rbd::InverseDynamics Class Reference

#include <RBDyn/RBDyn/ID.h>

Public Member Functions
	InverseDynamics ()
	InverseDynamics (const MultiBody &mb)
void	inverseDynamics (const MultiBody &mb, MultiBodyConfig &mbc)
void	inverseDynamicsNoInertia (const MultiBody &mb, MultiBodyConfig &mbc)
void	sInverseDynamics (const MultiBody &mb, MultiBodyConfig &mbc)
void	sInverseDynamicsNoInertia (const MultiBody &mb, MultiBodyConfig &mbc)
const std::vector< sva::ForceVecd > &	f () const
	Get the internal forces. More...

Detailed Description

Inverse Dynamics algorithm.

Constructor & Destructor Documentation

InverseDynamics() [1/2]

rbd::InverseDynamics::InverseDynamics ( )

inline

InverseDynamics() [2/2]

rbd::InverseDynamics::InverseDynamics

(

const MultiBody &

mb

)

Parameters

mb	MultiBody associated with this algorithm.

Member Function Documentation

f()

const std::vector<sva::ForceVecd>& rbd::InverseDynamics::f

(

)

const

Get the internal forces.

Returns

vector of forces transmitted from body λ(i) to body i across joint i.

inverseDynamics()

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

Compute the inverse dynamics.

Parameters

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

inverseDynamicsNoInertia()

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

Compute the inverse dynamics with the inertia parameters.

Parameters

mb	MultiBody used has model.
mbc	Use force, bodyPosW, parentToSon and motionSubspace. Fill jointTorque.

sInverseDynamics()

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

safe version of

See also

inverseDynamics.

Exceptions

std::domain_error

If mb don't match mbc.

sInverseDynamicsNoInertia()

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

safe version of

See also

inverseDynamicsNoInertia.

Exceptions

std::domain_error

If mb don't match mbc.

---

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

• src/RBDyn/RBDyn/ID.h