class
FixedBaseDynamicsFixedBaseDynamics describes a the dynamics of a fixed base system The FixedBaseDynamics inherits from a generic DynamicalSystem where the State is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
s | Eigen::VectorXd | Joint positions [in rad] |
ds | Eigen::VectorXd | Joint velocities [in rad/s] |
The StateDerivative
is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
ds | Eigen::VectorXd | Joint velocities [in rad] |
dds\ilinebr </td> <td class="markdownTableBodyCenter"> Eigen::VectorXd` | Joint accelerations [in rad/s^2] |
The Input
is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
tau | Eigen::VectorXd | Joint torque [in N/m] |
Base classes
-
template<class _Derived>class DynamicalSystem<FixedBaseDynamics>
- DynamicalSystem defines a continuous time dynamical system, i.e.
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool - Initialize the FixedBaseDynamics system.
- auto setRobotModel(const iDynTree::Model& model) -> bool
- Set the model of the robot.
- auto setMassMatrixRegularization(const Eigen::Ref<const Eigen::MatrixXd>& matrix) -> bool
- Set the mass matrix regularization term.
- auto dynamics(const std::chrono::nanoseconds& time, StateDerivative& stateDerivative) -> bool
- Computes the floating based system dynamics.
- auto setState(const State& state) -> bool
- Set the state of the dynamical system.
- auto getState() const -> const State&
- Get the state to the dynamical system.
- auto setControlInput(const Input& controlInput) -> bool
- Set the control input to the dynamical system.
Function documentation
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FixedBaseDynamics:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler)
Initialize the FixedBaseDynamics system.
Parameters | |
---|---|
handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FixedBaseDynamics:: setRobotModel(const iDynTree::Model& model)
Set the model of the robot.
Parameters | |
---|---|
model | an iDynTree robot model. |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FixedBaseDynamics:: setMassMatrixRegularization(const Eigen::Ref<const Eigen::MatrixXd>& matrix)
Set the mass matrix regularization term.
Parameters | |
---|---|
matrix | the regularization term for the mass matrix. @notice Calling this function is not mandatory. Call it only if you want to add a regularization term. |
Returns | true in case of success, false otherwise. |
i.e. . Where is the mass matrix and is the matrix regularization term.
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FixedBaseDynamics:: dynamics(const std::chrono::nanoseconds& time,
StateDerivative& stateDerivative)
Computes the floating based system dynamics.
Parameters | |
---|---|
time | the time at witch the dynamics is computed. |
stateDerivative | |
Returns | true in case of success, false otherwise. |
It return .
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FixedBaseDynamics:: setControlInput(const Input& controlInput)
Set the control input to the dynamical system.
Parameters | |
---|---|
controlInput | the value of the control input used to compute the system dynamics. |
Returns | true in case of success, false otherwise. |