#include <RBDyn/RBDyn/IDIM.h>

Public Member Functions
	IDIM ()

	IDIM (const rbd::MultiBody &mb)

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

const Eigen::MatrixXd &	Y () const
	Return the Y matrix. More...

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

Detailed Description

IDIM stand for Inverse Dynamics Identification Model. It is used to estimate the inertial parameters of a rigid body system. This class allows to compute the Y matrix that linearizes the dynamics w.r.t. the Phi vector and the torque: torque = Y*Phi. The Y matrix is the concatenation of Y_{BI} and Y_{JI} matrix in the paper : Study on Dynamics Identification of the Foot Viscoelasticity of a Humanoid Robot Mikami, Yuya Moulard, Thomas Yoshida, Eiichi Venture, Gentiane.

Constructor & Destructor Documentation

◆ IDIM() [1/2]

rbd::IDIM::IDIM ( )

inline

◆ IDIM() [2/2]

rbd::IDIM::IDIM ( const rbd::MultiBody & mb )

Parameters

mb	MultiBody associated with this algorithm.

Member Function Documentation

◆ computeY()

void rbd::IDIM::computeY	(	const rbd::MultiBody &	mb,
		const rbd::MultiBodyConfig &	mbc
	)

Compute the Y matrix.

Parameters

mb	MultiBody used has model.
mbc	Use bodyVelB, bodyAccB, parentToSon and motionSubspace. bodyAccB must been calculated with the gravity.

◆ sComputeY()

void rbd::IDIM::sComputeY	(	const rbd::MultiBody &	mb,
		const rbd::MultiBodyConfig &	mbc
	)

safe version of

See also: inverseDynamics.

Exceptions

std::domain_error If mb don't match mbc.

◆ Y()

const Eigen::MatrixXd& rbd::IDIM::Y ( ) const