rl::mdl::Dynamic Class Reference

#include <Dynamic.h>

Inheritance diagram for rl::mdl::Dynamic:

Public Member Functions
	Dynamic ()
virtual	~Dynamic ()
void	calculateCentrifugalCoriolis ()
void	calculateCentrifugalCoriolis (::rl::math::Vector &V)
	Calculate centrifugal and Coriolis vector. More...
void	calculateGravity ()
void	calculateGravity (::rl::math::Vector &G)
	Calculate gravity vector. More...
void	calculateMassMatrix ()
void	calculateMassMatrix (::rl::math::Matrix &M)
	Calculate mass matrix. More...
void	calculateMassMatrixInverse ()
void	calculateMassMatrixInverse (::rl::math::Matrix &invM)
	Calculate mass matrix inverse. More...
void	calculateOperationalMassMatrixInverse ()
void	calculateOperationalMassMatrixInverse (const ::rl::math::Matrix &J, const ::rl::math::Matrix &invM, ::rl::math::Matrix &invMx) const
	Calculate operational space mass matrix inverse. More...
Model *	clone () const
void	eulerCauchy (const ::rl::math::Real &dt)
	Integrate with Euler-Cauchy. More...
void	forwardDynamics ()
const ::rl::math::Vector &	getCentrifugalCoriolis () const
const ::rl::math::Vector &	getGravity () const
const ::rl::math::Matrix &	getMassMatrixInverse () const
const ::rl::math::Matrix &	getMassMatrix () const
const ::rl::math::Matrix &	getOperationalMassMatrixInverse () const
void	getWorldGravity (::rl::math::Real &x, ::rl::math::Real &y, ::rl::math::Real &z) const
void	getWorldGravity (::rl::math::Vector &xyz) const
void	inverseDynamics ()
void	inverseForce ()
void	rungeKuttaNystrom (const ::rl::math::Real &dt)
	Integrate with Runge-Kutta-Nystrom. More...
void	setWorldGravity (const ::rl::math::Real &x, const ::rl::math::Real &y, const ::rl::math::Real &z)
void	setWorldGravity (const ::rl::math::Vector &xyz)
virtual void	update ()
Public Member Functions inherited from rl::mdl::Kinematic
	Kinematic ()
virtual	~Kinematic ()
Model *	clone () const
bool	calculateInversePosition (const ::rl::math::Transform &x, const ::std::size_t &leaf=0, const ::rl::math::Real &delta=::std::numeric_limits< ::rl::math::Real >::infinity(), const ::rl::math::Real &epsilon=1.0e-3f, const ::std::size_t &iterations=1000)
	Resolved motion rate control. More...
void	calculateJacobian ()
void	calculateJacobian (::rl::math::Matrix &J)
	Calculate Jacobian matrix. More...
void	calculateJacobianDerivative ()
void	calculateJacobianDerivative (::rl::math::Vector &Jdqd)
	Calculate Jacobian derivative matrix. More...
void	calculateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)
void	calculateJacobianInverse (const ::rl::math::Matrix &J, ::rl::math::Matrix &invJ, const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true) const
	Calculate Jacobian matrix inverse. More...
::rl::math::Real	calculateManipulabilityMeasure () const
	Calculate manipulability measure. More...
::rl::math::Real	calculateManipulabilityMeasure (const ::rl::math::Matrix &J) const
void	forwardAcceleration ()
void	forwardPosition ()
void	forwardVelocity ()
const ::rl::math::Matrix &	getJacobian () const
const ::rl::math::Vector &	getJacobianDerivative () const
const ::rl::math::Matrix &	getJacobianInverse () const
bool	isSingular () const
	Check if current configuration is singular. More...
bool	isSingular (const ::rl::math::Matrix &J) const
Public Member Functions inherited from rl::mdl::Metric
	Metric ()
virtual	~Metric ()
void	clip (::rl::math::Vector &q) const
Model *	clone () const
::rl::math::Real	distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
void	interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha, ::rl::math::Vector &q) const
::rl::math::Real	inverseOfTransformedDistance (const ::rl::math::Real &d) const
bool	isValid (const ::rl::math::Vector &q) const
::rl::math::Real	maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
::rl::math::Real	minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
::rl::math::Real	minDistanceToRectangle (const ::rl::math::Real &q, const ::rl::math::Real &min, const ::rl::math::Real &max, const ::std::size_t &cuttingDimension) const
::rl::math::Real	newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const
void	step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot, ::rl::math::Vector &q2) const
::rl::math::Real	transformedDistance (const ::rl::math::Real &d) const
::rl::math::Real	transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
Public Member Functions inherited from rl::mdl::Model
	Model ()
virtual	~Model ()
void	add (Compound *compound, const Frame *a, const Frame *b)
void	add (Frame *frame)
void	add (Transform *transform, const Frame *a, const Frame *b)
bool	areColliding (const ::std::size_t &i, const ::std::size_t &j) const
Model *	clone () const
void	getAcceleration (::rl::math::Vector &qdd) const
void	getAccelerationUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
::std::size_t	getBodies () const
Body *	getBody (const ::std::size_t &i) const
::std::size_t	getDof () const
::std::size_t	getDofPosition () const
const ::rl::math::Transform &	getFrame (const ::std::size_t &i) const
Joint *	getJoint (const ::std::size_t &i) const
::std::size_t	getJoints () const
const ::rl::math::MotionVector &	getOperationalAcceleration (const ::std::size_t &i) const
::std::size_t	getOperationalDof () const
const ::rl::math::ForceVector &	getOperationalForce (const ::std::size_t &i) const
const ::rl::math::Transform &	getOperationalPosition (const ::std::size_t &i) const
const ::rl::math::MotionVector &	getOperationalVelocity (const ::std::size_t &i) const
const ::std::string &	getManufacturer () const
void	getMaximum (::rl::math::Vector &max) const
void	getMinimum (::rl::math::Vector &min) const
const ::std::string &	getName () const
void	getPosition (::rl::math::Vector &q) const
void	getPositionUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
void	getTorque (::rl::math::Vector &tau) const
void	getTorqueUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
void	getSpeed (::rl::math::Vector &speed) const
void	getSpeedUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
void	getVelocity (::rl::math::Vector &qd) const
void	getVelocityUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
bool	isColliding (const ::std::size_t &i) const
void	replace (Compound *compound, Transform *transform)
void	replace (Transform *transform, Compound *compound)
void	remove (Compound *compound)
void	remove (Frame *frame)
void	remove (Transform *transform)
void	setAcceleration (const ::rl::math::Vector &qdd)
void	setManufacturer (const ::std::string &manufacturer)
void	setName (const ::std::string &name)
void	setOperationalVelocity (const ::std::size_t &i, const ::rl::math::MotionVector &v) const
void	setPosition (const ::rl::math::Vector &q)
void	setTorque (const ::rl::math::Vector &tau)
void	setVelocity (const ::rl::math::Vector &qd)
::rl::math::Transform &	tool (const ::std::size_t &i=0)
const ::rl::math::Transform &	tool (const ::std::size_t &i=0) const
::rl::math::Transform &	world ()
const ::rl::math::Transform &	world () const

