class
KinDynWrapperKinDynWrapper is a concrete class and implements a wrapper of the KinDynComputation class from iDynTree.
The class is used to take updated the sub-model kinematics and dynamics
Public functions
- auto setModel(const SubModel& model) -> bool
- setModel set the model and resize variables.
- auto forwardDynamics(Eigen::Ref<const Eigen::VectorXd> motorTorqueAfterGearbox, Eigen::Ref<const Eigen::VectorXd> frictionTorques, Eigen::Ref<const Eigen::VectorXd> tauExt, manif::SE3d::Tangent baseAcceleration, Eigen::Ref<Eigen::VectorXd> jointAcceleration) -> bool
- forwardDynamics computes the forward dynamics only for the joints.
- auto forwardDynamics(Eigen::Ref<const Eigen::VectorXd> motorTorqueAfterGearbox, Eigen::Ref<const Eigen::VectorXd> frictionTorques, Eigen::Ref<const Eigen::VectorXd> tauExt, Eigen::Ref<Eigen::VectorXd> nuDot) -> bool
- forwardDynamics computes the forward dynamics.
- auto getNuDot() -> Eigen::Ref<const Eigen::VectorXd>
- getNuDot get the base and joint accelerations computed as forward dynamics.
Function documentation
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: KinDynWrapper:: setModel(const SubModel& model)
setModel set the model and resize variables.
Parameters | |
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model | a SubModel object describing the robot model. |
Returns | a boolean value saying if all the variables are initialized correctly. |
The default frame velocity representation is BODY FIXED.
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: KinDynWrapper:: forwardDynamics(Eigen::Ref<const Eigen::VectorXd> motorTorqueAfterGearbox,
Eigen::Ref<const Eigen::VectorXd> frictionTorques,
Eigen::Ref<const Eigen::VectorXd> tauExt,
manif::SE3d::Tangent baseAcceleration,
Eigen::Ref<Eigen::VectorXd> jointAcceleration)
forwardDynamics computes the forward dynamics only for the joints.
Parameters | |
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motorTorqueAfterGearbox | joint motor torques. |
frictionTorques | joint friction torques. |
tauExt | torques generated by external contacts. |
baseAcceleration | acceleration of the base. |
jointAcceleration | acceleration of the joints computed as forward dynamics. |
Returns | true in case of success, false otherwise. |
The base acceleration should be provided by the user.
bool BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: KinDynWrapper:: forwardDynamics(Eigen::Ref<const Eigen::VectorXd> motorTorqueAfterGearbox,
Eigen::Ref<const Eigen::VectorXd> frictionTorques,
Eigen::Ref<const Eigen::VectorXd> tauExt,
Eigen::Ref<Eigen::VectorXd> nuDot)
forwardDynamics computes the forward dynamics.
Parameters | |
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motorTorqueAfterGearbox | joint motor torques. |
frictionTorques | joint friction torques. |
tauExt | torques generated by external contacts. |
nuDot | acceleration of the base plus acceleration of the joints computed as forward dynamics. |
Returns | true in case of success, false otherwise. |
Eigen::Ref<const Eigen::VectorXd> BipedalLocomotion:: Estimators:: RobotDynamicsEstimator:: KinDynWrapper:: getNuDot()
getNuDot get the base and joint accelerations computed as forward dynamics.
Returns | a Eigen::Vector of dimension 6 + nr_of_joints . |
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