Public Member Functions | Private Member Functions | Private Attributes
hrp::ForwardDynamicsABM Class Reference

#include <ForwardDynamicsABM.h>

Inheritance diagram for hrp::ForwardDynamicsABM:
Inheritance graph
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List of all members.

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

Definition at line 54 of file ForwardDynamicsABM.cpp.

Definition at line 61 of file ForwardDynamicsABM.cpp.

compute position/orientation/velocity

Definition at line 221 of file ForwardDynamicsABM.cpp.

compute articulated inertia

Definition at line 305 of file ForwardDynamicsABM.cpp.

Definition at line 358 of file ForwardDynamicsABM.cpp.

Definition at line 397 of file ForwardDynamicsABM.cpp.

compute joint acceleration/spatial acceleration

Definition at line 427 of file ForwardDynamicsABM.cpp.

Definition at line 101 of file ForwardDynamicsABM.cpp.

Definition at line 161 of file ForwardDynamicsABM.cpp.

Implements hrp::ForwardDynamics.

Definition at line 68 of file ForwardDynamicsABM.cpp.

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.

Definition at line 482 of file ForwardDynamicsABM.cpp.

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.

Definition at line 82 of file ForwardDynamicsABM.h.

Definition at line 83 of file ForwardDynamicsABM.h.

Definition at line 73 of file ForwardDynamicsABM.h.

std::vector<double> hrp::ForwardDynamicsABM::q0 [private]

Definition at line 77 of file ForwardDynamicsABM.h.

Definition at line 74 of file ForwardDynamicsABM.h.

Definition at line 80 of file ForwardDynamicsABM.h.

Definition at line 75 of file ForwardDynamicsABM.h.

Definition at line 81 of file ForwardDynamicsABM.h.

Definition at line 76 of file ForwardDynamicsABM.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:44:01