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Stack Of Tasks
pinocchio
Commits
cf80e893
Verified
Commit
cf80e893
authored
Jul 18, 2018
by
jcarpent
Committed by
Justin Carpentier
Oct 29, 2018
Browse files
[Data] Introduce the notion of dense {Config,Tangent} vectors
parent
ce75c018
Changes
1
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src/multibody/data.hpp
View file @
cf80e893
...
...
@@ -67,6 +67,13 @@ namespace se3
typedef
Eigen
::
Matrix
<
Scalar
,
Eigen
::
Dynamic
,
1
,
Options
>
VectorXs
;
typedef
Eigen
::
Matrix
<
Scalar
,
3
,
1
,
Options
>
Vector3
;
/// \brief Dense vectorized version of a joint configuration vector.
typedef
VectorXs
ConfigVectorType
;
/// \brief Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc).
/// It also handles the notion of co-tangent vector (e.g. torque, etc).
typedef
VectorXs
TangentVectorType
;
/// \brief The 6d jacobian type (temporary)
typedef
Eigen
::
Matrix
<
Scalar
,
6
,
Eigen
::
Dynamic
,
Options
>
Matrix6x
;
/// \brief The 3d jacobian type (temporary)
...
...
@@ -115,7 +122,7 @@ namespace se3
container
::
aligned_vector
<
SE3
>
liMi
;
/// \brief Vector of joint torques (dim model.nv).
Vector
Xs
tau
;
Tangent
Vector
Type
tau
;
/// \brief Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.
/// \note In the multibody dynamics equation \f$ M\ddot{q} + b(q, \dot{q}) = \tau \f$,
...
...
@@ -183,14 +190,14 @@ namespace se3
RowMatrix6
M6tmpR
;
/// \brief The joint accelerations computed from ABA
Vector
Xs
ddq
;
Tangent
Vector
Type
ddq
;
// ABA internal data
/// \brief Inertia matrix of the subtree expressed as dense matrix [ABA]
container
::
aligned_vector
<
typename
Inertia
::
Matrix6
>
Yaba
;
// TODO: change with dense symmetric matrix6
/// \brief Intermediate quantity corresponding to apparent torque [ABA]
Vector
Xs
u
;
// Joint Inertia
Tangent
Vector
Type
u
;
// Joint Inertia
// CCRBA return quantities
/// \brief Centroidal Momentum Matrix
...
...
@@ -316,7 +323,7 @@ namespace se3
VectorXs
torque_residual
;
/// \brief Generalized velocity after impact.
Vector
Xs
dq_after
;
Tangent
Vector
Type
dq_after
;
/// \brief Lagrange Multipliers corresponding to the contact impulses in se3::impulseDynamics.
VectorXs
impulse_c
;
...
...
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