Wrapper for a robot based on pinocchio. More...

#include <tsid/robots/robot-wrapper.hpp>

Public Types
enum	e_RootJointType { FIXED_BASE_SYSTEM = 0 , FLOATING_BASE_SYSTEM = 1 }
typedef pinocchio::Model	Model
typedef pinocchio::Data	Data
typedef pinocchio::Motion	Motion
typedef pinocchio::Frame	Frame
typedef pinocchio::SE3	SE3
typedef math::Vector	Vector
typedef math::Vector3	Vector3
typedef math::Vector6	Vector6
typedef math::Matrix	Matrix
typedef math::Matrix3x	Matrix3x
typedef math::RefVector	RefVector
typedef math::ConstRefVector	ConstRefVector
typedef enum tsid::robots::RobotWrapper::e_RootJointType	RootJointType

Public Member Functions
	RobotWrapper (const std::string &filename, const std::vector< std::string > &package_dirs, bool verbose=false)
	RobotWrapper (const std::string &filename, const std::vector< std::string > &package_dirs, const pinocchio::JointModelVariant &rootJoint, bool verbose=false)
TSID_DEPRECATED	RobotWrapper (const Model &m, bool verbose=false)
	RobotWrapper (const Model &m, RootJointType rootJoint, bool verbose=false)
virtual	~RobotWrapper ()=default
virtual int	nq () const
virtual int	nq_actuated () const
virtual int	nv () const
virtual int	na () const
virtual bool	is_fixed_base () const
const Model &	model () const
	Accessor to model.
Model &	model ()
void	computeAllTerms (Data &data, const Vector &q, const Vector &v) const
const Vector &	rotor_inertias () const
const Vector &	gear_ratios () const
bool	rotor_inertias (ConstRefVector rotor_inertias)
bool	gear_ratios (ConstRefVector gear_ratios)
void	com (const Data &data, RefVector com_pos, RefVector com_vel, RefVector com_acc) const
const Vector3 &	com (const Data &data) const
const Vector3 &	com_vel (const Data &data) const
const Vector3 &	com_acc (const Data &data) const
const Matrix3x &	Jcom (const Data &data) const
const Matrix &	mass (const Data &data)
const Vector &	nonLinearEffects (const Data &data) const
const SE3 &	position (const Data &data, const Model::JointIndex index) const
const Motion &	velocity (const Data &data, const Model::JointIndex index) const
const Motion &	acceleration (const Data &data, const Model::JointIndex index) const
void	jacobianWorld (const Data &data, const Model::JointIndex index, Data::Matrix6x &J) const
void	jacobianLocal (const Data &data, const Model::JointIndex index, Data::Matrix6x &J) const
SE3	framePosition (const Data &data, const Model::FrameIndex index) const
void	framePosition (const Data &data, const Model::FrameIndex index, SE3 &framePosition) const
Motion	frameVelocity (const Data &data, const Model::FrameIndex index) const
Motion	frameVelocityWorldOriented (const Data &data, const Model::FrameIndex index) const
void	frameVelocity (const Data &data, const Model::FrameIndex index, Motion &frameVelocity) const
Motion	frameAcceleration (const Data &data, const Model::FrameIndex index) const
Motion	frameAccelerationWorldOriented (const Data &data, const Model::FrameIndex index) const
void	frameAcceleration (const Data &data, const Model::FrameIndex index, Motion &frameAcceleration) const
Motion	frameClassicAcceleration (const Data &data, const Model::FrameIndex index) const
Motion	frameClassicAccelerationWorldOriented (const Data &data, const Model::FrameIndex index) const
void	frameClassicAcceleration (const Data &data, const Model::FrameIndex index, Motion &frameAcceleration) const
void	frameJacobianWorld (Data &data, const Model::FrameIndex index, Data::Matrix6x &J) const
void	frameJacobianLocal (Data &data, const Model::FrameIndex index, Data::Matrix6x &J) const
const Data::Matrix6x &	momentumJacobian (const Data &data) const
Vector3	angularMomentumTimeVariation (const Data &data) const
void	setGravity (const Motion &gravity)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Scalar	Scalar

Protected Member Functions
void	init ()
void	updateMd ()

Protected Attributes
Model	m_model
	Robot model.
std::string	m_model_filename
bool	m_verbose
int	m_nq_actuated
int	m_na
bool	m_is_fixed_base
Vector	m_rotor_inertias
Vector	m_gear_ratios
Vector	m_Md
Matrix	m_M
	diagonal part of inertia matrix due to rotor inertias

Detailed Description

Wrapper for a robot based on pinocchio.

