81 lines
2.8 KiB
C++
81 lines
2.8 KiB
C++
// SPDX-License-Identifier: LGPL-2.1-or-later
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// Copyright (C) 2009 Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDLCHAINDYNPARAM_HPP
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#define KDLCHAINDYNPARAM_HPP
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#include "chainidsolver_recursive_newton_euler.hpp"
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#include "articulatedbodyinertia.hpp"
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#include "jntspaceinertiamatrix.hpp"
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namespace KDL {
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/**
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* Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation)
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* for the calculation torques out of the pose and derivatives.
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* (inverse dynamics)
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*
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* The algorithm implementation for H is based on the book "Rigid Body
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* Dynamics Algorithms" of Roy Featherstone, 2008
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* (ISBN:978-0-387-74314-1) See page 107 for the pseudo-code.
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* This algorithm is extended for the use of fixed joints
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*
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* It calculates the joint-space inertia matrix, given the motion of
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* the joints (q,qdot,qdotdot), external forces on the segments
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* (expressed in the segments reference frame) and the dynamical
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* parameters of the segments.
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*/
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class ChainDynParam
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{
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public:
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ChainDynParam(const Chain& chain, Vector _grav);
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virtual ~ChainDynParam();
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virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis);
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virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix& H);
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virtual int JntToGravity(const JntArray &q,JntArray &gravity);
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private:
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const Chain chain;
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//int nr;
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unsigned int nj;
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unsigned int ns;
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Vector grav;
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Vector vectornull;
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JntArray jntarraynull;
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ChainIdSolver_RNE chainidsolver_coriolis;
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ChainIdSolver_RNE chainidsolver_gravity;
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std::vector<Wrench> wrenchnull;
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std::vector<Frame> X;
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std::vector<Twist> S;
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//std::vector<RigidBodyInertia> I;
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std::vector<ArticulatedBodyInertia> Ic;
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Wrench F;
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Twist ag;
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};
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}
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#endif
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