#include <ForwardDynamicsABM.h>

Inheritance diagram for hrp::ForwardDynamicsABM:

Public Member Functions
virtual void	calcNextState ()

	ForwardDynamicsABM (BodyPtr body)

virtual void	initialize ()

	~ForwardDynamicsABM ()

Public Member Functions inherited from hrp::ForwardDynamics
void	enableSensors (bool on)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ForwardDynamics (BodyPtr body)

void	setEulerMethod ()

void	setGravityAcceleration (const Vector3 &g)

void	setRungeKuttaMethod ()

void	setTimeStep (double timeStep)

virtual	~ForwardDynamics ()

Private Member Functions
void	calcABMFirstHalf ()

void	calcABMLastHalf ()

void	calcABMPhase1 ()

void	calcABMPhase2 ()

void	calcABMPhase2Part1 ()

void	calcABMPhase2Part2 ()

void	calcABMPhase3 ()

void	calcMotionWithEulerMethod ()

void	calcMotionWithRungeKuttaMethod ()

void	integrateRungeKuttaOneStep (double r, double dt)

void	updateForceSensor (ForceSensor *sensor)

void	updateForceSensors ()

Private Attributes
std::vector< double >	ddq

std::vector< double >	dq

std::vector< double >	dq0

Vector3	dvo

Vector3	dw

Vector3	p0

std::vector< double >	q0

Matrix33	R0

Vector3	vo

Vector3	vo0

Vector3	w

Vector3	w0

Additional Inherited Members
Protected Types inherited from hrp::ForwardDynamics
enum	{ EULER_METHOD, RUNGEKUTTA_METHOD }

Protected Member Functions inherited from hrp::ForwardDynamics
virtual void	initializeSensors ()

virtual void	updateSensorsFinal ()

Static Protected Member Functions inherited from hrp::ForwardDynamics
static void	SE3exp (Vector3 &out_p, Matrix33 &out_R, const Vector3 &p0, const Matrix33 &R0, const Vector3 &w, const Vector3 &vo, double dt)
	update position/orientation using spatial velocity More...

Protected Attributes inherited from hrp::ForwardDynamics
BodyPtr	body

Vector3	g

enum hrp::ForwardDynamics:: { ... }	integrationMode

bool	sensorsEnabled

double	timeStep

Detailed Description

Forward dynamics calculation using Featherstone's Articulated Body Method (ABM)

Definition at line 33 of file ForwardDynamicsABM.h.

Constructor & Destructor Documentation

ForwardDynamicsABM::ForwardDynamicsABM ( BodyPtr body )

Definition at line 30 of file ForwardDynamicsABM.cpp.

ForwardDynamicsABM::~ForwardDynamicsABM ( )

Definition at line 41 of file ForwardDynamicsABM.cpp.

Member Function Documentation

void ForwardDynamicsABM::calcABMFirstHalf ( )

inlineprivate

Definition at line 54 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcABMLastHalf ( )

inlineprivate

Definition at line 61 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcABMPhase1 ( )

private

compute position/orientation/velocity

Definition at line 221 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcABMPhase2 ( )

private

compute articulated inertia

Definition at line 305 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcABMPhase2Part1 ( )

private

Definition at line 358 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcABMPhase2Part2 ( )

private

Definition at line 397 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcABMPhase3 ( )

private

compute joint acceleration/spatial acceleration

Definition at line 427 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcMotionWithEulerMethod ( )

private

Definition at line 101 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcMotionWithRungeKuttaMethod ( )

private

Definition at line 161 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::calcNextState ( )

virtual

Implements hrp::ForwardDynamics.

Definition at line 68 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::initialize ( void )

virtual

Implements hrp::ForwardDynamics.

Definition at line 47 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::integrateRungeKuttaOneStep	(	double	r,
		double	dt
	)

private

Definition at line 131 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::updateForceSensor ( ForceSensor * sensor )

private

Definition at line 482 of file ForwardDynamicsABM.cpp.

void ForwardDynamicsABM::updateForceSensors ( )

private

Definition at line 473 of file ForwardDynamicsABM.cpp.

Member Data Documentation

std::vector<double> hrp::ForwardDynamicsABM::ddq

private

Definition at line 85 of file ForwardDynamicsABM.h.

std::vector<double> hrp::ForwardDynamicsABM::dq

private

Definition at line 84 of file ForwardDynamicsABM.h.

std::vector<double> hrp::ForwardDynamicsABM::dq0

private

Definition at line 78 of file ForwardDynamicsABM.h.

Vector3 hrp::ForwardDynamicsABM::dvo

private

Definition at line 82 of file ForwardDynamicsABM.h.

Vector3 hrp::ForwardDynamicsABM::dw

private

Definition at line 83 of file ForwardDynamicsABM.h.

Vector3 hrp::ForwardDynamicsABM::p0

private

Definition at line 73 of file ForwardDynamicsABM.h.

std::vector<double> hrp::ForwardDynamicsABM::q0

private

Definition at line 77 of file ForwardDynamicsABM.h.

Matrix33 hrp::ForwardDynamicsABM::R0

private

Definition at line 74 of file ForwardDynamicsABM.h.

Vector3 hrp::ForwardDynamicsABM::vo

private

Definition at line 80 of file ForwardDynamicsABM.h.

Vector3 hrp::ForwardDynamicsABM::vo0

private

Definition at line 75 of file ForwardDynamicsABM.h.

Vector3 hrp::ForwardDynamicsABM::w

private

Definition at line 81 of file ForwardDynamicsABM.h.

Vector3 hrp::ForwardDynamicsABM::w0

private

Definition at line 76 of file ForwardDynamicsABM.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation