#include <ForwardDynamicsCBM.h>

Inheritance diagram for cnoid::ForwardDynamicsCBM:

Public Member Functions
	ForwardDynamicsCBM (DyBody *body)

	~ForwardDynamicsCBM ()

void	setHighGainModeForAllJoints ()

void	setHighGainMode (int linkIndex, bool on=true)

virtual void	initialize ()

virtual void	calcNextState ()

void	initializeAccelSolver ()

void	sumExternalForces ()

void	solveUnknownAccels ()

void	solveUnknownAccels (const Vector3 &fext, const Vector3 &tauext)

void	solveUnknownAccels (DyLink *link, const Vector3 &fext, const Vector3 &tauext, const Vector3 &rootfext, const Vector3 &roottauext)

Public Member Functions inherited from cnoid::ForwardDynamics
	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)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Public Attributes inherited from cnoid::ForwardDynamics
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Additional Inherited Members
Protected Types inherited from cnoid::ForwardDynamics
enum	{ EULER_METHOD, RUNGEKUTTA_METHOD }

Static Protected Member Functions inherited from cnoid::ForwardDynamics
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 inherited from cnoid::ForwardDynamics
DyBodyPtr	body

Vector3	g

double	timeStep

bool	sensorsEnabled

BasicSensorSimulationHelper	sensorHelper

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

Detailed Description

The ForwardDynamicsCBM class calculates the forward dynamics using the motion equation based on the generalized mass matrix. The class is mainly used for a body that has high-gain mode joints. If all the joints of a body are the torque mode, the ForwardDynamicsABM, which uses the articulated body method, is more efficient.

Constructor & Destructor Documentation

◆ ForwardDynamicsCBM()

ForwardDynamicsCBM::ForwardDynamicsCBM ( DyBody * body )

◆ ~ForwardDynamicsCBM()

ForwardDynamicsCBM::~ForwardDynamicsCBM ( )

Member Function Documentation

◆ calcNextState()

void ForwardDynamicsCBM::calcNextState ( )

virtual

Implements cnoid::ForwardDynamics.

◆ initialize()

void ForwardDynamicsCBM::initialize ( void )

virtual

Implements cnoid::ForwardDynamics.

◆ initializeAccelSolver()

void ForwardDynamicsCBM::initializeAccelSolver ( )

◆ setHighGainMode()

void ForwardDynamicsCBM::setHighGainMode	(	int	linkIndex,
		bool	on = `true`
	)

◆ setHighGainModeForAllJoints()

void ForwardDynamicsCBM::setHighGainModeForAllJoints ( )

◆ solveUnknownAccels() [1/3]

void ForwardDynamicsCBM::solveUnknownAccels ( )

◆ solveUnknownAccels() [2/3]

void ForwardDynamicsCBM::solveUnknownAccels	(	const Vector3 &	fext,
		const Vector3 &	tauext
	)

◆ solveUnknownAccels() [3/3]

void ForwardDynamicsCBM::solveUnknownAccels	(	DyLink *	link,
		const Vector3 &	fext,
		const Vector3 &	tauext,
		const Vector3 &	rootfext,
		const Vector3 &	roottauext
	)

◆ sumExternalForces()

void ForwardDynamicsCBM::sumExternalForces ( )

Member Data Documentation

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

cnoid::ForwardDynamicsCBM::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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

Public Member Functions

Public Attributes

Additional Inherited Members