dynacom::DynaCoM Class Reference

#include <dynacom/dyna_com.hpp>

Public Member Functions
	DynaCoM ()
	DynaCoM (const DynaCoMSettings settings)
void	initialize (const DynaCoMSettings settings)
void	computeDynamics (const Eigen::VectorXd &posture, const Eigen::VectorXd &velocity, const Eigen::VectorXd &acceleration, const Eigen::Matrix< double, 6, 1 > &externalWrench=Eigen::Matrix< double, 6, 1 >::Zero(), bool flatHorizontalGround=true)
void	computeNL (const double &w, const Eigen::VectorXd &posture, const Eigen::VectorXd &velocity, const Eigen::VectorXd &acceleration, const Eigen::Matrix< double, 6, 1 > &externalWrench=Eigen::Matrix< double, 6, 1 >::Zero(), bool flatHorizontalGround=true)
void	computeNL (const double &w)
void	addContact6d (const std::shared_ptr< Contact6D > &contact, const std::string &name, const bool active=true)
void	removeContact6d (const std::string &name)
void	activateContact6d (const std::string &name)
void	deactivateContact6d (const std::string &name)
void	distributeForce (const Eigen::Vector3d &groundCoMForce, const Eigen::Vector3d &groundCoMTorque, const Eigen::Vector3d &CoM)
const Eigen::Vector3d &	getAMVariation ()
	Please call computeDynamics first. More...
const Eigen::Vector3d &	getCoM ()
const Eigen::Vector3d &	getVCoM ()
const Eigen::Vector3d &	getACoM ()
const Eigen::Vector3d &	getAM ()
const Eigen::Vector2d &	getCoP ()
const Eigen::Vector2d &	getNL ()
const Eigen::Vector3d &	getGroundCoMForce ()
const Eigen::Vector3d &	getGroundCoMTorque ()
const std::vector< std::string > &	getActiveContacts ()
const std::shared_ptr< Contact6D > &	getContact (std::string name)
const DynaCoMSettings &	getSettings ()
const pinocchio::Model &	getModel ()
const pinocchio::Data &	getData ()
const Eigen::MatrixXd	uni_A ()
const Eigen::VectorXd	uni_b ()
const Eigen::MatrixXd	fri_A ()
const Eigen::VectorXd	fri_b ()
const Eigen::VectorXd	reg_A ()
const Eigen::VectorXd	reg_b ()
const Eigen::Matrix< double, 6, -1 >	NE_A ()
const Eigen::Matrix< double, 6, 1 > &	NE_b ()
const Eigen::VectorXd &	allForces ()

Constructor & Destructor Documentation

DynaCoM() [1/2]

dynacom::DynaCoM::DynaCoM

(

)

DynaCoM() [2/2]

dynacom::DynaCoM::DynaCoM

(

const DynaCoMSettings

settings

)

Member Function Documentation

activateContact6d()

void dynacom::DynaCoM::activateContact6d

(

const std::string &

name

)

addContact6d()

void dynacom::DynaCoM::addContact6d	(	const std::shared_ptr< Contact6D > &	contact,
		const std::string &	name,
		const bool	active = true
	)

allForces()

const Eigen::VectorXd& dynacom::DynaCoM::allForces ( )

inline

computeDynamics()

void dynacom::DynaCoM::computeDynamics	(	const Eigen::VectorXd &	posture,
		const Eigen::VectorXd &	velocity,
		const Eigen::VectorXd &	acceleration,
		const Eigen::Matrix< double, 6, 1 > &	externalWrench = Eigen::Matrix<double, 6, 1>::Zero(),
		bool	flatHorizontalGround = true
	)

The external wrench is supposed to be expressed in the frame of the Center of mass.

The option flatHorizontalGround assumes that supporting contacts where previously defined.

TODO: In the case when flatHorizontalGround = True, still, we could remove the assumption of horizontal ground by including the lateral force produced by the lateral components of the groundNormalReaction.

