#include <ForwardDynamics.h>

Inheritance diagram for hrp::ForwardDynamics:

Public Member Functions
virtual void	calcNextState ()=0
void	enableSensors (bool on)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ForwardDynamics (BodyPtr body)
virtual void	initialize ()=0
void	setEulerMethod ()
void	setGravityAcceleration (const Vector3 &g)
void	setRungeKuttaMethod ()
void	setTimeStep (double timeStep)
virtual	~ForwardDynamics ()
Protected Types
enum	{ EULER_METHOD, RUNGEKUTTA_METHOD }
Protected Member Functions
virtual void	initializeSensors ()
virtual void	updateSensorsFinal ()
Static Protected Member Functions
static void	SE3exp (Vector3 &out_p, Matrix33 &out_R, const Vector3 &p0, const Matrix33 &R0, const Vector3 &w, const Vector3 &vo, double dt)
	update position/orientation using spatial velocity
Protected Attributes
BodyPtr	body
Vector3	g
enum hrp::ForwardDynamics:: { ... }	integrationMode
bool	sensorsEnabled
double	timeStep
Private Types
typedef Eigen::Matrix2d	matrix22
typedef Eigen::Vector2d	vector2
Private Member Functions
void	initializeAccelSensors ()
void	updateAccelSensor (AccelSensor *sensor)
Private Attributes
matrix22	A
vector2	B

Detailed Description

This class calculates the forward dynamics of a Body object by using the Featherstone's articulated body algorithm. The class also integrates motion using the Euler method or RungeKutta method.

Definition at line 35 of file ForwardDynamics.h.

Member Typedef Documentation

typedef Eigen::Matrix2d hrp::ForwardDynamics::matrix22 [private]

Definition at line 85 of file ForwardDynamics.h.

typedef Eigen::Vector2d hrp::ForwardDynamics::vector2 [private]

Definition at line 86 of file ForwardDynamics.h.

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

EULER_METHOD
RUNGEKUTTA_METHOD

Definition at line 76 of file ForwardDynamics.h.

Constructor & Destructor Documentation

ForwardDynamics::ForwardDynamics ( BodyPtr body )

Definition at line 22 of file ForwardDynamics.cpp.

ForwardDynamics::~ForwardDynamics ( ) [virtual]

Definition at line 33 of file ForwardDynamics.cpp.

Member Function Documentation

virtual void hrp::ForwardDynamics::calcNextState ( ) [pure virtual]

Implemented in ODE_ForwardDynamics, hrp::ForwardDynamicsMM, and hrp::ForwardDynamicsABM.

void ForwardDynamics::enableSensors ( bool on )

Definition at line 63 of file ForwardDynamics.cpp.

virtual void hrp::ForwardDynamics::initialize ( ) [pure virtual]

Implemented in ODE_ForwardDynamics, hrp::ForwardDynamicsMM, and hrp::ForwardDynamicsABM.

void ForwardDynamics::initializeAccelSensors ( ) [private]

Definition at line 149 of file ForwardDynamics.cpp.

void ForwardDynamics::initializeSensors ( ) [protected, virtual]

Reimplemented in hrp::ForwardDynamicsMM.

Definition at line 93 of file ForwardDynamics.cpp.

void ForwardDynamics::SE3exp	(	Vector3 &	out_p,
		Matrix33 &	out_R,
		const Vector3 &	p0,
		const Matrix33 &	R0,
		const Vector3 &	w,
		const Vector3 &	vo,
		double	dt
	)		`[static, protected]`