#include <mc_tvm/CoM.h>

Inheritance diagram for mc_tvm::CoM:

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Collaboration diagram for mc_tvm::CoM:

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Public Member Functions
	CoM (NewCoMToken, Robot &robot)

const Eigen::Vector3d &	com () const noexcept

const Eigen::Vector3d &	velocity () const noexcept

const Eigen::Vector3d &	normalAcceleration () const noexcept

const Eigen::Vector3d &	acceleration () const noexcept

const Eigen::MatrixXd &	jacobian () const noexcept

const Eigen::MatrixXd &	JDot () const noexcept

const Robot &	robot () const noexcept

Robot &	robot () noexcept

const rbd::CoMJacobian &	comJacobian () const noexcept

Public Member Functions inherited from tvm::graph::internal::AbstractNode
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

void	addInput (T &source, EnumI i, Args... args)

void	removeInput (T *source)

void	removeInput (T *source, Args... args)

Iterator	getInput (T *source)

Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Friends
struct	Robot

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum	Update_

typedef AbstractNode	UpdateParent

typedef AbstractNode	UpdateBase

Public Types inherited from tvm::graph::internal::Inputs
typedef std::unordered_map< abstract::Outputs *, std::set< int > >	inputs_t

typedef std::unordered_set< std::shared_ptr< abstract::Outputs > >	store_t

Public Types inherited from tvm::graph::abstract::Outputs
enum	Output_

typedef Outputs	OutputParent

typedef Outputs	OutputBase

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize

static constexpr auto	UpdateBaseName

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize

static constexpr auto	OutputBaseName

Protected Types inherited from tvm::graph::internal::AbstractNode
typedef std::map< Outputs *, std::set< int > >	input_dependency_t

Protected Member Functions inherited from tvm::graph::abstract::Node< CoM >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_

Detailed Description

Center of mass (CoM) of a Robot and related quantities

Provides the frame position, jacobian, velocity and normal acceleration. These signals are correctly initialized on the object's creation.

Outputs:

Position: position of the CoM in world coordinates
Jacobian: jacobian of the CoM in world coordinates
Velocity: velocity of the CoM in world coordinates
NormalAcceleration: normal acceleration of the CoM in world coordinates
Acceleration: acceleration of the CoM in world coordinates
JDot: derivative of the jacobian of the CoM in world coordinates

Constructor & Destructor Documentation

◆ CoM()

mc_tvm::CoM::CoM	(	NewCoMToken	,
		Robot &	robot
	)

Constructor

Creates the CoM algorithm for a robot

Parameters

robot Robot to which the frame is attached

Member Function Documentation

◆ acceleration()

const Eigen::Vector3d& mc_tvm::CoM::acceleration ( ) const

inlinenoexcept

◆ com()

const Eigen::Vector3d& mc_tvm::CoM::com ( ) const

inlinenoexcept

◆ comJacobian()

const rbd::CoMJacobian& mc_tvm::CoM::comJacobian ( ) const

inlinenoexcept

Access the underlying CoMJacobian object to perform computations

◆ jacobian()

const Eigen::MatrixXd& mc_tvm::CoM::jacobian ( ) const

inlinenoexcept

◆ JDot()

const Eigen::MatrixXd& mc_tvm::CoM::JDot ( ) const

inlinenoexcept

◆ normalAcceleration()

const Eigen::Vector3d& mc_tvm::CoM::normalAcceleration ( ) const

inlinenoexcept

◆ robot() [1/2]

const Robot& mc_tvm::CoM::robot ( ) const

inlinenoexcept

◆ robot() [2/2]

Robot& mc_tvm::CoM::robot ( )

inlinenoexcept

◆ velocity()

const Eigen::Vector3d& mc_tvm::CoM::velocity ( ) const

inlinenoexcept

Friends And Related Function Documentation

◆ Robot

friend struct Robot

friend

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

include/mc_tvm/CoM.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CoM()

Member Function Documentation

◆ acceleration()

◆ com()

◆ comJacobian()

◆ jacobian()

◆ JDot()

◆ normalAcceleration()

◆ robot() [1/2]

◆ robot() [2/2]

◆ velocity()

Friends And Related Function Documentation

◆ Robot