Member Typedef Documentation

◆ ConstRefVector

typedef math::ConstRefVector tsid::robots::RobotWrapper::ConstRefVector

◆ Data

typedef pinocchio::Data tsid::robots::RobotWrapper::Data

◆ Frame

typedef pinocchio::Frame tsid::robots::RobotWrapper::Frame

◆ Matrix

typedef math::Matrix tsid::robots::RobotWrapper::Matrix

◆ Matrix3x

typedef math::Matrix3x tsid::robots::RobotWrapper::Matrix3x

◆ Model

typedef pinocchio::Model tsid::robots::RobotWrapper::Model

◆ Motion

typedef pinocchio::Motion tsid::robots::RobotWrapper::Motion

◆ RefVector

typedef math::RefVector tsid::robots::RobotWrapper::RefVector

◆ RootJointType

typedef enum tsid::robots::RobotWrapper::e_RootJointType tsid::robots::RobotWrapper::RootJointType

◆ SE3

typedef pinocchio::SE3 tsid::robots::RobotWrapper::SE3

◆ Vector

typedef math::Vector tsid::robots::RobotWrapper::Vector

◆ Vector3

typedef math::Vector3 tsid::robots::RobotWrapper::Vector3

◆ Vector6

typedef math::Vector6 tsid::robots::RobotWrapper::Vector6

Member Enumeration Documentation

◆ e_RootJointType

enum tsid::robots::RobotWrapper::e_RootJointType

Enumerator
FIXED_BASE_SYSTEM
FLOATING_BASE_SYSTEM

Constructor & Destructor Documentation

◆ RobotWrapper() [1/4]

tsid::robots::RobotWrapper::RobotWrapper	(	const std::string &	filename,
		const std::vector< std::string > &	package_dirs,
		bool	verbose = false )

◆ RobotWrapper() [2/4]

tsid::robots::RobotWrapper::RobotWrapper	(	const std::string &	filename,
		const std::vector< std::string > &	package_dirs,
		const pinocchio::JointModelVariant &	rootJoint,
		bool	verbose = false )

◆ RobotWrapper() [3/4]

tsid::robots::RobotWrapper::RobotWrapper	(	const Model &	m,
		bool	verbose = false )

◆ RobotWrapper() [4/4]

tsid::robots::RobotWrapper::RobotWrapper	(	const Model &	m,
		RootJointType	rootJoint,
		bool	verbose = false )

◆ ~RobotWrapper()

virtual tsid::robots::RobotWrapper::~RobotWrapper ( )

virtualdefault

Member Function Documentation

◆ acceleration()

const Motion & tsid::robots::RobotWrapper::acceleration	(	const Data &	data,
		const Model::JointIndex	index ) const

◆ angularMomentumTimeVariation()

Vector3 tsid::robots::RobotWrapper::angularMomentumTimeVariation ( const Data & data ) const

◆ com() [1/2]

const Vector3 & tsid::robots::RobotWrapper::com ( const Data & data ) const

◆ com() [2/2]

void tsid::robots::RobotWrapper::com	(	const Data &	data,
		RefVector	com_pos,
		RefVector	com_vel,
		RefVector	com_acc ) const

◆ com_acc()

const Vector3 & tsid::robots::RobotWrapper::com_acc ( const Data & data ) const

◆ com_vel()

const Vector3 & tsid::robots::RobotWrapper::com_vel ( const Data & data ) const

◆ computeAllTerms()

void tsid::robots::RobotWrapper::computeAllTerms	(	Data &	data,
		const Vector &	q,
		const Vector &	v ) const

◆ frameAcceleration() [1/2]

Motion tsid::robots::RobotWrapper::frameAcceleration	(	const Data &	data,
		const Model::FrameIndex	index ) const

◆ frameAcceleration() [2/2]

void tsid::robots::RobotWrapper::frameAcceleration	(	const Data &	data,
		const Model::FrameIndex	index,
		Motion &	frameAcceleration ) const

