joint acceleration and base acceleration More...

#include <RBDAcceleration.h>

Public Types
enum	DIMS { NDOF = NJOINTS + 6, NSTATE = 2 * NDOF }

typedef Eigen::Matrix< SCALAR, NDOF, 1 >	coordinate_vector_t

typedef tpl::RigidBodyAcceleration< SCALAR >	RigidBodyAcceleration_t

Public Member Functions
	RBDAcceleration ()

	RBDAcceleration (const RigidBodyAcceleration_t &baseStateDerivative, const JointAcceleration< NJOINTS, SCALAR > &jointStateDerivative)

RigidBodyAcceleration_t &	base ()
	get base acceleration More...

const RigidBodyAcceleration_t &	base () const
	get constant base acceleration More...

JointAcceleration< NJOINTS, SCALAR > &	joints ()
	get joint acceleration More...

const JointAcceleration< NJOINTS, SCALAR > &	joints () const
	get constant joint acceleration More...

RBDState< NJOINTS, SCALAR >::state_vector_quat_t	toStateUpdateVectorQuaternion (const RBDState< NJOINTS, SCALAR > &state) const

RBDState< NJOINTS, SCALAR >::state_vector_euler_t	toStateUpdateVectorEulerXyz (const RBDState< NJOINTS, SCALAR > &state) const

coordinate_vector_t	toCoordinateAcceleration () const

void	setZero ()

Static Public Member Functions
static RBDAcceleration< NJOINTS, SCALAR >	Zero ()

Protected Attributes
RigidBodyAcceleration_t	baseStateDerivative_

JointAcceleration< NJOINTS, SCALAR >	jointStateDerivative_

Detailed Description

template<size_t NJOINTS, typename SCALAR = double>
class ct::rbd::RBDAcceleration< NJOINTS, SCALAR >

joint acceleration and base acceleration

Member Typedef Documentation

◆ coordinate_vector_t

template<size_t NJOINTS, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, NDOF, 1> ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::coordinate_vector_t

◆ RigidBodyAcceleration_t

template<size_t NJOINTS, typename SCALAR = double>

typedef tpl::RigidBodyAcceleration<SCALAR> ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::RigidBodyAcceleration_t

Member Enumeration Documentation

◆ DIMS

template<size_t NJOINTS, typename SCALAR = double>

enum ct::rbd::RBDAcceleration::DIMS

Enumerator
NDOF
NSTATE	position/velocity of (joints + base)

Constructor & Destructor Documentation

◆ RBDAcceleration() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::RBDAcceleration ( )

inline

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::setZero().

◆ RBDAcceleration() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::RBDAcceleration	(	const RigidBodyAcceleration_t &	baseStateDerivative,
		const JointAcceleration< NJOINTS, SCALAR > &	jointStateDerivative
	)

inline

Member Function Documentation

◆ base() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

RigidBodyAcceleration_t& ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::base ( )

inline

get base acceleration

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::baseStateDerivative_.

Referenced by ct::rbd::IDControllerFB< Dynamics >::computeDesiredAcceleration(), ct::rbd::Dynamics< RBD, NEE >::FloatingBaseForwardDynamics(), ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedForwardDynamics(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toCoordinateAcceleration(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorEulerXyz(), and ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorQuaternion().

◆ base() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

const RigidBodyAcceleration_t& ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::base ( ) const

inline

get constant base acceleration

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::baseStateDerivative_.

◆ joints() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

JointAcceleration<NJOINTS, SCALAR>& ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::joints ( )

inline

get joint acceleration

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::jointStateDerivative_.

Referenced by ct::rbd::Dynamics< RBD, NEE >::FloatingBaseForwardDynamics(), ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedForwardDynamics(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toCoordinateAcceleration(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorEulerXyz(), and ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorQuaternion().

◆ joints() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

const JointAcceleration<NJOINTS, SCALAR>& ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::joints ( ) const

inline

get constant joint acceleration

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::jointStateDerivative_.

◆ toStateUpdateVectorQuaternion()

template<size_t NJOINTS, typename SCALAR = double>

RBDState<NJOINTS, SCALAR>::state_vector_quat_t ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorQuaternion ( const RBDState< NJOINTS, SCALAR > & state ) const

inline

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::base(), ct::rbd::RBDState< NJOINTS, SCALAR >::base(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseLocalAngularVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getAngularAcceleration(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getTranslationalAcceleration(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::joints(), and ct::rbd::RBDState< NJOINTS, SCALAR >::joints().

◆ toStateUpdateVectorEulerXyz()

template<size_t NJOINTS, typename SCALAR = double>

RBDState<NJOINTS, SCALAR>::state_vector_euler_t ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorEulerXyz ( const RBDState< NJOINTS, SCALAR > & state ) const