#include <JointDynamicsData.h>
Public Member Functions | |
void | InitializeMaps (const KDL::Tree &tree) |
Initialize maps and iterate through elements. | |
JointDynamicsData () | |
Constructor for Joint Dynamics Data. | |
int | PopulateExtForceInfo (const KDL::Chain &chain, KDL::Wrenches &f_ext) |
Match chain properties to jntArray properties and set segment force map. | |
int | PopulateExtForceInfo (const std::string &node, KDL::Wrenches &f_ext) |
Set segment force map at the specified node. | |
int | PopulateJointInfo (const KDL::Chain &chain, KDL::JntArray &q, KDL::JntArray &q_dot, KDL::JntArray &q_dotdot) |
Match chain properties to jntArray properties and set joint data for each joints. | |
int | StoreJointInertia (const KDL::Chain &chain, const KDL::JntArray &Hv) |
Match chain properties to jntArray properties and set inertia at each joint. | |
int | StoreJointTorqueCommands (const KDL::Chain &chain, const KDL::JntArray &tau) |
joint torque commands are the torques joints must apply to counteract forces | |
int | StoreSegmentWrenches (const KDL::Chain &chain, const KDL::Wrenches &f_seg) |
~JointDynamicsData () | |
Public Attributes | |
std::map< std::string, KDL::Wrench > | extForceMap |
std::map< std::string, JntDynData > | jointDataMap |
std::map< std::string, double > | jointInertiaMap |
std::map< std::string, double > | jointTorqueCommandMap |
std::map< std::string, KDL::Wrench > | segForceMap |
Definition at line 15 of file JointDynamicsData.h.
Constructor for Joint Dynamics Data.
Definition at line 8 of file JointDynamicsData.cpp.
Definition at line 12 of file JointDynamicsData.cpp.
void JointDynamicsData::InitializeMaps | ( | const KDL::Tree & | tree | ) |
Initialize maps and iterate through elements.
tree | Tree to retrieve segments from |
Definition at line 21 of file JointDynamicsData.cpp.
int JointDynamicsData::PopulateExtForceInfo | ( | const KDL::Chain & | chain, |
KDL::Wrenches & | forceExt | ||
) |
Match chain properties to jntArray properties and set segment force map.
chain | Chain to compare to jntArray properties |
forceExt |
Definition at line 108 of file JointDynamicsData.cpp.
int JointDynamicsData::PopulateExtForceInfo | ( | const std::string & | node, |
KDL::Wrenches & | forceExt | ||
) |
Set segment force map at the specified node.
node | Node to set segment info at |
forceExt |
Definition at line 135 of file JointDynamicsData.cpp.
int JointDynamicsData::PopulateJointInfo | ( | const KDL::Chain & | chain, |
KDL::JntArray & | q, | ||
KDL::JntArray & | q_dot, | ||
KDL::JntArray & | q_dotdot | ||
) |
Match chain properties to jntArray properties and set joint data for each joints.
chain | Chain to compare to jntArray properties |
q | |
q_dot | |
q_dotdot |
Definition at line 71 of file JointDynamicsData.cpp.
int JointDynamicsData::StoreJointInertia | ( | const KDL::Chain & | chain, |
const KDL::JntArray & | Hv | ||
) |
Match chain properties to jntArray properties and set inertia at each joint.
chain | Chain to compare to jntArray properties |
Hv |
Definition at line 192 of file JointDynamicsData.cpp.
int JointDynamicsData::StoreJointTorqueCommands | ( | const KDL::Chain & | chain, |
const KDL::JntArray & | tau | ||
) |
joint torque commands are the torques joints must apply to counteract forces
Match chain properties to jntArray properties and set torque values at each joint.
chain | Chain to compare to jntArray properties |
tau | Calculated torque on a joint |
Definition at line 158 of file JointDynamicsData.cpp.
int JointDynamicsData::StoreSegmentWrenches | ( | const KDL::Chain & | chain, |
const KDL::Wrenches & | f_seg | ||
) |
Definition at line 219 of file JointDynamicsData.cpp.
std::map<std::string, KDL::Wrench> JointDynamicsData::extForceMap |
Definition at line 37 of file JointDynamicsData.h.
std::map<std::string, JntDynData> JointDynamicsData::jointDataMap |
Definition at line 36 of file JointDynamicsData.h.
std::map<std::string, double> JointDynamicsData::jointInertiaMap |
Definition at line 39 of file JointDynamicsData.h.
std::map<std::string, double> JointDynamicsData::jointTorqueCommandMap |
Definition at line 38 of file JointDynamicsData.h.
std::map<std::string, KDL::Wrench> JointDynamicsData::segForceMap |
Definition at line 37 of file JointDynamicsData.h.