Humanoid robot. More...
#include <hpp/model/humanoid-robot.hh>
Public Member Functions | |
JointPtr_t | waist () const |
Get Joint corresponding to the waist. More... | |
void | waist (const JointPtr_t &joint) |
Set waist joint. More... | |
JointPtr_t | chest () const |
Get Joint corresponding to the chest. More... | |
void | chest (const JointPtr_t &joint) |
Set chest joint. More... | |
JointPtr_t | leftWrist () const |
Get Joint corresponding to the left wrist. More... | |
void | leftWrist (const JointPtr_t &joint) |
Set left wrist. More... | |
JointPtr_t | rightWrist () const |
Get Joint corresponding to the right wrist. More... | |
void | rightWrist (const JointPtr_t &joint) |
Set right wrist. More... | |
JointPtr_t | leftAnkle () const |
Get Joint corresponding to the left ankle. More... | |
void | leftAnkle (const JointPtr_t &joint) |
Set letf ankle. More... | |
JointPtr_t | rightAnkle () const |
Get Joint corresponding to the right ankle. More... | |
void | rightAnkle (const JointPtr_t &joint) |
Set right ankle. More... | |
JointPtr_t | gazeJoint () const |
Get gaze joint. More... | |
void | gazeJoint (const JointPtr_t &joint) |
Set gaze joint. More... | |
void | gaze (const vector3_t &origin, const vector3_t &dir) |
Set gaze parameters. More... | |
Construction, copy and destruction | |
virtual | ~HumanoidRobot () |
HumanoidRobotPtr_t | clone () const |
Clone as a CkwsDevice. More... | |
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const std::string & | name () const |
Get name of device. More... | |
virtual std::ostream & | print (std::ostream &os) const |
Print object in a stream. More... | |
virtual | ~Device () |
DevicePtr_t | clone () const |
Clone as a CkwsDevice. More... | |
void | rootJoint (JointPtr_t joint) |
Set the root of the kinematic chain. More... | |
void | rootJointPosition (const Transform3f &position) |
Set position of root joint in world frame. More... | |
JointPtr_t | rootJoint () const |
Get root joint. More... | |
void | registerJoint (const JointPtr_t &joint) |
Register joint in internal containers. More... | |
const JointVector_t & | getJointVector () const |
Get vector of joints. More... | |
JointPtr_t | getJointByName (const std::string &name) const |
Get joint by name. More... | |
JointPtr_t | getJointByBodyName (const std::string &name) const |
Get joint by body name. More... | |
size_type | configSize () const |
Size of configuration vectors Sum of joint dimensions and of extra configuration space dimension. More... | |
size_type | numberDof () const |
Size of velocity vectors Sum of joint number of degrees of freedom and of extra configuration space dimension. More... | |
ExtraConfigSpace & | extraConfigSpace () |
Get degrees of freedom to store internal values in configurations. More... | |
const ExtraConfigSpace & | extraConfigSpace () const |
Get degrees of freedom to store internal values in configurations. More... | |
void | setDimensionExtraConfigSpace (const size_type &dimension) |
Set dimension of extra configuration space. More... | |
const Configuration_t & | currentConfiguration () const |
Get current configuration. More... | |
virtual bool | currentConfiguration (ConfigurationIn_t configuration) |
Set current configuration. More... | |
Configuration_t | neutralConfiguration () const |
Get the neutral configuration. More... | |
const vector_t & | currentVelocity () const |
Get current velocity. More... | |
void | currentVelocity (vectorIn_t velocity) |
Set current velocity. More... | |
const vector_t & | currentAcceleration () const |
Get current acceleration. More... | |
void | currentAcceleration (vectorIn_t acceleration) |
Set current acceleration. More... | |
const value_type & | mass () const |
Get mass of robot. More... | |
const vector3_t & | positionCenterOfMass () const |
Get position of center of mass. More... | |
const ComJacobian_t & | jacobianCenterOfMass () const |
Get Jacobian of center of mass with respect to configuration. More... | |
void | addGripper (const GripperPtr_t &gripper) |
Add a gripper to the Device. More... | |
Grippers_t & | grippers () |
Return list of grippers of the Device. More... | |
const Grippers_t & | grippers () const |
Return list of grippers of the Device. More... | |
const ObjectVector_t & | obstacles (Request_t type) const |
Get list of obstacles. More... | |
virtual void | addCollisionPairs (const JointPtr_t &joint1, const JointPtr_t &joint2, Request_t type) |
