mc_tvm::CoM Struct Reference

#include <mc_tvm/CoM.h>

Inheritance diagram for mc_tvm::CoM:

Collaboration diagram for mc_tvm::CoM:

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

Friends
struct	Robot

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

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

• include/mc_tvm/CoM.h