85 lines
3.4 KiB
C++
85 lines
3.4 KiB
C++
// Copyright (C) 2009 Ruben Smits <ruben dot smits at intermodalics dot eu>
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// Version: 1.0
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// Author: Franco Fusco <franco dot fusco at ls2n dot fr>
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// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
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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_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
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#define KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
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#include "treeidsolver.hpp"
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namespace KDL{
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/**
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* \brief Recursive newton euler inverse dynamics solver for kinematic trees.
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*
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* It calculates the torques for the joints, given the motion of
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* the joints (q,qdot,qdotdot), external forces on the segments
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* (expressed in the segments reference frame) and the dynamical
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* parameters of the segments.
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*
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* This is an extension of the inverse dynamic solver for kinematic chains,
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* \see ChainIdSolver_RNE. The main difference is the use of STL maps
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* instead of vectors to represent external wrenches (as well as internal
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* variables exploited during the recursion).
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*/
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class TreeIdSolver_RNE : public TreeIdSolver {
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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 tree The kinematic tree to calculate the inverse dynamics for, an internal reference will be stored.
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* \param grav The gravity vector to use during the calculation.
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*/
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TreeIdSolver_RNE(const Tree& tree, Vector grav);
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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 q_dotdot The current joint accelerations
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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 torques the resulting torques for the joints
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*/
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int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap& f_ext, JntArray &torques);
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/// @copydoc KDL::SolverI::updateInternalDataStructures
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virtual void updateInternalDataStructures();
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private:
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///Helper function to initialize private members X, S, v, a, f
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void initAuxVariables();
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///One recursion step
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void rne_step(SegmentMap::const_iterator segment, const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap& f_ext, JntArray& torques);
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const Tree& tree;
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unsigned int nj;
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unsigned int ns;
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std::map<std::string,Frame> X;
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std::map<std::string,Twist> S;
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std::map<std::string,Twist> v;
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std::map<std::string,Twist> a;
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std::map<std::string,Wrench> f;
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Twist ag;
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};
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}
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#endif
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