hrp::ForwardDynamics Class Reference

#include <ForwardDynamics.h>

Inheritance diagram for hrp::ForwardDynamics:

Public Member Functions
virtual void	calcNextState ()=0
void	enableSensors (bool on)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ForwardDynamics (BodyPtr body)
virtual void	initialize ()=0
void	setEulerMethod ()
void	setGravityAcceleration (const Vector3 &g)
void	setRungeKuttaMethod ()
void	setTimeStep (double timeStep)
virtual	~ForwardDynamics ()

Protected Types
enum	{ EULER_METHOD, RUNGEKUTTA_METHOD }

Protected Member Functions
virtual void	initializeSensors ()
virtual void	updateSensorsFinal ()

Static Protected Member Functions
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
BodyPtr	body
Vector3	g
enum hrp::ForwardDynamics:: { ... }	integrationMode
bool	sensorsEnabled
double	timeStep

Private Types
typedef Eigen::Matrix2d	matrix22
typedef Eigen::Vector2d	vector2

Private Member Functions
void	initializeAccelSensors ()
void	updateAccelSensor (AccelSensor *sensor)

Private Attributes
matrix22	A
vector2	B

Detailed Description

This class calculates the forward dynamics of a Body object by using the Featherstone's articulated body algorithm. The class also integrates motion using the Euler method or RungeKutta method.

Definition at line 35 of file ForwardDynamics.h.

Member Typedef Documentation

typedef Eigen::Matrix2d hrp::ForwardDynamics::matrix22

private

Definition at line 85 of file ForwardDynamics.h.

typedef Eigen::Vector2d hrp::ForwardDynamics::vector2

private

Definition at line 86 of file ForwardDynamics.h.

Member Enumeration Documentation

anonymous enum

protected

Enumerator
EULER_METHOD
RUNGEKUTTA_METHOD

Definition at line 76 of file ForwardDynamics.h.

Constructor & Destructor Documentation

ForwardDynamics::ForwardDynamics

(

BodyPtr

body

)

Definition at line 22 of file ForwardDynamics.cpp.

ForwardDynamics::~ForwardDynamics ( )

virtual

Definition at line 33 of file ForwardDynamics.cpp.

Member Function Documentation

virtual void hrp::ForwardDynamics::calcNextState ( )

pure virtual

Implemented in ODE_ForwardDynamics, hrp::ForwardDynamicsMM, and hrp::ForwardDynamicsABM.

void ForwardDynamics::enableSensors

(

bool

on

)

Definition at line 63 of file ForwardDynamics.cpp.

virtual void hrp::ForwardDynamics::initialize ( )

pure virtual

Implemented in ODE_ForwardDynamics, hrp::ForwardDynamicsMM, and hrp::ForwardDynamicsABM.

void ForwardDynamics::initializeAccelSensors ( )

private

Definition at line 149 of file ForwardDynamics.cpp.

void ForwardDynamics::initializeSensors ( )

protectedvirtual

Reimplemented in hrp::ForwardDynamicsMM.

Definition at line 93 of file ForwardDynamics.cpp.

void ForwardDynamics::SE3exp ( Vector3 &  out_p, Matrix33 &  out_R, const Vector3 &  p0, const Matrix33 &  R0, const Vector3 &  w, const Vector3 &  vo, double  dt  )

staticprotected

update position/orientation using spatial velocity

function from Murray, Li and Sastry p.42

Parameters

out_p	p(t+dt)
out_R	R(t+dt)
p0	p(t)
R0	R(t)
w	angular velocity
vo	spatial velocity
dt	time step[s]

Definition at line 70 of file ForwardDynamics.cpp.

void ForwardDynamics::setEulerMethod

(

)

Definition at line 51 of file ForwardDynamics.cpp.

void ForwardDynamics::setGravityAcceleration

(

const Vector3 &

g

)

Definition at line 45 of file ForwardDynamics.cpp.

void ForwardDynamics::setRungeKuttaMethod

(

)

Definition at line 57 of file ForwardDynamics.cpp.

void ForwardDynamics::setTimeStep

(

double

timeStep

)

Definition at line 39 of file ForwardDynamics.cpp.

void ForwardDynamics::updateAccelSensor ( AccelSensor *  sensor )

private

Definition at line 122 of file ForwardDynamics.cpp.

void ForwardDynamics::updateSensorsFinal ( )

protectedvirtual

Definition at line 103 of file ForwardDynamics.cpp.

Member Data Documentation

matrix22 hrp::ForwardDynamics::A

private

Definition at line 87 of file ForwardDynamics.h.

vector2 hrp::ForwardDynamics::B

private

Definition at line 88 of file ForwardDynamics.h.

BodyPtr hrp::ForwardDynamics::body

protected

Definition at line 71 of file ForwardDynamics.h.

Vector3 hrp::ForwardDynamics::g

protected

Definition at line 72 of file ForwardDynamics.h.

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

bool hrp::ForwardDynamics::sensorsEnabled

protected

Definition at line 74 of file ForwardDynamics.h.

double hrp::ForwardDynamics::timeStep

protected

Definition at line 73 of file ForwardDynamics.h.

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

• ForwardDynamics.h
• ForwardDynamics.cpp