---

Dynamics

The Dynamics Library. More...

Compounds
class	DynamicScaling
	This class allows the user to scale joint trajectories to meet velocity, acceleration or torque limits. Time is scaled. More...
class	ForwardDynamics
	A class to calculate forward dynamics dynamic simulation purposes. More...
class	IDLagrange
	Inverse dynamics using Lagrange. More...
class	IDNewtonEuler
	Inverse dynamics using Newton-Euler. More...
class	IDSANewtonEuler
	Standalone inverse dynamics using Newton-Euler. More...
class	IDStandAlone
	An abstract class for stand-alone inverse dynamics. More...
class	InverseDynamics
	An abstract class for calculating inverse dynamics. All the calculated torque values are the "required" actuator torques (not the torques acting on the actuators). More...
class	RRStatics
	An abstract class for calculating static forces. More...
Variables
const OSCARError	DynamicsErrors
const OSCARError	dofAndMassDataMismatch
const OSCARError	dofAndInertiaDataMismatch
const OSCARError	undefinedJacobianTranspose
const OSCARError	undefinedTransformations
const OSCARError	undefinedGHFunctions

---

Detailed Description

This library contains functionality for computing forward/inverse dynamics for serial manipulators.

---

Variable Documentation

const OSCARError OSCAR::dofAndInertiaDataMismatch

This indicates an error in the inertia data of the robot links. This indicates an error in the inertia data of the robot links.

const OSCARError OSCAR::dofAndMassDataMismatch

This indicates an error in the mass data of the robot links. This indicates an error in the mass data of the robot links.

const OSCARError OSCAR::DynamicsErrors

This indicates a Dynamics Error. This indicates a Dynamics Error.

const OSCARError OSCAR::undefinedGHFunctions

This indicates that the G and H functions are used without being previously specify. This indicates that the G and H functions are used without being previously specify.

const OSCARError OSCAR::undefinedJacobianTranspose

This indicates that the Jacobian transpose matrix is used without being previously specify. This indicates that the Jacobian transpose matrix is used without being previously specify.

const OSCARError OSCAR::undefinedTransformations

This indicates that the transformation matrices are used without being previously specify. This indicates that the transformation matrices are used without being previously specify.

RRG Homepage

OSCAR Overview

OSCAR Tutorials

Simulations