Namespaces | Functions
Dynamics.cc File Reference
#include <limits>
#include <string.h>
#include "rdl_dynamics/Dynamics.h"
#include "rdl_dynamics/Kinematics.h"
#include "rdl_dynamics/SpatialMomentum.hpp"
#include "rdl_dynamics/SpatialMotion.hpp"
Include dependency graph for Dynamics.cc:

Go to the source code of this file.

Namespaces

 RobotDynamics
 Namespace for all structures of the RobotDynamics library.
 

Functions

void RobotDynamics::calcBodyGravityWrench (Model &model, unsigned int body_id, RobotDynamics::Math::SpatialForce &gravity_wrench)
 Calculate the wrench due to gravity on a body. More...
 
void RobotDynamics::calcMInvTimesTau (Model &model, const Math::VectorNd &Q, const Math::VectorNd &Tau, Math::VectorNd &QDDot, bool update_kinematics=true)
 Computes the effect of multiplying the inverse of the joint space inertia matrix with a vector in linear time. More...
 
void RobotDynamics::compositeRigidBodyAlgorithm (Model &model, const Math::VectorNd &Q, Math::MatrixNd &H, bool update_kinematics=true)
 Computes the joint space inertia matrix by using the Composite Rigid Body Algorithm. More...
 
void RobotDynamics::coriolisEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)
 Computes the coriolis forces. More...
 
void RobotDynamics::forwardDynamics (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, Math::VectorNd &QDDot, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)
 Computes forward dynamics with the Articulated Body Algorithm. More...
 
void RobotDynamics::forwardDynamicsLagrangian (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, Math::VectorNd &QDDot, Math::MatrixNd &H, Math::VectorNd &C, Math::LinearSolver linear_solver=Math::LinearSolverColPivHouseholderQR, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)
 Computes forward dynamics by building and solving the full Lagrangian equation. More...
 
void RobotDynamics::gravityEffects (Model &model, Math::VectorNd &Tau)
 Computes the gravity vector. More...
 
void RobotDynamics::inverseDynamics (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, Math::VectorNd &Tau, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)
 
void RobotDynamics::nonlinearEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)
 Computes the coriolis forces. More...
 


rdl_dynamics
Author(s):
autogenerated on Tue Apr 20 2021 02:25:28