Tendon Class Reference

Defines a tendon geometry by listing its insertion points. More...

#include <humanHand.h>

Public Member Functions
void	addInsertionPoint (int chain, int link, vec3 point, bool isPerm)
	Adds an insertion point at the end of the insPointList.
void	applyForces ()
	Applies previously computed forces at links that have insertion points.
void	checkWrapperIntersections ()
	Checks if tendon intersect a wrapper and adds insertion points around the wrapper if needed.
void	computeSimplePassiveForces ()
	Computes a naive version of passive forces based on tendon excursion; more of a placeholder.
void	deselect ()
bool	forcesVisible ()
float	getActiveForce ()
float	getCurrentLength ()
	Gets the current length of the tendon. Assumes updateGeometry() has been called.
float	getDefaultRestLength ()
float	getExcursion ()
	Returns the excursion of the end of the tendon compared to its rest position.
void	getInsertionPointForceMagnitudes (std::vector< double > &magnitudes)
	Returns the magnitudes of the forces at each insertion point, assuming a total tendon force of 1.0.
void	getInsertionPointLinkTransforms (std::list< std::pair< transf, Link * > > &insPointLinkTrans)
	Returns pairs of insertion points and their links, with ins. pt. transforms relative to their links.
void	getInsertionPointTransforms (std::vector< transf > &insPointTrans)
	Returns the locations of all insertion points in world coordinates.
transf	getInsertionPointWorldTransform (std::list< TendonInsertionPoint * >::iterator insPt)
SoSeparator *	getIVRoot ()
QString	getName ()
int	getNumInsPoints () const
	Returns the total number of insertion points.
int	getNumPermInsPoints () const
	Returns the number of permanent insertion points.
float	getPassiveForce ()
TendonInsertionPoint *	getPermInsPoint (int n)
	Returns the n-th permanent insertion point.
float	getPreTensionLength ()
Robot *	getRobot ()
double	getStiffness ()
float	getTotalForce ()
std::list < TendonInsertionPoint * > ::iterator	insertInsertionPoint (std::list< TendonInsertionPoint * >::iterator itPos, int chain, int link, vec3 point, bool isPerm)
	Inserts an insertion point at a given position in insPointList.
bool	insPointInsideWrapper ()
	Returns true if any of the permanent insertion points is inside a wrapper.
bool	isSelected ()
bool	isVisible ()
bool	loadFromXml (const TiXmlElement *root)
double	minInsPointDistance ()
	Returns the minimum distance between two consecutive permanent insertion points.
std::list < TendonInsertionPoint * > ::iterator	removeInsertionPoint (std::list< TendonInsertionPoint * >::iterator itPos)
	Removes the insertion point pointed to by the given iterator.
void	removeTemporaryInsertionPoints ()
	Removes all temporary insertion points.
void	removeWrapperIntersections ()
	Removes wrapper intersections if they are no longer needed.
void	select ()
void	setActiveForce (float f)
void	setApplyPassiveForce (bool b)
void	setDefaultRestLength (double l)
void	setForcesVisible (bool v)
void	setName (QString name)
void	setPassiveForce (float f)
void	setPreTensionLength (double l)
void	setRestLength (double length)
void	setStiffness (double k)
void	setVisible (bool v)
	Tendon (Robot *myOwner)
void	updateGeometry ()
	Updates connector geometry based on movement of links that tendon inserts into.
void	updateInsertionForces ()
	Updates insertion point forces based on movement of links that tendon inserts into.
Private Member Functions
void	updateForceIndicators ()
Private Attributes
float	mActiveForce
	Force applied as a result of voluntary muscle contraction.
bool	mApplyPassiveForce
	Used to flip passive force application on or off.
float	mCurrentLength
	The current length of the tendon.
float	mDefaultRestLength
	The default rest length, or -1 if no default has been specified.
bool	mForcesVisible
std::list< TendonInsertionPoint * >	mInsPointList
	The list of insertion points that defines the geometry of the tendon.
SoSeparator *	mIVForceIndicators
	Root for the arrows themselves showing forces at insertion points.
SoMaterial *	mIVForceIndMaterial
	Material for force indicators.
SoSeparator *	mIVForceIndRoot
	Root for holding all related to force indicators rendering.
SoDrawStyle *	mIVForceIndToggle
	Used to toggle wether force indicators are visible or not.
SoSeparator *	mIVRoot
SoDrawStyle *	mIVVisibleToggle
	Used to toggle wether the tendon is visible or not; is inserted as first child of the root.
double	mK
	The spring constant of this tendon, if thought of as a linear spring.
Robot *	mOwner
float	mPassiveForce
	Force applied as a result of tendon / muscle elongation.
float	mPreTensionLength
float	mRestLength
	The currently used length of the tendon at the resting position.
bool	mSelected
QString	mTendonName
bool	mVisible

Detailed Description

Defines a tendon geometry by listing its insertion points.

Definition at line 182 of file humanHand.h.

