This class implements the equations of motion of a Rigid Body System. More...

#include <Dynamics.h>

Public Types
typedef ROBCOGEN::SCALAR	SCALAR

typedef Eigen::Matrix< SCALAR, NJOINTS, 1 >	control_vector_t

typedef Eigen::Matrix< SCALAR, NSTATE, 1 >	state_vector_t

typedef Eigen::Matrix< SCALAR, 6, 1 >	Vector6d_t

typedef Vector6d_t	ForceVector_t

typedef RBDState< NJOINTS, SCALAR >	RBDState_t

typedef RBDAcceleration< NJOINTS, SCALAR >	RBDAcceleration_t

typedef JointState< NJOINTS, SCALAR >	JointState_t

typedef JointAcceleration< NJOINTS, SCALAR >	JointAcceleration_t

typedef tpl::RigidBodyAcceleration< SCALAR >	RigidBodyAcceleration_t

typedef SelectionMatrix< NJOINTS, NSTATE/2, SCALAR >	SelectionMatrix_t

typedef RBD::LinkForceMap	ExtLinkForces_t

typedef RBDDataMap< bool, NEE >	EE_in_contact_t

typedef Kinematics< RBD, NEE >	Kinematics_t

Public Member Functions
	Dynamics (typename Kinematics_t::Ptr_t kinematics=typename Kinematics_t::Ptr_t(new Kinematics_t()))
	The constructor. More...

	Dynamics (const Dynamics &other)

virtual	~Dynamics ()

ENABLE_FIX_BASE	FixBaseForwardDynamics (const JointState_t &x, const control_vector_t &u, ExtLinkForces_t &force, JointAcceleration_t &qdd)
	Compute forward dynamics of a fixed-base RBD system under external forces. More...

ENABLE_FIX_BASE	FixBaseForwardDynamics (const JointState_t &x, const control_vector_t &u, JointAcceleration_t &qdd)
	Compute forward dynamics of a fixed-base RBD system, NO contact forces forces. More...

ENABLE_FIX_BASE	FixBaseID (const JointState_t &x, const JointAcceleration_t &qdd, const ExtLinkForces_t &force, control_vector_t &u)
	Computes Inverse dynamics of a fixed-base system under external forces. More...

ENABLE_FIX_BASE	FixBaseID (const JointState_t &x, const JointAcceleration_t &qdd, control_vector_t &u)
	Computes Inverse dynamics of a fixed-base system without external forces. More...

ENABLE_FLOAT_BASE	FloatingBaseForwardDynamics (const RBDState_t &x, const control_vector_t &u, const ExtLinkForces_t &link_forces, RBDAcceleration_t &xd)
	Compute forward dynamics for an floating-base RBD system under external forces. More...

ENABLE_FLOAT_BASE	FloatingBaseID (const RBDState_t &x, const JointAcceleration_t &qdd, const ExtLinkForces_t &force, control_vector_t &u, RigidBodyAcceleration_t &base_a)
	Computes Inverse dynamics of a floating-base system under external forces. More...

ENABLE_FLOAT_BASE	FloatingBaseFullyActuatedID (const RBDState_t &x, const RigidBodyAcceleration_t &base_ac, const JointAcceleration_t &qdd, const ExtLinkForces_t &force, ForceVector_t &base_w, control_vector_t &u)
	Computes the inverse dynamics of a floating-base fully-actuated system. More...

ENABLE_FLOAT_BASE	ProjectedForwardDynamics (const EE_in_contact_t &ee_contact, const RBDState_t &x, const control_vector_t &u, RBDAcceleration_t &rbd_a)
	Computes Projected Forward Dynamics of a floating-base system with contact constraints. More...

ENABLE_FLOAT_BASE	ProjectedInverseDynamics (const EE_in_contact_t &ee_contact, const RBDState_t &x, const RBDAcceleration_t &rbd_a, control_vector_t &u)

ENABLE_FLOAT_BASE	ProjectedInverseDynamicsNoGravity (const EE_in_contact_t &ee_contact, const RBDState_t &x, const RBDAcceleration_t &rbd_a, control_vector_t &u)

Kinematics_t &	kinematics ()

const Kinematics_t &	kinematics () const

Kinematics_t::Ptr_t &	kinematicsPtr ()

const Kinematics_t::Ptr_t &	kinematicsPtr () const

SelectionMatrix_t &	S ()

const SelectionMatrix_t &	S () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef RBD	ROBCOGEN

Static Public Attributes
static const bool	FB = ROBCOGEN::TRAIT::floating_base

static const size_t	NJOINTS = RBD::NJOINTS

static const size_t	NLINKS = RBD::NLINKS

static const size_t	NSTATE = FB * RBDState<NJOINTS, SCALAR>::NSTATE + (1 - FB) * 2 * NJOINTS

static const size_t	N_EE = NEE

Detailed Description

template<class RBD, size_t NEE>
class ct::rbd::Dynamics< RBD, NEE >

This class implements the equations of motion of a Rigid Body System.

Template Parameters

RBD	The rbd container class
NEE	The number of endeffectors

Member Typedef Documentation

◆ SCALAR

template<class RBD, size_t NEE>

typedef ROBCOGEN::SCALAR ct::rbd::Dynamics< RBD, NEE >::SCALAR

◆ control_vector_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<SCALAR, NJOINTS, 1> ct::rbd::Dynamics< RBD, NEE >::control_vector_t

◆ state_vector_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<SCALAR, NSTATE, 1> ct::rbd::Dynamics< RBD, NEE >::state_vector_t

◆ Vector6d_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<SCALAR, 6, 1> ct::rbd::Dynamics< RBD, NEE >::Vector6d_t

◆ ForceVector_t

template<class RBD, size_t NEE>

typedef Vector6d_t ct::rbd::Dynamics< RBD, NEE >::ForceVector_t

◆ RBDState_t

template<class RBD, size_t NEE>

typedef RBDState<NJOINTS, SCALAR> ct::rbd::Dynamics< RBD, NEE >::RBDState_t

◆ RBDAcceleration_t

template<class RBD, size_t NEE>

typedef RBDAcceleration<NJOINTS, SCALAR> ct::rbd::Dynamics< RBD, NEE >::RBDAcceleration_t

◆ JointState_t

template<class RBD, size_t NEE>

typedef JointState<NJOINTS, SCALAR> ct::rbd::Dynamics< RBD, NEE >::JointState_t

◆ JointAcceleration_t

template<class RBD, size_t NEE>

typedef JointAcceleration<NJOINTS, SCALAR> ct::rbd::Dynamics< RBD, NEE >::JointAcceleration_t

◆ RigidBodyAcceleration_t

template<class RBD, size_t NEE>

typedef tpl::RigidBodyAcceleration<SCALAR> ct::rbd::Dynamics< RBD, NEE >::RigidBodyAcceleration_t

◆ SelectionMatrix_t

template<class RBD, size_t NEE>

typedef SelectionMatrix<NJOINTS, NSTATE / 2, SCALAR> ct::rbd::Dynamics< RBD, NEE >::SelectionMatrix_t

◆ ExtLinkForces_t

template<class RBD, size_t NEE>

typedef RBD::LinkForceMap ct::rbd::Dynamics< RBD, NEE >::ExtLinkForces_t

◆ EE_in_contact_t

template<class RBD, size_t NEE>

typedef RBDDataMap<bool, NEE> ct::rbd::Dynamics< RBD, NEE >::EE_in_contact_t

◆ Kinematics_t

template<class RBD, size_t NEE>

typedef Kinematics<RBD, NEE> ct::rbd::Dynamics< RBD, NEE >::Kinematics_t

Constructor & Destructor Documentation

◆ Dynamics() [1/2]

template<class RBD, size_t NEE>

ct::rbd::Dynamics< RBD, NEE >::Dynamics ( typename Kinematics_t::Ptr_t kinematics = typename Kinematics_t::Ptr_t(new Kinematics_t()) )

inline

The constructor.

Parameters

[in] kinematics The kinematics of the RBD

◆ Dynamics() [2/2]

template<class RBD, size_t NEE>

ct::rbd::Dynamics< RBD, NEE >::Dynamics ( const Dynamics< RBD, NEE > & other )

inline

◆ ~Dynamics()

template<class RBD, size_t NEE>

virtual ct::rbd::Dynamics< RBD, NEE >::~Dynamics ( )

inlinevirtual

References ENABLE_FIX_BASE, ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics(), u, and x.

Member Function Documentation

◆ FixBaseForwardDynamics() [1/2]

template<class RBD , size_t NEE>

ENABLE_FIX_BASE_IMPL ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics	(	const JointState_t &	x,
		const control_vector_t &	u,
		ExtLinkForces_t &	force,
		JointAcceleration_t &	qdd
	)

Compute forward dynamics of a fixed-base RBD system under external forces.

Parameters

[in]	x	The JointState state
[in]	u	The control vector
[in]	force	The external forces vector
[out]	qdd	The joints acceleration

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getAcceleration(), ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), and ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities().

Referenced by ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics(), and ct::rbd::Dynamics< RBD, NEE >::~Dynamics().

◆ FixBaseForwardDynamics() [2/2]

template<class RBD, size_t NEE>

ENABLE_FIX_BASE ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics	(	const JointState_t &	x,
		const control_vector_t &	u,
		JointAcceleration_t &	qdd
	)

inline

Compute forward dynamics of a fixed-base RBD system, NO contact forces forces.

