#include <inverse_dynamics.h>

Public Types
typedef iit::rbd::Core< Scalar >	CoreS

typedef CoreS::ForceVector	Force

typedef LinkDataMap< Force >	ExtForces

typedef CoreS::VelocityVector	Velocity

typedef CoreS::VelocityVector	Acceleration

typedef iit::rbd::tpl::InertiaMatrixDense< Scalar >	InertiaMatrix

typedef iit::HyQ::tpl::JointState< Scalar >	JointState

typedef CoreS::Matrix66	Matrix66s

typedef iit::HyQ::tpl::MotionTransforms< TRAIT >	MTransforms

typedef InertiaProperties< TRAIT >	IProperties

Public Member Functions

InverseDynamics (IProperties &in, MTransforms &tr)

void setJointStatus (const JointState &q) const

Inverse dynamics

The full algorithm for the inverse dynamics of this robot.

All the spatial vectors in the parameters are expressed in base coordinates, besides the external forces: each force must be expressed in the reference frame of the link it is acting on.

Parameters

[out]	jForces	the joint force vector required to achieve the desired accelerations
[out]	baseAccel	the spatial acceleration of the robot base
[in]	g	the gravity acceleration, as a spatial vector; gravity implicitly specifies the orientation of the base in space
[in]	trunk_v	the spatial velocity of the base
[in]	q	the joint position vector
[in]	qd	the joint velocity vector
[in]	qdd	the desired joint acceleration vector
[in]	fext	the external forces acting on the links; this parameters defaults to zero

void id (JointState &jForces, Acceleration &trunk_a, const Acceleration &g, const Velocity &trunk_v, const JointState &q, const JointState &qd, const JointState &qdd, const ExtForces &fext=zeroExtForces)

void id (JointState &jForces, Acceleration &trunk_a, const Acceleration &g, const Velocity &trunk_v, const JointState &qd, const JointState &qdd, const ExtForces &fext=zeroExtForces)

Inverse dynamics, fully actuated base

The inverse dynamics algorithm for the floating base robot, in the assumption of a fully actuated base.

All the spatial vectors in the parameters are expressed in base coordinates, besides the external forces: each force must be expressed in the reference frame of the link it is acting on.

Parameters

[out]	baseWrench	the spatial force to be applied to the robot base to achieve the desired accelerations
[out]	jForces	the joint force vector required to achieve the desired accelerations
[in]	g	the gravity acceleration, as a spatial vector; gravity implicitly specifies the orientation of the base in space
[in]	trunk_v	the spatial velocity of the base
[in]	baseAccel	the desired spatial acceleration of the robot base
[in]	q	the joint position vector
[in]	qd	the joint velocity vector
[in]	qdd	the desired joint acceleration vector
[in]	fext	the external forces acting on the links; this parameters defaults to zero

void id_fully_actuated (Force &baseWrench, JointState &jForces, const Acceleration &g, const Velocity &trunk_v, const Acceleration &baseAccel, const JointState &q, const JointState &qd, const JointState &qdd, const ExtForces &fext=zeroExtForces)

void id_fully_actuated (Force &baseWrench, JointState &jForces, const Acceleration &g, const Velocity &trunk_v, const Acceleration &baseAccel, const JointState &qd, const JointState &qdd, const ExtForces &fext=zeroExtForces)

Gravity terms, fully actuated base

void G_terms_fully_actuated (Force &baseWrench, JointState &jForces, const Acceleration &g, const JointState &q)

void G_terms_fully_actuated (Force &baseWrench, JointState &jForces, const Acceleration &g)

Centrifugal and Coriolis terms, fully actuated base

These functions take only velocity inputs, that is, they assume a zero spatial acceleration of the base (in addition to zero acceleration at the actuated joints). Note that this is NOT the same as imposing zero acceleration at the virtual 6-dof-floting-base joint, which would result, in general, in a non-zero spatial acceleration of the base, due to velocity product terms.

void C_terms_fully_actuated (Force &baseWrench, JointState &jForces, const Velocity &trunk_v, const JointState &q, const JointState &qd)

void C_terms_fully_actuated (Force &baseWrench, JointState &jForces, const Velocity &trunk_v, const JointState &qd)

Getters

These functions return various spatial quantities used internally by the inverse dynamics routines, like the spatial acceleration of the links.

The getters can be useful to retrieve the additional data that is not returned explicitly by the inverse dynamics routines even though it is computed. For example, after a call to the inverse dynamics, the spatial velocity of all the links has been determined and can be accessed.

