This is the class for the operational space model which gives access to the operational model parameter. The model is assumed to have the following form: $M \ddot{x} + C + G = S^\top \tau + J_c^\top \lambda$ where $\ddot{x}$ is the acceleration of the operational space coordinate. More...

#include <OperationalModel.h>

Inheritance diagram for ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >:

Public Types
typedef std::shared_ptr< OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS > >	ptr

typedef OperationalModelBase< NUM_JOINTS+6, NUM_JOINTS, NUM_CONTACTPOINTS >::ptr	full_body_model_ptr_t

typedef OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >	Base

typedef Base::state_t	state_t

typedef Base::jacobian_t	jacobian_t

typedef Base::jacobian_inv_t	jacobian_inv_t

typedef Base::jacobian_class_ptr_t	jacobian_class_ptr_t

typedef Base::coordinate_class_ptr_t	coordinate_class_ptr_t

Public Types inherited from ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
typedef std::shared_ptr< OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS > >	ptr

typedef CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::ptr	coordinate_class_ptr_t

typedef OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS >::ptr	jacobian_class_ptr_t

typedef OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS >::jacobian_t	jacobian_t

typedef OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS >::jacobian_inv_t	jacobian_inv_t

typedef RBDState< NUM_JOINTS >	state_t

typedef Eigen::Matrix< double, NUM_OUTPUTS, NUM_OUTPUTS >	M_t

typedef Eigen::Matrix< double, NUM_OUTPUTS, 1 >	C_t

typedef Eigen::Matrix< double, NUM_OUTPUTS, 1 >	G_t

typedef Eigen::Matrix< double, NUM_JOINTS, NUM_OUTPUTS >	S_t

typedef Eigen::Matrix< double, 3, NUM_OUTPUTS >	Jc_t

Public Member Functions
	OperationalModel (const full_body_model_ptr_t &fullModelPtr, const jacobian_class_ptr_t &jacobianPtr, const coordinate_class_ptr_t &coordinatePtr=nullptr)

	OperationalModel ()=delete

	~OperationalModel ()

void	update (const state_t &state) override

jacobian_class_ptr_t	getJacobianPtr ()

const Base::S_t &	STransposeDager (const Eigen::MatrixXd &orthogonalSystemS=Eigen::MatrixXd::Zero(NUM_JOINTS, 0))

template<>
void	update (const state_t &state)

template<>
const OperationalModel< 0, 12, 4 >::Base::S_t &	STransposeDager (const Eigen::MatrixXd &orthogonalSystemS)

Public Member Functions inherited from ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
	OperationalModelBase (const jacobian_class_ptr_t &jacobianPtr=nullptr, const coordinate_class_ptr_t &coordinatePtr=nullptr)

virtual	~OperationalModelBase ()

const M_t &	M () const
	Get the inertia matrix: M. More...

const M_t &	MInverse () const
	Get the inertia matrix inverse: M^{-1}. More...

const C_t &	C () const
	Get the Coriolis force vector: C. More...

const G_t &	G () const
	Get the gravity force vector: G. More...

const S_t &	S () const
	Get the selection matrix: S. More...

const std::array< Jc_t, NUM_CONTACTPOINTS > &	AllJc () const
	Get all of the contact Jacobians: Jc. More...

const Jc_t &	Jc (size_t i) const
	Get the ith contact Jacobian: Jc[i]. More...

Eigen::Matrix< double, NUM_OUTPUTS, 1 >	getPositions ()
	Get the coordinate position. More...

Eigen::Matrix< double, NUM_OUTPUTS, 1 >	getVelocities ()
	Get the coordinate velocity. More...

Eigen::Matrix< double, NUM_OUTPUTS, 1 >	getAccelerations (Eigen::Matrix< double, NUM_JOINTS+6, 1 > qdd)
	Get the coordinate acceleration. More...

