171 lines
8.1 KiB
C
171 lines
8.1 KiB
C
|
/** \file Mainpage.h
|
||
|
|
* \mainpage Mainpage
|
||
|
|
* \image html rbdl_logo.png
|
||
|
|
*
|
||
|
|
* This is the documentation of RBDL, the Rigid Body Dynamics Library. The
|
||
|
|
* library contains highly efficient code for both forward and inverse
|
||
|
|
* dynamics for kinematic chains and branched models. It includes:
|
||
|
|
*
|
||
|
|
* \li Recursive Newton Euler Algorithm (RNEA)
|
||
|
|
* \li Composite Rigid Body Algorithm (CRBA)
|
||
|
|
* \li Articulated Body Algorithm (ABA).
|
||
|
|
*
|
||
|
|
* Furthermore it contains code for forward and inverse kinematics,
|
||
|
|
* computations of Jacobians, contact handling. \link
|
||
|
|
* RigidBodyDynamics::Model Models \endlink can be loaded from Lua scripts
|
||
|
|
* or URDF files.
|
||
|
|
*
|
||
|
|
* The code is developed by <a
|
||
|
|
* href="mailto:martin@fysx.org">Martin Felis
|
||
|
|
* <martin@fysx.org></a> at the research group <a
|
||
|
|
* href="http://orb.iwr.uni-heidelberg.de/">Optimization in Robotics and
|
||
|
|
* Biomechanics (ORB)</a> of the <a
|
||
|
|
* href="http://www.iwr.uni-heidelberg.de"> Interdisciplinary Center for
|
||
|
|
* Scientific Computing (IWR)</a> at <a
|
||
|
|
* href="http://www.uni-heidelberg.de">Heidelberg University</a>. The code
|
||
|
|
* is heavily inspired by the pseudo code of the book "Rigid Body Dynamics
|
||
|
|
* Algorithms" of <a href="http://royfeatherstone.org" target="_parent">Roy
|
||
|
|
* Featherstone</a>.
|
||
|
|
*
|
||
|
|
* The code has no external dependencies but for optimal performance it is
|
||
|
|
* advised to use version 3 of the <a href="http://eigen.tuxfamily.org/"
|
||
|
|
* target="_parent">Eigen</a> math library. More information about it can
|
||
|
|
* be found here: <a href="http://eigen.tuxfamily.org/"
|
||
|
|
* target="_parent">http://eigen.tuxfamily.org/</a>. The Eigen3 library
|
||
|
|
* must be obtained and installed separately.
|
||
|
|
*
|
||
|
|
* \section download Download
|
||
|
|
*
|
||
|
|
* You can download the most recent stable version as zip file from
|
||
|
|
* here:<br>
|
||
|
|
* <a href="https://bitbucket.org/rbdl/rbdl/get/default.zip">https://bitbucket.org/rbdl/rbdl/get/default.zip</a>
|
||
|
|
*
|
||
|
|
* All development takes place on Bitbucket and you can follow RBDL's
|
||
|
|
* development here:<br>
|
||
|
|
* <a href="https://bitbucket.org/rbdl/rbdl">https://bitbucket.org/rbdl/rbdl</a>
|
||
|
|
*
|
||
|
|
* \section recent_changes Recent Changes
|
||
|
|
* <ul>
|
||
|
|
* <li>28 April 2016: New release 2.5.0:
|
||
|
|
* <ul>
|
||
|
|
* <li> Added an experimental Cython based Python wrapper of RBDL. The API is
|
||
|
|
* very close to the C++ API. For a brief glimpse of the API see
|
||
|
|
* \ref PythonExample "Python Example"</li>
|
||
|
|
* <li> Matthew Millard added CustomJoints which allow to create different joint
|
||
|
|
* types completely by user code. They are implemented as proxy joints for
|
||
|
|
* which their behaviour is specified using virtual functions.</li>
|
||
|
|
* <li> Added CalcMInvTimesTau() that evaluates multiplication of the inverse of
|
||
|
|
* the joint space inertia matrix with a vector in O(n) time.</li>
|
||
|
|
* <li> Added JointTypeFloatingBase which uses TX,TY,TZ and a spherical joint for
|
||
|
|
* the floating base joint.</li>
|
||
|
|
* <li> Loading of floating base URDF models must now be specified as a third
|
||
|
|
* parameter to URDFReadFromFile() and URDFReadFromString()</li>
|
||
|
|
* <li> Added the URDF code from Bullet3 which gets used when ROS is not found.
