Classes | |
| class | RobotDynamics::FixedReferenceFrame |
| class | RobotDynamics::FrameObject |
| An interface that objects with a ReferenceFrame extend to inherit the FrameObject::changeFrame method. More... | |
| class | RobotDynamics::Math::FrameOrientation |
| A Frame object that represents an orientation(quaternion) relative to a reference frame. More... | |
| class | RobotDynamics::Math::FramePoint |
| A FramePoint is a 3D point that is expressed in a ReferenceFrame. To change the ReferenceFrame a FramePoint is expressed in, you may call the inhereted FrameObject::changeFrame method and supply it a pointer to the ReferenceFrame you wish to have the FramePoint expressed in. This class and its implementation are an adaptation of FramePoint.java by Jerry Pratt and the IHMC Robotics Group. More... | |
| class | RobotDynamics::Math::FrameVector |
| A FrameVector is a 3D vector with a ReferenceFrame, and all operations between FrameVectors and other frame objects will perform runtime checks that objects are expressed in the same frames. This class and its implementation are an adaptation of FrameVector.java by Jerry Pratt and the IHMC Robotics Group. More... | |
| class | RobotDynamics::Math::FrameVectorPair |
| A FrameVector is a pair of 3D vector with a ReferenceFrame. More... | |
| class | RobotDynamics::ReferenceFrame |
| ReferenceFrame object used to tell what frame objects are expressed in. Every ReferenceFrame has a pointer to its parent ReferenceFrame. This parent frame is NOT allowed to be nullptr. The ONLY ReferenceFrame that is allowed to have parentFrame=nullptr is the world frame. There is only one world frame and it can be accessed by the static method ReferenceFrame::getWorldFrame() which will return a shared_ptr to the world frame. This class and its implementation are an adaptation of ReferenceFrame.java by Jerry Pratt and the IHMC Robotics Group. More... | |
| class | RobotDynamics::ReferenceFrameException |
| A custom exception for frame operations. More... | |
| class | RobotDynamics::Math::SpatialAcceleration |
| SpatialAcceleration. For clarity, the ReferenceFrames are stated as follows. A spatial acceleration is the acceleration of the SpatialAcceleration::bodyFrame with respect to the SpatialAcceleration::baseFrame expressed in the SpatialAcceleration::expressedInFrame. More... | |
| class | RobotDynamics::Math::SpatialForce |
| A SpatialForce is a spatial vector with the angular part being three moments and the linear part being 3 linear forces. More... | |
| class | RobotDynamics::Math::SpatialInertia |
| A Math::SpatialInertia is a RigidBodyInertia explicitly expressed in a RobotDynamics::ReferenceFrame. The frame a Math::SpatialInertia is expressed in can be changed by calling RobotDynamics::FrameObject::changeFrame. More... | |
| class | RobotDynamics::Math::SpatialMomentum |
A SpatialMomentum is a Momentum expressed in a RobotDynamics::ReferenceFrame. The angular portion of the vector is referred to as  and the linear portion as  . More... | |
| class | RobotDynamics::Math::SpatialMotion |
| A SpatialMotion vector is a MotionVector with a RobotDynamics::ReferenceFrame it is expressed in. This allows for runtime checks that frame rules are obeyed and makes it easy to change the frame the metion vector is expressed in. As with a SpatialAcceleration, a SpatialMotion vector is the spatial velocity of a SpatialMotion::bodyFrame relative to a SpatialMotion::baseFrame and is expressed in RobotDynamics::FrameObject::referenceFrame. More... | |
Typedefs | |
| typedef std::shared_ptr< FixedReferenceFrame > | RobotDynamics::FixedReferenceFramePtr |
| typedef std::vector< FixedReferenceFramePtr > | RobotDynamics::FixedReferenceFramePtrV |
| typedef std::shared_ptr< ReferenceFrame > | RobotDynamics::ReferenceFramePtr |
