10 #ifndef __SOT_DYNAMIC_PINOCCHIO_H__ 11 #define __SOT_DYNAMIC_PINOCCHIO_H__ 22 #include <pinocchio/fwd.hpp> 23 #include <sot/core/flags.hh> 24 #include <dynamic-graph/entity.h> 25 #include <dynamic-graph/pool.h> 26 #include <dynamic-graph/signal-ptr.h> 27 #include <dynamic-graph/signal-time-dependent.h> 28 #include <sot/core/exception-dynamic.hh> 29 #include <sot/core/matrix-geometry.hh> 31 #include <dynamic-graph/linear-algebra.h> 34 #include <pinocchio/macros.hpp> 35 #include <pinocchio/multibody/model.hpp> 36 #include <pinocchio/algorithm/rnea.hpp> 37 #include <pinocchio/algorithm/jacobian.hpp> 38 #include <pinocchio/algorithm/frames.hpp> 45 #if defined(dynamic_EXPORTS) 46 #define SOTDYNAMIC_EXPORT __declspec(dllexport) 48 #define SOTDYNAMIC_EXPORT __declspec(dllimport) 51 #define SOTDYNAMIC_EXPORT 73 friend class sot::command::SetFile;
74 friend class sot::command::CreateOpPoint;
78 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
79 DYNAMIC_GRAPH_ENTITY_DECL();
89 dg::SignalTimeDependent<dg::Matrix, int>& createEndeffJacobianSignal(
const std::string& signame,
const std::string&,
90 const bool isLocal =
true);
91 dg::SignalTimeDependent<dg::Matrix, int>& createJacobianSignal(
const std::string& signame,
const std::string&);
92 void destroyJacobianSignal(
const std::string& signame);
94 dg::SignalTimeDependent<MatrixHomogeneous, int>& createPositionSignal(
const std::string&,
const std::string&);
95 void destroyPositionSignal(
const std::string& signame);
97 dg::SignalTimeDependent<dg::Vector, int>& createVelocitySignal(
const std::string&,
const std::string&);
98 void destroyVelocitySignal(
const std::string& signame);
100 dg::SignalTimeDependent<dg::Vector, int>& createAccelerationSignal(
const std::string&,
const std::string&);
101 void destroyAccelerationSignal(
const std::string& signame);
125 int& computeNewtonEuler(
int& dummy,
const int& time);
126 int& computeForwardKinematics(
int& dummy,
const int& time);
127 int& computeCcrba(
int& dummy,
const int& time);
128 int& computeJacobians(
int& dummy,
const int& time);
130 dg::SignalTimeDependent<dg::Vector, int>
zmpSOUT;
132 dg::SignalTimeDependent<dg::Vector, int>
comSOUT;
135 dg::SignalTimeDependent<dg::Matrix, int>& jacobiansSOUT(
const std::string& name);
136 dg::SignalTimeDependent<MatrixHomogeneous, int>& positionsSOUT(
const std::string& name);
137 dg::SignalTimeDependent<dg::Vector, int>& velocitiesSOUT(
const std::string& name);
138 dg::SignalTimeDependent<dg::Vector, int>& accelerationsSOUT(
const std::string& name);
162 std::cout << (*m_model) << std::endl;
165 void setModel(pinocchio::Model*);
167 void setData(pinocchio::Data*);
175 dg::Vector& getLowerPositionLimits(dg::Vector& res,
const int&)
const;
181 dg::Vector& getUpperPositionLimits(dg::Vector& res,
const int&)
const;
187 dg::Vector& getUpperVelocityLimits(dg::Vector& res,
const int&)
const;
193 dg::Vector& getMaxEffortLimits(dg::Vector& res,
const int&)
const;
198 dg::Matrix& computeGenericJacobian(
const bool isFrame,
const int jointId, dg::Matrix& res,
const int& time);
199 dg::Matrix& computeGenericEndeffJacobian(
const bool isFrame,
const bool isLocal,
const int jointId, dg::Matrix& res,
201 MatrixHomogeneous& computeGenericPosition(
const bool isFrame,
const int jointId, MatrixHomogeneous& res,
203 dg::Vector& computeGenericVelocity(
const int jointId, dg::Vector& res,
const int& time);
204 dg::Vector& computeGenericAcceleration(
const int jointId, dg::Vector& res,
const int& time);
206 dg::Vector& computeZmp(dg::Vector& res,
const int& time);
207 dg::Vector& computeMomenta(dg::Vector& res,
const int& time);
208 dg::Vector& computeAngularMomentum(dg::Vector& res,
const int& time);
209 dg::Matrix& computeJcom(dg::Matrix& res,
const int& time);
210 dg::Vector& computeCom(dg::Vector& res,
const int& time);
211 dg::Matrix& computeInertia(dg::Matrix& res,
const int& time);
212 dg::Matrix& computeInertiaReal(dg::Matrix& res,
const int& time);
213 double& computeFootHeight(
double& res,
const int& time);
