fsb__dynamics_8h_source.html

#ifndef FSB_DYNAMICS_H

#define FSB_DYNAMICS_H


#include <array>


#include "fsb_body.h"

#include "fsb_body_tree.h"

#include "fsb_configuration.h"

#include "fsb_joint.h"

#include "fsb_types.h"


namespace fsb

{


struct ForceVector

{

    Vec3 torque;

    Vec3 force;

};


struct BodyForce

{

    std::array<ForceVector, MaxSize::bodies> body;

};


JointSpace inverse_dynamics(

    const BodyTree& body_tree, const BodyCartesianPva& cartesian_motion, const BodyForce& external_force,

    BodyForce& body_force);


}


#endif //FSB_DYNAMICS_H

fsb::BodyTree
Body tree description of a kinematic chain.
Definition fsb_body_tree.h:84

fsb::inverse_dynamics
JointSpace inverse_dynamics(const BodyTree &body_tree, const BodyCartesianPva &cartesian_motion, const BodyForce &external_force, BodyForce &body_force)
Inverse dynamics to find joint torques based on external forces and motion of bodies.
Definition fsb_dynamics.cpp:127

fsb::BodyCartesianPva
Container of Cartesian pose, velocity, and acceleration for a list of bodies.
Definition fsb_body.h:79

fsb::BodyForce
Container of Forces and Torques for a list of bodies.
Definition fsb_dynamics.h:35

fsb::BodyForce::body
std::array< ForceVector, MaxSize::bodies > body
List of bodies with Cartesian pose, velocity, and acceleration.
Definition fsb_dynamics.h:39

fsb::ForceVector
Force and torque vector.
Definition fsb_dynamics.h:26

fsb::ForceVector::force
Vec3 force
Force vector.
Definition fsb_dynamics.h:28

fsb::ForceVector::torque
Vec3 torque
Torque vector.
Definition fsb_dynamics.h:27

fsb::JointSpace
Joint space differential of generalized coordinates.
Definition fsb_joint.h:66

fsb::Vec3
3D vector
Definition fsb_types.h:27