Namespace for all structures of the RobotDynamics library. More...

Namespaces
	Math
	Math types such as vectors and matrices and utility functions.

	Utils
	Namespace that contains optional helper functions.

Classes
struct	Body
	Describes all properties of a single body. More...

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

struct	CustomJoint
	CustomJoint is a struct used to create a joint with user defined parameters. This is accomplished by overriding the RobotDynamics::Joint::jcalc methods that calculate each joints kinematic parameters. More...

struct	FixedBody
	Keeps the information of a body and how it is attached to another body. More...

class	FixedReferenceFrame

class	FrameObject
	An interface that objects with a ReferenceFrame extend to inherit the FrameObject::changeFrame method. More...

struct	Joint
	Describes a joint relative to the predecessor body. More...

struct	Model
	Contains all information about the rigid body model. More...

class	RdlException
	A custom exception. More...

class	ReferenceFrame
	ReferenceFrame object used to tell what frame objects are expressed in. Every ReferenceFrame has a pointer to its parent ReferenceFrame. This parent frame is NOT allowed to be nullptr. The ONLY ReferenceFrame that is allowed to have parentFrame=nullptr is the world frame. There is only one world frame and it can be accessed by the static method ReferenceFrame::getWorldFrame() which will return a shared_ptr to the world frame. This class and its implementation are an adaptation of ReferenceFrame.java by Jerry Pratt and the IHMC Robotics Group. More...

class	ReferenceFrameException
	A custom exception for frame operations. More...

Typedefs
typedef std::shared_ptr< FixedReferenceFrame >	FixedReferenceFramePtr

typedef std::vector< FixedReferenceFramePtr >	FixedReferenceFramePtrV

typedef std::shared_ptr< Model >	ModelPtr

typedef std::shared_ptr< ReferenceFrame >	ReferenceFramePtr

typedef std::vector< ReferenceFramePtr >	ReferenceFramePtrV

Enumerations
enum	JointType { JointTypeUndefined = 0, JointTypeRevolute, JointTypePrismatic, JointTypeRevoluteX, JointTypeRevoluteY, JointTypeRevoluteZ, JointTypeSpherical, JointTypeEulerZYX, JointTypeEulerXYZ, JointTypeEulerYXZ, JointTypeTranslationXYZ, JointTypeFloatingBase, JointTypeFixed, JointType1DoF, JointType2DoF, JointType3DoF, JointType4DoF, JointType5DoF, JointType6DoF, JointTypeCustom }
	General types of joints. More...

Functions
void	calcBodyGravityWrench (Model &model, unsigned int body_id, RobotDynamics::Math::SpatialForce &gravity_wrench)
	Calculate the wrench due to gravity on a body. More...

void	calcBodySpatialJacobian (Model &model, const Math::VectorNd &Q, unsigned int body_id, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the spatial jacobian for a body. The result will be returned via the G argument and represents the body Jacobian expressed at the origin of the body. The corresponding spatial velocity of the body w.r.t the world frame expressed in body frame can be calculated, for the body, as $v^{i,0}_{i} = G(q) \dot{q}$ . For the spatial jacobian of body , each column j is computed as follows. More...

void	calcBodySpatialJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd QDot, unsigned int body_id, Math::MatrixNd &G, const bool update_kinematics=true)
	Computes the time derivative of the spatial jacobian for a body. The result will be returned via the G argument and represents the time derivative of the body Jacobian expressed at the origin of the body. The corresponding spatial acceleration of the body w.r.t the world frame expressed in body frame can be calculated, for the th body, as $a^{i,0}_{i} = G(q) \ddot{q} + \dot{G}(q)\dot{q}$ where is the body jacobian of body . More...

void	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	calcContactSystemVariables (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS)

void	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...

Math::FrameVector	calcPointAcceleration (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
	Computes the linear acceleration of a point on a body. More...

Math::FrameVectorPair	calcPointAcceleration6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
	Computes linear and angular acceleration of a point on a body. More...

