Abstract class for performing inverse dynamics computation on a reduced-coordinate articulatedc body. More...
#include <RCArticulatedBodyInvDynAlgo.h>
Inheritance diagram for Moby::RCArticulatedBodyInvDynAlgo:
Public Member Functions | |
| virtual std::map < boost::shared_ptr< Joint > , Ravelin::VectorNd > | calc_inv_dyn (boost::shared_ptr< RCArticulatedBody > body, const std::map< boost::shared_ptr< RigidBody >, RCArticulatedBodyInvDynData > &inv_dyn_data)=0 |
| Classes must implement the method below. More... | |
 Public Member Functions inherited from Moby::Base | |
| Base (const Base *b) | |
| virtual void | save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const |
| Method for saving this object to XML. More... | |
| virtual void | load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map) |
| Method for loading the data for this object from XML. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from Moby::Base | |
| template<class T > | |
| static boost::shared_ptr< T > | clone (boost::shared_ptr< T > x) |
| Static method for cloning a shared pointer. | |
| Public Attributes inherited from Moby::Base | |
| boost::shared_ptr< void > | userdata |
| Any relevant userdata. | |
| std::string | id |
| The unique ID for this object. | |
Detailed Description
Abstract class for performing inverse dynamics computation on a reduced-coordinate articulatedc body.
Member Function Documentation
|
pure virtual |
Classes must implement the method below.
Given the current base position and velocity, the joint positions and joint velocities, the external forces on all links (including the base), and the desired joint and base accelerations, the inverse dynamics method must compute the forces applied to the joint actuators to achieve these accelerations.
- Returns
- a map from joints to computed actuator forces
The documentation for this class was generated from the following file:
- /home/drum/Moby/include/Moby/RCArticulatedBodyInvDynAlgo.h