215 dg::Vector& computeTorqueDrift(dg::Vector& res,
const int& time);
218 void cmd_createOpPointSignals(
const std::string& sig,
const std::string& j);
219 void cmd_createJacobianWorldSignal(
const std::string& sig,
const std::string& j);
220 void cmd_createJacobianEndEffectorSignal(
const std::string& sig,
const std::string& j);
221 void cmd_createJacobianEndEffectorWorldSignal(
const std::string& sig,
const std::string& j);
222 void cmd_createPositionSignal(
const std::string& sig,
const std::string& j);
223 void cmd_createVelocitySignal(
const std::string& sig,
const std::string& j);
224 void cmd_createAccelerationSignal(
const std::string& sig,
const std::string& j);
229 dg::Vector& getPinocchioPos(dg::Vector& q,
const int& time);
230 dg::Vector& getPinocchioVel(dg::Vector& v,
const int& time);
231 dg::Vector& getPinocchioAcc(dg::Vector& a,
const int& time);
234 std::vector<int> sphericalJoints;
241 #endif // #ifndef __SOT_DYNAMIC_PINOCCHIO_H__ dg::SignalPtr< dg::Vector, int > freeFlyerVelocitySIN
Definition: dynamic-pinocchio.h:112
dg::SignalTimeDependent< Dummy, int > jacobiansSINTERN
Definition: dynamic-pinocchio.h:121
dg::SignalTimeDependent< Dummy, int > newtonEulerSINTERN
Definition: dynamic-pinocchio.h:120
dg::SignalTimeDependent< dg::Matrix, int > JcomSOUT
Definition: dynamic-pinocchio.h:131
pinocchio::Model * m_model
Definition: dynamic-pinocchio.h:82
dg::Signal< dg::Vector, int > inertiaRotorSOUT
Definition: dynamic-pinocchio.h:146
dg::SignalTimeDependent< dg::Vector, int > comSOUT
Definition: dynamic-pinocchio.h:132
dg::SignalPtr< dg::Vector, int > freeFlyerPositionSIN
Definition: dynamic-pinocchio.h:110
dg::SignalPtr< dg::Vector, int > jointVelocitySIN
Definition: dynamic-pinocchio.h:111
dg::SignalTimeDependent< dg::Matrix, int > inertiaSOUT
Definition: dynamic-pinocchio.h:133
dg::SignalTimeDependent< dg::Vector, int > MomentaSOUT
Definition: dynamic-pinocchio.h:149
This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler a...
Definition: dynamic-pinocchio.h:72
dg::SignalTimeDependent< dg::Vector, int > pinocchioAccSINTERN
Definition: dynamic-pinocchio.h:118
dg::SignalTimeDependent< dg::Vector, int > dynamicDriftSOUT
Definition: dynamic-pinocchio.h:151
dg::SignalTimeDependent< Dummy, int > ccrbaSINTERN
Definition: dynamic-pinocchio.h:123
dg::SignalPtr< dg::Vector, int > jointAccelerationSIN
Definition: dynamic-pinocchio.h:113
dg::SignalTimeDependent< dg::Vector, int > lowerJlSOUT
Definition: dynamic-pinocchio.h:142
dg::Signal< dg::Vector, int > gearRatioSOUT
Definition: dynamic-pinocchio.h:147
#define SOTDYNAMIC_EXPORT
Definition: dynamic-pinocchio.h:51
dg::SignalTimeDependent< double, int > footHeightSOUT
Definition: dynamic-pinocchio.h:140
dg::SignalTimeDependent< dg::Vector, int > pinocchioVelSINTERN
Definition: dynamic-pinocchio.h:117
int Dummy
Definition: dynamic-pinocchio.h:108
dg::SignalTimeDependent< dg::Vector, int > AngularMomentumSOUT
Definition: dynamic-pinocchio.h:150
std::list< dg::SignalBase< int > * > genericSignalRefs
Definition: dynamic-pinocchio.h:104
pinocchio::Data * m_data
Definition: dynamic-pinocchio.h:83
dg::SignalTimeDependent< dg::Vector, int > upperJlSOUT
Definition: dynamic-pinocchio.h:141
dg::SignalTimeDependent< dg::Vector, int > upperTlSOUT
Definition: dynamic-pinocchio.h:144
dg::SignalPtr< dg::Vector, int > freeFlyerAccelerationSIN
Definition: dynamic-pinocchio.h:114
dg::SignalTimeDependent< dg::Vector, int > upperVlSOUT
Definition: dynamic-pinocchio.h:143
dg::SignalTimeDependent< dg::Vector, int > zmpSOUT
Definition: dynamic-pinocchio.h:130
dg::SignalTimeDependent< Dummy, int > forwardKinematicsSINTERN
Definition: dynamic-pinocchio.h:122
void displayModel() const
Definition: dynamic-pinocchio.h:160
dg::SignalTimeDependent< dg::Matrix, int > inertiaRealSOUT
Definition: dynamic-pinocchio.h:148
dg::SignalTimeDependent< dg::Vector, int > pinocchioPosSINTERN
Definition: dynamic-pinocchio.h:116
Definition: angle-estimator.h:42
dg::SignalPtr< dg::Vector, int > jointPositionSIN
Definition: dynamic-pinocchio.h:109