A simple fix base robot system which is purely kinematic and actuated at ACCELERATION level. More...

#include <FixBaseAccSystem.h>

Inheritance diagram for ct::rbd::FixBaseAccSystem< RBDDynamics >:

Public Types
using	BASE = FixBaseSystemBase< RBDDynamics, 2 *RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >

using	SCALAR = typename BASE::SCALAR

using	state_vector_t = typename BASE::state_vector_t

using	control_vector_t = typename BASE::control_vector_t

using	JointAcceleration_t = typename BASE::JointAcceleration_t

using	RigidBodyPose_t = typename BASE::RigidBodyPose_t

Public Types inherited from ct::rbd::FixBaseSystemBase< RBDDynamics, 2 *RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >
using	Dynamics = RBDDynamics

using	SCALAR = typename RBDDynamics::SCALAR

using	Base = core::ControlledSystem< STATE_D, CONTROL_D, SCALAR >

using	RigidBodyPose_t = tpl::RigidBodyPose< SCALAR >

using	state_vector_t = ct::core::StateVector< STATE_D, SCALAR >

using	control_vector_t = core::ControlVector< CONTROL_D, SCALAR >

using	JointAcceleration_t = JointAcceleration< NJOINTS, SCALAR >

Public Types inherited from ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR >
typedef std::shared_ptr< ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::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
	FixBaseAccSystem (const RigidBodyPose_t &basePose=RigidBodyPose_t())
	constructor More...

	FixBaseAccSystem (const FixBaseAccSystem &arg)
	copy constructor More...

virtual	~FixBaseAccSystem ()=default
	destructor More...

void	computeControlledDynamics (const state_vector_t &state, const SCALAR &t, const control_vector_t &controlIn, state_vector_t &derivative) override
	compute the controlled dynamics of the fixed base robotic system More...

virtual FixBaseAccSystem< RBDDynamics > *	clone () const override
	deep cloning More...

Public Member Functions inherited from ct::rbd::FixBaseSystemBase< RBDDynamics, 2 *RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >
	FixBaseSystemBase (const RigidBodyPose_t &basePose=RigidBodyPose_t())
	constructor More...

	FixBaseSystemBase (const FixBaseSystemBase &arg)
	copy constructor More...

virtual	~FixBaseSystemBase ()=default
	destructor More...

virtual RBDDynamics &	dynamics () override
	get dynamics More...

virtual const RBDDynamics &	dynamics () const override
	get dynamics (const) More...

virtual void	computeControlledDynamics (const ct::core::StateVector< STATE_D, SCALAR > &state, const SCALAR &t, const ct::core::ControlVector< CONTROL_D, SCALAR > &controlIn, ct::core::StateVector< STATE_D, SCALAR > &derivative) override=0
	compute the controlled dynamics of the fixed base robotic system More...

ct::core::ControlVector< NJOINTS >	computeIDTorques (const JointState< NJOINTS, SCALAR > &jState, const JointAcceleration_t &jAcc=JointAcceleration_t(Eigen::Matrix< SCALAR, NJOINTS, 1 >::Zero()))
	compute inverse dynamics torques More...

Public Member Functions inherited from ct::rbd::RBDSystem< RBDDynamics, false >
	RBDSystem ()=default

virtual	~RBDSystem ()=default

Public Member Functions inherited from ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (std::shared_ptr< ct::core::Controller< STATE_D, CONTROL_D, RBDDynamics::SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (const ControlledSystem &arg)

virtual	~ControlledSystem ()

void	setController (const std::shared_ptr< Controller< STATE_D, CONTROL_D, RBDDynamics::SCALAR >> &controller)

void	getController (std::shared_ptr< Controller< STATE_D, CONTROL_D, RBDDynamics::SCALAR >> &controller) const

std::shared_ptr< Controller< STATE_D, CONTROL_D, RBDDynamics::SCALAR > >	getController ()

virtual void	computeDynamics (const StateVector< STATE_D, RBDDynamics::SCALAR > &state, const time_t &t, StateVector< STATE_D, RBDDynamics::SCALAR > &derivative) override

virtual void	computeControlledDynamics (const StateVector< STATE_D, RBDDynamics::SCALAR > &state, const time_t &t, const ControlVector< CONTROL_D, RBDDynamics::SCALAR > &control, StateVector< STATE_D, RBDDynamics::SCALAR > &derivative)=0

ControlVector< CONTROL_D, RBDDynamics::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

virtual bool	isSymplectic () const

Additional Inherited Members
Public Attributes inherited from ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< STATE_D, RBDDynamics::SCALAR >	Base

Public Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SCALAR	S

Static Public Attributes inherited from ct::rbd::FixBaseSystemBase< RBDDynamics, 2 *RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	N_EE
	number of end-effectors More...

static const size_t	NJOINTS
	number of joints More...

Protected Attributes inherited from ct::rbd::FixBaseSystemBase< RBDDynamics, 2 *RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >
tpl::RigidBodyPose< SCALAR >	basePose_
	a "dummy" base pose which sets the robot's "fixed" position in the world More...

RBDDynamics	dynamics_
	rigid body dynamics container More...

Protected Attributes inherited from ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR >
std::shared_ptr< Controller< STATE_D, CONTROL_D, RBDDynamics::SCALAR > >	controller_

ControlVector< CONTROL_D, RBDDynamics::SCALAR >	controlAction_

Protected Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
SYSTEM_TYPE	type_

Detailed Description

template<class RBDDynamics>
class ct::rbd::FixBaseAccSystem< RBDDynamics >

A simple fix base robot system which is purely kinematic and actuated at ACCELERATION level.

the control input vector are the joint accelerations
the state vector are the joint positions and velocities

Member Typedef Documentation

◆ BASE

template<class RBDDynamics>

using ct::rbd::FixBaseAccSystem< RBDDynamics >::BASE = FixBaseSystemBase<RBDDynamics, 2 * RBDDynamics::NJOINTS, RBDDynamics::NJOINTS>

◆ SCALAR

template<class RBDDynamics>

using ct::rbd::FixBaseAccSystem< RBDDynamics >::SCALAR = typename BASE::SCALAR

◆ state_vector_t

template<class RBDDynamics>

using ct::rbd::FixBaseAccSystem< RBDDynamics >::state_vector_t = typename BASE::state_vector_t

◆ control_vector_t

template<class RBDDynamics>

using ct::rbd::FixBaseAccSystem< RBDDynamics >::control_vector_t = typename BASE::control_vector_t

◆ JointAcceleration_t

template<class RBDDynamics>

using ct::rbd::FixBaseAccSystem< RBDDynamics >::JointAcceleration_t = typename BASE::JointAcceleration_t

◆ RigidBodyPose_t

template<class RBDDynamics>

using ct::rbd::FixBaseAccSystem< RBDDynamics >::RigidBodyPose_t = typename BASE::RigidBodyPose_t

Constructor & Destructor Documentation

◆ FixBaseAccSystem() [1/2]

template<class RBDDynamics>

ct::rbd::FixBaseAccSystem< RBDDynamics >::FixBaseAccSystem ( const RigidBodyPose_t & basePose = RigidBodyPose_t() )

inline

constructor

◆ FixBaseAccSystem() [2/2]

template<class RBDDynamics>

ct::rbd::FixBaseAccSystem< RBDDynamics >::FixBaseAccSystem ( const FixBaseAccSystem< RBDDynamics > & arg )

inline

copy constructor

References ct::rbd::FixBaseAccSystem< RBDDynamics >::~FixBaseAccSystem().

◆ ~FixBaseAccSystem()

template<class RBDDynamics>

virtual ct::rbd::FixBaseAccSystem< RBDDynamics >::~FixBaseAccSystem ( )

virtualdefault

destructor

Referenced by ct::rbd::FixBaseAccSystem< RBDDynamics >::FixBaseAccSystem().

Member Function Documentation

◆ computeControlledDynamics()

template<class RBDDynamics>

void ct::rbd::FixBaseAccSystem< RBDDynamics >::computeControlledDynamics	(	const state_vector_t &	state,
		const SCALAR &	t,
		const control_vector_t &	controlIn,
		state_vector_t &	derivative
	)

inlineoverride

compute the controlled dynamics of the fixed base robotic system

◆ clone()

template<class RBDDynamics>

virtual FixBaseAccSystem<RBDDynamics>* ct::rbd::FixBaseAccSystem< RBDDynamics >::clone ( ) const

inlineoverridevirtual

deep cloning

Implements ct::rbd::FixBaseSystemBase< RBDDynamics, 2 *RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >.

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/systems/FixBaseAccSystem.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class RBDDynamics> class ct::rbd::FixBaseAccSystem< RBDDynamics >

Member Typedef Documentation

◆ BASE

◆ SCALAR

◆ state_vector_t

◆ control_vector_t

◆ JointAcceleration_t

◆ RigidBodyPose_t

Constructor & Destructor Documentation

◆ FixBaseAccSystem() [1/2]

◆ FixBaseAccSystem() [2/2]

◆ ~FixBaseAccSystem()

Member Function Documentation

◆ computeControlledDynamics()

◆ clone()

template<class RBDDynamics>
class ct::rbd::FixBaseAccSystem< RBDDynamics >