ct::models::HyQ::HyQContactModelForwardZeroSystem Class Reference

A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world. More...

#include <HyQContactModelForwardZeroSystem.h>

Inheritance diagram for ct::models::HyQ::HyQContactModelForwardZeroSystem:

Public Types
typedef core::StateVector< STATE_DIM >	StateVector
typedef core::ControlVector< CONTROL_DIM >	ControlVector
typedef core::SymplecticSystem< 18, 18, CONTROL_DIM >	Base
Public Types inherited from ct::core::SymplecticSystem< 18, 18, 12 >
typedef Base::time_t	time_t
Public Types inherited from ct::core::ControlledSystem< 18+18, 12, SCALAR >
typedef std::shared_ptr< ControlledSystem< 18+18, 12, SCALAR > >	Ptr
typedef Base::time_t	time_t
Public Types inherited from ct::core::System< STATE_DIM, SCALAR >
typedef SCALAR	time_t

Public Member Functions
	HyQContactModelForwardZeroSystem ()
	HyQContactModelForwardZeroSystem (const HyQContactModelForwardZeroSystem &other)
virtual	~HyQContactModelForwardZeroSystem ()
virtual HyQContactModelForwardZeroSystem *	clone () const override
virtual void	computePdot (const StateVector &x, const core::StateVector< 18 > &v, const ControlVector &control, core::StateVector< 18 > &pDot) override
virtual void	computeVdot (const StateVector &x, const core::StateVector< 18 > &p, const ControlVector &control, core::StateVector< 18 > &vDot) override
Public Member Functions inherited from ct::core::SymplecticSystem< 18, 18, 12 >
	SymplecticSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	SymplecticSystem (std::shared_ptr< ct::core::Controller< 18+18, 12, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	SymplecticSystem (const SymplecticSystem &arg)
virtual	~SymplecticSystem ()
virtual bool	isSymplectic () const override
virtual void	computeControlledDynamics (const StateVector< 18+18, SCALAR > &state, const time_t &t, const ControlVector< 12, SCALAR > &control, StateVector< 18+18, SCALAR > &derivative) override
void	computePdot (const StateVector< 18+18, SCALAR > &x, const StateVector< 18, SCALAR > &v, StateVector< 18, SCALAR > &pDot)
virtual void	computePdot (const StateVector< 18+18, SCALAR > &x, const StateVector< 18, SCALAR > &v, const ControlVector< 12, SCALAR > &control, StateVector< 18, SCALAR > &pDot)=0
void	computeVdot (const StateVector< 18+18, SCALAR > &x, const StateVector< 18, SCALAR > &p, StateVector< 18, SCALAR > &vDot)
virtual void	computeVdot (const StateVector< 18+18, SCALAR > &x, const StateVector< 18, SCALAR > &p, const ControlVector< 12, SCALAR > &control, StateVector< 18, SCALAR > &vDot)=0
Public Member Functions inherited from ct::core::ControlledSystem< 18+18, 12, SCALAR >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	ControlledSystem (std::shared_ptr< ct::core::Controller< 18+18, 12, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	ControlledSystem (const ControlledSystem &arg)
virtual	~ControlledSystem ()
void	setController (const std::shared_ptr< Controller< 18+18, 12, SCALAR >> &controller)
void	getController (std::shared_ptr< Controller< 18+18, 12, SCALAR >> &controller) const
std::shared_ptr< Controller< 18+18, 12, SCALAR > >	getController ()
virtual void	computeDynamics (const StateVector< 18+18, SCALAR > &state, const time_t &t, StateVector< 18+18, SCALAR > &derivative) override
ControlVector< 12, SCALAR >	getLastControlAction ()
Public Member Functions inherited from ct::core::System< STATE_DIM, SCALAR >
	System (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	System (const System &other)
virtual	~System ()
virtual void	computeDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t &t, StateVector< STATE_DIM, SCALAR > &derivative)=0
SYSTEM_TYPE	getType () const

Static Public Attributes
static const size_t	STATE_DIM = 36
static const size_t	CONTROL_DIM = 12

Additional Inherited Members
Public Attributes inherited from ct::core::SymplecticSystem< 18, 18, 12 >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< 18+18, 12, SCALAR >	Base
Public Attributes inherited from ct::core::ControlledSystem< 18+18, 12, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< 18+18, SCALAR >	Base
Public Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SCALAR	S
Protected Attributes inherited from ct::core::ControlledSystem< 18+18, 12, SCALAR >
std::shared_ptr< Controller< 18+18, 12, SCALAR > >	controller_
ControlVector< 12, SCALAR >	controlAction_
Protected Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
SYSTEM_TYPE	type_

Detailed Description

A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world.

Member Typedef Documentation

StateVector

typedef core::StateVector<STATE_DIM> ct::models::HyQ::HyQContactModelForwardZeroSystem::StateVector

ControlVector

typedef core::ControlVector<CONTROL_DIM> ct::models::HyQ::HyQContactModelForwardZeroSystem::ControlVector

Base

typedef core::SymplecticSystem<18, 18, CONTROL_DIM> ct::models::HyQ::HyQContactModelForwardZeroSystem::Base

Constructor & Destructor Documentation

HyQContactModelForwardZeroSystem() [1/2]

ct::models::HyQ::HyQContactModelForwardZeroSystem::HyQContactModelForwardZeroSystem ( )

inline

Referenced by clone().

HyQContactModelForwardZeroSystem() [2/2]

ct::models::HyQ::HyQContactModelForwardZeroSystem::HyQContactModelForwardZeroSystem ( const HyQContactModelForwardZeroSystem &  other )

inline

~HyQContactModelForwardZeroSystem()

virtual ct::models::HyQ::HyQContactModelForwardZeroSystem::~HyQContactModelForwardZeroSystem ( )

inlinevirtual

Member Function Documentation

clone()

virtual HyQContactModelForwardZeroSystem* ct::models::HyQ::HyQContactModelForwardZeroSystem::clone ( ) const

inlineoverridevirtual

Implements ct::core::SymplecticSystem< 18, 18, 12 >.

References HyQContactModelForwardZeroSystem().

computePdot()

virtual void ct::models::HyQ::HyQContactModelForwardZeroSystem::computePdot ( const StateVector &  x, const core::StateVector< 18 > &  v, const ControlVector &  control, core::StateVector< 18 > &  pDot  )

inlineoverridevirtual

computeVdot()

virtual void ct::models::HyQ::HyQContactModelForwardZeroSystem::computeVdot ( const StateVector &  x, const core::StateVector< 18 > &  p, const ControlVector &  control, core::StateVector< 18 > &  vDot  )

inlineoverridevirtual

References ct::models::HyQ::HyQForwardZero::forwardZero(), ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorEulerXyz(), ct::rbd::RBDAcceleration< NJOINTS, class >::toStateUpdateVectorEulerXyz(), and x.

Member Data Documentation

STATE_DIM

const size_t ct::models::HyQ::HyQContactModelForwardZeroSystem::STATE_DIM = 36

static

CONTROL_DIM

const size_t ct::models::HyQ::HyQContactModelForwardZeroSystem::CONTROL_DIM = 12

static

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/include/ct/models/HyQ/codegen/HyQContactModelForwardZeroSystem.h