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OSCAR::IDStandAlone Class Reference
[Dynamics]

An abstract class for stand-alone inverse dynamics. More...

#include <IDStandAlone.h>

Inheritance diagram for OSCAR::IDStandAlone:

Inheritance graph
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List of all members.

Public Methods

virtual bool SetJointPosition (const Vector &position)=0
virtual bool GetGravityTorques (Vector &torques)
virtual bool GetLoadTorques (const HandPose &eefLoad, Vector &torques)
virtual bool GetVelocityTorques (const Vector &velocity, Vector &torques)
virtual bool GetAccelerationTorques (const Vector &acceleration, Vector &torques)
virtual const Vector & GetJointTorques (const Vector &velocity, const Vector &acceleration, const HandPose &eefLoad=HandPose(0, 0, 0, 0, 0, 0))
virtual const Matrix * GetInertiaMatrix ()

Protected Attributes

InverseDynamics * id

Detailed Description

Author:
Chalongrath Pholsiri
IDStandAlone differs from InverseDynamics in that it provides a method to set the joint position and therefore can be used as standa-alone without calling methods to get transformation matrices or G and H functions on the forward kinematics object.

Member Function Documentation

virtual bool OSCAR::IDStandAlone::GetAccelerationTorques (  const Vector &    acceleration,
Vector &    torques
)  [virtual]
 

A function for calculating the joint torques due to acceleration.

Returns:
false if torques or acceleration is not of size DOF. Call GetError for more detailed error information. Otherwise, return true.
Parameters:
acceleration The vector of current joint accelerations.
torques Vector object of size DOF returning the acceleration torques.
Exceptions:
vectorSizeMismatch vectorSizeMismatch

virtual bool OSCAR::IDStandAlone::GetGravityTorques (  Vector &    torques )  [virtual]
 

A function for calculating the gravity torques.

Returns:
true if torques is of size DOF. If not, then false. Call GetError for more detailed error information.
Parameters:
torques Vector object of size DOF returning the gravity torques.
Exceptions:
vectorSizeMismatch vectorSizeMismatch

virtual const Matrix* OSCAR::IDStandAlone::GetInertiaMatrix (    )  [virtual]
 

A function for calculating the inertia matrix.

Returns:
A pointer to a constant Matrix object containing the inertia matrix.

virtual const Vector& OSCAR::IDStandAlone::GetJointTorques (  const Vector &    velocity,
const Vector &    acceleration,
const HandPose &    eefLoad = HandPose(0, 0, 0, 0, 0, 0)
)  [virtual]
 

A function for calculating the total joint torques.

Returns:
an Vector object containing the joint torques.
Parameters:
velocity The vector of current joint velocities
acceleration The vector of current joint accelerations.
eefLoad The EEF load.
Exceptions:
vectorSizeMismatch vectorSizeMismatch

virtual bool OSCAR::IDStandAlone::GetLoadTorques (  const HandPose &    eefLoad,
Vector &    torques
)  [virtual]
 

A function for calculating the joint torques due to the EEF load.

Returns:
true if torques is of size DOF. If not, then false. Call GetError for more detailed error information.
Parameters:
eefLoad The EEF load.
torques Vector object of size DOF returning the joint torques.
Exceptions:
vectorSizeMismatch vectorSizeMismatch

virtual bool OSCAR::IDStandAlone::GetVelocityTorques (  const Vector &    velocity,
Vector &    torques
)  [virtual]
 

A function for calculating the joint torques due to velocity (Coriolis and centripetal effects).

Returns:
false if torques or velocity is not of size DOF. Call GetError for more detailed error information. Otherwise, return true.
Parameters:
velocity The vector of current joint velocities
torques Vector object of size DOF returning the velocity torques.
Exceptions:
vectorSizeMismatch vectorSizeMismatch

virtual bool OSCAR::IDStandAlone::SetJointPosition (  const Vector &    position )  [pure virtual]
 

MUST call this function before calling any GetXXX() method to set the joint positions. This is a pure virtual function so the derived class must implement this method.

Returns:
true if position is of correct size. If not, return false.
Parameters:
position A vector containing the current joint position of the robot.
Exceptions:
vectorSizeMismatch vectorSizeMismatch

Implemented in OSCAR::IDSANewtonEuler.

Member Data Documentation

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

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