rbd::InverseStatics Class Reference

#include <RBDyn/RBDyn/IS.h>

Public Member Functions
	InverseStatics ()
	InverseStatics (const MultiBody &mb)
void	setJacobianSize (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< Eigen::MatrixXd > &jacMomentsAndForces)
void	inverseStatics (const MultiBody &mb, MultiBodyConfig &mbc)
void	computeTorqueJacobianJoint (const MultiBody &mb, MultiBodyConfig &mbc, const std::vector< Eigen::MatrixXd > &jacMomentsAndForces)
void	computeTorqueJacobianJoint (const MultiBody &mb, MultiBodyConfig &mbc)
void	sInverseStatics (const MultiBody &mb, MultiBodyConfig &mbc)
const std::vector< sva::ForceVecd > &	f () const
	Get the internal forces. More...
const std::vector< Eigen::MatrixXd > &	jointTorqueDiff () const

Detailed Description

Inverse Dynamics algorithm.

Constructor & Destructor Documentation

InverseStatics() [1/2]

rbd::InverseStatics::InverseStatics ( )

inline

InverseStatics() [2/2]

rbd::InverseStatics::InverseStatics

(

const MultiBody &

mb

)

Parameters

mb	MultiBody associated with this algorithm.

Member Function Documentation

computeTorqueJacobianJoint() [1/2]

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

Default version of computeTorqeuJacobienJoint The external forces are assumed constant w.r.t q

computeTorqueJacobianJoint() [2/2]

void rbd::InverseStatics::computeTorqueJacobianJoint	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		const std::vector< Eigen::MatrixXd > &	jacMomentsAndForces
	)

Compute the derivatives of the torques calculated by the inverse statics w.r.t. q and forces WARNING: This computes the derivative of the torques w.r.t some fictitious forces applied on each body at the point (0,0,0) of the reference frame.

Parameters

mb	MultiBody used has model.
mbc	Uses force, parentToSon, bodyPosW, parentToSon, motionSubspace and gravity.
jacMomentsAndForces	vector of jacobian of external forces on each body. It is assumed to be computed by the user. It is the jacobian of the equivalent force transported at the zero of the robot. Note that those matrix should be empty if zero to avoid unnecessary calculations. Fills jointTorqueJacQ and jointTorqueJacF.

f()

const std::vector<sva::ForceVecd>& rbd::InverseStatics::f ( ) const

inline

Get the internal forces.

Returns

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

inverseStatics()

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

Compute the inverse statics.

Parameters

mb	MultiBody used has model.
mbc	Uses force, parentToSon, bodyPosW, motionSubspace and gravity. Fills bodyAccB and jointTorque.

jointTorqueDiff()

const std::vector<Eigen::MatrixXd>& rbd::InverseStatics::jointTorqueDiff ( ) const

inline

setJacobianSize()

void rbd::InverseStatics::setJacobianSize	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< Eigen::MatrixXd > &	jacMomentsAndForces
	)

sInverseStatics()

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

safe version of

See also

inverseStatics.

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/IS.h