KinDynComputations class
#include <iDynTree/KinDynComputations.h>
High level stateful class wrapping several kinematics and dynamics algorithms.
The kinematics dynamics computations class is an high level class stateful to access several algorithms related to kinematics and dynamics of free floating robot systems.
This class supports three possible convention to express the floating base information : the inertial, the body-fixed and the mixed convention. To get more info on this three conventions, check section II.C of On the Base Frame Choice in Free-Floating Mechanical Systems and its Connection to Centroidal Dynamics https:/
Constructor/Destructor
- KinDynComputations()
- Constructor.
- ~KinDynComputations() virtual
- Destructor.
Model loading and definition methods
This methods are used to load the structure of your model.
-
auto loadRobotModel(const iDynTree::
Model& model) -> bool - Load the model of the robot from a iDynTree::
Model class. - auto isValid() const -> bool
- Return true if the models for the robot have been correctly.
- auto setFrameVelocityRepresentation(const FrameVelocityRepresentation frameVelRepr) const -> bool
- Set the used FrameVelocityRepresentation.
- auto getFrameVelocityRepresentation() const -> FrameVelocityRepresentation
- Get the used FrameVelocityRepresentation.
- auto getNrOfDegreesOfFreedom() const -> unsigned int
- Get the number of internal degrees of freedom of the robot model used in the class.
- auto getDescriptionOfDegreeOfFreedom(int dof_index) const -> std::string
- Get a human readable description of a given internal degree of freedom of the robot.
- auto getDescriptionOfDegreesOfFreedom() const -> std::string
- Get a human readable description of all the internal degrees of freedom of the robot.
- auto getNrOfLinks() const -> unsigned int
- Get the number of links contained in the model.
- auto getNrOfFrames() const -> unsigned int
- Get the number of frames contained in the model.
- auto getFloatingBase() const -> std::string
- Get the name of the link considered as the floating base.
- auto setFloatingBase(const std::string& floatingBaseName) -> bool
- Set the link that is used as the floating base link.
Methods to access the underlyng model for the robot
- auto model() const -> const Model&
- auto getRobotModel() const -> const Model&
Methods to obtain the sparity patterns of Jacobians and Hessians
-
auto getRelativeJacobianSparsityPattern(const iDynTree::FrameIndex refFrameIndex,
const iDynTree::FrameIndex frameIndex,
iDynTree::
MatrixDynSize& outJacobianPattern) const -> bool - Returns the sparsity pattern of the relative Jacobian for the specified frames.
-
auto getRelativeJacobianSparsityPattern(const iDynTree::FrameIndex refFrameIndex,
const iDynTree::FrameIndex frameIndex,
iDynTree::
MatrixView<double> outJacobianPattern) const -> bool - Returns the sparsity pattern of the relative Jacobian for the specified frames (MatrixView implementation)
-
auto getFrameFreeFloatingJacobianSparsityPattern(const FrameIndex frameIndex,
iDynTree::
MatrixDynSize& outJacobianPattern) const -> bool - Returns the sparsity pattern of the free floating Jacobian for the specified frame.
-
auto getFrameFreeFloatingJacobianSparsityPattern(const FrameIndex frameIndex,
iDynTree::
MatrixView<double> outJacobianPattern) const -> bool - Returns the sparsity pattern of the free floating Jacobian for the specified frame (MatrixView implementation).
Methods to submit the input data for dynamics computations.
-
auto setJointPos(const iDynTree::
VectorDynSize& s) -> bool - Set the (internal) joint positions.
-
auto setJointPos(iDynTree::
Span<const double> s) -> bool - Set the (internal) joint positions.
-
auto setWorldBaseTransform(const iDynTree::
Transform& world_T_base) -> bool - Set the world base transform.
-
auto setWorldBaseTransform(iDynTree::
MatrixView<const double>& world_T_base) -> bool - Set the world base transform (MatrixView implementation).
-
auto setRobotState(const iDynTree::
Transform& world_T_base, const iDynTree:: VectorDynSize& s, const iDynTree:: Twist& base_velocity, const iDynTree:: VectorDynSize& s_dot, const iDynTree:: Vector3& world_gravity) -> bool - Set the state for the robot (floating base)
-
auto setRobotState(iDynTree::
MatrixView<const double> world_T_base, iDynTree:: Span<const double> s, iDynTree:: Span<const double> base_velocity, iDynTree:: Span<const double> s_dot, iDynTree:: Span<const double> world_gravity) -> bool - Set the state for the robot (floating base) (Span and MatrixView implementation)
-
auto setRobotState(const iDynTree::
VectorDynSize& s, const iDynTree:: VectorDynSize& s_dot, const iDynTree:: Vector3& world_gravity) -> bool - Set the state for the robot (fixed base) Same as setRobotState, but with: world_T_base = iDynTree::
Transform:: Identity() base_velocity = iDynTree:: Twist:: Zero();. -
auto setRobotState(iDynTree::
Span<const double> s, iDynTree:: Span<const double> s_dot, iDynTree:: Span<const double> world_gravity) -> bool - Set the state for the robot (fixed base) Same as setRobotState, but with: world_T_base = iDynTree::
Transform:: Identity() base_velocity = iDynTree:: Twist:: Zero();. -
void getRobotState(iDynTree::
Transform& world_T_base, iDynTree:: VectorDynSize& s, iDynTree:: Twist& base_velocity, iDynTree:: VectorDynSize& s_dot, iDynTree:: Vector3& world_gravity) -
void getRobotState(iDynTree::
VectorDynSize& s, iDynTree:: VectorDynSize& s_dot, iDynTree:: Vector3& world_gravity) -
auto getRobotState(iDynTree::
MatrixView<double> world_T_base, iDynTree:: Span<double> s, iDynTree:: Span<double> base_velocity, iDynTree:: Span<double> s_dot, iDynTree:: Span<double> world_gravity) -> bool -
void getRobotState(iDynTree::
Span<double> s, iDynTree:: Span<double> s_dot, iDynTree:: Span<double> world_gravity) -
auto getWorldBaseTransform() const -> iDynTree::
Transform - Access the robot state.
-
auto getWorldBaseTransform(iDynTree::
MatrixView<double> world_T_base) const -> bool -
auto getBaseTwist() const -> iDynTree::
Twist -
auto getBaseTwist(iDynTree::
Span<double> base_velocity) const -> bool -
auto getJointPos(iDynTree::
VectorDynSize& q) const -> bool -
auto getJointPos(iDynTree::
Span<double> q) const -> bool - Get the n joint position of the model.
-
auto getJointVel(iDynTree::
VectorDynSize& dq) const -> bool -
auto getJointVel(iDynTree::
Span<double> dq) const -> bool - Get the n joint velocity of the model.
-
auto getModelVel(iDynTree::
VectorDynSize& nu) const -> bool - Get the n+6 velocity of the model.
-
auto getModelVel(iDynTree::
Span<double> nu) const -> bool - Get the n+6 velocity of the model.
Methods to get transform information between frames in the model, given the current state.
- auto getFrameIndex(const std::string& frameName) const -> int
- Get the index corresponding to a given frame name.
- auto getFrameName(const iDynTree::FrameIndex frameIndex) const -> std::string
- Get the frame name corresponding to a given frame index.
-
auto getWorldTransform(const iDynTree::FrameIndex frameIndex) -> iDynTree::
Transform - Return the transform where the frame is the frame specified by frameIndex, and the reference frame is the world one (world_H_frame).
-
auto getWorldTransform(const iDynTree::FrameIndex frameIndex,
iDynTree::
MatrixView<double> world_T_frame) -> bool - Return the transform where the frame is the frame specified by frameIndex, and the reference frame is the world one (world_T_frame).
-
auto getWorldTransform(const std::string& frameName) -> iDynTree::
Transform - Version of getWorldTransform where the frame is specified by name.
-
auto getWorldTransform(const std::string& frameName,
iDynTree::
MatrixView<double> world_T_frame) -> bool - Version of getWorldTransform where the frame is specified by name (MatrixView and Span implementation).
-
auto getWorldTransformsAsHomogeneous(const std::vector<std::string>& frameNames) -> std::vector<iDynTree::
Matrix4x4> - Return the transforms as a homogeneous matrices where the frame is specified by name in the frameNames vector, and the reference frame is the world one (world_H_frame).
-
auto getRelativeTransform(const iDynTree::FrameIndex refFrameIndex,
const iDynTree::FrameIndex frameIndex) -> iDynTree::
Transform - Return the transform where the frame is the frame specified by frameIndex, and the reference frame is the one specified by refFrameIndex (refFrame_H_frame).
-
auto getRelativeTransform(const iDynTree::FrameIndex refFrameIndex,
const iDynTree::FrameIndex frameIndex,
iDynTree::
MatrixView<double> refFrame_H_frame) -> bool - Return the transform where the frame is the frame specified by frameIndex, and the reference frame is the one specified by refFrameIndex (refFrame_H_frame).
-
auto getRelativeTransformExplicit(const iDynTree::FrameIndex refFrameOriginIndex,
const iDynTree::FrameIndex refFrameOrientationIndex,
const iDynTree::FrameIndex frameOriginIndex,
const iDynTree::FrameIndex frameOrientationIndex) -> iDynTree::
Transform - Return the transform between the frame with the origin of the frameOriginIndex and the orientation of frameOrientationIndex and the one with the origin of refFrameOriginIndex and the orientation of refFrameOrientationIndex .
-
auto getRelativeTransformExplicit(const iDynTree::FrameIndex refFrameOriginIndex,
const iDynTree::FrameIndex refFrameOrientationIndex,
const iDynTree::FrameIndex frameOriginIndex,
const iDynTree::FrameIndex frameOrientationIndex,
iDynTree::
MatrixView<double> refFrameOrigin_refFrameOrientation_H_frameOrigin_frameORientation) -> bool - Return the transform between the frame with the origin of the frameOriginIndex and the orientation of frameOrientationIndex and the one with the origin of refFrameOriginIndex and the orientation of refFrameOrientationIndex.
-
auto getRelativeTransform(const std::string& refFrameName,
const std::string& frameName) -> iDynTree::
Transform - Version of getRelativeTransform where the frames are specified by name.
-
auto getRelativeTransform(const std::string& refFrameName,
const std::string& frameName,
iDynTree::
MatrixView<double> refFrame_H_frame) -> bool - Version of getRelativeTransform where the frames are specified by name (Span and MatrixView version).
Methods to get frame velocity information given the current state.
-
auto getFrameVel(const std::string& frameName) -> iDynTree::
Twist - Return the frame velocity, with the convention specified by getFrameVelocityRepresentation.
-
auto getFrameVel(const std::string& frameName,
iDynTree::
Span<double> twist) -> bool - Return the frame velocity, with the convention specified by getFrameVelocityRepresentation.
-
auto getFrameVel(const FrameIndex frameIdx) -> iDynTree::
Twist - Return the frame velocity, with the convention specified by getFrameVelocityRepresentation .
-
auto getFrameVel(const FrameIndex frameIdx,
iDynTree::
Span<double> twist) -> bool - Return the frame velocity, with the convention specified by getFrameVelocityRepresentation.
- auto getFrameAcc(const std::string& frameName, const Vector6& baseAcc, const VectorDynSize& s_ddot) -> Vector6
- Return the frame acceleration, with the convention specified by getFrameVelocityRepresentation .
-
auto getFrameAcc(const std::string& frameName,
iDynTree::
Span<const double> baseAcc, iDynTree:: Span<const double> s_ddot, iDynTree:: Span<double> frame_acceleration) -> bool - Return the frame acceleration, with the convention specified by getFrameVelocityRepresentation.
- auto getFrameAcc(const FrameIndex frameIdx, const Vector6& baseAcc, const VectorDynSize& s_ddot) -> Vector6
- Return the frame acceleration, with the convention specified by getFrameVelocityRepresentation .
-
auto getFrameAcc(const FrameIndex frameName,
iDynTree::
Span<const double> baseAcc, iDynTree:: Span<const double> s_ddot, iDynTree:: Span<double> frame_acceleration) -> bool - Return the frame acceleration, with the convention specified by getFrameVelocityRepresentation.
-
auto getFrameFreeFloatingJacobian(const std::string& frameName,
iDynTree::
MatrixDynSize& outJacobian) -> bool - Compute the free floating jacobian for a given frame for the given representaiton.
-
auto getFrameFreeFloatingJacobian(const FrameIndex frameIndex,
iDynTree::
MatrixDynSize& outJacobian) -> bool - Compute the free floating jacobian for a given frame for the given representaiton.
-
auto getFrameFreeFloatingJacobian(const std::string& frameName,
iDynTree::
MatrixView<double> outJacobian) -> bool - Compute the free floating jacobian for a given frame for the given representaiton (MatrixView implementation).
-
auto getFrameFreeFloatingJacobian(const FrameIndex frameIndex,
iDynTree::
MatrixView<double> outJacobian) -> bool - Compute the free floating jacobian for a given frame for the given representaiton (MatrixView implementation).
-
auto getRelativeJacobian(const iDynTree::FrameIndex refFrameIndex,
const iDynTree::FrameIndex frameIndex,
iDynTree::
MatrixDynSize& outJacobian) -> bool - Return the relative Jacobian between the two frames.
-
auto getRelativeJacobian(const iDynTree::FrameIndex refFrameIndex,
const iDynTree::FrameIndex frameIndex,
iDynTree::
MatrixView<double> outJacobian) -> bool - Return the relative Jacobian between the two frames (MatrixView implementation).
-
auto getRelativeJacobianExplicit(const iDynTree::FrameIndex refFrameIndex,
const iDynTree::FrameIndex frameIndex,
const iDynTree::FrameIndex expressedOriginFrameIndex,
const iDynTree::FrameIndex expressedOrientationFrameIndex,
iDynTree::
MatrixDynSize& outJacobian) -> bool - Return the relative Jacobian between the two frames.
-
auto getRelativeJacobianExplicit(const iDynTree::FrameIndex refFrameIndex,
const iDynTree::FrameIndex frameIndex,
const iDynTree::FrameIndex expressedOriginFrameIndex,
const iDynTree::FrameIndex expressedOrientationFrameIndex,
iDynTree::
MatrixView<double> outJacobian) -> bool - Return the relative Jacobian between the two frames (MatrixView implementation)
- auto getFrameBiasAcc(const FrameIndex frameIdx) -> Vector6
- Get the bias acceleration (i.e.
-
auto getFrameBiasAcc(const FrameIndex frameIdx,
iDynTree::
Span<double> bias_acc) -> bool - Get the bias acceleration (i.e.
- auto getFrameBiasAcc(const std::string& frameName) -> Vector6
- Get the bias acceleration (i.e.
-
auto getFrameBiasAcc(const std::string& frameName,
iDynTree::
Span<double> bias_acc) -> bool - Get the bias acceleration (i.e.
Function documentation
bool iDynTree::
Load the model of the robot from a iDynTree::
| Parameters | |
|---|---|
| model | the model to use in this class. |
| Returns | true if all went ok, false otherwise. |
bool iDynTree::
Return true if the models for the robot have been correctly.
| Returns | True if the class has been correctly configure, false otherwise. |
|---|
bool iDynTree::
Set the used FrameVelocityRepresentation.
FrameVelocityRepresentation iDynTree::
Get the used FrameVelocityRepresentation.
unsigned int iDynTree::
Get the number of internal degrees of freedom of the robot model used in the class.
| Returns | the number of internal degrees of freedom of the model. |
|---|
This return the internal degrees of freedom, because it does not include the eventual 6 degrees of freedom usually associated with the floating base.
std::string iDynTree::
Get a human readable description of all the internal degrees of freedom of the robot.
| Returns | a std::string containing the description of the internal degrees of freedom. |
|---|
unsigned int iDynTree::
Get the number of frames contained in the model.
std::string iDynTree::
Get the name of the link considered as the floating base.
| Returns | the name of the base link. |
|---|
bool iDynTree::
Set the link that is used as the floating base link.
| Returns | true if all went well, false otherwise (for example if the link name was not found). |
|---|
Currently supports only links. See https:/
bool iDynTree::
Returns the sparsity pattern of the relative Jacobian for the specified frames.
| Parameters | |
|---|---|
| refFrameIndex | refence frame for the Jacobian |
| frameIndex | Jacobian frame |
| outJacobianPattern | the Jacobian sparsity pattern |
| Returns | true on success. False otherwise |
The resulting matrix has the same size of the free floating Jacobian (6 x #DoFs) It is filled with only 0 and 1 with the following meaning:
- 0: the element will always have 0 (for every robot configuration)
- 1: it exists a robot configuration such that the element have a value different from zero.
