
function  RigidBodyAddedMass (frame_id, manip, MaOrigin) 
 creates a force element that adds addedmass at new frame location More...


function  augmentParentInertia (obj, manip) 
 Augments the inertia of the parent link to include added mass. More...


function  computeSpatialForce (obj, manip, q, qd) 
 Adds the gravity correction from added mass This force is ONLY necessary because the Featherstone solver imposes gravitational acceleration at the base of the manipulator rather than imposing a gravity for at each node Imposing at the base assumes that F_gravity = (M+Ma)*g, rather than F_gravity = M*g Essentially, gravitional and inertial mass are NOT the same if added mass forces are assumed (isn't physics fun?) More...


Public Member Functions inherited from RigidBodyForceElement 
function  updateBodyCoordinates (obj, body_ind, T_old_body_to_new_body) 

function  setInputNum (obj, input_num) 

function  energy (obj, manip, q, qd) 

Public Member Functions inherited from RigidBodyElement 
function  bindParams (body, model, pval) 
 Bind parameters from msspolys to doubles. More...


creates a force element that adds addedmass at new frame location
 Parameters

frame_id  = RigidBodyFrame index specifying the location added mass coefficients have been located 
manip  = RigidBodyManipulator that the frame_id references 
MaOrigin  = added mass matrix as seen by origin of added mass frame (in Featherstone's spatial form for consistency, not 123456 as is literature norm) 
 Return values

function augmentParentInertia 
( 
obj 
, 


manip 


) 
 
Augments the inertia of the parent link to include added mass.
 Return values

function computeSpatialForce 
( 
obj 
, 


manip 
, 


q 
, 


qd 


) 
 
Adds the gravity correction from added mass This force is ONLY necessary because the Featherstone solver imposes gravitational acceleration at the base of the manipulator rather than imposing a gravity for at each node Imposing at the base assumes that F_gravity = (M+Ma)*g, rather than F_gravity = M*g Essentially, gravitional and inertial mass are NOT the same if added mass forces are assumed (isn't physics fun?)
 Return values

static function moveSpatialMassMatrix 
( 
c 
, 


I_old 


) 
 

static 
Moves an added mass matrix (or spatial mass matrix) by c.
Equivalent to mcI(m,c,Icm) but works for nonscalar m and allows for inertias to not be about center of mass
 Parameters

I_old  is spatial mass matrix in [angular;velo] form as consistent with Featherstone's notation 
c  [3x1] is the vector from the NEW origin to the OLD origin algebra tested with test/moveSpatialMassMatrixTest 
 Return values

static function parseURDFNode 
( 
model 
, 


name 
, 


robotnum 
, 


node 
, 


options 


) 
 

static 
added mass, as seen by the parent body coordinates
added mass of body, as seen at xyz origin
The documentation for this class was generated from the following file:
 /home/ubuntu/workspace/linuxgcccontinuousmatlabdocumentation/drake/matlab/systems/plants/RigidBodyAddedMass.m