Function Karana::Dynamics::Algorithms::evalComputedTorque

Function Karana::Dynamics::Algorithms::evalComputedTorque#

Function Documentation#

km::Vec Karana::Dynamics::Algorithms::evalComputedTorque(SubTree &st)#

Calculate the computed torque using NE algorithm.

Method to compute the “computed torque”, i.e. the generalized forces needed - usually for a specific generalized acceleration inputs. This assumes that the state (generalized coordinates (Q) and velocities (U) have been set to the desired values in the multibody system, as have the generalized accelerations (Udot). If the generalized forces are T in the system, the returned value from this method subtracts out the input T from the values computed by inverse dynamics.

This method should not to be used for systems with deformable bodies. Systems with deformable bodies are under-actuated, while computed torque only applies to fully actuated systems. Prescribed subhinges and constraints are ignored in this computation.

See the Embedded Control Algorithms section for more information.

Parameters:

st – SubTree instance

Returns:

The computed T generalized forces

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