bool iDynTree::
Returns the sparsity pattern of the relative Jacobian for the specified frames (MatrixView implementation)
| Parameters | |
|---|---|
| refFrameIndex | refence frame for the Jacobian |
| frameIndex | Jacobian frame |
| outJacobianPattern | a MatrixView containing an already existing memory. |
| Returns | true on success. False otherwise |
The resulting matrix must have the same size of the free floating Jacobian (6 x #DoFs) It is filled with only 0 and 1 with the following meaning:
- 0: the element will always have 0 (for every robot configuration)
1: it exists a robot configuration such that the element have a value different from zero.
bool iDynTree::
Returns the sparsity pattern of the free floating Jacobian for the specified frame.
| Parameters | |
|---|---|
| frameIndex | Jacobian frame |
| outJacobianPattern | the Jacobian sparsity pattern |
| Returns | true on success. False otherwise |
The resulting matrix has the same size of the free floating Jacobian (6 x 6 + #DoFs) It is filled with only 0 and 1 with the following meaning:
- 0: the element will always have 0 (for every robot configuration)
- 1: it exists a robot configuration such that the element have a value different from zero.
bool iDynTree::
Returns the sparsity pattern of the free floating Jacobian for the specified frame (MatrixView implementation).
| Parameters | |
|---|---|
| frameIndex | Jacobian frame |
| outJacobianPattern | the Jacobian sparsity pattern |
| Returns | true on success. False otherwise |
The resulting matrix has the same size of the free floating Jacobian (6 x (6 + #DoFs)) It is filled with only 0 and 1 with the following meaning:
- 0: the element will always have 0 (for every robot configuration)
1: it exists a robot configuration such that the element have a value different from zero.
bool iDynTree::
Set the (internal) joint positions.
| Parameters | |
|---|---|
| s in | A vector of dimension this->model().getNrOfPosCoords() . |
| Returns | true if all went well, false otherwise. |
bool iDynTree::
Set the (internal) joint positions.
| Parameters | |
|---|---|
| s in | A vector of dimension this->model().getNrOfPosCoords() . |
| Returns | true if all went well, false otherwise. |
(Span implementation)
bool iDynTree::
Set the world base transform.
| Parameters | |
|---|---|
| world_T_base in | the homogeneous transformation that transforms position vectors expressed in the base reference frame in position frames expressed in the world reference frame (i.e. pos_world = world_T_base*pos_base . |
| Returns | true if all went well, false otherwise. |
bool iDynTree::
Set the world base transform (MatrixView implementation).
| Parameters | |
|---|---|
| world_T_base in | the homogeneous transformation that transforms position vectors expressed in the base reference frame in position frames expressed in the world reference frame (i.e. pos_world = world_T_base*pos_base . |
| Returns | true if all went well, false otherwise. |
bool iDynTree::
Set the state for the robot (floating base)
| Parameters | |
|---|---|
| world_T_base | the homogeneous transformation that transforms position vectors expressed in the base reference frame in position frames expressed in the world reference frame (i.e. pos_world = world_T_base*pos_base . |
| s | a vector of getNrOfDegreesOfFreedom() joint positions (in rad) |
| base_velocity | The twist (linear/angular velocity) of the base, expressed with the convention specified by the used FrameVelocityConvention. |
| s_dot | a vector of getNrOfDegreesOfFreedom() joint velocities (in rad/sec) |
| world_gravity | a 3d vector of the gravity acceleration vector, expressed in the world/inertial frame. |
| Returns | true if all went well, false otherwise. |
bool iDynTree::
Set the state for the robot (floating base) (Span and MatrixView implementation)
| Parameters | |
|---|---|
| world_T_base | the 4x4 homogeneous transformation that transforms position vectors expressed in the base reference frame in position frames expressed in the world reference frame (i.e. pos_world = world_T_base*pos_base). |
| s | a vector of getNrOfDegreesOfFreedom() joint positions (in rad) |
| base_velocity | The twist (linear/angular velocity) of the base, expressed with the convention specified by the used FrameVelocityConvention. |
| s_dot | a vector of getNrOfDegreesOfFreedom() joint velocities (in rad/sec) |
| world_gravity | a 3d vector of the gravity acceleration vector, expressed in the world/inertial frame. |
| Returns | true if all went well, false otherwise. |
bool iDynTree::
Set the state for the robot (fixed base) Same as setRobotState, but with: world_T_base = iDynTree::
| Returns | true if all went well, false otherwise. |
|---|
bool iDynTree::
Get the n joint position of the model.
| Returns | true if all went well, false otherwise. |
|---|
bool iDynTree::
Get the n joint velocity of the model.
| Returns | true if all went well, false otherwise. |
|---|
bool iDynTree::
Get the n+6 velocity of the model.
Obtained by stacking the output of getBaseTwist and of getJointVel.
bool iDynTree::
Get the n+6 velocity of the model.
| Returns | true if all went well, false otherwise. |
|---|
Obtained by stacking the output of getBaseTwist and of getJointVel.
int iDynTree::
Get the index corresponding to a given frame name.
| Returns | a integer greater than or equal to zero if the frame exist, a negative integer otherwise. |
|---|
bool iDynTree::
Return the transform where the frame is the frame specified by frameIndex, and the reference frame is the world one (world_T_frame).
| Parameters | |
|---|---|
| frameIndex | |
| world_T_frame | a 4x4 matrix representing the homogeneous transformation that transforms position vectors expressed in the 'frame' reference frame in position frames expressed in the world reference frame (i.e. pos_world = world_T_frame * pos_frame). |
| Returns | true if all went well, false otherwise. |
iDynTree::
Version of getWorldTransform where the frame is specified by name.
bool iDynTree::
Version of getWorldTransform where the frame is specified by name (MatrixView and Span implementation).
bool iDynTree::
Return the transform where the frame is the frame specified by frameIndex, and the reference frame is the one specified by refFrameIndex (refFrame_H_frame).
| Parameters | |
|---|---|
| refFrameIndex | |
| frameIndex | |
| refFrame_H_frame | a 4x4 matrix representing the homogeneous transformation that transforms position vectors expressed in the 'frame' reference frame in position frames expressed in the 'refFrame' reference frame (i.e. pos_refFrame = refFrame_T_frame * pos_frame). |
| Returns | true if all went well, false otherwise. |
iDynTree::
Return the transform between the frame with the origin of the frameOriginIndex and the orientation of frameOrientationIndex and the one with the origin of refFrameOriginIndex and the orientation of refFrameOrientationIndex .
In symbols we return the (refFrameOrigin,refFrameOrientation)_H_(frameOrigin,frameORientation)
This is a variant of the getRelativeTransform in which the orientation and origin part of both side of the transform are explicited.
bool iDynTree::
Return the transform between the frame with the origin of the frameOriginIndex and the orientation of frameOrientationIndex and the one with the origin of refFrameOriginIndex and the orientation of refFrameOrientationIndex.
(MatrixView and Span implementation)
In symbols we return the (refFrameOrigin,refFrameOrientation)_H_(frameOrigin,frameORientation)
This is a variant of the getRelativeTransform in which the orientation and origin part of both side of the transform are explicited.
iDynTree::
Version of getRelativeTransform where the frames are specified by name.
bool iDynTree::
Version of getRelativeTransform where the frames are specified by name (Span and MatrixView version).
bool iDynTree::
Return the frame velocity, with the convention specified by getFrameVelocityRepresentation.
| Returns | true if all went well, false otherwise. |
|---|
(MatrixView and Span implementation)
bool iDynTree::
Return the frame velocity, with the convention specified by getFrameVelocityRepresentation.
| Returns | true if all went well, false otherwise. |
|---|
(MatrixView and Span implementation)
Vector6 iDynTree::
Return the frame acceleration, with the convention specified by getFrameVelocityRepresentation .
bool iDynTree::
Return the frame acceleration, with the convention specified by getFrameVelocityRepresentation.
| Returns | true if all went well, false otherwise. |
|---|
(Span version)
Vector6 iDynTree::
Return the frame acceleration, with the convention specified by getFrameVelocityRepresentation .
bool iDynTree::
Return the frame acceleration, with the convention specified by getFrameVelocityRepresentation.
| Returns | true if all went well, false otherwise. |
|---|
(MatrixView and Span version)
bool iDynTree::
Compute the free floating jacobian for a given frame for the given representaiton.
| Returns | true if all went well, false otherwise. |
|---|
bool iDynTree::
Compute the free floating jacobian for a given frame for the given representaiton.
| Returns | true if all went well, false otherwise. |
|---|
bool iDynTree::
Compute the free floating jacobian for a given frame for the given representaiton (MatrixView implementation).
| Returns | true if all went well, false otherwise. |
|---|
bool iDynTree::
Compute the free floating jacobian for a given frame for the given representaiton (MatrixView implementation).
| Returns | true if all went well, false otherwise. |
|---|
bool iDynTree::
Return the relative Jacobian between the two frames.
