chainfdsolver_recursive_newton_euler.hpp

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// Copyright  (C)  2018  Craig Carignan <craigc at ssl dot umd dot edu>

// Version: 1.0
// Author: Craig Carignan  <craigc at ssl dot umd dot edu>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
#define KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP

#include "chainfdsolver.hpp"
#include "chainidsolver_recursive_newton_euler.hpp"
#include "chaindynparam.hpp"

namespace KDL{
    class ChainFdSolver_RNE : public ChainFdSolver{
    public:
        ChainFdSolver_RNE(const Chain& chain, Vector grav);
        ~ChainFdSolver_RNE(){};

        int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches& f_ext, JntArray &q_dotdot);

        virtual void updateInternalDataStructures();

        void RK4Integrator(unsigned int& nj, const double& t, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,
                           KDL::JntArray& torques, KDL::Wrenches& f_ext, KDL::ChainFdSolver_RNE& fdsolver,
                           KDL::JntArray& q_dotdot, KDL::JntArray& dq, KDL::JntArray& dq_dot,
                           KDL::JntArray& q_temp, KDL::JntArray& q_dot_temp);

    private:
        const Chain& chain;
        ChainDynParam DynSolver;
        ChainIdSolver_RNE IdSolver;
        unsigned int nj;
        unsigned int ns;
        JntSpaceInertiaMatrix H;
        JntArray Tzeroacc;
        Eigen::MatrixXd H_eig;
        Eigen::VectorXd Tzeroacc_eig;
        Eigen::MatrixXd L_eig;
        Eigen::VectorXd D_eig;
        Eigen::VectorXd r_eig;
        Eigen::VectorXd acc_eig;
    };
}

#endif