dynamicgraph::sot::DynamicPinocchio Class Reference

This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file. More...

#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>

Inheritance diagram for dynamicgraph::sot::DynamicPinocchio:
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Collaboration diagram for dynamicgraph::sot::DynamicPinocchio:
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List of all members.

Public Types

typedef int Dummy

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW DYNAMIC_GRAPH_ENTITY_DECL ()
dg::SignalTimeDependent
< dg::Matrix, int > & 
createEndeffJacobianSignal (const std::string &signame, const std::string &)
dg::SignalTimeDependent
< dg::Matrix, int > & 
createJacobianSignal (const std::string &signame, const std::string &)
void destroyJacobianSignal (const std::string &signame)
dg::SignalTimeDependent
< MatrixHomogeneous, int > & 
createPositionSignal (const std::string &, const std::string &)
void destroyPositionSignal (const std::string &signame)
dg::SignalTimeDependent
< dg::Vector, int > & 
createVelocitySignal (const std::string &, const std::string &)
void destroyVelocitySignal (const std::string &signame)
dg::SignalTimeDependent
< dg::Vector, int > & 
createAccelerationSignal (const std::string &, const std::string &)
void destroyAccelerationSignal (const std::string &signame)
int & computeNewtonEuler (int &dummy, const int &time)
int & computeForwardKinematics (int &dummy, const int &time)
int & computeCcrba (int &dummy, const int &time)
int & computeJacobians (int &dummy, const int &time)
dg::SignalTimeDependent
< dg::Matrix, int > & 
jacobiansSOUT (const std::string &name)
dg::SignalTimeDependent
< MatrixHomogeneous, int > & 
positionsSOUT (const std::string &name)
dg::SignalTimeDependent
< dg::Vector, int > & 
velocitiesSOUT (const std::string &name)
dg::SignalTimeDependent
< dg::Vector, int > & 
accelerationsSOUT (const std::string &name)
 DynamicPinocchio (const std::string &name)
virtual ~DynamicPinocchio (void)
void displayModel () const
void setModel (se3::Model *)
void setData (se3::Data *)
dg::VectorgetLowerPositionLimits (dg::Vector &res, const int &) const
 Get joint position lower limits.
dg::VectorgetUpperPositionLimits (dg::Vector &res, const int &) const
 Get joint position upper limits.
dg::VectorgetUpperVelocityLimits (dg::Vector &res, const int &) const
 Get joint velocity upper limits.
dg::VectorgetMaxEffortLimits (dg::Vector &res, const int &) const
 Get joint effort upper limits.
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
void cmd_createOpPointSignals (const std::string &sig, const std::string &j)
void cmd_createJacobianWorldSignal (const std::string &sig, const std::string &j)
void cmd_createJacobianEndEffectorSignal (const std::string &sig, const std::string &j)
void cmd_createPositionSignal (const std::string &sig, const std::string &j)

Public Attributes

se3::Model * m_model
se3::Data * m_data
std::list< dg::SignalBase< int > * > genericSignalRefs
dg::SignalPtr< dg::Vector, int > jointPositionSIN
dg::SignalPtr< dg::Vector, int > freeFlyerPositionSIN
dg::SignalPtr< dg::Vector, int > jointVelocitySIN
dg::SignalPtr< dg::Vector, int > freeFlyerVelocitySIN
dg::SignalPtr< dg::Vector, int > jointAccelerationSIN
dg::SignalPtr< dg::Vector, int > freeFlyerAccelerationSIN
dg::SignalTimeDependent
< dg::Vector, int > 
pinocchioPosSINTERN
dg::SignalTimeDependent
< dg::Vector, int > 
pinocchioVelSINTERN
dg::SignalTimeDependent
< dg::Vector, int > 
pinocchioAccSINTERN
dg::SignalTimeDependent< Dummy,
int > 
newtonEulerSINTERN
dg::SignalTimeDependent< Dummy,
int > 
jacobiansSINTERN
dg::SignalTimeDependent< Dummy,
int > 
forwardKinematicsSINTERN
dg::SignalTimeDependent< Dummy,
int > 
ccrbaSINTERN
dg::SignalTimeDependent
< dg::Vector, int > 
zmpSOUT
dg::SignalTimeDependent
< dg::Matrix, int > 
JcomSOUT
dg::SignalTimeDependent
< dg::Vector, int > 
comSOUT
dg::SignalTimeDependent
< dg::Matrix, int > 
inertiaSOUT
dg::SignalTimeDependent
< double, int > 
footHeightSOUT
dg::SignalTimeDependent
< dg::Vector, int > 
upperJlSOUT
dg::SignalTimeDependent
< dg::Vector, int > 
lowerJlSOUT
dg::SignalTimeDependent
< dg::Vector, int > 
upperVlSOUT
dg::SignalTimeDependent
< dg::Vector, int > 
upperTlSOUT
dg::Signal< dg::Vector, int > inertiaRotorSOUT
dg::Signal< dg::Vector, int > gearRatioSOUT
dg::SignalTimeDependent
< dg::Matrix, int > 
inertiaRealSOUT
dg::SignalTimeDependent
< dg::Vector, int > 
MomentaSOUT
dg::SignalTimeDependent
< dg::Vector, int > 
AngularMomentumSOUT
dg::SignalTimeDependent
< dg::Vector, int > 
dynamicDriftSOUT

