32 #ifndef CDYNAMICSBASE_HPP_
33 #define CDYNAMICSBASE_HPP_
35 #include <scl/DataTypes.hpp>
36 #include <scl/data_structs/SRobotIO.hpp>
37 #include <scl/data_structs/SGcModel.hpp>
39 #include <Eigen/Dense>
84 const Eigen::VectorXd& arg_q)
96 const Eigen::VectorXd& arg_q)
112 Eigen::Affine3d& arg_T,
119 const Eigen::VectorXd& arg_q)
133 Eigen::MatrixXd& arg_J,
138 const Eigen::VectorXd& arg_q,
140 const Eigen::Vector3d& arg_pos_local)
152 Eigen::MatrixXd& arg_J,
156 const Eigen::VectorXd& arg_q,
158 const Eigen::Vector3d& arg_pos_local)
const
169 Eigen::MatrixXd& arg_J,
176 const Eigen::VectorXd& arg_q,
178 const Eigen::Vector3d& arg_pos_local)
187 Eigen::MatrixXd& arg_J,
194 const Eigen::VectorXd& arg_q,
196 const Eigen::Vector3d& arg_pos_local)
205 Eigen::MatrixXd& arg_J,
212 const Eigen::VectorXd& arg_q,
214 const Eigen::Vector3d& arg_pos_local)
257 const sFloat arg_time_interval)
268 const Eigen::VectorXd& arg_q,
270 const Eigen::VectorXd& arg_dq)
278 const Eigen::VectorXd& arg_q)
Definition: SRobotIO.hpp:107
virtual sFloat computeEnergyPotential(sutil::CMappedTree< std::string, SRigidBodyDyn > &arg_tree, const Eigen::VectorXd &arg_q)
Definition: CDynamicsBase.hpp:274
virtual sBool computeGCModel(const SRobotSensors *arg_sensor_data, SGcModel *arg_gc_model)=0
virtual sBool computeJacobian(Eigen::MatrixXd &arg_J, const SRigidBodyDyn &arg_link, const Eigen::VectorXd &arg_q, const Eigen::Vector3d &arg_pos_local) const
Definition: CDynamicsBase.hpp:150
virtual sBool computeJacobianWithTransforms(Eigen::MatrixXd &arg_J, SRigidBodyDyn &arg_link, const Eigen::VectorXd &arg_q, const Eigen::Vector3d &arg_pos_local)
Definition: CDynamicsBase.hpp:131
Definition: SRobotParsed.hpp:51
virtual sFloat computeEnergyKinetic(sutil::CMappedTree< std::string, SRigidBodyDyn > &arg_tree, const Eigen::VectorXd &arg_q, const Eigen::VectorXd &arg_dq)
Definition: CDynamicsBase.hpp:264
Definition: SGcModel.hpp:53
const SRobotParsed * robot_parsed_data_
Definition: CDynamicsBase.hpp:313
Definition: CMappedList.hpp:85
virtual sBool computeJacobianTrans(Eigen::MatrixXd &arg_J, const SRigidBodyDyn &arg_link, const SRigidBodyDyn *arg_ancestor, const Eigen::VectorXd &arg_q, const Eigen::Vector3d &arg_pos_local)
Definition: CDynamicsBase.hpp:185
virtual sBool hasBeenInit()
Definition: CDynamicsBase.hpp:305
virtual sBool computeJacobian(Eigen::MatrixXd &arg_J, const SRigidBodyDyn &arg_link, const SRigidBodyDyn *arg_ancestor, const Eigen::VectorXd &arg_q, const Eigen::Vector3d &arg_pos_local)
Definition: CDynamicsBase.hpp:167
virtual sBool computeTransformToAncestor(Eigen::Affine3d &arg_T, SRigidBodyDyn &arg_link, const SRigidBodyDyn *arg_ancestor, const Eigen::VectorXd &arg_q)
Definition: CDynamicsBase.hpp:110
Definition: CDynamicsBase.hpp:55
sBool has_been_init_
Definition: CDynamicsBase.hpp:310
bool sBool
Definition: DataTypes.hpp:54
virtual sBool computeTransform(SRigidBodyDyn &arg_link, const Eigen::VectorXd &arg_q)
Definition: CDynamicsBase.hpp:92
virtual ~CDynamicsBase()
Definition: CDynamicsBase.hpp:288
virtual sBool computeExternalContacts(sutil::CMappedList< std::string, SForce > &arg_contacts)
Definition: CDynamicsBase.hpp:230
virtual sBool computeJacobianRot(Eigen::MatrixXd &arg_J, const SRigidBodyDyn &arg_link, const SRigidBodyDyn *arg_ancestor, const Eigen::VectorXd &arg_q, const Eigen::Vector3d &arg_pos_local)
Definition: CDynamicsBase.hpp:203
Definition: CMappedTree.hpp:66
virtual sBool init(const SRobotParsed &arg_robot_data)=0
virtual sBool integrate(SRobotIO &arg_inputs, const sFloat arg_time_interval)
Definition: CDynamicsBase.hpp:249
virtual sBool computeTransformsForAllLinks(sutil::CMappedTree< std::string, SRigidBodyDyn > &arg_tree, const Eigen::VectorXd &arg_q)
Definition: CDynamicsBase.hpp:80
double sFloat
Definition: DataTypes.hpp:72
Definition: SRigidBodyDyn.hpp:56
Definition: SRobotIO.hpp:49
CDynamicsBase()
Definition: CDynamicsBase.hpp:285