Additional Inherited Members
Protected Attributes inherited from ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
jacobian_class_ptr_t	jacobianPtr_

coordinate_class_ptr_t	coordinatePtr_

state_t	state_

M_t	M_

M_t	MInverse_

C_t	C_

G_t	G_

S_t	S_

std::array< Jc_t, NUM_CONTACTPOINTS >	AllJc_

Detailed Description

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>
class ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >

This is the class for the operational space model which gives access to the operational model parameter. The model is assumed to have the following form: $M \ddot{x} + C + G = S^\top \tau + J_c^\top \lambda$ where $\ddot{x}$ is the acceleration of the operational space coordinate.

Member Typedef Documentation

◆ ptr

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

typedef std::shared_ptr<OperationalModel<NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS> > ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::ptr

◆ full_body_model_ptr_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

typedef OperationalModelBase<NUM_JOINTS + 6, NUM_JOINTS, NUM_CONTACTPOINTS>::ptr ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::full_body_model_ptr_t

◆ Base

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

typedef OperationalModelBase<NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS> ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::Base

◆ state_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

typedef Base::state_t ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::state_t

◆ jacobian_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

typedef Base::jacobian_t ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::jacobian_t

◆ jacobian_inv_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

typedef Base::jacobian_inv_t ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::jacobian_inv_t

◆ jacobian_class_ptr_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

typedef Base::jacobian_class_ptr_t ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::jacobian_class_ptr_t

◆ coordinate_class_ptr_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

typedef Base::coordinate_class_ptr_t ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::coordinate_class_ptr_t

Constructor & Destructor Documentation

◆ OperationalModel() [1/2]

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::OperationalModel	(	const full_body_model_ptr_t &	fullModelPtr,
		const jacobian_class_ptr_t &	jacobianPtr,
		const coordinate_class_ptr_t &	coordinatePtr = `nullptr`
	)

inline

References ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::OperationalModel().

◆ OperationalModel() [2/2]

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::OperationalModel ( )

delete

Referenced by ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::OperationalModel().

◆ ~OperationalModel()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::~OperationalModel ( )

inline

Member Function Documentation

◆ update() [1/2]

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

void ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::update ( const state_t & state )

inlineoverridevirtual

This method updates the class member variables using the current state.

Parameters

state The current state

Implements ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >.

Referenced by TEST().

◆ getJacobianPtr()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

jacobian_class_ptr_t ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::getJacobianPtr ( )

inline

this method returns a pointer to the internal operational space Jacobian.

Returns: pointer to the internal operational space Jacobian

◆ STransposeDager() [1/2]

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>

const Base::S_t& ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::STransposeDager ( const Eigen::MatrixXd & orthogonalSystemS = Eigen::MatrixXd::Zero(NUM_JOINTS, 0) )

inline

References ldlt(), and ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::S_.

◆ update() [2/2]

template<>

void ct::rbd::OperationalModel< 0, 12, 4 >::update ( const state_t & state )

inlinevirtual

This method updates the class member variables using the current state.

Parameters

state The current state

Implements ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >.

References ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::state_.

◆ STransposeDager() [2/2]

template<>

const OperationalModel< 0, 12, 4 >::Base::S_t & ct::rbd::OperationalModel< 0, 12, 4 >::STransposeDager ( const Eigen::MatrixXd & orthogonalSystemS )

inline

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/operationalSpace/rigid_body/OperationalModel.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS> class ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >

Member Typedef Documentation

◆ ptr

◆ full_body_model_ptr_t

◆ Base

◆ state_t

◆ jacobian_t

◆ jacobian_inv_t

◆ jacobian_class_ptr_t

◆ coordinate_class_ptr_t

Constructor & Destructor Documentation

◆ OperationalModel() [1/2]

◆ OperationalModel() [2/2]

◆ ~OperationalModel()

Member Function Documentation

◆ update() [1/2]

◆ getJacobianPtr()

◆ STransposeDager() [1/2]

◆ update() [2/2]

◆ STransposeDager() [2/2]

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, size_t NUM_CONTACTPOINTS>
class ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >