#include <ProjectedDynamics.h>

Public Types
typedef Eigen::Matrix< Scalar, NDOF, 1 >	g_coordinate_vector_t

typedef Eigen::Matrix< Scalar, CONTROL_DIM, 1 >	control_vector_t

typedef Eigen::Matrix< Scalar, NJOINTS, 1 >	joint_vector_t

typedef Eigen::Matrix< Scalar, NDOF, NDOF >	inertia_matrix_t

typedef Eigen::Matrix< Scalar, 6, 1 >	ForceVector_t

typedef Eigen::Matrix< Scalar, CONTROL_DIM, NDOF >	selection_matrix_t

typedef RBDDataMap< Eigen::Vector3d, NEE >	EE_contact_forces_t

typedef RBDDataMap< bool, NEE >	EE_in_contact_t

typedef RBDState< NJOINTS, Scalar >	RBDState_t

typedef RBDAcceleration< NJOINTS, Scalar >	RBDAcceleration_t

typedef JointState< NJOINTS, Scalar >	JointState_t

typedef JointAcceleration< NJOINTS, Scalar >	JointAcceleration_t

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >	VectorXs

Public Member Functions
	ProjectedDynamics (const std::shared_ptr< Kinematics< RBD, NEE >> kyn, const EE_in_contact_t ee_inc=EE_in_contact_t(false))
	The Constructor. More...

	~ProjectedDynamics ()

void	setContactConfiguration (const EE_in_contact_t &eeinc)
	set the End Effector contact configuration More...

void	getContactConfiguration (EE_in_contact_t &eeinc)
	get the End Effector contact configuration More...

void	ProjectedForwardDynamics (const RBDState_t &x, const control_vector_t &u, RBDAcceleration_t &qdd)
	Computes the forward dynamics in the constraint consistent subspace of the current contact configuration param[in] x The RBD state param[in] u The control vector param[out] qdd The RBD acceleration. More...

void	getContactForcesInBase (EE_contact_forces_t &lambda)
	compute contact forces from last dynamics call More...

void	getContactForcesInBase (const RBDState_t &x, const control_vector_t &u, EE_contact_forces_t &lambda)
	compute contact forces at current state and control input More...

void	ProjectedInverseDynamics (const RBDState_t &x, const RBDAcceleration_t &qdd, control_vector_t &u)
	Computes the Inverse Dynamics in the constraint consistent subspace of the current contact configuration param[in] x The RBD state param[in] qdd The RBD Acceleration param[out] u The control vector. More...

void	ProjectedInverseDynamicsNoGravity (const RBDState_t &x, const RBDAcceleration_t &qdd, control_vector_t &u)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef RBD::SCALAR	Scalar

Static Public Attributes
static const size_t	NJOINTS = RBD::NJOINTS

static const size_t	CONTROL_DIM = RBD::NJOINTS

static const size_t	NDOF = RBDState<NJOINTS, Scalar>::NDOF

static const size_t	MAX_JAC_SIZE = 3 * NEE

Member Typedef Documentation

◆ g_coordinate_vector_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<Scalar, NDOF, 1> ct::rbd::ProjectedDynamics< RBD, NEE >::g_coordinate_vector_t

◆ control_vector_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<Scalar, CONTROL_DIM, 1> ct::rbd::ProjectedDynamics< RBD, NEE >::control_vector_t

◆ joint_vector_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<Scalar, NJOINTS, 1> ct::rbd::ProjectedDynamics< RBD, NEE >::joint_vector_t

◆ inertia_matrix_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<Scalar, NDOF, NDOF> ct::rbd::ProjectedDynamics< RBD, NEE >::inertia_matrix_t

◆ ForceVector_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<Scalar, 6, 1> ct::rbd::ProjectedDynamics< RBD, NEE >::ForceVector_t

◆ selection_matrix_t

template<class RBD, size_t NEE>

typedef Eigen::Matrix<Scalar, CONTROL_DIM, NDOF> ct::rbd::ProjectedDynamics< RBD, NEE >::selection_matrix_t

◆ EE_contact_forces_t

template<class RBD, size_t NEE>

typedef RBDDataMap<Eigen::Vector3d, NEE> ct::rbd::ProjectedDynamics< RBD, NEE >::EE_contact_forces_t

◆ EE_in_contact_t

template<class RBD, size_t NEE>

typedef RBDDataMap<bool, NEE> ct::rbd::ProjectedDynamics< RBD, NEE >::EE_in_contact_t

◆ RBDState_t

template<class RBD, size_t NEE>

typedef RBDState<NJOINTS, Scalar> ct::rbd::ProjectedDynamics< RBD, NEE >::RBDState_t

◆ RBDAcceleration_t

template<class RBD, size_t NEE>

typedef RBDAcceleration<NJOINTS, Scalar> ct::rbd::ProjectedDynamics< RBD, NEE >::RBDAcceleration_t

◆ JointState_t

template<class RBD, size_t NEE>

typedef JointState<NJOINTS, Scalar> ct::rbd::ProjectedDynamics< RBD, NEE >::JointState_t

◆ JointAcceleration_t

template<class RBD, size_t NEE>

typedef JointAcceleration<NJOINTS, Scalar> ct::rbd::ProjectedDynamics< RBD, NEE >::JointAcceleration_t

◆ MatrixXs

template<class RBD, size_t NEE>

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> ct::rbd::ProjectedDynamics< RBD, NEE >::MatrixXs

◆ VectorXs

template<class RBD, size_t NEE>

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> ct::rbd::ProjectedDynamics< RBD, NEE >::VectorXs

Constructor & Destructor Documentation

◆ ProjectedDynamics()

template<class RBD , size_t NEE>

ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedDynamics	(	const std::shared_ptr< Kinematics< RBD, NEE >>	kyn,
		const EE_in_contact_t	ee_inc = `EE_in_contact_t(false)`
	)

The Constructor.

