Dynamics.hpp File Reference

#include <assert.h>
#include <iostream>
#include "rdl_dynamics/SpatialForce.hpp"
#include "rdl_dynamics/rdl_mathutils.hpp"

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Namespaces
	RobotDynamics
	Namespace for all structures of the RobotDynamics library.

Functions
void	RobotDynamics::inverseDynamics (Model &model, const VectorNd &Q, const VectorNd &QDot, const VectorNd &QDDot, VectorNd &Tau, SpatialForceV *f_ext, bool update_kinematics)
void	RobotDynamics::coriolisEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)
	Computes the coriolis forces. More...
void	RobotDynamics::gravityEffects (Model &model, Math::VectorNd &Tau)
	Computes the gravity vector. More...
void	RobotDynamics::calcBodyGravityWrench (Model &model, unsigned int body_id, RobotDynamics::Math::SpatialForce &gravity_wrench)
	Calculate the wrench due to gravity on a body. More...
void	RobotDynamics::nonlinearEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)
	Computes the coriolis forces. More...
void	RobotDynamics::compositeRigidBodyAlgorithm (Model &model, const Math::VectorNd &Q, Math::MatrixNd &H, bool update_kinematics=true)
	Computes the joint space inertia matrix by using the Composite Rigid Body Algorithm. More...
void	RobotDynamics::forwardDynamics (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, Math::VectorNd &QDDot, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)
	Computes forward dynamics with the Articulated Body Algorithm. More...
void	RobotDynamics::forwardDynamicsLagrangian (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, Math::VectorNd &QDDot, Math::MatrixNd &H, Math::VectorNd &C, Math::LinearSolver linear_solver=Math::LinearSolverColPivHouseholderQR, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)
	Computes forward dynamics by building and solving the full Lagrangian equation. More...
void	RobotDynamics::calcMInvTimesTau (Model &model, const Math::VectorNd &Q, const Math::VectorNd &Tau, Math::VectorNd &QDDot, bool update_kinematics=true)
	Computes the effect of multiplying the inverse of the joint space inertia matrix with a vector in linear time. More...