Namespaces | Functions
rdl_utils.h File Reference
#include <string>
#include "rdl_dynamics/FramePoint.hpp"
#include "rdl_dynamics/Model.h"
#include "rdl_dynamics/Quaternion.h"
#include "rdl_dynamics/rdl_mathutils.h"
Include dependency graph for rdl_utils.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces

 RobotDynamics
 Namespace for all structures of the RobotDynamics library.
 
 RobotDynamics::Utils
 Namespace that contains optional helper functions.
 

Functions

void RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, Math::Vector3d &com, bool update_kinematics=true)
 Computes the Center of Mass (COM) position. More...
 
void RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, Math::FramePoint &com, bool update_kinematics=true)
 Computes the Center of Mass (COM) position. More...
 
void RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, double &mass, Math::Vector3d &com, Math::Vector3d *com_velocity=NULL, Math::Vector3d *angular_momentum=NULL, bool update_kinematics=true)
 Computes the Center of Mass (COM) and optionally its linear velocity. More...
 
void RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, double &mass, Math::FramePoint &com, Math::FrameVector *com_velocity=nullptr, Math::FrameVector *angular_momentum=nullptr, bool update_kinematics=true)
 Computes the Center of Mass (COM) and optionally its linear velocity and/or angular momentum. More...
 
void RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::FramePoint &com, Math::FrameVector *com_velocity=nullptr, bool update_kinematics=true)
 Computes the Center of Mass (COM) and optionally its linear velocity. More...
 
void RobotDynamics::Utils::calcCenterOfMassJacobian (Model &model, const Math::VectorNd &q, Math::MatrixNd &jCom, bool update_kinematics=true)
 Computes the matrix $J_{com}$ such that $v_{com} = J_{com} \dot{q} $. More...
 
void RobotDynamics::Utils::calcCenterOfMassVelocity (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::Vector3d &com_vel, bool update_kinematics=true)
 Computes the Center of Mass (COM) velocity in world frame. More...
 
void RobotDynamics::Utils::calcCenterOfMassVelocity (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::FrameVector &com_vel, bool update_kinematics=true)
 Computes the Center of Mass (COM) velocity in world frame. More...
 
void RobotDynamics::Utils::calcCenterOfMassVelocity (Model &model, Math::Vector3d &com_vel)
 Computes the Center of Mass (COM) velocity in world frame. More...
 
void RobotDynamics::Utils::calcCenterOfMassVelocity (Model &model, Math::FrameVector &com_vel)
 Computes the Center of Mass (COM) velocity in world frame. More...
 
void RobotDynamics::Utils::calcCentroidalMomentumMatrix (Model &model, const Math::VectorNd &q, Math::MatrixNd &A, bool update_kinematics=true)
 Calculates the centroidal momentum matrix, $ A(q) $ for a model. The centroidal momentum matrix is a $ 6 \times N $ matrix such that the 6dof centroidal momentum vector is computed by,

\[ h = A(q) \dot{q} \]

. More...

 
void RobotDynamics::Utils::calcCentroidalMomentumMatrixDot (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::MatrixNd &Adot, bool update_kinematics=true)
 Calculates the time derivative of the centroidal momentum matrix, i.e. the matrix computed by RobotDynamics::Utils::calcCentroidalMomentumMatrix and stores it in the Adot argument. More...
 
Math::SpatialForce RobotDynamics::Utils::calcGravityWrenchOnCenterOfMass (Model &model, const Math::VectorNd &q, bool update_kinematics=true)
 Computes the gravitational wrench experienced on the robots center of mass. More...
 
double RobotDynamics::Utils::calcKineticEnergy (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, bool update_kinematics=true)
 Computes the kinetic energy of the full model. More...
 
double RobotDynamics::Utils::calcPotentialEnergy (Model &model, const Math::VectorNd &q, bool update_kinematics=true)
 Computes the potential energy of the full model. More...
 
Math::Vector3d RobotDynamics::Utils::calcSubtreeCenterOfMassScaledByMass (Model &model, const unsigned int bodyId, const Math::VectorNd &q, bool updateKinematics=true)
 Calculates the center of mass of a subtree starting with the body with ID bodyId and scales it by the total mass of the subtree. More...
 
double RobotDynamics::Utils::calcSubtreeMass (Model &model, const unsigned int bodyId)
 Calculates the total mass of the subtree beginning with body bodyId and traversing outwards from there. More...
 
std::string RobotDynamics::Utils::getBodyName (const RobotDynamics::Model &model, unsigned int body_id)
 get body name, returns empty string if bodyid is virtual and has multiple child bodies More...
 
std::string RobotDynamics::Utils::getDofName (const Math::SpatialVector &joint_dof)
 get string abbreviation for dof name from spatial vector. More...
 
std::string RobotDynamics::Utils::getModelDOFOverview (const Model &model)
 Creates a human readable overview of the Degrees of Freedom. More...
 
std::string RobotDynamics::Utils::getModelHierarchy (const Model &model)
 Creates a human readable overview of the model. More...
 
std::string RobotDynamics::Utils::getNamedBodyOriginsOverview (Model &model)
 Creates a human readable overview of the locations of all bodies that have names. More...
 
RobotDynamics::Math::FramePoint RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::VectorNd &q, bool update_kinematics=true)
 Computes the center of mass and updates the center of mass reference frame of the model. More...
 
RobotDynamics::Math::FramePoint RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::VectorNd &q, const Math::Vector3d &euler_ypr, bool update_kinematics=true)
 Computes the center of mass and updates the center of mass reference frame of the model. More...
 
RobotDynamics::Math::FramePoint RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::VectorNd &q, const Math::Quaternion &orientation, bool update_kinematics=true)
 Computes the center of mass and updates the center of mass reference frame of the model. More...
 
void RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::Vector3d &p_com)
 Updates the center of mass frame of the robot be at location p_com, aligned with world frame. More...
 
void RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::Vector3d &p_com, const Math::Vector3d &euler_ypr)
 Updates the center of mass frame of the robot be at location p_com and to have orientation defined by the yaw/pitch/roll angles in euler_ypr argument. The euler_ypr argument is optional and if not provided the center of mass reference frame will be aligned with world. More...
 
void RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::Vector3d &p_com, const Math::Quaternion &orientation)
 Updates the center of mass frame of the robot be at location p_com and to have orientation defined by the orientation argument. The quaternion argument is optional and if not provided the center of mass reference frame will be aligned with world. More...
 


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