rbd::ForwardDynamics Class Reference

#include <RBDyn/RBDyn/FD.h>

Public Member Functions
	ForwardDynamics ()
	ForwardDynamics (const MultiBody &mb)
void	forwardDynamics (const MultiBody &mb, MultiBodyConfig &mbc)
void	computeH (const MultiBody &mb, const MultiBodyConfig &mbc)
void	computeC (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	H () const
const Eigen::VectorXd &	C () const
const std::vector< sva::RBInertiad > &	inertiaSubTree () const
void	sForwardDynamics (const MultiBody &mb, MultiBodyConfig &mbc)
void	sComputeH (const MultiBody &mb, const MultiBodyConfig &mbc)
void	sComputeC (const MultiBody &mb, const MultiBodyConfig &mbc)

Detailed Description

Forward Dynamics algorithm.

Constructor & Destructor Documentation

ForwardDynamics() [1/2]

rbd::ForwardDynamics::ForwardDynamics ( )

inline

ForwardDynamics() [2/2]

rbd::ForwardDynamics::ForwardDynamics

(

const MultiBody &

mb

)

Parameters

mb	MultiBody associated with this algorithm.

Member Function Documentation

C()

const Eigen::VectorXd& rbd::ForwardDynamics::C ( ) const

inline

Returns

The non linear effect vector (coriolis, gravity, external force).

computeC()

void rbd::ForwardDynamics::computeC	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the non linear effect vector (coriolis, gravity, external force).

Parameters

mb	MultiBody used has model.
mbc	Use parentToSon, motionSubspace jointVelocity, bodyVelB, bodyPosW, force and gravity.

computeH()

void rbd::ForwardDynamics::computeH	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the inertia matrix H.

Parameters

mb	MultiBody used has model.
mbc	Use parentToSon and motionSubspace.

forwardDynamics()

void rbd::ForwardDynamics::forwardDynamics	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc
	)

Compute the forward dynamics.

Parameters

mb	MultiBody used has model.
mbc	Use parentToSon, motionSubspace jointVelocity, bodyVelB, bodyPosW, force, gravity and jointTorque. Fill alphaD generalized acceleration vector.

H()

const Eigen::MatrixXd& rbd::ForwardDynamics::H ( ) const

inline

Returns

The inertia matrix H.

inertiaSubTree()

const std::vector<sva::RBInertiad>& rbd::ForwardDynamics::inertiaSubTree ( ) const

inline

Returns

Inertia of tho subtree rooted at body i.

sComputeC()

void rbd::ForwardDynamics::sComputeC	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

computeC.

Exceptions

std::domain_error

If mb don't match mbc.

sComputeH()

void rbd::ForwardDynamics::sComputeH	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

computeH.

Exceptions

std::domain_error

If mb don't match mbc.

sForwardDynamics()

void rbd::ForwardDynamics::sForwardDynamics	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc
	)

safe version of

See also

forwardDynamics.

Exceptions

std::domain_error

If mb don't match mbc.

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

• src/RBDyn/RBDyn/FD.h