Physsim::CRBAlgorithm Class Reference

Class for an articulated body using Featherstone's composite-rigid body method for forward dynamics. More...

#include <CRBAlgorithm.h>

Inheritance diagram for Physsim::CRBAlgorithm:

List of all members.

Public Member Functions
virtual void	clone (BasePtr &cloned, bimap< BasePtr, BasePtr > *obj_map=NULL) const
	Implements Base::clone().
virtual void	load_state (BaseConstPtr object, bimap< BasePtr, BasePtr > *correspondence=NULL)
	Implements Base::load_state().
virtual void	save_state (BasePtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) const
	Implements Base::save_state().
virtual void	calc_fwd_dyn (RCArticulatedBodyPtr body, ReferenceFrameType rftype)
	Executes the composite rigid-body method.
virtual void	apply_impulse (RCArticulatedBodyPtr body, const Vector3 &j, const Vector3 &k, const Vector3 &contact_point, RigidBodyPtr link)
	Implements RCArticulatedBodyFwdDynAlgo::apply_impulse().
virtual void	load_from_xml (XMLTreeConstPtr node, std::map< std::string, BasePtr > &id_map)
	Implements Base::load_from_xml().
virtual void	save_to_xml (XMLTreePtr node, std::list< BaseConstPtr > &shared_objects) const
	Implements Base::save_to_xml().
Public Attributes
std::vector< SVector6 >	_v
	The vector of spatial velocities determined in last call to calc_fwd_dyn().
SVector6	_a0
	The spatial acceleration of the base computed on the last call to calc_fwd_dyn().
VectorN	_qdd
	The vector of joint accelerations computed on the last call to calc_fwd_dyn().
std::vector< SMatrix6 >	_Iiso
	The spatial isolated inertias.
SMatrix6	_Ic0
	The composite spatial inertia matrix for the base (only for floating bases) computed on the last call to calc_fwd_dyn().
SVector6	_f0
	The spatial vector of forces on the base (only for floating-bases) computed on the last call to calc_fwd_dyn().
SMatrixN	_K
	The matrix "K" as described by Featherstone on p. 123 computed in the last call to calc_fwd_dyn().
MatrixNN	_inv_aug
	The inverse of the augmented matrix [I_0^c K; K^s H] used to compute forward dynamics for floating bases (see [Featherstone 1987], p. 123); note that we compute this b/c we generally may need to solve multiple systems of linear equations using this matrix as a LHS at different times.
MatrixNN	_H
	The joint-space inertia matrix computed in the last call to calc_fwd_dyn().
MatrixNN	_inv_H
	The inverse of H (note: we compute this b/c we generally may need to solve multiple systems of linear equations using H as a LHS at different times).
VectorN	_Q
	The vector of joint actuator forces used in the last call to calc_fwd_dyn().
VectorN	_C
	The vector "C" (as called by Featherstone) used in the last call to calc_fwd_dyn().

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Detailed Description

Class for an articulated body using Featherstone's composite-rigid body method for forward dynamics.

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Member Function Documentation

void CRBAlgorithm::apply_impulse	(	RCArticulatedBodyPtr	body,
		const Vector3 &	jj,
		const Vector3 &	jk,
		const Vector3 &	point,
		RigidBodyPtr	link
	)			[virtual]

Implements RCArticulatedBodyFwdDynAlgo::apply_impulse().

Precondition:

forward dynamics have been computed already by calc_fwd_dyn()

Implements Physsim::RCArticulatedBodyFwdDynAlgo.

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Member Data Documentation

VectorN Physsim::CRBAlgorithm::_C

The vector "C" (as called by Featherstone) used in the last call to calc_fwd_dyn().

This vector is a sum of the Coriolis, centrifugal, and other forces on the body (all forces except actuator forces).

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

• /home/drumwrig/Physsim/include/Physsim/CRBAlgorithm.h
• /home/drumwrig/Physsim/src/CRBAlgorithm.cpp

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