treeidsolver_recursive_newton_euler.hpp
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1 // Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Franco Fusco <franco dot fusco at ls2n dot fr>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
23 #define KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
24 
25 #include "treeidsolver.hpp"
26 
27 namespace KDL{
41  class TreeIdSolver_RNE : public TreeIdSolver {
42  public:
48  TreeIdSolver_RNE(const Tree& tree, Vector grav);
49 
60  int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap& f_ext, JntArray &torques);
61 
63  virtual void updateInternalDataStructures();
64 
65  private:
67  void initAuxVariables();
68 
70  void rne_step(SegmentMap::const_iterator segment, const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap& f_ext, JntArray& torques);
71 
72  const Tree& tree;
73  unsigned int nj;
74  unsigned int ns;
75  std::map<std::string,Frame> X;
76  std::map<std::string,Twist> S;
77  std::map<std::string,Twist> v;
78  std::map<std::string,Twist> a;
79  std::map<std::string,Wrench> f;
81  };
82 }
83 
84 #endif
std::map< std::string, Twist > S
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)
std::map< std::string, Frame > X
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
std::map< std::string, Twist > a
std::map< std::string, Wrench > WrenchMap
represents both translational and rotational velocities.
Definition: frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
std::map< std::string, Twist > v
TreeIdSolver_RNE(const Tree &tree, Vector grav)
void initAuxVariables()
Helper function to initialize private members X, S, v, a, f.
void rne_step(SegmentMap::const_iterator segment, const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)
One recursion step.
std::map< std::string, Wrench > f
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...
Definition: tree.hpp:99
Recursive newton euler inverse dynamics solver for kinematic trees.
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.


orocos_kdl
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autogenerated on Tue Sep 22 2020 03:17:50