Protected Member Functions

dg::MatrixcomputeGenericJacobian (const bool isFrame, const int jointId, dg::Matrix &res, const int &time)
dg::MatrixcomputeGenericEndeffJacobian (const bool isFrame, const int jointId, dg::Matrix &res, const int &time)
MatrixHomogeneouscomputeGenericPosition (const bool isFrame, const int jointId, MatrixHomogeneous &res, const int &time)
dg::VectorcomputeGenericVelocity (const int jointId, dg::Vector &res, const int &time)
dg::VectorcomputeGenericAcceleration (const int jointId, dg::Vector &res, const int &time)
dg::VectorcomputeZmp (dg::Vector &res, const int &time)
dg::VectorcomputeMomenta (dg::Vector &res, const int &time)
dg::VectorcomputeAngularMomentum (dg::Vector &res, const int &time)
dg::MatrixcomputeJcom (dg::Matrix &res, const int &time)
dg::VectorcomputeCom (dg::Vector &res, const int &time)
dg::MatrixcomputeInertia (dg::Matrix &res, const int &time)
dg::MatrixcomputeInertiaReal (dg::Matrix &res, const int &time)
double & computeFootHeight (double &res, const int &time)
dg::VectorcomputeTorqueDrift (dg::Vector &res, const int &time)

Friends

class sot::command::SetFile
class sot::command::CreateOpPoint

Detailed Description

This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file.


Member Typedef Documentation


Constructor & Destructor Documentation

dynamicgraph::sot::DynamicPinocchio::DynamicPinocchio ( const std::string &  name)
virtual dynamicgraph::sot::DynamicPinocchio::~DynamicPinocchio ( void  ) [virtual]

Member Function Documentation

dg::SignalTimeDependent<dg::Vector,int>& dynamicgraph::sot::DynamicPinocchio::accelerationsSOUT ( const std::string &  name)
void dynamicgraph::sot::DynamicPinocchio::cmd_createJacobianEndEffectorSignal ( const std::string &  sig,
const std::string &  j 
)
void dynamicgraph::sot::DynamicPinocchio::cmd_createJacobianWorldSignal ( const std::string &  sig,
const std::string &  j 
)
void dynamicgraph::sot::DynamicPinocchio::cmd_createOpPointSignals ( const std::string &  sig,
const std::string &  j 
)
void dynamicgraph::sot::DynamicPinocchio::cmd_createPositionSignal ( const std::string &  sig,
const std::string &  j 
)
virtual void dynamicgraph::sot::DynamicPinocchio::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
) [virtual]

Reimplemented from dynamicgraph::Entity.

dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeAngularMomentum ( dg::Vector res,
const int &  time 
) [protected]
int& dynamicgraph::sot::DynamicPinocchio::computeCcrba ( int &  dummy,
const int &  time 
)
dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeCom ( dg::Vector res,
const int &  time 
) [protected]
double& dynamicgraph::sot::DynamicPinocchio::computeFootHeight ( double &  res,
const int &  time 
) [protected]
int& dynamicgraph::sot::DynamicPinocchio::computeForwardKinematics ( int &  dummy,
const int &  time 
)
dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeGenericAcceleration ( const int  jointId,
dg::Vector res,
const int &  time 
) [protected]
dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeGenericEndeffJacobian ( const bool  isFrame,
const int  jointId,
dg::Matrix res,
const int &  time 
) [protected]
dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeGenericJacobian ( const bool  isFrame,
const int  jointId,
dg::Matrix res,
const int &  time 
) [protected]
MatrixHomogeneous& dynamicgraph::sot::DynamicPinocchio::computeGenericPosition ( const bool  isFrame,
const int  jointId,
MatrixHomogeneous res,
const int &  time 
) [protected]
dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeGenericVelocity ( const int  jointId,
dg::Vector res,
const int &  time 
) [protected]
dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeInertia ( dg::Matrix res,
const int &  time 
) [protected]
dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeInertiaReal ( dg::Matrix res,
const int &  time 
) [protected]
int& dynamicgraph::sot::DynamicPinocchio::computeJacobians ( int &  dummy,
const int &  time 
)
dg::Matrix& dynamicgraph::sot::DynamicPinocchio::computeJcom ( dg::Matrix res,
const int &  time 
) [protected]
dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeMomenta ( dg::Vector res,
const int &  time 
) [protected]
int& dynamicgraph::sot::DynamicPinocchio::computeNewtonEuler ( int &  dummy,
const int &  time 
)
dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeTorqueDrift ( dg::Vector res,
const int &  time 
) [protected]
dg::Vector& dynamicgraph::sot::DynamicPinocchio::computeZmp ( dg::Vector res,
const int &  time 
) [protected]
dg::SignalTimeDependent< dg::Vector,int >& dynamicgraph::sot::DynamicPinocchio::createAccelerationSignal ( const std::string &  ,
const std::string &   
)
dg::SignalTimeDependent< dg::Matrix,int >& dynamicgraph::sot::DynamicPinocchio::createEndeffJacobianSignal ( const std::string &  signame,
const std::string &   
)
dg::SignalTimeDependent< dg::Matrix,int >& dynamicgraph::sot::DynamicPinocchio::createJacobianSignal ( const std::string &  signame,
const std::string &   
)
dg::SignalTimeDependent< MatrixHomogeneous,int >& dynamicgraph::sot::DynamicPinocchio::createPositionSignal ( const std::string &  ,
const std::string &   
)
dg::SignalTimeDependent< dg::Vector,int >& dynamicgraph::sot::DynamicPinocchio::createVelocitySignal ( const std::string &  ,
const std::string &   
)
void dynamicgraph::sot::DynamicPinocchio::destroyAccelerationSignal ( const std::string &  signame)
void dynamicgraph::sot::DynamicPinocchio::destroyJacobianSignal ( const std::string &  signame)
void dynamicgraph::sot::DynamicPinocchio::destroyPositionSignal ( const std::string &  signame)
void dynamicgraph::sot::DynamicPinocchio::destroyVelocitySignal ( const std::string &  signame)
void dynamicgraph::sot::DynamicPinocchio::displayModel ( ) const [inline]
EIGEN_MAKE_ALIGNED_OPERATOR_NEW dynamicgraph::sot::DynamicPinocchio::DYNAMIC_GRAPH_ENTITY_DECL ( )
dg::Vector& dynamicgraph::sot::DynamicPinocchio::getLowerPositionLimits ( dg::Vector res,
const int &   
) const

Get joint position lower limits.

Parameters:
[out]resultvector
Returns:
result vector
dg::Vector& dynamicgraph::sot::DynamicPinocchio::getMaxEffortLimits ( dg::Vector res,
const int &   
) const

Get joint effort upper limits.

Parameters:
[out]resultvector
Returns:
result vector
dg::Vector& dynamicgraph::sot::DynamicPinocchio::getUpperPositionLimits ( dg::Vector res,
const int &   
) const

Get joint position upper limits.

Parameters:
[out]resultvector
Returns:
result vector
dg::Vector& dynamicgraph::sot::DynamicPinocchio::getUpperVelocityLimits ( dg::Vector res,
const int &   
) const

Get joint velocity upper limits.

Parameters:
[out]resultvector
Returns:
result vector
dg::SignalTimeDependent<dg::Matrix,int>& dynamicgraph::sot::DynamicPinocchio::jacobiansSOUT ( const std::string &  name)
dg::SignalTimeDependent<MatrixHomogeneous,int>& dynamicgraph::sot::DynamicPinocchio::positionsSOUT ( const std::string &  name)
void dynamicgraph::sot::DynamicPinocchio::setData ( se3::Data *  )
void dynamicgraph::sot::DynamicPinocchio::setModel ( se3::Model *  )
dg::SignalTimeDependent<dg::Vector,int>& dynamicgraph::sot::DynamicPinocchio::velocitiesSOUT ( const std::string &  name)

Friends And Related Function Documentation

friend class sot::command::CreateOpPoint [friend]
friend class sot::command::SetFile [friend]

Member Data Documentation