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virtual | ~CjrlHumanoidDynamicRobot () |
| Destructor. More...
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virtual void | waist (CjrlJoint *inWaist)=0 |
| Set the pointer to the waist. More...
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virtual CjrlJoint * | waist () const =0 |
| Get a pointer to the waist. More...
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virtual void | chest (CjrlJoint *inChest)=0 |
| Set the pointer to the chest. More...
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virtual CjrlJoint * | chest () const =0 |
| Get a pointer to the chest. More...
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virtual void | leftWrist (CjrlJoint *inLefWrist)=0 |
| Set the pointer to the left wrist joint. More...
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virtual CjrlJoint * | leftWrist () const =0 |
| Get a pointer to the left wrist. More...
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virtual void | rightWrist (CjrlJoint *inRightWrist)=0 |
| Set the pointer to the right wrist joint. More...
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virtual CjrlJoint * | rightWrist () const =0 |
| Get a pointer to the right wrist. More...
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virtual void | rightHand (CjrlHand *inRightHand)=0 |
| Set the pointer to the right hand. More...
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virtual CjrlHand * | rightHand () const =0 |
| Get a pointer to the right hand. More...
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virtual void | leftHand (CjrlHand *inLeftHand)=0 |
| Set the pointer to the left hand. More...
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virtual CjrlHand * | leftHand () const =0 |
| Get a pointer to the left hand. More...
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virtual double | getHandClench (CjrlHand *inHand)=0 |
| Get the hand clench value. More...
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virtual bool | setHandClench (CjrlHand *inHand, double inClenchingValue)=0 |
| Set the hand clench value. More...
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virtual void | leftAnkle (CjrlJoint *inLefAnkle)=0 |
| Set the pointer to the left ankle joint. More...
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virtual CjrlJoint * | leftAnkle () const =0 |
| Get a pointer to the left ankle. More...
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virtual void | rightAnkle (CjrlJoint *inRightAnkle)=0 |
| Set the pointer to the right ankle joint. More...
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virtual CjrlJoint * | rightAnkle () const =0 |
| Get a pointer to the right ankle. More...
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virtual void | leftFoot (CjrlFoot *inLeftFoot)=0 |
| Set the pointer to the left foot joint. More...
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virtual CjrlFoot * | leftFoot () const =0 |
| Get a pointer to the left foot. More...
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virtual void | rightFoot (CjrlFoot *inRightFoot)=0 |
| Set the pointer to the right foot joint. More...
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virtual CjrlFoot * | rightFoot () const =0 |
| Get a pointer to the right foot. More...
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virtual void | gazeJoint (CjrlJoint *inGazeJoint)=0 |
| Set gaze joint. More...
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virtual CjrlJoint * | gazeJoint () const =0 |
| Get gaze joint. More...
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virtual void | gaze (const vector3d &inDirection, const vector3d &inOrigin)=0 |
| Set the gaze orientation and position in the local frame of the gaze joint. More...
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virtual const vector3d & | gazeOrigin () const =0 |
| Get a point on the gaze straight line. More...
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virtual const vector3d & | gazeDirection () const =0 |
| Get the direction of gaze. More...
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virtual const vector3d & | zeroMomentumPoint () const =0 |
| return the coordinates of the Zero Momentum Point. More...
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virtual bool | getJacobian (const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, const vector3d &inFrameLocalPosition, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)=0 |
| Compute and get position and orientation jacobian. More...
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virtual bool | getPositionJacobian (const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, const vector3d &inFrameLocalPosition, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)=0 |
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virtual bool | getOrientationJacobian (const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)=0 |
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virtual bool | getJacobianCenterOfMass (const CjrlJoint &inStartJoint, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)=0 |
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virtual bool | getSpecializedInverseKinematics (const CjrlJoint &, const CjrlJoint &, const matrix4d &, const matrix4d &, vectorN &) |
| Compute Speciliazed InverseKinematics between two joints. More...
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virtual bool | initialize ()=0 |
| Initialize data-structure necessary to dynamic computations This function should be called after building the tree of joints. More...
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virtual | ~CjrlDynamicRobot () |
| Destructor. More...
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virtual void | rootJoint (CjrlJoint &inJoint)=0 |
| Set the root joint of the robot. More...
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virtual CjrlJoint * | rootJoint () const =0 |
| Get the root joint of the robot. More...
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virtual std::vector< CjrlJoint * > | jointVector ()=0 |
| Get a vector containing all the joints. More...
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virtual std::vector< CjrlJoint * > | jointsBetween (const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint) const =0 |
| Get the chain of joints between two joints. More...
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virtual double | upperBoundDof (unsigned int inRankInConfiguration)=0 |
| Get the upper bound for ith dof. More...
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virtual double | lowerBoundDof (unsigned int inRankInConfiguration)=0 |
| Get the lower bound for ith dof. More...
