KDL::ChainDynParam Class Reference

#include <chaindynparam.hpp>

Inheritance diagram for KDL::ChainDynParam:

List of all members.

Public Member Functions
	ChainDynParam (const Chain &chain, Vector _grav)
virtual int	JntToCoriolis (const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
virtual int	JntToGravity (const JntArray &q, JntArray &gravity)
virtual int	JntToMass (const JntArray &q, JntSpaceInertiaMatrix &H)
virtual	~ChainDynParam ()
Private Attributes
Twist	ag
const Chain	chain
ChainIdSolver_RNE	chainidsolver_coriolis
ChainIdSolver_RNE	chainidsolver_gravity
Wrench	F
Vector	grav
std::vector < ArticulatedBodyInertia, Eigen::aligned_allocator < ArticulatedBodyInertia > >	Ic
JntArray	jntarraynull
unsigned int	nj
int	nr
unsigned int	ns
std::vector< Twist >	S
Vector	vectornull
std::vector< Wrench >	wrenchnull
std::vector< Frame >	X

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Detailed Description

Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives. (inverse dynamics)

The algorithm implementation for H is based on the book "Rigid Body Dynamics Algorithms" of Roy Featherstone, 2008 (ISBN:978-0-387-74314-1) See page 107 for the pseudo-code. This algorithm is extended for the use of fixed joints

It calculates the joint-space inertia matrix, given the motion of the joints (q,qdot,qdotdot), external forces on the segments (expressed in the segments reference frame) and the dynamical parameters of the segments.

Definition at line 47 of file chaindynparam.hpp.

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Constructor & Destructor Documentation

KDL::ChainDynParam::ChainDynParam	(	const Chain &	chain,
		Vector	_grav
	)

Definition at line 28 of file chaindynparam.cpp.

KDL::ChainDynParam::~ChainDynParam

(

)

[virtual]

Definition at line 132 of file chaindynparam.cpp.

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Member Function Documentation

int KDL::ChainDynParam::JntToCoriolis	(	const JntArray &	q,
		const JntArray &	q_dot,
		JntArray &	coriolis
	)		[virtual]

Definition at line 110 of file chaindynparam.cpp.

int KDL::ChainDynParam::JntToGravity	(	const JntArray &	q,
		JntArray &	gravity
	)		[virtual]

Definition at line 122 of file chaindynparam.cpp.

int KDL::ChainDynParam::JntToMass	(	const JntArray &	q,
		JntSpaceInertiaMatrix &	H
	)		[virtual]

Definition at line 46 of file chaindynparam.cpp.

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Member Data Documentation

Twist KDL::ChainDynParam::ag [private]

Definition at line 73 of file chaindynparam.hpp.

const Chain KDL::ChainDynParam::chain [private]

Definition at line 58 of file chaindynparam.hpp.

ChainIdSolver_RNE KDL::ChainDynParam::chainidsolver_coriolis [private]

Definition at line 65 of file chaindynparam.hpp.

ChainIdSolver_RNE KDL::ChainDynParam::chainidsolver_gravity [private]

Definition at line 66 of file chaindynparam.hpp.

Wrench KDL::ChainDynParam::F [private]

Definition at line 72 of file chaindynparam.hpp.

Vector KDL::ChainDynParam::grav [private]

Definition at line 62 of file chaindynparam.hpp.

std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> > KDL::ChainDynParam::Ic [private]

Definition at line 71 of file chaindynparam.hpp.

JntArray KDL::ChainDynParam::jntarraynull [private]

Definition at line 64 of file chaindynparam.hpp.

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

Definition at line 60 of file chaindynparam.hpp.

int KDL::ChainDynParam::nr [private]

Definition at line 59 of file chaindynparam.hpp.

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

Definition at line 61 of file chaindynparam.hpp.

std::vector<Twist> KDL::ChainDynParam::S [private]

Definition at line 69 of file chaindynparam.hpp.

Vector KDL::ChainDynParam::vectornull [private]

Definition at line 63 of file chaindynparam.hpp.

std::vector<Wrench> KDL::ChainDynParam::wrenchnull [private]

Definition at line 67 of file chaindynparam.hpp.

std::vector<Frame> KDL::ChainDynParam::X [private]

Definition at line 68 of file chaindynparam.hpp.

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

• chaindynparam.hpp
• chaindynparam.cpp