◆ frameAccelerationWorldOriented()

Motion tsid::robots::RobotWrapper::frameAccelerationWorldOriented	(	const Data &	data,
		const Model::FrameIndex	index ) const

◆ frameClassicAcceleration() [1/2]

Motion tsid::robots::RobotWrapper::frameClassicAcceleration	(	const Data &	data,
		const Model::FrameIndex	index ) const

◆ frameClassicAcceleration() [2/2]

void tsid::robots::RobotWrapper::frameClassicAcceleration	(	const Data &	data,
		const Model::FrameIndex	index,
		Motion &	frameAcceleration ) const

◆ frameClassicAccelerationWorldOriented()

Motion tsid::robots::RobotWrapper::frameClassicAccelerationWorldOriented	(	const Data &	data,
		const Model::FrameIndex	index ) const

◆ frameJacobianLocal()

void tsid::robots::RobotWrapper::frameJacobianLocal	(	Data &	data,
		const Model::FrameIndex	index,
		Data::Matrix6x &	J ) const

◆ frameJacobianWorld()

void tsid::robots::RobotWrapper::frameJacobianWorld	(	Data &	data,
		const Model::FrameIndex	index,
		Data::Matrix6x &	J ) const

◆ framePosition() [1/2]

SE3 tsid::robots::RobotWrapper::framePosition	(	const Data &	data,
		const Model::FrameIndex	index ) const

◆ framePosition() [2/2]

void tsid::robots::RobotWrapper::framePosition	(	const Data &	data,
		const Model::FrameIndex	index,
		SE3 &	framePosition ) const

◆ frameVelocity() [1/2]

Motion tsid::robots::RobotWrapper::frameVelocity	(	const Data &	data,
		const Model::FrameIndex	index ) const

◆ frameVelocity() [2/2]

void tsid::robots::RobotWrapper::frameVelocity	(	const Data &	data,
		const Model::FrameIndex	index,
		Motion &	frameVelocity ) const

◆ frameVelocityWorldOriented()

Motion tsid::robots::RobotWrapper::frameVelocityWorldOriented	(	const Data &	data,
		const Model::FrameIndex	index ) const

◆ gear_ratios() [1/2]

const Vector & tsid::robots::RobotWrapper::gear_ratios ( ) const

◆ gear_ratios() [2/2]

bool tsid::robots::RobotWrapper::gear_ratios ( ConstRefVector gear_ratios )

◆ init()

void tsid::robots::RobotWrapper::init ( )

protected

◆ is_fixed_base()

bool tsid::robots::RobotWrapper::is_fixed_base ( ) const

virtual

◆ jacobianLocal()

void tsid::robots::RobotWrapper::jacobianLocal	(	const Data &	data,
		const Model::JointIndex	index,
		Data::Matrix6x &	J ) const

◆ jacobianWorld()

void tsid::robots::RobotWrapper::jacobianWorld	(	const Data &	data,
		const Model::JointIndex	index,
		Data::Matrix6x &	J ) const

◆ Jcom()

const Matrix3x & tsid::robots::RobotWrapper::Jcom ( const Data & data ) const

◆ mass()

const Matrix & tsid::robots::RobotWrapper::mass ( const Data & data )

◆ model() [1/2]

Model & tsid::robots::RobotWrapper::model ( )

◆ model() [2/2]

const Model & tsid::robots::RobotWrapper::model ( ) const

Accessor to model.

Returns: a const reference on the model.

◆ momentumJacobian()

const Data::Matrix6x & tsid::robots::RobotWrapper::momentumJacobian ( const Data & data ) const

◆ na()

int tsid::robots::RobotWrapper::na ( ) const

virtual

◆ nonLinearEffects()

const Vector & tsid::robots::RobotWrapper::nonLinearEffects ( const Data & data ) const

◆ nq()

int tsid::robots::RobotWrapper::nq ( ) const

virtual

◆ nq_actuated()

int tsid::robots::RobotWrapper::nq_actuated ( ) const

virtual

◆ nv()

int tsid::robots::RobotWrapper::nv ( ) const

virtual

◆ position()

const SE3 & tsid::robots::RobotWrapper::position	(	const Data &	data,
		const Model::JointIndex	index ) const

