iit::TestHyQ::dyn::tpl::JSIM< TRAIT > Class Template Reference

#include <jsim.h>

Inheritance diagram for iit::TestHyQ::dyn::tpl::JSIM< TRAIT >:

Public Types
typedef TRAIT::Scalar	Scalar
typedef iit::TestHyQ::tpl::JointState< Scalar >	JointState
typedef iit::rbd::Core< Scalar >	CoreS
typedef Base::Index	Index
typedef iit::rbd::PlainMatrix< Scalar, 18, 18 >	MatrixType
typedef const Eigen::Block< const MatrixType, 6, 12 >	BlockF_t
typedef const Eigen::Block< const MatrixType, 12, 12 >	BlockFixedBase_t
typedef InertiaProperties< TRAIT >	IProperties
typedef iit::TestHyQ::tpl::ForceTransforms< TRAIT >	FTransforms
typedef iit::rbd::tpl::InertiaMatrixDense< Scalar >	InertiaMatrix
Public Types inherited from iit::rbd::StateDependentMatrix< iit::TestHyQ::tpl::JointState< TRAIT::Scalar >, 18, 18, JSIM< TRAIT > >
typedef Base::Index	Index
typedef Base	MatrixType

Public Member Functions
	JSIM (IProperties &, FTransforms &)
	~JSIM ()
const JSIM &	update (const JointState &)
void	computeL ()
void	computeInverse ()
const MatrixType &	getL () const
const MatrixType &	getInverse () const
const InertiaMatrix &	getWholeBodyInertia () const
const BlockF_t	getF () const
const BlockFixedBase_t	getFixedBaseBlock () const
Public Member Functions inherited from iit::rbd::StateDependentMatrix< iit::TestHyQ::tpl::JointState< TRAIT::Scalar >, 18, 18, JSIM< TRAIT > >
	StateDependentMatrix ()
	~StateDependentMatrix ()
StateDependentMatrix &	operator= (const MatrixBase< OtherDerived > &other)
Public Member Functions inherited from iit::rbd::StateDependentBase< iit::TestHyQ::tpl::JointState< TRAIT::Scalar >, JSIM< TRAIT > >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW const JSIM< TRAIT > &	operator() (iit::TestHyQ::tpl::JointState< TRAIT::Scalar > const &state)
const JSIM< TRAIT > &	update (iit::TestHyQ::tpl::JointState< TRAIT::Scalar > const &state)

Protected Member Functions
void	computeLInverse ()

Additional Inherited Members
Public Attributes inherited from iit::rbd::StateDependentMatrix< iit::TestHyQ::tpl::JointState< TRAIT::Scalar >, 18, 18, JSIM< TRAIT > >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Base::Scalar	Scalar

Detailed Description

template<typename TRAIT>
class iit::TestHyQ::dyn::tpl::JSIM< TRAIT >

The type of the Joint Space Inertia Matrix (JSIM) of the robot TestHyQ.

Member Typedef Documentation

Scalar

template<typename TRAIT>

typedef TRAIT::Scalar iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::Scalar

JointState

template<typename TRAIT>

typedef iit::TestHyQ::tpl::JointState<Scalar> iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::JointState

CoreS

template<typename TRAIT>

typedef iit::rbd::Core<Scalar> iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::CoreS

Index

template<typename TRAIT>

typedef Base::Index iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::Index

MatrixType

template<typename TRAIT>

typedef iit::rbd::PlainMatrix<Scalar, 18, 18> iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::MatrixType

BlockF_t

template<typename TRAIT>

typedef const Eigen::Block<const MatrixType,6,12> iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::BlockF_t

The type of the F sub-block of the floating-base JSIM

BlockFixedBase_t

template<typename TRAIT>

typedef const Eigen::Block<const MatrixType,12,12> iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::BlockFixedBase_t

The type of the fixed-base sub-block of the JSIM

IProperties

template<typename TRAIT>

typedef InertiaProperties<TRAIT> iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::IProperties

FTransforms

template<typename TRAIT>

typedef iit::TestHyQ::tpl::ForceTransforms<TRAIT> iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::FTransforms

InertiaMatrix

template<typename TRAIT>

typedef iit::rbd::tpl::InertiaMatrixDense<Scalar> iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::InertiaMatrix

Constructor & Destructor Documentation

JSIM()

template<typename TRAIT >

iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::JSIM	(	IProperties &	inertiaProperties,
		FTransforms &	forceTransforms
	)

~JSIM()

template<typename TRAIT>

iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM ( )

inline

References iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::computeInverse(), iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::computeL(), iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::computeLInverse(), iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getF(), iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getFixedBaseBlock(), iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getInverse(), iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getL(), iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getWholeBodyInertia(), and iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

Member Function Documentation

update()

template<typename TRAIT >

const iit::TestHyQ::dyn::tpl::JSIM< TRAIT > & iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update

(

const JointState &

state

)

References iit::rbd::AZ, DATA, F, Fcol, iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LF_hipassembly(), iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LF_upperleg(), iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LH_hipassembly(), iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LH_upperleg(), iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RF_hipassembly(), iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RF_upperleg(), iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RH_hipassembly(), iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RH_upperleg(), iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_trunk(), iit::TestHyQ::LF_HAA, iit::TestHyQ::LF_HFE, iit::TestHyQ::LF_KFE, iit::TestHyQ::LH_HAA, iit::TestHyQ::LH_HFE, iit::TestHyQ::LH_KFE, iit::TestHyQ::RF_HAA, iit::TestHyQ::RF_HFE, iit::TestHyQ::RF_KFE, iit::TestHyQ::RH_HAA, iit::TestHyQ::RH_HFE, and iit::TestHyQ::RH_KFE.

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

computeL()

template<typename TRAIT >

void iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::computeL

(

)

Computes and saves the matrix L of the L^T L factorization of this JSIM.

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

computeInverse()

template<typename TRAIT >

void iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::computeInverse

(

)

Computes and saves the inverse of this JSIM. This function assumes that computeL() has been called already, since it uses L to compute the inverse. The algorithm takes advantage of the branch induced sparsity of the robot, if any.

References iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::computeLInverse().

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

getL()

template<typename TRAIT >

const JSIM< TRAIT >::MatrixType & iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getL ( ) const

inline

Returns an unmodifiable reference to the matrix L. See also computeL()

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

getInverse()

template<typename TRAIT >

const JSIM< TRAIT >::MatrixType & iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getInverse ( ) const

inline

Returns an unmodifiable reference to the inverse of this JSIM

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

getWholeBodyInertia()

template<typename TRAIT >

const JSIM< TRAIT >::InertiaMatrix & iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getWholeBodyInertia ( ) const

inline

The spatial composite-inertia tensor of the robot base, ie the inertia of the whole robot for the current configuration. According to the convention of this class about the layout of the floating-base JSIM, this tensor is the 6x6 upper left corner of the JSIM itself.

Returns

the 6x6 InertiaMatrix that correspond to the spatial inertia tensor of the whole robot, according to the last joints configuration used to update this JSIM

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

getF()

template<typename TRAIT >

const JSIM< TRAIT >::BlockF_t iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getF ( ) const

inline

The matrix that maps accelerations in the actual joints of the robot to the spatial force acting on the floating-base of the robot. This matrix is the F sub-block of the JSIM in Featherstone's notation.

Returns

the 6x12 upper right block of this JSIM

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

getFixedBaseBlock()

template<typename TRAIT >

const JSIM< TRAIT >::BlockFixedBase_t iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::getFixedBaseBlock ( ) const

inline

The submatrix of this JSIM related only to the actual joints of the robot (as for a fixed-base robot). This matrix is the H sub-block of the JSIM in Featherstone's notation.

Returns

the 12x12 lower right block of this JSIM, which correspond to the fixed-base JSIM

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

computeLInverse()

template<typename TRAIT >

void iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::computeLInverse ( )

protected

Computes and saves the inverse of the matrix L. See also computeL()

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::computeInverse(), and iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::~JSIM().

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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/test/models/testhyq/generated/jsim.h
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/test/models/testhyq/generated/jsim.impl.h