orocos_kdl
chaindynparam.hpp
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1 // Copyright (C) 2009 Dominick Vanthienen <dominick dot vanthienen at intermodalics dot eu>
2 
3 // Version: 1.0
4 // Author: Dominick Vanthienen <dominick dot vanthienen at intermodalics dot eu>
5 // Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
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 KDLCHAINDYNPARAM_HPP
23 #define KDLCHAINDYNPARAM_HPP
24 
28 #include <Eigen/StdVector>
29 
30 namespace KDL {
31 
47  class ChainDynParam : public SolverI
48  {
49  public:
50  ChainDynParam(const Chain& chain, Vector _grav);
51  virtual ~ChainDynParam();
52 
53  virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis);
54  virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix& H);
55  virtual int JntToGravity(const JntArray &q,JntArray &gravity);
56 
58  virtual void updateInternalDataStructures();
59 
60  private:
61  const Chain& chain;
62  int nr; // unused, remove in a future version
63  unsigned int nj;
64  unsigned int ns;
73  //std::vector<RigidBodyInertia> I;
77 
78  };
79 
80 }
81 
82 #endif
jntspaceinertiamatrix.hpp
KDL::ChainDynParam::wrenchnull
std::vector< Wrench > wrenchnull
Definition: chaindynparam.hpp:70
KDL::ChainIdSolver_RNE
Recursive newton euler inverse dynamics solver.
Definition: chainidsolver_recursive_newton_euler.hpp:40
KDL::JntArray
Definition: jntarray.hpp:69
KDL::ChainDynParam::updateInternalDataStructures
virtual void updateInternalDataStructures()
Definition: chaindynparam.cpp:46
KDL::ChainDynParam::ag
Twist ag
Definition: chaindynparam.hpp:76
std::vector
chainidsolver_recursive_newton_euler.hpp
KDL::ChainDynParam::Ic
std::vector< ArticulatedBodyInertia, Eigen::aligned_allocator< ArticulatedBodyInertia > > Ic
Definition: chaindynparam.hpp:74
KDL::ChainDynParam
Definition: chaindynparam.hpp:47
KDL::ChainDynParam::X
std::vector< Frame > X
Definition: chaindynparam.hpp:71
KDL
Definition: kukaLWR_DHnew.cpp:25
KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:162
KDL::Twist
represents both translational and rotational velocities.
Definition: frames.hpp:723
KDL::ChainDynParam::nj
unsigned int nj
Definition: chaindynparam.hpp:63
KDL::ChainDynParam::ns
unsigned int ns
Definition: chaindynparam.hpp:64
KDL::Wrench
represents both translational and rotational acceleration.
Definition: frames.hpp:881
KDL::ChainDynParam::JntToMass
virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix &H)
Definition: chaindynparam.cpp:60
KDL::ChainDynParam::nr
int nr
Definition: chaindynparam.hpp:62
KDL::ChainDynParam::ChainDynParam
ChainDynParam(const Chain &chain, Vector _grav)
Definition: chaindynparam.cpp:29
KDL::SolverI
Definition: solveri.hpp:84
KDL::ChainDynParam::grav
Vector grav
Definition: chaindynparam.hpp:65
KDL::ChainDynParam::S
std::vector< Twist > S
Definition: chaindynparam.hpp:72
KDL::ChainDynParam::chainidsolver_coriolis
ChainIdSolver_RNE chainidsolver_coriolis
Definition: chaindynparam.hpp:68
KDL::ChainDynParam::chainidsolver_gravity
ChainIdSolver_RNE chainidsolver_gravity
Definition: chaindynparam.hpp:69
articulatedbodyinertia.hpp
KDL::ChainDynParam::JntToGravity
virtual int JntToGravity(const JntArray &q, JntArray &gravity)
Definition: chaindynparam.cpp:139
KDL::ChainDynParam::F
Wrench F
Definition: chaindynparam.hpp:75
KDL::ChainDynParam::~ChainDynParam
virtual ~ChainDynParam()
Definition: chaindynparam.cpp:149
KDL::ChainDynParam::vectornull
Vector vectornull
Definition: chaindynparam.hpp:66
KDL::ChainDynParam::chain
const Chain & chain
Definition: chaindynparam.hpp:61
KDL::ChainDynParam::JntToCoriolis
virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
Definition: chaindynparam.cpp:127
KDL::Chain
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
Definition: chain.hpp:35
KDL::ChainDynParam::jntarraynull
JntArray jntarraynull
Definition: chaindynparam.hpp:67