A fix base rigid body system that uses forward dynamics. More...

#include <FixBaseFDSystem.h>

Inheritance diagram for ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >:

Public Types
using	BASE = FixBaseSystemBase< RBDDynamics, STATE_DIM, CONTROL_DIM >

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

using	ActuatorDynamics_t = ActuatorDynamics< ACTUATOR_STATE_DIM, RBDDynamics::NJOINTS, SCALAR >

using	FixBaseRobotState_t = FixBaseRobotState< BASE::NJOINTS, ACTUATOR_STATE_DIM, SCALAR >

using	actuator_state_vector_t = typename FixBaseRobotState_t::actuator_state_vector_t

Public Types inherited from ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3 >
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
	FixBaseFDSystem (const RigidBodyPose_t &basePose=RigidBodyPose_t())
	constructor More...

	FixBaseFDSystem (std::shared_ptr< ActuatorDynamics_t > actuatorDynamics, const RigidBodyPose_t &basePose=RigidBodyPose_t())
	constructor including actuator dynamics More...

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

virtual	~FixBaseFDSystem ()=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...

template<typename T = void>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	computeActuatorDynamics (const FixBaseRobotState_t &robotState, const SCALAR &t, const control_vector_t &controlIn, state_vector_t &stateDerivative, control_vector_t &controlOut)
	evaluate the actuator dynamics if actuators are enabled More...

template<typename T = void>
std::enable_if<(ACT_STATE_DIM==0), T >::type	computeActuatorDynamics (const FixBaseRobotState_t &robotState, const SCALAR &t, const control_vector_t &controlIn, state_vector_t &stateDerivative, control_vector_t &controlOut)
	do nothing if actuators disabled More...

virtual FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > *	clone () const override
	deep cloning More...

std::shared_ptr< ActuatorDynamics_t >	getActuatorDynamics ()
	get pointer to actuator dynamics More...

template<typename T = typename FixBaseRobotState_t::actuator_state_vector_t>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	computeConsistentActuatorState (const JointState< BASE::NJOINTS, SCALAR > &jStateRef, const ct::core::ControlVector< BASE::NJOINTS > &torqueRef)
	if actuator dynamics enabled, this method allows to design a consistent actuator state More...

template<typename T = typename FixBaseRobotState_t::actuator_state_vector_t>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	computeConsistentActuatorState (const JointState< BASE::NJOINTS, SCALAR > &jStateRef)
	if actuator dynamics enabled, this method allows to design a consistent actuator state More...

Public Member Functions inherited from ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3 >
	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

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	N_EE = RBDDynamics::N_EE

static const size_t	STATE_DIM = RBDDynamics::NSTATE + ACT_STATE_DIM
	number of end-effectors More...

static const size_t	CONTROL_DIM = RBDDynamics::NJOINTS + EE_ARE_CONTROL_INPUTS * N_EE * 3

static const size_t	ACTUATOR_STATE_DIM = ACT_STATE_DIM

Static Public Attributes inherited from ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3 >
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...

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

Protected Attributes inherited from ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3 >
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, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>
class ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >

A fix base rigid body system that uses forward dynamics.

A fix base rigid body system that uses forward dynamics. The control input vector is assumed to consist of

joint torques and
end effector forces expressed in the world frame

The overall state vector is arranged in the order

joint positions
joint velocities
actuator state

Warning: when modelled with RobCoGen, the base pose must be rotated "against gravity" (RobCoGen modeling assumption)

Member Typedef Documentation

◆ BASE

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::BASE = FixBaseSystemBase<RBDDynamics, STATE_DIM, CONTROL_DIM>

◆ SCALAR

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::SCALAR = typename BASE::SCALAR

◆ state_vector_t

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::state_vector_t = typename BASE::state_vector_t

◆ control_vector_t

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::control_vector_t = typename BASE::control_vector_t

◆ JointAcceleration_t

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::JointAcceleration_t = typename BASE::JointAcceleration_t

◆ RigidBodyPose_t

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::RigidBodyPose_t = typename BASE::RigidBodyPose_t

◆ ActuatorDynamics_t

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::ActuatorDynamics_t = ActuatorDynamics<ACTUATOR_STATE_DIM, RBDDynamics::NJOINTS, SCALAR>

◆ FixBaseRobotState_t

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::FixBaseRobotState_t = FixBaseRobotState<BASE::NJOINTS, ACTUATOR_STATE_DIM, SCALAR>

◆ actuator_state_vector_t

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::actuator_state_vector_t = typename FixBaseRobotState_t::actuator_state_vector_t

Constructor & Destructor Documentation

◆ FixBaseFDSystem() [1/3]

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::FixBaseFDSystem ( const RigidBodyPose_t & basePose = RigidBodyPose_t() )

inline

constructor

Warning: when using actuator dynamics, the system looses its second order characteristics

◆ FixBaseFDSystem() [2/3]

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::FixBaseFDSystem	(	std::shared_ptr< ActuatorDynamics_t >	actuatorDynamics,
		const RigidBodyPose_t &	basePose = `RigidBodyPose_t()`
	)

inline

constructor including actuator dynamics

Warning: when using actuator dynamics, the system looses its second order characteristics

◆ FixBaseFDSystem() [3/3]

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::FixBaseFDSystem ( const FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > & arg )

inline

copy constructor

Parameters

arg	instance of FixBaseFDSystem to be copied.

Note: takes care of explicitly cloning actuatorDynamics, if existent

References ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::~FixBaseFDSystem().

◆ ~FixBaseFDSystem()

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

virtual ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::~FixBaseFDSystem ( )

virtualdefault

destructor

Referenced by ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::FixBaseFDSystem().

Member Function Documentation

◆ computeControlledDynamics()

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

void ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::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

References ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorDynamics(), ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 >::dynamics_, ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities(), i, ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints(), and ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::NJOINTS.

◆ computeActuatorDynamics() [1/2]

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

template<typename T = void>

std::enable_if<(ACT_STATE_DIM > 0), T>::type ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorDynamics	(	const FixBaseRobotState_t &	robotState,
		const SCALAR &	t,
		const control_vector_t &	controlIn,
		state_vector_t &	stateDerivative,
		control_vector_t &	controlOut
	)

inline

evaluate the actuator dynamics if actuators are enabled

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints().

Referenced by ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeControlledDynamics().

◆ computeActuatorDynamics() [2/2]

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

template<typename T = void>

std::enable_if<(ACT_STATE_DIM == 0), T>::type ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorDynamics	(	const FixBaseRobotState_t &	robotState,
		const SCALAR &	t,
		const control_vector_t &	controlIn,
		state_vector_t &	stateDerivative,
		control_vector_t &	controlOut
	)

inline

do nothing if actuators disabled

◆ clone()

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

virtual FixBaseFDSystem<RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS>* ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::clone ( ) const

inlineoverridevirtual

deep cloning

Implements ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 >.

◆ getActuatorDynamics()

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

std::shared_ptr<ActuatorDynamics_t> ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::getActuatorDynamics ( )

inline

get pointer to actuator dynamics

◆ computeConsistentActuatorState() [1/2]

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

template<typename T = typename FixBaseRobotState_t::actuator_state_vector_t>

std::enable_if<(ACT_STATE_DIM > 0), T>::type ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeConsistentActuatorState	(	const JointState< BASE::NJOINTS, SCALAR > &	jStateRef,
		const ct::core::ControlVector< BASE::NJOINTS > &	torqueRef
	)

inline

if actuator dynamics enabled, this method allows to design a consistent actuator state

Referenced by ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeConsistentActuatorState().

◆ computeConsistentActuatorState() [2/2]

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

template<typename T = typename FixBaseRobotState_t::actuator_state_vector_t>

std::enable_if<(ACT_STATE_DIM > 0), T>::type ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeConsistentActuatorState ( const JointState< BASE::NJOINTS, SCALAR > & jStateRef )

inline

if actuator dynamics enabled, this method allows to design a consistent actuator state

References ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeConsistentActuatorState(), and ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 >::computeIDTorques().

Member Data Documentation

◆ N_EE

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::N_EE = RBDDynamics::N_EE

static

◆ STATE_DIM

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

const size_t ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::STATE_DIM = RBDDynamics::NSTATE + ACT_STATE_DIM

static

number of end-effectors

◆ CONTROL_DIM

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

const size_t ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::CONTROL_DIM = RBDDynamics::NJOINTS + EE_ARE_CONTROL_INPUTS * N_EE * 3

static

◆ ACTUATOR_STATE_DIM

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>

const size_t ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::ACTUATOR_STATE_DIM = ACT_STATE_DIM

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/systems/FixBaseFDSystem.h

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false> class ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >

Member Typedef Documentation

◆ BASE

◆ SCALAR

◆ state_vector_t

◆ control_vector_t

◆ JointAcceleration_t

◆ RigidBodyPose_t

◆ ActuatorDynamics_t

◆ FixBaseRobotState_t

◆ actuator_state_vector_t

Constructor & Destructor Documentation

◆ FixBaseFDSystem() [1/3]

◆ FixBaseFDSystem() [2/3]

◆ FixBaseFDSystem() [3/3]

◆ ~FixBaseFDSystem()

Member Function Documentation

◆ computeControlledDynamics()

◆ computeActuatorDynamics() [1/2]

◆ computeActuatorDynamics() [2/2]

◆ clone()

◆ getActuatorDynamics()

◆ computeConsistentActuatorState() [1/2]

◆ computeConsistentActuatorState() [2/2]

Member Data Documentation

◆ N_EE

◆ STATE_DIM

◆ CONTROL_DIM

◆ ACTUATOR_STATE_DIM

template<class RBDDynamics, size_t ACT_STATE_DIM = 0, bool EE_ARE_CONTROL_INPUTS = false>
class ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >