KDL 1.5.1
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chainfdsolver_recursive_newton_euler.hpp
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1// Copyright (C) 2018 Craig Carignan <craigc at ssl dot umd dot edu>
2
3// Version: 1.0
4// Author: Craig Carignan <craigc at ssl dot umd dot edu>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22#ifndef KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
23#define KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
24
25#include "chainfdsolver.hpp"
27#include "chaindynparam.hpp"
28
29namespace KDL{
43 public:
49 ChainFdSolver_RNE(const Chain& chain, Vector grav);
51
62 int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches& f_ext, JntArray &q_dotdot);
63
65 virtual void updateInternalDataStructures();
66
89 void RK4Integrator(unsigned int& nj, const double& t, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,
90 KDL::JntArray& torques, KDL::Wrenches& f_ext, KDL::ChainFdSolver_RNE& fdsolver,
91 KDL::JntArray& q_dotdot, KDL::JntArray& dq, KDL::JntArray& dq_dot,
92 KDL::JntArray& q_temp, KDL::JntArray& q_dot_temp);
93
94 private:
95 const Chain& chain;
98 unsigned int nj;
99 unsigned int ns;
100 JntSpaceInertiaMatrix H;
102 Eigen::MatrixXd H_eig;
103 Eigen::VectorXd Tzeroacc_eig;
104 Eigen::MatrixXd L_eig;
105 Eigen::VectorXd D_eig;
106 Eigen::VectorXd r_eig;
107 Eigen::VectorXd acc_eig;
108 };
109}
110
111#endif
Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for t...
Definition chaindynparam.hpp:48
Recursive newton euler forward dynamics solver.
Definition chainfdsolver_recursive_newton_euler.hpp:42
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches &f_ext, JntArray &q_dotdot)
Function to calculate from Cartesian forces to joint torques.
Definition chainfdsolver_recursive_newton_euler.cpp:51
JntArray Tzeroacc
Definition chainfdsolver_recursive_newton_euler.hpp:101
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition chainfdsolver_recursive_newton_euler.cpp:46
JntSpaceInertiaMatrix H
Definition chainfdsolver_recursive_newton_euler.hpp:100
ChainFdSolver_RNE(const Chain &chain, Vector grav)
Constructor for the solver, it will allocate all the necessary memory.
Definition chainfdsolver_recursive_newton_euler.cpp:29
const Chain & chain
Definition chainfdsolver_recursive_newton_euler.hpp:95
Eigen::VectorXd Tzeroacc_eig
Definition chainfdsolver_recursive_newton_euler.hpp:103
unsigned int nj
Definition chainfdsolver_recursive_newton_euler.hpp:98
ChainDynParam DynSolver
Definition chainfdsolver_recursive_newton_euler.hpp:96
Eigen::VectorXd D_eig
Definition chainfdsolver_recursive_newton_euler.hpp:105
void RK4Integrator(unsigned int &nj, const double &t, double &dt, KDL::JntArray &q, KDL::JntArray &q_dot, KDL::JntArray &torques, KDL::Wrenches &f_ext, KDL::ChainFdSolver_RNE &fdsolver, KDL::JntArray &q_dotdot, KDL::JntArray &dq, KDL::JntArray &dq_dot, KDL::JntArray &q_temp, KDL::JntArray &q_dot_temp)
Function to integrate the joint accelerations resulting from the forward dynamics solver.
Definition chainfdsolver_recursive_newton_euler.cpp:95
unsigned int ns
Definition chainfdsolver_recursive_newton_euler.hpp:99
Eigen::VectorXd acc_eig
Definition chainfdsolver_recursive_newton_euler.hpp:107
ChainIdSolver_RNE IdSolver
Definition chainfdsolver_recursive_newton_euler.hpp:97
Eigen::MatrixXd L_eig
Definition chainfdsolver_recursive_newton_euler.hpp:104
~ChainFdSolver_RNE()
Definition chainfdsolver_recursive_newton_euler.hpp:50
Eigen::VectorXd r_eig
Definition chainfdsolver_recursive_newton_euler.hpp:106
Eigen::MatrixXd H_eig
Definition chainfdsolver_recursive_newton_euler.hpp:102
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition chainfdsolver.hpp:42
Recursive newton euler inverse dynamics solver.
Definition chainidsolver_recursive_newton_euler.hpp:40
Definition chain.hpp:35
Definition jntarray.hpp:70
A concrete implementation of a 3 dimensional vector class.
Definition frames.hpp:161
Definition articulatedbodyinertia.cpp:26
std::vector< Wrench > Wrenches
Definition chainfdsolver.hpp:34