#include <body3d.h>

Inheritance diagram for gcop::Body3d< c >:

Collaboration diagram for gcop::Body3d< c >:

Public Member Functions
	Body3d ()
	Body3d (const Vector3d &ds, double m)
	Body3d (const Vector3d &ds, double m, const Vector3d &J)
virtual	~Body3d ()
virtual double	Step (Body3dState &xb, double t, const Body3dState &xa, const Vectorcd &u, double h, const VectorXd p=0, Matrix12d A=0, Matrix12xcd B=0, Matrix12Xd C=0)
virtual bool	NoiseMatrix (Matrix12d &Q, double t, const Body3dState &x, const Vectorcd &u, double h, const VectorXd *p=0)
double	SympStep (double t, Body3dState &xb, const Body3dState &xa, const Vectorcd &u, double h, const VectorXd p=0, Matrix12d A=0, Matrix12xcd B=0, Matrix12Xd C=0)
double	EulerStep (double t, Body3dState &xb, const Body3dState &xa, const Vectorcd &u, double h, const VectorXd p=0, Matrix12d A=0, Matrix12xcd B=0, Matrix12Xd C=0)
void	ID (Vector6d &f, double t, const Body3dState &xb, const Body3dState &xa, const Vectorcd &u, double h)
void	StateAndControlsToFlat (VectorXd &y, const Body3dState &x, const Vectorcd &u)
void	FlatToStateAndControls (Body3dState &x, Vectorcd &u, const std::vector< VectorXd > &y)
Static Public Member Functions
static void	Compute (Vector3d &J, double m, const Vector3d &ds)
static void	Compute (Vector6d &I, double m, const Vector3d &ds)
Public Attributes
Vector3d	ds
	body dimensions
double	m
	mass
Vector3d	J
	3x1 principal moments of inertia
Vector6d	I
	6x1 spatial inertia matrix
Vector6d	Ii
	6x1 spatial inertia matrix inverse
Vector3d	Dw
	linear rotational damping terms
Vector3d	Dv
	linear translational damping terms
Vector3d	fp
	constant position force in spatial frame (e.g. due to gravity)
Matrix6xcd	Bu
	control input transformation
bool	symp
	symplectic?
string	name
	Unique name of the body.
double	sw
	process noise: standard deviation in torque (zero by default)
double	sv
	process noise: standard deviation in force (zero by default)
Protected Types
typedef Matrix< double, c, 1 >	Vectorcd
typedef Matrix< double, c, c >	Matrixcd
typedef Matrix< double, 6, c >	Matrix6xcd
typedef Matrix< double, 12, c >	Matrix12xcd
typedef Matrix< double, 12, Dynamic >	Matrix12Xd

Detailed Description

template<int c = 6>
class gcop::Body3d< c >

A single rigid body system

Note: damping is currently supported only by Euler's method

Author: Marin Kobilarov marin(at)jhu.edu

Member Typedef Documentation

template<int c = 6>

typedef Matrix<double, 12, c> gcop::Body3d< c >::Matrix12xcd [protected]

template<int c = 6>

typedef Matrix<double, 12, Dynamic> gcop::Body3d< c >::Matrix12Xd [protected]

template<int c = 6>

typedef Matrix<double, 6, c> gcop::Body3d< c >::Matrix6xcd [protected]

template<int c = 6>

typedef Matrix<double, c, c> gcop::Body3d< c >::Matrixcd [protected]

Reimplemented from gcop::System< Body3dState, 12, c >.

template<int c = 6>

typedef Matrix<double, c, 1> gcop::Body3d< c >::Vectorcd [protected]

Reimplemented from gcop::System< Body3dState, 12, c >.

Constructor & Destructor Documentation

template<int c>

gcop::Body3d< c >::Body3d ( )

References gcop::Body3d< c >::Compute(), gcop::Body3d< c >::ds, gcop::Body3d< c >::I, gcop::Body3d< c >::J, and gcop::Body3d< c >::m.

template<int c>

gcop::Body3d< c >::Body3d	(	const Vector3d &	ds,
		double	m
	)

References gcop::Body3d< c >::Compute(), gcop::Body3d< c >::I, and gcop::Body3d< c >::J.

template<int c>

gcop::Body3d< c >::Body3d	(	const Vector3d &	ds,
		double	m,
		const Vector3d &	J
	)

template<int c>

gcop::Body3d< c >::~Body3d ( ) [virtual]

Member Function Documentation

template<int c>

void gcop::Body3d< c >::Compute	(	Vector3d &	J,
		double	m,
		const Vector3d &	ds
	)		`[static]`

Compute moments of inertia J given mass m and dimensions ds

Parameters:

J	moments of inertia (3x1 vector)
m	mass
ds	dimensions (assume a rectangular body)

Referenced by gcop::Body3d< c >::Body3d().

template<int c>

void gcop::Body3d< c >::Compute	(	Vector6d &	I,
		double	m,
		const Vector3d &	ds
	)		`[static]`

Compute moments of inertia tensor I given mass m and dimensions ds

Parameters:

J	moments of inertia (6x1 vector)
m	mass
ds	dimensions (assume a rectangular body)

template<int c>

double gcop::Body3d< c >::EulerStep	(	double	t,
		Body3dState &	xb,
		const Body3dState &	xa,
		const Vectorcd &	u,
		double	h,
		const VectorXd *	p = `0`,
		Matrix12d *	A = `0`,
		Matrix12xcd *	B = `0`,
		Matrix12Xd *	C = `0`
	)

References gcop::SO3::Ad(), gcop::SO3::cay(), gcop::SO3::dcay(), gcop::SO3::hat(), and gcop::SO3::Instance().

template<int c>

void gcop::Body3d< c >::FlatToStateAndControls	(	Body3dState &	x,
		Vectorcd &	u,
		const std::vector< VectorXd > &	y
	)

References gcop::SO3::Instance().

template<int c>

void gcop::Body3d< c >::ID	(	Vector6d &	f,
		double	t,
		const Body3dState &	xb,
		const Body3dState &	xa,
		const Vectorcd &	u,
		double	h
	)

Inverse dynamics

Parameters:

f	inverse dynamics vector
t	time
xb	end state
xa	start state
u	control
h	time-step

template<int c>

bool gcop::Body3d< c >::NoiseMatrix	(	Matrix12d &	Q,
		double	t,
		const Body3dState &	x,
		const Vectorcd &	u,
		double	h,
		const VectorXd *	p = `0`
	)		`[virtual]`

template<int c>

void gcop::Body3d< c >::StateAndControlsToFlat	(	VectorXd &	y,
		const Body3dState &	x,
		const Vectorcd &	u
	)

References gcop::SO3::Instance(), gcop::SO3::pitch(), gcop::SO3::roll(), and gcop::SO3::yaw().

template<int c>

double gcop::Body3d< c >::Step	(	Body3dState &	xb,
		double	t,
		const Body3dState &	xa,
		const Vectorcd &	u,
		double	h,
		const VectorXd *	p = `0`,
		Matrix12d *	A = `0`,
		Matrix12xcd *	B = `0`,
		Matrix12Xd *	C = `0`
	)		`[virtual]`

Referenced by gcop::Body3dTrack::Add(), and gcop::Body3dTrack::Add2().

template<int c>

double gcop::Body3d< c >::SympStep	(	double	t,
		Body3dState &	xb,
		const Body3dState &	xa,
		const Vectorcd &	u,
		double	h,
		const VectorXd *	p = `0`,
		Matrix12d *	A = `0`,
		Matrix12xcd *	B = `0`,
		Matrix12Xd *	C = `0`
	)