#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 |
Forward dynamics calculation using Featherstone's Articulated Body Method (ABM)
Definition at line 33 of file ForwardDynamicsABM.h.
Definition at line 30 of file ForwardDynamicsABM.cpp.
Definition at line 41 of file ForwardDynamicsABM.cpp.
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.
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.