Constructor & Destructor Documentation

Tendon::Tendon ( Robot * myOwner )

Definition at line 232 of file humanHand.cpp.

Member Function Documentation

void Tendon::addInsertionPoint	(	int	chain,
		int	link,
		vec3	point,
		bool	isPerm
	)

Adds an insertion point at the end of the insPointList.

Definition at line 825 of file humanHand.cpp.

void Tendon::applyForces ( )

Applies previously computed forces at links that have insertion points.

Forces MUST have been updated by updateGeometry() and updateInsertionForces()

Definition at line 879 of file humanHand.cpp.

void Tendon::checkWrapperIntersections ( )

Checks if tendon intersect a wrapper and adds insertion points around the wrapper if needed.

Definition at line 418 of file humanHand.cpp.

void Tendon::computeSimplePassiveForces ( )

Computes a naive version of passive forces based on tendon excursion; more of a placeholder.

Simple method for some passive force computation

assume inextensible tendon is attached to a muscle, therefore tendon elongation is actually muscle elongation
hard-code some values for muscle rest length and max. force (each muscle should actually have its own values)
use formula from Hill-type model (Tsang et al.) for computing muscle force

Definition at line 672 of file humanHand.cpp.

void Tendon::deselect ( )

Definition at line 781 of file humanHand.cpp.

bool Tendon::forcesVisible ( ) [inline]

Definition at line 328 of file humanHand.h.

float Tendon::getActiveForce ( ) [inline]

Definition at line 300 of file humanHand.h.

float Tendon::getCurrentLength ( ) [inline]

Gets the current length of the tendon. Assumes updateGeometry() has been called.

Definition at line 345 of file humanHand.h.

float Tendon::getDefaultRestLength ( ) [inline]

Definition at line 310 of file humanHand.h.

float Tendon::getExcursion ( ) [inline]

Returns the excursion of the end of the tendon compared to its rest position.

For the moment we consider that tendon elongation is actually excursion, as if the origin was free to move.

Definition at line 342 of file humanHand.h.

void Tendon::getInsertionPointForceMagnitudes ( std::vector< double > & magnitudes )

Returns the magnitudes of the forces at each insertion point, assuming a total tendon force of 1.0.

Definition at line 641 of file humanHand.cpp.

void Tendon::getInsertionPointLinkTransforms ( std::list< std::pair< transf, Link * > > & insPointLinkTrans )

Returns pairs of insertion points and their links, with ins. pt. transforms relative to their links.

The result of this function can be fed directly into the Grasp::Jacobian computation

Definition at line 625 of file humanHand.cpp.

void Tendon::getInsertionPointTransforms ( std::vector< transf > & insPointTrans )

Returns the locations of all insertion points in world coordinates.

The transform is such that the resultant tendon force, if any, points along the z axis of the local insertion point coordinate frame.

Definition at line 610 of file humanHand.cpp.

transf Tendon::getInsertionPointWorldTransform ( std::list< TendonInsertionPoint * >::iterator insPt )

Definition at line 589 of file humanHand.cpp.

SoSeparator* Tendon::getIVRoot ( ) [inline]

Definition at line 248 of file humanHand.h.

QString Tendon::getName ( ) [inline]

Definition at line 320 of file humanHand.h.

int Tendon::getNumInsPoints ( ) const [inline]

Returns the total number of insertion points.

Definition at line 278 of file humanHand.h.

int Tendon::getNumPermInsPoints ( ) const

Returns the number of permanent insertion points.

Definition at line 841 of file humanHand.cpp.

float Tendon::getPassiveForce ( ) [inline]

Definition at line 302 of file humanHand.h.

TendonInsertionPoint * Tendon::getPermInsPoint ( int n )

Returns the n-th permanent insertion point.

Definition at line 852 of file humanHand.cpp.

float Tendon::getPreTensionLength ( ) [inline]

Definition at line 314 of file humanHand.h.

Robot* Tendon::getRobot ( ) [inline]

Definition at line 246 of file humanHand.h.

double Tendon::getStiffness ( ) [inline]

Definition at line 308 of file humanHand.h.

float Tendon::getTotalForce ( ) [inline]

Definition at line 304 of file humanHand.h.

std::list< TendonInsertionPoint * >::iterator Tendon::insertInsertionPoint	(	std::list< TendonInsertionPoint * >::iterator	itPos,
		int	chain,
		int	link,
		vec3	point,
		bool	isPerm
	)

Inserts an insertion point at a given position in insPointList.

Definition at line 831 of file humanHand.cpp.

bool Tendon::insPointInsideWrapper ( )

Returns true if any of the permanent insertion points is inside a wrapper.

Definition at line 353 of file humanHand.cpp.

bool Tendon::isSelected ( ) [inline]

Definition at line 294 of file humanHand.h.

bool Tendon::isVisible ( ) [inline]

Definition at line 324 of file humanHand.h.

bool Tendon::loadFromXml ( const TiXmlElement * root )

Definition at line 896 of file humanHand.cpp.

double Tendon::minInsPointDistance ( )

Returns the minimum distance between two consecutive permanent insertion points.