| typedef std::vector< ReferenceFramePtr > | RobotDynamics::ReferenceFramePtrV |
Functions | |
| void | RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, double &mass, Math::FramePoint &com, Math::FrameVector *com_velocity=nullptr, Math::FrameVector *angular_momentum=nullptr, bool update_kinematics=true) |
| Computes the Center of Mass (COM) and optionally its linear velocity and/or angular momentum. More... | |
| void | RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::FramePoint &com, Math::FrameVector *com_velocity=nullptr, bool update_kinematics=true) |
| Computes the Center of Mass (COM) and optionally its linear velocity. More... | |
| void | RobotDynamics::ReferenceFrame::checkReferenceFramesMatch (ReferenceFramePtr referenceFrame) const |
| Check if the argument ReferenceFrame equals this. More... | |
| void | RobotDynamics::ReferenceFrame::checkReferenceFramesMatch (ReferenceFrame *referenceFrame) const |
| static ReferenceFramePtr | RobotDynamics::ReferenceFrame::createARootFrame (const std::string &frameName) |
| Creates a root frame with ReferenceFrame::parentFrame=nullptr. More... | |
| static ReferenceFramePtr | RobotDynamics::ReferenceFrame::createAWorldFrame (const std::string &frameName="world") |
| Helper method to create a world frame. More... | |
| RobotDynamics::FixedReferenceFrame::FixedReferenceFrame (const FixedReferenceFrame &)=delete | |
| RobotDynamics::FixedReferenceFrame::FixedReferenceFrame (const std::string &frameName, ReferenceFramePtr parentFrame, const RobotDynamics::Math::SpatialTransform &transformFromParent, unsigned int movableBodyId) | |
| virtual RobotDynamics::Math::SpatialTransform | RobotDynamics::ReferenceFrame::getInverseTransformToRoot () |
| Get this frames ReferenceFrame::inverseTransformToRoot. More... | |
| RobotDynamics::Math::SpatialTransform | RobotDynamics::FixedReferenceFrame::getInverseTransformToRoot () override |
| Get this frames ReferenceFrame::inverseTransformToRoot. More... | |
| bool | RobotDynamics::ReferenceFrame::getIsBodyFrame () const |
| Get boolean telling if this frame is a body frame or not. If it is a body frame, A pointer to this frame would be stored in Model::bodyFrames vector. More... | |
| bool | RobotDynamics::ReferenceFrame::getIsWorldFrame () const |
| Get a boolean telling if this frame is the world frame. More... | |
| unsigned int | RobotDynamics::ReferenceFrame::getMovableBodyId () const |
| Get the ID of the movable body this frame is attached to. More... | |
| std::string | RobotDynamics::ReferenceFrame::getName () const |
| Get the frame name. More... | |
| ReferenceFramePtr | RobotDynamics::ReferenceFrame::getParentFrame () |
| get a pointer to this frames parent More... | |
| ReferenceFrame * | RobotDynamics::ReferenceFrame::getRootFrame () |
| RobotDynamics::Math::SpatialTransform | RobotDynamics::ReferenceFrame::getTransformFromParent () |
| Get spatial transform from parent to this frame. More... | |
| void | RobotDynamics::ReferenceFrame::getTransformToDesiredFrame (RobotDynamics::Math::SpatialTransform &transformToPack, ReferenceFramePtr desiredFrame) |
| Get the spatial transform from this frame to desiredFrame and store it in transformToPack. More... | |
| virtual RobotDynamics::Math::SpatialTransform | RobotDynamics::ReferenceFrame::getTransformToDesiredFrame (ReferenceFramePtr desiredFrame) |
| Get the spatial transform from this frame to desiredFrame and store it in transformToPack. More... | |
| RobotDynamics::Math::SpatialTransform | RobotDynamics::ReferenceFrame::getTransformToParent () |
| Get spatial transform this frame to its parent. More... | |
| virtual RobotDynamics::Math::SpatialTransform | RobotDynamics::ReferenceFrame::getTransformToRoot () |
| Get this frames ReferenceFrame::transformToRoot. More... | |
