taoABDynamics Class Reference
[Dynamics]

Articulated body dynamics class

This class provides inverse and forward dynamics for articulated body. More...

#include <taoABDynamics.h>

List of all members.

Static Public Member Functions
static void	updateLocalXTreeOut (taoDNode *root)
	updates local transforms in the subtree with root
static void	resetInertiaTreeOut (taoDNode *root)
	resets inertias in the subtree with root
static void	resetFlagTreeOut (taoDNode *root)
	resets flags in the subtree with root
static void	forwardDynamics (taoDNode *root, const deVector3 *gravity)
	computes forward dynamics of the subtree with root under gravity
static void	inverseDynamics (taoDNode *root, const deVector3 *gravity)
	computes inverse dynamics of the subtree with root under gravity
static void	forwardDynamicsImpulse (taoDNode *contact, const deVector3 *point, const deVector3 *impulse, const deInt dist)
	computes velocity changes given impulse
static void	globalJacobianOut (taoDNode *root)
	computes global Jacobina matrices
static void	opSpaceInertiaMatrixOut (taoDNode *root, const deMatrix6 *Oah=NULL)
	computes inverse operational space inertia matrix for each node: diagonal terms: Omega_i_i
static void	biasAccelerationOut (taoDNode *root, const deVector6 *Hh=NULL)
static void	compute_Jg_Omega_H (taoDNode *root, const deMatrix6 *Oah=NULL, const deVector6 *Hh=NULL)
static deFloat	effectiveMassInv (taoDNode *node, const deVector3 *point, const deVector3 *dir)
static void	opSpaceInvDynamics (taoDNode *opNode, deVector6 *ddXn)
static void	add2Tau_JgT_F (taoDNode *node, const deVector6 *Fg)
static deFloat	potentialEnergy (taoDNode *root, const deVector3 *gravity)
	computes the potential energy of the subtree with root under gravity
static deFloat	kineticEnergy (taoDNode *root, const deVector6 *Vh=NULL)
	computes the kinetic energy of the subtree with root under gravity
static void	resetInertia (taoDNode *node)
	resets inertia of node

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Detailed Description

Articulated body dynamics class

This class provides inverse and forward dynamics for articulated body.

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Member Function Documentation

void taoABDynamics::add2Tau_JgT_F (  taoDNode *  node, const deVector6 *  Fg )  [static]

void taoABDynamics::biasAccelerationOut (  taoDNode *  root, const deVector6 *  Hh = NULL )  [static]

void taoABDynamics::compute_Jg_Omega_H (  taoDNode *  root, const deMatrix6 *  Oah = NULL, const deVector6 *  Hh = NULL )  [static]

deFloat taoABDynamics::effectiveMassInv (  taoDNode *  node, const deVector3 *  point, const deVector3 *  dir )  [static]

void taoABDynamics::forwardDynamics (  taoDNode *  root, const deVector3 *  gravity )  [static]

computes forward dynamics of the subtree with root under gravity Precondition: q, dq, tau should be given Postcondition: ddq is acceleration

void taoABDynamics::forwardDynamicsImpulse (  taoDNode *  contact, const deVector3 *  point, const deVector3 *  impulse, const deInt  dist )  [static]

computes velocity changes given impulse Parameters: point  expressed in local frame Remarks: use this methods after forwardDynamicsConifgInit Precondition: tau (impulse) is given only to the contact at local point with impulse Postcondition: ddq (velocity change) are computed for all nodes, V, dQ are also changed

void taoABDynamics::globalJacobianOut (  taoDNode *  root  )  [static]

computes global Jacobina matrices Precondition: q Postcondition: Jg

void taoABDynamics::inverseDynamics (  taoDNode *  root, const deVector3 *  gravity )  [static]

computes inverse dynamics of the subtree with root under gravity Precondition: q, dq, ddq should be given, Fext Postcondition: tau is computed torque

deFloat taoABDynamics::kineticEnergy (  taoDNode *  root, const deVector6 *  Vh = NULL )  [static]

computes the kinetic energy of the subtree with root under gravity Parameters: Vh  spatial velocity vector of root Returns: the total kinetic energy

void taoABDynamics::opSpaceInertiaMatrixOut (  taoDNode *  root, const deMatrix6 *  Oah = NULL )  [static]

computes inverse operational space inertia matrix for each node: diagonal terms: Omega_i_i Precondition: S, Dinv, L Postcondition: Omega

void taoABDynamics::opSpaceInvDynamics (  taoDNode *  opNode, deVector6 *  ddXn )  [static]

deFloat taoABDynamics::potentialEnergy (  taoDNode *  root, const deVector3 *  gravity )  [static]

computes the potential energy of the subtree with root under gravity Returns: the total potential energy

void taoABDynamics::resetFlagTreeOut (  taoDNode *  root  )  [static]

resets flags in the subtree with root

void taoABDynamics::resetInertia (  taoDNode *  node  )  [static]

resets inertia of node

void taoABDynamics::resetInertiaTreeOut (  taoDNode *  root  )  [static]

resets inertias in the subtree with root

void taoABDynamics::updateLocalXTreeOut (  taoDNode *  root  )  [static]

updates local transforms in the subtree with root

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The documentation for this class was generated from the following files:

• taoABDynamics.h
• taoABDynamics.cpp

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