(

)

Constructor for Joint Dynamics Data.

Definition at line 8 of file JointDynamicsData.cpp.

JointDynamicsData::~JointDynamicsData

(

)

Definition at line 12 of file JointDynamicsData.cpp.

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Member Function Documentation

void JointDynamicsData::InitializeMaps

(

const KDL::Tree &

tree

)

Initialize maps and iterate through elements.

Parameters:

tree	Tree to retrieve segments from

Definition at line 21 of file JointDynamicsData.cpp.

int JointDynamicsData::PopulateExtForceInfo	(	const KDL::Chain &	chain,
		KDL::Wrenches &	forceExt
	)

Match chain properties to jntArray properties and set segment force map.

Parameters:

chain	Chain to compare to jntArray properties
forceExt

Definition at line 108 of file JointDynamicsData.cpp.

int JointDynamicsData::PopulateExtForceInfo	(	const std::string &	node,
		KDL::Wrenches &	forceExt
	)

Set segment force map at the specified node.

Parameters:

node	Node to set segment info at
forceExt

Definition at line 135 of file JointDynamicsData.cpp.

int JointDynamicsData::PopulateJointInfo	(	const KDL::Chain &	chain,
		KDL::JntArray &	q,
		KDL::JntArray &	q_dot,
		KDL::JntArray &	q_dotdot
	)

Match chain properties to jntArray properties and set joint data for each joints.

Parameters:

chain	Chain to compare to jntArray properties
q
q_dot
q_dotdot

Definition at line 71 of file JointDynamicsData.cpp.

int JointDynamicsData::StoreJointInertia	(	const KDL::Chain &	chain,
		const KDL::JntArray &	Hv
	)

Match chain properties to jntArray properties and set inertia at each joint.

Parameters:

chain	Chain to compare to jntArray properties
Hv

Definition at line 192 of file JointDynamicsData.cpp.

int JointDynamicsData::StoreJointTorqueCommands	(	const KDL::Chain &	chain,
		const KDL::JntArray &	tau
	)

joint torque commands are the torques joints must apply to counteract forces

Match chain properties to jntArray properties and set torque values at each joint.

Parameters:

chain	Chain to compare to jntArray properties
tau	Calculated torque on a joint

Definition at line 158 of file JointDynamicsData.cpp.

int JointDynamicsData::StoreSegmentWrenches	(	const KDL::Chain &	chain,
		const KDL::Wrenches &	f_seg
	)

Definition at line 219 of file JointDynamicsData.cpp.

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Member Data Documentation

std::map<std::string, KDL::Wrench> JointDynamicsData::extForceMap

Definition at line 37 of file JointDynamicsData.h.

std::map<std::string, JntDynData> JointDynamicsData::jointDataMap

Definition at line 36 of file JointDynamicsData.h.

std::map<std::string, double> JointDynamicsData::jointInertiaMap

Definition at line 39 of file JointDynamicsData.h.

std::map<std::string, double> JointDynamicsData::jointTorqueCommandMap

Definition at line 38 of file JointDynamicsData.h.

std::map<std::string, KDL::Wrench> JointDynamicsData::segForceMap

Definition at line 37 of file JointDynamicsData.h.

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

• JointDynamicsData.h
• JointDynamicsData.cpp