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Robotics Library
0.6.2
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27 #ifndef _RL_MDL_DYNAMIC_H_
28 #define _RL_MDL_DYNAMIC_H_
189 #endif // _RL_MDL_DYNAMIC_H_
::rl::math::Matrix M
Definition: Dynamic.h:179
void forwardDynamics()
Definition: Dynamic.cpp:215
virtual void update()
Definition: Dynamic.cpp:379
const ::rl::math::Matrix & getOperationalMassMatrixInverse() const
Definition: Dynamic.cpp:258
Dynamic()
Definition: Dynamic.cpp:45
void setWorldGravity(const ::rl::math::Real &x, const ::rl::math::Real &y, const ::rl::math::Real &z)
Definition: Dynamic.cpp:367
const ::rl::math::Vector & getGravity() const
Definition: Dynamic.cpp:240
Definition: Kinematic.h:39
void calculateCentrifugalCoriolis()
Definition: Dynamic.cpp:60
void calculateOperationalMassMatrixInverse()
Definition: Dynamic.cpp:173
::rl::math::Matrix J
Definition: Kinematic.h:155
const ::rl::math::Vector & getCentrifugalCoriolis() const
Definition: Dynamic.cpp:234
const ::rl::math::Matrix & getMassMatrix() const
Definition: Dynamic.cpp:252
::Eigen::Matrix< Real, ::Eigen::Dynamic, ::Eigen::Dynamic > Matrix
Definition: Matrix.h:41
::rl::math::Vector V
Definition: Dynamic.h:181
const ::rl::math::Matrix & getMassMatrixInverse() const
Definition: Dynamic.cpp:246
void calculateMassMatrix()
Definition: Dynamic.cpp:103
void inverseDynamics()
Definition: Dynamic.cpp:276
void getWorldGravity(::rl::math::Real &x, ::rl::math::Real &y, ::rl::math::Real &z) const
Definition: Dynamic.cpp:264
::rl::math::Vector G
Definition: Dynamic.h:173
Model * clone() const
Definition: Dynamic.cpp:185
void eulerCauchy(const ::rl::math::Real &dt)
Integrate with Euler-Cauchy.
Definition: Dynamic.cpp:191
void calculateGravity()
Definition: Dynamic.cpp:84
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
virtual ~Dynamic()
Definition: Dynamic.cpp:55
void rungeKuttaNystrom(const ::rl::math::Real &dt)
Integrate with Runge-Kutta-Nystrom.
Definition: Dynamic.cpp:299
double Real
Definition: Real.h:34
void calculateMassMatrixInverse()
Definition: Dynamic.cpp:138
::rl::math::Matrix invM
Definition: Dynamic.h:175
::rl::math::Matrix invMx
Definition: Dynamic.h:177
void inverseForce()
Definition: Dynamic.cpp:290