class
FloatingBaseDynamicsWithCompliantContactsFloatingBaseDynamicalSystem describes a floating base dynamical system.
The FloatingBaseDynamicalSystem inherits from a generic DynamicalSystem where:
- DynamicalSystem::StateType is described by an std::tuple containing:
- Eigen::Vector6d: the base velocity expressed in mixed representation;
- Eigen::VectorXd: the joint velocities [in rad/s];
- Eigen::Vector3d: position of the base w.r.t. the inertial frame
- Eigen::Matrix3d: rotation matrix . Matrix that transform a vector whose coordinates are expressed in the base frame in the inertial frame;
- Eigen::VectorXd: the joint positions [in rad].
- DynamicalSystem::StateDerivativeType is described by an std::tuple containing:
- Eigen::Vector6d: the base acceleration expressed in mixed representation;
- Eigen::VectorXd: the joint accelerations [in rad/s^2];
- Eigen::Vector3d: base velocity w.r.t. the inertial frame;
- Eigen::Matrix3d: rate of change of the rotation matrix . whose coordinates are expressed in the base frame in the inertial frame;
- Eigen::VectorXd: the joint velocities [in rad/s].
- DynamicalSystem::InputType is described by an std::tuple containing:
- Eigen::VectorXd: the joint torques [in Nm];
- std::vector<CompliantContactWrench>: List of contact wrenches.
Base classes
-
template<class _Derived>class DynamicalSystem<FloatingBaseDynamicsWithCompliantContacts>
- DynamicalSystem defines a continuous time dynamical system, i.e.
Public functions
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool - Initialize the FloatingBaseDynamicsWithCompliantContacts 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:: FloatingBaseDynamicsWithCompliantContacts:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler)
Initialize the FloatingBaseDynamicsWithCompliantContacts system.
Parameters | |
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handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: FloatingBaseDynamicsWithCompliantContacts:: 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:: FloatingBaseDynamicsWithCompliantContacts:: 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:: FloatingBaseDynamicsWithCompliantContacts:: 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:: FloatingBaseDynamicsWithCompliantContacts:: 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. |