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

#include <FixBaseFDSystemSymplectic.h>

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

Public Types
using	Dynamics = RBDDynamics

using	SCALAR = typename RBDDynamics::SCALAR

using	Base = core::SymplecticSystem< STATE_DIM/2, STATE_DIM/2, CONTROL_DIM, SCALAR >

using	ActuatorDynamics_t = ActuatorDynamicsSymplectic< RBDDynamics::NJOINTS, ACT_STATE_DIM, SCALAR >

using	state_vector_full_t = core::StateVector< STATE_DIM, SCALAR >

using	control_vector_full_t = core::ControlVector< CONTROL_DIM, SCALAR >

using	state_vector_rbd_t = core::StateVector< RBDDynamics::NSTATE, SCALAR >

using	state_vector_act_t = core::StateVector< ACTUATOR_STATE_DIM, SCALAR >

using	p_vector_full_t = core::StateVector< STATE_DIM/2, SCALAR >

using	v_vector_full_t = core::StateVector< STATE_DIM/2, SCALAR >

using	p_vector_rbd_t = core::StateVector< RBDDynamics::NSTATE/2, SCALAR >

using	v_vector_rbd_t = core::StateVector< RBDDynamics::NSTATE/2, SCALAR >

using	p_vector_act_t = core::StateVector< ACTUATOR_STATE_DIM/2, SCALAR >

using	v_vector_act_t = core::StateVector< ACTUATOR_STATE_DIM/2, SCALAR >

Public Types inherited from ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
typedef Base::time_t	time_t

Public Types inherited from ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
typedef std::shared_ptr< ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, 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
	FixBaseFDSystemSymplectic ()
	constructor More...

	FixBaseFDSystemSymplectic (std::shared_ptr< ActuatorDynamics_t > actuatorDynamics)
	constructor including actuator dynamics More...

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

virtual	~FixBaseFDSystemSymplectic ()
	destructor More...

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

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

virtual void	computePdot (const state_vector_full_t &x, const v_vector_full_t &v, const control_vector_full_t &controlIn, p_vector_full_t &pDot) override
	compute position derivatives, for both RBD system and actuator dynamics, if applicable More...

ACTUATOR_DYNAMICS_ENABLED	computeActuatorPdot (const typename RBDDynamics::JointState_t &jState, const state_vector_full_t &x, const v_vector_full_t &v, const control_vector_full_t &controlIn, p_vector_full_t &pDot)

ACTUATOR_DYNAMICS_DISABLED	computeActuatorPdot (const typename RBDDynamics::JointState_t &jState, const state_vector_full_t &x, const v_vector_full_t &v, const control_vector_full_t &controlIn, p_vector_full_t &pDot)

virtual void	computeVdot (const state_vector_full_t &x, const p_vector_full_t &p, const control_vector_full_t &controlIn, v_vector_full_t &vDot) override
	compute velocity derivatives, for both RBD system and actuator dynamics More...

ACTUATOR_DYNAMICS_ENABLED	computeActuatorVdot (const typename RBDDynamics::JointState_t &jState, const state_vector_full_t &x, const p_vector_full_t &p, const control_vector_full_t &controlIn, v_vector_full_t &vDot, control_vector_full_t &controlOut)

ACTUATOR_DYNAMICS_DISABLED	computeActuatorVdot (const typename RBDDynamics::JointState_t &jState, const state_vector_full_t &x, const p_vector_full_t &p, const control_vector_full_t &controlIn, v_vector_full_t &vDot, control_vector_full_t &controlOut)

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

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

virtual	~RBDSystem ()=default

Public Member Functions inherited from ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
	SymplecticSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	SymplecticSystem (std::shared_ptr< ct::core::Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	SymplecticSystem (const SymplecticSystem &arg)

virtual	~SymplecticSystem ()

virtual bool	isSymplectic () const override

virtual void	computeControlledDynamics (const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &state, const time_t &t, const ControlVector< RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR > &control, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &derivative) override

void	computePdot (const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &x, const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &v, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &pDot)

virtual void	computePdot (const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &x, const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &v, const ControlVector< RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR > &control, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &pDot)=0

void	computeVdot (const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &x, const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &p, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &vDot)

virtual void	computeVdot (const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &x, const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &p, const ControlVector< RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR > &control, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &vDot)=0

Public Member Functions inherited from ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (std::shared_ptr< ct::core::Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (const ControlledSystem &arg)

virtual	~ControlledSystem ()

void	setController (const std::shared_ptr< Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >> &controller)

void	getController (std::shared_ptr< Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >> &controller) const

std::shared_ptr< Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR > >	getController ()

virtual void	computeDynamics (const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &state, const time_t &t, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &derivative) override

ControlVector< RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, 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

Static Public Member Functions
static const RBDDynamics::JointState_t	jointStateFromVector (const state_vector_full_t &x_full)
	full vector to ct JointState More...

static const RBDDynamics::RBDState_t	RBDStateFromVector (const state_vector_full_t &x_full, const tpl::RigidBodyPose< SCALAR > &basePose=tpl::RigidBodyPose< SCALAR >())
	transform control systems state vector to a RBDState More...

static const state_vector_rbd_t	rbdStateFromVector (const state_vector_full_t &x_full)
	transform control systems state vector to a RBDState More...

static const state_vector_act_t	actuatorStateFromVector (const state_vector_full_t &state)
	transform control systems state vector to the pure actuator state More...

static const state_vector_full_t	toFullState (const state_vector_rbd_t &x_rbd, const state_vector_act_t &x_act=state_vector_act_t::Zero())
	transform from "reduced" to full coordinates including actuator dynamics More...

