Base class for fix-base robot systems. More...

#include <FixBaseSystemBase.h>

Inheritance diagram for ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >:

Public Types
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
	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...

virtual FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D > *	clone () const override=0
	deep cloning 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
	number of end-effectors More...

static const size_t	NJOINTS = RBDDynamics::NJOINTS
	number of joints More...

Protected Attributes
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_

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

Detailed Description

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>
class ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >

Base class for fix-base robot systems.

Member Typedef Documentation

◆ Dynamics

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

using ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::Dynamics = RBDDynamics

◆ SCALAR

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

using ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::SCALAR = typename RBDDynamics::SCALAR

◆ Base

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

using ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::Base = core::ControlledSystem<STATE_D, CONTROL_D, SCALAR>

◆ RigidBodyPose_t

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

using ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::RigidBodyPose_t = tpl::RigidBodyPose<SCALAR>

◆ state_vector_t

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

using ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::state_vector_t = ct::core::StateVector<STATE_D, SCALAR>

◆ control_vector_t

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

using ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::control_vector_t = core::ControlVector<CONTROL_D, SCALAR>

◆ JointAcceleration_t

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

using ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::JointAcceleration_t = JointAcceleration<NJOINTS, SCALAR>

Constructor & Destructor Documentation

◆ FixBaseSystemBase() [1/2]

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::FixBaseSystemBase ( const RigidBodyPose_t & basePose = RigidBodyPose_t() )

inline

constructor

◆ FixBaseSystemBase() [2/2]

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::FixBaseSystemBase ( const FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D > & arg )

inline

copy constructor

◆ ~FixBaseSystemBase()

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

virtual ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::~FixBaseSystemBase ( )

virtualdefault

destructor

Referenced by ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >::FixBaseSystemBase().

Member Function Documentation

◆ dynamics() [1/2]

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

virtual RBDDynamics& ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::dynamics ( )

inlineoverridevirtual

get dynamics

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

◆ dynamics() [2/2]

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

virtual const RBDDynamics& ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::dynamics ( ) const

inlineoverridevirtual

get dynamics (const)

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

◆ computeControlledDynamics()

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

virtual void ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::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
	)

overridepure virtual

compute the controlled dynamics of the fixed base robotic system

Referenced by ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >::dynamics().

◆ clone()

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

virtual FixBaseSystemBase<RBDDynamics, STATE_D, CONTROL_D>* ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::clone ( ) const

overridepure virtual

deep cloning

Implements ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR >.

Implemented in ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >, ct::rbd::FixBaseAccSystem< RBDDynamics >, and ct::rbd::FixBaseVelSystem< RBDDynamics >.

Referenced by ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >::dynamics().

◆ computeIDTorques()

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

ct::core::ControlVector<NJOINTS> ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::computeIDTorques	(	const JointState< NJOINTS, SCALAR > &	jState,
		const JointAcceleration_t &	jAcc = `JointAcceleration_t(Eigen::Matrix<SCALAR, NJOINTS, 1>::Zero())`
	)

inline

compute inverse dynamics torques

Member Data Documentation

◆ N_EE

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::N_EE = RBDDynamics::N_EE

static

number of end-effectors

◆ NJOINTS

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

const size_t ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::NJOINTS = RBDDynamics::NJOINTS

static

number of joints

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

◆ basePose_

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

tpl::RigidBodyPose<SCALAR> ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::basePose_

protected

a "dummy" base pose which sets the robot's "fixed" position in the world

◆ dynamics_

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>

RBDDynamics ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >::dynamics_

protected

rigid body dynamics container

Referenced by ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >::computeIDTorques(), and ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NJOINTS, RBDDynamics::NJOINTS >::dynamics().

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/FixBaseSystemBase.h

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D> class ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >

Member Typedef Documentation

◆ Dynamics

◆ SCALAR

◆ Base

◆ RigidBodyPose_t

◆ state_vector_t

◆ control_vector_t

◆ JointAcceleration_t

Constructor & Destructor Documentation

◆ FixBaseSystemBase() [1/2]

◆ FixBaseSystemBase() [2/2]

◆ ~FixBaseSystemBase()

Member Function Documentation

◆ dynamics() [1/2]

◆ dynamics() [2/2]

◆ computeControlledDynamics()

◆ clone()

◆ computeIDTorques()

Member Data Documentation

◆ N_EE

◆ NJOINTS

◆ basePose_

◆ dynamics_

template<class RBDDynamics, size_t STATE_D, size_t CONTROL_D>
class ct::rbd::FixBaseSystemBase< RBDDynamics, STATE_D, CONTROL_D >