#include <CDynamicsAnalyticRPP.hpp>

Inheritance diagram for scl::CDynamicsAnalyticRPP:

Collaboration diagram for scl::CDynamicsAnalyticRPP:

Public Member Functions
virtual sBool	computeTransformationMatrix (const Eigen::VectorXd &arg_q, sInt arg_link_id, sInt arg_ancestor_link_id, Eigen::Affine3d &arg_T)

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

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

void	computeTOrg_0 (const Eigen::VectorXd &arg_q, Eigen::Affine3d &arg_T)

void	computeT0_1 (const Eigen::VectorXd &arg_q, Eigen::Affine3d &arg_T)

void	computeT1_2 (const Eigen::VectorXd &arg_q, Eigen::Affine3d &arg_T)

bool	computeJcom (const Eigen::VectorXd &arg_q, unsigned int arg_link_id, Eigen::MatrixXd &arg_J)

bool	computeMgc (const Eigen::VectorXd &arg_q, Eigen::MatrixXd &arg_Mgc)

virtual sUInt	getIdForLink (std::string arg_link_name)

	CDynamicsAnalyticRPP ()

virtual	~CDynamicsAnalyticRPP ()

virtual sBool	init (const SRobotParsed &arg_robot_data)

virtual sBool	hasBeenInit ()

Protected Attributes
Eigen::Vector3d	pos_root_in_global_org_

sBool	has_been_init_

Detailed Description

Implements analytical dynamics for the RPP bot.

For the details of the math used here, please see: Mathematica : doc/MathTutorial_01_RPPBot.nb

Constructor & Destructor Documentation

scl::CDynamicsAnalyticRPP::CDynamicsAnalyticRPP ( )

inline

Default constructor sets the initialization state to false

virtual scl::CDynamicsAnalyticRPP::~CDynamicsAnalyticRPP ( )

inlinevirtual

Default destructor does nothing

Member Function Documentation

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

inlinevirtual

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_gc_model	All individual dynamics matrices will be saved here.

Implements scl::CDynamicsAnalyticBase.

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

inlinevirtual

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.

Implements scl::CDynamicsAnalyticBase.

bool scl::CDynamicsAnalyticRPP::computeJcom	(	const Eigen::VectorXd &	arg_q,
		unsigned int	arg_link_id,
		Eigen::MatrixXd &	arg_J
	)

Compute the Jacobian that maps center of mass velocities in origin (global) coordinates to generalized velocities

bool scl::CDynamicsAnalyticRPP::computeMgc	(	const Eigen::VectorXd &	arg_q,
		Eigen::MatrixXd &	arg_Mgc
	)

Compute the generalized inertia matrix

Uses following inertial properties. Subscript[m, 0] = 10; Subscript[Ixx, 0] = 5; Subscript[Iyy, 0] = 5; Subscript[Izz, 0] = 2; Subscript[Ixy, 0] = 0; Subscript[Ixz, 0] = 0; Subscript[Iyz, 0] = 0; Subscript[m, 1] = 5; Subscript[Ixx, 1] = 3; Subscript[Iyy, 1] = 3; Subscript[Izz, 1] = 1; Subscript[Ixy, 1] = 0; Subscript[Ixz, 1] = 0; Subscript[Iyz, 1] = 0; Subscript[m, 2] = 3; Subscript[Ixx, 2] = 2; Subscript[Iyy, 2] = 2; Subscript[Izz, 2] = 0.5; Subscript[Ixy, 2] = 0; Subscript[Ixz, 2] = 0; Subscript[Iyz, 2] = 0;

Uses following com positions: Subscript[comPos, 0] = (0,0,-0.5) Subscript[comPos, 1] = (0,-.3625,0) Subscript[comPos, 2] = (0 0 .325)

void scl::CDynamicsAnalyticRPP::computeTOrg_0	(	const Eigen::VectorXd &	arg_q,
		Eigen::Affine3d &	arg_T
	)

NOTE : The affine offset includes the offset of the global origin to the robot's origin. This is hard wired for now.

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

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.

Implements scl::CDynamicsAnalyticBase.

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

inlinevirtual

Gives an id for a link name.

Useful because:

Allows storing any dynamic-engine specific objects in the controller.
Avoids using inefficient repeated string based lookup (usually with maps)

Implements scl::CDynamicsAnalyticBase.

virtual sBool scl::CDynamicsAnalyticRPP::hasBeenInit ( )

inlinevirtual

Initialization state

Reimplemented from scl::CDynamicsAnalyticBase.

sBool scl::CDynamicsAnalyticRPP::init ( const SRobotParsed & arg_robot_data )

virtual

The only state here is the position of the robot's ground wrt. the global origin. There is nothing to initialize since the entire dynamics engine is hard-coded for a robot and is otherwise stateless.

Returns, true : success false : failure

Implements scl::CDynamicsAnalyticBase.

Member Data Documentation

sBool scl::CDynamicsAnalyticBase::has_been_init_

protectedinherited

True if the dynamics object has been initialized for a given robot

The documentation for this class was generated from the following files:

/home/samir/Code/control/scl.git/src/scl/dynamics/analytic/CDynamicsAnalyticRPP.hpp
/home/samir/Code/control/scl.git/src/scl/dynamics/analytic/CDynamicsAnalyticRPP.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation