#include <mc_tvm/DynamicFunction.h>

Inheritance diagram for mc_tvm::DynamicFunction:

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Collaboration diagram for mc_tvm::DynamicFunction:

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Classes
struct	ForceContact

Public Types
using	Output = tvm::function::abstract::LinearFunction::Output

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

Public Member Functions
	DynamicFunction (const mc_rbdyn::Robot &robot)

const tvm::VariableVector &	addContact (const mc_rbdyn::RobotFrame &frame, std::vector< sva::PTransformd > points, double dir)

void	removeContact (const mc_rbdyn::RobotFrame &frame)

sva::ForceVecd	contactForce (const mc_rbdyn::RobotFrame &f) const

Public Member Functions inherited from tvm::function::abstract::LinearFunction
void	updateValue ()

void	updateVelocity ()

void	resizeCache () override

const tvm::internal::VectorWithProperties &	b () const

Public Member Functions inherited from tvm::function::abstract::Function
virtual const Eigen::VectorXd &	velocity () const

virtual const Eigen::VectorXd &	normalAcceleration () const

virtual MatrixConstRef	JDot (const Variable &x) const

Public Member Functions inherited from tvm::internal::FirstOrderProvider
virtual const Eigen::VectorXd &	value () const

virtual MatrixConstRefWithProperties	jacobian (const Variable &x) const

bool	linearIn (const Variable &x) const

const Space &	imageSpace () const

int	size () const

int	rSize () const

int	tSize () const

const VariableVector &	variables () const

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

Protected Member Functions
void	updateb ()

std::vector< ForceContact >::const_iterator	findContact (const mc_rbdyn::RobotFrame &frame) const

void	updateJacobian ()

Protected Member Functions inherited from tvm::function::abstract::LinearFunction
	LinearFunction (int m)

virtual void	updateValue_ ()

virtual void	updateVelocity_ ()

void	setDerivativesToZero ()

Protected Member Functions inherited from tvm::function::abstract::Function
	Function (int m=0)

	Function (Space image)

void	resizeVelocityCache ()

void	resizeNormalAccelerationCache ()

void	resizeJDotCache ()

void	addVariable_ (VariablePtr v) override

void	removeVariable_ (VariablePtr v) override

Protected Member Functions inherited from tvm::internal::FirstOrderProvider
	FirstOrderProvider (int m)

	FirstOrderProvider (Space image)

void	resizeValueCache ()

void	resizeJacobianCache ()

void	addVariable (VariablePtr v, bool linear)

void	removeVariable (VariablePtr v)

void	addVariable (const VariableVector &v, bool linear)

void	splitJacobian (const MatrixConstRef &J, const std::vector< VariablePtr > &vars, bool keepProperties=false)

void	splitJacobian (const MatrixConstRef &J, const VariableVector &vars, bool keepProperties=false)

void	resize (int m)

Protected Member Functions inherited from Node< FirstOrderProvider >
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
const mc_rbdyn::Robot &	robot_

std::vector< ForceContact >	contacts_

Protected Attributes inherited from tvm::function::abstract::LinearFunction
tvm::internal::VectorWithProperties	b_

Protected Attributes inherited from tvm::function::abstract::Function
Eigen::VectorXd	velocity_

Eigen::VectorXd	normalAcceleration_

utils::internal::MapWithVariableAsKey< Eigen::MatrixXd, slice_jdot >	JDot_

Protected Attributes inherited from tvm::internal::FirstOrderProvider
Eigen::VectorXd	value_

utils::internal::MapWithVariableAsKey< MatrixWithProperties, slice_matrix, true >	jacobian_

Space	imageSpace_

VariableVector	variables_

utils::internal::MapWithVariableAsKey< bool, slice_linear >	linear_

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_

Additional Inherited Members
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

Detailed Description

Implement the equation of motion for a given robot.

It can be given contacts that will be integrated into the equation of motion (

See also: DynamicFunction::addContact).

It manages the force variables related to these contacts.

Notably, it does not take care of enforcing Newton 3rd law of motion when two actuated robots are in contact.

Member Typedef Documentation

◆ Output

using mc_tvm::DynamicFunction::Output = tvm::function::abstract::LinearFunction::Output

Constructor & Destructor Documentation

◆ DynamicFunction()

mc_tvm::DynamicFunction::DynamicFunction ( const mc_rbdyn::Robot & robot )

Construct the equation of motion for a given robot

Member Function Documentation

◆ addContact()

const tvm::VariableVector& mc_tvm::DynamicFunction::addContact	(	const mc_rbdyn::RobotFrame &	frame,
		std::vector< sva::PTransformd >	points,
		double	dir
	)

Add a contact to the function

This adds forces variables for every contact point belonging to the robot of this dynamic function.

Parameters

frame	Contact frame
points	Contact points in the frame's parent body's frame
dir	Contact direction

Returns the force variables that were created by this contact

◆ contactForce()

sva::ForceVecd mc_tvm::DynamicFunction::contactForce ( const mc_rbdyn::RobotFrame & f ) const

Returns the contact force at the given contact frame

Parameters

f	Contact frame

Exceptions

If	no contact has been added with that frame

◆ findContact()

std::vector<ForceContact>::const_iterator mc_tvm::DynamicFunction::findContact ( const mc_rbdyn::RobotFrame & frame ) const

protected

◆ removeContact()

void mc_tvm::DynamicFunction::removeContact ( const mc_rbdyn::RobotFrame & frame )

Removes the contact associated to the given frame

Parameters

frame Contact frame

◆ updateb()

void mc_tvm::DynamicFunction::updateb ( )

protected

◆ updateJacobian()

void mc_tvm::DynamicFunction::updateJacobian ( )

protected

Member Data Documentation

◆ contacts_

std::vector<ForceContact> mc_tvm::DynamicFunction::contacts_

protected

◆ robot_

const mc_rbdyn::Robot& mc_tvm::DynamicFunction::robot_

protected

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

include/mc_tvm/DynamicFunction.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Output

Constructor & Destructor Documentation

◆ DynamicFunction()

Member Function Documentation

◆ addContact()

◆ contactForce()

◆ findContact()

◆ removeContact()

◆ updateb()

◆ updateJacobian()

Member Data Documentation

◆ contacts_

◆ robot_