- 3.0.2 rigid body dynamics module.
Public Types | Public Member Functions | Protected Member Functions | List of all members
iit::testirb4600::dyn::tpl::JSIM< TRAIT > Class Template Reference

#include <jsim.h>

Inheritance diagram for iit::testirb4600::dyn::tpl::JSIM< TRAIT >:
iit::rbd::StateDependentMatrix< iit::testirb4600::JointState, 6, 6, JSIM< TRAIT > > iit::rbd::StateDependentBase< iit::testirb4600::JointState, JSIM< TRAIT > >

Public Types

typedef TRAIT::Scalar SCALAR
 
typedef Base::Index Index
 
typedef Eigen::Matrix< SCALAR, 6, 6 > MatrixType
 
typedef InertiaProperties< TRAIT > IProperties
 
typedef iit::testirb4600::tpl::ForceTransforms< TRAIT > FTransforms
 
typedef iit::rbd::tpl::InertiaMatrixDense< SCALAR > InertiaMatrix
 
- Public Types inherited from iit::rbd::StateDependentMatrix< iit::testirb4600::JointState, 6, 6, JSIM< TRAIT > >
typedef Base::Index Index
 
typedef Base MatrixType
 

Public Member Functions

 JSIM (IProperties &, FTransforms &)
 
 ~JSIM ()
 
const JSIM & update (const iit::testirb4600::JointState &)
 
void computeL ()
 
void computeInverse ()
 
const MatrixType & getL () const
 
const MatrixType & getInverse () const
 
- Public Member Functions inherited from iit::rbd::StateDependentMatrix< iit::testirb4600::JointState, 6, 6, JSIM< TRAIT > >
 StateDependentMatrix ()
 
 ~StateDependentMatrix ()
 
StateDependentMatrix & operator= (const MatrixBase< OtherDerived > &other)
 
- Public Member Functions inherited from iit::rbd::StateDependentBase< iit::testirb4600::JointState, JSIM< TRAIT > >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW const JSIM< TRAIT > & operator() (iit::testirb4600::JointState const &state)
 
const JSIM< TRAIT > & update (iit::testirb4600::JointState const &state)
 

Protected Member Functions

void computeLInverse ()
 

Additional Inherited Members

- Public Attributes inherited from iit::rbd::StateDependentMatrix< iit::testirb4600::JointState, 6, 6, JSIM< TRAIT > >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Base::Scalar Scalar
 

Detailed Description

template<class TRAIT>
class iit::testirb4600::dyn::tpl::JSIM< TRAIT >

The type of the Joint Space Inertia Matrix (JSIM) of the robot testirb4600.

Member Typedef Documentation

◆ SCALAR

template<class TRAIT>
typedef TRAIT::Scalar iit::testirb4600::dyn::tpl::JSIM< TRAIT >::SCALAR

◆ Index

template<class TRAIT>
typedef Base::Index iit::testirb4600::dyn::tpl::JSIM< TRAIT >::Index

◆ MatrixType

template<class TRAIT>
typedef Eigen::Matrix<SCALAR,6,6> iit::testirb4600::dyn::tpl::JSIM< TRAIT >::MatrixType

◆ IProperties

template<class TRAIT>
typedef InertiaProperties<TRAIT> iit::testirb4600::dyn::tpl::JSIM< TRAIT >::IProperties

◆ FTransforms

template<class TRAIT>
typedef iit::testirb4600::tpl::ForceTransforms<TRAIT> iit::testirb4600::dyn::tpl::JSIM< TRAIT >::FTransforms

◆ InertiaMatrix

template<class TRAIT>
typedef iit::rbd::tpl::InertiaMatrixDense<SCALAR> iit::testirb4600::dyn::tpl::JSIM< TRAIT >::InertiaMatrix

Constructor & Destructor Documentation

◆ JSIM()

template<typename TRAIT >
iit::testirb4600::dyn::tpl::JSIM< TRAIT >::JSIM ( IProperties &  inertiaProperties,
FTransforms &  forceTransforms 
)

◆ ~JSIM()

template<class TRAIT>
iit::testirb4600::dyn::tpl::JSIM< TRAIT >::~JSIM ( )
inline

References iit::testirb4600::dyn::tpl::JSIM< TRAIT >::computeInverse(), iit::testirb4600::dyn::tpl::JSIM< TRAIT >::computeL(), iit::testirb4600::dyn::tpl::JSIM< TRAIT >::computeLInverse(), iit::testirb4600::dyn::tpl::JSIM< TRAIT >::getInverse(), iit::testirb4600::dyn::tpl::JSIM< TRAIT >::getL(), and iit::testirb4600::dyn::tpl::JSIM< TRAIT >::update().

Member Function Documentation

◆ update()

template<typename TRAIT >
const iit::testirb4600::dyn::tpl::JSIM< TRAIT > & iit::testirb4600::dyn::tpl::JSIM< TRAIT >::update ( const iit::testirb4600::JointState &  state)

References iit::rbd::AZ, DATA, F, iit::testirb4600::dyn::tpl::InertiaProperties< TRAIT >::getTensor_link1(), iit::testirb4600::dyn::tpl::InertiaProperties< TRAIT >::getTensor_link2(), iit::testirb4600::dyn::tpl::InertiaProperties< TRAIT >::getTensor_link3(), iit::testirb4600::dyn::tpl::InertiaProperties< TRAIT >::getTensor_link4(), iit::testirb4600::dyn::tpl::InertiaProperties< TRAIT >::getTensor_link5(), iit::testirb4600::JA, iit::testirb4600::JB, iit::testirb4600::JC, iit::testirb4600::JD, iit::testirb4600::JE, iit::testirb4600::JF, and iit::rbd::transformInertia().

Referenced by iit::testirb4600::dyn::tpl::JSIM< TRAIT >::~JSIM().

◆ computeL()

template<typename TRAIT >
void iit::testirb4600::dyn::tpl::JSIM< TRAIT >::computeL ( )

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

Referenced by iit::testirb4600::dyn::tpl::JSIM< TRAIT >::~JSIM().

◆ computeInverse()

template<typename TRAIT >
void iit::testirb4600::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::testirb4600::dyn::tpl::JSIM< TRAIT >::computeLInverse().

Referenced by iit::testirb4600::dyn::tpl::JSIM< TRAIT >::~JSIM().

◆ getL()

template<class TRAIT >
const JSIM< TRAIT >::MatrixType & iit::testirb4600::dyn::tpl::JSIM< TRAIT >::getL ( ) const
inline

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

Referenced by iit::testirb4600::dyn::tpl::JSIM< TRAIT >::~JSIM().

◆ getInverse()

template<class TRAIT >
const JSIM< TRAIT >::MatrixType & iit::testirb4600::dyn::tpl::JSIM< TRAIT >::getInverse ( ) const
inline

Returns an unmodifiable reference to the inverse of this JSIM

Referenced by iit::testirb4600::dyn::tpl::JSIM< TRAIT >::~JSIM().

◆ computeLInverse()

template<typename TRAIT >
void iit::testirb4600::dyn::tpl::JSIM< TRAIT >::computeLInverse ( )
protected

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

Referenced by iit::testirb4600::dyn::tpl::JSIM< TRAIT >::computeInverse(), and iit::testirb4600::dyn::tpl::JSIM< TRAIT >::~JSIM().

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