Articulated body dynamics classThis class provides inverse and forward dynamics for articulated body. More...

#include <taoABDynamics.h>

Static Public Member Functions
static void	updateLocalXTreeOut (taoDNode *root)
	updates local transforms in the subtree with root More...

static void	resetInertiaTreeOut (taoDNode *root)
	resets inertias in the subtree with root More...

static void	resetFlagTreeOut (taoDNode *root)
	resets flags in the subtree with root More...

static void	forwardDynamics (taoDNode root, const deVector3 gravity)
	computes forward dynamics of the subtree with root under gravity More...

static void	inverseDynamics (taoDNode root, const deVector3 gravity)
	computes inverse dynamics of the subtree with root under gravity More...

static void	forwardDynamicsImpulse (taoDNode contact, const deVector3 point, const deVector3 *impulse, const deInt dist)
	computes velocity changes given impulse More...

static void	globalJacobianOut (taoDNode *root)
	computes global Jacobina matrices More...

static void	opSpaceInertiaMatrixOut (taoDNode root, const deMatrix6 Oah=NULL)
	computes inverse operational space inertia matrix for each node: diagonal terms: Omega_i_i More...

static void	biasAccelerationOut (taoDNode root, const deVector6 Hh=NULL)

static void	compute_Jg_Omega_H (taoDNode root, const deMatrix6 Oah=NULL, const deVector6 *Hh=NULL)

static deFloat	effectiveMassInv (taoDNode node, const deVector3 point, const deVector3 *dir)

static void	opSpaceInvDynamics (taoDNode opNode, deVector6 ddXn)

static void	add2Tau_JgT_F (taoDNode node, const deVector6 Fg)

static deFloat	potentialEnergy (taoDNode root, const deVector3 gravity)
	computes the potential energy of the subtree with root under gravity More...

static deFloat	kineticEnergy (taoDNode root, const deVector6 Vh=NULL)
	computes the kinetic energy of the subtree with root under gravity More...

static void	resetInertia (taoDNode *node)
	resets inertia of node More...

Static Private Member Functions
static void	_forwardDynamicsOutIn (taoDNode root, taoABDynamicsData datah, deVector6 Pah, const deVector6 Vh)

static void	_inverseDynamicsOutIn (taoDNode root, taoABDynamicsData2 datah, deVector6 Fh, const deVector6 Vh, const deVector6 *Ah)

static void	_accelerationTreeOut (taoDNode root, const deVector6 Ah)

static void	_articulatedImpulsePathIn (taoDNode *contact, const deInt dist)

static void	_velocityDeltaTreeOut (taoDNode root, const deVector6 dVh, const deVector6 *Vh, const deInt dist)

static void	_plusEq_Jg_ddQ (taoDNode node, deVector6 A)

Detailed Description

Articulated body dynamics class

This class provides inverse and forward dynamics for articulated body.

Member Function Documentation

void taoABDynamics::forwardDynamics	(	taoDNode *	root,
		const deVector3 *	gravity
	)

static

computes forward dynamics of the subtree with root under gravity

Precondition: q, dq, tau should be given

Postcondition: ddq is acceleration

void taoABDynamics::forwardDynamicsImpulse	(	taoDNode *	contact,
		const deVector3 *	point,
		const deVector3 *	impulse,
		const deInt	dist
	)

static

computes velocity changes given impulse

Parameters

point expressed in local frame

Remarks: use this methods after forwardDynamicsConifgInit

Precondition: tau (impulse) is given only to the contact at local point with impulse

Postcondition: ddq (velocity change) are computed for all nodes, V, dQ are also changed

void taoABDynamics::globalJacobianOut ( taoDNode * root )

static

computes global Jacobina matrices

Precondition: q

Postcondition: Jg

void taoABDynamics::inverseDynamics	(	taoDNode *	root,
		const deVector3 *	gravity
	)

static

computes inverse dynamics of the subtree with root under gravity

Precondition: q, dq, ddq should be given, Fext

Postcondition: tau is computed torque

deFloat taoABDynamics::kineticEnergy	(	taoDNode *	root,
		const deVector6 *	Vh = `NULL`
	)

static

computes the kinetic energy of the subtree with root under gravity

Parameters

Vh	spatial velocity vector of root

Returns: the total kinetic energy

void taoABDynamics::opSpaceInertiaMatrixOut	(	taoDNode *	root,
		const deMatrix6 *	Oah = `NULL`
	)

static

computes inverse operational space inertia matrix for each node: diagonal terms: Omega_i_i

Precondition: S, Dinv, L

Postcondition: Omega

deFloat taoABDynamics::potentialEnergy	(	taoDNode *	root,
		const deVector3 *	gravity
	)

static

computes the potential energy of the subtree with root under gravity

Returns: the total potential energy

void taoABDynamics::resetFlagTreeOut ( taoDNode * root )

static

resets flags in the subtree with root

void taoABDynamics::resetInertia ( taoDNode * node )

static

resets inertia of node

void taoABDynamics::resetInertiaTreeOut ( taoDNode * root )

static

resets inertias in the subtree with root

void taoABDynamics::updateLocalXTreeOut ( taoDNode * root )

static

updates local transforms in the subtree with root

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

/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoABDynamics.h
/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoABDynamics.cpp

Static Public Member Functions

Static Private Member Functions

Detailed Description

Member Function Documentation