A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world. More...

#include <FloatingBaseFDSystem.h>

Inheritance diagram for ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >:

Public Types
using	Dynamics = RBDDynamics

using	Kinematics = typename RBDDynamics::Kinematics_t

typedef RBDDynamics::SCALAR	SCALAR

typedef core::StateVector< STATE_DIM, SCALAR >	StateVector

typedef core::ControlVector< CONTROL_DIM, SCALAR >	ControlVector

typedef core::SymplecticSystem< RBDDynamics::NSTATE/2+QUAT_INTEGRATION, RBDDynamics::NSTATE/2, CONTROL_DIM, SCALAR >	Base

using	ContactModel = ct::rbd::EEContactModel< Kinematics >

Public Types inherited from ct::core::SymplecticSystem< RBDDynamics::NSTATE/2+QUAT_INTEGRATION, RBDDynamics::NSTATE/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::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
typedef std::shared_ptr< ControlledSystem< RBDDynamics::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/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
	FloatingBaseFDSystem ()

	FloatingBaseFDSystem (const FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS > &other)

virtual	~FloatingBaseFDSystem ()

virtual FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS > *	clone () const override

virtual RBDDynamics &	dynamics () override

virtual const RBDDynamics &	dynamics () const override

void	setContactModel (const std::shared_ptr< ContactModel > &contactModel)

virtual void	computePdot (const StateVector &x, const core::StateVector< RBDDynamics::NSTATE/2, SCALAR > &v, const ControlVector &control, core::StateVector< RBDDynamics::NSTATE/2+QUAT_INTEGRATION, SCALAR > &pDot) override

virtual void	computeVdot (const StateVector &x, const core::StateVector< RBDDynamics::NSTATE/2+QUAT_INTEGRATION, SCALAR > &p, const ControlVector &control, core::StateVector< RBDDynamics::NSTATE/2, SCALAR > &vDot) override

void	mapEndeffectorForcesToLinkForces (const typename RBDDynamics::RBDState_t &state, const std::array< typename Kinematics::EEForceLinear, N_EE > &eeForcesW, typename RBDDynamics::ExtLinkForces_t &linkForces)

RBDDynamics::RBDState_t	RBDStateFromVector (const core::StateVector< STATE_DIM, SCALAR > &state)

template<bool T>
RBDDynamics::RBDState_t	RBDStateFromVectorImpl (const core::StateVector< STATE_DIM, SCALAR > &state, typename std::enable_if< T, bool >::type=true)

template<bool T>
RBDDynamics::RBDState_t	RBDStateFromVectorImpl (const core::StateVector< STATE_DIM, SCALAR > &state, typename std::enable_if<!T, bool >::type=true)

template<bool T>
core::StateVector< STATE_DIM, SCALAR >	toStateDerivative (const typename RBDDynamics::RBDAcceleration_t &acceleration, const typename RBDDynamics::RBDState_t &state, typename std::enable_if< T, bool >::type=true)

template<bool T>
core::StateVector< STATE_DIM, SCALAR >	toStateDerivative (const typename RBDDynamics::RBDAcceleration_t &acceleration, const typename RBDDynamics::RBDState_t &state, typename std::enable_if<!T, bool >::type=true)

template<bool T>
core::StateVector< STATE_DIM, SCALAR >	toStateVector (const typename RBDDynamics::RBDState_t &state, typename std::enable_if< T, bool >::type=true)

template<bool T>
core::StateVector< STATE_DIM, SCALAR >	toStateVector (const typename RBDDynamics::RBDState_t &state, typename std::enable_if<!T, bool >::type=true)

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

virtual	~RBDSystem ()=default

Public Member Functions inherited from ct::core::SymplecticSystem< RBDDynamics::NSTATE/2+QUAT_INTEGRATION, RBDDynamics::NSTATE/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::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/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::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/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::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/2, RBDDynamics::SCALAR > &derivative) override

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

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

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

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

Public Member Functions inherited from ct::core::ControlledSystem< RBDDynamics::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/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::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/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::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >> &controller)

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

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

virtual void	computeDynamics (const StateVector< RBDDynamics::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/2, RBDDynamics::SCALAR > &state, const time_t &t, StateVector< RBDDynamics::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/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 Attributes
static const size_t	N_EE = RBDDynamics::N_EE

static const size_t	STATE_DIM = RBDDynamics::NSTATE + QUAT_INTEGRATION

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

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

Public Attributes inherited from ct::core::ControlledSystem< RBDDynamics::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< RBDDynamics::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/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::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS RBDDynamics::N_EE 3, RBDDynamics::SCALAR >
std::shared_ptr< Controller< RBDDynamics::NSTATE/2+QUAT_INTEGRATION+RBDDynamics::NSTATE/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, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>
class ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >

A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world.

Member Typedef Documentation

◆ Dynamics

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::Dynamics = RBDDynamics

◆ Kinematics

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::Kinematics = typename RBDDynamics::Kinematics_t

◆ SCALAR

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

typedef RBDDynamics::SCALAR ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::SCALAR

◆ StateVector

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

typedef core::StateVector<STATE_DIM, SCALAR> ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::StateVector

◆ ControlVector

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

typedef core::ControlVector<CONTROL_DIM, SCALAR> ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::ControlVector

◆ Base

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

typedef core:: SymplecticSystem<RBDDynamics::NSTATE / 2 + QUAT_INTEGRATION, RBDDynamics::NSTATE / 2, CONTROL_DIM, SCALAR> ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::Base

◆ ContactModel

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

using ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::ContactModel = ct::rbd::EEContactModel<Kinematics>

Constructor & Destructor Documentation

◆ FloatingBaseFDSystem() [1/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::FloatingBaseFDSystem ( )

inline

◆ FloatingBaseFDSystem() [2/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::FloatingBaseFDSystem ( const FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS > & other )

inline

◆ ~FloatingBaseFDSystem()

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

virtual ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::~FloatingBaseFDSystem ( )

inlinevirtual

Member Function Documentation

◆ clone()

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

virtual FloatingBaseFDSystem<RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS>* ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::clone ( ) const

inlineoverridevirtual

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

◆ dynamics() [1/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

virtual RBDDynamics& ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::dynamics ( )

inlineoverridevirtual

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

◆ dynamics() [2/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

virtual const RBDDynamics& ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::dynamics ( ) const

inlineoverridevirtual

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

◆ setContactModel()

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

void ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::setContactModel ( const std::shared_ptr< ContactModel > & contactModel )

inline

◆ computePdot()

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

virtual void ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::computePdot	(	const StateVector &	x,
		const core::StateVector< RBDDynamics::NSTATE/2, SCALAR > &	v,
		const ControlVector &	control,
		core::StateVector< RBDDynamics::NSTATE/2+QUAT_INTEGRATION, SCALAR > &	pDot
	)

inlineoverridevirtual

References ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::RBDStateFromVector().

◆ computeVdot()

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

virtual void ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::computeVdot	(	const StateVector &	x,
		const core::StateVector< RBDDynamics::NSTATE/2+QUAT_INTEGRATION, SCALAR > &	p,
		const ControlVector &	control,
		core::StateVector< RBDDynamics::NSTATE/2, SCALAR > &	vDot
	)

inlineoverridevirtual

References i, ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::mapEndeffectorForcesToLinkForces(), ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::N_EE, and ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::RBDStateFromVector().

◆ mapEndeffectorForcesToLinkForces()

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

void ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::mapEndeffectorForcesToLinkForces	(	const typename RBDDynamics::RBDState_t &	state,
		const std::array< typename Kinematics::EEForceLinear, N_EE > &	eeForcesW,
		typename RBDDynamics::ExtLinkForces_t &	linkForces
	)

inline

Maps the end-effector forces expressed in the world to the link frame as required by robcogen. The link forces are transformed from world frame to the link frame. The according momentum is added.

