This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file.
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Public Types |
typedef int | Dummy |
Public Member Functions |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | DYNAMIC_GRAPH_ENTITY_DECL () |
dg::SignalTimeDependent
< dg::Matrix, int > & | createEndeffJacobianSignal (const std::string &signame, const std::string &) |
dg::SignalTimeDependent
< dg::Matrix, int > & | createJacobianSignal (const std::string &signame, const std::string &) |
void | destroyJacobianSignal (const std::string &signame) |
dg::SignalTimeDependent
< MatrixHomogeneous, int > & | createPositionSignal (const std::string &, const std::string &) |
void | destroyPositionSignal (const std::string &signame) |
dg::SignalTimeDependent
< dg::Vector, int > & | createVelocitySignal (const std::string &, const std::string &) |
void | destroyVelocitySignal (const std::string &signame) |
dg::SignalTimeDependent
< dg::Vector, int > & | createAccelerationSignal (const std::string &, const std::string &) |
void | destroyAccelerationSignal (const std::string &signame) |
int & | computeNewtonEuler (int &dummy, int time) |
dg::SignalTimeDependent
< dg::Matrix, int > & | jacobiansSOUT (const std::string &name) |
dg::SignalTimeDependent
< MatrixHomogeneous, int > & | positionsSOUT (const std::string &name) |
dg::SignalTimeDependent
< dg::Vector, int > & | velocitiesSOUT (const std::string &name) |
dg::SignalTimeDependent
< dg::Vector, int > & | accelerationsSOUT (const std::string &name) |
| Dynamic (const std::string &name) |
virtual | ~Dynamic (void) |
void | displayModel () const |
void | setModel (se3::Model *) |
void | setData (se3::Data *) |
dg::Vector & | getLowerPositionLimits (dg::Vector &res, const int &) |
| Get joint position lower limits.
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dg::Vector & | getUpperPositionLimits (dg::Vector &res, const int &) |
| Get joint position upper limits.
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dg::Vector & | getUpperVelocityLimits (dg::Vector &res, const int &) |
| Get joint velocity upper limits.
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dg::Vector & | getMaxEffortLimits (dg::Vector &res, const int &) |
| Get joint effort upper limits.
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virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
void | cmd_createOpPointSignals (const std::string &sig, const std::string &j) |
void | cmd_createJacobianWorldSignal (const std::string &sig, const std::string &j) |
void | cmd_createJacobianEndEffectorSignal (const std::string &sig, const std::string &j) |
void | cmd_createPositionSignal (const std::string &sig, const std::string &j) |
Public Attributes |
se3::Model * | m_model |
se3::Data * | m_data |
std::list< dg::SignalBase< int > * > | genericSignalRefs |
dg::SignalPtr< dg::Vector, int > | jointPositionSIN |
dg::SignalPtr< dg::Vector, int > | freeFlyerPositionSIN |
dg::SignalPtr< dg::Vector, int > | jointVelocitySIN |
dg::SignalPtr< dg::Vector, int > | freeFlyerVelocitySIN |
dg::SignalPtr< dg::Vector, int > | jointAccelerationSIN |
dg::SignalPtr< dg::Vector, int > | freeFlyerAccelerationSIN |
dg::SignalTimeDependent< Dummy,
int > | newtonEulerSINTERN |
dg::SignalTimeDependent
< dg::Vector, int > | zmpSOUT |
dg::SignalTimeDependent
< dg::Matrix, int > | JcomSOUT |
dg::SignalTimeDependent
< dg::Vector, int > | comSOUT |
dg::SignalTimeDependent
< dg::Matrix, int > | inertiaSOUT |
dg::SignalTimeDependent
< double, int > | footHeightSOUT |
dg::SignalTimeDependent
< dg::Vector, int > | upperJlSOUT |
dg::SignalTimeDependent
< dg::Vector, int > | lowerJlSOUT |
dg::SignalTimeDependent
< dg::Vector, int > | upperVlSOUT |
dg::SignalTimeDependent
< dg::Vector, int > | upperTlSOUT |
dg::Signal< dg::Vector, int > | inertiaRotorSOUT |
dg::Signal< dg::Vector, int > | gearRatioSOUT |
dg::SignalTimeDependent
< dg::Matrix, int > | inertiaRealSOUT |
dg::SignalTimeDependent
< dg::Vector, int > | MomentaSOUT |
dg::SignalTimeDependent
< dg::Vector, int > | AngularMomentumSOUT |
dg::SignalTimeDependent
< dg::Vector, int > | dynamicDriftSOUT |
Protected Member Functions |
dg::Matrix & | computeGenericJacobian (bool isFrame, int jointId, dg::Matrix &res, int time) |
dg::Matrix & | computeGenericEndeffJacobian (bool isFrame, int jointId, dg::Matrix &res, int time) |
MatrixHomogeneous & | computeGenericPosition (bool isFrame, int jointId, MatrixHomogeneous &res, int time) |
dg::Vector & | computeGenericVelocity (int jointId, dg::Vector &res, int time) |
dg::Vector & | computeGenericAcceleration (int jointId, dg::Vector &res, int time) |
dg::Vector & | computeZmp (dg::Vector &res, int time) |
dg::Vector & | computeMomenta (dg::Vector &res, int time) |
dg::Vector & | computeAngularMomentum (dg::Vector &res, int time) |
dg::Matrix & | computeJcom (dg::Matrix &res, int time) |
dg::Vector & | computeCom (dg::Vector &res, int time) |
dg::Matrix & | computeInertia (dg::Matrix &res, int time) |
dg::Matrix & | computeInertiaReal (dg::Matrix &res, int time) |
double & | computeFootHeight (double &res, int time) |
dg::Vector & | computeTorqueDrift (dg::Vector &res, const int &time) |
Friends |
class | sot::command::SetFile |
class | sot::command::CreateOpPoint |
This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file.