mc_tvm::RobotFrame Struct Reference

#include <mc_tvm/RobotFrame.h>

Inheritance diagram for mc_tvm::RobotFrame:

Collaboration diagram for mc_tvm::RobotFrame:

Classes
struct	NewRobotFrameToken

Public Member Functions
	RobotFrame (NewRobotFrameToken, const mc_rbdyn::RobotFrame &frame)
const tvm::internal::MatrixWithProperties &	jacobian () const noexcept
const sva::MotionVecd &	normalAcceleration () const noexcept
const tvm::internal::MatrixWithProperties &	JDot () const noexcept
const rbd::Jacobian &	rbdJacobian () const noexcept
const mc_rbdyn::RobotFrame &	frame () const noexcept
Public Member Functions inherited from mc_tvm::Frame
	Frame (NewFrameToken, const mc_rbdyn::Frame &frame)
const sva::PTransformd &	position () const noexcept
const sva::MotionVecd &	velocity () const noexcept
const mc_rbdyn::Frame &	frame () const noexcept

Protected Member Functions
void	updateJacobian ()
void	updateNormalAcceleration ()
void	updateJDot ()
Protected Member Functions inherited from mc_tvm::Frame
void	updatePosition ()
void	updateVelocity ()

Protected Attributes
Eigen::Matrix3d	h_ = Eigen::Matrix3d::Zero()
rbd::Jacobian	jac_
rbd::Blocks	blocks_
Eigen::MatrixXd	jacTmp_
tvm::internal::MatrixWithProperties	jacobian_
sva::MotionVecd	normalAcceleration_
tvm::internal::MatrixWithProperties	jacDot_
Protected Attributes inherited from mc_tvm::Frame
const mc_rbdyn::Frame &	frame_
sva::PTransformd	position_ = sva::PTransformd::Identity()
sva::MotionVecd	velocity_ = sva::MotionVecd::Zero()

Friends
struct	mc_rbdyn::RobotFrame

Detailed Description

A frame associated to an mc_rbdyn::RobotFrame

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

Outputs:

• Position: position of the frame in world coordinates
• Jacobian: jacobian of the frame in world coordinates
• Velocity: velocity of the frame in world coordinates
• NormalAcceleration: normal acceleration of the frame in world coordinates
• JDot: derivative of the jacobian of the frame in world coordinate

Constructor & Destructor Documentation

RobotFrame()

mc_tvm::RobotFrame::RobotFrame	(	NewRobotFrameToken	,
		const mc_rbdyn::RobotFrame &	frame
	)

Member Function Documentation

frame()

const mc_rbdyn::RobotFrame& mc_tvm::RobotFrame::frame ( ) const

inlinenoexcept

Returns the associated mc_rbdyn RobotFrame

jacobian()

const tvm::internal::MatrixWithProperties& mc_tvm::RobotFrame::jacobian ( ) const

inlinenoexcept

Frame's jacobian

JDot()

const tvm::internal::MatrixWithProperties& mc_tvm::RobotFrame::JDot ( ) const

inlinenoexcept

Frame's jacobian time derivative

normalAcceleration()

const sva::MotionVecd& mc_tvm::RobotFrame::normalAcceleration ( ) const

inlinenoexcept

Frame's normal acceleration in inertial frame

rbdJacobian()

const rbd::Jacobian& mc_tvm::RobotFrame::rbdJacobian ( ) const

inlinenoexcept

Access the internal RBDyn Jacobian object

You can copy the jacobian from this reference.

This is useful if your entity requires:

• the body jacobian
• the jacobian translated at varying position

updateJacobian()

void mc_tvm::RobotFrame::updateJacobian ( )

protected

updateJDot()

void mc_tvm::RobotFrame::updateJDot ( )

protected

updateNormalAcceleration()

void mc_tvm::RobotFrame::updateNormalAcceleration ( )

protected

Friends And Related Function Documentation

mc_rbdyn::RobotFrame

friend struct mc_rbdyn::RobotFrame

friend

Member Data Documentation

blocks_

rbd::Blocks mc_tvm::RobotFrame::blocks_

protected

h_

Eigen::Matrix3d mc_tvm::RobotFrame::h_ = Eigen::Matrix3d::Zero()

protected

jac_

rbd::Jacobian mc_tvm::RobotFrame::jac_

protected

jacDot_

tvm::internal::MatrixWithProperties mc_tvm::RobotFrame::jacDot_

protected

jacobian_

tvm::internal::MatrixWithProperties mc_tvm::RobotFrame::jacobian_

protected

jacTmp_

Eigen::MatrixXd mc_tvm::RobotFrame::jacTmp_

protected

normalAcceleration_

sva::MotionVecd mc_tvm::RobotFrame::normalAcceleration_

protected

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

• include/mc_tvm/RobotFrame.h