Public Member Functions | Private Attributes | List of all members
KDL::ChainDynParam Class Reference

#include <chaindynparam.hpp>

Inheritance diagram for KDL::ChainDynParam:
Inheritance graph
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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 Chainchain
 
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< TwistS
 
Vector vectornull
 
std::vector< Wrenchwrenchnull
 
std::vector< FrameX
 

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.


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


orocos_kdl
Author(s):
autogenerated on Sun Nov 22 2020 03:16:44