Parameters

[in]	x	The RBD state
[in]	u	The control vector
[out]	qdd	The Joints acceleration

References ENABLE_FIX_BASE, ENABLE_FLOAT_BASE, ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics(), ct::rbd::Dynamics< RBD, NEE >::FixBaseID(), ct::rbd::Dynamics< RBD, NEE >::FloatingBaseForwardDynamics(), ct::rbd::Dynamics< RBD, NEE >::FloatingBaseFullyActuatedID(), and ct::rbd::Dynamics< RBD, NEE >::FloatingBaseID().

◆ FixBaseID() [1/2]

template<class RBD , size_t NEE>

ENABLE_FIX_BASE_IMPL ct::rbd::Dynamics< RBD, NEE >::FixBaseID	(	const JointState_t &	x,
		const JointAcceleration_t &	qdd,
		const ExtLinkForces_t &	force,
		control_vector_t &	u
	)

Computes Inverse dynamics of a fixed-base system under external forces.

Parameters

[in]	x	the current state of the robot
[in]	qdd	the Joints acceleration
[in]	force	the external forces vector
[out]	u	The control vector

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getAcceleration(), ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), and ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities().

Referenced by ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics().

◆ FixBaseID() [2/2]

template<class RBD , size_t NEE>

ENABLE_FIX_BASE_IMPL ct::rbd::Dynamics< RBD, NEE >::FixBaseID	(	const JointState_t &	x,
		const JointAcceleration_t &	qdd,
		control_vector_t &	u
	)

Computes Inverse dynamics of a fixed-base system without external forces.

Parameters

[in]	x	the current state of the robot
[in]	qdd	the Joints acceleration
[out]	u	The control vector

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getAcceleration(), ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), and ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities().

◆ FloatingBaseForwardDynamics()

template<class RBD , size_t NEE>

ENABLE_FLOAT_BASE_IMPL ct::rbd::Dynamics< RBD, NEE >::FloatingBaseForwardDynamics	(	const RBDState_t &	x,
		const control_vector_t &	u,
		const ExtLinkForces_t &	link_forces,
		RBDAcceleration_t &	xd
	)

Compute forward dynamics for an floating-base RBD system under external forces.

Parameters

[in]	x	The RBD state
[in]	u	The control vector
[in]	link_forces	The external forces vector
[out]	xd	The RBD state derivative

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::base(), ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseVelocities(), ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB6D(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::fromVector6d(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::joints(), and ct::rbd::RBDState< NJOINTS, SCALAR >::joints().

Referenced by ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics().

◆ FloatingBaseID()

template<class RBD , size_t NEE>

ENABLE_FLOAT_BASE_IMPL ct::rbd::Dynamics< RBD, NEE >::FloatingBaseID	(	const RBDState_t &	x,
		const JointAcceleration_t &	qdd,
		const ExtLinkForces_t &	force,
		control_vector_t &	u,
		RigidBodyAcceleration_t &	base_a
	)

Computes Inverse dynamics of a floating-base system under external forces.

Parameters

[in]	x	the RBDstate
[in]	qdd	the joints acceleration
[in]	force	the external forces vector
[out]	u	The control vector
[out]	base_a	The base state derivative

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseVelocities(), ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB6D(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::fromVector6d(), ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getAcceleration(), and ct::rbd::RBDState< NJOINTS, SCALAR >::joints().

Referenced by ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics().

◆ FloatingBaseFullyActuatedID()

template<class RBD , size_t NEE>

ENABLE_FLOAT_BASE_IMPL ct::rbd::Dynamics< RBD, NEE >::FloatingBaseFullyActuatedID	(	const RBDState_t &	x,
		const RigidBodyAcceleration_t &	base_ac,
		const JointAcceleration_t &	qdd,
		const ExtLinkForces_t &	force,
		ForceVector_t &	base_w,
		control_vector_t &	u
	)

Computes the inverse dynamics of a floating-base fully-actuated system.

Parameters

[in]	x	The RBDState
[in]	base_a	The base acceleration
[in]	qdd	The joint acceleration
[in]	force	The external forces vector
[out]	base_w	The base wrench
[out]	u	The control vector

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseVelocities(), ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB6D(), ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getAcceleration(), and ct::rbd::RBDState< NJOINTS, SCALAR >::joints().

Referenced by ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics().

◆ ProjectedForwardDynamics()

template<class RBD, size_t NEE>

ENABLE_FLOAT_BASE ct::rbd::Dynamics< RBD, NEE >::ProjectedForwardDynamics	(	const EE_in_contact_t &	ee_contact,
		const RBDState_t &	x,
		const control_vector_t &	u,
		RBDAcceleration_t &	rbd_a
	)

inline

Computes Projected Forward Dynamics of a floating-base system with contact constraints.

