Struct multibody_dynamics::multibody::MultiBody

pub struct MultiBody<const NUM_BODIES: usize, const NUM_DOFS: usize> { /* private fields */ }

Implementations

impl<const NUM_BODIES: usize, const NUM_DOFS: usize> MultiBody<NUM_BODIES, NUM_DOFS>

pub fn new(
    offset_matrices: Vec<Isometry3<f64>>,
    mass_matrices: Option<Vec<Matrix6<f64>>>,
    inertia_matrices: Option<Vec<Matrix3<f64>>>,
    joint_types: Vec<JointType>,
    parent: Vec<u16>,
    gravity: Vector3<f64>,
    r_com: Option<Vec<Vector3<f64>>>,
    r_cob: Option<Vec<Vector3<f64>>>,
    mass: Option<Vec<f64>>,
    volume: Option<Vec<f64>>,
    rho: Option<f64>
) -> Result<MultiBody<NUM_BODIES, NUM_DOFS>, &'static str>

pub fn minimal_to_homogenous_configuration<Configuration, const D: usize>(
    &self,
    six_dof_vars: &Configuration,
    scalar_joint_vars: &SVector<f64, D>
) -> Vec<Isometry3<f64>>where
    Configuration: IntoHomogenousConfigurationVec,

Converts a set of minimal coordinates to a set of homogenous coordinates.

pub fn generalized_newton_euler(
    &mut self,
    conf: &Vec<Isometry3<f64>>,
    mu: &SVector<f64, NUM_DOFS>,
    mu_prime: &SVector<f64, NUM_DOFS>,
    sigma_prime: &SVector<f64, NUM_DOFS>,
    rigid_body_forces: &Vec<Vector6<f64>>,
    eta: &SVector<f64, NUM_DOFS>
) -> SVector<f64, NUM_DOFS>

$$E=mc^2$$

pub fn compute_mass_matrix(&self) -> SMatrix<f64, NUM_DOFS, NUM_DOFS>

Computes the mass matrix of the multibody system using the composite rigid body algorithm (CRB). Assumes that GNE/MNE/AB has been called.

pub fn forward_dynamics_ab(
    &mut self,
    conf: &Vec<Isometry3<f64>>,
    mu: &SVector<f64, NUM_DOFS>,
    damping_forces: &Vec<Vector6<f64>>,
    thruster_forces: &Vec<Vector6<f64>>,
    eta: &SVector<f64, NUM_DOFS>,
    lin_vel_current: &Vector3<f64>,
    lin_accel_current: &Vector3<f64>
) -> SVector<f64, NUM_DOFS>

Computes the forward dynamics using the articulated body algorithm (AB).

pub fn compute_jacobians(
    &mut self,
    config: &Vec<Isometry3<f64>>
) -> Vec<SMatrix<f64, 6, NUM_DOFS>>

pub fn compute_jacobian_derivatives(
    &mut self,
    mu: &SVector<f64, NUM_DOFS>
) -> Vec<SMatrix<f64, 6, NUM_DOFS>>

pub fn compute_jacobian(
    &self,
    config: &Vec<Isometry3<f64>>,
    body_id: usize
) -> SMatrix<f64, 6, NUM_DOFS>

pub fn compute_jacobian_derivative(
    &self,
    config: &Vec<Isometry3<f64>>,
    mu: &SVector<f64, NUM_DOFS>,
    body_id: usize
) -> SMatrix<f64, 6, NUM_DOFS>