iit::ct_DoubleInvertedPendulum Namespace Reference

Namespaces
	dyn
	tpl

Classes
class	JointDataMap
class	LinkDataMap

Typedefs
using	Column2d = tpl::Column2d< double >
typedef Column2d	JointState
typedef tpl::Traits< double >	Traits

Enumerations
enum	JointIdentifiers { JOINT1 = 0, JOINT2 }
enum	LinkIdentifiers { DOUBLEINVERTEDPENDULUMBASE = 0, LINK1, LINK2 }

Functions
template<typename T >
std::ostream &	operator<< (std::ostream &out, const JointDataMap< T > &map)
template<typename T >
std::ostream &	operator<< (std::ostream &out, const LinkDataMap< T > &map)
Center of mass calculation
Computes the Center Of Mass (COM) position of the whole robot, in base coordinates. Common parameters are the inertia properties of the robot and the set of homogeneous coordinate transforms. If a joint status variable is also passed, then the transforms are updated accordingly; otherwise, they are not modified before being used.
iit::rbd::Vector3d	getWholeBodyCOM (const dyn::InertiaProperties &inertia, const HomogeneousTransforms &transforms)
iit::rbd::Vector3d	getWholeBodyCOM (const dyn::InertiaProperties &inertia, const JointState &q, HomogeneousTransforms &transforms)

Typedef Documentation

Column2d

using iit::ct_DoubleInvertedPendulum::Column2d = typedef tpl::Column2d<double>

JointState

typedef Column2d iit::ct_DoubleInvertedPendulum::JointState

Traits

typedef tpl::Traits<double> iit::ct_DoubleInvertedPendulum::Traits

Enumeration Type Documentation

JointIdentifiers

enum iit::ct_DoubleInvertedPendulum::JointIdentifiers

Enumerator
JOINT1
JOINT2

LinkIdentifiers

enum iit::ct_DoubleInvertedPendulum::LinkIdentifiers

Enumerator
DOUBLEINVERTEDPENDULUMBASE
LINK1
LINK2

Function Documentation

operator<<() [1/2]

template<typename T >

std::ostream& iit::ct_DoubleInvertedPendulum::operator<< ( std::ostream &  out, const JointDataMap< T > &  map  )

inline

References JOINT1, and JOINT2.

operator<<() [2/2]

template<typename T >

std::ostream& iit::ct_DoubleInvertedPendulum::operator<< ( std::ostream &  out, const LinkDataMap< T > &  map  )

inline

References DOUBLEINVERTEDPENDULUMBASE, LINK1, and LINK2.

getWholeBodyCOM() [1/2]

iit::rbd::Vector3d iit::ct_DoubleInvertedPendulum::getWholeBodyCOM	(	const dyn::InertiaProperties &	inertia,
		const HomogeneousTransforms &	transforms
	)

Parameters

inertia	the inertia properties of the links of the robot
transforms	the homogeneous coordinate transforms of the robot

Returns

the position of the Center Of Mass of the whole robot, expressed in base coordinates

References iit::ct_DoubleInvertedPendulum::dyn::tpl::InertiaProperties< TRAIT >::getCOM_Link1(), iit::ct_DoubleInvertedPendulum::dyn::tpl::InertiaProperties< TRAIT >::getCOM_Link2(), iit::ct_DoubleInvertedPendulum::dyn::tpl::InertiaProperties< TRAIT >::getMass_Link1(), iit::ct_DoubleInvertedPendulum::dyn::tpl::InertiaProperties< TRAIT >::getMass_Link2(), iit::ct_DoubleInvertedPendulum::dyn::tpl::InertiaProperties< TRAIT >::getTotalMass(), and iit::rbd::Utils::transform().

Referenced by getWholeBodyCOM().

getWholeBodyCOM() [2/2]

iit::rbd::Vector3d iit::ct_DoubleInvertedPendulum::getWholeBodyCOM	(	const dyn::InertiaProperties &	inertia,
		const JointState &	q,
		HomogeneousTransforms &	transforms
	)

Parameters

inertia	the inertia properties of the links of the robot
q	the joint status vector describing the configuration of the robot
transforms	the homogeneous coordinate transforms of the robot

Returns

the position of the Center Of Mass of the whole robot, expressed in base coordinates

References getWholeBodyCOM().