mc_tvm::Momentum Struct Reference

#include <mc_tvm/Momentum.h>

Inheritance diagram for mc_tvm::Momentum:

Collaboration diagram for mc_tvm::Momentum:

Public Member Functions
	Momentum (NewMomentumToken, CoM &com)
const auto &	momentum () const noexcept
const auto &	velocity () const noexcept
const auto &	normalAcceleration () const noexcept
const Eigen::MatrixXd &	jacobian () const noexcept
const Eigen::MatrixXd &	JDot () const noexcept
const Robot &	robot () const noexcept
Robot &	robot () noexcept

Friends
struct	Robot

Detailed Description

Momentum of a Robot and related quantities

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

Outputs:

• Position: position of the momentum in world coordinates
• Jacobian: jacobian of the momentum in world coordinates
• NormalAcceleration: normal acceleration of the momentum in world coordinates
• JDot: derivative of the jacobian of the momentum in world coordinates

Constructor & Destructor Documentation

Momentum()

mc_tvm::Momentum::Momentum	(	NewMomentumToken	,
		CoM &	com
	)

Constructor

Creates the momentum algorithm for a robot

Parameters

robot

Robot to which the frame is attached

Member Function Documentation

jacobian()

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

inlinenoexcept

JDot()

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

inlinenoexcept

momentum()

const auto& mc_tvm::Momentum::momentum ( ) const

inlinenoexcept

normalAcceleration()

const auto& mc_tvm::Momentum::normalAcceleration ( ) const

inlinenoexcept

robot() [1/2]

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

inlinenoexcept

robot() [2/2]

Robot& mc_tvm::Momentum::robot ( )

inlinenoexcept

velocity()

const auto& mc_tvm::Momentum::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/Momentum.h