The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed depending on the velocity representation, i.e
bool iDynTree::
Return the relative Jacobian between the two frames (MatrixView implementation).
| Returns | true if all went well, false otherwise. |
|---|
The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed depending on the velocity representation, i.e
bool iDynTree::
Return the relative Jacobian between the two frames.
| Parameters | |
|---|---|
| refFrameIndex | reference frame |
| frameIndex | considered frame |
| expressedOriginFrameIndex | frame whose origin is used to express the Jacobian |
| expressedOrientationFrameIndex | frame whose orientation is used to express the Jacobian |
| outJacobian | |
| Returns | true on success, false otherwise |
The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed in the specified frame, i.e
bool iDynTree::
Return the relative Jacobian between the two frames (MatrixView implementation)
| Parameters | |
|---|---|
| refFrameIndex | reference frame |
| frameIndex | considered frame |
| expressedOriginFrameIndex | frame whose origin is used to express the Jacobian |
| expressedOrientationFrameIndex | frame whose orientation is used to express the Jacobian |
| outJacobian | |
| Returns | true on success, false otherwise. |
The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed in the specified frame, i.e
Vector6 iDynTree::
Get the bias acceleration (i.e.
acceleration not due to robot acceleration) of the frame velocity.
This term is usually called or .
bool iDynTree::
Get the bias acceleration (i.e.
| Returns | true on success, false otherwise |
|---|
acceleration not due to robot acceleration) of the frame velocity.
This term is usually called or .
Vector6 iDynTree::
Get the bias acceleration (i.e.
acceleration not due to robot acceleration) of the frame velocity.
This term is usually called or .
bool iDynTree::
Get the bias acceleration (i.e.
| Returns | true on success, false otherwise |
|---|
acceleration not due to robot acceleration) of the frame velocity.
This term is usually called or .
iDynTree::
Return the center of mass position.
| Returns | the center of mass position, expressed in the world/inertial frame. |
|---|
bool iDynTree::
Return the center of mass position.
| Returns | true on success, false otherwise. |
|---|
iDynTree::
Return the center of mass velocity, with respect to the world/inertial frame.
bool iDynTree::
Return the center of mass velocity, with respect to the world/inertial frame.
| Returns | true on success, false otherwise. |
|---|
bool iDynTree::
Return the center of mass jacobian, i.e.
the matrix such that: getCenterOfMassVelocity() == getCenterOfMassJacobian() * .
bool iDynTree::
Return the center of mass jacobian, i.e.
| Returns | true on success, false otherwise. |
|---|
the matrix such that: getCenterOfMassVelocity() == getCenterOfMassJacobian() * .
bool iDynTree::
Return the center of mass bias acceleration.
| Returns | true on success, false otherwise. |
|---|
iDynTree::
Get the average velocity of the robot.
The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the average velocity of the robot.
| Returns | true on success, false otherwise. |
|---|
(Span implementation) The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the jacobian of the average velocity of the robot.
The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the jacobian of the average velocity of the robot.
| Returns | true on success, false otherwise. |
|---|
(MatrixView implementation) The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
SpatialInertia iDynTree::
Get the robot locked inertia matrix.
| Returns | the locked inertia matrix of the robot. |
|---|
The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
iDynTree::
Get the centroidal average velocity of the robot.
The quantity is the average velocity returned by getAverageVelocity, but computed in the center of mass and with the orientation of the FrameVelocityRepresentation used. It we indicate with G the center of mass, it is expressed in (G[A]) for the mixed and inertial representation, and in (G[B]) for the base body-fixed representation.
bool iDynTree::
Get the centroidal average velocity of the robot (Span version).
| Returns | true on success, false otherwise. |
|---|
The quantity is the average velocity returned by getAverageVelocity, but computed in the center of mass and with the orientation of the FrameVelocityRepresentation used. It we indicate with G the center of mass, it is expressed in (G[A]) for the mixed and inertial representation, and in (G[B]) for the base body-fixed representation.
bool iDynTree::
Get the jacobian of the centroidal average velocity of the robot.
