KDL::ChainDynParam Class Reference

Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives. More...

#include <chaindynparam.hpp>

List of all members.

Public Member Functions
	ChainDynParam (const Chain &chain, Vector _grav)
virtual int	JntToCoriolis (const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
virtual int	JntToGravity (const JntArray &q, JntArray &gravity)
virtual int	JntToMass (const JntArray &q, JntSpaceInertiaMatrix &H)
	~ChainDynParam ()

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Detailed Description

Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives.

(inverse dynamics)

The algorithm implementation for H is based on the book "Rigid Body Dynamics Algorithms" of Roy Featherstone, 2008 (ISBN:978-0-387-74314-1) See page 107 for the pseudo-code. This algorithm is extended for the use of fixed joints

It calculates the joint-space inertia matrix, given the motion of the joints (q,qdot,qdotdot), external forces on the segments (expressed in the segments reference frame) and the dynamical parameters of the segments.

Definition at line 46 of file chaindynparam.hpp.

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Constructor & Destructor Documentation

KDL::ChainDynParam::ChainDynParam	(	const Chain &	chain,
		Vector	_grav
	)

Definition at line 28 of file chaindynparam.cpp.

References KDL::Vector::Zero().

KDL::ChainDynParam::~ChainDynParam

(

)

Definition at line 131 of file chaindynparam.cpp.

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Member Function Documentation

int KDL::ChainDynParam::JntToCoriolis	(	const JntArray &	q,
		const JntArray &	q_dot,
		JntArray &	coriolis
	)			[virtual]

Definition at line 108 of file chaindynparam.cpp.

References KDL::ChainIdSolver_RNE::CartToJnt(), and KDL::SetToZero().

int KDL::ChainDynParam::JntToGravity	(	const JntArray &	q,
		JntArray &	gravity
	)			[virtual]

Definition at line 121 of file chaindynparam.cpp.

References KDL::ChainIdSolver_RNE::CartToJnt(), and KDL::SetToZero().

int KDL::ChainDynParam::JntToMass	(	const JntArray &	q,
		JntSpaceInertiaMatrix &	H
	)			[virtual]

Definition at line 45 of file chaindynparam.cpp.

References KDL::JntSpaceInertiaMatrix::columns(), KDL::dot(), KDL::Segment::getInertia(), KDL::Segment::getJoint(), KDL::Chain::getSegment(), KDL::Joint::getType(), k, RobotExample::l, KDL::Joint::None, KDL::Segment::pose(), KDL::JntSpaceInertiaMatrix::rows(), KDL::JntArray::rows(), and KDL::Segment::twist().

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

• chaindynparam.hpp
• chaindynparam.cpp