#include <dynamics_solver.h>

Public Member Functions
	DynamicsSolver (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name, const geometry_msgs::Vector3 &gravity_vector)
	Initialize the dynamics solver. More...

const moveit::core::JointModelGroup *	getGroup () const

bool	getMaxPayload (const std::vector< double > &joint_angles, double &payload, unsigned int &joint_saturated) const
	Get the maximum payload for this group (in kg). Payload is the weight that this group can hold when the weight is attached to the origin of the last link of this group. (The order of joint_angles vector is the same as the order of joints for this group in the RobotModel) More...

const std::vector< double > &	getMaxTorques () const
	Get maximum torques for this group. More...

bool	getPayloadTorques (const std::vector< double > &joint_angles, double payload, std::vector< double > &joint_torques) const
	Get torques corresponding to a particular payload value. Payload is the weight that this group can hold when the weight is attached to the origin of the last link of this group. More...

const moveit::core::RobotModelConstPtr &	getRobotModel () const
	Get the kinematic model. More...

bool	getTorques (const std::vector< double > &joint_angles, const std::vector< double > &joint_velocities, const std::vector< double > &joint_accelerations, const std::vector< geometry_msgs::Wrench > &wrenches, std::vector< double > &torques) const
	Get the torques (the order of all input and output is the same as the order of joints for this group in the RobotModel) More...

Private Attributes
std::string	base_name_

std::shared_ptr< KDL::ChainIdSolver_RNE >	chain_id_solver_

double	gravity_

const moveit::core::JointModelGroup *	joint_model_group_

KDL::Chain	kdl_chain_

std::vector< double >	max_torques_

unsigned int	num_joints_

unsigned int	num_segments_

moveit::core::RobotModelConstPtr	robot_model_

moveit::core::RobotStatePtr	state_

std::string	tip_name_

Detailed Description

This solver currently computes the required torques given a joint configuration, velocities, accelerations and external wrenches acting on the links of a robot

Definition at line 91 of file dynamics_solver.h.

Constructor & Destructor Documentation

◆ DynamicsSolver()

dynamics_solver::DynamicsSolver::DynamicsSolver	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	group_name,
		const geometry_msgs::Vector3 &	gravity_vector
	)

Initialize the dynamics solver.

Parameters

urdf_model	The urdf model for the robot
srdf_model	The srdf model for the robot
group_name	The name of the group to compute stuff for

Returns: False if initialization failed

Definition at line 96 of file dynamics_solver.cpp.

Member Function Documentation

◆ getGroup()

const moveit::core::JointModelGroup* dynamics_solver::DynamicsSolver::getGroup ( ) const

inline

Definition at line 164 of file dynamics_solver.h.

◆ getMaxPayload()

bool dynamics_solver::DynamicsSolver::getMaxPayload	(	const std::vector< double > &	joint_angles,
		double &	payload,
		unsigned int &	joint_saturated
	)		const

Get the maximum payload for this group (in kg). Payload is the weight that this group can hold when the weight is attached to the origin of the last link of this group. (The order of joint_angles vector is the same as the order of joints for this group in the RobotModel)

Parameters

joint_angles	The joint angles (desired joint configuration) this must have size = number of joints in the group
payload	The computed maximum payload
joint_saturated	The first saturated joint and the maximum payload

Returns: False if the input set of joint angles is of the wrong size

Definition at line 243 of file dynamics_solver.cpp.

◆ getMaxTorques()

const std::vector< double > & dynamics_solver::DynamicsSolver::getMaxTorques ( ) const

Get maximum torques for this group.

Returns: Vector of max torques

Definition at line 344 of file dynamics_solver.cpp.

◆ getPayloadTorques()

bool dynamics_solver::DynamicsSolver::getPayloadTorques	(	const std::vector< double > &	joint_angles,
		double	payload,
		std::vector< double > &	joint_torques
	)		const

Get torques corresponding to a particular payload value. Payload is the weight that this group can hold when the weight is attached to the origin of the last link of this group.

Parameters

joint_angles	The joint angles (desired joint configuration) this must have size = number of joints in the group
payload	The payload for which to compute torques (in kg)
joint_torques	The resulting joint torques

Returns: False if the input vectors are of the wrong size

Definition at line 308 of file dynamics_solver.cpp.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr& dynamics_solver::DynamicsSolver::getRobotModel ( ) const

inline

Get the kinematic model.

Returns: kinematic model

Definition at line 159 of file dynamics_solver.h.

◆ getTorques()

bool dynamics_solver::DynamicsSolver::getTorques	(	const std::vector< double > &	joint_angles,
		const std::vector< double > &	joint_velocities,
		const std::vector< double > &	joint_accelerations,
		const std::vector< geometry_msgs::Wrench > &	wrenches,
		std::vector< double > &	torques
	)		const

Get the torques (the order of all input and output is the same as the order of joints for this group in the RobotModel)

Parameters

joint_angles	The joint angles (desired joint configuration) this must have size = number of joints in the group
joint_velocities	The desired joint velocities this must have size = number of joints in the group
joint_accelerations	The desired joint accelerations this must have size = number of joints in the group
wrenches	External wrenches acting on the links of the robot this must have size = number of links in the group
torques	Computed set of torques are filled in here this must have size = number of joints in the group

Returns: False if any of the input vectors are of the wrong size

Definition at line 173 of file dynamics_solver.cpp.

Member Data Documentation

◆ base_name_

std::string dynamics_solver::DynamicsSolver::base_name_

private

Definition at line 178 of file dynamics_solver.h.

◆ chain_id_solver_

std::shared_ptr<KDL::ChainIdSolver_RNE> dynamics_solver::DynamicsSolver::chain_id_solver_

private

Definition at line 170 of file dynamics_solver.h.

◆ gravity_

double dynamics_solver::DynamicsSolver::gravity_

private

Definition at line 182 of file dynamics_solver.h.

◆ joint_model_group_

const moveit::core::JointModelGroup* dynamics_solver::DynamicsSolver::joint_model_group_

private

Definition at line 174 of file dynamics_solver.h.

◆ kdl_chain_

KDL::Chain dynamics_solver::DynamicsSolver::kdl_chain_

private

Definition at line 171 of file dynamics_solver.h.

◆ max_torques_

std::vector<double> dynamics_solver::DynamicsSolver::max_torques_

private

Definition at line 180 of file dynamics_solver.h.

◆ num_joints_

unsigned int dynamics_solver::DynamicsSolver::num_joints_

private

Definition at line 179 of file dynamics_solver.h.

◆ num_segments_

unsigned int dynamics_solver::DynamicsSolver::num_segments_

private

Definition at line 179 of file dynamics_solver.h.

◆ robot_model_

moveit::core::RobotModelConstPtr dynamics_solver::DynamicsSolver::robot_model_

private

Definition at line 173 of file dynamics_solver.h.

◆ state_

moveit::core::RobotStatePtr dynamics_solver::DynamicsSolver::state_

private

Definition at line 176 of file dynamics_solver.h.

◆ tip_name_

std::string dynamics_solver::DynamicsSolver::tip_name_

private

Definition at line 178 of file dynamics_solver.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DynamicsSolver()

Member Function Documentation

◆ getGroup()

◆ getMaxPayload()

◆ getMaxTorques()

◆ getPayloadTorques()

◆ getRobotModel()

◆ getTorques()

Member Data Documentation

◆ base_name_

◆ chain_id_solver_

◆ gravity_

◆ joint_model_group_

◆ kdl_chain_

◆ max_torques_

◆ num_joints_

◆ num_segments_

◆ robot_model_

◆ state_

◆ tip_name_