cnoid::ForwardDynamicsCBM Class Reference

#include <ForwardDynamicsCBM.h>

Inheritance diagram for cnoid::ForwardDynamicsCBM:

Public Member Functions
	ForwardDynamicsCBM (DySubBody *subBody)
	~ForwardDynamicsCBM ()
virtual void	initialize ()
virtual void	calcNextState ()
virtual void	refreshState ()
void	complementHighGainModeCommandValues ()
void	initializeAccelSolver ()
void	sumExternalForces ()
void	solveUnknownAccels ()
void	solveUnknownAccels (const Vector3 &fext, const Vector3 &tauext)
bool	solveUnknownAccels (DyLink *link, const Vector3 &fext, const Vector3 &tauext, const Vector3 &rootfext, const Vector3 &roottauext)
Public Member Functions inherited from cnoid::ForwardDynamics
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ForwardDynamics (DySubBody *subBody)
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

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 (Isometry3 &out_T, const Isometry3 &T0, const Vector3 &w, const Vector3 &vo, double dt)
	update position/orientation using spatial velocity More...
Protected Attributes inherited from cnoid::ForwardDynamics
DySubBodyPtr	subBody
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

(

DySubBody *

subBody

)

~ForwardDynamicsCBM()

ForwardDynamicsCBM::~ForwardDynamicsCBM

(

)

Member Function Documentation

calcNextState()

void ForwardDynamicsCBM::calcNextState ( )

virtual

Implements cnoid::ForwardDynamics.

complementHighGainModeCommandValues()

void ForwardDynamicsCBM::complementHighGainModeCommandValues

(

)

initialize()

void ForwardDynamicsCBM::initialize ( )

virtual

Implements cnoid::ForwardDynamics.

initializeAccelSolver()

void ForwardDynamicsCBM::initializeAccelSolver

(

)

refreshState()

void ForwardDynamicsCBM::refreshState ( )

virtual

Implements cnoid::ForwardDynamics.

solveUnknownAccels() [1/3]

void ForwardDynamicsCBM::solveUnknownAccels

(

)

solveUnknownAccels() [2/3]

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

solveUnknownAccels() [3/3]

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

This is called from ConstraintForceSolver.

Returns

This function returns true if the accelerations can be calculated for the axes of unkown motion. If there is no axis of unkown motion, the function returns false.

sumExternalForces()

void ForwardDynamicsCBM::sumExternalForces

(

)

Member Data Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

cnoid::ForwardDynamicsCBM::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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

• ForwardDynamicsCBM.h
• ForwardDynamicsCBM.cpp