scl::SGcModel Class Reference

#include <SGcModel.hpp>

Inheritance diagram for scl::SGcModel:

Collaboration diagram for scl::SGcModel:

Public Member Functions
	SGcModel ()
sBool	init (const SRobotParsed &arg_robot_data)
virtual const std::string &	getType () const
virtual const std::string &	getName () const
virtual bool	hasBeenInit () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::MatrixXd	M_gc_
Eigen::MatrixXd	M_gc_inv_
Eigen::VectorXd	force_gc_cc_
Eigen::VectorXd	force_gc_grav_
Eigen::VectorXd	q_
Eigen::VectorXd	dq_
Eigen::Vector3d	pos_com_
sFloat	mass_
std::vector< std::string >	processing_order_
bool	computed_spatial_transformation_and_inertia_
sutil::CMappedTree < std::string, SRigidBodyDyn >	rbdyn_tree_
Eigen::VectorXd	vec_scratch_ [5]
std::string	name_
sBool	has_been_init_

Protected Attributes
std::string	type_

Detailed Description

A data structure to store the joint space model. This model serves as the foundation for all tasks to compute their own models (mass, coriolis/centrifugal and gravity).

Each controller data structure contains an object of this type.

Constructor & Destructor Documentation

scl::SGcModel::SGcModel

(

)

Constructor does nothing

Member Function Documentation

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

sBool scl::SGcModel::init

(

const SRobotParsed &

arg_robot_data

)

Initialization function sets up the matrix sizes

Member Data Documentation

bool scl::SGcModel::computed_spatial_transformation_and_inertia_

bool specifying whther spatial transformation and inertia is calculated or not

Eigen::VectorXd scl::SGcModel::force_gc_cc_

force_gc_cc_ : Generalized coriolis+centrifugal force vector

Eigen::VectorXd scl::SGcModel::force_gc_grav_

force_gc_grav_ : Generalized gravity force vector

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::MatrixXd scl::SGcModel::M_gc_

M_gc_: Generalized inertia matrix

Eigen::MatrixXd scl::SGcModel::M_gc_inv_

M_gc_inv_ : Generalized inertia matrix inverse

sFloat scl::SGcModel::mass_

mass_ : Mass of the robot in Euclidean coords

std::string scl::SObject::name_

inherited

The object's name

Eigen::Vector3d scl::SGcModel::pos_com_

com : Center of mass vector

std::vector<std::string> scl::SGcModel::processing_order_

A vector of the processing order of all the rigid bodies in the articulated body

Eigen::VectorXd scl::SGcModel::q_

The generalized coordinates and velocity at the time the model was last updated. Since the dynamics are completely described by the generalized coordinates and velocities, we don't need to store any higher derivatives.

NOTE : These may not match the actual generalized coordinates and velocity due to time-delay introduced while computing the model. Typically, this is irrelevant, but it might start to be substantial when the dynamics are computed at a lower rate or with human-like delays.

sutil::CMappedTree<std::string, SRigidBodyDyn> scl::SGcModel::rbdyn_tree_

A vector of the dynamics information for all the rigid bodies in the articulated body

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

Eigen::VectorXd scl::SGcModel::vec_scratch_[5]

A set of vectors to be used as temp vectors during dynamics operations

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The documentation for this class was generated from the following files:

• /home/samir/Code/control/scl.git/src/scl/data_structs/SGcModel.hpp
• /home/samir/Code/control/scl.git/src/scl/data_structs/SGcModel.cpp