orwell::RobotModel< dof > Class Template Reference

base class for a RobotModel to interface different kinematics/dynamics libraries More...

#include <RobotModel.hpp>

Public Types
using	Vector = typename RobotState<dof>::Vector
	typedef
using	Ptr = std::shared_ptr<RobotModel>
	typedef

Public Member Functions
virtual void	computeCartesianState (const orwell::RobotState< dof > &robot_state)=0
	precompute robot specific quantities for the given RobotState
virtual Vector	computeForwardDynamics (const Vector &position, const Vector &velocity, const Vector &acceleration, const double &gravity)=0
	interface the computation of the forward dynamics for the used kinematics/dynamics library
virtual const Eigen::Matrix< double, 6, dof > &	getJacobian () const =0
	access the Jacobian Matrix

Detailed Description

template<int dof>
class orwell::RobotModel< dof >

base class for a RobotModel to interface different kinematics/dynamics libraries

Template Parameters

dof	number of degrees of freedom of the controlled system

Definition at line 36 of file RobotModel.hpp.

Member Typedef Documentation

Ptr

template<int dof>

using orwell::RobotModel< dof >::Ptr = std::shared_ptr<RobotModel>

typedef

Definition at line 84 of file RobotModel.hpp.

Vector

template<int dof>

using orwell::RobotModel< dof >::Vector = typename RobotState<dof>::Vector

typedef

Definition at line 52 of file RobotModel.hpp.

Member Function Documentation

computeCartesianState()

template<int dof>

virtual void orwell::RobotModel< dof >::computeCartesianState ( const orwell::RobotState< dof > & robot_state )

pure virtual

precompute robot specific quantities for the given RobotState

will be called by Controller::getControlCommand

Parameters

robot_state

current RobotState

computeForwardDynamics()

template<int dof>

virtual Vector orwell::RobotModel< dof >::computeForwardDynamics ( const Vector & position, const Vector & velocity, const Vector & acceleration, const double & gravity )

pure virtual

interface the computation of the forward dynamics for the used kinematics/dynamics library

Parameters

position	robot joint position
velocity	robot joint velocity
acceleration	robot joint acceleration
gravity	gravity value

Returns

robot joint torque

getJacobian()

template<int dof>

virtual const Eigen::Matrix< double, 6, dof > & orwell::RobotModel< dof >::getJacobian ( ) const

pure virtual

access the Jacobian Matrix

since the RobotState is not passed to this function, it is expected that it is being computed during the call to computeCartesianState

Returns

Jacobian martix

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

• RobotModel.hpp