dynamicgraph::sot::MatrixInertia Class Reference

#include <matrix-inertia.h>

Public Member Functions
void	computeInertiaMatrix ()
size_t	getDoF ()
void	getInertiaMatrix (double *A)
const maal::boost::Matrix &	getInertiaMatrix (void)
void	init (CjrlHumanoidDynamicRobot *aHDR)
	MatrixInertia (CjrlHumanoidDynamicRobot *aHDR)
void	update (void)
	~MatrixInertia (void)

Private Member Functions
void	initDofTable (void)
void	initParents (void)
	MatrixInertia (void)

Private Attributes
dynamicsJRLJapan::HumanoidDynamicMultiBody *	aHDMB_
CjrlHumanoidDynamicRobot *	aHDR_
std::vector< dynamicgraph::Matrix >	Ic
dynamicgraph::Matrix	inertia_
std::vector< MatrixTwist >	iVpi
std::vector< MatrixForce >	iVpiT
std::vector< CjrlJoint * >	joints_
std::vector< int >	parentIndex_
std::vector< dynamicgraph::Vector >	phi

Detailed Description

Definition at line 39 of file matrix-inertia.h.

Constructor & Destructor Documentation

MatrixInertia() [1/2]

dynamicgraph::sot::MatrixInertia::MatrixInertia ( void  )

inlineprivate

Definition at line 42 of file matrix-inertia.h.

MatrixInertia() [2/2]

MatrixInertia::MatrixInertia

(

CjrlHumanoidDynamicRobot *

aHDR

)

Definition at line 47 of file matrix-inertia.cpp.

~MatrixInertia()

MatrixInertia::~MatrixInertia

(

void

)

Definition at line 118 of file matrix-inertia.cpp.

Member Function Documentation

computeInertiaMatrix()

void MatrixInertia::computeInertiaMatrix

(

)

Definition at line 174 of file matrix-inertia.cpp.

getDoF()

size_t dynamicgraph::sot::MatrixInertia::getDoF ( )

inline

Definition at line 57 of file matrix-inertia.h.

getInertiaMatrix() [1/2]

void MatrixInertia::getInertiaMatrix

(

double *

A

)

Definition at line 283 of file matrix-inertia.cpp.

getInertiaMatrix() [2/2]

const maal::boost::Matrix & MatrixInertia::getInertiaMatrix

(

void

)

Definition at line 289 of file matrix-inertia.cpp.

init()

void MatrixInertia::init

(

CjrlHumanoidDynamicRobot *

aHDR

)

Definition at line 54 of file matrix-inertia.cpp.

initDofTable()

void MatrixInertia::initDofTable ( void  )

private

Definition at line 104 of file matrix-inertia.cpp.

initParents()

void MatrixInertia::initParents ( void  )

private

Definition at line 79 of file matrix-inertia.cpp.

update()

void MatrixInertia::update

(

void

)

Definition at line 123 of file matrix-inertia.cpp.

Member Data Documentation

aHDMB_

dynamicsJRLJapan::HumanoidDynamicMultiBody* dynamicgraph::sot::MatrixInertia::aHDMB_

private

Definition at line 61 of file matrix-inertia.h.

aHDR_

CjrlHumanoidDynamicRobot* dynamicgraph::sot::MatrixInertia::aHDR_

private

Definition at line 60 of file matrix-inertia.h.

Ic

std::vector<dynamicgraph::Matrix> dynamicgraph::sot::MatrixInertia::Ic

private

Definition at line 65 of file matrix-inertia.h.

inertia_

dynamicgraph::Matrix dynamicgraph::sot::MatrixInertia::inertia_

private

Definition at line 69 of file matrix-inertia.h.

iVpi

std::vector<MatrixTwist> dynamicgraph::sot::MatrixInertia::iVpi

private

Definition at line 67 of file matrix-inertia.h.

iVpiT

std::vector<MatrixForce> dynamicgraph::sot::MatrixInertia::iVpiT

private

Definition at line 68 of file matrix-inertia.h.

joints_

std::vector<CjrlJoint*> dynamicgraph::sot::MatrixInertia::joints_

private

Definition at line 62 of file matrix-inertia.h.

parentIndex_

std::vector<int> dynamicgraph::sot::MatrixInertia::parentIndex_

private

Definition at line 63 of file matrix-inertia.h.

phi

std::vector<dynamicgraph::Vector> dynamicgraph::sot::MatrixInertia::phi

private

Definition at line 66 of file matrix-inertia.h.

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

• matrix-inertia.h
• matrix-inertia.cpp