dynamics_solver::DynamicsSolver Class Reference

`#include <dynamics_solver.h>`

## Public Member Functions | |

DynamicsSolver (const robot_model::RobotModelConstPtr &robot_model, const std::string &group_name, const geometry_msgs::Vector3 &gravity_vector) | |

Initialize the dynamics solver. | |

const robot_model::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) | |

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_ |

const robot_model::JointModelGroup * | joint_model_group_ |

KDL::Chain | kdl_chain_ |

std::vector< double > | max_torques_ |

unsigned int | num_joints_ |

unsigned int | num_segments_ |

robot_model::RobotModelConstPtr | robot_model_ |

robot_state::RobotStatePtr | state_ |

std::string | tip_name_ |

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 58 of file dynamics_solver.h.

dynamics_solver::DynamicsSolver::DynamicsSolver | ( | const robot_model::RobotModelConstPtr & | robot_model, |

const std::string & | group_name, |
||

const geometry_msgs::Vector3 & | gravity_vector |
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) |

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 67 of file dynamics_solver.cpp.

const robot_model::JointModelGroup* dynamics_solver::DynamicsSolver::getGroup | ( | ) | const` [inline]` |

Definition at line 131 of file dynamics_solver.h.

bool dynamics_solver::DynamicsSolver::getMaxPayload | ( | const std::vector< double > & | joint_angles, |

double & | payload, |
||

unsigned int & | joint_saturated |
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) | 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 213 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 314 of file dynamics_solver.cpp.

bool dynamics_solver::DynamicsSolver::getPayloadTorques | ( | const std::vector< double > & | joint_angles, |

double | payload, |
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std::vector< double > & | joint_torques |
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) | 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 277 of file dynamics_solver.cpp.

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

bool dynamics_solver::DynamicsSolver::getTorques | ( | const std::vector< double > & | joint_angles, |

const std::vector< double > & | joint_velocities, |
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const std::vector< double > & | joint_accelerations, |
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const std::vector< geometry_msgs::Wrench > & | wrenches, |
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std::vector< double > & | torques |
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) | 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 144 of file dynamics_solver.cpp.

std::string dynamics_solver::DynamicsSolver::base_name_` [private]` |

Definition at line 145 of file dynamics_solver.h.

boost::shared_ptr<KDL::ChainIdSolver_RNE> dynamics_solver::DynamicsSolver::chain_id_solver_` [private]` |

Definition at line 137 of file dynamics_solver.h.

double dynamics_solver::DynamicsSolver::gravity_` [private]` |

Definition at line 149 of file dynamics_solver.h.

Definition at line 141 of file dynamics_solver.h.

Definition at line 138 of file dynamics_solver.h.

std::vector<double> dynamics_solver::DynamicsSolver::max_torques_` [private]` |

Definition at line 147 of file dynamics_solver.h.

unsigned int dynamics_solver::DynamicsSolver::num_joints_` [private]` |

Definition at line 146 of file dynamics_solver.h.

unsigned int dynamics_solver::DynamicsSolver::num_segments_` [private]` |

Definition at line 146 of file dynamics_solver.h.

robot_model::RobotModelConstPtr dynamics_solver::DynamicsSolver::robot_model_` [private]` |

Definition at line 140 of file dynamics_solver.h.

robot_state::RobotStatePtr dynamics_solver::DynamicsSolver::state_` [private]` |

Definition at line 143 of file dynamics_solver.h.

std::string dynamics_solver::DynamicsSolver::tip_name_` [private]` |

Definition at line 145 of file dynamics_solver.h.

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

moveit_core

Author(s): Ioan Sucan, Sachin Chitta , Acorn Pooley

autogenerated on Fri Dec 14 2018 03:31:41

Author(s): Ioan Sucan

autogenerated on Fri Dec 14 2018 03:31:41