33 #ifndef CDYNAMICSANALYTICRPP_HPP_
34 #define CDYNAMICSANALYTICRPP_HPP_
36 #include <scl/DataTypes.hpp>
37 #include <scl/dynamics/CDynamicsAnalyticBase.hpp>
65 const Eigen::VectorXd &arg_q,
69 sInt arg_ancestor_link_id,
71 Eigen::Affine3d& arg_T);
84 const Eigen::VectorXd &arg_q,
88 const Eigen::VectorXd& arg_pos_local,
90 Eigen::MatrixXd& arg_J)
104 const Eigen::VectorXd &arg_q,
116 Eigen::Affine3d& arg_T);
118 void computeT0_1(
const Eigen::VectorXd &arg_q,
119 Eigen::Affine3d& arg_T);
121 void computeT1_2(
const Eigen::VectorXd &arg_q,
122 Eigen::Affine3d& arg_T);
127 unsigned int arg_link_id, Eigen::MatrixXd& arg_J);
131 Eigen::MatrixXd& arg_Mgc);
144 if(
"link0" == arg_link_name)
146 else if(
"link1" == arg_link_name)
148 else if(
"link2" == arg_link_name)
181 Eigen::Vector3d pos_root_in_global_org_;
sBool has_been_init_
Definition: CDynamicsAnalyticBase.hpp:148
CDynamicsAnalyticRPP()
Definition: CDynamicsAnalyticRPP.hpp:158
virtual sBool computeGCModel(const Eigen::VectorXd &arg_q, SGcModel &arg_gc_model)
Definition: CDynamicsAnalyticRPP.hpp:102
Definition: CDynamicsAnalyticRPP.hpp:46
Definition: SRobotParsed.hpp:51
Definition: SGcModel.hpp:53
virtual sUInt getIdForLink(std::string arg_link_name)
Definition: CDynamicsAnalyticRPP.hpp:142
bool computeJcom(const Eigen::VectorXd &arg_q, unsigned int arg_link_id, Eigen::MatrixXd &arg_J)
Definition: CDynamicsAnalyticRPP.cpp:84
bool sBool
Definition: DataTypes.hpp:54
virtual sBool computeJacobian(const Eigen::VectorXd &arg_q, sInt arg_link_id, const Eigen::VectorXd &arg_pos_local, Eigen::MatrixXd &arg_J)
Definition: CDynamicsAnalyticRPP.hpp:82
void computeTOrg_0(const Eigen::VectorXd &arg_q, Eigen::Affine3d &arg_T)
Definition: CDynamicsAnalyticRPP.cpp:40
virtual sBool computeTransformationMatrix(const Eigen::VectorXd &arg_q, sInt arg_link_id, sInt arg_ancestor_link_id, Eigen::Affine3d &arg_T)
Definition: CDynamicsAnalyticRPP.cpp:168
Definition: CDynamicsAnalyticBase.hpp:54
virtual sBool hasBeenInit()
Definition: CDynamicsAnalyticRPP.hpp:175
int sInt
Definition: DataTypes.hpp:64
virtual sBool init(const SRobotParsed &arg_robot_data)
Definition: CDynamicsAnalyticRPP.cpp:234
bool computeMgc(const Eigen::VectorXd &arg_q, Eigen::MatrixXd &arg_Mgc)
Definition: CDynamicsAnalyticRPP.cpp:144
virtual ~CDynamicsAnalyticRPP()
Definition: CDynamicsAnalyticRPP.hpp:161