#include <armadillo>
Include dependency graph for dynamics_of_open_chains.hpp:
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Namespaces | |
| mr | |
Functions | |
| const arma::mat66 | mr::ad (const arma::vec6 &V) |
| Calculate the 6x6 matrix [adV] of the given 6-vector. More... | |
| const arma::vec | mr::InverseDynamics (const arma::vec &thetalist, const arma::vec &dthetalist, const arma::vec &ddthetalist, const arma::vec &g, const arma::vec6 &Ftip, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist) |
| const arma::mat | mr::MassMatrix (const arma::vec &thetalist, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist) |
| Computes the mass matrix of an open chain robot based on the given configuration. More... | |
| const arma::vec | mr::VelQuandraticForces (const arma::vec &thetalist, const arma::vec &dthetalist, const std::vector< arma::mat44 > Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist) |
| Computes the Coriolis and centripetal terms in the inverse dynamics of an open chain robot. More... | |
| const arma::vec | mr::GravityForces (const arma::vec &thetalist, const arma::vec3 &g, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist) |
| Computes the joint forces/torques an open chain robot requires to overcome gravity at its configuration. More... | |
| const arma::vec | mr::EndEffectorForces (const arma::vec &thetalist, const arma::vec6 &Ftip, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist) |
| Computes the joint forces/torques an open chain robot requires only to create the end-effector force Ftip. More... | |
| const arma::vec | mr::ForwardDynamics (const arma::vec &thetalist, const arma::vec &dthetalist, const arma::vec &taulist, const arma::vec3 &g, const arma::vec6 &Ftip, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist) |
| Computes forward dynamics in the space frame for an open chain robot. More... | |
| const std::tuple< const arma::vec, const arma::vec > | mr::EulerStep (const arma::vec &thetalist, const arma::vec &dthetalist, const arma::vec &ddthetalist, const double dt) |
| Compute the joint angles and velocities at the next timestep using first order Euler integration. More... | |
| const std::tuple< const arma::vec, const arma::vec > | mr::RK4Step (const arma::vec &thetalist, const arma::vec &dthetalist, const std::function< const std::tuple< const arma::vec, const arma::vec >(const arma::vec &, const arma::vec &) > &f, const double dt) |
| Compute the joint angles and velocities at the next timestep using Runge–Kutta methods integration. More... | |
| const std::vector< arma::vec > | mr::InverseDynamicsTrajectory (const std::vector< arma::vec > &thetamat, const std::vector< arma::vec > &dthetamat, const std::vector< arma::vec > &ddthetamat, const arma::vec3 &g, const std::vector< arma::vec6 > &Ftipmat, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist) |
| Calculates the joint forces/torques required to move the serial chain along the given trajectory using inverse dynamics. More... | |
| const std::tuple< const std::vector< arma::vec >, const std::vector< arma::vec > > | mr::ForwardDynamicsTrajectory (const arma::vec &thetalist, const arma::vec &dthetalist, const std::vector< arma::vec > &taumat, const arma::vec3 &g, const std::vector< arma::vec6 > &Ftipmat, const std::vector< arma::mat44 > &Mlist, const std::vector< arma::mat66 > &Glist, const std::vector< arma::vec6 > &Slist, const double dt, const int intRes) |
| Simulates the motion of a serial chain given an open-loop history of joint forces/torques. More... | |
