#include <inverse_dynamics.h>

Public Types
typedef iit::rbd::Core< SCALAR >	CoreS

typedef CoreS::ForceVector	Force

typedef LinkDataMap< Force >	ExtForces

typedef CoreS::VelocityVector	Velocity

typedef CoreS::VelocityVector	Acceleration

typedef iit::rbd::tpl::InertiaMatrixDense< SCALAR >	InertiaMatrix

typedef iit::testirb4600::tpl::JointState< SCALAR >	JointState

typedef CoreS::Matrix66	Matrix66s

typedef iit::testirb4600::tpl::MotionTransforms< TRAIT >	MTransforms

typedef InertiaProperties< TRAIT >	IProperties

Public Member Functions

InverseDynamics (IProperties &in, MTransforms &tr)

void setJointStatus (const JointState &q) const

Inverse dynamics

The full Newton-Euler algorithm for the inverse dynamics of this robot.

Parameters

[out]	jForces	the joint force vector required to achieve the desired accelerations
[in]	q	the joint position vector
[in]	qd	the joint velocity vector
[in]	qdd	the desired joint acceleration vector
[in]	fext	the external forces acting on the links; this parameters defaults to zero

void id (JointState &jForces, const JointState &q, const JointState &qd, const JointState &qdd, const ExtForces &fext=zeroExtForces)

void id (JointState &jForces, const JointState &qd, const JointState &qdd, const ExtForces &fext=zeroExtForces)

Gravity terms

The joint forces (linear or rotational) required to compensate for the effect of gravity, in a specific configuration.

void G_terms (JointState &jForces, const JointState &q)

void G_terms (JointState &jForces)

Centrifugal and Coriolis terms

The forces (linear or rotational) acting on the joints due to centrifugal and Coriolis effects, for a specific configuration.

void C_terms (JointState &jForces, const JointState &q, const JointState &qd)

void C_terms (JointState &jForces, const JointState &qd)

Getters

These functions return various spatial quantities used internally by the inverse dynamics routines, like the spatial acceleration of the links.

The getters can be useful to retrieve the additional data that is not returned explicitly by the inverse dynamics routines even though it is computed. For example, after a call to the inverse dynamics, the spatial velocity of all the links has been determined and can be accessed.

However, beware that certain routines might not use some of the spatial quantities, which therefore would retain their last value without being updated nor reset (for example, the spatial velocity of the links is unaffected by the computation of the gravity terms).

const Velocity & getVelocity_link1 () const

const Acceleration & getAcceleration_link1 () const

const Force & getForce_link1 () const

const Velocity & getVelocity_link2 () const

const Acceleration & getAcceleration_link2 () const

const Force & getForce_link2 () const

const Velocity & getVelocity_link3 () const

const Acceleration & getAcceleration_link3 () const

const Force & getForce_link3 () const

const Velocity & getVelocity_link4 () const

const Acceleration & getAcceleration_link4 () const

const Force & getForce_link4 () const

const Velocity & getVelocity_link5 () const

const Acceleration & getAcceleration_link5 () const

const Force & getForce_link5 () const

const Velocity & getVelocity_link6 () const

const Acceleration & getAcceleration_link6 () const

const Force & getForce_link6 () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef TRAIT::Scalar	SCALAR

Protected Member Functions
void	firstPass (const JointState &qd, const JointState &qdd, const ExtForces &fext)

void	secondPass (JointState &jForces)

Member Typedef Documentation

◆ CoreS

template<typename TRAIT >

typedef iit::rbd::Core<SCALAR> iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::CoreS

◆ Force

template<typename TRAIT >

typedef CoreS::ForceVector iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::Force

◆ ExtForces

template<typename TRAIT >

typedef LinkDataMap<Force> iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::ExtForces

◆ Velocity

template<typename TRAIT >

typedef CoreS::VelocityVector iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::Velocity

◆ Acceleration

template<typename TRAIT >

typedef CoreS::VelocityVector iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::Acceleration

◆ InertiaMatrix

template<typename TRAIT >

typedef iit::rbd::tpl::InertiaMatrixDense<SCALAR> iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::InertiaMatrix

◆ JointState

template<typename TRAIT >

typedef iit::testirb4600::tpl::JointState<SCALAR> iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::JointState

◆ Matrix66s

template<typename TRAIT >

typedef CoreS::Matrix66 iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::Matrix66s

◆ MTransforms

template<typename TRAIT >

typedef iit::testirb4600::tpl::MotionTransforms<TRAIT> iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::MTransforms

◆ IProperties

template<typename TRAIT >

typedef InertiaProperties<TRAIT> iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::IProperties

Constructor & Destructor Documentation

◆ InverseDynamics()

template<typename TRAIT >

iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::InverseDynamics	(	IProperties &	in,
		MTransforms &	tr
	)

Default constructor

Parameters

in	the inertia properties of the links
tr	the container of all the spatial motion transforms of the robot testirb4600, which will be used by this instance to compute inverse-dynamics.

Member Function Documentation

◆ id() [1/2]

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::id	(	JointState &	jForces,
		const JointState &	q,
		const JointState &	qd,
		const JointState &	qdd,
		const ExtForces &	fext = `zeroExtForces`
	)

inline

References iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus().

◆ id() [2/2]

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::id	(	JointState &	jForces,
		const JointState &	qd,
		const JointState &	qdd,
		const ExtForces &	fext = `zeroExtForces`
	)

References iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::firstPass(), and iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::secondPass().

◆ G_terms() [1/2]

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::G_terms	(	JointState &	jForces,
		const JointState &	q
	)

inline

References iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus().