| RobotDynamics::Math::SpatialTransform | RobotDynamics::FixedReferenceFrame::getTransformToRoot () override |
| Get this frames ReferenceFrame::transformToRoot. More... | |
| static ReferenceFramePtr | RobotDynamics::ReferenceFrame::getWorldFrame () |
| Get a pointer to the world frame. More... | |
| ReferenceFrame & | RobotDynamics::ReferenceFrame::operator= (const ReferenceFrame &other) |
| void | RobotDynamics::FixedReferenceFrame::operator= (const FixedReferenceFrame &)=delete |
| RobotDynamics::ReferenceFrame::ReferenceFrame (const ReferenceFrame &referenceFrameToCopy) | |
| Copy constructor. More... | |
| RobotDynamics::ReferenceFrame::ReferenceFrame (const std::string &frameName, ReferenceFramePtr parentFrame, const RobotDynamics::Math::SpatialTransform &transformFromParent, bool isBodyFrame, unsigned int movableBodyId) | |
| Constructor. More... | |
| RobotDynamics::ReferenceFrame::ReferenceFrame () | |
| Empty constructor. All contained ptrs will be initialize to nullptr. More... | |
| RobotDynamics::ReferenceFrame::ReferenceFrame (const std::string &frameName, bool isWorldFrame, unsigned int movableBodyId, bool isBodyFrame) | |
| void | RobotDynamics::ReferenceFrame::setTransformFromParent (const RobotDynamics::Math::SpatialTransform &transformFromParent) |
| Set a frames ReferenceFrame::transformToParent. For frames connected by a joint, this needs to be updated every tic BEFORE calling the ReferenceFrame::update method. More... | |
| void | RobotDynamics::ReferenceFrame::update () |
| Recalculates this frames ReferenceFrame::transformToRoot and ReferenceFrame::inverseTransformToRoot which are used by FrameObject::changeFrame to change the ReferenceFrame FrameObjects are expressed in. If you create a ReferenceFrame you MUST call update every tic each time the frames ReferenceFrame::transformFromParent changes. Each time ReferenceFrame::setTransformFromParent changes, you need to call ReferenceFrame::transformFromParent before you call ReferenceFrame::update(). More... | |
| RobotDynamics::Math::FramePoint | RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::VectorNd &q, bool update_kinematics=true) |
| Computes the center of mass and updates the center of mass reference frame of the model. More... | |
| RobotDynamics::Math::FramePoint | RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::VectorNd &q, const Math::Vector3d &euler_ypr, bool update_kinematics=true) |
| Computes the center of mass and updates the center of mass reference frame of the model. More... | |
| RobotDynamics::Math::FramePoint | RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::VectorNd &q, const Math::Quaternion &orientation, bool update_kinematics=true) |
| Computes the center of mass and updates the center of mass reference frame of the model. More... | |
| void | RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::Vector3d &p_com) |
| Updates the center of mass frame of the robot be at location p_com, aligned with world frame. More... | |
| void | RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::Vector3d &p_com, const Math::Vector3d &euler_ypr) |
| Updates the center of mass frame of the robot be at location p_com and to have orientation defined by the yaw/pitch/roll angles in euler_ypr argument. The euler_ypr argument is optional and if not provided the center of mass reference frame will be aligned with world. More... | |
| void | RobotDynamics::Utils::updateCenterOfMassFrame (Model &model, const Math::Vector3d &p_com, const Math::Quaternion &orientation) |
| Updates the center of mass frame of the robot be at location p_com and to have orientation defined by the orientation argument. The quaternion argument is optional and if not provided the center of mass reference frame will be aligned with world. More... | |
| void | RobotDynamics::ReferenceFrame::verifyFramesHaveSameRoot (ReferenceFramePtr frame) |