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

static const size_t	CONTROL_DIM

static const size_t	ACTUATOR_STATE_DIM = ACT_STATE_DIM

static const size_t	NJOINTS = RBDDynamics::NJOINTS

Additional Inherited Members
Public Attributes inherited from ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >	Base

Public Attributes inherited from ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, 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::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
std::shared_ptr< Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR > >	controller_

ControlVector< RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, 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::FixBaseFDSystemSymplectic< 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 state vectors of the pure RBD system and the actuator dynamics are split such that the overall system can be considered symplectic. The state vector therefore reads as

$( \theta_{joints}^\top p_{act}^\top \dot \theta{joints}^\top v_{act}^\top )^\top$

Warning: Make sure the actuator dynamics can be written as a symplectic system in case of using a symplectic integrator.

Member Typedef Documentation

◆ Dynamics

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::Dynamics = RBDDynamics

◆ SCALAR

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

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

◆ Base

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::Base = core::SymplecticSystem<STATE_DIM / 2, STATE_DIM / 2, CONTROL_DIM, SCALAR>

◆ ActuatorDynamics_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::ActuatorDynamics_t = ActuatorDynamicsSymplectic<RBDDynamics::NJOINTS, ACT_STATE_DIM, SCALAR>

◆ state_vector_full_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::state_vector_full_t = core::StateVector<STATE_DIM, SCALAR>

◆ control_vector_full_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::control_vector_full_t = core::ControlVector<CONTROL_DIM, SCALAR>

◆ state_vector_rbd_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::state_vector_rbd_t = core::StateVector<RBDDynamics::NSTATE, SCALAR>

◆ state_vector_act_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::state_vector_act_t = core::StateVector<ACTUATOR_STATE_DIM, SCALAR>

◆ p_vector_full_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::p_vector_full_t = core::StateVector<STATE_DIM / 2, SCALAR>

◆ v_vector_full_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::v_vector_full_t = core::StateVector<STATE_DIM / 2, SCALAR>

◆ p_vector_rbd_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::p_vector_rbd_t = core::StateVector<RBDDynamics::NSTATE / 2, SCALAR>

◆ v_vector_rbd_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::v_vector_rbd_t = core::StateVector<RBDDynamics::NSTATE / 2, SCALAR>

◆ p_vector_act_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::p_vector_act_t = core::StateVector<ACTUATOR_STATE_DIM / 2, SCALAR>

◆ v_vector_act_t

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

using ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::v_vector_act_t = core::StateVector<ACTUATOR_STATE_DIM / 2, SCALAR>

Constructor & Destructor Documentation

◆ FixBaseFDSystemSymplectic() [1/3]

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

ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::FixBaseFDSystemSymplectic ( )

inline

constructor

References SECOND_ORDER.

◆ FixBaseFDSystemSymplectic() [2/3]

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

ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::FixBaseFDSystemSymplectic ( std::shared_ptr< ActuatorDynamics_t > actuatorDynamics )

inline

constructor including actuator dynamics

References SECOND_ORDER.

◆ FixBaseFDSystemSymplectic() [3/3]

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

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

inline

copy constructor

Parameters

arg	instance of FixBaseFDSystemSymplectic to be copied.

Note: takes care of explicitly cloning actuatorDynamics, if existent

◆ ~FixBaseFDSystemSymplectic()

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

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

inlinevirtual

destructor

Member Function Documentation

◆ dynamics() [1/2]

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

virtual RBDDynamics& ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::dynamics ( )

inlineoverridevirtual

get dynamics

Implements ct::rbd::RBDSystem< RBDDynamics, false >.

◆ dynamics() [2/2]

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

virtual const RBDDynamics& ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::dynamics ( ) const

inlineoverridevirtual

get dynamics (const)

Implements ct::rbd::RBDSystem< RBDDynamics, false >.

◆ computePdot()

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

virtual void ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computePdot	(	const state_vector_full_t &	x,
		const v_vector_full_t &	v,
		const control_vector_full_t &	controlIn,
		p_vector_full_t &	pDot
	)

inlineoverridevirtual

compute position derivatives, for both RBD system and actuator dynamics, if applicable

References ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::jointStateFromVector().