◆ G_terms() [2/2]

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::G_terms ( JointState & jForces )

References iit::rbd::LZ, iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::SCALAR, and iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::secondPass().

◆ C_terms() [1/2]

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::C_terms	(	JointState &	jForces,
		const JointState &	q,
		const JointState &	qd
	)

inline

References iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus().

◆ C_terms() [2/2]

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::C_terms	(	JointState &	jForces,
		const JointState &	qd
	)

References iit::rbd::AZ, iit::testirb4600::JA, iit::testirb4600::JB, iit::testirb4600::JC, iit::testirb4600::JD, iit::testirb4600::JE, iit::testirb4600::JF, iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::secondPass(), and iit::rbd::vxIv().

◆ setJointStatus()

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::setJointStatus ( const JointState & q ) const

inline

Updates all the kinematics transforms used by the inverse dynamics routine.

Referenced by iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::C_terms(), iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::G_terms(), and iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::id().

◆ getVelocity_link1()

template<typename TRAIT >

const Velocity& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_link1 ( ) const

inline

◆ getAcceleration_link1()

template<typename TRAIT >

const Acceleration& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_link1 ( ) const

inline

◆ getForce_link1()

template<typename TRAIT >

const Force& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getForce_link1 ( ) const

inline

◆ getVelocity_link2()

template<typename TRAIT >

const Velocity& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_link2 ( ) const

inline

◆ getAcceleration_link2()

template<typename TRAIT >

const Acceleration& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_link2 ( ) const

inline

◆ getForce_link2()

template<typename TRAIT >

const Force& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getForce_link2 ( ) const

inline

◆ getVelocity_link3()

template<typename TRAIT >

const Velocity& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_link3 ( ) const

inline

◆ getAcceleration_link3()

template<typename TRAIT >

const Acceleration& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_link3 ( ) const

inline

◆ getForce_link3()

template<typename TRAIT >

const Force& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getForce_link3 ( ) const

inline

◆ getVelocity_link4()

template<typename TRAIT >

const Velocity& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_link4 ( ) const

inline

◆ getAcceleration_link4()

template<typename TRAIT >

const Acceleration& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_link4 ( ) const

inline

◆ getForce_link4()

template<typename TRAIT >

const Force& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getForce_link4 ( ) const

inline

◆ getVelocity_link5()

template<typename TRAIT >

const Velocity& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_link5 ( ) const

inline

◆ getAcceleration_link5()

template<typename TRAIT >

const Acceleration& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_link5 ( ) const

inline

◆ getForce_link5()

template<typename TRAIT >

const Force& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getForce_link5 ( ) const

inline

◆ getVelocity_link6()

template<typename TRAIT >

const Velocity& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getVelocity_link6 ( ) const

inline

◆ getAcceleration_link6()

template<typename TRAIT >

const Acceleration& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getAcceleration_link6 ( ) const

inline

◆ getForce_link6()

template<typename TRAIT >

const Force& iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getForce_link6 ( ) const

inline

References iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::firstPass(), and iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::secondPass().

◆ firstPass()

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::firstPass	(	const JointState &	qd,
		const JointState &	qdd,
		const ExtForces &	fext
	)

protected

References iit::rbd::AZ, iit::testirb4600::JA, iit::testirb4600::JB, iit::testirb4600::JC, iit::testirb4600::JD, iit::testirb4600::JE, iit::testirb4600::JF, iit::testirb4600::LINK1, iit::testirb4600::LINK2, iit::testirb4600::LINK3, iit::testirb4600::LINK4, iit::testirb4600::LINK5, iit::testirb4600::LINK6, iit::rbd::LZ, iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::SCALAR, and iit::rbd::vxIv().

Referenced by iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getForce_link6(), and iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::id().

◆ secondPass()

template<typename TRAIT >

void iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::secondPass ( JointState & jForces )

protected

References iit::rbd::AZ, iit::testirb4600::JA, iit::testirb4600::JB, iit::testirb4600::JC, iit::testirb4600::JD, iit::testirb4600::JE, and iit::testirb4600::JF.

Referenced by iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::C_terms(), iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::G_terms(), iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::getForce_link6(), and iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::id().

Member Data Documentation

◆ SCALAR

template<typename TRAIT >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef TRAIT::Scalar iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::SCALAR

Referenced by iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::firstPass(), and iit::testirb4600::dyn::tpl::InverseDynamics< TRAIT >::G_terms().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/test/models/testIrb4600/generated/inverse_dynamics.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/test/models/testIrb4600/generated/inverse_dynamics.impl.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Member Typedef Documentation

◆ CoreS

◆ Force

◆ ExtForces

◆ Velocity

◆ Acceleration

◆ InertiaMatrix

◆ JointState

◆ Matrix66s

◆ MTransforms

◆ IProperties

Constructor & Destructor Documentation

◆ InverseDynamics()

Member Function Documentation

◆ id() [1/2]

◆ id() [2/2]

◆ G_terms() [1/2]

◆ G_terms() [2/2]

◆ C_terms() [1/2]

◆ C_terms() [2/2]

◆ setJointStatus()

◆ getVelocity_link1()

◆ getAcceleration_link1()

◆ getForce_link1()

◆ getVelocity_link2()

◆ getAcceleration_link2()

◆ getForce_link2()

◆ getVelocity_link3()

◆ getAcceleration_link3()

◆ getForce_link3()

◆ getVelocity_link4()

◆ getAcceleration_link4()

◆ getForce_link4()

◆ getVelocity_link5()

◆ getAcceleration_link5()

◆ getForce_link5()

◆ getVelocity_link6()

◆ getAcceleration_link6()

◆ getForce_link6()

◆ firstPass()

◆ secondPass()

Member Data Documentation

◆ SCALAR