Parameters

state	robot state
control	end-effector forces expressed in the world
linkForces	forces acting on the link expressed in the link frame

References i, and ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::N_EE.

Referenced by ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::computeVdot().

◆ RBDStateFromVector()

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

RBDDynamics::RBDState_t ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::RBDStateFromVector ( const core::StateVector< STATE_DIM, SCALAR > & state )

inline

Referenced by ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::computePdot(), and ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::computeVdot().

◆ RBDStateFromVectorImpl() [1/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

template<bool T>

RBDDynamics::RBDState_t ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::RBDStateFromVectorImpl	(	const core::StateVector< STATE_DIM, SCALAR > &	state,
		typename std::enable_if< T, bool >::type	= `true`
	)

inline

References x.

◆ RBDStateFromVectorImpl() [2/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

template<bool T>

RBDDynamics::RBDState_t ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::RBDStateFromVectorImpl	(	const core::StateVector< STATE_DIM, SCALAR > &	state,
		typename std::enable_if<!T, bool >::type	= `true`
	)

inline

References x.

◆ toStateDerivative() [1/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

template<bool T>

core::StateVector<STATE_DIM, SCALAR> ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::toStateDerivative	(	const typename RBDDynamics::RBDAcceleration_t &	acceleration,
		const typename RBDDynamics::RBDState_t &	state,
		typename std::enable_if< T, bool >::type	= `true`
	)

inline

◆ toStateDerivative() [2/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

template<bool T>

core::StateVector<STATE_DIM, SCALAR> ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::toStateDerivative	(	const typename RBDDynamics::RBDAcceleration_t &	acceleration,
		const typename RBDDynamics::RBDState_t &	state,
		typename std::enable_if<!T, bool >::type	= `true`
	)

inline

◆ toStateVector() [1/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

template<bool T>

core::StateVector<STATE_DIM, SCALAR> ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::toStateVector	(	const typename RBDDynamics::RBDState_t &	state,
		typename std::enable_if< T, bool >::type	= `true`
	)

inline

◆ toStateVector() [2/2]

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

template<bool T>

core::StateVector<STATE_DIM, SCALAR> ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::toStateVector	(	const typename RBDDynamics::RBDState_t &	state,
		typename std::enable_if<!T, bool >::type	= `true`
	)

inline

Member Data Documentation

◆ N_EE

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

const size_t ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::N_EE = RBDDynamics::N_EE

static

Referenced by ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::computeVdot(), and ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::mapEndeffectorForcesToLinkForces().

◆ STATE_DIM

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

const size_t ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::STATE_DIM = RBDDynamics::NSTATE + QUAT_INTEGRATION

static

Referenced by TEST().

◆ CONTROL_DIM

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>

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

static

Referenced by TEST().

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/FloatingBaseFDSystem.h

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false> class ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >

Member Typedef Documentation

◆ Dynamics

◆ Kinematics

◆ SCALAR

◆ StateVector

◆ ControlVector

◆ Base

◆ ContactModel

Constructor & Destructor Documentation

◆ FloatingBaseFDSystem() [1/2]

◆ FloatingBaseFDSystem() [2/2]

◆ ~FloatingBaseFDSystem()

Member Function Documentation

◆ clone()

◆ dynamics() [1/2]

◆ dynamics() [2/2]

◆ setContactModel()

◆ computePdot()

◆ computeVdot()

◆ mapEndeffectorForcesToLinkForces()

◆ RBDStateFromVector()

◆ RBDStateFromVectorImpl() [1/2]

◆ RBDStateFromVectorImpl() [2/2]

◆ toStateDerivative() [1/2]

◆ toStateDerivative() [2/2]

◆ toStateVector() [1/2]

◆ toStateVector() [2/2]

Member Data Documentation

◆ N_EE

◆ STATE_DIM

◆ CONTROL_DIM

template<class RBDDynamics, bool QUAT_INTEGRATION = false, bool EE_ARE_CONTROL_INPUTS = false>
class ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >