A data struct for storing results of various model algorithms. More...

#include <data.hpp>

Public Member Functions
template<typename NewScalar >
Data< NewScalar, nq >	cast ()
	Casts the data to a new scalar type.

Public Attributes
Eigen::Matrix< Scalar, nq, 1 >	q
	Joint configuration.

Eigen::Matrix< Scalar, nq, 1 >	dq
	Joint velocity.

Eigen::Matrix< Scalar, nq, 1 >	ddq
	Joint acceleration.

Eigen::Matrix< Scalar, nq, 1 >	tau
	Joint torque/force.

Eigen::Matrix< Scalar, nq, nq >	mass_matrix = Eigen::Matrix<Scalar, nq, nq>::Zero()
	Mass matrix.

Eigen::Matrix< Scalar, nq, nq >	inv_mass_matrix = Eigen::Matrix<Scalar, nq, nq>::Zero()
	Inverse mass matrix.

Eigen::Matrix< Scalar, nq, nq >	coriolis = Eigen::Matrix<Scalar, nq, nq>::Zero()
	Coriolis matrix.

Eigen::Matrix< Scalar, nq, 1 >	gravity
	Gravity vector.

Eigen::Matrix< Scalar, nq, nq >	input_mapping = Eigen::Matrix<Scalar, nq, nq>::Identity()
	Input mapping matrix.

Eigen::Matrix< Scalar, nq, nq >	damping = Eigen::Matrix<Scalar, nq, nq>::Zero()
	Damping matrix.

Scalar	kinetic_energy = 0
	Kinetic energy.

Scalar	potential_energy = 0
	Potential energy.

Scalar	total_energy = 0
	Total_energy.

std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > >	forward_kinematics = {}
	Vector of forward kinematics Data.

std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > >	forward_kinematics_com = {}
	Vector of forward kinematics com Data.

std::vector< Eigen::Matrix< Scalar, 6, 6 > >	Xup
	Spatial transforms from parent to child links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	S
	Motion subspace matrices for the joints.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	v
	Spatial velocities of the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	c
	Spatial acceleration bias terms for the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 6 > >	IA
	Articulated-body inertia matrices for the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	pA
	Articulated-body forces for the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	U
	Spatial force projections for the joints.

std::vector< Scalar >	d = std::vector<Scalar>(nq, 0)
	Joint force inertia terms for the robot links.

std::vector< Scalar >	u = std::vector<Scalar>(nq, 0)
	Joint force bias terms for the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	a
	Spatial accelerations of the robot links.

Eigen::Transform< Scalar, 3, Eigen::Isometry >	T = Eigen::Transform<Scalar, 3, Eigen::Isometry>::Identity()
	Homogeneous transformation matrix.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	avp

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	fvp

Eigen::Matrix< Scalar, nq, 1 >	C = Eigen::Matrix<Scalar, nq, 1>::Zero()

Eigen::Matrix< Scalar, 6, 1 >	fh = Eigen::Matrix<Scalar, 6, 1>::Zero()

std::vector< Eigen::Matrix< Scalar, 6, 6 > >	IC

Eigen::Matrix< Scalar, 6, 1 >	spatial_gravity = Eigen::Matrix<Scalar, 6, 1>::Zero()
	Gravity vector in spatial coordinates.

Eigen::Matrix< Scalar, 6, nq >	J = Eigen::Matrix<Scalar, 6, nq>::Zero()
	Geometric Jacobian.

Detailed Description

template<typename Scalar, int nq>
struct tinyrobotics::Data< Scalar, nq >

A data struct for storing results of various model algorithms.

Template Parameters

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

Member Function Documentation

◆ cast()

template<typename Scalar , int nq>

template<typename NewScalar >

Data< NewScalar, nq > tinyrobotics::Data< Scalar, nq >::cast ( )

inline

Casts the data to a new scalar type.

Template Parameters

NewScalar scalar type to cast the data to.

Returns: Data with new scalar type.

Member Data Documentation

◆ a

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Data< Scalar, nq >::a

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Spatial accelerations of the robot links.

◆ avp

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Data< Scalar, nq >::avp

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

◆ c

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Data< Scalar, nq >::c

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Spatial acceleration bias terms for the robot links.

◆ fvp

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Data< Scalar, nq >::fvp

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

◆ IA

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 6> > tinyrobotics::Data< Scalar, nq >::IA

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 6>>(nq, Eigen::Matrix<Scalar, 6, 6>::Zero())

Articulated-body inertia matrices for the robot links.

◆ IC

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 6> > tinyrobotics::Data< Scalar, nq >::IC

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 6>>(nq, Eigen::Matrix<Scalar, 6, 6>::Zero())

◆ pA

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Data< Scalar, nq >::pA

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Articulated-body forces for the robot links.

◆ S

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Data< Scalar, nq >::S

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Motion subspace matrices for the joints.

◆ U

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Data< Scalar, nq >::U

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Spatial force projections for the joints.

◆ v

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Data< Scalar, nq >::v

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Spatial velocities of the robot links.

◆ Xup

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 6> > tinyrobotics::Data< Scalar, nq >::Xup

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 6>>(nq, Eigen::Matrix<Scalar, 6, 6>::Zero())

Spatial transforms from parent to child links.

The documentation for this struct was generated from the following file:

include/data.hpp

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ cast()

Member Data Documentation

◆ a

◆ avp

◆ c

◆ fvp

◆ IA

◆ IC

◆ pA

◆ S

◆ U

◆ v

◆ Xup