Math::FrameVectorPair	calcPointAcceleration6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
	Computes linear and angular acceleration of a reference frame, relative to another reference frame and expressed in a third reference frame. More...

void	calcPointJacobian (Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the 3D point jacobian for a point on a body. More...

void	calcPointJacobian (Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr frame, bool update_kinematics=true)
	Compute the 3D point jacobian of the origin of a reference frame If a position of a point is computed by a function for which its time derivative is $\frac{d}{dt} g(q(t)) = G(q)\dot{q}$ then this function computes the jacobian matrix . More...

void	calcPointJacobian6D (Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr frame, bool update_kinematics=true)
	Compute the 6D point jacobian of the origin of a reference frame If a position of a point is computed by a function for which its time derivative is $\frac{d}{dt} g(q(t)) = G(q)\dot{q}$ then this function computes the jacobian matrix . More...

void	calcPointJacobian6D (Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
	Computes a 6-D Jacobian for a point on a body. More...

void	calcPointJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the time derivative of the linear components the a point jacobian on a body. More...

void	calcPointJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the time derivative of a point jacobian of a point on a body. Only computes the linear elemets. More...

void	calcPointJacobianDot6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the time derivative of a point jacobian of a point on a body. More...

void	calcPointJacobianDot6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the 6D time derivative of a point jacobian on a body. More...

Math::FrameVector	calcPointVelocity (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
	Computes the velocity of a point on a body. More...

Math::FrameVectorPair	calcPointVelocity6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
	Computes angular and linear velocity of a point that is fixed on a body. More...

Math::FrameVectorPair	calcPointVelocity6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, bool update_kinematics=true)
	Computes angular and linear velocity of the origin of a reference frame relative to world and expressed in world frame. More...

Math::FrameVectorPair	calcPointVelocity6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr baseFrame, RobotDynamics::ReferenceFramePtr relativeFrame, RobotDynamics::ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)
	Computes angular and linear velocity of the origin of a reference frame relative to another reference frame and expressed in a third reference frame. More...

void	calcRelativeBodySpatialJacobian (Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)
	Computes the jacobian of a frame $J_{i}^{k,j}$ with being the "base" frame, being the "relative" frame, and being the "expressed in" frame. Multiplying this jacobian by a vector of joint velocities will result in the spatial motion of the baseFrame w.r.t relativeFrame expressed in expressedInFrame, a.k.a $v_{i}^{k,j} = J_{i}^{k,j}\dot{q}$ . More...

void	calcRelativeBodySpatialJacobianAndJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, Math::MatrixNd &GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)
	Computes both the body spatial jacobian and its time derivative. This function will be a bit more efficient at computing the jacobian and it's time derivative if you need both matrices rather than computing them with separate function calls. More...

void	calcRelativeBodySpatialJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)
	Computes the rate of change of the jacobian, $\dot{J}_{i}^{k,j}$ , with being the "base" frame, being the relative" frame, and \f$k\f$ being the "expressed in" frame. This jacobian is such that the following is true, $a_{i}^{k,j} = J_{i}^{k,j}\ddot{q} + \dot{J}_{i}^{k,j}\dot{q}$ where $a_{i}^{k,j}$ is the spatial acceleration of frame w.r.t frame , expressed in frame . Additionally the jacobian $J_{i}^{k,j}$ can be computed by RobotDynamics::calcRelativeBodySpatialJacobian. More...

void	calcRelativePointJacobian6D (Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)
	Compute the 6D jacobian of the origin of a reference frame relative to the origin of another reference frame and express the result in a third frame. More...

void	calcRelativePointJacobianAndJacobianDot6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, Math::MatrixNd &GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)
	Compute the point Jacobian of the origin of baseFrame, relative to the origin of relativeFrame, expressed in expressedInFrame. Also compute that point Jacobians time derivative. More...

void	calcRelativePointJacobianDot6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)
	Compute the time derivative of the 6D jacobian of the origin of a reference frame relative to the origin of another reference frame and express the result in a third frame. More...

Math::SpatialAcceleration	calcSpatialAcceleration (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
	Compute the spatial acceleration of any body with respect to any other body and express the result in an arbitrary reference frame. The returned RobotDynamicS::Math::SpatialAcceleration can be expressed in the reference frame of choice by supplying the expressedInFrame argument. If left to the default value of nullptr, the result will be expressed in the reference frame corresponding to body_id. More...

