ConstrainedDynamics.h File Reference

Functions for computing dynamics under constraints. More...

#include "RobotDynamics3D.h"
#include "IK.h"

Go to the source code of this file.

Functions
bool	ConstrainedCalcAccel (RobotDynamics3D &robot, const std::vector< int > &fixedLinks, const std::vector< int > &fixedDofs, const Vector &t, Vector &ddq, Vector *f=NULL)
	If the fixed links are fixed in place, computes how torques t map to accelerations ddq. Assumes q,dq are given in the robot and that the robot's frames are updated. Provide f if you want the constraint forces.
bool	ConstrainedCalcTorque (RobotDynamics3D &robot, const std::vector< int > &fixedLinks, const std::vector< int > &fixedDofs, const Vector &ddq, Vector &t, Vector *f=NULL)
bool	ConstrainedCalcAccel (RobotDynamics3D &robot, const std::vector< IKGoal > &constraints, const Vector &t, Vector &ddq, Vector *f=NULL)
	If the IK constraints are fixed in place, computes how torques t map to accelerations ddq. Assumes q,dq are given in the robot and that the robot's frames are updated. Provide f if you want the constraint forces.
bool	ConstrainedCalcTorque (RobotDynamics3D &robot, const std::vector< IKGoal > &constraints, const Vector &ddq, Vector &t, Vector *f=NULL)
bool	ConstrainedCalcAccel (RobotDynamics3D &robot, const Vector &ddx, const Matrix &dC_dq, const Vector &t, Vector &ddq, Vector *f=NULL)
	If the constraint ddx=dC/dq(q)ddq is given, computes how the torques t map to accelerations ddq. The jacobian dC/dq(q) is given in the dC_dq param. Assumes q,dq are given in the robot and that the robot's frames are updated. Provide f if you want the constraint forces.
bool	ConstrainedCalcTorque (RobotDynamics3D &robot, const Vector &ddx, const Matrix &dC_dq, const Vector &ddq, Vector &t, Vector *f=NULL)
bool	ConstrainedForwardDynamics (RobotDynamics3D &robot, const std::vector< int > &fixedLinks, const std::vector< int > &fixedDofs, Matrix &A, Vector &b)
	Returns a linearized dynamic model onto the constraints, such that if t is the torque applied to the system, the acceleration of the constrained system is ddq=A*t+b.
bool	ConstrainedForwardDynamics (RobotDynamics3D &robot, const Vector &ddx, const Matrix &dC_dq, Matrix &A, Vector &b)
	Returns a linearized dynamic model onto the constraints, such that if t is the torque applied to the system, the acceleration of the constrained system is ddq=A*t+b.
bool	ConstrainedProjector (RobotDynamics3D &robot, const std::vector< int > &fixedLinks, const std::vector< int > &fixedDofs, Matrix &A, Vector &b)
	Returns a projection of the dynamics onto the constraints, such that if ddq0 is the acceleration of the unconstrained system, then the acceleration of the constrained system is ddq=A*ddq0+b.
bool	ConstrainedProjector (RobotDynamics3D &robot, const Vector &ddx, const Matrix &dC_dq, Matrix &A, Vector &b)
	Returns a projection of the dynamics onto the constraints ddx=dC/dq(q)*ddq, such that if ddq0 is the acceleration of the unconstrained system, then the acceleration of the constrained system is ddq=A*ddq0+b.

Detailed Description

Functions for computing dynamics under constraints.