Definition at line 388 of file humanHand.cpp.

std::list< TendonInsertionPoint * >::iterator Tendon::removeInsertionPoint ( std::list< TendonInsertionPoint * >::iterator itPos )

Removes the insertion point pointed to by the given iterator.

Definition at line 866 of file humanHand.cpp.

void Tendon::removeTemporaryInsertionPoints ( )

Removes all temporary insertion points.

Definition at line 280 of file humanHand.cpp.

void Tendon::removeWrapperIntersections ( )

Removes wrapper intersections if they are no longer needed.

Definition at line 292 of file humanHand.cpp.

void Tendon::select ( )

Definition at line 763 of file humanHand.cpp.

void Tendon::setActiveForce ( float f )

Definition at line 264 of file humanHand.cpp.

void Tendon::setApplyPassiveForce ( bool b ) [inline]

Definition at line 334 of file humanHand.h.

void Tendon::setDefaultRestLength ( double l ) [inline]

Definition at line 312 of file humanHand.h.

void Tendon::setForcesVisible ( bool v )

Definition at line 813 of file humanHand.cpp.

void Tendon::setName ( QString name ) [inline]

Definition at line 318 of file humanHand.h.

void Tendon::setPassiveForce ( float f )

Definition at line 271 of file humanHand.cpp.

void Tendon::setPreTensionLength ( double l ) [inline]

Definition at line 316 of file humanHand.h.

void Tendon::setRestLength ( double length )

Definition at line 754 of file humanHand.cpp.

void Tendon::setStiffness ( double k ) [inline]

Definition at line 306 of file humanHand.h.

void Tendon::setVisible ( bool v )

Definition at line 799 of file humanHand.cpp.

void Tendon::updateForceIndicators ( ) [private]

Definition at line 554 of file humanHand.cpp.

void Tendon::updateGeometry ( )

Updates connector geometry based on movement of links that tendon inserts into.

Definition at line 494 of file humanHand.cpp.

void Tendon::updateInsertionForces ( )

Updates insertion point forces based on movement of links that tendon inserts into.

Definition at line 698 of file humanHand.cpp.

Member Data Documentation

float Tendon::mActiveForce [private]

Force applied as a result of voluntary muscle contraction.

Definition at line 204 of file humanHand.h.

bool Tendon::mApplyPassiveForce [private]

Used to flip passive force application on or off.

Definition at line 210 of file humanHand.h.

float Tendon::mCurrentLength [private]

The current length of the tendon.

Definition at line 228 of file humanHand.h.

float Tendon::mDefaultRestLength [private]

The default rest length, or -1 if no default has been specified.

Definition at line 238 of file humanHand.h.

bool Tendon::mForcesVisible [private]

Definition at line 223 of file humanHand.h.

std::list<TendonInsertionPoint *> Tendon::mInsPointList [private]

The list of insertion points that defines the geometry of the tendon.

This has to be a list because we create ins points dynamically when wrapping around wrappers.

Definition at line 217 of file humanHand.h.

SoSeparator* Tendon::mIVForceIndicators [private]

Root for the arrows themselves showing forces at insertion points.

Definition at line 201 of file humanHand.h.

SoMaterial* Tendon::mIVForceIndMaterial [private]

Material for force indicators.

Definition at line 198 of file humanHand.h.

SoSeparator* Tendon::mIVForceIndRoot [private]

Root for holding all related to force indicators rendering.

Definition at line 192 of file humanHand.h.

SoDrawStyle* Tendon::mIVForceIndToggle [private]

Used to toggle wether force indicators are visible or not.

Definition at line 195 of file humanHand.h.

SoSeparator* Tendon::mIVRoot [private]

Definition at line 186 of file humanHand.h.

SoDrawStyle* Tendon::mIVVisibleToggle [private]

Used to toggle wether the tendon is visible or not; is inserted as first child of the root.

Definition at line 189 of file humanHand.h.

double Tendon::mK [private]

The spring constant of this tendon, if thought of as a linear spring.

Definition at line 213 of file humanHand.h.

Robot* Tendon::mOwner [private]

Definition at line 184 of file humanHand.h.

float Tendon::mPassiveForce [private]

Force applied as a result of tendon / muscle elongation.

Definition at line 207 of file humanHand.h.

float Tendon::mPreTensionLength [private]

pre tensioning subtracted from rest length, of -1 if no pre-tensioning is used used only if mDefaultRestLength (absolute default rest length is specified)

Definition at line 235 of file humanHand.h.

float Tendon::mRestLength [private]

The currently used length of the tendon at the resting position.

Definition at line 231 of file humanHand.h.

bool Tendon::mSelected [private]

Definition at line 225 of file humanHand.h.

QString Tendon::mTendonName [private]

Definition at line 219 of file humanHand.h.

bool Tendon::mVisible [private]

Definition at line 221 of file humanHand.h.

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

/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/humanHand.h
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/humanHand.cpp

Tendon Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation