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.
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| DYNAMIC_GRAPH_ENTITY_DECL () |
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| Dynamic (const std::string &name, bool build=true) |
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virtual | ~Dynamic (void) |
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virtual void | buildModel (void) |
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void | setVrmlDirectory (const std::string &filename) |
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void | setVrmlMainFile (const std::string &filename) |
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void | setXmlSpecificityFile (const std::string &filename) |
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void | setXmlRankFile (const std::string &filename) |
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void | parseConfigFiles (void) |
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dg::SignalTimeDependent< ml::Matrix, int > & | createEndeffJacobianSignal (const std::string &signame, CjrlJoint *inJoint) |
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dg::SignalTimeDependent< ml::Matrix, int > & | createJacobianSignal (const std::string &signame, CjrlJoint *inJoint) |
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void | destroyJacobianSignal (const std::string &signame) |
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dg::SignalTimeDependent< MatrixHomogeneous, int > & | createPositionSignal (const std::string &signame, CjrlJoint *inJoint) |
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void | destroyPositionSignal (const std::string &signame) |
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dg::SignalTimeDependent< ml::Vector, int > & | createVelocitySignal (const std::string &signame, CjrlJoint *inJoint) |
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void | destroyVelocitySignal (const std::string &signame) |
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dg::SignalTimeDependent< ml::Vector, int > & | createAccelerationSignal (const std::string &signame, CjrlJoint *inJoint) |
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void | destroyAccelerationSignal (const std::string &signame) |
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bool | zmpActivation (void) |
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void | zmpActivation (const bool &b) |
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bool | comActivation (void) |
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void | comActivation (const bool &b) |
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int & | computeNewtonEuler (int &dummy, int time) |
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int & | initNewtonEuler (int &dummy, int time) |
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dg::SignalTimeDependent< ml::Matrix, int > & | jacobiansSOUT (const std::string &name) |
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dg::SignalTimeDependent< MatrixHomogeneous, int > & | positionsSOUT (const std::string &name) |
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dg::SignalTimeDependent< ml::Vector, int > & | velocitiesSOUT (const std::string &name) |
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dg::SignalTimeDependent< ml::Vector, int > & | accelerationsSOUT (const std::string &name) |
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virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
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void | cmd_createOpPointSignals (const std::string &sig, const std::string &j) |
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void | cmd_createJacobianWorldSignal (const std::string &sig, const std::string &j) |
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void | cmd_createJacobianEndEffectorSignal (const std::string &sig, const std::string &j) |
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void | cmd_createPositionSignal (const std::string &sig, const std::string &j) |
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void | createRobot () |
| Create an empty device. More...
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void | createJoint (const std::string &inJointName, const std::string &inJointType, const ml::Matrix &inPosition) |
| create a joint More...
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void | setRootJoint (const std::string &inJointName) |
| Set a joint as root joint of the robot. More...
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void | addJoint (const std::string &inParentName, const std::string &inChildName) |
| Add a child joint to a joint. More...
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void | setDofBounds (const std::string &inJointName, unsigned int inDofId, double inMinValue, double inMaxValue) |
| Set bound of degree of freedom. More...
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void | setMass (const std::string &inJointName, double inMass) |
| Set mass of a body. More...
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void | setLocalCenterOfMass (const std::string &inJointName, ml::Vector inCom) |
| Set local center of mass of a body. More...
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void | setInertiaMatrix (const std::string &inJointName, ml::Matrix inMatrix) |
| Set inertia matrix of a body. More...
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void | setSpecificJoint (const std::string &inJointName, const std::string &inJointType) |
| Set specific joints. More...
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void | setHandParameters (bool inRight, const ml::Vector &inCenter, const ml::Vector &inThumbAxis, const ml::Vector &inForefingerAxis, const ml::Vector &inPalmNormal) |
| Set hand parameters. More...
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void | setFootParameters (bool inRight, const double &inSoleLength, const double &inSoleWidth, const ml::Vector &inAnklePosition) |
| Set foot parameters. More...
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void | setGazeParameters (const ml::Vector &inGazeOrigin, const ml::Vector &inGazeDirection) |
| Set gaze parameters. More...
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double | getSoleLength () const |
| Get length of left foot sole. More...
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double | getSoleWidth () const |
| Get width of left foot sole. More...
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ml::Vector | getAnklePositionInFootFrame () const |
| Get left ankle position in foot frame. More...
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| Entity (const std::string &name) |
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virtual | ~Entity () |
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const std::string & | getName () const |
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virtual const std::string & | getClassName () const=0 |
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virtual std::string | getDocString () const |
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bool | hasSignal (const std::string &signame) const |
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SignalBase< int > & | getSignal (const std::string &signalName) |
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const SignalBase< int > & | getSignal (const std::string &signalName) const |
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std::ostream & | displaySignalList (std::ostream &os) const |
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virtual std::ostream & | writeGraph (std::ostream &os) const |
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virtual std::ostream & | writeCompletionList (std::ostream &os) const |
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virtual void | display (std::ostream &os) const |
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virtual SignalBase< int > * | test () |
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virtual void | test2 (SignalBase< int > *) |
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const std::string & | getCommandList () const |
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CommandMap_t | getNewStyleCommandMap () |
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command::Command * | getNewStyleCommand (const std::string &cmdName) |
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SignalMap | getSignalMap () const |
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bool | init |
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std::list< dg::SignalBase< int > *> | genericSignalRefs |
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dg::SignalPtr< ml::Vector, int > | jointPositionSIN |
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dg::SignalPtr< ml::Vector, int > | freeFlyerPositionSIN |
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dg::SignalPtr< ml::Vector, int > | jointVelocitySIN |
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dg::SignalPtr< ml::Vector, int > | freeFlyerVelocitySIN |
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dg::SignalPtr< ml::Vector, int > | jointAccelerationSIN |
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dg::SignalPtr< ml::Vector, int > | freeFlyerAccelerationSIN |
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dg::SignalTimeDependent< Dummy, int > | firstSINTERN |
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dg::SignalTimeDependent< Dummy, int > | newtonEulerSINTERN |
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dg::SignalTimeDependent< ml::Vector, int > | zmpSOUT |
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dg::SignalTimeDependent< ml::Matrix, int > | JcomSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | comSOUT |
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dg::SignalTimeDependent< ml::Matrix, int > | inertiaSOUT |
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dg::SignalTimeDependent< double, int > | footHeightSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | upperJlSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | lowerJlSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | upperVlSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | lowerVlSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | upperTlSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | lowerTlSOUT |
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dg::Signal< ml::Vector, int > | inertiaRotorSOUT |
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dg::Signal< ml::Vector, int > | gearRatioSOUT |
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dg::SignalTimeDependent< ml::Matrix, int > | inertiaRealSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | MomentaSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | AngularMomentumSOUT |
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dg::SignalTimeDependent< ml::Vector, int > | dynamicDriftSOUT |
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CjrlHumanoidDynamicRobot * | m_HDR |
| Abstract pointer on the structure. Ultimately we should be able to use only the abstract interface and do not care about the implementation. More...
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int | debugInertia |
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std::string | vrmlDirectory |
| Fields to access the humanoid model. More...
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std::string | vrmlMainFile |
| Name of the root's robot model file. More...
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std::string | xmlSpecificityFile |
| Name of the name specifying which end-effector is the head, the feet and so on... More...
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std::string | xmlRankFile |
| Name of the name specifying which end-effector is the head, the feet and so on... More...
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ml::Vector & | computeZmp (ml::Vector &res, int time) |
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ml::Vector & | computeMomenta (ml::Vector &res, int time) |
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ml::Vector & | computeAngularMomentum (ml::Vector &res, int time) |
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ml::Matrix & | computeJcom (ml::Matrix &res, int time) |
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ml::Vector & | computeCom (ml::Vector &res, int time) |
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ml::Matrix & | computeInertia (ml::Matrix &res, int time) |
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ml::Matrix & | computeInertiaReal (ml::Matrix &res, int time) |
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double & | computeFootHeight (double &res, int time) |
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ml::Matrix & | computeGenericJacobian (CjrlJoint *j, ml::Matrix &res, int time) |
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ml::Matrix & | computeGenericEndeffJacobian (CjrlJoint *j, ml::Matrix &res, int time) |
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MatrixHomogeneous & | computeGenericPosition (CjrlJoint *j, MatrixHomogeneous &res, int time) |
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ml::Vector & | computeGenericVelocity (CjrlJoint *j, ml::Vector &res, int time) |
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ml::Vector & | computeGenericAcceleration (CjrlJoint *j, ml::Vector &res, int time) |
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ml::Vector & | getUpperJointLimits (ml::Vector &res, const int &time) |
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ml::Vector & | getLowerJointLimits (ml::Vector &res, const int &time) |
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ml::Vector & | getUpperVelocityLimits (ml::Vector &res, const int &time) |
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ml::Vector & | getLowerVelocityLimits (ml::Vector &res, const int &time) |
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ml::Vector & | getUpperTorqueLimits (ml::Vector &res, const int &time) |
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ml::Vector & | getLowerTorqueLimits (ml::Vector &res, const int &time) |
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ml::Vector & | computeTorqueDrift (ml::Vector &res, const int &time) |
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void | addCommand (const std::string &name, command::Command *command) |
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void | entityRegistration () |
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void | entityDeregistration () |
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void | signalRegistration (const SignalArray< int > &signals) |
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void | signalDeregistration (const std::string &name) |
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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.