.. _package-rst-dynamics:
======================
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
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/corlab.css";
node [fontsize=11]
node [fontname="Arial"]
edge [fontsize=11]
edge [fontname="Arial"]
"6" [label=< | JointTorques |
|
| FLOAT32 | torques |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | Wrench |
|
| Forces | forces |
| Torques | torques |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | Torques |
|
| FLOAT32 | a |
| FLOAT32 | b |
| FLOAT32 | c |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | Forces |
|
| FLOAT32 | x |
| FLOAT32 | y |
| FLOAT32 | z |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | Pressures |
|
| FLOAT64 | pressures |
>,shape=box,style=filled,fillcolor="white"];
"1" [label=< | JointImpedance |
|
| FLOAT32 | stiffness |
| FLOAT32 | damping |
>,shape=box,style=filled,fillcolor="white"];
"3":torques -> "5" [];
"3":forces -> "4" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`JointImpedance `
* :ref:`Pressures `
* :ref:`Wrench `
* :ref:`Torques `
* :ref:`Forces `
* :ref:`JointTorques `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-dynamics-jointimpedance:
Message JointImpedance
----------------------
.. container:: message-rst-dynamics-jointimpedance-multi
.. container:: message-rst-dynamics-jointimpedance-documentation
.. py:class:: rst.dynamics.JointImpedance
**Constraint**: ``len(.stiffness) == len(.damping)``
Stiffness and damping values of multiple joints.
.. codeauthor:: Christian Emmerich
.. todo::
what is SI unit of rotatory damping?
.. py:attribute:: stiffness
:type: array of :py:class:`FLOAT32`
**Unit**: TODO
Stiffness values of multiple joints.
(Same joints and same order as :py:attr:`damping `)
.. py:attribute:: damping
:type: array of :py:class:`FLOAT32`
Damping values of multiple joints
(Same joints and same order as :py:attr:`stiffness `)
@unit(newton-meter / rad)
.. container:: message-rst-dynamics-jointimpedance-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/dynamics/JointImpedance.proto
:lines: 12-29
:language: protobuf
:emphasize-lines: 9-9,17-17
.. _message-rst-dynamics-pressures:
Message Pressures
-----------------
.. container:: message-rst-dynamics-pressures-multi
.. container:: message-rst-dynamics-pressures-documentation
.. py:class:: rst.dynamics.Pressures
A sequence of pressure measurements (e.g. in pneumatic systems).
.. codeauthor:: Arne Nordmann
.. py:attribute:: pressures
:type: array of :py:class:`FLOAT64`
**Unit**: pascal
.. container:: message-rst-dynamics-pressures-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/dynamics/Pressures.proto
:lines: 10-15
:language: protobuf
:emphasize-lines: 4-4
.. _message-rst-dynamics-wrench:
Message Wrench
--------------
.. container:: message-rst-dynamics-wrench-multi
.. container:: message-rst-dynamics-wrench-documentation
.. py:class:: rst.dynamics.Wrench
Interaction force, composed of Cartesian translational forces and Cartesian rotational forces.
.. codeauthor:: Arne Nordmann
.. py:attribute:: forces
:type: :py:class:`rst.dynamics.Forces`
3-dimensional translatory forces.
.. py:attribute:: torques
:type: :py:class:`rst.dynamics.Torques`
3-dimensional rotatory forces (moment).
.. container:: message-rst-dynamics-wrench-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/dynamics/Wrench.proto
:lines: 13-25
:language: protobuf
:emphasize-lines: 6-6,11-11
.. _message-rst-dynamics-torques:
Message Torques
---------------
.. container:: message-rst-dynamics-torques-multi
.. container:: message-rst-dynamics-torques-documentation
.. py:class:: rst.dynamics.Torques
Cartesian 3-dimensional rotational force (moment).
To specify torques in joint space, use :py:class:`JointTorques ` instead.
.. codeauthor:: Arne Nordmann
.. todo::
can we be more specific about the axes here?
.. py:attribute:: a
:type: :py:class:`FLOAT32`
**Unit**: newton-meter
Torque around the x axis.
.. py:attribute:: b
:type: :py:class:`FLOAT32`
**Unit**: newton-meter
Torque around the y axis.
.. py:attribute:: c
:type: :py:class:`FLOAT32`
**Unit**: newton-meter
Torque around the z axis.
.. container:: message-rst-dynamics-torques-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/dynamics/Torques.proto
:lines: 14-34
:language: protobuf
:emphasize-lines: 7-7,13-13,19-19
.. _message-rst-dynamics-forces:
Message Forces
--------------
.. container:: message-rst-dynamics-forces-multi
.. container:: message-rst-dynamics-forces-documentation
.. py:class:: rst.dynamics.Forces
Cartesian 3-dimensional translatory force.
.. codeauthor:: Arne Nordmann
.. py:attribute:: x
:type: :py:class:`FLOAT32`
**Unit**: newton
Translatory force along the x axis.
.. py:attribute:: y
:type: :py:class:`FLOAT32`
**Unit**: newton
Translatory force along the y axis.
.. py:attribute:: z
:type: :py:class:`FLOAT32`
**Unit**: newton
Translatory force along the z axis.
.. container:: message-rst-dynamics-forces-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/dynamics/Forces.proto
:lines: 10-28
:language: protobuf
:emphasize-lines: 6-6,12-12,18-18
.. _message-rst-dynamics-jointtorques:
Message JointTorques
--------------------
.. container:: message-rst-dynamics-jointtorques-multi
.. container:: message-rst-dynamics-jointtorques-documentation
.. py:class:: rst.dynamics.JointTorques
A sequence of joint torques of multiple joints.
.. codeauthor:: Arne Nordmann
.. py:attribute:: torques
:type: array of :py:class:`FLOAT32`
**Unit**: newton-meter
TODO
.. container:: message-rst-dynamics-jointtorques-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/dynamics/JointTorques.proto
:lines: 10-18
:language: protobuf
:emphasize-lines: 7-7