#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

Detailed Description

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.

Constructor & Destructor Documentation

◆ DynamicsSolver()

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.

Parameters

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

Returns: False if initialization failed

Definition at line 75 of file dynamics_solver.cpp.

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Member Function Documentation

◆ getGroup()

const moveit::core::JointModelGroup* dynamics_solver::DynamicsSolver::getGroup ( ) const

inline

Definition at line 131 of file dynamics_solver.h.

◆ getMaxPayload()

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)

Parameters

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

Returns: False if the input set of joint angles is of the wrong size

Definition at line 225 of file dynamics_solver.cpp.

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◆ getMaxTorques()

const std::vector< double > & dynamics_solver::DynamicsSolver::getMaxTorques ( ) const

Get maximum torques for this group.

Returns: Vector of max torques

Definition at line 326 of file dynamics_solver.cpp.

◆ getPayloadTorques()

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.

Parameters

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

Returns: False if the input vectors are of the wrong size

Definition at line 290 of file dynamics_solver.cpp.

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◆ getRobotModel()

const moveit::core::RobotModelConstPtr& dynamics_solver::DynamicsSolver::getRobotModel ( ) const

inline

Get the kinematic model.

Returns: kinematic model

Definition at line 126 of file dynamics_solver.h.

◆ getTorques()

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)

Parameters

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

Returns: False if any of the input vectors are of the wrong size

Definition at line 154 of file dynamics_solver.cpp.

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

moveit_core/dynamics_solver/include/moveit/dynamics_solver/dynamics_solver.h
moveit_core/dynamics_solver/src/dynamics_solver.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DynamicsSolver()

Member Function Documentation

◆ getGroup()

◆ getMaxPayload()

◆ getMaxTorques()

◆ getPayloadTorques()

◆ getRobotModel()

◆ getTorques()