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mdl
Dynamic.h
Go to the documentation of this file.
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//
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// Copyright (c) 2009, Markus Rickert
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of the Technische Universitaet Muenchen nor the names of
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// its contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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#ifndef _RL_MDL_DYNAMIC_H_
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#define _RL_MDL_DYNAMIC_H_
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#include "
Kinematic.h
"
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namespace
rl
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{
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namespace
mdl
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{
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class
Dynamic
:
public
Kinematic
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{
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public
:
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Dynamic
();
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virtual
~Dynamic
();
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void
calculateCentrifugalCoriolis
();
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void
calculateCentrifugalCoriolis
(::
rl::math::Vector
&
V
);
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void
calculateGravity
();
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void
calculateGravity
(::
rl::math::Vector
&
G
);
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void
calculateMassMatrix
();
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void
calculateMassMatrix
(::
rl::math::Matrix
&
M
);
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void
calculateMassMatrixInverse
();
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void
calculateMassMatrixInverse
(::
rl::math::Matrix
&
invM
);
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void
calculateOperationalMassMatrixInverse
();
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void
calculateOperationalMassMatrixInverse
(
const ::rl::math::Matrix
&
J
,
const ::rl::math::Matrix
& invM, ::
rl::math::Matrix
&
invMx
)
const
;
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Model
*
clone
()
const
;
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void
eulerCauchy
(
const ::rl::math::Real
& dt);
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void
forwardDynamics
();
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const ::rl::math::Vector
&
getCentrifugalCoriolis
()
const
;
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const ::rl::math::Vector
&
getGravity
()
const
;
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const ::rl::math::Matrix
&
getMassMatrixInverse
()
const
;
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const ::rl::math::Matrix
&
getMassMatrix
()
const
;
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const ::rl::math::Matrix
&
getOperationalMassMatrixInverse
()
const
;
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void
getWorldGravity
(::
rl::math::Real
& x, ::
rl::math::Real
& y, ::
rl::math::Real
& z)
const
;
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void
getWorldGravity
(::
rl::math::Vector
& xyz)
const
;
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void
inverseDynamics
();
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void
inverseForce
();
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void
rungeKuttaNystrom
(
const ::rl::math::Real
& dt);
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void
setWorldGravity
(
const ::rl::math::Real
& x,
const ::rl::math::Real
& y,
const ::rl::math::Real
& z);
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void
setWorldGravity
(
const ::rl::math::Vector
& xyz);
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virtual
void
update
();
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protected
:
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::rl::math::Vector
G
;
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::rl::math::Matrix
invM
;
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::rl::math::Matrix
invMx
;
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::rl::math::Matrix
M
;
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::rl::math::Vector
V
;
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private
:
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};
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}
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}
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#endif // _RL_MDL_DYNAMIC_H_
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