All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
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:
[legend]
Collaboration diagram for dynamicgraph::sot::DynamicPinocchio:
[legend]

Public Types

typedef int Dummy
 
- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string,
SignalBase< int > * > 
SignalMap
 
typedef std::map< const
std::string, command::Command * > 
CommandMap_t
 

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 &, const bool isLocal=true)
 
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 (pinocchio::Model *)
 
void setData (pinocchio::Data *)
 
dg::VectorgetLowerPositionLimits (dg::Vector &res, const int &) const
 Get joint position lower limits. More...
 
dg::VectorgetUpperPositionLimits (dg::Vector &res, const int &) const
 Get joint position upper limits. More...
 
dg::VectorgetUpperVelocityLimits (dg::Vector &res, const int &) const
 Get joint velocity upper limits. More...
 
dg::VectorgetMaxEffortLimits (dg::Vector &res, const int &) const
 Get joint effort upper limits. More...
 
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_createJacobianEndEffectorWorldSignal (const std::string &sig, const std::string &j)
 
void cmd_createPositionSignal (const std::string &sig, const std::string &j)
 
void cmd_createVelocitySignal (const std::string &sig, const std::string &j)
 
void cmd_createAccelerationSignal (const std::string &sig, const std::string &j)
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual const std::string & getClassName () const
 
virtual std::string getDocString () const
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual void display (std::ostream &os) const
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void setLoggerVerbosityLevel (LoggerVerbosity lv)
 
LoggerVerbosity getLoggerVerbosityLevel ()
 
bool setTimeSample (double t)
 
double getTimeSample ()
 
bool setStreamPrintPeriod (double t)
 
double getStreamPrintPeriod ()
 

Public Attributes

pinocchio::Model * m_model
 
pinocchio::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 bool isLocal, 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)
 
- Protected Member Functions inherited from dynamicgraph::Entity
void addCommand (const std::string &name, command::Command *command)
 
void entityRegistration ()
 
void entityDeregistration ()
 
void signalRegistration (const SignalArray< int > &signals)
 
void signalDeregistration (const std::string &name)
 

Friends

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

Additional Inherited Members

- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

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_createAccelerationSignal ( const std::string &  sig,
const std::string &  j 
)
void dynamicgraph::sot::DynamicPinocchio::cmd_createJacobianEndEffectorSignal ( const std::string &  sig,
const std::string &  j 
)
void dynamicgraph::sot::DynamicPinocchio::cmd_createJacobianEndEffectorWorldSignal ( 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 
)
void dynamicgraph::sot::DynamicPinocchio::cmd_createVelocitySignal ( const std::string &  sig,
const std::string &  j 
)
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 bool  isLocal,
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 &  ,
const bool  isLocal = true 
)
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 ( pinocchio::Data *  )
void dynamicgraph::sot::DynamicPinocchio::setModel ( pinocchio::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

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