Math::SpatialAcceleration	calcSpatialAcceleration (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
	Compute the spatial acceleration of any frame with respect to any other frame and express the result in an arbitrary third frame. The returned RobotDynamicS::Math::SpatialAcceleration can be expressed in the reference frame of choice by supplying the expressedInFrame argument. If left to the default value of nullptr, the result will be expressed in body_frame. More...

Math::SpatialMotion	calcSpatialVelocity (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
	Compute the spatial velocity of any frame with respect to any other frame, expressed in an arbirtary third frame. The returned RobotDynamicS::Math::SpatialMotion is expressed in body_frame unless th expressedInFrame is provided. Each time RobotDynamics::updateKinematics is called, the spatial velocity of each body with respect to the world, and expressed in body frame is calculated. For body this is written as $v^{i,0}_{i}$ . Given another body, body , the velocity of body relative to body and expressed in body frame is computed by, $v^{i,j}_{i} = v^{i,0}_{i} - ^{i}X_{j} v^{j,0}_{j}$ . More...

Math::SpatialMotion	calcSpatialVelocity (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
	Compute the spatial velocity of any body with respect to any other body. The returned RobotDynamicS::Math::SpatialMotion is expressed in the body frame of body body_id. Each time RobotDynamics::updateKinematics is called, the spatial velocity of each body with respect to the world, and expressed in body frame is calculated. For body this is written as $v^{i,0}_{i}$ . Given another body, body , the velocity of body relative to body and expressed in body frame is computed by, $v^{i,j}_{i} = v^{i,0}_{i} - ^{i}X_{j} v^{j,0}_{j}$ . More...

void	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	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	computeContactImpulsesNullSpace (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)
	Resolves contact gain using solveContactSystemNullSpace() More...

void	computeContactImpulsesRangeSpaceSparse (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)
	Resolves contact gain using solveContactSystemRangeSpaceSparse() More...

void	coriolisEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)
	Computes the coriolis forces. More...

void	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	forwardDynamicsAccelerationDeltas (Model &model, ConstraintSet &CS, VectorNd &QDDot_t, const unsigned int body_id, const SpatialForceV &f_t)
	Computes the effect of external forces on the generalized accelerations. More...

void	forwardDynamicsApplyConstraintForces (Model &model, const VectorNd &Tau, ConstraintSet &CS, VectorNd &QDDot)
	Compute only the effects of external forces on the generalized accelerations. More...

void	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	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	forwardDynamicsContactsNullSpace (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)

void	forwardDynamicsContactsRangeSpaceSparse (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)

void	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	gravityEffects (Model &model, Math::VectorNd &Tau)
	Computes the gravity vector. More...

void	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)

bool	inverseKinematics (Model &model, const Math::VectorNd &Qinit, const std::vector< unsigned int > &body_id, const std::vector< Math::Vector3d > &body_point, const std::vector< Math::Vector3d > &target_pos, Math::VectorNd &Qres, double step_tol=1.0e-12, double lambda=0.01, unsigned int max_iter=50)
	Computes the inverse kinematics iteratively using a damped Levenberg-Marquardt method (also known as Damped Least Squares method) More...

bool	inverseKinematics (Model &model, const VectorNd &Qinit, const std::vector< unsigned int > &body_id, const std::vector< Vector3d > &body_point, const std::vector< Vector3d > &target_pos, VectorNd &Qres, double step_tol, double lambda, unsigned int max_iter)

void	jcalc (Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)
	Computes all variables for a joint model and updates the body frame as well as the body's center of mass frame. More...

void	jcalc_X_lambda_S (Model &model, unsigned int joint_id, const Math::VectorNd &q)

Math::SpatialTransform	jcalc_XJ (Model &model, unsigned int joint_id, const Math::VectorNd &q)

void	nonlinearEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)
	Computes the coriolis forces. More...

void	set_zero (std::vector< SpatialVector > &spatial_values)

void	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	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	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...

void	updateAccelerations (Model &model, const Math::VectorNd &QDDot)
	Computes only the accelerations of the bodies. More...

void	updateKinematics (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot)
	Updates and computes velocities and accelerations of the bodies. More...

void	updateKinematicsCustom (Model &model, const Math::VectorNd Q, const Math::VectorNd QDot=nullptr, const Math::VectorNd *QDDot=nullptr)
	Selectively updates model internal states of body positions, velocities and/or accelerations. More...

void	updateKinematicsCustomParallel (Model &model, const Math::VectorNd Q, const Math::VectorNd QDot=nullptr, const Math::VectorNd *QDDot=nullptr)
	Selectively updates model internal states of body positions, velocities and/or accelerations and spawns threads far each branched chain. More...

void	updateKinematicsParallel (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot)
	Updates and computes velocities and accelerations of the bodies. More...

