#include <chaindynparam.hpp>

Inheritance diagram for KDL::ChainDynParam:

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 void	updateInternalDataStructures ()

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

Private Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Additional Inherited Members
Private 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 }

Private 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 ()

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.

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 148 of file chaindynparam.cpp.

Member Function Documentation

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

virtual

Definition at line 126 of file chaindynparam.cpp.

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

virtual

Definition at line 138 of file chaindynparam.cpp.

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

virtual

Definition at line 59 of file chaindynparam.cpp.

void KDL::ChainDynParam::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 45 of file chaindynparam.cpp.

Member Data Documentation

Twist KDL::ChainDynParam::ag

private

Definition at line 76 of file chaindynparam.hpp.

const Chain& KDL::ChainDynParam::chain

private

Definition at line 61 of file chaindynparam.hpp.

ChainIdSolver_RNE KDL::ChainDynParam::chainidsolver_coriolis

private

Definition at line 68 of file chaindynparam.hpp.

ChainIdSolver_RNE KDL::ChainDynParam::chainidsolver_gravity

private

Definition at line 69 of file chaindynparam.hpp.

Wrench KDL::ChainDynParam::F

private

Definition at line 75 of file chaindynparam.hpp.

Vector KDL::ChainDynParam::grav

private

Definition at line 65 of file chaindynparam.hpp.

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

private

Definition at line 74 of file chaindynparam.hpp.

JntArray KDL::ChainDynParam::jntarraynull

private

Definition at line 67 of file chaindynparam.hpp.

unsigned int KDL::ChainDynParam::nj

private

Definition at line 63 of file chaindynparam.hpp.

int KDL::ChainDynParam::nr

private

Definition at line 62 of file chaindynparam.hpp.

unsigned int KDL::ChainDynParam::ns

private

Definition at line 64 of file chaindynparam.hpp.

std::vector<Twist> KDL::ChainDynParam::S

private

Definition at line 72 of file chaindynparam.hpp.

Vector KDL::ChainDynParam::vectornull

private

Definition at line 66 of file chaindynparam.hpp.

std::vector<Wrench> KDL::ChainDynParam::wrenchnull

private

Definition at line 70 of file chaindynparam.hpp.

std::vector<Frame> KDL::ChainDynParam::X

private

Definition at line 71 of file chaindynparam.hpp.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation