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OSCAR::ForwardDynamics Class Reference
[Dynamics]

A class to calculate forward dynamics dynamic simulation purposes. More...

#include <ForwardDynamics.h>

Inheritance diagram for OSCAR::ForwardDynamics:

Inheritance graph
[legend]
List of all members.

Public Methods

 ForwardDynamics (unsigned int dof, IDStandAlone *id)
virtual ~ForwardDynamics ()
virtual const Vector & GetAccelerations (const Vector &positions, const Vector &velocities, const Vector &torques, const HandPose &eefLoad=HandPose(0, 0, 0, 0, 0, 0))

Protected Attributes

IDStandAlone * id
unsigned int DOF
Vector * accelerations
EqnSolver solver

Detailed Description

Author:
Chalongrath Pholsiri
The class ForwardDynamics is used to calculate the robot's joint accelerations resulting from a given set of commanded joint torques. Use this class along with RRSimulation to simulate the robot's dynamic response. The default implementation is simply using the inverse dynamics to calculate the forward dynamics. More efficient methods such as the composite-rigid-body or the articulated-body (see "Robot dynamics algorithms" by Roy Featherstone for details) can be later added.

Constructor & Destructor Documentation

OSCAR::ForwardDynamics::ForwardDynamics (  unsigned int    dof,
IDStandAlone *    id
) 
 

Constructor.

Parameters:
dof Degrees of freedom (number of joints) of the robot.
id A pointer to an IDStandAlone object that is used as for all dynamics calculations.

virtual OSCAR::ForwardDynamics::~ForwardDynamics (    )  [virtual]
 

Member Function Documentation

virtual const Vector& OSCAR::ForwardDynamics::GetAccelerations (  const Vector &    positions,
const Vector &    velocities,
const Vector &    torques,
const HandPose &    eefLoad = HandPose(0, 0, 0, 0, 0, 0)
)  [virtual]
 

A virtual function for calculating the resulting accelerations.

Returns:
an Vector object containing the accelerations.
Parameters:
positions The vector of current joint positions
velocities The vector of current joint velocities
torques The vector of commanded joint torques
eefLoad HandPose object representing the end-effector load
Exceptions:
vectorSizeMismatch vectorSizeMismatch

Member Data Documentation

Vector* OSCAR::ForwardDynamics::accelerations [protected]
 

unsigned int OSCAR::ForwardDynamics::DOF [protected]
 

IDStandAlone* OSCAR::ForwardDynamics::id [protected]
 

EqnSolver OSCAR::ForwardDynamics::solver [protected]
 

The documentation for this class was generated from the following file:
RRG Homepage OSCAR Overview OSCAR Tutorials Simulations