#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::JointModelGroup *	getGroup () 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_RNE >	chain_id_solver_

double	gravity_

const robot_model::JointModelGroup *	joint_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_model	The urdf model for the robot
srdf_model	The srdf model for the robot
group_name	The 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_angles	The joint angles (desired joint configuration) this must have size = number of joints in the group
payload	The computed maximum payload
joint_saturated	The 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_angles	The joint angles (desired joint configuration) this must have size = number of joints in the group
payload	The payload for which to compute torques (in kg)
joint_torques	The 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_angles	The joint angles (desired joint configuration) this must have size = number of joints in the group
joint_velocities	The desired joint velocities this must have size = number of joints in the group
joint_accelerations	The desired joint accelerations this must have size = number of joints in the group
wrenches	External wrenches acting on the links of the robot this must have size = number of links in the group
torques	Computed 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:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation