ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR > Class Template Reference

This is a class for expressing the RBD equations of an articulated robot as an operational model. It uses the RBDContainer class as an interface to access the generated code for an articulated robot. More...

#include <OperationalModelRBD.h>

Inheritance diagram for ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >:

Public Types
enum	{ NUM_OUTPUTS = RBDContainer::NJOINTS + 6, NUM_JOINTS = RBDContainer::NJOINTS }
typedef Eigen::Matrix< SCALAR, 3, 1 >	Vector3s
typedef std::shared_ptr< OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS > >	ptr
typedef OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >	Base
typedef Base::state_t	state_t
Public Types inherited from ct::rbd::OperationalModelBase< RBDContainer::NJOINTS+6, RBDContainer::NJOINTS, 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
	OperationalModelRBD (const typename RBDContainer::Ptr_t &rbdContainerPtr, const std::array< EndEffector< NUM_JOINTS >, NUM_CONTACTPOINTS > &endEffectorArray)
	~OperationalModelRBD ()
void	update (const state_t &state) override
Public Member Functions inherited from ct::rbd::OperationalModelBase< RBDContainer::NJOINTS+6, RBDContainer::NJOINTS, 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...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< SCALAR, 3, 3 >	Matrix3s

Additional Inherited Members
Protected Attributes inherited from ct::rbd::OperationalModelBase< RBDContainer::NJOINTS+6, RBDContainer::NJOINTS, 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<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>
class ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >

This is a class for expressing the RBD equations of an articulated robot as an operational model. It uses the RBDContainer class as an interface to access the generated code for an articulated robot.

Member Typedef Documentation

Vector3s

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, 3, 1> ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::Vector3s

ptr

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

typedef std::shared_ptr<OperationalModelRBD<RBDContainer, NUM_CONTACTPOINTS> > ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::ptr

Base

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

typedef OperationalModelBase<NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS> ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::Base

state_t

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

typedef Base::state_t ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::state_t

Member Enumeration Documentation

anonymous enum

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

anonymous enum

Enumerator
NUM_OUTPUTS
NUM_JOINTS

Constructor & Destructor Documentation

OperationalModelRBD()

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::OperationalModelRBD ( const typename RBDContainer::Ptr_t &  rbdContainerPtr, const std::array< EndEffector< NUM_JOINTS >, NUM_CONTACTPOINTS > &  endEffectorArray  )

inline

~OperationalModelRBD()

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::~OperationalModelRBD ( )

inline

Member Function Documentation

update()

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

void ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::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< RBDContainer::NJOINTS+6, RBDContainer::NJOINTS, NUM_CONTACTPOINTS >.

References ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::AllJc_, ct::rbd::RBDState< NJOINTS, SCALAR >::baseLinearVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::baseLocalAngularVelocity(), ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::C_, ct::rbd::tpl::RigidBodyPose< SCALAR >::computeGravityB6D(), ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacToInertiaJacTranslation(), ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::G_, ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationMatrix(), ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions(), ct::rbd::RBDState< NJOINTS, SCALAR >::jointVelocities(), ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::M_, ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::MInverse_, ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::S_, and ct::rbd::OperationalModelBase< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >::state_.

Referenced by TEST().

Member Data Documentation

Matrix3s

template<class RBDContainer, size_t NUM_CONTACTPOINTS, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<SCALAR, 3, 3> ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::Matrix3s

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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/OperationalModelRBD.h