class
FloatingBaseSystemKinematicsFloatingBaseSystemKinematics describes a floating base system kinematics.
The FloatingBaseSystemKinematics inherits from a generic DynamicalSystem where the State is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
p | Eigen::Vector3d | Position of the base w.r.t. the inertial frame |
R | manif::SO3d | Rotation matrix . Matrix that transform a vector whose coordinates are expressed in the base frame in the inertial frame |
s | Eigen::VectorXd | Joint positions [in rad] |
The StateDerivative
is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
dp | Eigen::Vector3d | Linear velocity of the origin of the base link whose coordinates are expressed in the Inertial frame (MIXED RERPESENTATION) |
omega | manif::SO3d::Tangent | base angular velocity whose coordinates are expressed in the inertial frame (Left trivialized) |
ds | Eigen::VectorXd | Joint velocities [in rad/s] |
The Input
is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
twist | Eigen::Matrix<double, 6, 1> | Base twist expressed in mixed representation |
ds | Eigen::VectorXd | Joint velocities [in rad/s] |
Base classes
-
template<class _Derived>class DynamicalSystem<FloatingBaseSystemKinematics>
- 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:: FloatingBaseSystemKinematics:: 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:: FloatingBaseSystemKinematics:: 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:: FloatingBaseSystemKinematics:: 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 .