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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EIGEN_MAKE_ALIGNED_OPERATOR_NEW | DYNAMIC_GRAPH_ENTITY_DECL () |
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dg::SignalTimeDependent
< dg::Matrix, int > & | createEndeffJacobianSignal (const std::string &signame, const std::string &, const bool isLocal=true) |
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dg::SignalTimeDependent
< dg::Matrix, int > & | createJacobianSignal (const std::string &signame, const std::string &) |
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void | destroyJacobianSignal (const std::string &signame) |
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dg::SignalTimeDependent
< MatrixHomogeneous, int > & | createPositionSignal (const std::string &, const std::string &) |
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void | destroyPositionSignal (const std::string &signame) |
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dg::SignalTimeDependent
< dg::Vector, int > & | createVelocitySignal (const std::string &, const std::string &) |
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void | destroyVelocitySignal (const std::string &signame) |
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dg::SignalTimeDependent
< dg::Vector, int > & | createAccelerationSignal (const std::string &, const std::string &) |
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void | destroyAccelerationSignal (const std::string &signame) |
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int & | computeNewtonEuler (int &dummy, const int &time) |
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int & | computeForwardKinematics (int &dummy, const int &time) |
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int & | computeCcrba (int &dummy, const int &time) |
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int & | computeJacobians (int &dummy, const int &time) |
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dg::SignalTimeDependent
< dg::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
< dg::Vector, int > & | velocitiesSOUT (const std::string &name) |
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dg::SignalTimeDependent
< dg::Vector, int > & | accelerationsSOUT (const std::string &name) |
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| DynamicPinocchio (const std::string &name) |
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virtual | ~DynamicPinocchio (void) |
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void | displayModel () const |
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void | setModel (pinocchio::Model *) |
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void | setData (pinocchio::Data *) |
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dg::Vector & | getLowerPositionLimits (dg::Vector &res, const int &) const |
| Get joint position lower limits. More...
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dg::Vector & | getUpperPositionLimits (dg::Vector &res, const int &) const |
| Get joint position upper limits. More...
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dg::Vector & | getUpperVelocityLimits (dg::Vector &res, const int &) const |
| Get joint velocity upper limits. More...
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dg::Vector & | getMaxEffortLimits (dg::Vector &res, const int &) const |
| Get joint effort upper limits. More...
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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_createJacobianEndEffectorWorldSignal (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 | cmd_createVelocitySignal (const std::string &sig, const std::string &j) |
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void | cmd_createAccelerationSignal (const std::string &sig, const std::string &j) |
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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 |
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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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void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0) |
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void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
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LoggerVerbosity | getLoggerVerbosityLevel () |
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bool | setTimeSample (double t) |
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double | getTimeSample () |
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bool | setStreamPrintPeriod (double t) |
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double | getStreamPrintPeriod () |
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pinocchio::Model * | m_model |
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pinocchio::Data * | m_data |
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std::list< dg::SignalBase< int > * > | genericSignalRefs |
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dg::SignalPtr< dg::Vector, int > | jointPositionSIN |
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dg::SignalPtr< dg::Vector, int > | freeFlyerPositionSIN |
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dg::SignalPtr< dg::Vector, int > | jointVelocitySIN |
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dg::SignalPtr< dg::Vector, int > | freeFlyerVelocitySIN |
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dg::SignalPtr< dg::Vector, int > | jointAccelerationSIN |
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dg::SignalPtr< dg::Vector, int > | freeFlyerAccelerationSIN |
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dg::SignalTimeDependent
< dg::Vector, int > | pinocchioPosSINTERN |
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dg::SignalTimeDependent
< dg::Vector, int > | pinocchioVelSINTERN |
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dg::SignalTimeDependent
< dg::Vector, int > | pinocchioAccSINTERN |
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dg::SignalTimeDependent< Dummy,
int > | newtonEulerSINTERN |
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dg::SignalTimeDependent< Dummy,
int > | jacobiansSINTERN |
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dg::SignalTimeDependent< Dummy,
int > | forwardKinematicsSINTERN |
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dg::SignalTimeDependent< Dummy,
int > | ccrbaSINTERN |
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dg::SignalTimeDependent
< dg::Vector, int > | zmpSOUT |
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dg::SignalTimeDependent
< dg::Matrix, int > | JcomSOUT |
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dg::SignalTimeDependent
< dg::Vector, int > | comSOUT |
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dg::SignalTimeDependent
< dg::Matrix, int > | inertiaSOUT |
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dg::SignalTimeDependent
< double, int > | footHeightSOUT |
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dg::SignalTimeDependent
< dg::Vector, int > | upperJlSOUT |
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dg::SignalTimeDependent
< dg::Vector, int > | lowerJlSOUT |
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dg::SignalTimeDependent
< dg::Vector, int > | upperVlSOUT |
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dg::SignalTimeDependent
< dg::Vector, int > | upperTlSOUT |
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dg::Signal< dg::Vector, int > | inertiaRotorSOUT |
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dg::Signal< dg::Vector, int > | gearRatioSOUT |
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dg::SignalTimeDependent
< dg::Matrix, int > | inertiaRealSOUT |
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dg::SignalTimeDependent
< dg::Vector, int > | MomentaSOUT |
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dg::SignalTimeDependent
< dg::Vector, int > | AngularMomentumSOUT |
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dg::SignalTimeDependent
< dg::Vector, int > | dynamicDriftSOUT |
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dg::Matrix & | computeGenericJacobian (const bool isFrame, const int jointId, dg::Matrix &res, const int &time) |
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dg::Matrix & | computeGenericEndeffJacobian (const bool isFrame, const bool isLocal, const int jointId, dg::Matrix &res, const int &time) |
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MatrixHomogeneous & | computeGenericPosition (const bool isFrame, const int jointId, MatrixHomogeneous &res, const int &time) |
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dg::Vector & | computeGenericVelocity (const int jointId, dg::Vector &res, const int &time) |
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dg::Vector & | computeGenericAcceleration (const int jointId, dg::Vector &res, const int &time) |
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dg::Vector & | computeZmp (dg::Vector &res, const int &time) |
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dg::Vector & | computeMomenta (dg::Vector &res, const int &time) |
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dg::Vector & | computeAngularMomentum (dg::Vector &res, const int &time) |
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dg::Matrix & | computeJcom (dg::Matrix &res, const int &time) |
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dg::Vector & | computeCom (dg::Vector &res, const int &time) |
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dg::Matrix & | computeInertia (dg::Matrix &res, const int &time) |
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dg::Matrix & | computeInertiaReal (dg::Matrix &res, const int &time) |
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double & | computeFootHeight (double &res, const int &time) |
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dg::Vector & | computeTorqueDrift (dg::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.