cnoid::ForwardDynamics Class Reference

#include <ForwardDynamics.h>

Inheritance diagram for cnoid::ForwardDynamics:

Public Member Functions
	ForwardDynamics (DyBody *body)
virtual	~ForwardDynamics ()
void	setGravityAcceleration (const Vector3 &g)
void	setEulerMethod ()
void	setRungeKuttaMethod ()
void	setTimeStep (double timeStep)
void	enableSensors (bool on)
void	setOldAccelSensorCalcMode (bool on)
virtual void	initialize ()=0
virtual void	calcNextState ()=0

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Types
enum	{ EULER_METHOD, RUNGEKUTTA_METHOD }

Protected Member Functions
virtual void	initializeSensors ()

Static Protected Member Functions
static void	SE3exp (Position &out_T, const Position &T0, const Vector3 &w, const Vector3 &vo, double dt)
	update position/orientation using spatial velocity More...

Protected Attributes
DyBodyPtr	body
Vector3	g
double	timeStep
bool	sensorsEnabled
BasicSensorSimulationHelper	sensorHelper
enum cnoid::ForwardDynamics:: { ... }	integrationMode

Detailed Description

This class calculates the forward dynamics of a Body object by using the Featherstone's articulated body algorithm. The class also integrates motion using the Euler method or RungeKutta method.

Member Enumeration Documentation

anonymous enum

anonymous enum

protected

Enumerator
EULER_METHOD
RUNGEKUTTA_METHOD

Constructor & Destructor Documentation

ForwardDynamics()

ForwardDynamics::ForwardDynamics

(

DyBody *

body

)

~ForwardDynamics()

ForwardDynamics::~ForwardDynamics ( )

virtual

Member Function Documentation

calcNextState()

virtual void cnoid::ForwardDynamics::calcNextState ( )

pure virtual

Implemented in cnoid::ForwardDynamicsCBM, and cnoid::ForwardDynamicsABM.

enableSensors()

void ForwardDynamics::enableSensors

(

bool

on

)

initialize()

virtual void cnoid::ForwardDynamics::initialize ( )

pure virtual

Implemented in cnoid::ForwardDynamicsCBM, and cnoid::ForwardDynamicsABM.

initializeSensors()

void ForwardDynamics::initializeSensors ( )

protectedvirtual

SE3exp()

void ForwardDynamics::SE3exp ( Position &  out_T, const Position &  T0, const Vector3 &  w, const Vector3 &  vo, double  dt  )

staticprotected

update position/orientation using spatial velocity

function from Murray, Li and Sastry p.42

Parameters

out_p	p(t+dt)
out_R	R(t+dt)
p0	p(t)
R0	R(t)
w	angular velocity
v0	spatial velocity
dt	time step[s]

setEulerMethod()

void ForwardDynamics::setEulerMethod

(

)

setGravityAcceleration()

void ForwardDynamics::setGravityAcceleration

(

const Vector3 &

g

)

setOldAccelSensorCalcMode()

void ForwardDynamics::setOldAccelSensorCalcMode

(

bool

on

)

setRungeKuttaMethod()

void ForwardDynamics::setRungeKuttaMethod

(

)

setTimeStep()

void ForwardDynamics::setTimeStep

(

double

timeStep

)

Member Data Documentation

body

DyBodyPtr cnoid::ForwardDynamics::body

protected

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

cnoid::ForwardDynamics::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g

Vector3 cnoid::ForwardDynamics::g

protected

integrationMode

enum { ... } cnoid::ForwardDynamics::integrationMode

sensorHelper

BasicSensorSimulationHelper cnoid::ForwardDynamics::sensorHelper

protected

sensorsEnabled

bool cnoid::ForwardDynamics::sensorsEnabled

protected

timeStep

double cnoid::ForwardDynamics::timeStep

protected

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The documentation for this class was generated from the following files:

• ForwardDynamics.h
• ForwardDynamics.cpp