BipedalLocomotion::ContinuousDynamicalSystem::FloatingBaseSystemAccelerationKinematics class
#include <BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseSystemAccelerationKinematics.h>

FloatingBaseSystemAccelerationKinematics describes the kinematics of a floating base system at the acceleration level.

It inherits from a generic DynamicalSystem where:

The State is represented as a named tuple with the following parameters:

Name	Type	Description
`p`	`Eigen::Vector3d`	Base position expressed in the inertial frame.
`R`	`manif::SO3d`	Base orientation. The rotation matrix ( {}^I R_b ) transforms vectors expressed in the base frame to the inertial frame.
`s`	`Eigen::VectorXd`	Joint positions (in radians).
`dp`	`Eigen::Vector3d`	Base linear velocity (i.e., time derivative of `p`), expressed in the inertial frame. (mixed representation)
`omega`	`manif::SO3d::Tangent`	Base angular velocity, expressed in the inertial frame (using left trivialization).
`ds`	`Eigen::VectorXd`	Joint velocities (in rad/s).

The StateDerivative is represented as a named tuple with the following parameters:

Name	Type	Description
`dp`	`Eigen::Vector3d`	Time derivative of the base position (i.e., base linear velocity).
`omega`	`manif::SO3d::Tangent`	Time derivative of the base orientation (related to angular velocity).
`ds`	`Eigen::VectorXd`	Time derivative of the joint positions (i.e., joint velocities).
`ddp`	`Eigen::Vector3d`	Base linear acceleration (second time derivative of `p`).
`domega`	`manif::SO3d::Tangent`	Base angular acceleration (time derivative of `omega`).
`dds`	`Eigen::VectorXd`	Joint accelerations (in rad/s²).

The Input to the system is represented as a named tuple with the following parameters:

Name	Type	Description
`dtwist`	`Twist` (e.g., `Eigen::Matrix<double, 6, 1>`)	Base twist in mixed representation (typically combining both linear and angular components).
`dds`	`Eigen::VectorXd`	Joint accelerations (in rad/s²).

This formulation encapsulates both the instantaneous state (including positions and velocities) and their time derivatives (accelerations), while employing Lie group representations (i.e., ( SO(3) )) for handling rotations.

Base classes

template<class _Derived> class DynamicalSystem<FloatingBaseSystemAccelerationKinematics>: DynamicalSystem defines a continuous time dynamical system, i.e.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool: Initialize the Dynamical system.
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.
auto dynamics(const std::chrono::nanoseconds& time, StateDerivative& stateDerivative) -> bool: Computes the floating based system dynamics.

Function documentation

bool BipedalLocomotion::ContinuousDynamicalSystem::FloatingBaseSystemAccelerationKinematics::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler)

Initialize the Dynamical system.

Parameters
handler	pointer to the parameter handler.
Returns	true in case of success/false otherwise.

bool BipedalLocomotion::ContinuousDynamicalSystem::FloatingBaseSystemAccelerationKinematics::setState(const State& state)

Set the state of the dynamical system.

Parameters
state	tuple containing a const reference to the state elements.
Returns	true in case of success, false otherwise.

const State& BipedalLocomotion::ContinuousDynamicalSystem::FloatingBaseSystemAccelerationKinematics::getState() const

Get the state to the dynamical system.

Returns	the current state of the dynamical system

bool BipedalLocomotion::ContinuousDynamicalSystem::FloatingBaseSystemAccelerationKinematics::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.

bool BipedalLocomotion::ContinuousDynamicalSystem::FloatingBaseSystemAccelerationKinematics::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 .