112 lines
4.7 KiB
C++
112 lines
4.7 KiB
C++
// Copyright (C) 2018 Craig Carignan <craigc at ssl dot umd dot edu>
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// Version: 1.0
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// Author: Craig Carignan <craigc at ssl dot umd dot edu>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
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#define KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
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#include "chainfdsolver.hpp"
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#include "chainidsolver_recursive_newton_euler.hpp"
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#include "chaindynparam.hpp"
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namespace KDL{
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/**
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* \brief Recursive newton euler forward dynamics solver
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*
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* The algorithm implementation is based on the book "Rigid Body
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* Dynamics Algorithms" of Roy Featherstone, 2008
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* (ISBN:978-0-387-74314-1) See Chapter 6 for basic algorithm.
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*
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* It calculates the accelerations for the joints (qdotdot), given the
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* position and velocity of the joints (q,qdot,qdotdot), external forces
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* on the segments (expressed in the segments reference frame),
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* and the dynamical parameters of the segments.
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*/
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class ChainFdSolver_RNE : public ChainFdSolver{
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public:
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/**
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* Constructor for the solver, it will allocate all the necessary memory
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* \param chain The kinematic chain to calculate the forward dynamics for, an internal copy will be made.
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* \param grav The gravity vector to use during the calculation.
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*/
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ChainFdSolver_RNE(const Chain& chain, Vector grav);
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~ChainFdSolver_RNE(){};
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/**
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* Function to calculate from Cartesian forces to joint torques.
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* Input parameters;
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* \param q The current joint positions
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* \param q_dot The current joint velocities
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* \param torques The current joint torques (applied by controller)
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* \param f_ext The external forces (no gravity) on the segments
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* Output parameters:
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* \param q_dotdot The resulting joint accelerations
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*/
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int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches& f_ext, JntArray &q_dotdot);
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/// @copydoc KDL::SolverI::updateInternalDataStructures
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virtual void updateInternalDataStructures();
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/**
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* Function to integrate the joint accelerations resulting from the forward dynamics solver.
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* Input parameters;
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* \param nj The number of joints
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* \param t The current time
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* \param dt The integration period
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* \param q The current joint positions
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* \param q_dot The current joint velocities
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* \param torques The current joint torques (applied by controller)
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* \param f_ext The external forces (no gravity) on the segments
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* \param fdsolver The forward dynamics solver
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* Output parameters:
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* \param t The updated time
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* \param q The updated joint positions
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* \param q_dot The updated joint velocities
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* \param q_dotdot The current joint accelerations
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* \param dq The joint position increment
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* \param dq_dot The joint velocity increment
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* Temporary parameters:
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* \param qtemp Intermediate joint positions
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* \param qdtemp Intermediate joint velocities
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*/
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void RK4Integrator(unsigned int& nj, const double& t, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,
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KDL::JntArray& torques, KDL::Wrenches& f_ext, KDL::ChainFdSolver_RNE& fdsolver,
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KDL::JntArray& q_dotdot, KDL::JntArray& dq, KDL::JntArray& dq_dot,
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KDL::JntArray& q_temp, KDL::JntArray& q_dot_temp);
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private:
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const Chain& chain;
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ChainDynParam DynSolver;
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ChainIdSolver_RNE IdSolver;
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unsigned int nj;
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unsigned int ns;
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JntSpaceInertiaMatrix H;
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JntArray Tzeroacc;
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Eigen::MatrixXd H_eig;
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Eigen::VectorXd Tzeroacc_eig;
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Eigen::MatrixXd L_eig;
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Eigen::VectorXd D_eig;
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Eigen::VectorXd r_eig;
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Eigen::VectorXd acc_eig;
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};
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}
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#endif
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