#include <ForwardDynamicsCBM.h>
The ForwardDynamicsMM class calculates the forward dynamics using the motion equation based on the generalized mass matrix. The class is mainly used for a body that has high-gain mode joints. If all the joints of a body are the torque mode, the ForwardDynamicsABM, which uses the articulated body method, is more efficient.
Definition at line 42 of file ForwardDynamicsCBM.h.
Definition at line 54 of file ForwardDynamicsCBM.cpp.
Definition at line 61 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcAccelFKandForceSensorValues | ( | ) | [inline, private] |
Definition at line 142 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcAccelFKandForceSensorValues | ( | Link * | link, |
Vector3 & | out_f, | ||
Vector3 & | out_tau | ||
) | [private] |
Definition at line 726 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcd1 | ( | Link * | link, |
Vector3 & | out_f, | ||
Vector3 & | out_tau | ||
) | [private] |
Definition at line 601 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcInverseDynamics | ( | Link * | link, |
Vector3 & | out_f, | ||
Vector3 & | out_tau | ||
) | [private] |
Definition at line 552 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcMassMatrix | ( | ) | [private] |
calculate the mass matrix using the unit vector method
Definition at line 446 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcMotionWithEulerMethod | ( | ) | [private] |
Definition at line 189 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcMotionWithRungeKuttaMethod | ( | ) | [private] |
Definition at line 220 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcNextState | ( | ) | [virtual] |
Implements hrp::ForwardDynamics.
Definition at line 149 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::calcPositionAndVelocityFK | ( | ) | [private] |
Definition at line 363 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::initialize | ( | void | ) | [virtual] |
Implements hrp::ForwardDynamics.
Definition at line 67 of file ForwardDynamicsCBM.cpp.
Definition at line 625 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::initializeSensors | ( | ) | [private, virtual] |
Reimplemented from hrp::ForwardDynamics.
Definition at line 777 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::integrateRungeKuttaOneStep | ( | double | r, |
double | dt | ||
) | [private] |
Definition at line 320 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::preserveHighGainModeJointState | ( | ) | [private] |
Definition at line 346 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::setColumnOfMassMatrix | ( | dmatrix & | M, |
int | column | ||
) | [private] |
Definition at line 534 of file ForwardDynamicsCBM.cpp.
Definition at line 696 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::solveUnknownAccels | ( | Link * | link, |
const Vector3 & | fext, | ||
const Vector3 & | tauext, | ||
const Vector3 & | rootfext, | ||
const Vector3 & | roottauext | ||
) |
Definition at line 667 of file ForwardDynamicsCBM.cpp.
Definition at line 133 of file ForwardDynamicsCBM.cpp.
Definition at line 586 of file ForwardDynamicsCBM.cpp.
void ForwardDynamicsMM::updateForceSensorInfo | ( | Link * | link, |
bool | hasSensorsAbove | ||
) | [private] |
Definition at line 803 of file ForwardDynamicsCBM.cpp.
bool hrp::ForwardDynamicsMM::accelSolverInitialized [private] |
Definition at line 98 of file ForwardDynamicsCBM.h.
dmatrix hrp::ForwardDynamicsMM::b1 [private] |
Definition at line 77 of file ForwardDynamicsCBM.h.
dvector hrp::ForwardDynamicsMM::c1 [private] |
Definition at line 79 of file ForwardDynamicsCBM.h.
dmatrix hrp::ForwardDynamicsMM::d1 [private] |
Definition at line 78 of file ForwardDynamicsCBM.h.
std::vector<double> hrp::ForwardDynamicsMM::ddq [private] |
Definition at line 139 of file ForwardDynamicsCBM.h.
dvector hrp::ForwardDynamicsMM::ddqGiven [private] |
Definition at line 92 of file ForwardDynamicsCBM.h.
bool hrp::ForwardDynamicsMM::ddqGivenCopied [private] |
Definition at line 99 of file ForwardDynamicsCBM.h.