Add collision pairs between objects attached to two joints. More... | |
virtual void | removeCollisionPairs (const JointPtr_t &joint1, const JointPtr_t &joint2, Request_t type) |
Remove collision pairs between objects attached to two joints. More... | |
const CollisionPairs_t & | collisionPairs (Request_t type) const |
Get list of collision or distance pairs. More... | |
ObjectIterator | objectIterator (Request_t type) |
Iterator over inner objects of the device. More... | |
bool | collisionTest () const |
Test collision of current configuration. More... | |
void | computeDistances () |
Compute distances between pairs of objects stored in bodies. More... | |
const DistanceResults_t & | distanceResults () const |
Get result of distance computations. More... | |
void | controlComputation (const Computation_t &flag) |
Select computation Optimize computation time by selecting only necessary values in method computeForwardKinematics. More... | |
Computation_t | computationFlag () const |
Get computation flag. More... | |
virtual void | computeForwardKinematics () |
Compute forward kinematics. More... | |
Static Public Member Functions | |
static HumanoidRobotPtr_t | create (const std::string &name) |
Creation of a new device. More... | |
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static DevicePtr_t | create (std::string name) |
Creation of a new device. More... | |
static DevicePtr_t | createCopy (const DevicePtr_t &device) |
Copy of a device. More... | |
Protected Member Functions | |
HumanoidRobot (const std::string &name) | |
Constructor. More... | |
void | init (const HumanoidRobotWkPtr_t &weakPtr) |
Initialization. More... | |
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Device (const std::string &name) | |
Constructor. More... | |
void | init (const DeviceWkPtr_t &weakPtr) |
Initialization. More... | |
void | updateDistances () |
Recompute number of distance pairs. More... | |
Additional Inherited Members | |
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enum | Computation_t { JOINT_POSITION = 0x0, JACOBIAN = 0x1, VELOCITY = 0x2, ACCELERATION = 0x4, COM = 0x8, ALL = 0Xffff } |
Flags to select computation To optimize computation time, computations performed by method computeForwardKinematics can be selected by calling method controlComputation. More... | |
typedef std::pair< JointPtr_t, JointPtr_t > | CollisionPair_t |
Collision pairs between bodies. More... | |
typedef std::list< CollisionPair_t > | CollisionPairs_t |
Humanoid robot.
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virtual |
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protected |
Constructor.
JointPtr_t hpp::model::HumanoidRobot::chest | ( | ) | const |
Get Joint corresponding to the chest.
void hpp::model::HumanoidRobot::chest | ( | const JointPtr_t & | joint | ) |
Set chest joint.
HumanoidRobotPtr_t hpp::model::HumanoidRobot::clone | ( | ) | const |
Clone as a CkwsDevice.
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static |
Creation of a new device.
name | Name of the device (is passed to CkkpDeviceComponent) |
Referenced by hpp::model::ObjectFactory::createHumanoidRobot().
Set gaze parameters.
JointPtr_t hpp::model::HumanoidRobot::gazeJoint | ( | ) | const |
Get gaze joint.
void hpp::model::HumanoidRobot::gazeJoint | ( | const JointPtr_t & | joint | ) |
Set gaze joint.
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protected |
Initialization.
JointPtr_t hpp::model::HumanoidRobot::leftAnkle | ( | ) | const |
Get Joint corresponding to the left ankle.
void hpp::model::HumanoidRobot::leftAnkle | ( | const JointPtr_t & | joint | ) |
Set letf ankle.
JointPtr_t hpp::model::HumanoidRobot::leftWrist | ( | ) | const |
Get Joint corresponding to the left wrist.
void hpp::model::HumanoidRobot::leftWrist | ( | const JointPtr_t & | joint | ) |
Set left wrist.
JointPtr_t hpp::model::HumanoidRobot::rightAnkle | ( | ) | const |
Get Joint corresponding to the right ankle.
void hpp::model::HumanoidRobot::rightAnkle | ( | const JointPtr_t & | joint | ) |
Set right ankle.
JointPtr_t hpp::model::HumanoidRobot::rightWrist | ( | ) | const |
Get Joint corresponding to the right wrist.
void hpp::model::HumanoidRobot::rightWrist | ( | const JointPtr_t & | joint | ) |
Set right wrist.
JointPtr_t hpp::model::HumanoidRobot::waist | ( | ) | const |
Get Joint corresponding to the waist.
void hpp::model::HumanoidRobot::waist | ( | const JointPtr_t & | joint | ) |
Set waist joint.