Detailed Description

Namespace for all structures of the RobotDynamics library.

Typedef Documentation

typedef std::shared_ptr<Model> RobotDynamics::ModelPtr

Definition at line 731 of file Model.h.

Enumeration Type Documentation

enum RobotDynamics::JointType

General types of joints.

Enumerator
JointTypeUndefined
JointTypeRevolute
JointTypePrismatic
JointTypeRevoluteX
JointTypeRevoluteY
JointTypeRevoluteZ
JointTypeSpherical	3 DoF joint using Quaternions for joint positional variables and
JointTypeEulerZYX	3 DoF joint that uses Euler ZYX convention (faster than emulated
JointTypeEulerXYZ	3 DoF joint that uses Euler XYZ convention (faster than emulated
JointTypeEulerYXZ	3 DoF joint that uses Euler YXZ convention (faster than emulated
JointTypeTranslationXYZ
JointTypeFloatingBase	A 6-DoF joint for floating-base (or freeflyer) systems.
JointTypeFixed	Fixed joint which causes the inertial properties to be merged with.
JointType1DoF
JointType2DoF	Emulated 2 DoF joint.
JointType3DoF	Emulated 3 DoF joint.
JointType4DoF	Emulated 4 DoF joint.
JointType5DoF	Emulated 5 DoF joint.
JointType6DoF	Emulated 6 DoF joint.
JointTypeCustom	User defined joints of varying size.

Definition at line 187 of file Joint.h.

Function Documentation

void RobotDynamics::forwardDynamicsAccelerationDeltas	(	Model &	model,
		ConstraintSet &	CS,
		VectorNd &	QDDot_t,
		const unsigned int	body_id,
		const SpatialForceV &	f_t
	)

Computes the effect of external forces on the generalized accelerations.

This function is essentially similar to ForwardDynamics() except that it tries to only perform computations of variables that change due to external forces defined in f_t.

Definition at line 568 of file Contacts.cc.

void RobotDynamics::forwardDynamicsApplyConstraintForces	(	Model &	model,
		const VectorNd &	Tau,
		ConstraintSet &	CS,
		VectorNd &	QDDot
	)

Compute only the effects of external forces on the generalized accelerations.

This function is a reduced version of ForwardDynamics() which only computes the effects of the external forces on the generalized accelerations.

Definition at line 445 of file Contacts.cc.

bool RobotDynamics::inverseKinematics	(	Model &	model,
		const VectorNd &	Qinit,
		const std::vector< unsigned int > &	body_id,
		const std::vector< Vector3d > &	body_point,
		const std::vector< Vector3d > &	target_pos,
		VectorNd &	Qres,
		double	step_tol,
		double	lambda,
		unsigned int	max_iter
	)

Definition at line 1878 of file Kinematics.cc.

void RobotDynamics::jcalc	(	Model &	model,
		unsigned int	joint_id,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot
	)

Computes all variables for a joint model and updates the body frame as well as the body's center of mass frame.

By appropriate modification of this function all types of joints can be modeled. See RobotDynamics::CustomJoint

Parameters

model	the rigid body model
joint_id	the id of the joint we are interested in. This will be used to determine the type of joint and also the entries of $q, \dot{q}$ .
q	joint state variables
qdot	joint velocity variables

Definition at line 23 of file Joint.cc.

void RobotDynamics::jcalc_X_lambda_S	(	Model &	model,
		unsigned int	joint_id,
		const Math::VectorNd &	q
	)

Definition at line 242 of file Joint.cc.

Math::SpatialTransform RobotDynamics::jcalc_XJ	(	Model &	model,
		unsigned int	joint_id,
		const Math::VectorNd &	q
	)

Definition at line 215 of file Joint.cc.

void RobotDynamics::set_zero ( std::vector< SpatialVector > & spatial_values )

inline

Definition at line 674 of file Contacts.cc.

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation