hrp::Body Class Reference

#include <Body.h>

Inheritance diagram for hrp::Body:

Classes
struct	ExtraJoint

Public Types
enum	ExtraJointType { EJ_XYZ, EJ_XY, EJ_Z }

Public Member Functions
void	addSensor (Sensor *sensor, int sensorType, int id)
	Body ()
	Body (const Body &org)
void	calcAngularMomentumJacobian (Link *base, dmatrix &H)
	compute Angular Momentum Jacobian around CoM of base More...
Vector3	calcCM ()
void	calcCMJacobian (Link *base, dmatrix &J)
	compute CoM Jacobian More...
void	calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)
void	calcInverseDynamics (Link *link, Vector3 &out_f, Vector3 &out_tau)
void	calcMassMatrix (dmatrix &out_M)
double	calcTotalMass ()
void	calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)
void	calcTotalMomentumFromJacobian (Vector3 &out_P, Vector3 &out_L)
void	clearExternalForces ()
void	clearSensorValues ()
Light *	createLight (Link *link, int lightType, const std::string &name)
Sensor *	createSensor (Link *link, int sensorType, int id, const std::string &name)
void	getDefaultRootPosition (Vector3 &out_p, Matrix33 &out_R)
JointPathPtr	getJointPath (Link *baseLink, Link *targetLink)
void	initializeConfiguration ()
bool	installCustomizer ()
bool	installCustomizer (BodyCustomizerInterface *customizerInterface)
bool	isStaticModel ()
Link *	joint (int id) const
const std::vector< Link * > &	joints () const
Light *	light (const std::string &name)
Link *	link (int index) const
Link *	link (const std::string &name) const
const LinkTraverse &	links () const
const LinkTraverse &	linkTraverse () const
const std::string &	modelName ()
const std::string &	name ()
unsigned int	numJoints () const
unsigned int	numLinks () const
unsigned int	numSensors (int sensorType) const
unsigned int	numSensorTypes () const
void	putInformation (std::ostream &out)
Link *	rootLink () const
Sensor *	sensor (int sensorType, int sensorId) const
template<class TSensor >
TSensor *	sensor (int id) const
template<class TSensor >
TSensor *	sensor (const std::string &name) const
void	setColumnOfMassMatrix (dmatrix &M, int column)
void	setDefaultRootPosition (const Vector3 &p, const Matrix33 &R)
void	setModelName (const std::string &name)
void	setName (const std::string &name)
void	setRootLink (Link *link)
void	setVirtualJointForces ()
double	totalMass () const
void	updateLinkColdetModelPositions ()
void	updateLinkTree ()
virtual	~Body ()
Public Member Functions inherited from hrp::Referenced
	Referenced ()
virtual	~Referenced ()

Static Public Member Functions
static BodyInterface *	bodyInterface ()

Public Attributes
std::vector< ExtraJoint >	extraJoints

Private Types
typedef std::vector< Link * >	LinkArray
typedef std::map< std::string, Light * >	NameToLightMap
typedef std::map< std::string, Link * >	NameToLinkMap
typedef std::map< std::string, Sensor * >	NameToSensorMap
typedef std::vector< Sensor * >	SensorArray

Private Member Functions
Link *	createEmptyJoint (int jointId)
void	initialize ()
void	setVirtualJointForcesSub ()

Private Attributes
std::vector< SensorArray >	allSensors
BodyHandle	bodyHandle
BodyHandleEntity	bodyHandleEntity
BodyCustomizerHandle	customizerHandle
BodyCustomizerInterface *	customizerInterface
Matrix33	defaultRootAttitude
Vector3	defaultRootPosition
bool	isStaticModel_
LinkArray	jointIdToLinkArray
LinkTraverse	linkTraverse_
std::string	modelName_
std::string	name_
NameToLightMap	nameToLightMap
NameToLinkMap	nameToLinkMap
NameToSensorMap	nameToSensorMap
Link *	rootLink_
double	totalMass_

Friends
class	CustomizedJointPath

Additional Inherited Members
Protected Member Functions inherited from hrp::Referenced
int	refCounter ()

Detailed Description

Definition at line 44 of file Body.h.

Member Typedef Documentation

typedef std::vector<Link*> hrp::Body::LinkArray

private

Definition at line 280 of file Body.h.

typedef std::map<std::string, Light*> hrp::Body::NameToLightMap

private

Definition at line 294 of file Body.h.

typedef std::map<std::string, Link*> hrp::Body::NameToLinkMap

private

Definition at line 285 of file Body.h.

typedef std::map<std::string, Sensor*> hrp::Body::NameToSensorMap

private

Definition at line 292 of file Body.h.

typedef std::vector<Sensor*> hrp::Body::SensorArray

private

Definition at line 289 of file Body.h.

Member Enumeration Documentation

enum hrp::Body::ExtraJointType

Enumerator
EJ_XYZ
EJ_XY
EJ_Z

Definition at line 246 of file Body.h.

Constructor & Destructor Documentation

Body::Body

(

)

Definition at line 85 of file Body.cpp.

Body::Body

(

const Body &

org

)

Definition at line 98 of file Body.cpp.

Body::~Body ( )

virtual

Definition at line 53 of file Body.cpp.

Member Function Documentation

void Body::addSensor	(	Sensor *	sensor,
		int	sensorType,
		int	id
	)

Definition at line 600 of file Body.cpp.

BodyInterface * Body::bodyInterface ( )

static

Definition at line 766 of file Body.cpp.

void Body::calcAngularMomentumJacobian	(	Link *	base,
		dmatrix &	H
	)

compute Angular Momentum Jacobian around CoM of base

Parameters

base	link fixed to the environment
H	Angular Momentum Jacobian

Note

Link::wc must be computed by calcCM() before calling

Definition at line 954 of file Body.cpp.

Vector3 Body::calcCM

(

)

Definition at line 310 of file Body.cpp.

void Body::calcCMJacobian	(	Link *	base,
		dmatrix &	J
	)

compute CoM Jacobian

Parameters

base	link fixed to the environment
J	CoM Jacobian

Note

Link::wc must be computed by calcCM() before calling

Definition at line 873 of file Body.cpp.

void Body::calcForwardKinematics	(	bool	calcVelocity = false,
		bool	calcAcceleration = false
	)

Definition at line 554 of file Body.cpp.

void Body::calcInverseDynamics	(	Link *	link,
		Vector3 &	out_f,
		Vector3 &	out_tau
	)

Definition at line 439 of file Body.cpp.

void Body::calcMassMatrix

(

dmatrix &

out_M

)

calculate the mass matrix using the unit vector method

Todo:

replace the unit vector method here with a more efficient method that only requires O(n) computation time

The motion equation (dv != dvo) | | | dv | | | | fext | | out_M | * | dw | + | b1 | = | tauext | | | |ddq | | | | u |

Definition at line 338 of file Body.cpp.

double Body::calcTotalMass

(

)

Definition at line 297 of file Body.cpp.

void Body::calcTotalMomentum	(	Vector3 &	out_P,
		Vector3 &	out_L
	)

assuming Link::v,w is already computed by calcForwardKinematics(true); assuming Link::wc is already computed by calcCM();

Definition at line 503 of file Body.cpp.

void Body::calcTotalMomentumFromJacobian	(	Vector3 &	out_P,
		Vector3 &	out_L
	)

Definition at line 530 of file Body.cpp.

void Body::clearExternalForces

(

)

Definition at line 649 of file Body.cpp.

void Body::clearSensorValues

(

)

Definition at line 620 of file Body.cpp.

Link * Body::createEmptyJoint ( int  jointId )

private

Definition at line 171 of file Body.cpp.

Light * Body::createLight	(	Link *	link,
		int	lightType,
		const std::string &	name
	)

Definition at line 560 of file Body.cpp.

Sensor * Body::createSensor	(	Link *	link,
		int	sensorType,
		int	id,
		const std::string &	name
	)

Definition at line 567 of file Body.cpp.

void Body::getDefaultRootPosition	(	Vector3 &	out_p,
		Matrix33 &	out_R
	)

Definition at line 164 of file Body.cpp.

JointPathPtr Body::getJointPath	(	Link *	baseLink,
		Link *	targetLink
	)

Definition at line 631 of file Body.cpp.

void Body::initialize ( )

private

Definition at line 74 of file Body.cpp.

void Body::initializeConfiguration

(

)

Definition at line 267 of file Body.cpp.

bool Body::installCustomizer

(

)

The function installs the pre-loaded customizer corresponding to the model name.

Definition at line 687 of file Body.cpp.

bool Body::installCustomizer

(

BodyCustomizerInterface *

customizerInterface

)

Definition at line 700 of file Body.cpp.

bool hrp::Body::isStaticModel ( )

inline

This function returns true when the whole body is a static, fixed object like a floor.

Definition at line 188 of file Body.h.

Link* hrp::Body::joint ( int  id ) const

inline

This function returns a link that has a given joint ID. If there is no link that has a given joint ID, the function returns a dummy link object whose ID is minus one. The maximum id can be obtained by numJoints().

Definition at line 97 of file Body.h.

const std::vector<Link*>& hrp::Body::joints ( ) const

inline

The vector<Link*> corresponding to the sequence of joint().

Definition at line 104 of file Body.h.

Light* hrp::Body::light ( const std::string &  name )

inline

Definition at line 149 of file Body.h.

Link* hrp::Body::link ( int  index ) const

inline

This function returns the link of a given index in the whole link sequence. The order of the sequence corresponds to a link-tree traverse from the root link. The size of the sequence can be obtained by numLinks().

Definition at line 121 of file Body.h.

Link * Body::link

(

const std::string &

name

)

const

This function returns a link that has a given name.

This function returns a link object whose name of Joint node matches a given name. Null is returned when the body has no joint of the given name.

Definition at line 260 of file Body.cpp.

const LinkTraverse& hrp::Body::links ( ) const

inline

Definition at line 125 of file Body.h.

const LinkTraverse& hrp::Body::linkTraverse ( ) const

inline

LinkTraverse object that traverses all the links from the root link

Definition at line 132 of file Body.h.

const std::string& hrp::Body::modelName ( )

inline

Definition at line 64 of file Body.h.

const std::string& hrp::Body::name ( )

inline

Definition at line 56 of file Body.h.

unsigned int hrp::Body::numJoints ( ) const

inline

The number of the links that work as a joint. Note that the acutal value is the maximum joint ID plus one. Thus there may be a case where the value does not correspond to the actual number of the joint-links. In other words, the value represents the size of the link sequence obtained by joint() function.

Definition at line 87 of file Body.h.

unsigned int hrp::Body::numLinks ( ) const

inline

The number of all the links the body has. The value corresponds to the size of the sequence obtained by link() function.

Definition at line 112 of file Body.h.

unsigned int hrp::Body::numSensors ( int  sensorType ) const

inline

Definition at line 162 of file Body.h.

unsigned int hrp::Body::numSensorTypes ( ) const

inline

Definition at line 166 of file Body.h.

void Body::putInformation

(

std::ostream &

out

)

Definition at line 672 of file Body.cpp.

Link* hrp::Body::rootLink ( ) const

inline

The root link of the body

Definition at line 144 of file Body.h.

Sensor* hrp::Body::sensor ( int  sensorType, int  sensorId  ) const

inline

Definition at line 158 of file Body.h.

template<class TSensor >

TSensor* hrp::Body::sensor ( int  id ) const

inline

Definition at line 172 of file Body.h.

template<class TSensor >

TSensor* hrp::Body::sensor ( const std::string &  name ) const

inline

Definition at line 176 of file Body.h.

void Body::setColumnOfMassMatrix	(	dmatrix &	M,
		int	column
	)

Definition at line 416 of file Body.cpp.

void Body::setDefaultRootPosition	(	const Vector3 &	p,
		const Matrix33 &	R
	)

Definition at line 157 of file Body.cpp.

void hrp::Body::setModelName ( const std::string &  name )

inline

Definition at line 68 of file Body.h.

void hrp::Body::setName ( const std::string &  name )

inline

Definition at line 60 of file Body.h.

void Body::setRootLink

(

Link *

link

)

Definition at line 146 of file Body.cpp.

void hrp::Body::setVirtualJointForces ( )

inline

Definition at line 228 of file Body.h.

void Body::setVirtualJointForcesSub ( )

private

Definition at line 641 of file Body.cpp.

double hrp::Body::totalMass ( ) const

inline

Definition at line 194 of file Body.h.

void Body::updateLinkColdetModelPositions

(

)

This function must be called before the collision detection. It updates the positions and orientations of the models for detecting collisions between links.

Definition at line 660 of file Body.cpp.

void Body::updateLinkTree

(

)

This function must be called when the structure of the link tree is changed.

Definition at line 211 of file Body.cpp.

Friends And Related Function Documentation

friend class CustomizedJointPath

friend

Definition at line 312 of file Body.h.

Member Data Documentation

std::vector<SensorArray> hrp::Body::allSensors

private

Definition at line 290 of file Body.h.

BodyHandle hrp::Body::bodyHandle

private

Definition at line 306 of file Body.h.

BodyHandleEntity hrp::Body::bodyHandleEntity

private

Definition at line 305 of file Body.h.

BodyCustomizerHandle hrp::Body::customizerHandle

private

Definition at line 303 of file Body.h.

BodyCustomizerInterface* hrp::Body::customizerInterface

private

Definition at line 304 of file Body.h.

Matrix33 hrp::Body::defaultRootAttitude

private

Definition at line 300 of file Body.h.

Vector3 hrp::Body::defaultRootPosition

private

Definition at line 299 of file Body.h.

std::vector<ExtraJoint> hrp::Body::extraJoints

Definition at line 256 of file Body.h.

bool hrp::Body::isStaticModel_

private

Definition at line 274 of file Body.h.

LinkArray hrp::Body::jointIdToLinkArray

private

Definition at line 281 of file Body.h.

LinkTraverse hrp::Body::linkTraverse_

private

Definition at line 283 of file Body.h.

std::string hrp::Body::modelName_

private

Definition at line 278 of file Body.h.

std::string hrp::Body::name_

private

Definition at line 277 of file Body.h.

NameToLightMap hrp::Body::nameToLightMap

private

Definition at line 295 of file Body.h.

NameToLinkMap hrp::Body::nameToLinkMap

private

Definition at line 286 of file Body.h.

NameToSensorMap hrp::Body::nameToSensorMap

private

Definition at line 293 of file Body.h.

Link* hrp::Body::rootLink_

private

Definition at line 275 of file Body.h.

double hrp::Body::totalMass_

private

Definition at line 297 of file Body.h.

---

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

• Body.h
• Body.cpp