Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes
KDL::ChainIdSolver_Vereshchagin Class Reference

Dynamics calculations by constraints based on Vereshchagin 1989. for a chain. This class creates instance of hybrid dynamics solver. The solver calculates total joint space accelerations in a chain when a constraint force(s) is applied to the chain's end-effector (task space/cartesian space). More...

#include <chainidsolver_vereshchagin.hpp>

Inheritance diagram for KDL::ChainIdSolver_Vereshchagin:
Inheritance graph
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List of all members.

Classes

struct  segment_info

Public Member Functions

int CartToJnt (const JntArray &q, const JntArray &q_dot, JntArray &q_dotdot, const Jacobian &alfa, const JntArray &beta, const Wrenches &f_ext, JntArray &torques)
 ChainIdSolver_Vereshchagin (const Chain &chain, Twist root_acc, unsigned int nc)
virtual void updateInternalDataStructures ()
 ~ChainIdSolver_Vereshchagin ()

Private Types

typedef std::vector< FrameFrames
typedef Eigen::Matrix< double, 6, 6 > Matrix6d
typedef Eigen::Matrix< double,
6, Eigen::Dynamic > 
Matrix6Xd
typedef std::vector< TwistTwists
typedef Eigen::Matrix< double, 6, 1 > Vector6d

Private Member Functions

void constraint_calculation (const JntArray &beta)
void downwards_sweep (const Jacobian &alfa, const JntArray &torques)
void final_upwards_sweep (JntArray &q_dotdot, JntArray &torques)
void initial_upwards_sweep (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext)

Private Attributes

Twist acc_root
Jacobian alfa_N
Jacobian alfa_N2
JntArray beta_N
const Chainchain
Frame F_total
Eigen::MatrixXd M_0_inverse
unsigned int nc
unsigned int nj
unsigned int ns
Eigen::VectorXd nu
Eigen::VectorXd nu_sum
Wrench qdotdot_sum
std::vector< segment_info,
Eigen::aligned_allocator
< segment_info > > 
results
Eigen::VectorXd Sm
Eigen::VectorXd tmpm
Eigen::MatrixXd Um
Eigen::MatrixXd Vm

Detailed Description

Dynamics calculations by constraints based on Vereshchagin 1989. for a chain. This class creates instance of hybrid dynamics solver. The solver calculates total joint space accelerations in a chain when a constraint force(s) is applied to the chain's end-effector (task space/cartesian space).

Definition at line 40 of file chainidsolver_vereshchagin.hpp.


Member Typedef Documentation

typedef std::vector<Frame> KDL::ChainIdSolver_Vereshchagin::Frames [private]

Definition at line 43 of file chainidsolver_vereshchagin.hpp.

typedef Eigen::Matrix<double, 6, 6 > KDL::ChainIdSolver_Vereshchagin::Matrix6d [private]

Definition at line 45 of file chainidsolver_vereshchagin.hpp.

typedef Eigen::Matrix<double, 6, Eigen::Dynamic> KDL::ChainIdSolver_Vereshchagin::Matrix6Xd [private]

Definition at line 46 of file chainidsolver_vereshchagin.hpp.

typedef std::vector<Twist> KDL::ChainIdSolver_Vereshchagin::Twists [private]

Definition at line 42 of file chainidsolver_vereshchagin.hpp.

typedef Eigen::Matrix<double, 6, 1 > KDL::ChainIdSolver_Vereshchagin::Vector6d [private]

Definition at line 44 of file chainidsolver_vereshchagin.hpp.


Constructor & Destructor Documentation

KDL::ChainIdSolver_Vereshchagin::ChainIdSolver_Vereshchagin ( const Chain chain,
Twist  root_acc,
unsigned int  nc 
)

Constructor for the solver, it will allocate all the necessary memory

Parameters:
chainThe kinematic chain to calculate the inverse dynamics for, an internal copy will be made.
root_accThe acceleration vector of the root to use during the calculation.(most likely contains gravity)

Definition at line 31 of file chainidsolver_vereshchagin.cpp.