Protected Attributes
::rl::math::Vector	G
::rl::math::Matrix	invM
::rl::math::Matrix	invMx
::rl::math::Matrix	M
::rl::math::Vector	V
Protected Attributes inherited from rl::mdl::Kinematic
::rl::math::Matrix	invJ
::rl::math::Matrix	J
::rl::math::Vector	Jdqd
Protected Attributes inherited from rl::mdl::Model
::std::vector< Body * >	bodies
::std::vector< Element * >	elements
::std::vector< Frame * >	frames
::std::vector< Joint * >	joints
::std::vector< Vertex >	leaves
::std::string	manufacturer
::std::string	name
Vertex	root
::std::vector< Edge >	tools
::std::vector< Transform * >	transforms
Tree	tree

Additional Inherited Members
Protected Types inherited from rl::mdl::Model
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::property< ::boost::vertex_color_t, Compound *, ::boost::shared_ptr< Frame > >, ::boost::property< ::boost::edge_weight_t, Compound *, ::boost::shared_ptr< Transform > >, ::boost::no_property, ::boost::listS >	Tree
typedef ::boost::graph_traits< Tree >::edge_descriptor	Edge
typedef ::boost::graph_traits< Tree >::edge_iterator	EdgeIterator
typedef ::std::pair< EdgeIterator, EdgeIterator >	EdgeIteratorPair
typedef ::boost::graph_traits< Tree >::in_edge_iterator	InEdgeIterator
typedef ::std::pair< InEdgeIterator, InEdgeIterator >	InEdgeIteratorPair
typedef ::boost::graph_traits< Tree >::out_edge_iterator	OutEdgeIterator
typedef ::std::pair< OutEdgeIterator, OutEdgeIterator >	OutEdgeIteratorPair
typedef ::boost::graph_traits< Tree >::vertex_descriptor	Vertex
typedef ::boost::graph_traits< Tree >::vertex_iterator	VertexIterator
typedef ::std::pair< VertexIterator, VertexIterator >	VertexIteratorPair
Protected Member Functions inherited from rl::mdl::Model
void	update (const Vertex &u)

Constructor & Destructor Documentation

Dynamic()

rl::mdl::Dynamic::Dynamic

(

)

~Dynamic()

rl::mdl::Dynamic::~Dynamic ( )

virtual

Member Function Documentation

calculateCentrifugalCoriolis() [1/2]

void rl::mdl::Dynamic::calculateCentrifugalCoriolis

(

)

calculateCentrifugalCoriolis() [2/2]

void rl::mdl::Dynamic::calculateCentrifugalCoriolis

(

::rl::math::Vector &

V

)

Calculate centrifugal and Coriolis vector.

Precondition

setPosition()

setVelocity()

Side Effects:

inverseDynamics()

setAcceleration()

setGravity()

calculateGravity() [1/2]

void rl::mdl::Dynamic::calculateGravity

(

)

calculateGravity() [2/2]

void rl::mdl::Dynamic::calculateGravity

(

::rl::math::Vector &

G

)

Calculate gravity vector.

Precondition

setPosition()

setWorldGravity()

Side Effects:

inverseDynamics()

setVelocity()

setAcceleration()

calculateMassMatrix() [1/2]

void rl::mdl::Dynamic::calculateMassMatrix

(

)

calculateMassMatrix() [2/2]

void rl::mdl::Dynamic::calculateMassMatrix

(

::rl::math::Matrix &

M

)

Calculate mass matrix.

Precondition

setPosition()

Side Effects:

inverseDynamics()

setAcceleration()

setVelocity()

setWorldGravity()

calculateMassMatrixInverse() [1/2]

void rl::mdl::Dynamic::calculateMassMatrixInverse

(

)

calculateMassMatrixInverse() [2/2]

void rl::mdl::Dynamic::calculateMassMatrixInverse

(

::rl::math::Matrix &

invM

)

Calculate mass matrix inverse.

Precondition

setPosition()

Side Effects:

forwardDynamics()

setTorque()

setVelocity()

setWorldGravity()

calculateOperationalMassMatrixInverse() [1/2]

void rl::mdl::Dynamic::calculateOperationalMassMatrixInverse

(

)

calculateOperationalMassMatrixInverse() [2/2]

void rl::mdl::Dynamic::calculateOperationalMassMatrixInverse	(	const ::rl::math::Matrix &	J,
		const ::rl::math::Matrix &	invM,
		::rl::math::Matrix &	invMx
	)		const

Calculate operational space mass matrix inverse.

clone()

Model * rl::mdl::Dynamic::clone

(

)

const

eulerCauchy()

void rl::mdl::Dynamic::eulerCauchy

(

const ::rl::math::Real &

dt

)

Integrate with Euler-Cauchy.

Precondition

setPosition()

setVelocity()

Postcondition

getAcceleration()

getPosition()

getVelocity()

forwardDynamics()

void rl::mdl::Dynamic::forwardDynamics

(

)

Precondition

setPosition()

setTorque()

setVelocity()

Postcondition

getAcceleration()

getCentrifugalCoriolis()

const ::rl::math::Vector & rl::mdl::Dynamic::getCentrifugalCoriolis

(

)

const

getGravity()

const ::rl::math::Vector & rl::mdl::Dynamic::getGravity

(

)

const

getMassMatrix()

const ::rl::math::Matrix & rl::mdl::Dynamic::getMassMatrix

(

)

const

getMassMatrixInverse()

const ::rl::math::Matrix & rl::mdl::Dynamic::getMassMatrixInverse

(

)

const

getOperationalMassMatrixInverse()

const ::rl::math::Matrix & rl::mdl::Dynamic::getOperationalMassMatrixInverse

(

)

const

getWorldGravity() [1/2]

void rl::mdl::Dynamic::getWorldGravity	(	::rl::math::Real &	x,
		::rl::math::Real &	y,
		::rl::math::Real &	z
	)		const

getWorldGravity() [2/2]

void rl::mdl::Dynamic::getWorldGravity

(

::rl::math::Vector &

xyz

)

const

inverseDynamics()

void rl::mdl::Dynamic::inverseDynamics

(

)

Precondition

setAcceleration()

setPosition()

setVelocity()

Postcondition

getTorque()

inverseForce()

void rl::mdl::Dynamic::inverseForce

(

)

rungeKuttaNystrom()

void rl::mdl::Dynamic::rungeKuttaNystrom

(

const ::rl::math::Real &

dt

)

Integrate with Runge-Kutta-Nystrom.

Precondition

setPosition()

setVelocity()

Postcondition

getAcceleration()

getPosition()

getVelocity()

setWorldGravity() [1/2]

void rl::mdl::Dynamic::setWorldGravity	(	const ::rl::math::Real &	x,
		const ::rl::math::Real &	y,
		const ::rl::math::Real &	z
	)

setWorldGravity() [2/2]

void rl::mdl::Dynamic::setWorldGravity

(

const ::rl::math::Vector &

xyz

)

update()

void rl::mdl::Dynamic::update ( )

virtual

Reimplemented from rl::mdl::Kinematic.

Member Data Documentation

G

::rl::math::Vector rl::mdl::Dynamic::G

protected

invM

::rl::math::Matrix rl::mdl::Dynamic::invM

protected

invMx

::rl::math::Matrix rl::mdl::Dynamic::invMx

protected

M

::rl::math::Matrix rl::mdl::Dynamic::M

protected

V

::rl::math::Vector rl::mdl::Dynamic::V

protected

---

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

• rl/mdl/Dynamic.h
• rl/mdl/Dynamic.cpp