dynamic_pinocchio.robot.AbstractRobot Class Reference

Inheritance diagram for dynamic_pinocchio.robot.AbstractRobot:

Public Member Functions
def	__init__ (self, name, device=None, loadFromFile=False)
def	addTrace (self, entityName, signalName)
def	initializeEntities (self)
def	initializeTracer (self)
def	loadModelFromString (self, urdfString, rootJointType=pinocchio.JointModelFreeFlyer, removeMimicJoints=True)
def	loadModelFromUrdf (self, urdfPath, urdfDir=None, rootJointType=pinocchio.JointModelFreeFlyer, removeMimicJoints=True)
def	removeJoints (self, joints)
def	setJointValueInConfig (self, q, jointNames, jointValues)
def	startTracer (self)
def	stopTracer (self)

Public Attributes
	device
	dynamic
	integrator
	name
	pinocchioData
	pinocchioModel
	rootJointType
	selector
	timeStep

Static Public Attributes
list	autoRecomputedSignals = []
	defaultFilename = None
string	rosParamName = "/robot_description"
	tracer = None
int	tracerSize = 2**20

Private Member Functions
def	_removeMimicJoints (self, urdfFile=None, urdfString=None)
def	_storeRootJointType (self, rootJointType)

Detailed Description

This class instantiates all the entities required to get a consistent
representation of a robot, mainly:
  - device : to integrate velocities into angular control,
  - dynamic: to compute forward geometry and kinematics,
  - integrator: an entity that integrates the velocity of the robot
    and keeps an internal configuration the robot is controlled to,
  - selector: an entity that selects the actuated degrees of freedom
    of the robot to send as a position control to the device.

Definition at line 37 of file robot.py.

Constructor & Destructor Documentation

__init__()

def dynamic_pinocchio.robot.AbstractRobot.__init__	(		self,
			name,
			device = None,
			loadFromFile = False
	)

Definition at line 59 of file robot.py.

Member Function Documentation

_removeMimicJoints()

def dynamic_pinocchio.robot.AbstractRobot._removeMimicJoints (   self,   urdfFile = None,   urdfString = None  )

private

Parse the URDF, extract the mimic joints and call removeJoints.

Definition at line 124 of file robot.py.

_storeRootJointType()

def dynamic_pinocchio.robot.AbstractRobot._storeRootJointType (   self,   rootJointType  )

private

Definition at line 149 of file robot.py.

addTrace()

def dynamic_pinocchio.robot.AbstractRobot.addTrace	(		self,
			entityName,
			signalName
	)

Definition at line 263 of file robot.py.

initializeEntities()

def dynamic_pinocchio.robot.AbstractRobot.initializeEntities

(

self

)

Definition at line 94 of file robot.py.

initializeTracer()

def dynamic_pinocchio.robot.AbstractRobot.initializeTracer

(

self

)

Definition at line 255 of file robot.py.

loadModelFromString()

def dynamic_pinocchio.robot.AbstractRobot.loadModelFromString	(		self,
			urdfString,
			rootJointType = pinocchio.JointModelFreeFlyer,
			removeMimicJoints = True
	)

Load a URDF model contained in a string
- param rootJointType: the root joint type. None for no root joint.
- param removeMimicJoints: if True, all the mimic joints found in the model
  are removed.

Definition at line 177 of file robot.py.

loadModelFromUrdf()

def dynamic_pinocchio.robot.AbstractRobot.loadModelFromUrdf	(		self,
			urdfPath,
			urdfDir = None,
			rootJointType = pinocchio.JointModelFreeFlyer,
			removeMimicJoints = True
	)

Load a model using the pinocchio urdf parser. This parser looks
for urdf files in which kinematics and dynamics information
have been added.
- param urdfPath: a path to the URDF file.
- param urdfDir: A list of directories. If None, will use ROS_PACKAGE_PATH.

Definition at line 199 of file robot.py.

removeJoints()

def dynamic_pinocchio.robot.AbstractRobot.removeJoints	(		self,
			joints
	)

- param joints: a list of joint names to be removed from the self.pinocchioModel

Definition at line 162 of file robot.py.

setJointValueInConfig()

def dynamic_pinocchio.robot.AbstractRobot.setJointValueInConfig	(		self,
			q,
			jointNames,
			jointValues
	)

q: configuration to update
jointNames: list of existing joint names in self.pinocchioModel
jointValues: corresponding joint values.

Definition at line 243 of file robot.py.

startTracer()

def dynamic_pinocchio.robot.AbstractRobot.startTracer

(

self

)

Start the tracer if it does not already been stopped.

Definition at line 271 of file robot.py.

stopTracer()

def dynamic_pinocchio.robot.AbstractRobot.stopTracer

(

self

)

Stop and destroy tracer.

Definition at line 278 of file robot.py.

Member Data Documentation

autoRecomputedSignals

list dynamic_pinocchio.robot.AbstractRobot.autoRecomputedSignals = []

static

Definition at line 57 of file robot.py.

defaultFilename

dynamic_pinocchio.robot.AbstractRobot.defaultFilename = None

static

Definition at line 52 of file robot.py.

device

dynamic_pinocchio.robot.AbstractRobot.device

Definition at line 86 of file robot.py.

dynamic

dynamic_pinocchio.robot.AbstractRobot.dynamic

Definition at line 78 of file robot.py.

integrator

dynamic_pinocchio.robot.AbstractRobot.integrator

Definition at line 81 of file robot.py.

name

dynamic_pinocchio.robot.AbstractRobot.name

Definition at line 60 of file robot.py.

pinocchioData

dynamic_pinocchio.robot.AbstractRobot.pinocchioData

Definition at line 175 of file robot.py.

pinocchioModel

dynamic_pinocchio.robot.AbstractRobot.pinocchioModel

Definition at line 172 of file robot.py.

rootJointType

dynamic_pinocchio.robot.AbstractRobot.rootJointType

Definition at line 151 of file robot.py.

rosParamName

string dynamic_pinocchio.robot.AbstractRobot.rosParamName = "/robot_description"

static

Definition at line 51 of file robot.py.

selector

dynamic_pinocchio.robot.AbstractRobot.selector

Definition at line 88 of file robot.py.

timeStep

dynamic_pinocchio.robot.AbstractRobot.timeStep

Definition at line 91 of file robot.py.

tracer

dynamic_pinocchio.robot.AbstractRobot.tracer = None

static

Definition at line 50 of file robot.py.

tracerSize

int dynamic_pinocchio.robot.AbstractRobot.tracerSize = 2**20

static

Definition at line 49 of file robot.py.

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

• robot.py