1 #ifndef ROBOTICS_CONSTRAINED_DYNAMICS_H 2 #define ROBOTICS_CONSTRAINED_DYNAMICS_H 4 #include "RobotDynamics3D.h" 17 const std::vector<int>& fixedLinks,
18 const std::vector<int>& fixedDofs,
19 const Vector& t,Vector& ddq,Vector* f=NULL);
21 const std::vector<int>& fixedLinks,
22 const std::vector<int>& fixedDofs,
23 const Vector& ddq,Vector& t,Vector* f=NULL);
32 const std::vector<IKGoal>& constraints,
33 const Vector& t,Vector& ddq,Vector* f=NULL);
35 const std::vector<IKGoal>& constraints,
36 const Vector& ddq,Vector& t,Vector* f=NULL);
45 const Vector& ddx,
const Matrix& dC_dq,
46 const Vector& t,Vector& ddq,Vector* f=NULL);
48 const Vector& ddx,
const Matrix& dC_dq,
49 const Vector& t,Vector& ddq,Vector* f=NULL);
57 const std::vector<int>& fixedLinks,
58 const std::vector<int>& fixedDofs,
67 const Vector& ddx,
const Matrix& dC_dq,
76 const std::vector<int>& fixedLinks,
77 const std::vector<int>& fixedDofs,
86 const Vector& ddx,
const Matrix& dC_dq,
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 ...
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 t...
Class defining kinematic and dynamic state of a robot, with commonly used functions. Inherits from RobotKinematics3D.
Definition: RobotDynamics3D.h:32
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...