Parameters

[in]	kyn	Robot Kinematics
[in]	ee_inc	The EE Boolean Data Map with the end effectors in contact

◆ ~ProjectedDynamics()

template<class RBD, size_t NEE>

ct::rbd::ProjectedDynamics< RBD, NEE >::~ProjectedDynamics ( )

inline

Member Function Documentation

◆ setContactConfiguration()

template<class RBD, size_t NEE>

void ct::rbd::ProjectedDynamics< RBD, NEE >::setContactConfiguration ( const EE_in_contact_t & eeinc )

inline

set the End Effector contact configuration

Parameters

[in] eeinc The EE Boolean Data Map of the contact configuration

Referenced by ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedDynamics().

◆ getContactConfiguration()

template<class RBD, size_t NEE>

void ct::rbd::ProjectedDynamics< RBD, NEE >::getContactConfiguration ( EE_in_contact_t & eeinc )

inline

get the End Effector contact configuration

Parameters

[out] eeinc The EE Boolean Data Map of the contact configuration

◆ ProjectedForwardDynamics()

template<class RBD, size_t NEE>

void ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedForwardDynamics	(	const RBDState_t &	x,
		const control_vector_t &	u,
		RBDAcceleration_t &	qdd
	)

inline

Computes the forward dynamics in the constraint consistent subspace of the current contact configuration param[in] x The RBD state param[in] u The control vector param[out] qdd The RBD acceleration.

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::base(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::fromVector6d(), and ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::joints().

◆ getContactForcesInBase() [1/2]

template<class RBD, size_t NEE>

void ct::rbd::ProjectedDynamics< RBD, NEE >::getContactForcesInBase ( EE_contact_forces_t & lambda )

inline

compute contact forces from last dynamics call

Referenced by ct::rbd::ProjectedDynamics< RBD, NEE >::getContactForcesInBase().

◆ getContactForcesInBase() [2/2]

template<class RBD, size_t NEE>

void ct::rbd::ProjectedDynamics< RBD, NEE >::getContactForcesInBase	(	const RBDState_t &	x,
		const control_vector_t &	u,
		EE_contact_forces_t &	lambda
	)

inline

compute contact forces at current state and control input

References ct::rbd::ProjectedDynamics< RBD, NEE >::getContactForcesInBase().

◆ ProjectedInverseDynamics()

template<class RBD, size_t NEE>

void ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedInverseDynamics	(	const RBDState_t &	x,
		const RBDAcceleration_t &	qdd,
		control_vector_t &	u
	)

inline

Computes the Inverse Dynamics in the constraint consistent subspace of the current contact configuration param[in] x The RBD state param[in] qdd The RBD Acceleration param[out] u The control vector.

◆ ProjectedInverseDynamicsNoGravity()

template<class RBD, size_t NEE>

void ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedInverseDynamicsNoGravity	(	const RBDState_t &	x,
		const RBDAcceleration_t &	qdd,
		control_vector_t &	u
	)

inline

References ct::rbd::ProjectedDynamics< RBD, NEE >::MAX_JAC_SIZE, ct::rbd::ProjectedDynamics< RBD, NEE >::NJOINTS, u, and x.

Member Data Documentation

◆ Scalar

template<class RBD, size_t NEE>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef RBD::SCALAR ct::rbd::ProjectedDynamics< RBD, NEE >::Scalar

◆ NJOINTS

template<class RBD, size_t NEE>

const size_t ct::rbd::ProjectedDynamics< RBD, NEE >::NJOINTS = RBD::NJOINTS

static

Referenced by ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedInverseDynamicsNoGravity().

◆ CONTROL_DIM

template<class RBD, size_t NEE>

const size_t ct::rbd::ProjectedDynamics< RBD, NEE >::CONTROL_DIM = RBD::NJOINTS

static

◆ NDOF

template<class RBD, size_t NEE>

const size_t ct::rbd::ProjectedDynamics< RBD, NEE >::NDOF = RBDState<NJOINTS, Scalar>::NDOF

static

◆ MAX_JAC_SIZE

template<class RBD, size_t NEE>

const size_t ct::rbd::ProjectedDynamics< RBD, NEE >::MAX_JAC_SIZE = 3 * NEE

static

Referenced by ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedInverseDynamicsNoGravity().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/ProjectedDynamics.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Member Typedef Documentation

◆ g_coordinate_vector_t

◆ control_vector_t

◆ joint_vector_t

◆ inertia_matrix_t

◆ ForceVector_t

◆ selection_matrix_t

◆ EE_contact_forces_t

◆ EE_in_contact_t

◆ RBDState_t

◆ RBDAcceleration_t

◆ JointState_t

◆ JointAcceleration_t

◆ MatrixXs

◆ VectorXs

Constructor & Destructor Documentation

◆ ProjectedDynamics()

◆ ~ProjectedDynamics()

Member Function Documentation

◆ setContactConfiguration()

◆ getContactConfiguration()

◆ ProjectedForwardDynamics()

◆ getContactForcesInBase() [1/2]

◆ getContactForcesInBase() [2/2]

◆ ProjectedInverseDynamics()

◆ ProjectedInverseDynamicsNoGravity()

Member Data Documentation

◆ Scalar

◆ NJOINTS

◆ CONTROL_DIM

◆ NDOF

◆ MAX_JAC_SIZE