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virtual double | upperBoundDof (unsigned int inRankInConfiguration, const vectorN &inConfig)=0 |
| Compute the upper bound for ith dof using other configuration values if possible. More...
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virtual double | lowerBoundDof (unsigned int inRankInConfiguration, const vectorN &inConfig)=0 |
| Compute the lower bound for ith dof using other configuration values if possible. More...
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virtual double | upperVelocityBoundDof (unsigned int inRankInConfiguration)=0 |
| Get the upper velocity bound for ith dof. More...
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virtual double | lowerVelocityBoundDof (unsigned int inRankInConfiguration)=0 |
| Get the lower velocity bound for ith dof. More...
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virtual double | upperTorqueBoundDof (unsigned int inRankInConfiguration)=0 |
| Get the upper torque bound for ith dof. More...
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virtual double | lowerTorqueBoundDof (unsigned int inRankInConfiguration)=0 |
| Get the lower torque bound for ith dof. More...
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virtual unsigned int | numberDof () const =0 |
| Get the number of degrees of freedom of the robot. More...
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virtual void | setJointOrderInConfig (std::vector< CjrlJoint * > inJointVector)=0 |
| Set the joint ordering in the configuration vector. More...
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virtual bool | currentConfiguration (const vectorN &inConfig)=0 |
| Set the current configuration of the robot. More...
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virtual const vectorN & | currentConfiguration () const =0 |
| Get the current configuration of the robot. More...
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virtual bool | currentVelocity (const vectorN &inVelocity)=0 |
| Set the current velocity of the robot. More...
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virtual const vectorN & | currentVelocity () const =0 |
| Get the current velocity of the robot. More...
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virtual bool | currentAcceleration (const vectorN &inAcceleration)=0 |
| Set the current acceleration of the robot. More...
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virtual const vectorN & | currentAcceleration () const =0 |
| Get the current acceleration of the robot. More...
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virtual const matrixNxP & | currentForces () const =0 |
| Get the current forces of the robot. More...
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virtual const matrixNxP & | currentTorques () const =0 |
| Get the current torques of the robot. More...
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virtual const vectorN & | currentJointTorques () const =0 |
| Get the current joint torques of the robot. More...
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virtual bool | computeForwardKinematics ()=0 |
| Compute forward kinematics. More...
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virtual bool | computeCenterOfMassDynamics ()=0 |
| Compute the dynamics of the center of mass. More...
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virtual const vector3d & | positionCenterOfMass () const =0 |
| Get the position of the center of mass. More...
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virtual const vector3d & | velocityCenterOfMass ()=0 |
| Get the velocity of the center of mass. More...
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virtual const vector3d & | accelerationCenterOfMass ()=0 |
| Get the acceleration of the center of mass. More...
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virtual const vector3d & | linearMomentumRobot ()=0 |
| Get the linear momentum of the robot. More...
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virtual const vector3d & | derivativeLinearMomentum ()=0 |
| Get the time-derivative of the linear momentum. More...
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virtual const vector3d & | angularMomentumRobot ()=0 |
| Get the angular momentum of the robot at the center of mass. More...
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virtual const vector3d & | derivativeAngularMomentum ()=0 |
| Get the time-derivative of the angular momentum at the center of mass. More...
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virtual double | mass () const =0 |
| Get the total mass of the robot. More...
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virtual bool | isSupported (const std::string &) |
| Whether the specified property in implemented. More...
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virtual bool | getProperty (const std::string &, std::string &) const |
| Get property corresponding to command name. More...
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virtual bool | setProperty (std::string &, const std::string &) |
| Set property corresponding to command name. More...
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virtual void | computeInertiaMatrix ()=0 |
| Compute the inertia matrix of the robot according wrt . More...
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virtual const matrixNxP & | inertiaMatrix () const =0 |
| Get the inertia matrix of the robot according wrt . More...
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virtual const std::vector< CjrlJoint * > & | getActuatedJoints () const =0 |
| Returns the list of actuated joints. More...
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virtual void | setActuatedJoints (std::vector< CjrlJoint * > &lActuatedJoints)=0 |
| Specifies the list of actuated joints. More...
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Abstract class describing a humanoid robot with dynamics.
This class derives for CjrlDynamicRobot and instantiate properties specific to humanoid robots.
- it provides pointers to the feet and hand joints,
- it provides pointers to the joint corresponding to the gaze,
- it computes the Zero Momentum Point.
- Definition
- This class describes a humanoid robot as a kinematic chain with two arms, two feet and a vision sensor. The axis of the sensor is called gaze. Hands are linked to the robot by arms connected at the chest joint. Feet are linked to the robot by legs connected at the waist joint. No access to the joints composing the limbs are provided by this class. See class CjrlHumDynRobotType2 for this type of information.