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2026-06-01 15:55:59 +08:00
commit 40f9bdb590
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--- a/KDL/install/include/kdl/chaindynparam.hpp
+++ b/KDL/install/include/kdl/chaindynparam.hpp
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+// Copyright  (C)  2009  Dominick Vanthienen <dominick dot vanthienen at intermodalics dot eu>
+
+// Version: 1.0
+// Author: Dominick Vanthienen <dominick dot vanthienen at intermodalics dot eu>
+// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDLCHAINDYNPARAM_HPP
+#define KDLCHAINDYNPARAM_HPP
+
+#include "chainidsolver_recursive_newton_euler.hpp"
+#include "articulatedbodyinertia.hpp"
+#include "jntspaceinertiamatrix.hpp"
+#include <Eigen/StdVector>
+
+namespace KDL {
+
+    /**
+     * Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) 
+     * for the calculation torques out of the pose and derivatives.
+     * (inverse dynamics)
+     *
+     * The algorithm implementation for H is based on the book "Rigid Body
+     * Dynamics Algorithms" of Roy Featherstone, 2008
+     * (ISBN:978-0-387-74314-1) See page 107 for the pseudo-code.
+     * This algorithm is extended for the use of fixed joints
+     *
+     * It calculates the joint-space inertia matrix, given the motion of
+     * the joints (q,qdot,qdotdot), external forces on the segments
+     * (expressed in the segments reference frame) and the dynamical
+     * parameters of the segments.
+     */
+    class ChainDynParam : public SolverI
+    {
+    public:
+        ChainDynParam(const Chain& chain, Vector _grav);
+        virtual ~ChainDynParam();
+
+        virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis);
+	virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix& H);
+	virtual int JntToGravity(const JntArray &q,JntArray &gravity);
+
+    /// @copydoc KDL::SolverI::updateInternalDataStructures()
+    virtual void updateInternalDataStructures();
+
+    private:
+        const Chain& chain;
+	int nr;  // unused, remove in a future version
+	unsigned int nj;
+        unsigned int ns;	
+	Vector grav;
+	Vector vectornull;
+	JntArray jntarraynull;
+	ChainIdSolver_RNE chainidsolver_coriolis;
+	ChainIdSolver_RNE chainidsolver_gravity;
+	std::vector<Wrench> wrenchnull;
+        std::vector<Frame> X;
+        std::vector<Twist> S;
+        //std::vector<RigidBodyInertia> I;
+        std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> > Ic;
+        Wrench F;
+        Twist ag;
+	
+    };
+
+}
+
+#endif