DynamicsInterfaceWithFallback Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/RobotControlInterfaces.h>

Mixin class for providing a generic implementation of robot dynamics computation. More...

Inheritance diagram for DynamicsInterfaceWithFallback:

Detailed Description

Mixin class for providing a generic implementation of robot dynamics computation.

By inheriting from this class, a generic implementation using the properties of the robot exposed in its URDF will automatically be provided. A subclass can optionally also implement custom ("native") dynamics computation methods, which will be used by default instead of the generic ones.

Public Member Functions
CoriolisSolution	computeCoriolis (const RobotState &state, Source source) override
JacobianSolution	computeJacobian (const RobotState &state, Source source) override
GravitySolution	computeGravity (const RobotState &state, Source source) override
virtual CoriolisSolution	computeCoriolisNative (const RobotState &state)
virtual JacobianSolution	computeJacobianNative (const RobotState &state)
virtual GravitySolution	computeGravityNative (const RobotState &state)
Public Member Functions inherited from DynamicsInterface
CoriolisSolution	computeCoriolis (const RobotState &state)
JacobianSolution	computeJacobian (const RobotState &state)
GravitySolution	computeGravity (const RobotState &state)

Additional Inherited Members
Public Types inherited from DynamicsInterface
enum class	Source { Any , Native , Generic }

Member Function Documentation

computeCoriolis()

CoriolisSolution computeCoriolis ( const RobotState & state, Source source )

overridevirtual

Implements DynamicsInterface.

computeJacobian()

JacobianSolution computeJacobian ( const RobotState & state, Source source )

overridevirtual

Implements DynamicsInterface.

computeGravity()

GravitySolution computeGravity ( const RobotState & state, Source source )

overridevirtual

Implements DynamicsInterface.

---

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

• RoboticsPlugin/Include/ImFusion/Robotics/RobotControlInterfaces.h