Loading...
Searching...
No Matches
JointPrivate Class Reference

#include </local/robotpkg/var/tmp/robotpkg/math/jrl-dynamics/work/jrl-dynamics-1.25.0/doc/additionalDoc/JointPrivate.hh>

Detailed Description

Rationale

This class implements an abstract Joint class with the following functionnalities:

  • Normalization around the x-axis for the following joints:
    • Rotation
    • Slide
  • A default Spatial based implementation of the Recursive Newton-Euler Algorithm (RNEA).
  • An implementation of the abstractRobotDynamics interface.

An optimized derivation of the RNEA is possible by overloading the following methods:

  • updateVelocity()
  • updateAcceleration()
  • updateWorlCoMPosition()
  • updateAccelerationCoM()
  • updateMomentum()
  • updateTorqueAndForce()

Each of this method is called only if appropriate flags are set inside the library. This allows partial computation of the quantities.