Definition at line 57 of file chainidsolver_vereshchagin.hpp.


Member Function Documentation

int KDL::ChainIdSolver_Vereshchagin::CartToJnt ( const JntArray q,
const JntArray q_dot,
JntArray q_dotdot,
const Jacobian alfa,
const JntArray beta,
const Wrenches f_ext,
JntArray torques 
)

This method calculates joint space constraint torques and total joint space acceleration. It returns 0 when it succeeds, otherwise -1 or -2 for unmatching matrix and array sizes. Input parameters;

Parameters:
qThe current joint positions
q_dotThe current joint velocities
f_extThe external forces (no gravity, it is given in root acceleration) on the segments. Output parameters:
q_dotdotThe joint accelerations
torquesthe resulting constraint torques for the joints
Returns:
error/success code

Definition at line 51 of file chainidsolver_vereshchagin.cpp.

This method calculates constraint force magnitudes.

Definition at line 249 of file chainidsolver_vereshchagin.cpp.

void KDL::ChainIdSolver_Vereshchagin::downwards_sweep ( const Jacobian alfa,
const JntArray torques 
) [private]

This method is a force balance sweep. It calculates articulated body inertias and bias forces. Additionally, acceleration energies generated by bias forces and unit forces are calculated here.

Definition at line 133 of file chainidsolver_vereshchagin.cpp.

void KDL::ChainIdSolver_Vereshchagin::final_upwards_sweep ( JntArray q_dotdot,
JntArray torques 
) [private]

This method puts all acceleration contributions (constraint, bias, nullspace and parent accelerations) together.

Definition at line 284 of file chainidsolver_vereshchagin.cpp.

void KDL::ChainIdSolver_Vereshchagin::initial_upwards_sweep ( const JntArray q,
const JntArray q_dot,
const JntArray q_dotdot,
const Wrenches f_ext 
) [private]

This method calculates all cartesian space poses, twists, bias accelerations. External forces are also taken into account in this outward sweep.

Definition at line 72 of file chainidsolver_vereshchagin.cpp.

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 chainidsolver_vereshchagin.cpp.


Member Data Documentation

Definition at line 129 of file chainidsolver_vereshchagin.hpp.

Definition at line 130 of file chainidsolver_vereshchagin.hpp.

Definition at line 131 of file chainidsolver_vereshchagin.hpp.

Definition at line 135 of file chainidsolver_vereshchagin.hpp.

Definition at line 125 of file chainidsolver_vereshchagin.hpp.

Definition at line 141 of file chainidsolver_vereshchagin.hpp.

Definition at line 132 of file chainidsolver_vereshchagin.hpp.

unsigned int KDL::ChainIdSolver_Vereshchagin::nc [private]

Definition at line 128 of file chainidsolver_vereshchagin.hpp.

unsigned int KDL::ChainIdSolver_Vereshchagin::nj [private]

Definition at line 126 of file chainidsolver_vereshchagin.hpp.

unsigned int KDL::ChainIdSolver_Vereshchagin::ns [private]

Definition at line 127 of file chainidsolver_vereshchagin.hpp.

Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::nu [private]

Definition at line 136 of file chainidsolver_vereshchagin.hpp.

Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::nu_sum [private]

Definition at line 137 of file chainidsolver_vereshchagin.hpp.

Definition at line 140 of file chainidsolver_vereshchagin.hpp.

std::vector<segment_info, Eigen::aligned_allocator<segment_info> > KDL::ChainIdSolver_Vereshchagin::results [private]

Definition at line 188 of file chainidsolver_vereshchagin.hpp.

Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::Sm [private]

Definition at line 138 of file chainidsolver_vereshchagin.hpp.

Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::tmpm [private]

Definition at line 139 of file chainidsolver_vereshchagin.hpp.

Eigen::MatrixXd KDL::ChainIdSolver_Vereshchagin::Um [private]

Definition at line 133 of file chainidsolver_vereshchagin.hpp.

Eigen::MatrixXd KDL::ChainIdSolver_Vereshchagin::Vm [private]

Definition at line 134 of file chainidsolver_vereshchagin.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:36:13