moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <dynamics_solver.h>
Public Member Functions | |
DynamicsSolver (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name, const geometry_msgs::msg::Vector3 &gravity_vector) | |
Initialize the dynamics solver. More... | |
bool | getTorques (const std::vector< double > &joint_angles, const std::vector< double > &joint_velocities, const std::vector< double > &joint_accelerations, const std::vector< geometry_msgs::msg::Wrench > &wrenches, std::vector< double > &torques) const |
Get the torques (the order of all input and output is the same as the order of joints for this group in the RobotModel) More... | |
bool | getMaxPayload (const std::vector< double > &joint_angles, double &payload, unsigned int &joint_saturated) const |
Get the maximum payload for this group (in kg). Payload is the weight that this group can hold when the weight is attached to the origin of the last link of this group. (The order of joint_angles vector is the same as the order of joints for this group in the RobotModel) More... | |
bool | getPayloadTorques (const std::vector< double > &joint_angles, double payload, std::vector< double > &joint_torques) const |
Get torques corresponding to a particular payload value. Payload is the weight that this group can hold when the weight is attached to the origin of the last link of this group. More... | |
const std::vector< double > & | getMaxTorques () const |
Get maximum torques for this group. More... | |
const moveit::core::RobotModelConstPtr & | getRobotModel () const |
Get the kinematic model. More... | |
const moveit::core::JointModelGroup * | getGroup () const |
This solver currently computes the required torques given a joint configuration, velocities, accelerations and external wrenches acting on the links of a robot
Definition at line 58 of file dynamics_solver.h.
dynamics_solver::DynamicsSolver::DynamicsSolver | ( | const moveit::core::RobotModelConstPtr & | robot_model, |
const std::string & | group_name, | ||
const geometry_msgs::msg::Vector3 & | gravity_vector | ||
) |
Initialize the dynamics solver.
urdf_model | The urdf model for the robot |
srdf_model | The srdf model for the robot |
group_name | The name of the group to compute stuff for |
Definition at line 75 of file dynamics_solver.cpp.
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inline |
Definition at line 131 of file dynamics_solver.h.
bool dynamics_solver::DynamicsSolver::getMaxPayload | ( | const std::vector< double > & | joint_angles, |
double & | payload, | ||
unsigned int & | joint_saturated | ||
) | const |
Get the maximum payload for this group (in kg). Payload is the weight that this group can hold when the weight is attached to the origin of the last link of this group. (The order of joint_angles vector is the same as the order of joints for this group in the RobotModel)
joint_angles | The joint angles (desired joint configuration) this must have size = number of joints in the group |
payload | The computed maximum payload |
joint_saturated | The first saturated joint and the maximum payload |
Definition at line 225 of file dynamics_solver.cpp.
const std::vector< double > & dynamics_solver::DynamicsSolver::getMaxTorques | ( | ) | const |
Get maximum torques for this group.
Definition at line 326 of file dynamics_solver.cpp.
bool dynamics_solver::DynamicsSolver::getPayloadTorques | ( | const std::vector< double > & | joint_angles, |
double | payload, | ||
std::vector< double > & | joint_torques | ||
) | const |
Get torques corresponding to a particular payload value. Payload is the weight that this group can hold when the weight is attached to the origin of the last link of this group.
joint_angles | The joint angles (desired joint configuration) this must have size = number of joints in the group |
payload | The payload for which to compute torques (in kg) |
joint_torques | The resulting joint torques |
Definition at line 290 of file dynamics_solver.cpp.
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inline |
bool dynamics_solver::DynamicsSolver::getTorques | ( | const std::vector< double > & | joint_angles, |
const std::vector< double > & | joint_velocities, | ||
const std::vector< double > & | joint_accelerations, | ||
const std::vector< geometry_msgs::msg::Wrench > & | wrenches, | ||
std::vector< double > & | torques | ||
) | const |
Get the torques (the order of all input and output is the same as the order of joints for this group in the RobotModel)
joint_angles | The joint angles (desired joint configuration) this must have size = number of joints in the group |
joint_velocities | The desired joint velocities this must have size = number of joints in the group |
joint_accelerations | The desired joint accelerations this must have size = number of joints in the group |
wrenches | External wrenches acting on the links of the robot this must have size = number of links in the group |
torques | Computed set of torques are filled in here this must have size = number of joints in the group |
Definition at line 154 of file dynamics_solver.cpp.