Parameters

[in]	ee_contact	the EE contact configuration (EEDataMap<bool>)
[in]	x	the RBD state
[in]	u	the control vector
[out]	rbd_a	the RBD acceleration

◆ ProjectedInverseDynamics()

template<class RBD, size_t NEE>

ENABLE_FLOAT_BASE ct::rbd::Dynamics< RBD, NEE >::ProjectedInverseDynamics	(	const EE_in_contact_t &	ee_contact,
		const RBDState_t &	x,
		const RBDAcceleration_t &	rbd_a,
		control_vector_t &	u
	)

inline

◆ ProjectedInverseDynamicsNoGravity()

template<class RBD, size_t NEE>

ENABLE_FLOAT_BASE ct::rbd::Dynamics< RBD, NEE >::ProjectedInverseDynamicsNoGravity	(	const EE_in_contact_t &	ee_contact,
		const RBDState_t &	x,
		const RBDAcceleration_t &	rbd_a,
		control_vector_t &	u
	)

inline

◆ kinematics() [1/2]

template<class RBD, size_t NEE>

Kinematics_t& ct::rbd::Dynamics< RBD, NEE >::kinematics ( )

inline

◆ kinematics() [2/2]

template<class RBD, size_t NEE>

const Kinematics_t& ct::rbd::Dynamics< RBD, NEE >::kinematics ( ) const

inline

◆ kinematicsPtr() [1/2]

template<class RBD, size_t NEE>

Kinematics_t::Ptr_t& ct::rbd::Dynamics< RBD, NEE >::kinematicsPtr ( )

inline

◆ kinematicsPtr() [2/2]

template<class RBD, size_t NEE>

const Kinematics_t::Ptr_t& ct::rbd::Dynamics< RBD, NEE >::kinematicsPtr ( ) const

inline

◆ S() [1/2]

template<class RBD, size_t NEE>

SelectionMatrix_t& ct::rbd::Dynamics< RBD, NEE >::S ( )

inline

◆ S() [2/2]

template<class RBD, size_t NEE>

const SelectionMatrix_t& ct::rbd::Dynamics< RBD, NEE >::S ( ) const

inline

Member Data Documentation

◆ ROBCOGEN

template<class RBD, size_t NEE>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef RBD ct::rbd::Dynamics< RBD, NEE >::ROBCOGEN

◆ FB

template<class RBD, size_t NEE>

const bool ct::rbd::Dynamics< RBD, NEE >::FB = ROBCOGEN::TRAIT::floating_base

static

◆ NJOINTS

template<class RBD, size_t NEE>

const size_t ct::rbd::Dynamics< RBD, NEE >::NJOINTS = RBD::NJOINTS

static

◆ NLINKS

template<class RBD, size_t NEE>

const size_t ct::rbd::Dynamics< RBD, NEE >::NLINKS = RBD::NLINKS

static

◆ NSTATE

template<class RBD, size_t NEE>

const size_t ct::rbd::Dynamics< RBD, NEE >::NSTATE = FB * RBDState<NJOINTS, SCALAR>::NSTATE + (1 - FB) * 2 * NJOINTS

static

◆ N_EE

template<class RBD, size_t NEE>

const size_t ct::rbd::Dynamics< RBD, NEE >::N_EE = NEE

static

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/Dynamics.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

template<class RBD, size_t NEE> class ct::rbd::Dynamics< RBD, NEE >

Member Typedef Documentation

◆ SCALAR

◆ control_vector_t

◆ state_vector_t

◆ Vector6d_t

◆ ForceVector_t

◆ RBDState_t

◆ RBDAcceleration_t

◆ JointState_t

◆ JointAcceleration_t

◆ RigidBodyAcceleration_t

◆ SelectionMatrix_t

◆ ExtLinkForces_t

◆ EE_in_contact_t

◆ Kinematics_t

Constructor & Destructor Documentation

◆ Dynamics() [1/2]

◆ Dynamics() [2/2]

◆ ~Dynamics()

Member Function Documentation

◆ FixBaseForwardDynamics() [1/2]

◆ FixBaseForwardDynamics() [2/2]

◆ FixBaseID() [1/2]

◆ FixBaseID() [2/2]

◆ FloatingBaseForwardDynamics()

◆ FloatingBaseID()

◆ FloatingBaseFullyActuatedID()

◆ ProjectedForwardDynamics()

◆ ProjectedInverseDynamics()

◆ ProjectedInverseDynamicsNoGravity()

◆ kinematics() [1/2]

◆ kinematics() [2/2]

◆ kinematicsPtr() [1/2]

◆ kinematicsPtr() [2/2]

◆ S() [1/2]

◆ S() [2/2]

Member Data Documentation

◆ ROBCOGEN

◆ FB

◆ NJOINTS

◆ NLINKS

◆ NSTATE

◆ N_EE

template<class RBD, size_t NEE>
class ct::rbd::Dynamics< RBD, NEE >