Public Member Functions | Private Attributes | List of all members
KDL::ChainIdSolver_RNE Class Reference

Recursive newton euler inverse dynamics solver. More...

#include <chainidsolver_recursive_newton_euler.hpp>

Inheritance diagram for KDL::ChainIdSolver_RNE:
Inheritance graph
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Public Member Functions

int CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)
 
 ChainIdSolver_RNE (const Chain &chain, Vector grav)
 
virtual void updateInternalDataStructures ()
 
 ~ChainIdSolver_RNE ()
 
- Public Member Functions inherited from KDL::SolverI
virtual int getError () const
 Return the latest error. More...
 
 SolverI ()
 Initialize latest error to E_NOERROR. More...
 
virtual const char * strError (const int error) const
 
virtual ~SolverI ()
 

Private Attributes

std::vector< Twista
 
Twist ag
 
const Chainchain
 
std::vector< Wrenchf
 
unsigned int nj
 
unsigned int ns
 
std::vector< TwistS
 
std::vector< Twistv
 
std::vector< FrameX
 

Additional Inherited Members

- Public Types inherited from KDL::SolverI
enum  {
  E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2,
  E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6,
  E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8
}
 
- Protected Attributes inherited from KDL::SolverI
int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

Detailed Description

Recursive newton euler inverse dynamics solver.

The algorithm implementation is based on the book "Rigid Body Dynamics Algorithms" of Roy Featherstone, 2008 (ISBN:978-0-387-74314-1) See page 96 for the pseudo-code.

It calculates the torques for the joints, 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 40 of file chainidsolver_recursive_newton_euler.hpp.

Constructor & Destructor Documentation

KDL::ChainIdSolver_RNE::ChainIdSolver_RNE ( const Chain chain,
Vector  grav 
)

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.
gravThe gravity vector to use during the calculation.

Definition at line 27 of file chainidsolver_recursive_newton_euler.cpp.

KDL::ChainIdSolver_RNE::~ChainIdSolver_RNE ( )
inline

Definition at line 48 of file chainidsolver_recursive_newton_euler.hpp.

Member Function Documentation

int KDL::ChainIdSolver_RNE::CartToJnt ( const JntArray q,
const JntArray q_dot,
const JntArray q_dotdot,
const Wrenches f_ext,
JntArray torques 
)
virtual

Function to calculate from Cartesian forces to joint torques. Input parameters;

Parameters
qThe current joint positions
q_dotThe current joint velocities
q_dotdotThe current joint accelerations
f_extThe external forces (no gravity) on the segments Output parameters:
torquesthe resulting torques for the joints

Implements KDL::ChainIdSolver.

Definition at line 44 of file chainidsolver_recursive_newton_euler.cpp.

void KDL::ChainIdSolver_RNE::updateInternalDataStructures ( )
virtual

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 34 of file chainidsolver_recursive_newton_euler.cpp.

Member Data Documentation

std::vector<Twist> KDL::ChainIdSolver_RNE::a
private

Definition at line 72 of file chainidsolver_recursive_newton_euler.hpp.

Twist KDL::ChainIdSolver_RNE::ag
private

Definition at line 74 of file chainidsolver_recursive_newton_euler.hpp.

const Chain& KDL::ChainIdSolver_RNE::chain
private

Definition at line 66 of file chainidsolver_recursive_newton_euler.hpp.

std::vector<Wrench> KDL::ChainIdSolver_RNE::f
private

Definition at line 73 of file chainidsolver_recursive_newton_euler.hpp.

unsigned int KDL::ChainIdSolver_RNE::nj
private

Definition at line 67 of file chainidsolver_recursive_newton_euler.hpp.

unsigned int KDL::ChainIdSolver_RNE::ns
private

Definition at line 68 of file chainidsolver_recursive_newton_euler.hpp.

std::vector<Twist> KDL::ChainIdSolver_RNE::S
private

Definition at line 70 of file chainidsolver_recursive_newton_euler.hpp.

std::vector<Twist> KDL::ChainIdSolver_RNE::v
private

Definition at line 71 of file chainidsolver_recursive_newton_euler.hpp.

std::vector<Frame> KDL::ChainIdSolver_RNE::X
private

Definition at line 69 of file chainidsolver_recursive_newton_euler.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:07:25