dvector hrp::ForwardDynamicsMM::ddqorg [private] |
Definition at line 114 of file ForwardDynamicsCBM.h.
std::vector<double> hrp::ForwardDynamicsMM::dq [private] |
Definition at line 138 of file ForwardDynamicsCBM.h.
std::vector<double> hrp::ForwardDynamicsMM::dq0 [private] |
Definition at line 132 of file ForwardDynamicsCBM.h.
dvector hrp::ForwardDynamicsMM::dqGiven [private] |
Definition at line 91 of file ForwardDynamicsCBM.h.
dvector hrp::ForwardDynamicsMM::dqGivenPrev [private] |
Definition at line 102 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::dvo [private] |
Definition at line 136 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::dvoorg [private] |
Definition at line 116 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::dw [private] |
Definition at line 137 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::dworg [private] |
Definition at line 117 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::fextTotal [private] |
Definition at line 108 of file ForwardDynamicsCBM.h.
std::vector<ForceSensorInfo> hrp::ForwardDynamicsMM::forceSensorInfo [private] |
Definition at line 124 of file ForwardDynamicsCBM.h.
int hrp::ForwardDynamicsMM::given_rootDof [private] |
Definition at line 86 of file ForwardDynamicsCBM.h.
std::vector<Link*> hrp::ForwardDynamicsMM::highGainModeJoints [private] |
Definition at line 82 of file ForwardDynamicsCBM.h.
bool hrp::ForwardDynamicsMM::isNoUnknownAccelMode [private] |
Definition at line 88 of file ForwardDynamicsCBM.h.
dmatrix hrp::ForwardDynamicsMM::M11 [private] |
Definition at line 75 of file ForwardDynamicsCBM.h.
dmatrix hrp::ForwardDynamicsMM::M12 [private] |
Definition at line 76 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::p0 [private] |
Definition at line 127 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::pGiven [private] |
Definition at line 93 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::pGivenPrev [private] |
Definition at line 103 of file ForwardDynamicsCBM.h.
std::vector<double> hrp::ForwardDynamicsMM::q0 [private] |
Definition at line 131 of file ForwardDynamicsCBM.h.
dvector hrp::ForwardDynamicsMM::qGiven [private] |
Definition at line 90 of file ForwardDynamicsCBM.h.
dvector hrp::ForwardDynamicsMM::qGivenPrev [private] |
Definition at line 101 of file ForwardDynamicsCBM.h.
Matrix33 hrp::ForwardDynamicsMM::R0 [private] |
Definition at line 128 of file ForwardDynamicsCBM.h.
Matrix33 hrp::ForwardDynamicsMM::RGiven [private] |
Definition at line 94 of file ForwardDynamicsCBM.h.
Matrix33 hrp::ForwardDynamicsMM::RGivenPrev [private] |
Definition at line 104 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::root_w_x_v [private] |
Definition at line 111 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::tauextTotal [private] |
Definition at line 109 of file ForwardDynamicsCBM.h.
std::vector<Link*> hrp::ForwardDynamicsMM::torqueModeJoints [private] |
Definition at line 81 of file ForwardDynamicsCBM.h.
int hrp::ForwardDynamicsMM::unknown_rootDof [private] |
Definition at line 85 of file ForwardDynamicsCBM.h.
dvector hrp::ForwardDynamicsMM::uorg [private] |
Definition at line 115 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::vo [private] |
Definition at line 134 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::vo0 [private] |
Definition at line 129 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::voGiven [private] |
Definition at line 95 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::voGivenPrev [private] |
Definition at line 105 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::w [private] |
Definition at line 135 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::w0 [private] |
Definition at line 130 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::wGiven [private] |
Definition at line 96 of file ForwardDynamicsCBM.h.
Vector3 hrp::ForwardDynamicsMM::wGivenPrev [private] |
Definition at line 106 of file ForwardDynamicsCBM.h.