single_rigid_body_dynamics.h
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29 
30 #ifndef TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_
31 #define TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_
32 
33 #include "dynamic_model.h"
34 
35 namespace towr {
36 
57 public:
66  SingleRigidBodyDynamics (double mass, const Eigen::Matrix3d& inertia_b, int ee_count);
67 
74  SingleRigidBodyDynamics (double mass,
75  double Ixx, double Iyy, double Izz,
76  double Ixy, double Ixz, double Iyz,
77  int ee_count);
78 
79  virtual ~SingleRigidBodyDynamics () = default;
80 
81  BaseAcc GetDynamicViolation() const override;
82 
83  Jac GetJacobianWrtBaseLin(const Jac& jac_base_lin_pos,
84  const Jac& jac_acc_base_lin) const override;
85  Jac GetJacobianWrtBaseAng(const EulerConverter& base_angular,
86  double t) const override;
87  Jac GetJacobianWrtForce(const Jac& jac_force, EE) const override;
88 
89  Jac GetJacobianWrtEEPos(const Jac& jac_ee_pos, EE) const override;
90 
91 private:
95  Eigen::SparseMatrix<double, Eigen::RowMajor> I_b;
96 };
97 
98 
99 } /* namespace towr */
100 
101 #endif /* TOWR_MODELS_SINGLE_RIBID_BODY_DYNAMICS_MODEL_H_ */
SingleRigidBodyDynamics(double mass, const Eigen::Matrix3d &inertia_b, int ee_count)
Constructs a specific model.
Jac GetJacobianWrtBaseLin(const Jac &jac_base_lin_pos, const Jac &jac_acc_base_lin) const override
How the base position affects the dynamic violation.
Eigen::Matrix< double, 6, 1 > BaseAcc
Definition: dynamic_model.h:73
virtual ~SingleRigidBodyDynamics()=default
Converts Euler angles and derivatives to angular quantities.
A interface for the the system dynamics of a legged robot.
Definition: dynamic_model.h:66
Jac GetJacobianWrtForce(const Jac &jac_force, EE) const override
How the endeffector forces affect the dynamic violation.
Eigen::SparseMatrix< double, Eigen::RowMajor > I_b
Jac GetJacobianWrtBaseAng(const EulerConverter &base_angular, double t) const override
How the base orientation affects the dynamic violation.
BaseAcc GetDynamicViolation() const override
The violation of the system dynamics incurred by the current values.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jac
Definition: dynamic_model.h:74
Dynamics model relating forces to base accelerations.
Jac GetJacobianWrtEEPos(const Jac &jac_ee_pos, EE) const override
How the endeffector positions affect the dynamic violation.


towr
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:00