dyn::State¶

rb::dyn::State is the mutable state container passed into the rigid-body model computations. It stores joint vectors, intermediate kinematic quantities, and base-motion terms used by the dynamics layer.

Header

#include <rby1-sdk/dynamics/state.h>

Declaration

Namespace	`rb::dyn`
Kind	`class template`
Primary role	Hold joint vectors, gravity, base twist, and intermediate dynamic state.

Public Attributes

Field group	Meaning	Notes
`q`, `qdot`, `qddot`, `tau`	Joint position, velocity, acceleration, and torque vectors.	The main dynamic inputs and outputs.
`T`, `V`, `Vdot`, `S`, `E`, `F`	Intermediate rigid-body quantities.	Mostly useful after model computations run.
`V0` and `Vdot0`	Base motion terms.	Relevant for floating-base or moving-base setups.

Public Member Functions

Method group	Purpose	Notes
`GetQ*()`, `GetTau()`, `GetV0()`, `GetVdot0()`	Read the main state vectors.	Useful when state is owned by another subsystem.
`SetQ*()`, `SetTau()`, `SetV0()`, `SetVdot0()`, `SetGravity(...)`	Write the main state vectors and gravity.	Call before running model computations.
`GetJointNames()`, `GetLinkNames()`, `GetBaseLinkIdx()`	Inspect the model-index mapping bound into the state.	Useful for debugging and analysis.

Detailed Reference

template<int DOF> class State¶

Public Types

template<typename T, int N> using ContainerType = typename std::conditional_t<(N > 0), std::array<T, (unsigned int)N>, std::vector<T>>¶

Public Functions

inline unsigned int GetBaseLinkIdx() const¶

inline ContainerType<std::string, DOF> GetJointNames() const¶

inline std::vector<std::string> GetLinkNames() const¶

inline Eigen::Vector<double, DOF> GetQ() const¶

inline Eigen::Vector<double, DOF> GetQddot() const¶

inline Eigen::Vector<double, DOF> GetQdot() const¶

inline const Eigen::Vector<double, DOF> GetTau() const¶

inline const math::se3v::MatrixType &GetV0() const¶

inline const math::se3v::MatrixType &GetVdot0() const¶

inline void SetGravity(const math::se3v::MatrixType &gravity)¶

template<typename Derived> inline void SetQ(const Eigen::MatrixBase<Derived> &new_q)¶

template<typename Derived> inline void SetQddot(const Eigen::MatrixBase<Derived> &new_qddot)¶

template<typename Derived> inline void SetQdot(const Eigen::MatrixBase<Derived> &new_qdot)¶

template<typename Derived> inline void SetTau(const Eigen::MatrixBase<Derived> &new_tau)¶

inline void SetV0(const math::se3v::MatrixType &new_V0)¶

inline void SetVdot0(const math::se3v::MatrixType &new_Vdot0)¶

Public Members

ContainerType<math::SE3::MatrixType, DOF> E = {}¶

Eigen::Matrix<double, 6, DOF> F¶

Eigen::Vector<double, DOF> q¶

Eigen::Vector<double, DOF> qddot¶

Eigen::Vector<double, DOF> qdot¶

Eigen::Matrix<double, 6, DOF> S¶

ContainerType<math::SE3::MatrixType, DOF> T = {}¶

Eigen::Vector<double, DOF> tau¶

Eigen::Matrix<double, 6, DOF> V¶

math::se3v::MatrixType V0 = {math::se3v::MatrixType::Zero()}¶

Eigen::Matrix<double, 6, DOF> Vdot¶

math::se3v::MatrixType Vdot0 = {math::se3v::MatrixType::Zero()}¶

Friends

friend class Robot

Related Types

Examples

dynamics/load_urdf.cpp
dynamics/gravity_term.cpp