ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR > Class Template Reference

#include <SEADynamicsFirstOrder.h>

Inheritance diagram for ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >:

Public Member Functions
	SEADynamicsFirstOrder (double k_spring, double gear_ratio)
	constructor assuming unit amplification More...
virtual	~SEADynamicsFirstOrder ()
	destructor More...
virtual SEADynamicsFirstOrder< NJOINTS, SCALAR > *	clone () const override
	deep cloning More...
virtual void	computeActuatorDynamics (const JointState< NJOINTS, SCALAR > &robotJointState, const ct::core::StateVector< NJOINTS, SCALAR > &state, const SCALAR &t, const ct::core::ControlVector< NJOINTS, SCALAR > &control, ct::core::StateVector< NJOINTS, SCALAR > &derivative) override
virtual core::ControlVector< NJOINTS, SCALAR >	computeControlOutput (const JointState< NJOINTS, SCALAR > &robotJointState, const typename BASE::act_state_vector_t &actState) override
virtual ct::core::StateVector< NJOINTS, SCALAR >	computeStateFromOutput (const JointState< NJOINTS, SCALAR > &refRobotJointState, const core::ControlVector< NJOINTS, SCALAR > &refControl) override
	reconstruct actuator state from a desired control output and robot joint state (e.g. for initialization) More...
Public Member Functions inherited from ct::rbd::ActuatorDynamics< NJOINTS, NJOINTS, SCALAR >
	ActuatorDynamics ()
virtual	~ActuatorDynamics ()
virtual void	computeActuatorDynamics (const JointState< NJOINTS, SCALAR > &robotJointState, const ct::core::StateVector< ACT_STATE_DIMS, SCALAR > &actuatorState, const SCALAR &t, const ct::core::ControlVector< NJOINTS, SCALAR > &control, ct::core::StateVector< ACT_STATE_DIMS, SCALAR > &derivative)=0
virtual core::ControlVector< NJOINTS, SCALAR >	computeControlOutput (const JointState< NJOINTS, SCALAR > &robotJointState, const act_state_vector_t &actState)=0
	output equation of the actuator More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ActuatorDynamics< NJOINTS, NJOINTS, SCALAR >	BASE

Additional Inherited Members
Public Types inherited from ct::rbd::ActuatorDynamics< NJOINTS, NJOINTS, SCALAR >
typedef ct::core::StateVector< ACT_STATE_DIMS, SCALAR >	act_state_vector_t
typedef ct::core::ControlVector< NJOINTS, SCALAR >	act_control_vector_t
Static Public Attributes inherited from ct::rbd::ActuatorDynamics< NJOINTS, NJOINTS, SCALAR >
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	ACT_STATE_DIM
static const size_t	ACT_CONTROL_DIM

Detailed Description

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

Series-elastic actuator dynamics modeled as a series of motor, gearbox and a spring.

Control Input: Motor Velocity Actuator State: Gear Position Actuator State Derivative: Gear Velocity

Note

The advantage of choosing the the gear position as state is that no calibration on the motor position is required. In a SEA, the gear position is typically known anyway.

Constructor & Destructor Documentation

SEADynamicsFirstOrder()

template<size_t NJOINTS, typename SCALAR >

ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::SEADynamicsFirstOrder	(	double	k_spring,
		double	gear_ratio
	)

constructor assuming unit amplification

Referenced by ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::clone().

~SEADynamicsFirstOrder()

template<size_t NJOINTS, typename SCALAR >

ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::~SEADynamicsFirstOrder ( )

virtual

destructor

Member Function Documentation

clone()

template<size_t NJOINTS, typename SCALAR >

SEADynamicsFirstOrder< NJOINTS, SCALAR > * ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::clone ( ) const

overridevirtual

deep cloning

Implements ct::rbd::ActuatorDynamics< NJOINTS, NJOINTS, SCALAR >.

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

computeActuatorDynamics()

template<size_t NJOINTS, typename SCALAR >

void ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::computeActuatorDynamics ( const JointState< NJOINTS, SCALAR > &  robotJointState, const ct::core::StateVector< NJOINTS, SCALAR > &  state, const SCALAR &  t, const ct::core::ControlVector< NJOINTS, SCALAR > &  control, ct::core::StateVector< NJOINTS, SCALAR > &  derivative  )

overridevirtual

computeControlOutput()

template<size_t NJOINTS, typename SCALAR >

core::ControlVector< NJOINTS, SCALAR > ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::computeControlOutput ( const JointState< NJOINTS, SCALAR > &  robotJointState, const typename BASE::act_state_vector_t &  actState  )

overridevirtual

References ct::rbd::JointState< NJOINTS, SCALAR >::getPositions().

computeStateFromOutput()

template<size_t NJOINTS, typename SCALAR >

ct::core::StateVector< NJOINTS, SCALAR > ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::computeStateFromOutput ( const JointState< NJOINTS, SCALAR > &  refRobotJointState, const core::ControlVector< NJOINTS, SCALAR > &  refControl  )

overridevirtual

reconstruct actuator state from a desired control output and robot joint state (e.g. for initialization)

Returns

the actuator state resulting in the desired control output

Implements ct::rbd::ActuatorDynamics< NJOINTS, NJOINTS, SCALAR >.

References ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), and ct::core::ControlVector< CONTROL_DIM, SCALAR >::toImplementation().

Member Data Documentation

BASE

template<size_t NJOINTS, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ActuatorDynamics<NJOINTS, NJOINTS, SCALAR> ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::BASE

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/actuator/SEADynamicsFirstOrder.h
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/actuator/SEADynamicsFirstOrder-impl.h