Commit 42b0c0f3 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Improve documentation of PinocchioRobot class.

parent c41aa699
......@@ -51,7 +51,7 @@ namespace PatternGeneratorJRL
const int RPY_SIZE=6;
const int QUATERNION_SIZE=7;
}
class PinocchioRobot
{
public:
......@@ -62,15 +62,20 @@ namespace PatternGeneratorJRL
PinocchioRobot();
virtual ~PinocchioRobot();
/// Functions computing kinematics and dynamics
/// Compute RNEA algorithm
/// This is a front end for computeInverseDynamics(q,v,a).
void computeInverseDynamics();
/// Compute RNEA algorithm from
/// \param[in] q: \f$q=[r,\theta,\hat{q}]\f$ with \f$r\f$ the position
/// of the free floating base (usually the waist), \f$theta\f$ the free floating
/// orientation in RPY format, $\hat{q}$ the motor angles position.
void computeInverseDynamics(Eigen::VectorXd & q,
Eigen::VectorXd & v,
Eigen::VectorXd & a);
/// Compute the geometry of the robot.
void computeForwardKinematics();
/// q should be given in RPY convention.
// void computeForwardKinematics(Eigen::VectorXd & q);
void RPYToSpatialFreeFlyer(Eigen::Vector3d & rpy,
Eigen::Vector3d & drpy,
......@@ -201,7 +206,7 @@ namespace PatternGeneratorJRL
inline Eigen::VectorXd & currentPinoConfiguration()
{return m_qpino;}
inline Eigen::VectorXd & currentRPYConfiguration()
{return m_qrpy;}
{return m_qrpy;}
inline Eigen::VectorXd & currentPinoVelocity()
{return m_vpino;}
inline Eigen::VectorXd & currentPinoAcceleration()
......@@ -301,7 +306,7 @@ namespace PatternGeneratorJRL
/// @{
/// Configuration SE(3) position + quaternion + NbDofs
Eigen::VectorXd m_qpino ;
/// Configuration SE(3) position + RPY + NbDofs
/// Configuration SE(3) position + RPY + NbDofs
Eigen::VectorXd m_qrpy ;
/// Velocity se(3) + NbDofs
Eigen::VectorXd m_vpino ;
......@@ -312,7 +317,7 @@ namespace PatternGeneratorJRL
Eigen::VectorXd m_arpy ;
// @}
// tmp variables
Eigen::Quaterniond m_quat ;
Eigen::Matrix3d m_rot ;
......
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