However, beware that certain routines might not use some of the spatial quantities, which therefore would retain their last value without being updated nor reset (for example, the spatial velocity of the links is unaffected by the computation of the gravity terms).

const Force & getForce_trunk () const

const Velocity & getVelocity_LF_hipassembly () const

const Acceleration & getAcceleration_LF_hipassembly () const

const Force & getForce_LF_hipassembly () const

const Velocity & getVelocity_LF_upperleg () const

const Acceleration & getAcceleration_LF_upperleg () const

const Force & getForce_LF_upperleg () const

const Velocity & getVelocity_LF_lowerleg () const

const Acceleration & getAcceleration_LF_lowerleg () const

const Force & getForce_LF_lowerleg () const

const Velocity & getVelocity_RF_hipassembly () const

const Acceleration & getAcceleration_RF_hipassembly () const

const Force & getForce_RF_hipassembly () const

const Velocity & getVelocity_RF_upperleg () const

const Acceleration & getAcceleration_RF_upperleg () const

const Force & getForce_RF_upperleg () const

const Velocity & getVelocity_RF_lowerleg () const

const Acceleration & getAcceleration_RF_lowerleg () const

const Force & getForce_RF_lowerleg () const

const Velocity & getVelocity_LH_hipassembly () const

const Acceleration & getAcceleration_LH_hipassembly () const

const Force & getForce_LH_hipassembly () const

const Velocity & getVelocity_LH_upperleg () const

const Acceleration & getAcceleration_LH_upperleg () const

const Force & getForce_LH_upperleg () const

const Velocity & getVelocity_LH_lowerleg () const

const Acceleration & getAcceleration_LH_lowerleg () const

const Force & getForce_LH_lowerleg () const

const Velocity & getVelocity_RH_hipassembly () const

const Acceleration & getAcceleration_RH_hipassembly () const

const Force & getForce_RH_hipassembly () const

const Velocity & getVelocity_RH_upperleg () const

const Acceleration & getAcceleration_RH_upperleg () const

const Force & getForce_RH_upperleg () const

const Velocity & getVelocity_RH_lowerleg () const

const Acceleration & getAcceleration_RH_lowerleg () const

const Force & getForce_RH_lowerleg () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef TRAIT::Scalar	Scalar

Protected Member Functions
void	secondPass_fullyActuated (JointState &jForces)

Member Typedef Documentation

◆ CoreS

template<typename TRAIT >

typedef iit::rbd::Core<Scalar> iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::CoreS

◆ Force

template<typename TRAIT >

typedef CoreS::ForceVector iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::Force

◆ ExtForces

template<typename TRAIT >

typedef LinkDataMap<Force> iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::ExtForces

◆ Velocity

template<typename TRAIT >

typedef CoreS::VelocityVector iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::Velocity

◆ Acceleration

template<typename TRAIT >

typedef CoreS::VelocityVector iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::Acceleration

◆ InertiaMatrix

template<typename TRAIT >

typedef iit::rbd::tpl::InertiaMatrixDense<Scalar> iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::InertiaMatrix

◆ JointState

template<typename TRAIT >

typedef iit::HyQ::tpl::JointState<Scalar> iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::JointState

◆ Matrix66s

template<typename TRAIT >

typedef CoreS::Matrix66 iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::Matrix66s

◆ MTransforms

template<typename TRAIT >

typedef iit::HyQ::tpl::MotionTransforms<TRAIT> iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::MTransforms

◆ IProperties

template<typename TRAIT >

typedef InertiaProperties<TRAIT> iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::IProperties

Constructor & Destructor Documentation

◆ InverseDynamics()

template<typename TRAIT >

iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::InverseDynamics	(	IProperties &	in,
		MTransforms &	tr
	)

Default constructor

Parameters

in	the inertia properties of the links
tr	the container of all the spatial motion transforms of the robot HyQ, which will be used by this instance to compute inverse-dynamics.

Member Function Documentation

◆ id() [1/2]

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::id	(	JointState &	jForces,
		Acceleration &	trunk_a,
		const Acceleration &	g,
		const Velocity &	trunk_v,
		const JointState &	q,
		const JointState &	qd,
		const JointState &	qdd,
		const ExtForces &	fext = `zeroExtForces`
	)

inline

References iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus().

◆ id() [2/2]

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::id	(	JointState &	jForces,
		Acceleration &	trunk_a,
		const Acceleration &	g,
		const Velocity &	trunk_v,
		const JointState &	qd,
		const JointState &	qdd,
		const ExtForces &	fext = `zeroExtForces`
	)

◆ id_fully_actuated() [1/2]

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::id_fully_actuated	(	Force &	baseWrench,
		JointState &	jForces,
		const Acceleration &	g,
		const Velocity &	trunk_v,
		const Acceleration &	baseAccel,
		const JointState &	q,
		const JointState &	qd,
		const JointState &	qdd,
		const ExtForces &	fext = `zeroExtForces`
	)

inline

References iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus().

