Public Member Functions | Private Attributes | List of all members
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. More...
 
const robot_model::JointModelGroupgetGroup () 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) More...
 
const std::vector< double > & getMaxTorques () const
 Get maximum torques for this group. More...
 
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. More...
 
const robot_model::RobotModelConstPtr & getRobotModel () const
 Get the kinematic model. More...
 
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) More...
 

Private Attributes

std::string base_name_
 
std::shared_ptr< KDL::ChainIdSolver_RNEchain_id_solver_
 
double gravity_
 
const robot_model::JointModelGroupjoint_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_
 

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 60 of file dynamics_solver.h.

Constructor & Destructor Documentation

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

Initialize the dynamics solver.

Parameters
urdf_modelThe urdf model for the robot
srdf_modelThe srdf model for the robot
group_nameThe name of the group to compute stuff for
Returns
False if initialization failed

Definition at line 67 of file dynamics_solver.cpp.

Member Function Documentation

const robot_model::JointModelGroup* dynamics_solver::DynamicsSolver::getGroup ( ) const
inline

Definition at line 133 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_anglesThe joint angles (desired joint configuration) this must have size = number of joints in the group
payloadThe computed maximum payload
joint_saturatedThe first saturated joint and the maximum payload
Returns
False if the input set of joint angles is of the wrong size

Definition at line 214 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 315 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_anglesThe joint angles (desired joint configuration) this must have size = number of joints in the group
payloadThe payload for which to compute torques (in kg)
joint_torquesThe resulting joint torques
Returns
False if the input vectors are of the wrong size

Definition at line 279 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 128 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_anglesThe joint angles (desired joint configuration) this must have size = number of joints in the group
joint_velocitiesThe desired joint velocities this must have size = number of joints in the group
joint_accelerationsThe desired joint accelerations this must have size = number of joints in the group
wrenchesExternal wrenches acting on the links of the robot this must have size = number of links in the group
torquesComputed 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.

Member Data Documentation

std::string dynamics_solver::DynamicsSolver::base_name_
private

Definition at line 147 of file dynamics_solver.h.

std::shared_ptr<KDL::ChainIdSolver_RNE> dynamics_solver::DynamicsSolver::chain_id_solver_
private

Definition at line 139 of file dynamics_solver.h.

double dynamics_solver::DynamicsSolver::gravity_
private

Definition at line 151 of file dynamics_solver.h.

const robot_model::JointModelGroup* dynamics_solver::DynamicsSolver::joint_model_group_
private

Definition at line 143 of file dynamics_solver.h.

KDL::Chain dynamics_solver::DynamicsSolver::kdl_chain_
private

Definition at line 140 of file dynamics_solver.h.

std::vector<double> dynamics_solver::DynamicsSolver::max_torques_
private

Definition at line 149 of file dynamics_solver.h.

unsigned int dynamics_solver::DynamicsSolver::num_joints_
private

Definition at line 148 of file dynamics_solver.h.

unsigned int dynamics_solver::DynamicsSolver::num_segments_
private

Definition at line 148 of file dynamics_solver.h.

robot_model::RobotModelConstPtr dynamics_solver::DynamicsSolver::robot_model_
private

Definition at line 142 of file dynamics_solver.h.

robot_state::RobotStatePtr dynamics_solver::DynamicsSolver::state_
private

Definition at line 145 of file dynamics_solver.h.

std::string dynamics_solver::DynamicsSolver::tip_name_
private

Definition at line 147 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 Wed Jul 18 2018 02:48:32