inverse_dynamics.h

 
#ifndef SPATIAL_DYN_ALGORITHMS_INVERSE_DYNAMICS_H_
#define SPATIAL_DYN_ALGORITHMS_INVERSE_DYNAMICS_H_
 
#include <map>  // std::map
 
#include "spatial_dyn/eigen/spatial_math.h"
#include "spatial_dyn/structs/articulated_body.h"
#include "spatial_dyn/structs/options.h"
 
namespace spatial_dyn {
 
Eigen::VectorXd InverseDynamics(const ArticulatedBody& ab, const Eigen::VectorXd& ddq,
                                const std::map<size_t, SpatialForced>& f_external = {},
                                const InverseDynamicsOptions& options = {});
 
const Eigen::VectorXd& CentrifugalCoriolis(const ArticulatedBody& ab);
 
const Eigen::VectorXd& Gravity(const ArticulatedBody& ab);
 
Eigen::VectorXd ExternalTorques(const ArticulatedBody& ab,
                                const std::map<size_t, SpatialForced>& f_external = {});
 
Eigen::VectorXd Friction(const ArticulatedBody& ab, Eigen::Ref<const Eigen::VectorXd> tau,
                         bool compensate = true, double stiction_epsilon = 0.01);
 
const Eigen::MatrixXd& Inertia(const ArticulatedBody& ab);
 
const SpatialInertiad& CompositeInertia(const ArticulatedBody& ab, int link = 0);
 
/*
 * @}
 */  // defgroup cpp_inverse_dynamics
 
}  // namespace spatial_dyn
 
#endif  // SPATIAL_DYN_ALGORITHMS_INVERSE_DYNAMICS_H_