rbd::CentroidalMomentumMatrix Class Reference

#include <RBDyn/RBDyn/Momentum.h>

Public Member Functions
	CentroidalMomentumMatrix ()
	CentroidalMomentumMatrix (const MultiBody &mb)
	CentroidalMomentumMatrix (const MultiBody &mb, std::vector< double > weight)
void	computeMatrix (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com)
void	computeMatrixDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)
void	computeMatrixAndMatrixDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)
const Eigen::MatrixXd &	matrix () const
const Eigen::MatrixXd &	matrixDot () const
sva::ForceVecd	momentum (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com) const
sva::ForceVecd	normalMomentumDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)
sva::ForceVecd	normalMomentumDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot, const std::vector< sva::MotionVecd > &normalAccB) const
void	sComputeMatrix (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com)
void	sComputeMatrixDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)
void	sComputeMatrixAndMatrixDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)
sva::ForceVecd	sMomentum (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com) const
sva::ForceVecd	sNormalMomentumDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)
sva::ForceVecd	sNormalMomentumDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot, const std::vector< sva::MotionVecd > &normalAccB) const

Detailed Description

Compute the Centroidal momentum matrix (Jacobian) as describe in [Orin and Gosawami 2008].

Constructor & Destructor Documentation

CentroidalMomentumMatrix() [1/3]

rbd::CentroidalMomentumMatrix::CentroidalMomentumMatrix

(

)

CentroidalMomentumMatrix() [2/3]

rbd::CentroidalMomentumMatrix::CentroidalMomentumMatrix

(

const MultiBody &

mb

)

Parameters

mb	MultiBody used has model.

CentroidalMomentumMatrix() [3/3]

rbd::CentroidalMomentumMatrix::CentroidalMomentumMatrix	(	const MultiBody &	mb,
		std::vector< double >	weight
	)

Parameters

mb	MultiBody used has model.
weight	Per body weight.

Member Function Documentation

computeMatrix()

void rbd::CentroidalMomentumMatrix::computeMatrix	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com
	)

Compute the centroidal momentum matrix.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, motionSubspace.
com	CoM position.

computeMatrixAndMatrixDot()

void rbd::CentroidalMomentumMatrix::computeMatrixAndMatrixDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot
	)

Compute the centroidal momentum matrix and his time derivative.

See also

computeMatrix

computeMatrixDot

computeMatrixDot()

void rbd::CentroidalMomentumMatrix::computeMatrixDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot
	)

Compute the time derivative of centroidal momentum matrix.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelW, bodyVelB, motionSubspace.
com	CoM position.
comDot	CoM velocity.

matrix()

const Eigen::MatrixXd & rbd::CentroidalMomentumMatrix::matrix

(

)

const

Returns

Centroidal momentum matrix

matrixDot()

const Eigen::MatrixXd & rbd::CentroidalMomentumMatrix::matrixDot

(

)

const

Returns

Centroidal momentum matrix time derivative

momentum()

sva::ForceVecd rbd::CentroidalMomentumMatrix::momentum	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com
	)		const

Compute the centroidal momentum (with weight) (J·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelB.
com	CoM position.

Returns

Centroidal momentum at the CoM frame (with weight).

normalMomentumDot() [1/2]

sva::ForceVecd rbd::CentroidalMomentumMatrix::normalMomentumDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot
	)

Compute the normal componant of the time derivative of centroidal momentum (with weight) (JDot·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelB, jointVelocity, parentToSon.
com	CoM position.
comDot	CoM velocity.

Returns

Normal componant of the time derivative Centroidal momentum at the CoM frame (with weight).

normalMomentumDot() [2/2]

sva::ForceVecd rbd::CentroidalMomentumMatrix::normalMomentumDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot,
		const std::vector< sva::MotionVecd > &	normalAccB
	)		const

Compute the normal componant of the time derivative of centroidal momentum (with weight) (JDot·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelB.
com	CoM position.
comDot	CoM velocity.
normalAccB	Normal bodies acceleration in body frame.

Returns

Normal componant of the time derivative Centroidal momentum at the CoM frame (with weight).

sComputeMatrix()

void rbd::CentroidalMomentumMatrix::sComputeMatrix	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com
	)

safe version of

See also

computeMatrix.

Exceptions

std::domain_error

If mb don't match mbc.

sComputeMatrixAndMatrixDot()

void rbd::CentroidalMomentumMatrix::sComputeMatrixAndMatrixDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot
	)

safe version of

See also

computeMatrixAndMatrixDot.

Exceptions

std::domain_error

If mb don't match mbc.

sComputeMatrixDot()

void rbd::CentroidalMomentumMatrix::sComputeMatrixDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot
	)

safe version of

See also

computeMatrixDot.

Exceptions

std::domain_error

If mb don't match mbc.

sMomentum()

sva::ForceVecd rbd::CentroidalMomentumMatrix::sMomentum	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com
	)		const

safe version of

See also

momentum.

Exceptions

std::domain_error

If mb don't match mbc.

sNormalMomentumDot() [1/2]

sva::ForceVecd rbd::CentroidalMomentumMatrix::sNormalMomentumDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot
	)

safe version of

See also

normalMomentumDot.

Exceptions

std::domain_error

If mb don't match mbc.

sNormalMomentumDot() [2/2]

sva::ForceVecd rbd::CentroidalMomentumMatrix::sNormalMomentumDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot,
		const std::vector< sva::MotionVecd > &	normalAccB
	)		const

safe version of

See also

normalMomentumDot.

Exceptions

std::domain_error

If mb don't match mbc or normalAccB.

---

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

• src/RBDyn/RBDyn/Momentum.h