|
||
|
|
* Otherwise use the URDF libraries found via Catkin.</li>
|
||
|
|
* <li> Added CalcPointVelocity6D, CalcPointAcceleration6D, and CalcPointJacobian6D
|
||
|
|
* that compute both linear and angular quantities</li>
|
||
|
|
* <li> Removed Model::SetFloatingBase (body). Use a 6-DoF joint or
|
||
|
|
* JointTypeFloatingBase instead.</li>
|
||
|
|
* <li> Fixed building issues when building DLL with MSVC++.</li>
|
||
|
|
* </ul>
|
||
|
|
* </li>
|
||
|
|
* <li>20 March 2016: New bugfix version 2.4.1:
|
||
|
|
* <ul>
|
||
|
|
* <li> <b>critical</b>: fixed termination criterion for
|
||
|
|
* InverseKinematics(). The termination criterion would be evaluated too
|
||
|
|
* early and thus report convergence too early. This was reported
|
||
|
|
* independently by Kevin Stein, Yun Fei, and Davide Corradi. Thanks
|
||
|
|
* for the reports!</li>
|
||
|
|
* <li> <b>critical</b>: fixed CompositeRigidBodyAlgorithm() when using
|
||
|
|
* spherical joints (thanks to Sébastien Barthélémy for
|
||
|
|
* reporting!)</li>
|
||
|
|
* </li>
|
||
|
|
* </ul>
|
||
|
|
* </li>
|
||
|
|
* <li>23 February 2015: New version 2.4.0:
|
||
|
|
* <ul>
|
||
|
|
* <li>Added sparse range-space method ForwardDynamicsContactsRangeSpaceSparse() and ComputeContactImpulsesRangeSpaceSparse()</li>
|
||
|
|
* <li>Added null-space method ForwardDynamicsContactsNullSpace() and ComputeContactImpulsesNullSpace()</li>
|
||
|
|
* <li>Renamed ForwardDynamicsContactsLagrangian() to ForwardDynamicsContactsDirect() and ComputeContactImpulsesLagrangian() to ComputeContactImpulsesDirect()</li>
|
||
|
|
* <li>Renamed ForwardDynamicsContacts() to ForwardDynamicsContactsKokkevis()</li>
|
||
|
|
* <li>Removed/Fixed CalcAngularMomentum(). The function produced wrong values. The functionality has been integrated into CalcCenterOfMass().</li>
|
||
|
|
* <li>CalcPointJacobian() does not clear the argument of the result anymore. Caller has to ensure that the matrix was set to zero before using this function.</li>
|
||
|
|
* <li>Added optional workspace parameters for ForwardDynamicsLagrangian() to optionally reduce memory allocations</li>
|
||
|
|
* <li>Added JointTypeTranslationXYZ, JointTypeEulerXYZ, and JointTypeEulerYXZ which are equivalent to the emulated multidof joints but faster.</li>
|
||
|
|
* <li>Added optional parameter to CalcCenterOfMass() to compute angular momentum.</li>
|
||
|
|
* <li>Added CalcBodySpatialJacobian()</li>
|
||
|
|
* <li>Added CalcContactJacobian()</li>
|
||
|
|
* <li>Added NonlinearEffects()</li>
|
||
|
|
* <li>Added solving of linear systems using standard Householder QR</li>
|
||
|
|
* <li>LuaModel: Added LuaModelReadFromLuaState()</li>
|
||
|
|
* <li>URDFReader: Fixed various issues and using faster joints for floating base models</li>
|
||
|
|
* <li>Various performance improvements</li>
|
||
|
|
* </ul>
|
||
|
|
* </li>
|
||
|
|
* </ul>
|
||
|
|
*
|
||
|
|
* See \subpage api_version_checking_page for a complete version history.
|
||
|
|
*
|
||
|
|
* \section Example Examples
|
||
|
|
*
|
||
|
|
* A simple example for creation of a model and computation of the forward
|
||
|
|
* dynamics using the C++ API can be found \ref SimpleExample "here".
|
||
|
|
*
|
||
|
|
* Another example that uses the \ref addon_luamodel_page "LuaModel Addon" can be found \ref
|
||
|
|
* LuaModelExample "here".
|
||
|
|
*
|
||
|
|
* An example of the Python wrapper can be found at \ref PythonExample
|
||
|
|
* "Python Example".
|
||
|
|
*
|
||
|
|
* \section ModuleOverview API reference separated by functional modules
|
||
|
|
*
|
||
|
|
* \li \subpage modeling_page
|
||
|
|
* \li \subpage joint_description
|
||
|
|
* \li \subpage kinematics_page
|
||
|
|
* \li \subpage dynamics_page
|
||
|
|
* \li \subpage contacts_page
|
||
|
|
* \li \subpage addon_luamodel_page
|
||
|
|
*
|
||
|
|
* The page \subpage api_version_checking_page contains information about
|
||
|
|
* incompatibilities of the existing versions and how to migrate.
|
||
|
|
*
|
||
|
|
* \section Licensing Licensing
|
||
|
|
*
|
||
|
|
* The library is published under the very permissive zlib free software
|
||
|
|
* license which should allow you to use the software wherever you need.
|
||
|
|
* Here is the full license text:
|
||
|
|
* \verbatim
|
||
|
|
RBDL - Rigid Body Dynamics Library
|
||
|
|
Copyright (c) 2011-2014 Martin Felis <martin@fysx.org>
|
||
|
|
|
||
|
|
This software is provided 'as-is', without any express or implied
|
||
|
|
warranty. In no event will the authors be held liable for any damages
|
||
|
|
arising from the use of this software.
|
||
|
|
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it
|
||
|
|
freely, subject to the following restrictions:
|
||
|
|
|
||
|
|
1. The origin of this software must not be misrepresented; you must not
|
||
|
|
claim that you wrote the original software. If you use this software
|
||
|
|
in a product, an acknowledgment in the product documentation would be
|
||
|
|
appreciated but is not required.
|
||
|
|
|
||
|
|
2. Altered source versions must be plainly marked as such, and must not be
|
||
|
|
misrepresented as being the original software.
|
||
|
|
|
||
|
|
3. This notice may not be removed or altered from any source
|
||
|
|
distribution.
|
||
|
|
\endverbatim
|
||
|
|
|
||
|
|
* \section Acknowledgements
|
||
|
|
*
|
||
|
|
* Work on this library was funded by the <a
|
||
|
|
* href="http://hgs.iwr.uni-heidelberg.de/hgs.mathcomp/">Heidelberg
|
||
|
|
* Graduate School of Mathematical and Computational Methods for the
|
||
|
|
* Sciences (HGS)</a> and the European FP7 projects <a
|
||
|
|
* href="http://echord.eu">ECHORD</a> (grant number 231143) and <a
|
||
|
|
* href="http://www.koroibot.eu">Koroibot</a> (grant number 611909).
|
||
|
|
*
|
||
|
|
*/
|