Wrapper for a robot based on pinocchio. More...
#include <sot/talos_balance/robot/robot-wrapper.hh>
Public Types | |
typedef math::ConstRefVector | ConstRefVector |
typedef pinocchio::Data | Data |
typedef pinocchio::Frame | Frame |
typedef math::Matrix | Matrix |
typedef math::Matrix3x | Matrix3x |
typedef pinocchio::Model | Model |
typedef pinocchio::Motion | Motion |
typedef math::RefVector | RefVector |
typedef pinocchio::SE3 | SE3 |
typedef math::Vector | Vector |
typedef math::Vector3 | Vector3 |
typedef math::Vector6 | Vector6 |
Public Member Functions | |
RobotWrapper (const std::string &filename, const std::vector< std::string > &package_dirs, bool verbose=false) | |
RobotWrapper (const std::string &filename, const std::vector< std::string > &package_dirs, const pinocchio::JointModelVariant &rootJoint, bool verbose=false) | |
const Motion & | acceleration (const Data &data, const Model::JointIndex index) const |
void | com (const Data &data, RefVector com_pos, RefVector com_vel, RefVector com_acc) const |
const Vector3 & | com (const Data &data) const |
const Vector3 & | com_acc (const Data &data) const |
const Vector3 & | com_vel (const Data &data) const |
void | computeAllTerms (Data &data, const Vector &q, const Vector &v) const |
Motion | frameAcceleration (const Data &data, const Model::FrameIndex index) const |
void | frameAcceleration (const Data &data, const Model::FrameIndex index, Motion &frameAcceleration) const |
Motion | frameClassicAcceleration (const Data &data, const Model::FrameIndex index) const |
void | frameClassicAcceleration (const Data &data, const Model::FrameIndex index, Motion &frameAcceleration) const |
void | frameJacobianLocal (const Data &data, const Model::FrameIndex index, Data::Matrix6x &J) const |
void | frameJacobianWorld (const Data &data, const Model::FrameIndex index, Data::Matrix6x &J) const |
SE3 | framePosition (const Data &data, const Model::FrameIndex index) const |
void | framePosition (const Data &data, const Model::FrameIndex index, SE3 &framePosition) const |
Motion | frameVelocity (const Data &data, const Model::FrameIndex index) const |
void | frameVelocity (const Data &data, const Model::FrameIndex index, Motion &frameVelocity) const |
const Vector & | gear_ratios () const |
bool | gear_ratios (ConstRefVector gear_ratios) |
void | jacobianLocal (const Data &data, const Model::JointIndex index, Data::Matrix6x &J) const |
void | jacobianWorld (const Data &data, const Model::JointIndex index, Data::Matrix6x &J) const |
const Matrix3x & | Jcom (const Data &data) const |
const Matrix & | mass (const Data &data) |
const Model & | model () const |
Accessor to model. More... | |
Model & | model () |
const Vector & | nonLinearEffects (const Data &data) const |
virtual int | nq () const |
virtual int | nv () const |
const SE3 & | position (const Data &data, const Model::JointIndex index) const |
const Vector & | rotor_inertias () const |
bool | rotor_inertias (ConstRefVector rotor_inertias) |
const Motion & | velocity (const Data &data, const Model::JointIndex index) const |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Scalar | Scalar |
Protected Member Functions | |
void | updateMd () |
Protected Attributes | |
Vector | m_gear_ratios |
Matrix | m_M |
diagonal part of inertia matrix due to rotor inertias More... | |
Vector | m_Md |
Model | m_model |
Robot model. More... | |
std::string | m_model_filename |
Vector | m_rotor_inertias |
bool | m_verbose |
Wrapper for a robot based on pinocchio.
Definition at line 41 of file robot-wrapper.hh.
typedef math::ConstRefVector ConstRefVector |
Definition at line 58 of file robot-wrapper.hh.
typedef pinocchio::Data Data |
Definition at line 48 of file robot-wrapper.hh.
typedef pinocchio::Frame Frame |
Definition at line 50 of file robot-wrapper.hh.
typedef math::Matrix Matrix |
Definition at line 55 of file robot-wrapper.hh.
typedef math::Matrix3x Matrix3x |
Definition at line 56 of file robot-wrapper.hh.
typedef pinocchio::Model Model |
Definition at line 47 of file robot-wrapper.hh.
typedef pinocchio::Motion Motion |
Definition at line 49 of file robot-wrapper.hh.
typedef math::RefVector RefVector |
Definition at line 57 of file robot-wrapper.hh.
typedef pinocchio::SE3 SE3 |
Definition at line 51 of file robot-wrapper.hh.
typedef math::Vector Vector |
Definition at line 52 of file robot-wrapper.hh.
typedef math::Vector3 Vector3 |
Definition at line 53 of file robot-wrapper.hh.
typedef math::Vector6 Vector6 |
Definition at line 54 of file robot-wrapper.hh.
RobotWrapper | ( | const std::string & | filename, |
const std::vector< std::string > & | package_dirs, | ||
bool | verbose = false |
||
) |
Definition at line 39 of file robot-wrapper.cpp.
References RobotWrapper::m_gear_ratios, RobotWrapper::m_M, RobotWrapper::m_Md, RobotWrapper::m_model, RobotWrapper::m_model_filename, RobotWrapper::m_rotor_inertias, and RobotWrapper::m_verbose.
RobotWrapper | ( | const std::string & | filename, |
const std::vector< std::string > & | package_dirs, | ||
const pinocchio::JointModelVariant & | rootJoint, | ||
bool | verbose = false |
||
) |
Definition at line 52 of file robot-wrapper.cpp.
