Collaboration diagram for Data:

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Public Types
typedef Eigen::Matrix< double, 3, Eigen::Dynamic >	Matrix3x
	The 3d jacobian type (temporary)

typedef SE3::Vector3	Vector3

typedef Eigen::Matrix< double, 6, 6, Eigen::RowMajor >	RowMatrix6

typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	RowMatrixXd

Public Member Functions
	Data (const Model &model)
	Default constructor of se3::Data from a se3::Model. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< double, 6, Eigen::Dynamic >	Matrix6x
	The 6d jacobian type (temporary)

JointDataVector	joints
	Vector of se3::JointData associated to the se3::JointModel stored in model, encapsulated in JointDataAccessor.

container::aligned_vector< Motion >	a
	Vector of joint accelerations expressed at the centers of the joints.

container::aligned_vector< Motion >	oa
	Vector of joint accelerations expressed at the origin.

container::aligned_vector< Motion >	a_gf
	Vector of joint accelerations due to the gravity field.

container::aligned_vector< Motion >	v
	Vector of joint velocities expressed at the centers of the joints.

container::aligned_vector< Motion >	ov
	Vector of joint velocities expressed at the origin.

container::aligned_vector< Force >	f
	Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of all external forces acting on the body.

container::aligned_vector< Force >	of
	Vector of body forces expressed in the world frame. For each body, the force represents the sum of all external forces acting on the body.

container::aligned_vector< Force >	h
	Vector of spatial momenta expressed in the local frame of the joint.

container::aligned_vector< Force >	oh
	Vector of spatial momenta expressed in the world frame.

container::aligned_vector< SE3 >	oMi
	Vector of absolute joint placements (wrt the world).

container::aligned_vector< SE3 >	liMi
	Vector of relative joint placements (wrt the body parent).

Eigen::VectorXd	tau
	Vector of joint torques (dim model.nv).

Eigen::VectorXd	nle
	Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects. More...

Eigen::VectorXd	g
	Vector of generalized gravity (dim model.nv). More...

container::aligned_vector< SE3 >	oMf
	Vector of absolute operationnel frame placements (wrt the world).

container::aligned_vector< Inertia >	Ycrb
	Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint and expressed in the local frame of the joint..

container::aligned_vector< Inertia::Matrix6 >	dYcrb
	Vector of sub-tree composite rigid body inertia time derivatives \( \dot{Y}_{crb}\). See Data::Ycrb for more details.

Eigen::MatrixXd	M
	The joint space inertia matrix (a square matrix of dim model.nv).

RowMatrixXd	Minv
	The inverse of the joint space inertia matrix (a square matrix of dim model.nv).

Eigen::MatrixXd	C
	The Coriolis matrix (a square matrix of dim model.nv).

Matrix6x	dFdq
	Variation of the forceset with respect to the joint configuration.

Matrix6x	dFdv
	Variation of the forceset with respect to the joint velocity.

Matrix6x	dFda
	Variation of the forceset with respect to the joint acceleration.

Matrix6x	SDinv
	Used in computeMinverse.

Matrix6x	UDinv
	Used in computeMinverse.

Matrix6x	IS
	Used in computeMinverse.

container::aligned_vector< Inertia::Matrix6 >	vxI
	Right variation of the inertia matrix.

container::aligned_vector< Inertia::Matrix6 >	Ivx
	Left variation of the inertia matrix.

container::aligned_vector< Inertia >	oYcrb
	Inertia quantities expressed in the world frame.

container::aligned_vector< Inertia::Matrix6 >	doYcrb
	Time variation of the inertia quantities expressed in the world frame.

Inertia::Matrix6	Itmp
	Temporary for derivative algorithms.

RowMatrix6	M6tmpR
	Temporary for derivative algorithms.

Eigen::VectorXd	ddq
	The joint accelerations computed from ABA.

container::aligned_vector< Inertia::Matrix6 >	Yaba
	Inertia matrix of the subtree expressed as dense matrix [ABA].

Eigen::VectorXd	u
	Intermediate quantity corresponding to apparent torque [ABA].

Matrix6x	Ag
	Centroidal Momentum Matrix. More...

Matrix6x	dAg
	Centroidal Momentum Matrix Time Variation. More...

Force	hg
	Centroidal momentum quantity. More...

Inertia	Ig
	Centroidal Composite Rigid Body Inertia. More...

container::aligned_vector< Matrix6x >	Fcrb
	Spatial forces set, used in CRBA and CCRBA.

std::vector< int >	lastChild
	Index of the last child (for CRBA)

std::vector< int >	nvSubtree
	Dimension of the subtree motion space (for CRBA)

Eigen::MatrixXd	U
	Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.

Eigen::VectorXd	D
	Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition.

Eigen::VectorXd	Dinv
	Diagonal inverse of the joint space intertia matrix obtained by a Cholesky Decomposition.

Eigen::VectorXd	tmp
	Temporary of size NV used in Cholesky Decomposition.

std::vector< int >	parents_fromRow
	First previous non-zero row in M (used in Cholesky Decomposition).

std::vector< int >	nvSubtree_fromRow
	Subtree of the current row index (used in Cholesky Decomposition).

Matrix6x	J
	Jacobian of joint placements. More...

Matrix6x	dJ
	Derivative of the Jacobian with respect to the time.

Matrix6x	dVdq
	Variation of the spatial velocity set with respect to the joint configuration.

Matrix6x	dAdq
	Variation of the spatial acceleration set with respect to the joint configuration.

Matrix6x	dAdv
	Variation of the spatial acceleration set with respect to the joint velocity.

Eigen::MatrixXd	dtau_dq
	Partial derivative of the joint torque vector with respect to the joint configuration.