For this we should know what is the direction normal to the ground. Then, we could change the flag name by bool flatGround. The normal direction can be obtained from the feet frames (both are the same in a flatGround)

computeNL() [1/2]

void dynacom::DynaCoM::computeNL

(

const double &

w

)

In this function form, computeDynamics is supposed to have been called before.

computeNL() [2/2]

void dynacom::DynaCoM::computeNL	(	const double &	w,
		const Eigen::VectorXd &	posture,
		const Eigen::VectorXd &	velocity,
		const Eigen::VectorXd &	acceleration,
		const Eigen::Matrix< double, 6, 1 > &	externalWrench = Eigen::Matrix<double, 6, 1>::Zero(),
		bool	flatHorizontalGround = true
	)

deactivateContact6d()

void dynacom::DynaCoM::deactivateContact6d

(

const std::string &

name

)

distributeForce()

void dynacom::DynaCoM::distributeForce	(	const Eigen::Vector3d &	groundCoMForce,
		const Eigen::Vector3d &	groundCoMTorque,
		const Eigen::Vector3d &	CoM
	)

Make sure that the data of the dynaCoM class has been updated to the correct robot posture before executing this distribution.

//@TODO: if the list of active contacts is empty, no force or torque can be applied. Manage such case. We change the arguments? we throw error? Check.

fri_A()

const Eigen::MatrixXd dynacom::DynaCoM::fri_A ( )

inline

fri_b()

const Eigen::VectorXd dynacom::DynaCoM::fri_b ( )

inline

getACoM()

const Eigen::Vector3d& dynacom::DynaCoM::getACoM ( )

inline

getActiveContacts()

const std::vector<std::string>& dynacom::DynaCoM::getActiveContacts ( )

inline

getAM()

const Eigen::Vector3d& dynacom::DynaCoM::getAM ( )

inline

getAMVariation()

const Eigen::Vector3d& dynacom::DynaCoM::getAMVariation ( )

inline

Please call computeDynamics first.

getCoM()

const Eigen::Vector3d& dynacom::DynaCoM::getCoM ( )

inline

getContact()

const std::shared_ptr<Contact6D>& dynacom::DynaCoM::getContact ( std::string  name )

inline

getCoP()

const Eigen::Vector2d& dynacom::DynaCoM::getCoP ( )

inline

getData()

const pinocchio::Data& dynacom::DynaCoM::getData ( )

inline

getGroundCoMForce()

const Eigen::Vector3d& dynacom::DynaCoM::getGroundCoMForce ( )

inline

getGroundCoMTorque()

const Eigen::Vector3d& dynacom::DynaCoM::getGroundCoMTorque ( )

inline

getModel()

const pinocchio::Model& dynacom::DynaCoM::getModel ( )

inline

getNL()

const Eigen::Vector2d& dynacom::DynaCoM::getNL ( )

inline

getSettings()

const DynaCoMSettings& dynacom::DynaCoM::getSettings ( )

inline

getVCoM()

const Eigen::Vector3d& dynacom::DynaCoM::getVCoM ( )

inline

initialize()

void dynacom::DynaCoM::initialize

(

const DynaCoMSettings

settings

)

NE_A()

const Eigen::Matrix<double, 6, -1> dynacom::DynaCoM::NE_A ( )

inline

NE_b()

const Eigen::Matrix<double, 6, 1>& dynacom::DynaCoM::NE_b ( )

inline

reg_A()

const Eigen::VectorXd dynacom::DynaCoM::reg_A ( )

inline

reg_b()

const Eigen::VectorXd dynacom::DynaCoM::reg_b ( )

inline

removeContact6d()

void dynacom::DynaCoM::removeContact6d

(

const std::string &

name

)

uni_A()

const Eigen::MatrixXd dynacom::DynaCoM::uni_A ( )

inline

uni_b()

const Eigen::VectorXd dynacom::DynaCoM::uni_b ( )

inline

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

• include/dynacom/dyna_com.hpp
• src/dyna_com.cpp