#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

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.