References RobotWrapper::m_gear_ratios, RobotWrapper::m_M, RobotWrapper::m_Md, RobotWrapper::m_model, RobotWrapper::m_model_filename, RobotWrapper::m_rotor_inertias, and RobotWrapper::m_verbose.
Definition at line 167 of file robot-wrapper.cpp.
Definition at line 113 of file robot-wrapper.cpp.
Definition at line 123 of file robot-wrapper.cpp.
Definition at line 133 of file robot-wrapper.cpp.
Definition at line 128 of file robot-wrapper.cpp.
Definition at line 72 of file robot-wrapper.cpp.
References RobotWrapper::m_model, and RobotWrapper::nv().
Definition at line 215 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
void frameAcceleration | ( | const Data & | data, |
const Model::FrameIndex | index, | ||
Motion & | frameAcceleration | ||
) | const |
Definition at line 221 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
Definition at line 228 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
void frameClassicAcceleration | ( | const Data & | data, |
const Model::FrameIndex | index, | ||
Motion & | frameAcceleration | ||
) | const |
Definition at line 237 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
void frameJacobianLocal | ( | const Data & | data, |
const Model::FrameIndex | index, | ||
Data::Matrix6x & | J | ||
) | const |
Definition at line 253 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
void frameJacobianWorld | ( | const Data & | data, |
const Model::FrameIndex | index, | ||
Data::Matrix6x & | J | ||
) | const |
Definition at line 246 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
Definition at line 187 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
Definition at line 194 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
Definition at line 202 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
void frameVelocity | ( | const Data & | data, |
const Model::FrameIndex | index, | ||
Motion & | frameVelocity | ||
) | const |
Definition at line 208 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
const Vector & gear_ratios | ( | ) | const |
Definition at line 87 of file robot-wrapper.cpp.
References RobotWrapper::m_gear_ratios.
Referenced by RobotWrapper::gear_ratios().
bool gear_ratios | ( | ConstRefVector | gear_ratios | ) |
Definition at line 100 of file robot-wrapper.cpp.
References RobotWrapper::gear_ratios(), RobotWrapper::m_gear_ratios, and RobotWrapper::updateMd().
void jacobianLocal | ( | const Data & | data, |
const Model::JointIndex | index, | ||
Data::Matrix6x & | J | ||
) | const |
Definition at line 180 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
void jacobianWorld | ( | const Data & | data, |
const Model::JointIndex | index, | ||
Data::Matrix6x & | J | ||
) | const |
Definition at line 173 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
Definition at line 138 of file robot-wrapper.cpp.
Definition at line 143 of file robot-wrapper.cpp.
References RobotWrapper::m_M, RobotWrapper::m_Md, and RobotWrapper::m_model.
const Model & model | ( | ) | const |
Accessor to model.
Definition at line 69 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
Model & model | ( | ) |
Definition at line 70 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
Definition at line 150 of file robot-wrapper.cpp.
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virtual |
Definition at line 66 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
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virtual |
Definition at line 67 of file robot-wrapper.cpp.
References RobotWrapper::m_model.
Referenced by RobotWrapper::computeAllTerms().
Definition at line 155 of file robot-wrapper.cpp.
const Vector & rotor_inertias | ( | ) | const |
Definition at line 83 of file robot-wrapper.cpp.
References RobotWrapper::m_rotor_inertias.
Referenced by RobotWrapper::rotor_inertias().
bool rotor_inertias | ( | ConstRefVector | rotor_inertias | ) |
Definition at line 92 of file robot-wrapper.cpp.
References RobotWrapper::m_rotor_inertias, RobotWrapper::rotor_inertias(), and RobotWrapper::updateMd().
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protected |
Definition at line 108 of file robot-wrapper.cpp.
References RobotWrapper::m_gear_ratios, RobotWrapper::m_Md, and RobotWrapper::m_rotor_inertias.
Referenced by RobotWrapper::gear_ratios(), and RobotWrapper::rotor_inertias().
Definition at line 161 of file robot-wrapper.cpp.
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protected |
Definition at line 171 of file robot-wrapper.hh.
Referenced by RobotWrapper::gear_ratios(), RobotWrapper::RobotWrapper(), and RobotWrapper::updateMd().
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protected |
diagonal part of inertia matrix due to rotor inertias
Definition at line 173 of file robot-wrapper.hh.
Referenced by RobotWrapper::mass(), and RobotWrapper::RobotWrapper().
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protected |
Definition at line 172 of file robot-wrapper.hh.
Referenced by RobotWrapper::mass(), RobotWrapper::RobotWrapper(), and RobotWrapper::updateMd().
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protected |
Robot model.
Definition at line 166 of file robot-wrapper.hh.
Referenced by RobotWrapper::computeAllTerms(), RobotWrapper::frameAcceleration(), RobotWrapper::frameClassicAcceleration(), RobotWrapper::frameJacobianLocal(), RobotWrapper::frameJacobianWorld(), RobotWrapper::framePosition(), RobotWrapper::frameVelocity(), RobotWrapper::jacobianLocal(), RobotWrapper::jacobianWorld(), RobotWrapper::mass(), RobotWrapper::model(), RobotWrapper::nq(), RobotWrapper::nv(), and RobotWrapper::RobotWrapper().
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protected |
Definition at line 167 of file robot-wrapper.hh.
Referenced by RobotWrapper::RobotWrapper().
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protected |
Definition at line 170 of file robot-wrapper.hh.
Referenced by RobotWrapper::RobotWrapper(), RobotWrapper::rotor_inertias(), and RobotWrapper::updateMd().
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protected |
Definition at line 168 of file robot-wrapper.hh.
Referenced by RobotWrapper::RobotWrapper().
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Scalar Scalar |
Definition at line 46 of file robot-wrapper.hh.