CRB_ALGORITHM Class Reference

Computes forward dynamics using composite-rigid body method. More...

#include <CRBAlgorithm.h>

Public Member Functions
boost::shared_ptr < RC_ARTICULATED_BODY >	get_body () const
void	set_body (boost::shared_ptr< RC_ARTICULATED_BODY > body)
void	calc_fwd_dyn ()
	Executes the composite rigid-body method.
void	apply_impulse (const SMOMENTUM &w, boost::shared_ptr< RIGIDBODY > link)
void	calc_generalized_inertia (SHAREDMATRIXN &M)
	Calculates the generalized inertia matrix for the given representation. More...
void	calc_generalized_inertia (SHAREDMATRIXN &M, boost::shared_ptr< const POSE3 > P)
void	calc_generalized_forces (SFORCE &f0, VECTORN &C)
	Computes the vector "C", used for forward dynamics computation, using the recursive Newton-Euler algorithm. More...
void	calc_generalized_forces_noinertial (SFORCE &f0, VECTORN &C)
	Computes the vector "C", w/o inertial forces, using the recursive Newton-Euler algorithm. More...
bool	factorize_cholesky (MATRIXN &M)
	Factorizes (Cholesky) the generalized inertia matrix, exploiting sparsity.
VECTORN &	M_solve (VECTORN &xb)
	Solves for acceleration using the body inertia matrix.
SHAREDVECTORN &	M_solve (SHAREDVECTORN &xb)
	Solves for acceleration using the body inertia matrix.
MATRIXN &	M_solve (MATRIXN &XB)
	Solves for acceleration using the body inertia matrix.
SHAREDMATRIXN &	M_solve (SHAREDMATRIXN &XB)
	Solves for acceleration using the body inertia matrix.

Friends
class	RC_ARTICULATED_BODY

Detailed Description

Computes forward dynamics using composite-rigid body method.

Member Function Documentation

void CRB_ALGORITHM::calc_generalized_forces	(	SFORCE &	f0,
		VECTORN &	C
	)

Computes the vector "C", used for forward dynamics computation, using the recursive Newton-Euler algorithm.

Returns

the spatial vector of forces on the base, which can be ignored for forward dynamics for fixed bases

References SVELOCITY::cross(), VECTORN::segment(), and SPARITH::transform_accel().

Referenced by RC_ARTICULATED_BODY::get_generalized_forces().

void CRB_ALGORITHM::calc_generalized_forces_noinertial	(	SFORCE &	f0,
		VECTORN &	C
	)

Computes the vector "C", w/o inertial forces, using the recursive Newton-Euler algorithm.

Returns

the spatial vector of forces on the base, which can be ignored for forward dynamics for fixed bases

References VECTORN::segment().

void CRB_ALGORITHM::calc_generalized_inertia

(

SHAREDMATRIXN &

M

)

Calculates the generalized inertia matrix for the given representation.

Generic method provided for use with generalized coordinates.

References SHAREDMATRIXN::block(), SHAREDMATRIXN::resize(), SHAREDMATRIXN::set_sub_mat(), SPARITH::to_matrix(), and MATRIXN::transpose().

Referenced by RC_ARTICULATED_BODY::get_generalized_inertia().

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The documentation for this class was generated from the following files:

• /home/drum/Ravelin.new/include/Ravelin/CRBAlgorithm.h
• /home/drum/Ravelin.new/src/CRBAlgorithm.cpp