articulated body dynamicsThis class provides various dynamics computations for articulated body. More...

#include <taoDynamics.h>

Static Public Member Functions
static void	initialize (taoDNode *root)

static void	reset (taoDNode *root)

static void	updateTransformation (taoDNode *root)

static void	integrate (taoDNode *root, deFloat dt)

static void	globalJacobian (taoDNode *root)
	computes global Jacobina matrices More...

static void	invDynamics (taoDNode root, const deVector3 gravity)
	computes inverse dynamics of the subtree with root under gravity More...

static void	fwdDynamics (taoDNode root, const deVector3 gravity)
	computes forward dynamics of the subtree with root under gravity More...

static void	computeA (taoDNode root, const deInt dof, deFloat A)
	computes Joint Space Inertia Matrix, A of size dof x dof More...

static void	computeAinv (taoDNode root, const deInt dof, deFloat Ainv)
	computes Joint Space Inertia Matrix Inverse, Ainv (dof x dof) More...

static void	computeB (taoDNode root, const deInt dof, deFloat B)
	computes Coriolis and centrifugal forces, B (dof x 1) More...

static void	computeG (taoDNode root, deVector3 gravity, const deInt dof, deFloat *G)
	computes gravitational forces, G (dof x 1) under gravity More...

static void	computeOpSpaceInertiaMatrixInv (taoDNode root, const deFloat J, const deInt row, const deInt dof, const deFloat Ainv, deFloat Linv)
	compute the operational Space Inertia Matrix Inverse, Linv (row x row) More...

static int	computeDOF (taoDNode *obj)
	find dof : degrees of freedom More...

static void	impulse (taoDNode contactNode, const deVector3 contactPoint, const deVector3 *impulseVector)
	computes velocity changes given impulse More...

static void	impulseDist (taoDNode contactNode, const deVector3 contactPoint, const deVector3 *impulseVector)

static void	force (taoDNode contactNode, const deVector3 contactPoint, const deVector3 *forceVector)

static void	resetMass (taoDNode *node, const deFloat mass)

static deFloat	potentialEnergy (taoDNode root, const deVector3 gravity)

static deFloat	kineticEnergy (taoDNode *root)

Private Types
enum	flagType { TAO_DDQ, TAO_DQ, TAO_TAU }

Static Private Member Functions
static void	_Read (taoDNode root, deFloat v, flagType type)

static void	_Write (taoDNode root, deFloat v, flagType type)

Detailed Description

articulated body dynamics

This class provides various dynamics computations for articulated body.

Member Function Documentation

void taoDynamics::computeA	(	taoDNode *	root,
		const deInt	dof,
		deFloat *	A
	)

static

computes Joint Space Inertia Matrix, A of size dof x dof

assuming current configuration/velocity

Remarks: tau = A * ddq + b + g; ddq = Ainv * (tau - b - g); ************* output; A = joint space inertia matrix; B = centrifugal / Coriolis force; G = gravity; Ainv = inverse of mass matrix; ************* Usage; {; fwdDynamics(root, gravity);; int dof = computeDOF(root);; deFloat A[dof * dof]; deFloat B[dof], G[dof]; computeA(root, gravity, dof, A);; computeB(root, gravity, dof, B);; computeG(root, gravity, dof, G);; computeAinv(root, gravity, dof, Ainv);; }

void taoDynamics::computeAinv	(	taoDNode *	root,
		const deInt	dof,
		deFloat *	Ainv
	)

static

computes Joint Space Inertia Matrix Inverse, Ainv (dof x dof)

void taoDynamics::computeB	(	taoDNode *	root,
		const deInt	dof,
		deFloat *	B
	)

static

computes Coriolis and centrifugal forces, B (dof x 1)

deInt taoDynamics::computeDOF ( taoDNode * obj )

static

find dof : degrees of freedom

void taoDynamics::computeG	(	taoDNode *	root,
		deVector3 *	gravity,
		const deInt	dof,
		deFloat *	G
	)

static

computes gravitational forces, G (dof x 1) under gravity

void taoDynamics::computeOpSpaceInertiaMatrixInv	(	taoDNode *	root,
		const deFloat *	J,
		const deInt	row,
		const deInt	dof,
		const deFloat *	Ainv,
		deFloat *	Linv
	)

static

compute the operational Space Inertia Matrix Inverse, Linv (row x row)

Parameters

J	Jacobian matrix of the operational points (row x dof)
Ainv	(dof x dof)
Linv	(row x row) = J Ainv J^T

Remarks: effective mass in the direction of u can be found: m_u = 1 (u^T Linv u)

void taoDynamics::fwdDynamics	(	taoDNode *	root,
		const deVector3 *	gravity
	)

static

computes forward dynamics of the subtree with root under gravity

Precondition: q, dq, tau should be given

Postcondition: ddq is acceleration

void taoDynamics::globalJacobian ( taoDNode * root )

static

computes global Jacobina matrices

Precondition: q

Postcondition: Jg

void taoDynamics::impulse	(	taoDNode *	contactNode,
		const deVector3 *	contactPoint,
		const deVector3 *	impulseVector
	)

static

computes velocity changes given impulse

Parameters

point expressed in local frame

Remarks: use this methods after forwardDynamicsConifgInit

Precondition: tau (impulse) is given only to the contact at local point with impulse

Postcondition: ddq (velocity change) are computed for all nodes, V, dQ are also changed

void taoDynamics::initialize ( taoDNode * root )

static

Edited 2013-08-21 : Samir Menon smeno.nosp@m.n@st.nosp@m.anfor.nosp@m.d.ed.nosp@m.u

void taoDynamics::invDynamics	(	taoDNode *	root,
		const deVector3 *	gravity
	)

static

computes inverse dynamics of the subtree with root under gravity

Precondition: q, dq, ddq should be given, Fext

Postcondition: tau is computed torque

void taoDynamics::reset ( taoDNode * root )

static

Remarks: calls r->sync(r->frameHome())

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

/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoDynamics.h
/home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoDynamics.cpp

Static Public Member Functions

Private Types

Static Private Member Functions

Detailed Description

Member Function Documentation