Package rst.dynamics
In the field of physics, the study of the causes of motion and
changes in motion is dynamics. In other words the study of forces
and why objects are in motion. Dynamics includes the study of the
effect of torques on motion.
Messages
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clearer: should be made invisible via css
Message JointImpedance
class rst.dynamics.
JointImpedance
Constraint : len(.stiffness) == len(.damping)
Stiffness and damping values of multiple joints.
Code author: Christian Emmerich <cemmeric@ techfak. uni-bielefeld. de >
Todo
what is SI unit of rotatory damping?
stiffness
Unit : TODO
Stiffness values of multiple joints.
(Same joints and same order as damping
)
damping
Damping values of multiple joints
(Same joints and same order as stiffness
)
@unit(newton-meter / rad)
Download this file
message JointImpedance {
/**
* Stiffness values of multiple joints.
*
* (Same joints and same order as @ref .damping)
*/
// @unit(TODO)
repeated float stiffness = 1 ;
/**
* Damping values of multiple joints
*
* (Same joints and same order as @ref .stiffness)
*/
// @unit(newton-meter / rad)
repeated float damping = 2 ;
}
Message Pressures
class rst.dynamics.
Pressures
A sequence of pressure measurements (e.g. in pneumatic systems).
Code author: Arne Nordmann <anordman@ techfak. uni-bielefeld. de >
pressures
Unit : pascal
Message Wrench
class rst.dynamics.
Wrench
Interaction force, composed of Cartesian translational forces and Cartesian rotational forces.
Code author: Arne Nordmann <anordman@ cor-lab. uni-bielefeld. de >
forces
3-dimensional translatory forces.
torques
3-dimensional rotatory forces (moment).
Download this file
message Wrench {
/**
* 3-dimensional translatory forces.
*/
required Forces forces = 1 ;
/**
* 3-dimensional rotatory forces (moment).
*/
required Torques torques = 2 ;
}
Message Torques
class rst.dynamics.
Torques
Cartesian 3-dimensional rotational force (moment).
To specify torques in joint space, use JointTorques
instead.
Code author: Arne Nordmann <anordman@ techfak. uni-bielefeld. de >
Todo
can we be more specific about the axes here?
a
Unit : newton-meter
Torque around the x axis.
b
Unit : newton-meter
Torque around the y axis.
c
Unit : newton-meter
Torque around the z axis.
Download this file
message Torques {
/**
* Torque around the x axis.
*/
// @unit(newton-meter)
required float a = 1 ;
/**
* Torque around the y axis.
*/
// @unit(newton-meter)
required float b = 2 ;
/**
* Torque around the z axis.
*/
// @unit(newton-meter)
required float c = 3 ;
}
Message Forces
class rst.dynamics.
Forces
Cartesian 3-dimensional translatory force.
Code author: Arne Nordmann <anordman@ cor-lab. uni-bielefeld. de >
x
Unit : newton
Translatory force along the x axis.
y
Unit : newton
Translatory force along the y axis.
z
Unit : newton
Translatory force along the z axis.
Download this file
message Forces {
/**
* Translatory force along the x axis.
*/
// @unit(newton)
required float x = 1 ;
/**
* Translatory force along the y axis.
*/
// @unit(newton)
required float y = 2 ;
/**
* Translatory force along the z axis.
*/
// @unit(newton)
required float z = 3 ;
}
Message JointTorques
class rst.dynamics.
JointTorques
A sequence of joint torques of multiple joints.
Code author: Arne Nordmann <anordman@ cor-lab. uni-bielefeld. de >
torques
Unit : newton-meter
TODO
Download this file
message JointTorques {
/**
* TODO
*/
// @unit(newton-meter)
repeated float torques = 1 [ packed = true ];
}