single_rigid_body_dynamics.h
Go to the documentation of this file.
1 /******************************************************************************
2 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
3 
4 Redistribution and use in source and binary forms, with or without
5 modification, are permitted provided that the following conditions are met:
6 
7 * Redistributions of source code must retain the above copyright notice, this
8  list of conditions and the following disclaimer.
9 
10 * Redistributions in binary form must reproduce the above copyright notice,
11  this list of conditions and the following disclaimer in the documentation
12  and/or other materials provided with the distribution.
13 
14 * Neither the name of the copyright holder nor the names of its
15  contributors may be used to endorse or promote products derived from
16  this software without specific prior written permission.
17 
18 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28 ******************************************************************************/
29 
30 #ifndef TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_
31 #define TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_
32 
33 #include "dynamic_model.h"
34 
35 namespace towr {
36 
57 public:
66  SingleRigidBodyDynamics (double mass, const Eigen::Matrix3d& inertia_b, int ee_count);
67 
74  SingleRigidBodyDynamics (double mass,
75  double Ixx, double Iyy, double Izz,
76  double Ixy, double Ixz, double Iyz,
77  int ee_count);
78 
79  virtual ~SingleRigidBodyDynamics () = default;
80 
81  BaseAcc GetDynamicViolation() const override;
82 
83  Jac GetJacobianWrtBaseLin(const Jac& jac_base_lin_pos,
84  const Jac& jac_acc_base_lin) const override;
85  Jac GetJacobianWrtBaseAng(const EulerConverter& base_angular,
86  double t) const override;
87  Jac GetJacobianWrtForce(const Jac& jac_force, EE) const override;
88 
89  Jac GetJacobianWrtEEPos(const Jac& jac_ee_pos, EE) const override;
90 
91 private:
95  Eigen::SparseMatrix<double, Eigen::RowMajor> I_b;
96 };
97 
98 
99 } /* namespace towr */
100 
101 #endif /* TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_ */
SingleRigidBodyDynamics(double mass, const Eigen::Matrix3d &inertia_b, int ee_count)
Constructs a specific model.
Jac GetJacobianWrtBaseLin(const Jac &jac_base_lin_pos, const Jac &jac_acc_base_lin) const override
How the base position affects the dynamic violation.
Eigen::Matrix< double, 6, 1 > BaseAcc
Definition: dynamic_model.h:73
virtual ~SingleRigidBodyDynamics()=default
Converts Euler angles and derivatives to angular quantities.
A interface for the the system dynamics of a legged robot.
Definition: dynamic_model.h:66
Jac GetJacobianWrtForce(const Jac &jac_force, EE) const override
How the endeffector forces affect the dynamic violation.
Eigen::SparseMatrix< double, Eigen::RowMajor > I_b
Jac GetJacobianWrtBaseAng(const EulerConverter &base_angular, double t) const override
How the base orientation affects the dynamic violation.
BaseAcc GetDynamicViolation() const override
The violation of the system dynamics incurred by the current values.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jac
Definition: dynamic_model.h:74
Dynamics model relating forces to base accelerations.
Jac GetJacobianWrtEEPos(const Jac &jac_ee_pos, EE) const override
How the endeffector positions affect the dynamic violation.


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22