mc_tvm::DynamicFunction Struct Reference

#include <mc_tvm/DynamicFunction.h>

Inheritance diagram for mc_tvm::DynamicFunction:

Collaboration diagram for mc_tvm::DynamicFunction:

Classes
struct	ForceContact

Public Types
using	Output = tvm::function::abstract::LinearFunction::Output

Public Member Functions
	DynamicFunction (const mc_rbdyn::Robot &robot)
const tvm::VariableVector &	addContact (const mc_rbdyn::RobotFrame &frame, std::vector< sva::PTransformd > points, double dir)
void	removeContact (const mc_rbdyn::RobotFrame &frame)
sva::ForceVecd	contactForce (const mc_rbdyn::RobotFrame &f) const

Protected Member Functions
void	updateb ()
std::vector< ForceContact >::const_iterator	findContact (const mc_rbdyn::RobotFrame &frame) const
void	updateJacobian ()

Protected Attributes
const mc_rbdyn::Robot &	robot_
std::vector< ForceContact >	contacts_

Detailed Description

Implement the equation of motion for a given robot.

It can be given contacts that will be integrated into the equation of motion (

See also

DynamicFunction::addContact).

It manages the force variables related to these contacts.

Notably, it does not take care of enforcing Newton 3rd law of motion when two actuated robots are in contact.

Member Typedef Documentation

Output

using mc_tvm::DynamicFunction::Output = tvm::function::abstract::LinearFunction::Output

Constructor & Destructor Documentation

DynamicFunction()

mc_tvm::DynamicFunction::DynamicFunction

(

const mc_rbdyn::Robot &

robot

)

Construct the equation of motion for a given robot

Member Function Documentation

addContact()

const tvm::VariableVector& mc_tvm::DynamicFunction::addContact	(	const mc_rbdyn::RobotFrame &	frame,
		std::vector< sva::PTransformd >	points,
		double	dir
	)

Add a contact to the function

This adds forces variables for every contact point belonging to the robot of this dynamic function.

Parameters

frame	Contact frame
points	Contact points in the frame's parent body's frame
dir	Contact direction

Returns the force variables that were created by this contact

contactForce()

sva::ForceVecd mc_tvm::DynamicFunction::contactForce

(

const mc_rbdyn::RobotFrame &

f

)

const

Returns the contact force at the given contact frame

Parameters

f	Contact frame

Exceptions

If	no contact has been added with that frame

findContact()

std::vector<ForceContact>::const_iterator mc_tvm::DynamicFunction::findContact ( const mc_rbdyn::RobotFrame &  frame ) const

protected

removeContact()

void mc_tvm::DynamicFunction::removeContact

(

const mc_rbdyn::RobotFrame &

frame

)

Removes the contact associated to the given frame

Parameters

frame

Contact frame

updateb()

void mc_tvm::DynamicFunction::updateb ( )

protected

updateJacobian()

void mc_tvm::DynamicFunction::updateJacobian ( )

protected

Member Data Documentation

contacts_

std::vector<ForceContact> mc_tvm::DynamicFunction::contacts_

protected

robot_

const mc_rbdyn::Robot& mc_tvm::DynamicFunction::robot_

protected

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

• include/mc_tvm/DynamicFunction.h