- 3.0.2 rigid body dynamics module.
iit::testirb4600 Namespace Reference

Namespaces

 dyn
 
 tpl
 

Classes

class  JointDataMap
 
class  LinkDataMap
 

Typedefs

using Column6d = tpl::Column6d< double >
 
typedef Column6d JointState
 
typedef tpl::Traits< double > Traits
 

Enumerations

enum  JointIdentifiers {
  JA = 0, JB, JC, JD,
  JE, JF
}
 
enum  LinkIdentifiers {
  LINK0 = 0, LINK1, LINK2, LINK3,
  LINK4, LINK5, LINK6
}
 

Functions

template<typename T >
std::ostream & operator<< (std::ostream &out, const JointDataMap< T > &map)
 
template<typename T >
std::ostream & operator<< (std::ostream &out, const LinkDataMap< T > &map)
 
Center of mass calculation

Computes the Center Of Mass (COM) position of the whole robot, in base coordinates.

Common parameters are the inertia properties of the robot and the set of homogeneous coordinate transforms. If a joint status variable is also passed, then the transforms are updated accordingly; otherwise, they are not modified before being used.

iit::rbd::Vector3d getWholeBodyCOM (const dyn::InertiaProperties &inertia, const HomogeneousTransforms &transforms)
 
iit::rbd::Vector3d getWholeBodyCOM (const dyn::InertiaProperties &inertia, const JointState &q, HomogeneousTransforms &transforms)
 

Typedef Documentation

◆ Column6d

using iit::testirb4600::Column6d = typedef tpl::Column6d<double>

◆ JointState

◆ Traits

Enumeration Type Documentation

◆ JointIdentifiers

Enumerator
JA 
JB 
JC 
JD 
JE 
JF 

◆ LinkIdentifiers

Enumerator
LINK0 
LINK1 
LINK2 
LINK3 
LINK4 
LINK5 
LINK6 

Function Documentation

◆ operator<<() [1/2]

template<typename T >
std::ostream& iit::testirb4600::operator<< ( std::ostream &  out,
const JointDataMap< T > &  map 
)
inline

References JA, JB, JC, JD, JE, and JF.

◆ operator<<() [2/2]

template<typename T >
std::ostream& iit::testirb4600::operator<< ( std::ostream &  out,
const LinkDataMap< T > &  map 
)
inline

References LINK0, LINK1, LINK2, LINK3, LINK4, LINK5, and LINK6.

◆ getWholeBodyCOM() [1/2]

iit::rbd::Vector3d iit::testirb4600::getWholeBodyCOM ( const dyn::InertiaProperties inertia,
const HomogeneousTransforms &  transforms 
)
Parameters
inertiathe inertia properties of the links of the robot
transformsthe homogeneous coordinate transforms of the robot
Returns
the position of the Center Of Mass of the whole robot, expressed in base coordinates

◆ getWholeBodyCOM() [2/2]

iit::rbd::Vector3d iit::testirb4600::getWholeBodyCOM ( const dyn::InertiaProperties inertia,
const JointState q,
HomogeneousTransforms &  transforms 
)
Parameters
inertiathe inertia properties of the links of the robot
qthe joint status vector describing the configuration of the robot
transformsthe homogeneous coordinate transforms of the robot
Returns
the position of the Center Of Mass of the whole robot, expressed in base coordinates