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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Public Types |
typedef int | Dummy |
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 &) |
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 (se3::Model *) |
void | setData (se3::Data *) |
dg::Vector & | getLowerPositionLimits (dg::Vector &res, const int &) const |
| Get joint position lower limits.
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dg::Vector & | getUpperPositionLimits (dg::Vector &res, const int &) const |
| Get joint position upper limits.
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dg::Vector & | getUpperVelocityLimits (dg::Vector &res, const int &) const |
| Get joint velocity upper limits.
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dg::Vector & | getMaxEffortLimits (dg::Vector &res, const int &) const |
| Get joint effort upper limits.
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virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
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_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 Attributes |
se3::Model * | m_model |
se3::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::Matrix & | computeGenericJacobian (const bool isFrame, const int jointId, dg::Matrix &res, const int &time) |
dg::Matrix & | computeGenericEndeffJacobian (const bool isFrame, const int jointId, dg::Matrix &res, const int &time) |
MatrixHomogeneous & | computeGenericPosition (const bool isFrame, const int jointId, MatrixHomogeneous &res, const int &time) |
dg::Vector & | computeGenericVelocity (const int jointId, dg::Vector &res, const int &time) |
dg::Vector & | computeGenericAcceleration (const int jointId, dg::Vector &res, const int &time) |
dg::Vector & | computeZmp (dg::Vector &res, const int &time) |
dg::Vector & | computeMomenta (dg::Vector &res, const int &time) |
dg::Vector & | computeAngularMomentum (dg::Vector &res, const int &time) |
dg::Matrix & | computeJcom (dg::Matrix &res, const int &time) |
dg::Vector & | computeCom (dg::Vector &res, const int &time) |
dg::Matrix & | computeInertia (dg::Matrix &res, const int &time) |
dg::Matrix & | computeInertiaReal (dg::Matrix &res, const int &time) |
double & | computeFootHeight (double &res, const int &time) |
dg::Vector & | computeTorqueDrift (dg::Vector &res, const int &time) |
Friends |
class | sot::command::SetFile |
class | sot::command::CreateOpPoint |
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.