#include <rdl_dynamics/Model.hpp>
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Namespaces | |
| RobotDynamics | |
| Namespace for all structures of the RobotDynamics library. | |
Functions | |
| void | RobotDynamics::forwardHydroDynamics (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 including hydrodynamics effects. More... | |
| void | RobotDynamics::compositeRigidBodyAlgorithmHydro (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. The resulting inertia matrix will include the effects of fluid added inertia. More... | |
| void | RobotDynamics::nonlinearEffectsHydro (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true) |
| Computes the coriolis forces, gravity/buoyancy forces as well as hydroydnamic drag and added mass. More... | |
| void | RobotDynamics::coriolisEffectsHydro (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true) |
| Computes the coriolis forces. More... | |
| void | RobotDynamics::dragEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true) |
| Computes the drag vector. More... | |
| void | RobotDynamics::buoyancyEffects (Model &model, Math::VectorNd &Tau) |
| Computes the buoyancy vector. More... | |
| void | RobotDynamics::potentialEffects (Model &model, Math::VectorNd &Tau) |
| Computes the combined buoyancy+gravity vector. More... | |
| void | RobotDynamics::inverseDynamicsHydro (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, Math::VectorNd &Tau, Math::SpatialForceV *f_ext, bool update_kinematics) |
