Dynamics.hpp File Reference

Contains functions for computing the dynamics of a tinyrobotics model. More...

#include <Eigen/Core>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include "Kinematics.hpp"
#include "Model.hpp"

Go to the source code of this file.

Functions
template<typename Scalar , int nq>
Eigen::Matrix< Scalar, nq, nq >	tinyrobotics::mass_matrix (Model< Scalar, nq > &m, const Eigen::Matrix< Scalar, nq, 1 > &q)
	Compute the mass matrix of the tinyrobotics model.
template<typename Scalar , int nq>
Scalar	tinyrobotics::kinetic_energy (Model< Scalar, nq > &m, const Eigen::Matrix< Scalar, nq, 1 > &q, const Eigen::Matrix< Scalar, nq, 1 > &dq)
	Compute the kinetic_energy of the tinyrobotics model.
template<typename Scalar , int nq>
Scalar	tinyrobotics::potential_energy (Model< Scalar, nq > &m, const Eigen::Matrix< Scalar, nq, 1 > &q)
	Compute the potential_energy of the tinyrobotics model.
template<typename Scalar , int nq>
Scalar	tinyrobotics::total_energy (Model< Scalar, nq > &m, const Eigen::Matrix< Scalar, nq, 1 > &q, const Eigen::Matrix< Scalar, nq, 1 > &dq)
	Compute the total energy of the tinyrobotics model.
template<typename Scalar , int nq>
std::vector< Eigen::Matrix< Scalar, 6, 1 > >	tinyrobotics::apply_external_forces (const Model< Scalar, nq > &m, const std::vector< Eigen::Matrix< Scalar, 6, 6 > > &Xup, const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &f_in, const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &f_ext)
	Apply external forces to the tinyrobotics model.
template<typename Scalar , int nq>
Eigen::Matrix< Scalar, nq, 1 >	tinyrobotics::forward_dynamics (Model< Scalar, nq > &m, const Eigen::Matrix< Scalar, nq, 1 > &q, const Eigen::Matrix< Scalar, nq, 1 > &qd, const Eigen::Matrix< Scalar, nq, 1 > &tau, const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &f_ext={})
	Compute the forward dynamics of the tinyrobotics model via Articulated-Body Algorithm.
template<typename Scalar , int nq>
Eigen::Matrix< Scalar, nq, 1 >	tinyrobotics::forward_dynamics_crb (Model< Scalar, nq > &m, const Eigen::Matrix< Scalar, nq, 1 > &q, const Eigen::Matrix< Scalar, nq, 1 > &qd, const Eigen::Matrix< Scalar, nq, 1 > &tau, const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &f_ext={})
	Compute the forward dynamics of the tinyrobotics model via Composite-Rigid-Body Algorithm.
template<typename Scalar , int nq>
Eigen::Matrix< Scalar, nq, 1 >	tinyrobotics::inverse_dynamics (Model< Scalar, nq > &m, const Eigen::Matrix< Scalar, nq, 1 > &q, const Eigen::Matrix< Scalar, nq, 1 > &qd, const Eigen::Matrix< Scalar, nq, 1 > &qdd, const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &f_ext={})
	Compute the inverse dynamics of a tinyrobotics model.

Detailed Description

Contains functions for computing the dynamics of a tinyrobotics model.

Function Documentation

apply_external_forces()

template<typename Scalar , int nq>

std::vector< Eigen::Matrix< Scalar, 6, 1 > > tinyrobotics::apply_external_forces	(	const Model< Scalar, nq > &	m,
		const std::vector< Eigen::Matrix< Scalar, 6, 6 > > &	Xup,
		const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &	f_in,
		const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &	f_ext
	)

Apply external forces to the tinyrobotics model.

Parameters

m	tinyrobotics model.
Xup	The spatial transformation matrices between the ith link and its parent.
f_in	The input force array of the tinyrobotics model.
f_ext	The external force array to be added to the input force array.

Returns

f_out The output force array with the external forces incorporated.

forward_dynamics()

template<typename Scalar , int nq>

Eigen::Matrix< Scalar, nq, 1 > tinyrobotics::forward_dynamics	(	Model< Scalar, nq > &	m,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const Eigen::Matrix< Scalar, nq, 1 > &	qd,
		const Eigen::Matrix< Scalar, nq, 1 > &	tau,
		const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &	f_ext = {}
	)

Compute the forward dynamics of the tinyrobotics model via Articulated-Body Algorithm.

Parameters

m	tinyrobotics model.
q	Joint configuration of the robot.
qd	Joint velocity of the robot.
tau	Joint torque of the robot.
f_ext	External forces acting on the robot.

Returns

Joint accelerations of the model.

forward_dynamics_crb()

template<typename Scalar , int nq>

Eigen::Matrix< Scalar, nq, 1 > tinyrobotics::forward_dynamics_crb	(	Model< Scalar, nq > &	m,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const Eigen::Matrix< Scalar, nq, 1 > &	qd,
		const Eigen::Matrix< Scalar, nq, 1 > &	tau,
		const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &	f_ext = {}
	)

Compute the forward dynamics of the tinyrobotics model via Composite-Rigid-Body Algorithm.

Parameters

m	tinyrobotics model.
q	Joint configuration of the robot.
qd	Joint velocity of the robot.
tau	Joint torque of the robot.
f_ext	External forces acting on the robot.

Returns

Joint accelerations of the model.

inverse_dynamics()

template<typename Scalar , int nq>

Eigen::Matrix< Scalar, nq, 1 > tinyrobotics::inverse_dynamics	(	Model< Scalar, nq > &	m,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const Eigen::Matrix< Scalar, nq, 1 > &	qd,
		const Eigen::Matrix< Scalar, nq, 1 > &	qdd,
		const std::vector< Eigen::Matrix< Scalar, 6, 1 > > &	f_ext = {}
	)

Compute the inverse dynamics of a tinyrobotics model.

Parameters

m	tinyrobotics model.
q	Joint configuration of the robot.
qd	Joint velocity of the robot.
f_ext	External forces acting on the robot.

Returns

tau

kinetic_energy()

template<typename Scalar , int nq>

Scalar tinyrobotics::kinetic_energy	(	Model< Scalar, nq > &	m,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const Eigen::Matrix< Scalar, nq, 1 > &	dq
	)

Compute the kinetic_energy of the tinyrobotics model.

Parameters

m	tinyrobotics model.
q	Joint configuration of the robot.
dq	The joint velocity of the robot.

mass_matrix()

template<typename Scalar , int nq>

Eigen::Matrix< Scalar, nq, nq > tinyrobotics::mass_matrix	(	Model< Scalar, nq > &	m,
		const Eigen::Matrix< Scalar, nq, 1 > &	q
	)

Compute the mass matrix of the tinyrobotics model.

Parameters

m	tinyrobotics model.
q	Joint configuration of the robot.

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).

potential_energy()

template<typename Scalar , int nq>

Scalar tinyrobotics::potential_energy	(	Model< Scalar, nq > &	m,
		const Eigen::Matrix< Scalar, nq, 1 > &	q
	)

Compute the potential_energy of the tinyrobotics model.

Parameters

m	tinyrobotics model.
q	Joint configuration of the robot.

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).

total_energy()

template<typename Scalar , int nq>

Scalar tinyrobotics::total_energy	(	Model< Scalar, nq > &	m,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const Eigen::Matrix< Scalar, nq, 1 > &	dq
	)

Compute the total energy of the tinyrobotics model.

Parameters

m	tinyrobotics model.
q	Joint configuration of the robot.
dq	Joint velocity of the robot.

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).