Contacts.h File Reference

#include <rdl_dynamics/rdl_eigenmath.h>
#include <rdl_dynamics/rdl_mathutils.h>
#include <rdl_dynamics/SpatialForce.hpp>

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Classes
struct	RobotDynamics::ConstraintSet
	Structure that contains both constraint information and workspace memory. More...

Namespaces
	RobotDynamics
	Namespace for all structures of the RobotDynamics library.

Functions
void	RobotDynamics::calcContactJacobian (Model &model, const Math::VectorNd &Q, const ConstraintSet &CS, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the Jacobian for the given ConstraintSet. More...
void	RobotDynamics::calcContactSystemVariables (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS)
void	RobotDynamics::computeContactImpulsesDirect (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)
	Computes contact gain by constructing and solving the full lagrangian equation. More...
void	RobotDynamics::computeContactImpulsesNullSpace (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)
	Resolves contact gain using solveContactSystemNullSpace() More...
void	RobotDynamics::computeContactImpulsesRangeSpaceSparse (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)
	Resolves contact gain using solveContactSystemRangeSpaceSparse() More...
void	RobotDynamics::forwardDynamicsContactsDirect (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
	Computes forward dynamics with contact by constructing and solving the full lagrangian equation. More...
void	RobotDynamics::forwardDynamicsContactsKokkevis (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
	Computes forward dynamics that accounts for active contacts in ConstraintSet. More...
void	RobotDynamics::forwardDynamicsContactsNullSpace (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
void	RobotDynamics::forwardDynamicsContactsRangeSpaceSparse (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
void	RobotDynamics::solveContactSystemDirect (Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &A, Math::VectorNd &b, Math::VectorNd &x, Math::LinearSolver &linear_solver)
	Solves the full contact system directly, i.e. simultaneously for contact forces and joint accelerations. More...
void	RobotDynamics::solveContactSystemNullSpace (Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &Y, Math::MatrixNd &Z, Math::VectorNd &qddot_y, Math::VectorNd &qddot_z, Math::LinearSolver &linear_solver)
	Solves the contact system by first solving for the joint accelerations and then for the constraint forces. More...
void	RobotDynamics::solveContactSystemRangeSpaceSparse (Model &model, Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &K, Math::VectorNd &a, Math::LinearSolver linear_solver)
	Solves the contact system by first solving for the the joint accelerations and then the contact forces using a sparse matrix decomposition of the joint space inertia matrix. More...