Wrapper for a robot based on pinocchio. More...

#include <robot-wrapper.hpp>

Public Types
typedef math::ConstRefVector	ConstRefVector

typedef pinocchio::Data	Data

enum	e_RootJointType { FIXED_BASE_SYSTEM = 0, FLOATING_BASE_SYSTEM = 1 }

typedef pinocchio::Frame	Frame

typedef math::Matrix	Matrix

typedef math::Matrix3x	Matrix3x

typedef pinocchio::Model	Model

typedef pinocchio::Motion	Motion

typedef math::RefVector	RefVector

typedef enum tsid::robots::RobotWrapper::e_RootJointType	RootJointType

typedef pinocchio::SE3	SE3

typedef math::Vector	Vector

typedef math::Vector3	Vector3

typedef math::Vector6	Vector6

Public Member Functions
const Motion &	acceleration (const Data &data, const Model::JointIndex index) const

Vector3	angularMomentumTimeVariation (const Data &data) const

const Vector3 &	com (const Data &data) const

void	com (const Data &data, RefVector com_pos, RefVector com_vel, RefVector com_acc) const

const Vector3 &	com_acc (const Data &data) const

const Vector3 &	com_vel (const Data &data) const

void	computeAllTerms (Data &data, const Vector &q, const Vector &v) const

Motion	frameAcceleration (const Data &data, const Model::FrameIndex index) const

void	frameAcceleration (const Data &data, const Model::FrameIndex index, Motion &frameAcceleration) const

Motion	frameAccelerationWorldOriented (const Data &data, const Model::FrameIndex index) const

Motion	frameClassicAcceleration (const Data &data, const Model::FrameIndex index) const

void	frameClassicAcceleration (const Data &data, const Model::FrameIndex index, Motion &frameAcceleration) const

Motion	frameClassicAccelerationWorldOriented (const Data &data, const Model::FrameIndex index) const

void	frameJacobianLocal (Data &data, const Model::FrameIndex index, Data::Matrix6x &J) const

void	frameJacobianWorld (Data &data, const Model::FrameIndex index, Data::Matrix6x &J) const

SE3	framePosition (const Data &data, const Model::FrameIndex index) const

void	framePosition (const Data &data, const Model::FrameIndex index, SE3 &framePosition) const

Motion	frameVelocity (const Data &data, const Model::FrameIndex index) const

void	frameVelocity (const Data &data, const Model::FrameIndex index, Motion &frameVelocity) const

Motion	frameVelocityWorldOriented (const Data &data, const Model::FrameIndex index) const

const Vector &	gear_ratios () const

bool	gear_ratios (ConstRefVector gear_ratios)

virtual bool	is_fixed_base () const

void	jacobianLocal (const Data &data, const Model::JointIndex index, Data::Matrix6x &J) const

void	jacobianWorld (const Data &data, const Model::JointIndex index, Data::Matrix6x &J) const

const Matrix3x &	Jcom (const Data &data) const

const Matrix &	mass (const Data &data)

Model &	model ()

const Model &	model () const
	Accessor to model. More...

const Data::Matrix6x &	momentumJacobian (const Data &data) const

virtual int	na () const

const Vector &	nonLinearEffects (const Data &data) const

virtual int	nq () const

virtual int	nq_actuated () const

virtual int	nv () const

const SE3 &	position (const Data &data, const Model::JointIndex index) const

TSID_DEPRECATED	RobotWrapper (const Model &m, bool verbose=false)

	RobotWrapper (const Model &m, RootJointType rootJoint, bool verbose=false)

	RobotWrapper (const std::string &filename, const std::vector< std::string > &package_dirs, bool verbose=false)

	RobotWrapper (const std::string &filename, const std::vector< std::string > &package_dirs, const pinocchio::JointModelVariant &rootJoint, bool verbose=false)

const Vector &	rotor_inertias () const

bool	rotor_inertias (ConstRefVector rotor_inertias)

void	setGravity (const Motion &gravity)

const Motion &	velocity (const Data &data, const Model::JointIndex index) const

virtual	~RobotWrapper ()=default

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Scalar	Scalar

Protected Member Functions
void	init ()

void	updateMd ()

Protected Attributes
Vector	m_gear_ratios

bool	m_is_fixed_base

Matrix	m_M
	diagonal part of inertia matrix due to rotor inertias More...

Vector	m_Md

Model	m_model
	Robot model. More...

std::string	m_model_filename

int	m_na

int	m_nq_actuated

Vector	m_rotor_inertias

bool	m_verbose

Detailed Description

Wrapper for a robot based on pinocchio.

Definition at line 37 of file robots/robot-wrapper.hpp.

Member Typedef Documentation

◆ ConstRefVector

typedef math::ConstRefVector tsid::robots::RobotWrapper::ConstRefVector

Definition at line 53 of file robots/robot-wrapper.hpp.

◆ Data

typedef pinocchio::Data tsid::robots::RobotWrapper::Data

Definition at line 43 of file robots/robot-wrapper.hpp.

◆ Frame

typedef pinocchio::Frame tsid::robots::RobotWrapper::Frame

Definition at line 45 of file robots/robot-wrapper.hpp.

◆ Matrix

typedef math::Matrix tsid::robots::RobotWrapper::Matrix

Definition at line 50 of file robots/robot-wrapper.hpp.

◆ Matrix3x

typedef math::Matrix3x tsid::robots::RobotWrapper::Matrix3x

Definition at line 51 of file robots/robot-wrapper.hpp.

◆ Model

typedef pinocchio::Model tsid::robots::RobotWrapper::Model

Definition at line 42 of file robots/robot-wrapper.hpp.

◆ Motion

typedef pinocchio::Motion tsid::robots::RobotWrapper::Motion

Definition at line 44 of file robots/robot-wrapper.hpp.

◆ RefVector

typedef math::RefVector tsid::robots::RobotWrapper::RefVector

Definition at line 52 of file robots/robot-wrapper.hpp.

◆ RootJointType

typedef enum tsid::robots::RobotWrapper::e_RootJointType tsid::robots::RobotWrapper::RootJointType

◆ SE3

typedef pinocchio::SE3 tsid::robots::RobotWrapper::SE3

Definition at line 46 of file robots/robot-wrapper.hpp.

◆ Vector

typedef math::Vector tsid::robots::RobotWrapper::Vector

Definition at line 47 of file robots/robot-wrapper.hpp.

◆ Vector3

typedef math::Vector3 tsid::robots::RobotWrapper::Vector3

Definition at line 48 of file robots/robot-wrapper.hpp.

◆ Vector6

typedef math::Vector6 tsid::robots::RobotWrapper::Vector6

Definition at line 49 of file robots/robot-wrapper.hpp.

Member Enumeration Documentation

◆ e_RootJointType

enum tsid::robots::RobotWrapper::e_RootJointType

Enumerator
FIXED_BASE_SYSTEM
FLOATING_BASE_SYSTEM

Definition at line 56 of file robots/robot-wrapper.hpp.

Constructor & Destructor Documentation

◆ RobotWrapper() [1/4]

tsid::robots::RobotWrapper::RobotWrapper	(	const std::string &	filename,
		const std::vector< std::string > &	package_dirs,
		bool	verbose = `false`
	)

Definition at line 34 of file src/robots/robot-wrapper.cpp.

◆ RobotWrapper() [2/4]

tsid::robots::RobotWrapper::RobotWrapper	(	const std::string &	filename,
		const std::vector< std::string > &	package_dirs,
		const pinocchio::JointModelVariant &	rootJoint,
		bool	verbose = `false`
	)

◆ RobotWrapper() [3/4]

tsid::robots::RobotWrapper::RobotWrapper	(	const Model &	m,
		bool	verbose = `false`
	)

Definition at line 58 of file src/robots/robot-wrapper.cpp.

◆ RobotWrapper() [4/4]

tsid::robots::RobotWrapper::RobotWrapper	(	const Model &	m,
		RootJointType	rootJoint,
		bool	verbose = `false`
	)

Definition at line 68 of file src/robots/robot-wrapper.cpp.

◆ ~RobotWrapper()

virtual tsid::robots::RobotWrapper::~RobotWrapper ( )

virtualdefault

Member Function Documentation

◆ acceleration()

const Motion & tsid::robots::RobotWrapper::acceleration	(	const Data &	data,
		const Model::JointIndex	index
	)		const

Definition at line 190 of file src/robots/robot-wrapper.cpp.

◆ angularMomentumTimeVariation()

Vector3 tsid::robots::RobotWrapper::angularMomentumTimeVariation ( const Data & data ) const

Definition at line 350 of file src/robots/robot-wrapper.cpp.

◆ com() [1/2]

const Vector3 & tsid::robots::RobotWrapper::com ( const Data & data ) const

Definition at line 152 of file src/robots/robot-wrapper.cpp.

◆ com() [2/2]

void tsid::robots::RobotWrapper::com	(	const Data &	data,
		RefVector	com_pos,
		RefVector	com_vel,
		RefVector	com_acc
	)		const

Definition at line 145 of file src/robots/robot-wrapper.cpp.

◆ com_acc()

const Vector3 & tsid::robots::RobotWrapper::com_acc ( const Data & data ) const

Definition at line 158 of file src/robots/robot-wrapper.cpp.

◆ com_vel()

const Vector3 & tsid::robots::RobotWrapper::com_vel ( const Data & data ) const

Definition at line 154 of file src/robots/robot-wrapper.cpp.

◆ computeAllTerms()

void tsid::robots::RobotWrapper::computeAllTerms	(	Data &	data,
		const Vector &	q,
		const Vector &	v
	)		const

Definition at line 105 of file src/robots/robot-wrapper.cpp.

◆ frameAcceleration() [1/2]

Motion tsid::robots::RobotWrapper::frameAcceleration	(	const Data &	data,
		const Model::FrameIndex	index
	)		const

Definition at line 265 of file src/robots/robot-wrapper.cpp.

◆ frameAcceleration() [2/2]

void tsid::robots::RobotWrapper::frameAcceleration	(	const Data &	data,
		const Model::FrameIndex	index,
		Motion &	frameAcceleration
	)		const

Definition at line 274 of file src/robots/robot-wrapper.cpp.

◆ frameAccelerationWorldOriented()

Motion tsid::robots::RobotWrapper::frameAccelerationWorldOriented	(	const Data &	data,
		const Model::FrameIndex	index
	)		const

Definition at line 284 of file src/robots/robot-wrapper.cpp.

◆ frameClassicAcceleration() [1/2]

Motion tsid::robots::RobotWrapper::frameClassicAcceleration	(	const Data &	data,
		const Model::FrameIndex	index
	)		const

Definition at line 295 of file src/robots/robot-wrapper.cpp.

◆ frameClassicAcceleration() [2/2]

void tsid::robots::RobotWrapper::frameClassicAcceleration	(	const Data &	data,
		const Model::FrameIndex	index,
		Motion &	frameAcceleration
	)		const

Definition at line 307 of file src/robots/robot-wrapper.cpp.

◆ frameClassicAccelerationWorldOriented()

Motion tsid::robots::RobotWrapper::frameClassicAccelerationWorldOriented	(	const Data &	data,
		const Model::FrameIndex	index
	)		const

Definition at line 319 of file src/robots/robot-wrapper.cpp.

◆ frameJacobianLocal()

void tsid::robots::RobotWrapper::frameJacobianLocal	(	Data &	data,
		const Model::FrameIndex	index,
		Data::Matrix6x &	J
	)		const

Definition at line 338 of file src/robots/robot-wrapper.cpp.

◆ frameJacobianWorld()

void tsid::robots::RobotWrapper::frameJacobianWorld	(	Data &	data,
		const Model::FrameIndex	index,
		Data::Matrix6x &	J
	)		const

Definition at line 330 of file src/robots/robot-wrapper.cpp.

◆ framePosition() [1/2]

SE3 tsid::robots::RobotWrapper::framePosition	(	const Data &	data,
		const Model::FrameIndex	index
	)		const

Definition at line 216 of file src/robots/robot-wrapper.cpp.

◆ framePosition() [2/2]

void tsid::robots::RobotWrapper::framePosition	(	const Data &	data,
		const Model::FrameIndex	index,
		SE3 &	framePosition
	)		const

Definition at line 225 of file src/robots/robot-wrapper.cpp.

◆ frameVelocity() [1/2]

Motion tsid::robots::RobotWrapper::frameVelocity	(	const Data &	data,
		const Model::FrameIndex	index
	)		const

Definition at line 235 of file src/robots/robot-wrapper.cpp.

◆ frameVelocity() [2/2]

void tsid::robots::RobotWrapper::frameVelocity	(	const Data &	data,
		const Model::FrameIndex	index,
		Motion &	frameVelocity
	)		const

Definition at line 244 of file src/robots/robot-wrapper.cpp.

◆ frameVelocityWorldOriented()

Motion tsid::robots::RobotWrapper::frameVelocityWorldOriented	(	const Data &	data,
		const Model::FrameIndex	index
	)		const

Definition at line 254 of file src/robots/robot-wrapper.cpp.

◆ gear_ratios() [1/2]

const Vector & tsid::robots::RobotWrapper::gear_ratios ( ) const

Definition at line 120 of file src/robots/robot-wrapper.cpp.

◆ gear_ratios() [2/2]

bool tsid::robots::RobotWrapper::gear_ratios ( ConstRefVector gear_ratios )

Definition at line 131 of file src/robots/robot-wrapper.cpp.

◆ init()

void tsid::robots::RobotWrapper::init ( )

protected

Definition at line 89 of file src/robots/robot-wrapper.cpp.

◆ is_fixed_base()

bool tsid::robots::RobotWrapper::is_fixed_base ( ) const

virtual

Definition at line 100 of file src/robots/robot-wrapper.cpp.

◆ jacobianLocal()

void tsid::robots::RobotWrapper::jacobianLocal	(	const Data &	data,
		const Model::JointIndex	index,
		Data::Matrix6x &	J
	)		const

Definition at line 207 of file src/robots/robot-wrapper.cpp.

◆ jacobianWorld()

void tsid::robots::RobotWrapper::jacobianWorld	(	const Data &	data,
		const Model::JointIndex	index,
		Data::Matrix6x &	J
	)		const

Definition at line 198 of file src/robots/robot-wrapper.cpp.

◆ Jcom()

const Matrix3x & tsid::robots::RobotWrapper::Jcom ( const Data & data ) const

Definition at line 162 of file src/robots/robot-wrapper.cpp.

◆ mass()

const Matrix & tsid::robots::RobotWrapper::mass ( const Data & data )

Definition at line 164 of file src/robots/robot-wrapper.cpp.

◆ model() [1/2]

Model& tsid::robots::RobotWrapper::model ( )

◆ model() [2/2]

Model & tsid::robots::RobotWrapper::model ( ) const

Accessor to model.

Returns: a const reference on the model.

Definition at line 102 of file src/robots/robot-wrapper.cpp.

◆ momentumJacobian()

const Data::Matrix6x & tsid::robots::RobotWrapper::momentumJacobian ( const Data & data ) const

Definition at line 346 of file src/robots/robot-wrapper.cpp.

◆ na()

int tsid::robots::RobotWrapper::na ( ) const

virtual

Definition at line 98 of file src/robots/robot-wrapper.cpp.

◆ nonLinearEffects()

const Vector & tsid::robots::RobotWrapper::nonLinearEffects ( const Data & data ) const

Definition at line 170 of file src/robots/robot-wrapper.cpp.

◆ nq()

int tsid::robots::RobotWrapper::nq ( ) const

virtual

Definition at line 96 of file src/robots/robot-wrapper.cpp.

◆ nq_actuated()

int tsid::robots::RobotWrapper::nq_actuated ( ) const

virtual

Definition at line 99 of file src/robots/robot-wrapper.cpp.

◆ nv()

int tsid::robots::RobotWrapper::nv ( ) const

virtual

Definition at line 97 of file src/robots/robot-wrapper.cpp.

◆ position()

const SE3 & tsid::robots::RobotWrapper::position	(	const Data &	data,
		const Model::JointIndex	index
	)		const

Definition at line 174 of file src/robots/robot-wrapper.cpp.

◆ rotor_inertias() [1/2]

const Vector & tsid::robots::RobotWrapper::rotor_inertias ( ) const

Definition at line 119 of file src/robots/robot-wrapper.cpp.

◆ rotor_inertias() [2/2]

bool tsid::robots::RobotWrapper::rotor_inertias ( ConstRefVector rotor_inertias )

Definition at line 122 of file src/robots/robot-wrapper.cpp.

◆ setGravity()

void tsid::robots::RobotWrapper::setGravity ( const Motion & gravity )

Definition at line 356 of file src/robots/robot-wrapper.cpp.

◆ updateMd()

void tsid::robots::RobotWrapper::updateMd ( )

protected

Definition at line 140 of file src/robots/robot-wrapper.cpp.

◆ velocity()

const Motion & tsid::robots::RobotWrapper::velocity	(	const Data &	data,
		const Model::JointIndex	index
	)		const

Definition at line 182 of file src/robots/robot-wrapper.cpp.

Member Data Documentation

◆ m_gear_ratios

Vector tsid::robots::RobotWrapper::m_gear_ratios

protected

Definition at line 185 of file robots/robot-wrapper.hpp.

◆ m_is_fixed_base

bool tsid::robots::RobotWrapper::m_is_fixed_base

protected

number of actuators (nv for fixed-based, nv-6 for floating-base robots)

Definition at line 183 of file robots/robot-wrapper.hpp.

◆ m_M

Matrix tsid::robots::RobotWrapper::m_M

protected

diagonal part of inertia matrix due to rotor inertias

Definition at line 187 of file robots/robot-wrapper.hpp.

◆ m_Md

Vector tsid::robots::RobotWrapper::m_Md

protected

Definition at line 186 of file robots/robot-wrapper.hpp.

◆ m_model

Model tsid::robots::RobotWrapper::m_model

protected

Robot model.

Definition at line 174 of file robots/robot-wrapper.hpp.

◆ m_model_filename

std::string tsid::robots::RobotWrapper::m_model_filename

protected

Definition at line 175 of file robots/robot-wrapper.hpp.

◆ m_na

int tsid::robots::RobotWrapper::m_na

protected

dimension of the configuration space of the actuated DoF (nq for fixed-based, nq-7 for floating-base robots)

Definition at line 181 of file robots/robot-wrapper.hpp.

◆ m_nq_actuated

int tsid::robots::RobotWrapper::m_nq_actuated

protected

Definition at line 178 of file robots/robot-wrapper.hpp.

◆ m_rotor_inertias

Vector tsid::robots::RobotWrapper::m_rotor_inertias

protected

Definition at line 184 of file robots/robot-wrapper.hpp.

◆ m_verbose

bool tsid::robots::RobotWrapper::m_verbose

protected

Definition at line 176 of file robots/robot-wrapper.hpp.

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::Scalar tsid::robots::RobotWrapper::Scalar

Definition at line 41 of file robots/robot-wrapper.hpp.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstRefVector

◆ Data

◆ Frame

◆ Matrix

◆ Matrix3x

◆ Model

◆ Motion

◆ RefVector

◆ RootJointType

◆ SE3

◆ Vector

◆ Vector3

◆ Vector6

Member Enumeration Documentation

◆ e_RootJointType

Constructor & Destructor Documentation

◆ RobotWrapper() [1/4]

◆ RobotWrapper() [2/4]

◆ RobotWrapper() [3/4]

◆ RobotWrapper() [4/4]

◆ ~RobotWrapper()

Member Function Documentation

◆ acceleration()

◆ angularMomentumTimeVariation()

◆ com() [1/2]

◆ com() [2/2]

◆ com_acc()

◆ com_vel()

◆ computeAllTerms()

◆ frameAcceleration() [1/2]

◆ frameAcceleration() [2/2]

◆ frameAccelerationWorldOriented()

◆ frameClassicAcceleration() [1/2]

◆ frameClassicAcceleration() [2/2]

◆ frameClassicAccelerationWorldOriented()

◆ frameJacobianLocal()

◆ frameJacobianWorld()

◆ framePosition() [1/2]

◆ framePosition() [2/2]

◆ frameVelocity() [1/2]

◆ frameVelocity() [2/2]

◆ frameVelocityWorldOriented()

◆ gear_ratios() [1/2]

◆ gear_ratios() [2/2]

◆ init()

◆ is_fixed_base()

◆ jacobianLocal()

◆ jacobianWorld()

◆ Jcom()

◆ mass()

◆ model() [1/2]

◆ model() [2/2]

◆ momentumJacobian()

◆ na()

◆ nonLinearEffects()

◆ nq()

◆ nq_actuated()

◆ nv()

◆ position()

◆ rotor_inertias() [1/2]

◆ rotor_inertias() [2/2]

◆ setGravity()

◆ updateMd()

◆ velocity()

Member Data Documentation

◆ m_gear_ratios

◆ m_is_fixed_base

◆ m_M

◆ m_Md

◆ m_model

◆ m_model_filename

◆ m_na

◆ m_nq_actuated