rbd::CoMJacobian Class Reference

#include <RBDyn/RBDyn/CoM.h>

Public Member Functions
	CoMJacobian ()
	CoMJacobian (const MultiBody &mb)
	CoMJacobian (const MultiBody &mb, std::vector< double > weight)
void	updateInertialParameters (const MultiBody &mb)
const std::vector< double > &	weight () const
void	weight (const MultiBody &mb, std::vector< double > w)
	Per bodies weight setter. More...
const Eigen::MatrixXd &	jacobian (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	jacobian () const noexcept
const Eigen::MatrixXd &	jacobianDot (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	jacobianDot () const noexcept
Eigen::Vector3d	velocity (const MultiBody &mb, const MultiBodyConfig &mbc) const
Eigen::Vector3d	normalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc)
Eigen::Vector3d	normalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB) const
void	sUpdateInertialParameters (const MultiBody &mb)
void	sWeight (const MultiBody &mb, std::vector< double > w)
const Eigen::MatrixXd &	sJacobian (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	sJacobianDot (const MultiBody &mb, const MultiBodyConfig &mbc)
Eigen::Vector3d	sVelocity (const MultiBody &mb, const MultiBodyConfig &mbc) const
Eigen::Vector3d	sNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc)
Eigen::Vector3d	sNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB) const

Detailed Description

Compute the CoM jacobian

Constructor & Destructor Documentation

CoMJacobian() [1/3]

rbd::CoMJacobian::CoMJacobian

(

)

CoMJacobian() [2/3]

rbd::CoMJacobian::CoMJacobian

(

const MultiBody &

mb

)

Parameters

mb	MultiBody used as model.

CoMJacobian() [3/3]

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

Parameters

mb	MultiBody used has model.
weight	Per body weight.

Member Function Documentation

jacobian() [1/2]

const Eigen::MatrixXd& rbd::CoMJacobian::jacobian ( ) const

inlinenoexcept

Access the last computed CoM jacobian

Returns

Latest CoM jacobian that was computed by this object

jacobian() [2/2]

const Eigen::MatrixXd& rbd::CoMJacobian::jacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the CoM jacobian.

Parameters

mb	MultiBody used as model.
mbc	Use bodyPosW and motionSubspace.

Returns

CoM Jacobian of mb with mbc configuration.

jacobianDot() [1/2]

const Eigen::MatrixXd& rbd::CoMJacobian::jacobianDot ( ) const

inlinenoexcept

Access the last computed derivative of the CoM jacobian

Returns

Latest derivative of the CoM jacobian that was computed by this object

jacobianDot() [2/2]

const Eigen::MatrixXd& rbd::CoMJacobian::jacobianDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the time derivative of the CoM jacobian.

Parameters

mb	MultiBody used as model.
mbc	Use bodyPosW, bodyVelB, bodyVelW, and motionSubspace.

Returns

Time derivativo of the jacobian of mb with mbc configuration.

normalAcceleration() [1/2]

Eigen::Vector3d rbd::CoMJacobian::normalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the com normal acceleration (with weight) (JDot·alpha).

Parameters

mb	MultiBody used as model.
mbc	Use bodyPosW, bodyVelW, bodyVelB, jointVelocity, parentToSon.

Returns

CoM normal acceleration (with weight).

normalAcceleration() [2/2]

Eigen::Vector3d rbd::CoMJacobian::normalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< sva::MotionVecd > &	normalAccB
	)		const

Compute the com normal acceleration (with weight) (JDot·alpha).

Parameters

mb	MultiBody used as model.
mbc	Use bodyPosW, bodyVelW, bodyVelB.
normalAccB	Normal bodies acceleration in body frame.

Returns

CoM normal acceleration (with weight).

sJacobian()

const Eigen::MatrixXd& rbd::CoMJacobian::sJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

jacobian.

Exceptions

std::domain_error

If mb don't match mbc.

sJacobianDot()

const Eigen::MatrixXd& rbd::CoMJacobian::sJacobianDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

jacobianDot.

Exceptions

std::domain_error

If mb don't match mbc.

sNormalAcceleration() [1/2]

Eigen::Vector3d rbd::CoMJacobian::sNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

normalAcceleration.

Exceptions

std::domain_error

If mb don't match mbc.

sNormalAcceleration() [2/2]

Eigen::Vector3d rbd::CoMJacobian::sNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< sva::MotionVecd > &	normalAccB
	)		const

safe version of

See also

normalAcceleration.

Exceptions

std::domain_error

If mb don't match mbc or normalAccB.

sUpdateInertialParameters()

void rbd::CoMJacobian::sUpdateInertialParameters

(

const MultiBody &

mb

)

safe version of

See also

updateInertialParameters.

Exceptions

std::domain_error

If mb don't match the mb used in constructor.

sVelocity()

Eigen::Vector3d rbd::CoMJacobian::sVelocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

safe version of

See also

velocity.

Exceptions

std::domain_error

If mb don't match mbc.

sWeight()

void rbd::CoMJacobian::sWeight	(	const MultiBody &	mb,
		std::vector< double >	w
	)

safe version of

See also

weight.

Exceptions

std::domain_error

If mb don't match the mb used in constructor or w missmatch mb.

updateInertialParameters()

void rbd::CoMJacobian::updateInertialParameters

(

const MultiBody &

mb

)

Compute bodies CoM position and mass based on a MultiBody. This method allow to update some pre-computed parameters when MultiBody inertia has changed.

Parameters

mb	MultiBody used as model.

velocity()

Eigen::Vector3d rbd::CoMJacobian::velocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

Compute the com velocity (with weight) (J·alpha).

Parameters

mb	MultiBody used as model.
mbc	Use bodyPosW, bodyVelB.

Returns

CoM velocity (with weight).

weight() [1/2]

const std::vector<double>& rbd::CoMJacobian::weight

(

)

const

Returns

Per bodies weight.

weight() [2/2]

void rbd::CoMJacobian::weight	(	const MultiBody &	mb,
		std::vector< double >	w
	)

Per bodies weight setter.

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

• src/RBDyn/RBDyn/CoM.h