KDL::ChainDynParam Class Reference

#include <chaindynparam.hpp>

Inheritance diagram for KDL::ChainDynParam:

Public Member Functions
	ChainDynParam (const Chain &chain, Vector _grav)
virtual int	JntToCoriolis (const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
virtual int	JntToGravity (const JntArray &q, JntArray &gravity)
virtual int	JntToMass (const JntArray &q, JntSpaceInertiaMatrix &H)
virtual void	updateInternalDataStructures ()
virtual	~ChainDynParam ()
Public Member Functions inherited from KDL::SolverI
virtual int	getError () const
	Return the latest error. More...
	SolverI ()
	Initialize latest error to E_NOERROR. More...
virtual const char *	strError (const int error) const
virtual	~SolverI ()

Private Attributes
Twist	ag
const Chain &	chain
ChainIdSolver_RNE	chainidsolver_coriolis
ChainIdSolver_RNE	chainidsolver_gravity
Wrench	F
Vector	grav
std::vector< ArticulatedBodyInertia, Eigen::aligned_allocator< ArticulatedBodyInertia > >	Ic
JntArray	jntarraynull
unsigned int	nj
int	nr
unsigned int	ns
std::vector< Twist >	S
Vector	vectornull
std::vector< Wrench >	wrenchnull
std::vector< Frame >	X

Additional Inherited Members
Public Types inherited from KDL::SolverI
enum	{   E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2,   E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6,   E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 }
Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Detailed Description

Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives. (inverse dynamics)

The algorithm implementation for H is based on the book "Rigid Body Dynamics Algorithms" of Roy Featherstone, 2008 (ISBN:978-0-387-74314-1) See page 107 for the pseudo-code. This algorithm is extended for the use of fixed joints

It calculates the joint-space inertia matrix, given the motion of the joints (q,qdot,qdotdot), external forces on the segments (expressed in the segments reference frame) and the dynamical parameters of the segments.

Definition at line 47 of file chaindynparam.hpp.

Constructor & Destructor Documentation

ChainDynParam()

KDL::ChainDynParam::ChainDynParam	(	const Chain &	chain,
		Vector	_grav
	)

Definition at line 29 of file chaindynparam.cpp.

~ChainDynParam()

KDL::ChainDynParam::~ChainDynParam ( )

virtual

Definition at line 149 of file chaindynparam.cpp.

Member Function Documentation

JntToCoriolis()

int KDL::ChainDynParam::JntToCoriolis ( const JntArray &  q, const JntArray &  q_dot, JntArray &  coriolis  )

virtual

Definition at line 127 of file chaindynparam.cpp.

JntToGravity()

int KDL::ChainDynParam::JntToGravity ( const JntArray &  q, JntArray &  gravity  )

virtual

Definition at line 139 of file chaindynparam.cpp.

JntToMass()

int KDL::ChainDynParam::JntToMass ( const JntArray &  q, JntSpaceInertiaMatrix &  H  )

virtual

Definition at line 60 of file chaindynparam.cpp.

updateInternalDataStructures()

void KDL::ChainDynParam::updateInternalDataStructures ( )

virtual

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.

Definition at line 46 of file chaindynparam.cpp.

Member Data Documentation

ag

Twist KDL::ChainDynParam::ag

private

Definition at line 76 of file chaindynparam.hpp.

chain

const Chain& KDL::ChainDynParam::chain

private

Definition at line 61 of file chaindynparam.hpp.

chainidsolver_coriolis

ChainIdSolver_RNE KDL::ChainDynParam::chainidsolver_coriolis

private

Definition at line 68 of file chaindynparam.hpp.

chainidsolver_gravity

ChainIdSolver_RNE KDL::ChainDynParam::chainidsolver_gravity

private

Definition at line 69 of file chaindynparam.hpp.

F

Wrench KDL::ChainDynParam::F

private

Definition at line 75 of file chaindynparam.hpp.

grav

Vector KDL::ChainDynParam::grav

private

Definition at line 65 of file chaindynparam.hpp.

Ic

std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> > KDL::ChainDynParam::Ic

private

Definition at line 74 of file chaindynparam.hpp.

jntarraynull

JntArray KDL::ChainDynParam::jntarraynull

private

Definition at line 67 of file chaindynparam.hpp.

nj

unsigned int KDL::ChainDynParam::nj

private

Definition at line 63 of file chaindynparam.hpp.

nr

int KDL::ChainDynParam::nr

private

Definition at line 62 of file chaindynparam.hpp.

ns

unsigned int KDL::ChainDynParam::ns

private

Definition at line 64 of file chaindynparam.hpp.

S

std::vector<Twist> KDL::ChainDynParam::S

private

Definition at line 72 of file chaindynparam.hpp.

vectornull

Vector KDL::ChainDynParam::vectornull

private

Definition at line 66 of file chaindynparam.hpp.

wrenchnull

std::vector<Wrench> KDL::ChainDynParam::wrenchnull

private

Definition at line 70 of file chaindynparam.hpp.

X

std::vector<Frame> KDL::ChainDynParam::X

private

Definition at line 71 of file chaindynparam.hpp.

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The documentation for this class was generated from the following files:

• chaindynparam.hpp
• chaindynparam.cpp