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/treeidsolver_recursive_newton_euler.hpp
+++ b/kdl_install/include/kdl/treeidsolver_recursive_newton_euler.hpp
@@ -0,0 +1,84 @@
+// Copyright  (C)  2009  Ruben Smits <ruben dot smits at intermodalics dot eu>
+
+// Version: 1.0
+// Author: Franco Fusco <franco dot fusco at ls2n dot fr>
+// 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 KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
+#define KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
+
+#include "treeidsolver.hpp"
+
+namespace KDL{
+    /**
+     * \brief Recursive newton euler inverse dynamics solver for kinematic trees.
+     *
+     * It calculates the torques for the joints, 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.
+     *
+     * This is an extension of the inverse dynamic solver for kinematic chains,
+     * \see ChainIdSolver_RNE. The main difference is the use of STL maps
+     * instead of vectors to represent external wrenches (as well as internal
+     * variables exploited during the recursion).
+     */
+    class TreeIdSolver_RNE : public TreeIdSolver {
+    public:
+        /**
+         * Constructor for the solver, it will allocate all the necessary memory
+         * \param tree The kinematic tree to calculate the inverse dynamics for, an internal reference will be stored.
+         * \param grav The gravity vector to use during the calculation.
+         */
+        TreeIdSolver_RNE(const Tree& tree, Vector grav);
+
+        /**
+         * 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 q_dotdot The current joint accelerations
+         * \param f_ext The external forces (no gravity) on the segments
+         * Output parameters:
+         * \param torques the resulting torques for the joints
+         */
+        int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap& f_ext, JntArray &torques);
+
+        /// @copydoc KDL::SolverI::updateInternalDataStructures
+        virtual void updateInternalDataStructures();
+
+    private:
+        ///Helper function to initialize private members X, S, v, a, f
+        void initAuxVariables();
+
+        ///One recursion step
+        void rne_step(SegmentMap::const_iterator segment, const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap& f_ext, JntArray& torques);
+
+        const Tree& tree;
+        unsigned int nj;
+        unsigned int ns;
+        std::map<std::string,Frame> X;
+        std::map<std::string,Twist> S;
+        std::map<std::string,Twist> v;
+        std::map<std::string,Twist> a;
+        std::map<std::string,Wrench> f;
+        Twist ag;
+    };
+}
+
+#endif