Class AngularMomentum

Inheritance Relationships

Base Type

Class Documentation

class AngularMomentum : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

The AngularMomentum class implements the tracking of desired angular momentum variation: 

      \f$\dot{L}_{r} = A\ddot{q} + \dot{A}\dot{q}\f$
with: 
      \f$\dot{L}_{r} =  \dot{L}_{d} + \lambda K \left( L_{d} - L \right)\f$

Public Types

typedef std::shared_ptr<AngularMomentum> Ptr

Public Functions

AngularMomentum(XBot::ModelInterface &robot, const AffineHelper &qddot)

AngularMomentum constructor.

Parameters

  • robot – model

  • qddot – variable

~AngularMomentum()

~AngularMomentum destructor

void setReference(const Eigen::Vector3d &desiredAngularMomentum)

setReference set a desired angular momentum at CoM

Parameters

desiredAngularMomentum – vector 3x1

void setReference(const Eigen::Vector3d &desiredAngularMomentum, const Eigen::Vector3d &desiredAngularMomentumVariation)

setReference set a desired angular momentum and variation of angular momentum at CoM

Parameters

  • desiredAngularMomentum –

  • desiredAngularMomentumVariation –

void setMomentumGain(const Eigen::Matrix3d &K)

setMomentumGain set gain for momentum feedback law

Parameters

K – matrix 3x3

const Eigen::Matrix3d &getMomentumGain() const

getMomentumGain retrieve internal momentum gain

Returns

3x3 momentum gain matrix

void getReference(Eigen::Vector3d &desiredAngularMomentum) const

getReference get the desired angular momentum at CoM

Parameters

desiredAngularMomentum – vector 3x1

void getReference(Eigen::Vector3d &desiredAngularMomentum, Eigen::Vector3d &desiredAngularMomentumVariation) const

getReference get the desired angular momentum and variation of angular momentum at CoM

Parameters

  • desiredAngularMomentum – vector 3x1

  • desiredAngularMomentumVariation – vector 3x1

const std::string &getBaseLink() const

getBaseLink

Returns

“world”

const std::string &getDistalLink() const

getDistalLink

Returns

“CoM”

virtual bool reset()

reset position reference to actual, velcoity and accelration to 0

Returns

true

Public Static Functions

static bool isAngularMomentum(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)

isAngularMomentum

Parameters

task – a pointer to a Task

Returns

true if the task is AngularMomentum

static OpenSoT::tasks::acceleration::AngularMomentum::Ptr asAngularMomentum(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)

asAngularMomentum

Parameters

task – a pointer to a Task

Returns

a pointer to an AngularMomentum Task