Physsim::RCArticulatedBodyInvDynAlgo Class Reference

Abstract class for performing inverse dynamics computation on a reduced-coordinate articulatedc body. More...

#include <RCArticulatedBodyInvDynAlgo.h>

Inheritance diagram for Physsim::RCArticulatedBodyInvDynAlgo:

List of all members.

Public Member Functions
virtual std::map< boost::shared_ptr< Joint >, VectorN >	calc_inv_dyn (boost::shared_ptr< RCArticulatedBody > body, const std::map< boost::shared_ptr< RigidBody >, RCArticulatedBodyInvDynData > &inv_dyn_data)=0
	Classes must implement the method below.

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Detailed Description

Abstract class for performing inverse dynamics computation on a reduced-coordinate articulatedc body.

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Member Function Documentation

virtual std::map<boost::shared_ptr<Joint>, VectorN> Physsim::RCArticulatedBodyInvDynAlgo::calc_inv_dyn	(	boost::shared_ptr< RCArticulatedBody >	body,
		const std::map< boost::shared_ptr< RigidBody >, RCArticulatedBodyInvDynData > &	inv_dyn_data
	)			[pure virtual]

Classes must implement the method below.

Given the current base position and velocity, the joint positions and joint velocities, the external forces on all links (including the base), and the desired joint and base accelerations, the inverse dynamics method must compute the forces applied to the joint actuators to achieve these accelerations.

Returns:

a map from joints to computed actuator forces

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

• /home/drumwrig/Physsim/include/Physsim/RCArticulatedBodyInvDynAlgo.h

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