4 #include "RobotDynamics3D.h" 31 void SetGravityWrenches(
const Vector3& gravity);
35 void CalcKineticEnergyMatrix(
Matrix& B);
36 void CalcKineticEnergyMatrixInverse(
Matrix& Binv);
37 void CalcResidualTorques(
Vector&
CG);
38 void CalcResidualAccel(
Vector& ddq0);
43 void MulKineticEnergyMatrixInverse(
const Vector& x,
Vector& Binvx);
44 void MulKineticEnergyMatrixInverse(
const Matrix& A,
Matrix& BinvA);
45 void CalcVelocities();
46 void CalcLinkAccel(
const Vector& ddq);
53 std::vector<std::vector<int> > children;
54 std::vector<RigidBodyVelocity> velocities;
55 std::vector<RigidBodyVelocity> accelerations;
A 3D vector class.
Definition: math3d/primitives.h:136
std::vector< SpatialVector > biasingForces
element i is the i'th biasing force computed in the featherstone algorithm
Definition: NewtonEuler.h:58
std::vector< Wrench > jointWrenches
element i is the force on link i from the joint to its parent
Definition: NewtonEuler.h:56
std::vector< Wrench > externalWrenches
set these to the external wrenches on the links (moments about the CM)
Definition: NewtonEuler.h:50
int CG(const Matrix &A, Vector &x, const Vector &b, const Preconditioner &M, int &max_iter, Real &tol)
Definition: conjgrad.h:90
The Featherstone algorithm for O(n) computation of either joint torques from accelerations, or accelerations from torques.
Definition: NewtonEuler.h:27
Class defining kinematic and dynamic state of a robot, with commonly used functions. Inherits from RobotKinematics3D.
Definition: RobotDynamics3D.h:32
std::vector< SpatialMatrix > inertiaMatrices
element i is the i'th inertia matrix computed in the featherstone algorithm
Definition: NewtonEuler.h:57