◆ computeActuatorPdot() [1/2]

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

ACTUATOR_DYNAMICS_ENABLED ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorPdot	(	const typename RBDDynamics::JointState_t &	jState,
		const state_vector_full_t &	x,
		const v_vector_full_t &	v,
		const control_vector_full_t &	controlIn,
		p_vector_full_t &	pDot
	)

inline

◆ computeActuatorPdot() [2/2]

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

ACTUATOR_DYNAMICS_DISABLED ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorPdot	(	const typename RBDDynamics::JointState_t &	jState,
		const state_vector_full_t &	x,
		const v_vector_full_t &	v,
		const control_vector_full_t &	controlIn,
		p_vector_full_t &	pDot
	)

inline

◆ computeVdot()

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

virtual void ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeVdot	(	const state_vector_full_t &	x,
		const p_vector_full_t &	p,
		const control_vector_full_t &	controlIn,
		v_vector_full_t &	vDot
	)

inlineoverridevirtual

compute velocity derivatives, for both RBD system and actuator dynamics

References i, and ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::jointStateFromVector().

◆ computeActuatorVdot() [1/2]

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

ACTUATOR_DYNAMICS_ENABLED ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorVdot	(	const typename RBDDynamics::JointState_t &	jState,
		const state_vector_full_t &	x,
		const p_vector_full_t &	p,
		const control_vector_full_t &	controlIn,
		v_vector_full_t &	vDot,
		control_vector_full_t &	controlOut
	)

inline

◆ computeActuatorVdot() [2/2]

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

ACTUATOR_DYNAMICS_DISABLED ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorVdot	(	const typename RBDDynamics::JointState_t &	jState,
		const state_vector_full_t &	x,
		const p_vector_full_t &	p,
		const control_vector_full_t &	controlIn,
		v_vector_full_t &	vDot,
		control_vector_full_t &	controlOut
	)

inline

◆ clone()

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

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

inlineoverridevirtual

deep cloning

Implements ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >.

◆ jointStateFromVector()

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

static const RBDDynamics::JointState_t ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::jointStateFromVector ( const state_vector_full_t & x_full )

inlinestatic

full vector to ct JointState

Referenced by ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computePdot(), ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeVdot(), and ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::RBDStateFromVector().

◆ RBDStateFromVector()

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

static const RBDDynamics::RBDState_t ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::RBDStateFromVector	(	const state_vector_full_t &	x_full,
		const tpl::RigidBodyPose< SCALAR > &	basePose = `tpl::RigidBodyPose<SCALAR>()`
	)

inlinestatic

transform control systems state vector to a RBDState

References ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::jointStateFromVector().

◆ rbdStateFromVector()

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

static const state_vector_rbd_t ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::rbdStateFromVector ( const state_vector_full_t & x_full )

inlinestatic

transform control systems state vector to a RBDState

◆ actuatorStateFromVector()

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

static const state_vector_act_t ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::actuatorStateFromVector ( const state_vector_full_t & state )

inlinestatic

transform control systems state vector to the pure actuator state

◆ toFullState()

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

static const state_vector_full_t ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::toFullState	(	const state_vector_rbd_t &	x_rbd,
		const state_vector_act_t &	x_act = `state_vector_act_t::Zero()`
	)

inlinestatic

transform from "reduced" to full coordinates including actuator dynamics

References ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::NJOINTS.

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::FixBaseFDSystemSymplectic< 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::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::STATE_DIM = RBDDynamics::NSTATE + ACT_STATE_DIM

static

◆ CONTROL_DIM

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

const size_t ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::CONTROL_DIM

static

Initial value:

=

RBDDynamics::NJOINTS + EE_ARE_CONTROL_INPUTS * RBDDynamics::N_EE * 3

◆ ACTUATOR_STATE_DIM

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

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

static

◆ NJOINTS

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

const size_t ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::NJOINTS = RBDDynamics::NJOINTS

static

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

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/FixBaseFDSystemSymplectic.h

Public Types

Public Member Functions

Static 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::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >

Member Typedef Documentation

◆ Dynamics

◆ SCALAR

◆ Base

◆ ActuatorDynamics_t

◆ state_vector_full_t

◆ control_vector_full_t

◆ state_vector_rbd_t

◆ state_vector_act_t

◆ p_vector_full_t

◆ v_vector_full_t

◆ p_vector_rbd_t

◆ v_vector_rbd_t

◆ p_vector_act_t

◆ v_vector_act_t

Constructor & Destructor Documentation

◆ FixBaseFDSystemSymplectic() [1/3]

◆ FixBaseFDSystemSymplectic() [2/3]

◆ FixBaseFDSystemSymplectic() [3/3]

◆ ~FixBaseFDSystemSymplectic()

Member Function Documentation

◆ dynamics() [1/2]

◆ dynamics() [2/2]

◆ computePdot()

◆ computeActuatorPdot() [1/2]

◆ computeActuatorPdot() [2/2]

◆ computeVdot()

◆ computeActuatorVdot() [1/2]

◆ computeActuatorVdot() [2/2]

◆ clone()

◆ jointStateFromVector()

◆ RBDStateFromVector()

◆ rbdStateFromVector()

◆ actuatorStateFromVector()

◆ toFullState()

Member Data Documentation

◆ N_EE

◆ STATE_DIM

◆ CONTROL_DIM

◆ ACTUATOR_STATE_DIM

◆ NJOINTS

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