◆ id_fully_actuated() [2/2]

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::id_fully_actuated	(	Force &	baseWrench,
		JointState &	jForces,
		const Acceleration &	g,
		const Velocity &	trunk_v,
		const Acceleration &	baseAccel,
		const JointState &	qd,
		const JointState &	qdd,
		const ExtForces &	fext = `zeroExtForces`
	)

◆ G_terms_fully_actuated() [1/2]

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::G_terms_fully_actuated	(	Force &	baseWrench,
		JointState &	jForces,
		const Acceleration &	g,
		const JointState &	q
	)

inline

References iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus().

◆ G_terms_fully_actuated() [2/2]

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::G_terms_fully_actuated	(	Force &	baseWrench,
		JointState &	jForces,
		const Acceleration &	g
	)

References iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::secondPass_fullyActuated().

◆ C_terms_fully_actuated() [1/2]

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::C_terms_fully_actuated	(	Force &	baseWrench,
		JointState &	jForces,
		const Velocity &	trunk_v,
		const JointState &	q,
		const JointState &	qd
	)

inline

References iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus().

◆ C_terms_fully_actuated() [2/2]

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::C_terms_fully_actuated	(	Force &	baseWrench,
		JointState &	jForces,
		const Velocity &	trunk_v,
		const JointState &	qd
	)

References iit::rbd::AZ, iit::HyQ::LF_HAA, iit::HyQ::LF_HFE, iit::HyQ::LF_KFE, iit::HyQ::LH_HAA, iit::HyQ::LH_HFE, iit::HyQ::LH_KFE, iit::HyQ::RF_HAA, iit::HyQ::RF_HFE, iit::HyQ::RF_KFE, iit::HyQ::RH_HAA, iit::HyQ::RH_HFE, iit::HyQ::RH_KFE, iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::secondPass_fullyActuated(), and iit::rbd::vxIv().

◆ setJointStatus()

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus ( const JointState & q ) const

inline

Updates all the kinematics transforms used by the inverse dynamics routine.

Referenced by iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::C_terms_fully_actuated(), iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::G_terms_fully_actuated(), iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::id(), and iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::id_fully_actuated().

◆ getForce_trunk()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_trunk ( ) const

inline

◆ getVelocity_LF_hipassembly()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_LF_hipassembly ( ) const

inline

◆ getAcceleration_LF_hipassembly()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_LF_hipassembly ( ) const

inline

◆ getForce_LF_hipassembly()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_LF_hipassembly ( ) const

inline

◆ getVelocity_LF_upperleg()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_LF_upperleg ( ) const

inline

◆ getAcceleration_LF_upperleg()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_LF_upperleg ( ) const

inline

◆ getForce_LF_upperleg()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_LF_upperleg ( ) const

inline

◆ getVelocity_LF_lowerleg()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_LF_lowerleg ( ) const

inline

◆ getAcceleration_LF_lowerleg()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_LF_lowerleg ( ) const

inline

◆ getForce_LF_lowerleg()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_LF_lowerleg ( ) const

inline

◆ getVelocity_RF_hipassembly()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_RF_hipassembly ( ) const

inline

◆ getAcceleration_RF_hipassembly()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_RF_hipassembly ( ) const

inline

◆ getForce_RF_hipassembly()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_RF_hipassembly ( ) const

inline

◆ getVelocity_RF_upperleg()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_RF_upperleg ( ) const

inline

◆ getAcceleration_RF_upperleg()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_RF_upperleg ( ) const

inline

◆ getForce_RF_upperleg()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_RF_upperleg ( ) const

inline

◆ getVelocity_RF_lowerleg()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_RF_lowerleg ( ) const

inline

◆ getAcceleration_RF_lowerleg()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_RF_lowerleg ( ) const

inline

◆ getForce_RF_lowerleg()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_RF_lowerleg ( ) const

inline

◆ getVelocity_LH_hipassembly()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_LH_hipassembly ( ) const

inline

◆ getAcceleration_LH_hipassembly()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_LH_hipassembly ( ) const

inline

◆ getForce_LH_hipassembly()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_LH_hipassembly ( ) const

inline

◆ getVelocity_LH_upperleg()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_LH_upperleg ( ) const

inline

◆ getAcceleration_LH_upperleg()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_LH_upperleg ( ) const

inline

◆ getForce_LH_upperleg()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_LH_upperleg ( ) const

inline

◆ getVelocity_LH_lowerleg()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_LH_lowerleg ( ) const

inline

◆ getAcceleration_LH_lowerleg()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_LH_lowerleg ( ) const

inline

◆ getForce_LH_lowerleg()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_LH_lowerleg ( ) const

inline

◆ getVelocity_RH_hipassembly()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_RH_hipassembly ( ) const

inline

◆ getAcceleration_RH_hipassembly()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_RH_hipassembly ( ) const

inline

◆ getForce_RH_hipassembly()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_RH_hipassembly ( ) const

inline

◆ getVelocity_RH_upperleg()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_RH_upperleg ( ) const

inline

◆ getAcceleration_RH_upperleg()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_RH_upperleg ( ) const

inline

◆ getForce_RH_upperleg()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_RH_upperleg ( ) const

inline

◆ getVelocity_RH_lowerleg()

template<typename TRAIT >

const Velocity& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_RH_lowerleg ( ) const

inline

◆ getAcceleration_RH_lowerleg()

template<typename TRAIT >

const Acceleration& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_RH_lowerleg ( ) const

inline

◆ getForce_RH_lowerleg()

template<typename TRAIT >

const Force& iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_RH_lowerleg ( ) const

inline

References iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::secondPass_fullyActuated().

◆ secondPass_fullyActuated()

template<typename TRAIT >

void iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::secondPass_fullyActuated ( JointState & jForces )

protected

References iit::rbd::AZ, iit::HyQ::LF_HAA, iit::HyQ::LF_HFE, iit::HyQ::LF_KFE, iit::HyQ::LH_HAA, iit::HyQ::LH_HFE, iit::HyQ::LH_KFE, iit::HyQ::RF_HAA, iit::HyQ::RF_HFE, iit::HyQ::RF_KFE, iit::HyQ::RH_HAA, iit::HyQ::RH_HFE, and iit::HyQ::RH_KFE.

Referenced by iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::C_terms_fully_actuated(), iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::G_terms_fully_actuated(), iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::getForce_RH_lowerleg(), and iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::id_fully_actuated().

Member Data Documentation

◆ Scalar

template<typename TRAIT >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef TRAIT::Scalar iit::HyQ::dyn::tpl::InverseDynamics< TRAIT >::Scalar

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/include/ct/models/HyQ/generated/inverse_dynamics.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/include/ct/models/HyQ/generated/inverse_dynamics.impl.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Member Typedef Documentation

◆ CoreS

◆ Force

◆ ExtForces

◆ Velocity

◆ Acceleration

◆ InertiaMatrix

◆ JointState

◆ Matrix66s

◆ MTransforms

◆ IProperties

Constructor & Destructor Documentation

◆ InverseDynamics()

Member Function Documentation

◆ id() [1/2]

◆ id() [2/2]

◆ id_fully_actuated() [1/2]

◆ id_fully_actuated() [2/2]

◆ G_terms_fully_actuated() [1/2]

◆ G_terms_fully_actuated() [2/2]

◆ C_terms_fully_actuated() [1/2]

◆ C_terms_fully_actuated() [2/2]

◆ setJointStatus()

◆ getForce_trunk()

◆ getVelocity_LF_hipassembly()

◆ getAcceleration_LF_hipassembly()

◆ getForce_LF_hipassembly()

◆ getVelocity_LF_upperleg()

◆ getAcceleration_LF_upperleg()

◆ getForce_LF_upperleg()

◆ getVelocity_LF_lowerleg()

◆ getAcceleration_LF_lowerleg()

◆ getForce_LF_lowerleg()

◆ getVelocity_RF_hipassembly()

◆ getAcceleration_RF_hipassembly()

◆ getForce_RF_hipassembly()

◆ getVelocity_RF_upperleg()

◆ getAcceleration_RF_upperleg()

◆ getForce_RF_upperleg()

◆ getVelocity_RF_lowerleg()

◆ getAcceleration_RF_lowerleg()

◆ getForce_RF_lowerleg()

◆ getVelocity_LH_hipassembly()

◆ getAcceleration_LH_hipassembly()

◆ getForce_LH_hipassembly()

◆ getVelocity_LH_upperleg()

◆ getAcceleration_LH_upperleg()

◆ getForce_LH_upperleg()

◆ getVelocity_LH_lowerleg()

◆ getAcceleration_LH_lowerleg()

◆ getForce_LH_lowerleg()

◆ getVelocity_RH_hipassembly()

◆ getAcceleration_RH_hipassembly()

◆ getForce_RH_hipassembly()

◆ getVelocity_RH_upperleg()

◆ getAcceleration_RH_upperleg()

◆ getForce_RH_upperleg()

◆ getVelocity_RH_lowerleg()

◆ getAcceleration_RH_lowerleg()

◆ getForce_RH_lowerleg()

◆ secondPass_fullyActuated()

Member Data Documentation

◆ Scalar