RigidBody
A coordinate frame that is rigidly attached to the CoM position of a rigid link. In addition, this class also stores the mass and inertia of the rigid link to which the frame is attached. More...
Inheritance diagram for RigidBody:
Public Member Functions | |
| RigidBody (varargin) | |
| The class constructor function. More... | |
| function obj = | setMass (double mass) |
| sets the link mass More... | |
| function obj = | setInertia (matrix inertia) |
| sets the inertia (matrix) of the link More... | |
 Public Member Functions inherited from CoordinateFrame | |
| CoordinateFrame (varargin) | |
| The class constructor function. More... | |
| function obj = | ToContactFrame (char type) |
| convert a coordinate frame into a contact frame More... | |
| function obj = | setReference (CoordinateFrame ref) |
| set the reference frame More... | |
| function obj = | setOffset (rowvec offset) |
| set the offset of the origin of the frame from the reference frame origin (in the reference frame) More... | |
| function obj = | setRotationMatrix (rowvec|matrix r) |
| set the rotation matrix (R) of the frame w.r.t to the reference frame More... | |
| function obj = | computeHomogeneousTransform () |
| computes the homogeneous transformation matrix from the world coordinates More... | |
| function pos = | computeCartesianPosition (rowvec p) |
| computes the cartesian position of a point p in the body (current) coordinate frame More... | |
| function rpy = | computeEulerAngle () |
| computes the Euler angles the body (current) coordinate frame in the world frame (base coordinate) More... | |
| function g = | computeForwardKinematics () |
| computes the forward kinematics transformation matrix of the coordinate frame More... | |
| function Jac = | computeBodyJacobian (integer nDof) |
| computes the body Jacobian matrix of the coordinate frame More... | |
| function Jac = | computeSpatialJacobian (integer nDof) |
| computes the spatial Jacobian matrix of the coordinate frame More... | |
| function c_str = | getTwists (matrix p) |
| Returns the symbolic representation of the body jacobians of coordinate frames. More... | |
Public Attributes | |
| double | Mass |
| The mass of the rigid link. More... | |
| matrix | Inertia |
| The inertia of the rigid link. More... | |
| Public Attributes inherited from CoordinateFrame | |
| char | Name |
| The name of the coordinate frame. More... | |
| CoordinateFrame | Reference |
| The parent reference coordinate frame. More... | |
| rowvec | Offset |
| The offset of the origin of the frame from the origin of the reference frame. More... | |
| matrix | R |
| The rotation matrix of the frame w.r.t. the reference frame. More... | |
| matrix | gst0 |
| The homogeneous transformation from the base coordinate. More... | |
| Public Attributes inherited from handle | |
| addlistener | |
| Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More... | |
| notify | |
| Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More... | |
| delete | |
| Handle object destructor method that is called when the object's lifecycle ends. More... | |
| disp | |
| Handle object disp method which is called by the display method. See the MATLAB disp function. More... | |
| display | |
| Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More... | |
| findobj | |
| Finds objects matching the specified conditions from the input array of handle objects. More... | |
| findprop | |
| Returns a meta.property objects associated with the specified property name. More... | |
| fields | |
| Returns a cell array of string containing the names of public properties. More... | |
| fieldnames | |
| Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More... | |
| isvalid | |
| Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More... | |
| eq | |
| Relational functions example. See details for more information. More... | |
| transpose | |
| Transposes the elements of the handle object array. More... | |
| permute | |
| Rearranges the dimensions of the handle object array. See the MATLAB permute function. More... | |
| reshape | |
| hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More... | |
| sort | |
| ort the handle objects in any array in ascending or descending order. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from CoordinateFrame | |
| static function gst = | RPToHomogeneous (R, p) |
| Convert a rotation + translation to a homogeneous matrix. More... | |
| static function adj = | RigidAdjoint (g) |
| rigid adjoint matrix from the homonegeous matrix More... | |
| static function R = | RigidOrientation (g) |
| extract the rigid orientation from the homogeneous transformation matrix More... | |
| static function p = | RigidPosition (g) |
| extract the rigid position from the homogeneous transformation matrix More... | |
| static function s = | AxisToSkew (p) |
| converts the axis vector to a skew matrix More... | |
Detailed Description
A coordinate frame that is rigidly attached to the CoM position of a rigid link. In addition, this class also stores the mass and inertia of the rigid link to which the frame is attached.
Copyright (c) 2016-2017, AMBER Lab All right reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted only in compliance with the BSD 3-Clause license, see http://www.opensource.org/licenses/bsd-license.php
Constructor & Destructor Documentation
◆ RigidBody()
|
inline |
The class constructor function.
- Parameters
-
varargin variable nama-value pair input arguments, in detail: Required Parameters for varargin: - Name the name of the frame
- Reference the reference frame
- Offset the offset of the origin
- R the rotation matrix or the Euler angles
- Mass the mass of the link
- Inertia the inertia of the link
Member Function Documentation
◆ setInertia()
| function obj = RigidBody.setInertia | ( | matrix | inertia | ) |
sets the inertia (matrix) of the link
- Parameters
-
inertia the inertia matrix
- Generated fields of obj:
◆ setMass()
| function obj = RigidBody.setMass | ( | double | mass | ) |
sets the link mass
- Parameters
-
mass the link mass
- Generated fields of obj:
Member Data Documentation
◆ Inertia
| RigidBody.Inertia |
The inertia of the rigid link.
- Note
- This property has non-standard access specifiers:
SetAccess = Protected, GetAccess = Public - Matlab documentation of property attributes.
◆ Mass
| RigidBody.Mass |
The mass of the rigid link.
- Note
- This property has non-standard access specifiers:
SetAccess = Protected, GetAccess = Public - Matlab documentation of property attributes.
The documentation for this class was generated from the following files:
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidBody/RigidBody.m
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidBody/setInertia.m
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidBody/setMass.m