Robotics Library  0.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros
Dynamic.h
Go to the documentation of this file.
1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of the Technische Universitaet Muenchen nor the names of
14 // its contributors may be used to endorse or promote products derived from
15 // this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 
30 #ifndef _RL_MDL_DYNAMIC_H_
31 #define _RL_MDL_DYNAMIC_H_
32 
33 #include "Kinematic.h"
34 
35 namespace rl
36 {
37  namespace mdl
38  {
39  class Dynamic : public Kinematic
40  {
41  public:
42  Dynamic();
43 
44  virtual ~Dynamic();
45 
47 
60 
61  void calculateGravity();
62 
75 
76  void calculateMassMatrix();
77 
90 
92 
105 
107 
112 
113  Model* clone() const;
114 
125 
132  void forwardDynamics();
133 
135 
137 
139 
141 
143 
144  void getWorldGravity(::rl::math::Real& x, ::rl::math::Real& y, ::rl::math::Real& z) const;
145 
146  void getWorldGravity(::rl::math::Vector& xyz) const;
147 
154  void inverseDynamics();
155 
156  void inverseForce();
157 
168 
170 
172 
173  virtual void update();
174 
175  protected:
177 
179 
181 
183 
185 
186  private:
187 
188  };
189  }
190 }
191 
192 #endif // _RL_MDL_DYNAMIC_H_