提交依赖与构建产物

2026-06-27 09:25:04 -04:00
parent 2817cba164
commit f0e96308d2
1300 changed files with 844236 additions and 0 deletions
--- a/kdl_install/include/kdl/chainfdsolver_recursive_newton_euler.hpp
+++ b/kdl_install/include/kdl/chainfdsolver_recursive_newton_euler.hpp
@@ -0,0 +1,111 @@
+// Copyright  (C)  2018  Craig Carignan <craigc at ssl dot umd dot edu>
+
+// Version: 1.0
+// Author: Craig Carignan  <craigc at ssl dot umd dot edu>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// 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 KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
+#define KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
+
+#include "chainfdsolver.hpp"
+#include "chainidsolver_recursive_newton_euler.hpp"
+#include "chaindynparam.hpp"
+
+namespace KDL{
+    /**
+     * \brief Recursive newton euler forward dynamics solver
+     *
+     * The algorithm implementation is based on the book "Rigid Body
+     * Dynamics Algorithms" of Roy Featherstone, 2008
+     * (ISBN:978-0-387-74314-1) See Chapter 6 for basic algorithm.
+     *
+     * It calculates the accelerations for the joints (qdotdot), given the
+     * position and velocity 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 ChainFdSolver_RNE : public ChainFdSolver{
+    public:
+        /**
+         * Constructor for the solver, it will allocate all the necessary memory
+         * \param chain The kinematic chain to calculate the forward dynamics for, an internal copy will be made.
+         * \param grav The gravity vector to use during the calculation.
+         */
+        ChainFdSolver_RNE(const Chain& chain, Vector grav);
+        ~ChainFdSolver_RNE(){};
+
+        /**
+         * Function to calculate from Cartesian forces to joint torques.
+         * Input parameters;
+         * \param q The current joint positions
+         * \param q_dot The current joint velocities
+         * \param torques The current joint torques (applied by controller)
+         * \param f_ext The external forces (no gravity) on the segments
+         * Output parameters:
+         * \param q_dotdot The resulting joint accelerations
+         */
+        int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches& f_ext, JntArray &q_dotdot);
+
+        /// @copydoc KDL::SolverI::updateInternalDataStructures
+        virtual void updateInternalDataStructures();
+
+        /**
+         * Function to integrate the joint accelerations resulting from the forward dynamics solver.
+         * Input parameters;
+         * \param nj The number of joints
+         * \param t The current time
+         * \param dt The integration period
+         * \param q The current joint positions
+         * \param q_dot The current joint velocities
+         * \param torques The current joint torques (applied by controller)
+         * \param f_ext The external forces (no gravity) on the segments
+         * \param fdsolver The forward dynamics solver
+         * Output parameters:
+         * \param t The updated time
+         * \param q The updated joint positions
+         * \param q_dot The updated joint velocities
+         * \param q_dotdot The current joint accelerations
+         * \param dq The joint position increment
+         * \param dq_dot The joint velocity increment
+         * Temporary parameters:
+         * \param qtemp Intermediate joint positions
+         * \param qdtemp Intermediate joint velocities
+         */
+        void RK4Integrator(unsigned int& nj, const double& t, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,
+                           KDL::JntArray& torques, KDL::Wrenches& f_ext, KDL::ChainFdSolver_RNE& fdsolver,
+                           KDL::JntArray& q_dotdot, KDL::JntArray& dq, KDL::JntArray& dq_dot,
+                           KDL::JntArray& q_temp, KDL::JntArray& q_dot_temp);
+
+    private:
+        const Chain& chain;
+        ChainDynParam DynSolver;
+        ChainIdSolver_RNE IdSolver;
+        unsigned int nj;
+        unsigned int ns;
+        JntSpaceInertiaMatrix H;
+        JntArray Tzeroacc;
+        Eigen::MatrixXd H_eig;
+        Eigen::VectorXd Tzeroacc_eig;
+        Eigen::MatrixXd L_eig;
+        Eigen::VectorXd D_eig;
+        Eigen::VectorXd r_eig;
+        Eigen::VectorXd acc_eig;
+    };
+}
+
+#endif