Classes for force/torque computation using Newton-Euler recursive formulation, both in the forward/backward sense. More...

Collaboration diagram for RecursiveNewtonEuler:

Classes
class	iCub::iDyn::OneLinkNewtonEuler
	A base class for computing forces and torques in a serial link chain. More...

class	iCub::iDyn::BaseLinkNewtonEuler
	A class for setting a virtual base link: this is useful to initialize the forward phase of Newton-Euler's method, by setting w, dw, ddp; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Newton-Euler computations. More...

class	iCub::iDyn::FinalLinkNewtonEuler
	A class for setting a virtual final link: this is useful to initialize the backward phase of Newton-Euler's method, by setting F, Mu; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Newton-Euler computations. More...

class	iCub::iDyn::SensorLinkNewtonEuler
	A class for setting a virtual sensor link. More...

class	iCub::iDyn::OneChainNewtonEuler
	A class for computing forces and torques in a iDynChain. More...

class	iCub::iDyn::iCubArmSensorLink
	A class for setting a virtual sensor link on the iCub arm, for the arm FT sensor. More...

class	iCub::iDyn::iCubLegSensorLink
	A class for setting a virtual sensor link on the iCub leg, for the leg FT sensor. More...

Detailed Description

Classes for force/torque computation using Newton-Euler recursive formulation, both in the forward/backward sense.

Description

OneLinkNewtonEuler is a class that provides Newton-Euler recursive formulation, for the computation of forces, moments and joint torques in a kinematic chain; both classical and "inverse" formulation are included; the classe is the basis for the computation of torques given force/torque sensor measurements, given any sensor anywhere in the dynamic/kinematic chain. BaseLink-, FinalLink- and SensorLink-NewtonEuler are derived class, to be used for computations. OneChainNewtonEuler defines a chain of OneLinkNewtonEuler corresponding to an iDynChain: it constructs a chain with a BaseLink, N OneLinks corresponding to the N iDynLinks of the iDynChain, and a FinalLink. BaseLink and FinalLink are used only to initialize the two phases of the Newton-Euler algorithm, thus they don't have a corresponding dynamic link but a virtual one.

Tested OS

Windows

Author: Serena Ivaldi, Matteo Fumagalli