moveit2
The MoveIt Motion Planning Framework for ROS 2.

#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 68 of file dynamics_solver.cpp.

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 214 of file dynamics_solver.cpp.
const std::vector< double > & dynamics_solver::DynamicsSolver::getMaxTorques  (  )  const 
Get maximum torques for this group.
Definition at line 315 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 279 of file dynamics_solver.cpp.

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 143 of file dynamics_solver.cpp.