| Check if two frames have the same roots. More... | |
| virtual | RobotDynamics::FixedReferenceFrame::~FixedReferenceFrame () |
| virtual | RobotDynamics::ReferenceFrame::~ReferenceFrame () |
| Destructor. More... | |
Variables | |
| std::string | RobotDynamics::ReferenceFrame::frameName |
| RobotDynamics::Math::SpatialTransform | RobotDynamics::ReferenceFrame::inverseTransformToRoot |
| bool | RobotDynamics::ReferenceFrame::isBodyFrame |
| bool | RobotDynamics::ReferenceFrame::isWorldFrame |
| unsigned int | RobotDynamics::ReferenceFrame::movableBodyId |
| ReferenceFramePtr | RobotDynamics::ReferenceFrame::parentFrame |
| ReferenceFrame * | RobotDynamics::ReferenceFrame::rootFrame |
| RobotDynamics::Math::SpatialTransform | RobotDynamics::ReferenceFrame::transformFromParent |
| RobotDynamics::Math::SpatialTransform | RobotDynamics::ReferenceFrame::transformToRoot |
| static ReferenceFramePtr | RobotDynamics::ReferenceFrame::worldFrame = ReferenceFrame::createAWorldFrame() |
Detailed Description
The ReferenceFrame object is the foundation of the way kinematics are handled. Each time a body is added via RobotDynamics::Model::addBody(), a pointer to a ReferenceFrame is created for that body and added to either RobotDynamics::Model::bodyFrames or RobotDynamics::Model::fixedBodyFrames depending on the type of body that is added. Additionally a reference frame is placed on the center of mass of each body and is stored in RobotDynamics::Model::bodyCenteredFrames.
These reference frames can then be used to explicitly express geometric entities(SpatialMotion, SpatialMomentum, SpatialForce, etc) in a reference frame. To query the name of a reference frame a geometric object is expressed in, you may call the ReferenceFrame::getName() method on the objects ReferenceFrame. Furthermore, to transform a framed geometric entity(anything that inheritcs from the RobotDynamics::FrameObject) into a different reference frame, you may simply call the RobotDynamics::FrameObject::changeFrame method and supply it a pointer to the frame you want the geometric object to be transformed to.
- Note
- If you create your own ReferenceFrame outside of those stored in the RobotDynamics::Model, you are required to call RobotDynamics::ReferenceFrame::update every time the created frames' ReferenceFrame::transformFromParent changes. The only exception to this is for RobotDynamics::FixedReferenceFrame objects. By definition, these frames are fixed and thus their ReferenceFrame::transformFromParent is set on construction and never changes, so after construction you do not need to call RobotDynamics::ReferenceFrame::update.
Typedef Documentation
| typedef std::shared_ptr<FixedReferenceFrame> RobotDynamics::FixedReferenceFramePtr |
Definition at line 74 of file ReferenceFrame.hpp.
| typedef std::vector<FixedReferenceFramePtr> RobotDynamics::FixedReferenceFramePtrV |
Definition at line 76 of file ReferenceFrame.hpp.
| typedef std::shared_ptr<ReferenceFrame> RobotDynamics::ReferenceFramePtr |
Definition at line 72 of file ReferenceFrame.hpp.
| typedef std::vector<ReferenceFramePtr> RobotDynamics::ReferenceFramePtrV |
Definition at line 75 of file ReferenceFrame.hpp.
Function Documentation
| void RobotDynamics::Utils::calcCenterOfMass | ( | Model & | model, |
| const Math::VectorNd & | q, | ||
| const Math::VectorNd & | qdot, | ||
| double & | mass, | ||
| Math::FramePoint & | com, | ||
| Math::FrameVector * | com_velocity = nullptr, |
||
| Math::FrameVector * | angular_momentum = nullptr, |
||
| bool | update_kinematics = true |
||
| ) |
Computes the Center of Mass (COM) and optionally its linear velocity and/or angular momentum.
When only interested in computing the location of the COM you can use nullptr as value for com_velocity/angular_momentum.
- Parameters
-
model The model for which we want to compute the COM q The current joint positions qdot The current joint velocities mass (output) total mass of the model com (output) location of the Center of Mass of the model in world frame com_velocity (optional output) linear velocity of the COM in world frame angular_momentum (optional output) angular momentum of the model at the COM in a reference frame aligned with the world frame, but located at the center of mass update_kinematics (optional input) whether the kinematics should be updated (defaults to true)
Definition at line 240 of file rdl_utils.cc.
| void RobotDynamics::Utils::calcCenterOfMass | ( | Model & | model, |
| const Math::VectorNd & | q, | ||
| const Math::VectorNd & | qdot, | ||
| Math::FramePoint & | com, | ||
| Math::FrameVector * | com_velocity = nullptr, |
||
| bool | update_kinematics = true |
||
| ) |
Computes the Center of Mass (COM) and optionally its linear velocity.
When only interested in computing the location of the COM you can use nullptr as value for com_velocity.
- Parameters
-
model The model for which we want to compute the COM q The current joint positions qdot The current joint velocities com (output) location of the Center of Mass of the model in world frame com_velocity (optional output) linear velocity of the COM in world frame update_kinematics (optional input) whether the kinematics should be updated (defaults to true)
Definition at line 311 of file rdl_utils.cc.
| void RobotDynamics::ReferenceFrame::checkReferenceFramesMatch | ( | ReferenceFramePtr | referenceFrame | ) | const |
Check if the argument ReferenceFrame equals this.
- Parameters
-
referenceFrame
Definition at line 37 of file ReferenceFrame.cpp.
| void RobotDynamics::ReferenceFrame::checkReferenceFramesMatch | ( | ReferenceFrame * | referenceFrame | ) | const |
Definition at line 42 of file ReferenceFrame.cpp.
|
inlinestatic |
Creates a root frame with ReferenceFrame::parentFrame=nullptr.
- Parameters
-
frameName
- Returns
- pointer to the created root frame
Definition at line 258 of file ReferenceFrame.hpp.
|
inlinestaticprotected |
Helper method to create a world frame.
- Parameters
-
frameName
- Returns
- Pointer to the created world frame
Definition at line 354 of file ReferenceFrame.hpp.
|
privatedelete |
|
inline |
Definition at line 385 of file ReferenceFrame.hpp.
|
inlinevirtual |
Get this frames ReferenceFrame::inverseTransformToRoot.
Reimplemented in RobotDynamics::FixedReferenceFrame.
Definition at line 230 of file ReferenceFrame.hpp.
|
inlineoverridevirtual |
Get this frames ReferenceFrame::inverseTransformToRoot.
Reimplemented from RobotDynamics::ReferenceFrame.
Definition at line 405 of file ReferenceFrame.hpp.
|
inline |
Get boolean telling if this frame is a body frame or not. If it is a body frame, A pointer to this frame would be stored in Model::bodyFrames vector.
- Returns
- Boolean true if this frame is a body frame, false otherwise
Definition at line 313 of file ReferenceFrame.hpp.
|
inline |
Get a boolean telling if this frame is the world frame.
- Returns
- Boolean true if this frame is world frame, false otherwise
Definition at line 294 of file ReferenceFrame.hpp.
|
inline |
Get the ID of the movable body this frame is attached to.
- Returns
- Unsigned int corresponding to the movable body this frame is attached to
Definition at line 303 of file ReferenceFrame.hpp.
|
inline |
Get the frame name.
- Returns
- ReferenceFrame::framenName
Definition at line 248 of file ReferenceFrame.hpp.
|
inline |
get a pointer to this frames parent
- Returns
- ReferenceFrame::parentFrame
Definition at line 239 of file ReferenceFrame.hpp.
|
inline |
Definition at line 153 of file ReferenceFrame.hpp.
|
inline |
Get spatial transform from parent to this frame.
- Returns
- SpatialTransform from parent to this frame
Definition at line 276 of file ReferenceFrame.hpp.
|
inline |
Get the spatial transform from this frame to desiredFrame and store it in transformToPack.
- Parameters
-
transformToPack Resulting transform to the desired frame will be stored here desiredFrame The resulting transform will transform vectors into desiredFrame
Definition at line 180 of file ReferenceFrame.hpp.
|
virtual |
Get the spatial transform from this frame to desiredFrame and store it in transformToPack.
- Parameters
-
desiredFrame The resulting transform will transform vectors into desiredFrame
- Returns
- Spatial transform that will transform vectors into the ReferenceFrame desiredFrame
Definition at line 14 of file ReferenceFrame.cpp.
|
inline |
Get spatial transform this frame to its parent.
- Returns
- SpatialTransform from this frame to parent
Definition at line 285 of file ReferenceFrame.hpp.
|
inlinevirtual |
Get this frames ReferenceFrame::transformToRoot.
Reimplemented in RobotDynamics::FixedReferenceFrame.
Definition at line 221 of file ReferenceFrame.hpp.
|
inlineoverridevirtual |
Get this frames ReferenceFrame::transformToRoot.
Reimplemented from RobotDynamics::ReferenceFrame.
Definition at line 395 of file ReferenceFrame.hpp.
|
inlinestatic |
Get a pointer to the world frame.
- Returns
- Pointer to world frame
Definition at line 267 of file ReferenceFrame.hpp.
|
inline |
Definition at line 318 of file ReferenceFrame.hpp.
|
privatedelete |
|
inline |
|
inline |
Constructor.
- Parameters
-
frameName Name of frame parentFrame Pointer to this frames parent ReferenceFrame transformFromParent Spatial transform from the parent frames perspective to this frame isBodyFrame Boolean true if this frame is a body frame(i.e. will be stored in Model::bodyFrames), false otherwise movableBodyId The ID of the movable body this frame is attached to. For frames attached to fixed bodies, this should be FixedBody::mMovableParent
Definition at line 119 of file ReferenceFrame.hpp.
|
inline |
Empty constructor. All contained ptrs will be initialize to nullptr.
Definition at line 149 of file ReferenceFrame.hpp.
|
inlineprotected |
Constructor that creates a top level frame with parent=nullptr, and transforms to root being identity transform.
- Parameters
-
frameName isWorldFrame True of creating the world frame, false if it's just a root frame movableBodyId isBodyFrame
Definition at line 342 of file ReferenceFrame.hpp.
|
inline |
Set a frames ReferenceFrame::transformToParent. For frames connected by a joint, this needs to be updated every tic BEFORE calling the ReferenceFrame::update method.
- Parameters
-
transformFromParent The new ReferenceFrame::transformFromParent
Definition at line 204 of file ReferenceFrame.hpp.
| void RobotDynamics::ReferenceFrame::update | ( | ) |
Recalculates this frames ReferenceFrame::transformToRoot and ReferenceFrame::inverseTransformToRoot which are used by FrameObject::changeFrame to change the ReferenceFrame FrameObjects are expressed in. If you create a ReferenceFrame you MUST call update every tic each time the frames ReferenceFrame::transformFromParent changes. Each time ReferenceFrame::setTransformFromParent changes, you need to call ReferenceFrame::transformFromParent before you call ReferenceFrame::update().
Definition at line 26 of file ReferenceFrame.cpp.
| RobotDynamics::Math::FramePoint RobotDynamics::Utils::updateCenterOfMassFrame | ( | Model & | model, |
| const Math::VectorNd & | q, | ||
| bool | update_kinematics = true |
||
| ) |
Computes the center of mass and updates the center of mass reference frame of the model.
- Parameters
-
model The model for which we want to compute the COM q The current joint positions update_kinematics (optional input) whether the kinematics should be updated (defaults to true)
- Returns
- a frame point that represents the position of the origin of the center of mass frame expressed in world frame
Definition at line 348 of file rdl_utils.cc.
| RobotDynamics::Math::FramePoint RobotDynamics::Utils::updateCenterOfMassFrame | ( | Model & | model, |
| const Math::VectorNd & | q, | ||
| const Math::Vector3d & | euler_ypr, | ||
| bool | update_kinematics = true |
||
| ) |
Computes the center of mass and updates the center of mass reference frame of the model.
- Parameters
-
model The model for which we want to compute the COM q The current joint positions euler_ypr The desired orientation of the center of mass frame update_kinematics (optional input) whether the kinematics should be updated (defaults to true)
- Returns
- a frame point that represents the position of the origin of the center of mass frame expressed in world frame
Definition at line 356 of file rdl_utils.cc.
| RobotDynamics::Math::FramePoint RobotDynamics::Utils::updateCenterOfMassFrame | ( | Model & | model, |
| const Math::VectorNd & | q, | ||
| const Math::Quaternion & | orientation, | ||
| bool | update_kinematics = true |
||
| ) |
Computes the center of mass and updates the center of mass reference frame of the model.
- Parameters
-
model The model for which we want to compute the COM q The current joint positions orientation The desired orientation of the center of mass frame update_kinematics (optional input) whether the kinematics should be updated (defaults to true)
- Returns
- a frame point that represents the position of the origin of the center of mass frame expressed in world frame
Definition at line 364 of file rdl_utils.cc.
| void RobotDynamics::Utils::updateCenterOfMassFrame | ( | Model & | model, |
| const Math::Vector3d & | p_com | ||
| ) |
Updates the center of mass frame of the robot be at location p_com, aligned with world frame.
- Parameters
-
model The model for which we want to compute the COM p_com The com position in world frame
Definition at line 372 of file rdl_utils.cc.
| void RobotDynamics::Utils::updateCenterOfMassFrame | ( | Model & | model, |
| const Math::Vector3d & | p_com, | ||
| const Math::Vector3d & | euler_ypr | ||
| ) |
Updates the center of mass frame of the robot be at location p_com and to have orientation defined by the yaw/pitch/roll angles in euler_ypr argument. The euler_ypr argument is optional and if not provided the center of mass reference frame will be aligned with world.
- Parameters
-
model The model for which we want to compute the COM p_com The com position in world frame euler_ypr The desired orientation of the center of mass frame
Definition at line 377 of file rdl_utils.cc.
| void RobotDynamics::Utils::updateCenterOfMassFrame | ( | Model & | model, |
| const Math::Vector3d & | p_com, | ||
| const Math::Quaternion & | orientation | ||
| ) |
Updates the center of mass frame of the robot be at location p_com and to have orientation defined by the orientation argument. The quaternion argument is optional and if not provided the center of mass reference frame will be aligned with world.
- Parameters
-
model The model for which we want to compute the COM p_com The com position in world frame orientation The desired orientation of the center of mass frame
Definition at line 382 of file rdl_utils.cc.
| void RobotDynamics::ReferenceFrame::verifyFramesHaveSameRoot | ( | ReferenceFramePtr | frame | ) |
Check if two frames have the same roots.
- Exceptions
-
ReferenceFrameException if the frames do not have the same roots
- Parameters
-
frame
Definition at line 55 of file ReferenceFrame.cpp.
|
inlinevirtual |
Definition at line 391 of file ReferenceFrame.hpp.
|
inlinevirtual |
Destructor.
Definition at line 161 of file ReferenceFrame.hpp.
Variable Documentation
|
protected |
A frames name
Definition at line 360 of file ReferenceFrame.hpp.
|
protected |
SpatialTransform to a frame from the root frame
Definition at line 365 of file ReferenceFrame.hpp.
|
protected |
True if a frame is a body frame, false otherwise. Body frame pointers are stored in Model::bodyFrames
Definition at line 371 of file ReferenceFrame.hpp.
|
protected |
True if a frame is the world frame, false otherwise
Definition at line 369 of file ReferenceFrame.hpp.
|
protected |
The body ID of the movable body a frame is attached to
Definition at line 374 of file ReferenceFrame.hpp.
|
protected |
Pointer to a frames parent frames
Definition at line 361 of file ReferenceFrame.hpp.
|
protected |
Definition at line 368 of file ReferenceFrame.hpp.
|
protected |
SpatialTransform to a frame from its parent
Definition at line 362 of file ReferenceFrame.hpp.
|
protected |
SpatialTransform from a frame to the root frame
Definition at line 363 of file ReferenceFrame.hpp.
|
staticprotected |
Static world frame pointer
Definition at line 359 of file ReferenceFrame.hpp.