KDL::ChainDynParam Class Reference

#include <chaindynparam.hpp>

Inheritance diagram for KDL::ChainDynParam:

Public Member Functions
	ChainDynParam (const Chain &chain, Vector _grav)
virtual	~ChainDynParam ()
virtual int	JntToCoriolis (const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
virtual int	JntToMass (const JntArray &q, JntSpaceInertiaMatrix &H)
virtual int	JntToGravity (const JntArray &q, JntArray &gravity)
virtual void	updateInternalDataStructures ()
Public Member Functions inherited from KDL::SolverI
	SolverI ()
	Initialize latest error to E_NOERROR.
virtual	~SolverI ()
virtual int	getError () const
	Return the latest error.
virtual const char *	strError (const int error) const

Additional Inherited Members
Public Types inherited from KDL::SolverI
enum	{   E_DEGRADED = +1 , E_NOERROR = 0 , E_NO_CONVERGE = -1 , E_UNDEFINED = -2 ,   E_NOT_UP_TO_DATE = -3 , E_SIZE_MISMATCH = -4 , E_MAX_ITERATIONS_EXCEEDED = -5 , E_OUT_OF_RANGE = -6 ,   E_NOT_IMPLEMENTED = -7 , E_SVD_FAILED = -8 }
Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor.

Detailed Description

Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives. (inverse dynamics)

The algorithm implementation for H is based on the book "Rigid Body Dynamics Algorithms" of Roy Featherstone, 2008 (ISBN:978-0-387-74314-1) See page 107 for the pseudo-code. This algorithm is extended for the use of fixed joints

It calculates the joint-space inertia matrix, given the motion of the joints (q,qdot,qdotdot), external forces on the segments (expressed in the segments reference frame) and the dynamical parameters of the segments.

Constructor & Destructor Documentation

ChainDynParam()

KDL::ChainDynParam::ChainDynParam	(	const Chain &	chain,
		Vector	_grav )

~ChainDynParam()

virtual KDL::ChainDynParam::~ChainDynParam ( )

virtual

Member Function Documentation

JntToCoriolis()

virtual int KDL::ChainDynParam::JntToCoriolis ( const JntArray & q, const JntArray & q_dot, JntArray & coriolis )

virtual

JntToGravity()

virtual int KDL::ChainDynParam::JntToGravity ( const JntArray & q, JntArray & gravity )

virtual

JntToMass()

virtual int KDL::ChainDynParam::JntToMass ( const JntArray & q, JntSpaceInertiaMatrix & H )

virtual

updateInternalDataStructures()

virtual void KDL::ChainDynParam::updateInternalDataStructures ( )

virtual

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.

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

• build/orocos_kdl_install/include/kdl/chaindynparam.hpp