us.ihmc.utilities.screwTheory
Class InverseDynamicsCalculator
java.lang.Object
us.ihmc.utilities.screwTheory.InverseDynamicsCalculator
public class InverseDynamicsCalculator
- extends java.lang.Object
Computes joint torques based on desired joint accelerations.
Uses a recursive Newton-Euler algorithm, as described in Featherstone - Rigid Body Dynamics Algorithms (2008)
- Author:
- Twan Koolen
Constructor Summary |
InverseDynamicsCalculator(ReferenceFrame inertialFrame,
java.util.HashMap<RigidBody,Wrench> externalWrenches,
java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore,
SpatialAccelerationCalculator spatialAccelerationCalculator,
TwistCalculator twistCalculator)
|
InverseDynamicsCalculator(ReferenceFrame inertialFrame,
SpatialAccelerationVector rootAcceleration,
java.util.HashMap<RigidBody,Wrench> externalWrenches,
java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore,
boolean doVelocityTerms,
boolean doAcceleration,
TwistCalculator twistCalculator)
|
InverseDynamicsCalculator(TwistCalculator twistCalculator,
double gravity)
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Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
InverseDynamicsCalculator
public InverseDynamicsCalculator(ReferenceFrame inertialFrame,
java.util.HashMap<RigidBody,Wrench> externalWrenches,
java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore,
SpatialAccelerationCalculator spatialAccelerationCalculator,
TwistCalculator twistCalculator)
InverseDynamicsCalculator
public InverseDynamicsCalculator(ReferenceFrame inertialFrame,
SpatialAccelerationVector rootAcceleration,
java.util.HashMap<RigidBody,Wrench> externalWrenches,
java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore,
boolean doVelocityTerms,
boolean doAcceleration,
TwistCalculator twistCalculator)
InverseDynamicsCalculator
public InverseDynamicsCalculator(TwistCalculator twistCalculator,
double gravity)
compute
public void compute()
setExternalWrench
public void setExternalWrench(RigidBody rigidBody,
Wrench externalWrench)
getSpatialAccelerationCalculator
public SpatialAccelerationCalculator getSpatialAccelerationCalculator()
reset
public void reset()
computeTotalExternalWrench
public Wrench computeTotalExternalWrench(ReferenceFrame referenceFrame)
getJointWrench
public void getJointWrench(InverseDynamicsJoint joint,
Wrench wrenchToPack)