robcogen_commons.h File Reference

#include "rbd.h"
#include "InertiaMatrix.h"
#include "TransformsBase.h"
#include "types.h"
#include "internals.h"

Go to the source code of this file.

Namespaces
	iit
	iit::rbd

Macros
#define	DScalar   typename Derived::Scalar
#define	block33   template block<3,3>

Functions
template<typename Derived >
Force< DScalar >	iit::rbd::vxIv (const Velocity< DScalar > &v, const MatrixBase< Derived > &I)
template<typename Derived >
Force< DScalar >	iit::rbd::vxIv (const DScalar &omegaz, const MatrixBase< Derived > &I)
template<typename S = double>
void	iit::rbd::motionCrossProductMx (const Velocity< S > &v, Mat66< S > &vx)
template<typename S = double>
void	iit::rbd::forceCrossProductMx (const Velocity< S > &v, Mat66< S > &vx)
template<typename S = double>
void	iit::rbd::fillInertia (S mass, const Vec3< S > &com, const internal::SymmMat3x3Coefficients< S > &I3x3, InertiaMat< S > &I)
template<typename Scalar = double>
void	iit::rbd::transformInertia (const InertiaMat< Scalar > &I_A, const Mat66< Scalar > &XF, InertiaMat< Scalar > &I_B)
Articulated inertia - Coordinate transform
These functions perform the coordinate transform of a spatial articulated inertia, in the special case of a mass-less handle (see chapter 7 of the RBDA book, §7.2.2, equation 7.23) Two specialized functions are available for the two cases of revolute and prismatic joint (which connects the subtree with the mass-less handle), since the inertia exhibits two different sparsity patterns. Parameters Ia_A the articulated inertia in A coordinates XM a spatial coordinate transform for motion vectors, in the form A_XM_B (that is, mapping forces from A to B coordinates) [out] Ia_B_const the same articulated inertia, but expressed in B coordinates. Note that the constness is casted away (trick required with Eigen)
template<typename D1 , typename D2 , typename D3 >
void	iit::rbd::ctransform_Ia_revolute (const MatrixBase< D1 > &Ia_A, const MatrixBase< D2 > &XM, const MatrixBase< D3 > &Ia_B_const)
template<typename D1 , typename D2 , typename D3 >
void	iit::rbd::ctransform_Ia_prismatic (const MatrixBase< D1 > &Ia_A, const MatrixBase< D2 > &XM, const MatrixBase< D3 > &Ia_B_const)
Articulated inertia - Computation
These functions calculate the spatial articulated inertia of a subtree, in the special case of a mass-less handle (see chapter 7 of the RBDA book, §7.2.2, equation 7.23) Two specialized functions are available for the two cases of revolute and prismatic joint (which connects the subtree with the mass-less handle), since the inertia exhibits two different sparsity patterns. Parameters IA the regular articulated inertia of some subtree U the U term for the current joint (cfr. eq. 7.43 of RBDA) D the D term for the current joint (cfr. eq. 7.44 of RBDA) [out] Ia_const the articulated inertia for the same subtree, but propagated across the current joint. The matrix is assumed to be already initialized with zeros, at least in the row and column which is known to be zero. In other words, those elements are not computed nor assigned in this function. Note that the constness of the argument is casted away (trick required with Eigen), as this is an output argument.
template<typename D1 , typename D2 >
void	iit::rbd::compute_Ia_revolute (const MatrixBase< D1 > &IA, const Vec6< typename D1::Scalar > &U, const typename D1::Scalar &D, const MatrixBase< D2 > &Ia_const)
template<typename D1 , typename D2 >
void	iit::rbd::compute_Ia_prismatic (const MatrixBase< D1 > &IA, const Vec6< typename D1::Scalar > &U, const typename D1::Scalar &D, const MatrixBase< D2 > &Ia_const)

Macro Definition Documentation

block33

#define block33   template block<3,3>