iit::ct_HyA::dyn::tpl Namespace Reference

Classes
class	ForwardDynamics
class	InertiaProperties
class	InverseDynamics
class	JSIM

Detailed Description

The Forward Dynamics routine for the robot ct_HyA.

The parameters common to most of the methods are the joint status q, the joint velocities qd and the joint forces tau. The accelerations qdd will be filled with the computed values. Overloaded methods without the q parameter use the current configuration of the robot; they are provided for the sake of efficiency, in case the kinematics transforms of the robot have already been updated elsewhere with the most recent configuration (eg by a call to setJointStatus()), so that it would be useless to compute them again.

The Inverse Dynamics routine for the robot ct_HyA.

In addition to the full Newton-Euler algorithm, specialized versions to compute only certain terms are provided. The parameters common to most of the methods are the joint status vector q, the joint velocity vector qd and the acceleration vector qdd.

Additional overloaded methods are provided without the q parameter. These methods use the current configuration of the robot; they are provided for the sake of efficiency, in case the motion transforms of the robot have already been updated elsewhere with the most recent configuration (eg by a call to setJointStatus()), so that it is useless to compute them again.

Whenever present, the external forces parameter is a set of external wrenches acting on the robot links. Each wrench must be expressed in the reference frame of the link it is excerted on.