Eigen::MatrixXd	dtau_dv
	Partial derivative of the joint torque vector with respect to the joint velocity.

Eigen::MatrixXd	ddq_dq
	Partial derivative of the joint acceleration vector with respect to the joint configuration.

Eigen::MatrixXd	ddq_dv
	Partial derivative of the joint acceleration vector with respect to the joint velocity.

container::aligned_vector< SE3 >	iMf
	Vector of joint placements wrt to algorithm end effector.

container::aligned_vector< Eigen::Vector3d >	com
	Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.

container::aligned_vector< Eigen::Vector3d >	vcom
	Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.

container::aligned_vector< Eigen::Vector3d >	acom
	Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint \( j \) and expressed in the joint frame \( j \). The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.

std::vector< double >	mass
	Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \( j \). The element mass[0] corrresponds to the total mass of the model.

Matrix3x	Jcom
	Jacobien of center of mass. More...

double	kinetic_energy
	Kinetic energy of the model.

double	potential_energy
	Potential energy of the model.

Eigen::MatrixXd	JMinvJt
	Inverse of the operational-space inertia matrix.

Eigen::LLT< Eigen::MatrixXd >	llt_JMinvJt
	Cholesky decompostion of \(\JMinvJt\).

Eigen::VectorXd	lambda_c
	Lagrange Multipliers corresponding to the contact forces in se3::forwardDynamics.

Eigen::MatrixXd	sDUiJt
	Temporary corresponding to \( \sqrt{D} U^{-1} J^{\top} \).

Eigen::VectorXd	torque_residual
	Temporary corresponding to the residual torque \( \tau - b(q,\dot{q}) \).

Eigen::VectorXd	dq_after
	Generalized velocity after impact.

Eigen::VectorXd	impulse_c
	Lagrange Multipliers corresponding to the contact impulses in se3::impulseDynamics.

Matrix3x	staticRegressor

Detailed Description

Definition at line 40 of file data.hpp.

Constructor & Destructor Documentation

Data ( const Model & model )

inlineexplicit

Default constructor of se3::Data from a se3::Model.

Parameters

[in] model The model structure of the rigid body system.

Definition at line 35 of file data.hxx.

References Data::a, Data::a_gf, Data::Ag, Data::C, Data::f, Data::Fcrb, Model::gravity, Data::h, se3::idx_v(), Data::J, Data::joints, Model::joints, Data::lastChild, Data::liMi, Data::M, Data::Minv, Model::njoints, Model::nv, se3::nv(), Data::nvSubtree, Data::nvSubtree_fromRow, Data::oa, Data::oMf, Data::oMi, Data::ov, Model::parents, Data::parents_fromRow, Data::U, and Data::v.

Member Data Documentation

Matrix6x Ag

Centroidal Momentum Matrix.

Note: \( hg = A_g \dot{q}\) maps the joint velocity set to the centroidal momentum.

Definition at line 173 of file data.hpp.

Referenced by se3::ccrba(), se3::checkData(), se3::crbaMinimal(), Data::Data(), and se3::dccrba().

Matrix6x dAg

Centroidal Momentum Matrix Time Variation.

Note: \( \dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}\) maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum.

Definition at line 178 of file data.hpp.

Referenced by se3::dccrba().

Eigen::VectorXd g

Vector of generalized gravity (dim model.nv).

Note: In the multibody dynamics equation \( M\ddot{q} + c(q, \dot{q}) + g(q) = \tau \), the gravity effect is associated to the \(g\) term.

Definition at line 103 of file data.hpp.

Referenced by se3::computeGeneralizedGravity().

Force hg

Centroidal momentum quantity.

Note: The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).

Definition at line 183 of file data.hpp.

Referenced by se3::ccrba(), and se3::dccrba().

Inertia Ig

Centroidal Composite Rigid Body Inertia.

Note: \( hg = Ig v_{\text{mean}}\) map a mean velocity to the current centroil momentum quantity.

Definition at line 187 of file data.hpp.

Referenced by se3::ccrba(), and se3::dccrba().

Matrix6x J

Jacobian of joint placements.

Note: The columns of J corresponds to the basis of the spatial velocities of each joint and expressed at the origin of the inertial frame. In other words, if \( v_{J_{i}} = S_{i} \dot{q}_{i}\) is the relative velocity of the joint i regarding to its parent, then \(J = \begin{bmatrix} ^{0}X_{1} S_{1} & \cdots & ^{0}X_{i} S_{i} & \cdots & ^{0}X_{\text{nj}} S_{\text{nj}} \end{bmatrix} \). This Jacobian has no special meaning. To get the jacobian of a precise joint, you need to call se3::getJointJacobian

Definition at line 217 of file data.hpp.

Referenced by JointAccelerationDerivativesBackwardStep< rf >::algo(), se3::checkData(), se3::computeJointJacobians(), Data::Data(), se3::getFrameJacobian(), se3::getJointJacobian(), and se3::jointJacobian().

Matrix3x Jcom

Jacobien of center of mass.

Note: This Jacobian maps the joint velocity vector to the velocity of the center of mass, expressed in the inertial frame. In other words, \( v_{\text{CoM}} = J_{\text{CoM}} \dot{q}\).

Definition at line 260 of file data.hpp.

Referenced by se3::checkData(), se3::computeAllTerms(), se3::getJacobianComFromCrba(), and se3::jacobianCenterOfMass().

Eigen::VectorXd nle

Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.

Note: In the multibody dynamics equation \( M\ddot{q} + b(q, \dot{q}) = \tau \), the non linear effects are associated to the term \(b\).

Definition at line 98 of file data.hpp.

Referenced by se3::checkData(), se3::forwardDynamics(), and se3::nonLinearEffects().

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Data Documentation