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

FixedBaseDynamics describes a the dynamics of a fixed base system The FixedBaseDynamics inherits from a generic DynamicalSystem where the State is described by a BipedalLocomotion::GenericContainer::named_tuple.

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::GenericContainer::named_tuple

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::GenericContainer::named_tuple

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.

Note

The following parameters are used

Parameter Name	Type	Description	Mandatory
`gravity`	`double`	Value of the Gravity. If not defined Math::StandardAccelerationOfGravitation is used	No
`base_link`	`string`	Name of the link considered as fixed base in the model. If not defined the default link will be used. Please check here	No

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::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::FixedBaseDynamics::getState() const

Get the state to the dynamical system.

Returns	the current state of the dynamical system

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.