22 #ifndef KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
23 #define KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
44 typedef Eigen::Matrix<double, 6, Eigen::Dynamic>
Matrix6Xd;
70 int CartToJnt(
const JntArray &q,
const JntArray &q_dot, JntArray &q_dotdot,
const Jacobian& alfa,
const JntArray& beta,
const Wrenches& f_ext, JntArray &torques);
167 D(0),nullspaceAccComp(0),constAccComp(0),biasAccComp(0),totalBias(0),u(0)
170 E_tilde.resize(6, nc);
Matrix6Xd E_tilde
Definition: chainidsolver_vereshchagin.hpp:156
double totalBias
Definition: chainidsolver_vereshchagin.hpp:163
ArticulatedBodyInertia P
Definition: chainidsolver_vereshchagin.hpp:150
std::vector< Frame > Frames
Definition: chainidsolver_vereshchagin.hpp:41
Eigen::VectorXd G
Definition: chainidsolver_vereshchagin.hpp:158
Eigen::VectorXd tmpm
Definition: chainidsolver_vereshchagin.hpp:133
Wrench U
Definition: chainidsolver_vereshchagin.hpp:144
ArticulatedBodyInertia P_tilde
Definition: chainidsolver_vereshchagin.hpp:151
std::vector< Wrench > Wrenches
Definition: chainidsolver.hpp:32
Twist acc_root
Definition: chainidsolver_vereshchagin.hpp:123
Eigen::MatrixXd Um
Definition: chainidsolver_vereshchagin.hpp:127
double u
Definition: chainidsolver_vereshchagin.hpp:164
Wrench R
Definition: chainidsolver_vereshchagin.hpp:145
Definition: jacobian.hpp:35
Frame F
Definition: chainidsolver_vereshchagin.hpp:139
Chain chain
Definition: chainidsolver_vereshchagin.hpp:119
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
Eigen::VectorXd EZ
Definition: chainidsolver_vereshchagin.hpp:159
double constAccComp
Definition: chainidsolver_vereshchagin.hpp:161
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: chainidsolver_vereshchagin.hpp:42
Twist v
Definition: chainidsolver_vereshchagin.hpp:142
JntArray beta_N
Definition: chainidsolver_vereshchagin.hpp:129
Eigen::VectorXd Sm
Definition: chainidsolver_vereshchagin.hpp:132
Wrench PC
Definition: chainidsolver_vereshchagin.hpp:153
Wrench PZ
Definition: chainidsolver_vereshchagin.hpp:152
double D
Definition: chainidsolver_vereshchagin.hpp:154
ArticulatedBodyInertia H
Definition: chainidsolver_vereshchagin.hpp:149
Jacobian alfa_N2
Definition: chainidsolver_vereshchagin.hpp:125
Wrench R_tilde
Definition: chainidsolver_vereshchagin.hpp:146
unsigned int nj
Definition: chainidsolver_vereshchagin.hpp:120
represents both translational and rotational velocities.
Definition: frames.hpp:720
Twist acc
Definition: chainidsolver_vereshchagin.hpp:143
int CartToJnt(const JntArray &q, const JntArray &q_dot, JntArray &q_dotdot, const Jacobian &alfa, const JntArray &beta, const Wrenches &f_ext, JntArray &torques)
This method calculates joint space constraint torques and total joint space acceleration.
Definition: chainidsolver_vereshchagin.cpp:46
Definition: articulatedbodyinertia.cpp:28
6D Inertia of a articulated body
Definition: articulatedbodyinertia.hpp:40
~ChainIdSolver_Vereshchagin()
Definition: chainidsolver_vereshchagin.hpp:55
Twist Z
Definition: chainidsolver_vereshchagin.hpp:141
std::vector< segment_info > results
Definition: chainidsolver_vereshchagin.hpp:182
void constraint_calculation(const JntArray &beta)
This method calculates constraint force magnitudes.
Definition: chainidsolver_vereshchagin.cpp:241
Jacobian alfa_N
Definition: chainidsolver_vereshchagin.hpp:124
void final_upwards_sweep(JntArray &q_dotdot, JntArray &torques)
This method puts all acceleration contributions (constraint, bias, nullspace and parent accelerations...
Definition: chainidsolver_vereshchagin.cpp:276
Wrench qdotdot_sum
Definition: chainidsolver_vereshchagin.hpp:134
Twist A
Definition: chainidsolver_vereshchagin.hpp:148
Frame F_base
Definition: chainidsolver_vereshchagin.hpp:140
double biasAccComp
Definition: chainidsolver_vereshchagin.hpp:162
ChainIdSolver_Vereshchagin(const Chain &chain, Twist root_acc, unsigned int nc)
Constructor for the solver, it will allocate all the necessary memory.
Definition: chainidsolver_vereshchagin.cpp:31
Eigen::MatrixXd M
Definition: chainidsolver_vereshchagin.hpp:157
void downwards_sweep(const Jacobian &alfa, const JntArray &torques)
This method is a force balance sweep.
Definition: chainidsolver_vereshchagin.cpp:125
Eigen::Matrix< double, 6, Eigen::Dynamic > Matrix6Xd
Definition: chainidsolver_vereshchagin.hpp:44
unsigned int nc
Definition: chainidsolver_vereshchagin.hpp:122
void initial_upwards_sweep(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext)
This method calculates all cartesian space poses, twists, bias accelerations.
Definition: chainidsolver_vereshchagin.cpp:64
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
Twist C
Definition: chainidsolver_vereshchagin.hpp:147
represents both translational and rotational acceleration.
Definition: frames.hpp:878
double nullspaceAccComp
Definition: chainidsolver_vereshchagin.hpp:160
Eigen::VectorXd nu_sum
Definition: chainidsolver_vereshchagin.hpp:131
Eigen::MatrixXd M_0_inverse
Definition: chainidsolver_vereshchagin.hpp:126
Definition: chainidsolver_vereshchagin.hpp:137
Eigen::VectorXd nu
Definition: chainidsolver_vereshchagin.hpp:130
Frame F_total
Definition: chainidsolver_vereshchagin.hpp:135
std::vector< Twist > Twists
Definition: chainidsolver_vereshchagin.hpp:40
unsigned int ns
Definition: chainidsolver_vereshchagin.hpp:121
Matrix6Xd E
Definition: chainidsolver_vereshchagin.hpp:155
Dynamics calculations by constraints based on Vereshchagin 1989.
Definition: chainidsolver_vereshchagin.hpp:38
Eigen::Matrix< double, 6, 6 > Matrix6d
Definition: chainidsolver_vereshchagin.hpp:43
segment_info(unsigned int nc)
Definition: chainidsolver_vereshchagin.hpp:166
Eigen::MatrixXd Vm
Definition: chainidsolver_vereshchagin.hpp:128