◆ rotor_inertias() [1/2]

const Vector & tsid::robots::RobotWrapper::rotor_inertias ( ) const

◆ rotor_inertias() [2/2]

bool tsid::robots::RobotWrapper::rotor_inertias ( ConstRefVector rotor_inertias )

◆ setGravity()

void tsid::robots::RobotWrapper::setGravity ( const Motion & gravity )

◆ updateMd()

void tsid::robots::RobotWrapper::updateMd ( )

protected

◆ velocity()

const Motion & tsid::robots::RobotWrapper::velocity	(	const Data &	data,
		const Model::JointIndex	index ) const

Member Data Documentation

◆ m_gear_ratios

Vector tsid::robots::RobotWrapper::m_gear_ratios

protected

◆ m_is_fixed_base

bool tsid::robots::RobotWrapper::m_is_fixed_base

protected

number of actuators (nv for fixed-based, nv-6 for floating-base robots)

◆ m_M

Matrix tsid::robots::RobotWrapper::m_M

protected

diagonal part of inertia matrix due to rotor inertias

◆ m_Md

Vector tsid::robots::RobotWrapper::m_Md

protected

◆ m_model

Model tsid::robots::RobotWrapper::m_model

protected

Robot model.

◆ m_model_filename

std::string tsid::robots::RobotWrapper::m_model_filename

protected

◆ m_na

int tsid::robots::RobotWrapper::m_na

protected

dimension of the configuration space of the actuated DoF (nq for fixed-based, nq-7 for floating-base robots)

◆ m_nq_actuated

int tsid::robots::RobotWrapper::m_nq_actuated

protected

◆ m_rotor_inertias

Vector tsid::robots::RobotWrapper::m_rotor_inertias

protected

◆ m_verbose

bool tsid::robots::RobotWrapper::m_verbose

protected

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Scalar tsid::robots::RobotWrapper::Scalar

The documentation for this class was generated from the following files:

include/tsid/robots/robot-wrapper.hpp
src/robots/robot-wrapper.cpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstRefVector

◆ Data

◆ Frame

◆ Matrix

◆ Matrix3x

◆ Model

◆ Motion

◆ RefVector

◆ RootJointType

◆ SE3

◆ Vector

◆ Vector3

◆ Vector6

Member Enumeration Documentation

◆ e_RootJointType

Constructor & Destructor Documentation

◆ RobotWrapper() [1/4]

◆ RobotWrapper() [2/4]

◆ RobotWrapper() [3/4]

◆ RobotWrapper() [4/4]

◆ ~RobotWrapper()

Member Function Documentation

◆ acceleration()

◆ angularMomentumTimeVariation()

◆ com() [1/2]

◆ com() [2/2]

◆ com_acc()

◆ com_vel()

◆ computeAllTerms()

◆ frameAcceleration() [1/2]

◆ frameAcceleration() [2/2]

◆ frameAccelerationWorldOriented()

◆ frameClassicAcceleration() [1/2]

◆ frameClassicAcceleration() [2/2]

◆ frameClassicAccelerationWorldOriented()

◆ frameJacobianLocal()

◆ frameJacobianWorld()

◆ framePosition() [1/2]

◆ framePosition() [2/2]

◆ frameVelocity() [1/2]

◆ frameVelocity() [2/2]

◆ frameVelocityWorldOriented()

◆ gear_ratios() [1/2]

◆ gear_ratios() [2/2]

◆ init()

◆ is_fixed_base()

◆ jacobianLocal()

◆ jacobianWorld()

◆ Jcom()

◆ mass()

◆ model() [1/2]

◆ model() [2/2]

◆ momentumJacobian()

◆ na()

◆ nonLinearEffects()

◆ nq()

◆ nq_actuated()

◆ nv()

◆ position()

◆ rotor_inertias() [1/2]

◆ rotor_inertias() [2/2]

◆ setGravity()

◆ updateMd()

◆ velocity()

Member Data Documentation

◆ m_gear_ratios

◆ m_is_fixed_base

◆ m_M

◆ m_Md

◆ m_model

◆ m_model_filename

◆ m_na

◆ m_nq_actuated