24#ifndef KDL_CHAINHDSOLVER_VERESHCHAGIN_HPP
25#define KDL_CHAINHDSOLVER_VERESHCHAGIN_HPP
31#include<Eigen/StdVector>
372 typedef Eigen::Matrix<double, 6, Eigen::Dynamic>
Matrix6Xd;
530 std::vector<segment_info, Eigen::aligned_allocator<segment_info> >
results;
6D Inertia of a articulated body
Definition articulatedbodyinertia.hpp:40
Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 19...
Definition chainhdsolver_vereshchagin.hpp:367
std::vector< segment_info, Eigen::aligned_allocator< segment_info > > results
Definition chainhdsolver_vereshchagin.hpp:530
Eigen::Matrix< double, 6, 1 > Vector6d
Definition chainhdsolver_vereshchagin.hpp:370
void final_upwards_sweep(JntArray &q_dotdot, JntArray &constraint_torques)
This method puts all acceleration contributions (constraint, bias, nullspace and parent accelerations...
Definition chainhdsolver_vereshchagin.cpp:299
void getTotalTorque(JntArray &total_tau)
Definition chainhdsolver_vereshchagin.cpp:361
ChainHdSolver_Vereshchagin(const Chain &chain, const Twist &root_acc, const unsigned int nc)
Constructor for the solver, it will allocate all the necessary memory.
Definition chainhdsolver_vereshchagin.cpp:31
unsigned int nj
Definition chainhdsolver_vereshchagin.hpp:467
Eigen::VectorXd Sm
Definition chainhdsolver_vereshchagin.hpp:479
Wrench qdotdot_sum
Definition chainhdsolver_vereshchagin.hpp:482
std::vector< Twist > Twists
Definition chainhdsolver_vereshchagin.hpp:368
std::vector< Frame > Frames
Definition chainhdsolver_vereshchagin.hpp:369
const Chain & chain
Definition chainhdsolver_vereshchagin.hpp:466
int CartToJnt(const JntArray &q, const JntArray &q_dot, JntArray &q_dotdot, const Jacobian &alfa, const JntArray &beta, const Wrenches &f_ext, const JntArray &ff_torques, JntArray &constraint_torques)
This method calculates joint space constraint torques and accelerations.
Definition chainhdsolver_vereshchagin.cpp:56
~ChainHdSolver_Vereshchagin()
Definition chainhdsolver_vereshchagin.hpp:384
Eigen::VectorXd tmpm
Definition chainhdsolver_vereshchagin.hpp:480
Jacobian alfa_N2
Definition chainhdsolver_vereshchagin.hpp:472
Frame F_total
Definition chainhdsolver_vereshchagin.hpp:483
unsigned int nc
Definition chainhdsolver_vereshchagin.hpp:469
void getContraintForceMagnitude(Eigen::VectorXd &nu_)
Definition chainhdsolver_vereshchagin.cpp:368
Eigen::VectorXd total_torques
Definition chainhdsolver_vereshchagin.hpp:481
void constraint_calculation(const JntArray &beta)
This method calculates constraint force magnitudes.
Definition chainhdsolver_vereshchagin.cpp:264
void getTransformedLinkAcceleration(Twists &x_dotdot)
Definition chainhdsolver_vereshchagin.cpp:352
Jacobian alfa_N
Definition chainhdsolver_vereshchagin.hpp:471
Eigen::VectorXd nu
Definition chainhdsolver_vereshchagin.hpp:477
Eigen::Matrix< double, 6, 6 > Matrix6d
Definition chainhdsolver_vereshchagin.hpp:371
Twist acc_root
Definition chainhdsolver_vereshchagin.hpp:470
void initial_upwards_sweep(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext)
This method calculates all cartesian space poses, twists, bias accelerations.
Definition chainhdsolver_vereshchagin.cpp:77
Eigen::MatrixXd Vm
Definition chainhdsolver_vereshchagin.hpp:475
Eigen::MatrixXd Um
Definition chainhdsolver_vereshchagin.hpp:474
unsigned int ns
Definition chainhdsolver_vereshchagin.hpp:468
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition chainhdsolver_vereshchagin.cpp:49
Eigen::VectorXd nu_sum
Definition chainhdsolver_vereshchagin.hpp:478
JntArray beta_N
Definition chainhdsolver_vereshchagin.hpp:476
Eigen::MatrixXd M_0_inverse
Definition chainhdsolver_vereshchagin.hpp:473
void downwards_sweep(const Jacobian &alfa, const JntArray &ff_torques)
This method is a force balance sweep.
Definition chainhdsolver_vereshchagin.cpp:138
Eigen::Matrix< double, 6, Eigen::Dynamic > Matrix6Xd
Definition chainhdsolver_vereshchagin.hpp:372
Definition frames.hpp:570
Definition jacobian.hpp:37
Definition jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition solveri.hpp:85
represents both translational and rotational velocities.
Definition frames.hpp:720
represents both translational and rotational acceleration.
Definition frames.hpp:879
Definition articulatedbodyinertia.cpp:26
std::map< std::string, Twist > Twists
Definition treeiksolver.hpp:18
std::vector< Wrench > Wrenches
Definition chainfdsolver.hpp:34
Definition chainhdsolver_vereshchagin.hpp:486
double D
Definition chainhdsolver_vereshchagin.hpp:502
Twist v
Definition chainhdsolver_vereshchagin.hpp:490
double constAccComp
Definition chainhdsolver_vereshchagin.hpp:509
ArticulatedBodyInertia H
Definition chainhdsolver_vereshchagin.hpp:497
Wrench R
Definition chainhdsolver_vereshchagin.hpp:493
Frame F
Definition chainhdsolver_vereshchagin.hpp:487
double biasAccComp
Definition chainhdsolver_vereshchagin.hpp:510
Matrix6Xd E
Definition chainhdsolver_vereshchagin.hpp:503
double u
Definition chainhdsolver_vereshchagin.hpp:512
Twist acc
Definition chainhdsolver_vereshchagin.hpp:491
Eigen::MatrixXd M
Definition chainhdsolver_vereshchagin.hpp:505
Wrench PC
Definition chainhdsolver_vereshchagin.hpp:501
Frame F_base
Definition chainhdsolver_vereshchagin.hpp:488
Wrench R_tilde
Definition chainhdsolver_vereshchagin.hpp:494
Twist Z
Definition chainhdsolver_vereshchagin.hpp:489
Eigen::VectorXd EZ
Definition chainhdsolver_vereshchagin.hpp:507
Twist A
Definition chainhdsolver_vereshchagin.hpp:496
segment_info(unsigned int nc)
Definition chainhdsolver_vereshchagin.hpp:514
double totalBias
Definition chainhdsolver_vereshchagin.hpp:511
Wrench PZ
Definition chainhdsolver_vereshchagin.hpp:500
ArticulatedBodyInertia P_tilde
Definition chainhdsolver_vereshchagin.hpp:499
double nullspaceAccComp
Definition chainhdsolver_vereshchagin.hpp:508
Matrix6Xd E_tilde
Definition chainhdsolver_vereshchagin.hpp:504
Twist C
Definition chainhdsolver_vereshchagin.hpp:495
Eigen::VectorXd G
Definition chainhdsolver_vereshchagin.hpp:506
ArticulatedBodyInertia P
Definition chainhdsolver_vereshchagin.hpp:498
Wrench U
Definition chainhdsolver_vereshchagin.hpp:492