#include <dynamics_solver.h>

Public Member Functions
	DynamicsSolver (const robot_model::RobotModelConstPtr &kinematic_model, const std::string &group_name, const geometry_msgs::Vector3 &gravity_vector)
	Initialize the dynamics solver.
const std::string &	getGroupName () const
	Get the group name.
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)
const std::vector< double > &	getMaxTorques () const
	Get maximum torques for this group.
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.
const robot_model::RobotModelConstPtr &	getRobotModel () const
	Get the kinematic model.
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)
Private Attributes
std::string	base_name_
boost::shared_ptr < KDL::ChainIdSolver_RNE >	chain_id_solver_
double	gravity_
std::string	group_name_
const robot_model::JointModelGroup *	joint_model_group_
robot_state::JointStateGroup *	joint_state_group_
KDL::Chain	kdl_chain_
robot_model::RobotModelConstPtr	kinematic_model_
robot_state::RobotStatePtr	kinematic_state_
std::vector< double >	max_torques_
unsigned int	num_joints_
unsigned int	num_segments_
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 57 of file dynamics_solver.h.

Constructor & Destructor Documentation

dynamics_solver::DynamicsSolver::DynamicsSolver	(	const robot_model::RobotModelConstPtr &	kinematic_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 69 of file dynamics_solver.cpp.

Member Function Documentation

const std::string& dynamics_solver::DynamicsSolver::getGroupName ( ) const [inline]

Get the group name.

Returns:: group name

Definition at line 141 of file dynamics_solver.h.

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 215 of file dynamics_solver.cpp.

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

Get maximum torques for this group.

Returns:: Vector of max torques

Definition at line 313 of file dynamics_solver.cpp.

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 276 of file dynamics_solver.cpp.

const robot_model::RobotModelConstPtr& dynamics_solver::DynamicsSolver::getRobotModel ( ) const [inline]

Get the kinematic model.

Returns:: kinematic model

Definition at line 132 of file dynamics_solver.h.

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