#include <CDynamicsAnalyticBase.hpp>

Inheritance diagram for scl::CDynamicsAnalyticBase:

Public Member Functions
virtual sBool	computeGCModel (const Eigen::VectorXd &arg_q, SGcModel &arg_gc_model)=0

virtual sBool	computeTransformationMatrix (const Eigen::VectorXd &arg_q, sInt arg_link_id, sInt arg_ancestor_link_id, Eigen::Affine3d &arg_T)=0

virtual sBool	computeJacobian (const Eigen::VectorXd &arg_q, sInt arg_link_id, const Eigen::VectorXd &arg_pos_local, Eigen::MatrixXd &arg_J)=0

virtual sUInt	getIdForLink (std::string arg_link_name)=0

	CDynamicsAnalyticBase ()

virtual	~CDynamicsAnalyticBase ()

virtual sBool	init (const SRobotParsed &arg_robot_data)=0

virtual sBool	hasBeenInit ()

Protected Attributes
sBool	has_been_init_

Detailed Description

A base class for an analytic dynamics implementation for an actuated articulated body (a robot).

All dynamics implementations must try to be stateless. Ie. After one initial configuration that specifies the dynamic model's parameters, they must not store any more data. Pass in the model configuration as an argument and return the new state and/or dynamics matrices.

Constructor & Destructor Documentation

scl::CDynamicsAnalyticBase::CDynamicsAnalyticBase ( )

inline

Default constructor sets the initialization state to false

virtual scl::CDynamicsAnalyticBase::~CDynamicsAnalyticBase ( )

inlinevirtual

Default destructor does nothing

Member Function Documentation

virtual sBool scl::CDynamicsAnalyticBase::computeGCModel	(	const Eigen::VectorXd &	arg_q,
		SGcModel &	arg_gc_model
	)

pure virtual

Updates the generalized coordinate model matrices (Everything in SGcModel).

This is the most efficient method to access the standard matrices. Computing transformations and Jacobians individually is typically wasteful.

Parameters

arg_q	The generalized coordinates
arg_gc_model	All individual dynamics matrices will be saved here.

Implemented in scl::CDynamicsAnalyticRPP.

virtual sBool scl::CDynamicsAnalyticBase::computeJacobian	(	const Eigen::VectorXd &	arg_q,
		sInt	arg_link_id,
		const Eigen::VectorXd &	arg_pos_local,
		Eigen::MatrixXd &	arg_J
	)

pure virtual

Calculates the Jacobian for the robot to which this dynamics object is assigned.

The Jacobian is specified by a link and an offset (in task space dimensions)from that link

Uses id based link lookup. The dynamics implementation should support this (maintain a map or something).

Parameters

arg_q	The generalized coordinates
arg_link_id	The link at which the Jacobian is to be calculated
arg_pos_local	The offset from the link's frame (in local coordinates).
arg_J	The Jacobian will be saved here.

Implemented in scl::CDynamicsAnalyticRPP.

virtual sBool scl::CDynamicsAnalyticBase::computeTransformationMatrix	(	const Eigen::VectorXd &	arg_q,
		sInt	arg_link_id,
		sInt	arg_ancestor_link_id,
		Eigen::Affine3d &	arg_T
	)

pure virtual

Calculates the Transformation Matrix for the robot to which this dynamics object is assigned.

The Transformation Matrix is specified by a link and an offset (in task space dimensions)from that link and is given by:

      x_ancestor_frame_coords = T * x_link_coords

Uses id based link lookup. The dynamics implementation should support this (maintain a map or something).

Parameters

arg_q	The generalized coordinates
arg_link_id	The link at which the transformation matrix is to be calculated
arg_ancestor_link_id	The link up to which the transformation matrix is to be calculated
arg_T	The transformation matrix will be saved here.

Implemented in scl::CDynamicsAnalyticRPP.

virtual sUInt scl::CDynamicsAnalyticBase::getIdForLink ( std::string arg_link_name )

pure virtual

Gives an id for a link name.

Useful because: