hrp::Link Class Reference

#include <Link.h>

Inheritance diagram for hrp::Link:

Classes
struct	ConstraintForce

Public Types
typedef std::vector< ConstraintForce >	ConstraintForceArray
enum	JointType { FIXED_JOINT, FREE_JOINT, ROTATIONAL_JOINT, SLIDE_JOINT }

Public Member Functions
void	addChild (Link *link)
Matrix33	attitude ()
Matrix33	calcRfromAttitude (const Matrix33 &R)
void	calcSubMassCM ()
	compute sum of m x wc of subtree More...
void	calcSubMassInertia (Matrix33 &subIw)
	compute sum of I of subtree More...
bool	detachChild (Link *link)
bool	isRoot ()
bool	isValid ()
	Link ()
	Link (const Link &link)
Matrix33	segmentAttitude ()
void	setAttitude (const Matrix33 &R)
void	setSegmentAttitude (const Matrix33 &R)
void	updateColdetModelPosition ()
virtual	~Link ()

Public Attributes
Vector3	a
	rotational joint axis (self local) More...
Vector3	b
	relative position (parent local) More...
Body *	body
Vector3	c
	center of mass (self local) More...
Link *	child
double	climit
	the upper limit of joint current (tlimit = climit x grarRatio x torqueConst) More...
ColdetModelPtr	coldetModel
ConstraintForceArray	constraintForces
Vector3	cv
	dsv * dq (cross velocity term) More...
Vector3	cw
	dsw * dq (cross velocity term) More...
Vector3	d
	translation joint axis (self local) More...
double	dd
	Ia*s*s^T. More...
double	ddq
	joint acceleration More...
double	defaultJointValue
double	dq
	joint velocity More...
Vector3	dv
	linear acceleration More...
Vector3	dvo
	derivative of vo More...
Vector3	dw
	derivative of omega More...
double	encoderPulse
Vector3	fext
	external force More...
double	gearEfficiency
double	gearRatio
Vector3	hhv
	top block of Ia*s More...
Vector3	hhw
	bottom bock of Ia*s More...
Matrix33	I
	inertia tensor (self local, around c) More...
int	index
double	Ir
	rotor inertia [kg.m^2] More...
bool	isCrawler
bool	isHighGainMode
Matrix33	Ivv
	top left block of the articulated inertia More...
Matrix33	Iwv
	bottom left block (transpose of top right block) of the articulated inertia More...
Matrix33	Iww
	bottm right block of the articulated inertia More...
double	Jm2
	Equivalent rotor inertia: n^2*Jm [kg.m^2]. More...
int	jointId
	jointId value written in a model file More...
JointType	jointType
std::vector< Light * >	lights
	lights attached to this link More...
double	llimit
	the lower limit of joint values More...
double	lvlimit
	the lower limit of joint velocities More...
double	m
	mass More...
std::string	name
Vector3	p
	position More...
Link *	parent
Vector3	pf
	bias force (linear element) More...
Vector3	ptau
	bias force (torque element) More...
double	q
	joint value More...
Matrix33	R
double	rotorResistor
Matrix33	Rs
	relative attitude of the link segment (self local) More...
std::vector< Sensor * >	sensors
	sensors attached to this link More...
Link *	sibling
double	subm
	mass of subtree More...
Vector3	submwc
	sum of m x wc of subtree More...
Vector3	sv
Vector3	sw
Vector3	tauext
	external torque (around the world origin) More...
double	torqueConst
double	u
	joint torque More...
double	ulimit
	the upper limit of joint values More...
double	uu
double	uvlimit
	the upper limit of joint velocities More...
Vector3	v
	linear velocity More...
Vector3	vo
	translation elements of spacial velocity More...
Vector3	w
	angular velocity, omega More...
Vector3	wc
	R * c + p. More...

Private Member Functions
Link &	operator= (const Link &link)
void	putInformation (std::ostream &out)
void	setBodyIter (Body *body)

Friends
std::ostream &	operator<< (std::ostream &out, hrp::Link &link)

Detailed Description

Definition at line 40 of file Link.h.

Member Typedef Documentation

typedef std::vector<ConstraintForce> hrp::Link::ConstraintForceArray

Definition at line 193 of file Link.h.

Member Enumeration Documentation

enum hrp::Link::JointType

Enumerator
FIXED_JOINT	fixed joint(0 dof)
FREE_JOINT
ROTATIONAL_JOINT	6-DOF root link rotational joint (1 dof)
SLIDE_JOINT	translational joint (1 dof)

Definition at line 90 of file Link.h.

Constructor & Destructor Documentation

Link::Link

(

)

Definition at line 50 of file Link.cpp.

Link::Link

(

const Link &

link

)

Definition at line 67 of file Link.cpp.

Link::~Link ( )

virtual

Definition at line 136 of file Link.cpp.

Member Function Documentation

void Link::addChild

(

Link *

link

)

Definition at line 147 of file Link.cpp.

Matrix33 hrp::Link::attitude ( )

inline

Definition at line 54 of file Link.h.

Matrix33 hrp::Link::calcRfromAttitude ( const Matrix33 &  R )

inline

Definition at line 55 of file Link.h.

void Link::calcSubMassCM

(

)

compute sum of m x wc of subtree

Note

assuming wc is already computed by Body::calcCM()

Definition at line 291 of file Link.cpp.

void Link::calcSubMassInertia

(

Matrix33 &

subIw

)

compute sum of I of subtree

Note

assuming wc,submw,submwc is already computed by Body::calcCM(),Link::calcSubMassCM()

Definition at line 313 of file Link.cpp.

bool Link::detachChild

(

Link *

childToRemove

)

A child link is detached from the link. The detached child link is not deleted by this function. If a link given by the parameter is not a child of the link, false is returned.

Definition at line 166 of file Link.cpp.

bool hrp::Link::isRoot ( )

inline

Definition at line 51 of file Link.h.

bool hrp::Link::isValid ( )

inline

Definition at line 48 of file Link.h.

Link& hrp::Link::operator= ( const Link &  link )

private

void Link::putInformation ( std::ostream &  out )

private

Definition at line 211 of file Link.cpp.

Matrix33 hrp::Link::segmentAttitude ( )

inline

Deprecated:

use attitude().

Definition at line 77 of file Link.h.

void hrp::Link::setAttitude ( const Matrix33 &  R )

inline

Definition at line 53 of file Link.h.

void Link::setBodyIter ( Body *  body )

private

Definition at line 196 of file Link.cpp.

void hrp::Link::setSegmentAttitude ( const Matrix33 &  R )

inline

Deprecated:

use setAttitude().

Definition at line 72 of file Link.h.

void hrp::Link::updateColdetModelPosition ( )

inline

Definition at line 79 of file Link.h.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  out, hrp::Link &  link  )

friend

Definition at line 205 of file Link.cpp.

Member Data Documentation

Vector3 hrp::Link::a

rotational joint axis (self local)

Definition at line 125 of file Link.h.

Vector3 hrp::Link::b

relative position (parent local)

Definition at line 127 of file Link.h.

Body* hrp::Link::body

Definition at line 83 of file Link.h.

Vector3 hrp::Link::c

center of mass (self local)

Definition at line 133 of file Link.h.

Link* hrp::Link::child

Definition at line 101 of file Link.h.

double hrp::Link::climit

the upper limit of joint current (tlimit = climit x grarRatio x torqueConst)

Definition at line 173 of file Link.h.

ColdetModelPtr hrp::Link::coldetModel

Definition at line 186 of file Link.h.

ConstraintForceArray hrp::Link::constraintForces

Definition at line 194 of file Link.h.

Vector3 hrp::Link::cv

dsv * dq (cross velocity term)

Definition at line 147 of file Link.h.

Vector3 hrp::Link::cw

dsw * dq (cross velocity term)

Definition at line 148 of file Link.h.

Vector3 hrp::Link::d

translation joint axis (self local)

Definition at line 126 of file Link.h.

double hrp::Link::dd

Ia*s*s^T.

Definition at line 165 of file Link.h.

double hrp::Link::ddq

joint acceleration

Definition at line 122 of file Link.h.

double hrp::Link::defaultJointValue

Definition at line 175 of file Link.h.

double hrp::Link::dq

joint velocity

Definition at line 121 of file Link.h.

Vector3 hrp::Link::dv

linear acceleration

Definition at line 117 of file Link.h.

Vector3 hrp::Link::dvo

derivative of vo

Definition at line 137 of file Link.h.

Vector3 hrp::Link::dw

derivative of omega

Definition at line 118 of file Link.h.

double hrp::Link::encoderPulse

Definition at line 177 of file Link.h.

Vector3 hrp::Link::fext

external force

Definition at line 150 of file Link.h.

double hrp::Link::gearEfficiency

Definition at line 180 of file Link.h.

double hrp::Link::gearRatio

Definition at line 179 of file Link.h.

Vector3 hrp::Link::hhv

top block of Ia*s

Definition at line 162 of file Link.h.

Vector3 hrp::Link::hhw

bottom bock of Ia*s

Definition at line 163 of file Link.h.

Matrix33 hrp::Link::I

inertia tensor (self local, around c)

Definition at line 132 of file Link.h.

int Link::index

Index among all the links in the body.

Definition at line 85 of file Link.h.

double hrp::Link::Ir

rotor inertia [kg.m^2]

Definition at line 178 of file Link.h.

bool hrp::Link::isCrawler

Definition at line 184 of file Link.h.

bool hrp::Link::isHighGainMode

Definition at line 183 of file Link.h.

Matrix33 hrp::Link::Ivv

top left block of the articulated inertia

Definition at line 159 of file Link.h.

Matrix33 hrp::Link::Iwv

bottom left block (transpose of top right block) of the articulated inertia

Definition at line 158 of file Link.h.

Matrix33 hrp::Link::Iww

bottm right block of the articulated inertia

Definition at line 157 of file Link.h.

double hrp::Link::Jm2

Equivalent rotor inertia: n^2*Jm [kg.m^2].

Definition at line 167 of file Link.h.

int hrp::Link::jointId

jointId value written in a model file

Definition at line 86 of file Link.h.

JointType hrp::Link::jointType

Definition at line 97 of file Link.h.

std::vector<Light *> hrp::Link::lights

lights attached to this link

Definition at line 199 of file Link.h.

double hrp::Link::llimit

the lower limit of joint values

Definition at line 170 of file Link.h.

double hrp::Link::lvlimit

the lower limit of joint velocities

Definition at line 172 of file Link.h.

double hrp::Link::m

mass

Definition at line 131 of file Link.h.

std::string hrp::Link::name

Definition at line 88 of file Link.h.

Vector3 hrp::Link::p

position

Definition at line 103 of file Link.h.

Link* hrp::Link::parent

Definition at line 99 of file Link.h.

Vector3 hrp::Link::pf

bias force (linear element)

Definition at line 160 of file Link.h.

Vector3 hrp::Link::ptau

bias force (torque element)

Definition at line 161 of file Link.h.

double hrp::Link::q

joint value

Definition at line 120 of file Link.h.

Matrix33 hrp::Link::R

Internal world attitude. In the model computation, it corresponds to the identity matrix when all the joint angles of a robot are zero so that multiplication of local attitdue matrices can be omitted to simplify the computation. If you want to use the original coordinate in the model file, use setAttitude() and attitude() to access.

Definition at line 113 of file Link.h.

double hrp::Link::rotorResistor

Definition at line 181 of file Link.h.

Matrix33 hrp::Link::Rs

relative attitude of the link segment (self local)

Definition at line 129 of file Link.h.

std::vector<Sensor *> hrp::Link::sensors

sensors attached to this link

Definition at line 198 of file Link.h.

Link* hrp::Link::sibling

Definition at line 100 of file Link.h.

double hrp::Link::subm

mass of subtree

Definition at line 196 of file Link.h.

Vector3 hrp::Link::submwc

sum of m x wc of subtree

Definition at line 197 of file Link.h.

Vector3 hrp::Link::sv

A unit vector of spatial velocity (the world coordinate) generated by the joint. The value is parent->R * d when the joint is the translation type.

Definition at line 145 of file Link.h.

Vector3 hrp::Link::sw

A unit vector of angular velocity (the world coordinate) generated by the joint The value is parent->R * a when the joint is the rotational type.

Definition at line 141 of file Link.h.

Vector3 hrp::Link::tauext

external torque (around the world origin)

Definition at line 151 of file Link.h.

double hrp::Link::torqueConst

Definition at line 176 of file Link.h.

double hrp::Link::u

joint torque

Definition at line 123 of file Link.h.

double hrp::Link::ulimit

the upper limit of joint values

Definition at line 169 of file Link.h.

double hrp::Link::uu

Definition at line 164 of file Link.h.

double hrp::Link::uvlimit

the upper limit of joint velocities

Definition at line 171 of file Link.h.

Vector3 hrp::Link::v

linear velocity

Definition at line 115 of file Link.h.

Vector3 hrp::Link::vo

translation elements of spacial velocity

Definition at line 136 of file Link.h.

Vector3 hrp::Link::w

angular velocity, omega

Definition at line 116 of file Link.h.

Vector3 hrp::Link::wc

R * c + p.

Definition at line 134 of file Link.h.

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The documentation for this class was generated from the following files:

• Link.h
• Link.cpp