Simulation

Functions
void	spatial_dyn::Integrate (ArticulatedBody &ab, const Eigen::VectorXd &tau, double dt, const std::map< size_t, SpatialForced > &f_external, const IntegrationOptions &options)

Detailed Description

C++ implementation of spatial_dyn simulation utilities.

See also

Python: py_simulation

Function Documentation

Integrate()

void spatial_dyn::Integrate	(	ArticulatedBody &	ab,
		const Eigen::VectorXd &	tau,
		double	dt,
		const std::map< size_t, SpatialForced > &	f_external = {},
		const IntegrationOptions &	options = {}
	)

Apply the commanded joint torques and integrate by the given timestep to get the robot's next state.

Computes the robot's acceleration with forward dynamics and integrates the resulting acceleration along with robot's velocity by one timestep to get the robot's next position and velocity. The forward dynamics algorithm and integration method can be specified in the options.

Parameters

ab	ArticulatedBody.
tau	Commanded joint torques.
dt	Integration timestep.
f_external	Map of (index, force) pairs where the force is the sum of all external spatial forces (represented in the world frame) applied to the associated rigid body index.
options	IntegrationOptions.

See also

Python: spatialdyn.integrate()