See the getCentroidalAverageVelocity method for more info on this.
bool iDynTree::
Get the jacobian of the centroidal average velocity of the robot (MatrixView version).
| Returns | true on success, false otherwise. |
|---|
See the getCentroidalAverageVelocity method for more info on this.
SpatialInertia iDynTree::
Get the robot locked centroidal inertia matrix.
| Returns | the locked inertia centroidal matrix of the robot. |
|---|
The quantity is expressed in (G[A]) or (G[B]) depending on the FrameVelocityConvention used.
iDynTree::
Get the linear and angular momentum of the robot.
The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the linear and angular momentum of the robot.
| Returns | true on success, false otherwise. |
|---|
The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the linear and angular momentum jacobian of the robot.
The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the linear and angular momentum jacobian of the robot (MatrixView implementation).
| Returns | true on success, false otherwise. |
|---|
The quantity is expressed in (B[A]), (A) or (B) depending on the FrameVelocityConvention used.
iDynTree::
Get the centroidal (total) momentum of the robot.
If G is the center of mass, this quantity is expressed in (G[A]), (G[A]) or (G[B]) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the centroidal (total) momentum of the robot.
| Returns | true on success, false otherwise. |
|---|
If G is the center of mass, this quantity is expressed in (G[A]), (G[A]) or (G[B]) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the total centroidal momentum jacobian of the robot.
| Parameters | |
|---|---|
| centroidalTotalMomentumJacobian out | the (6) times (6+getNrOfDOFs()) output centroidal total momentum jacobian. |
| Returns | true if all went well, false otherwise. |
If G is the center of mass, this quantity is expressed in (G[A]), (G[A]) or (G[B]) depending on the FrameVelocityConvention used.
bool iDynTree::
Get the total centroidal momentum jacobian of the robot.
| Parameters | |
|---|---|
| centroidalTotalMomentumJacobian out | the (6) times (6+getNrOfDOFs()) output centroidal total momentum jacobian. |
| Returns | true if all went well, false otherwise. |
If G is the center of mass, this quantity is expressed in (G[A]), (G[A]) or (G[B]) depending on the FrameVelocityConvention used (MatrixView implementation).
bool iDynTree::
Get the free floating mass matrix of the system.
| Parameters | |
|---|---|
| freeFloatingMassMatrix out | the (6+getNrOfDOFs()) times (6+getNrOfDOFs()) output mass matrix. |
| Returns | true if all went well, false otherwise. |
This method computes .
The mass matrix depends on the joint positions, specified by the setRobotState methods. If the chosen FrameVelocityRepresentation is MIXED_REPRESENTATION or INERTIAL_FIXED_REPRESENTATION, the mass matrix depends also on the base orientation with respect to the inertial frame, that is also set by the setRobotState methods.
For more details on the structure of the free floating mass matrix, please check: S. Traversaro, A. Saccon Multibody Dynamics Notation http:/
bool iDynTree::
Get the free floating mass matrix of the system (MatrixView version).
| Parameters | |
|---|---|
| freeFloatingMassMatrix out | the (6+getNrOfDOFs()) times (6+getNrOfDOFs()) output mass matrix. |
| Returns | true if all went well, false otherwise. |
This method computes .
The mass matrix depends on the joint positions, specified by the setRobotState methods. If the chosen FrameVelocityRepresentation is MIXED_REPRESENTATION or INERTIAL_FIXED_REPRESENTATION, the mass matrix depends also on the base orientation with respect to the inertial frame, that is also set by the setRobotState methods.
For more details on the structure of the free floating mass matrix, please check: S. Traversaro, A. Saccon Multibody Dynamics Notation http:/
bool iDynTree::
Compute the free floating inverse dynamics.
| Parameters | |
|---|---|
| baseAcc in | the acceleration of the base link |
| s_ddot in | the accelerations of the joints |
| linkExtForces in | the external wrenches excerted by the environment on the model |
| baseForceAndJointTorques out | the output generalized torques |
| Returns | true if all went well, false otherwise |
This method computes .
The semantics of baseAcc, the base part of baseForceAndJointTorques and of the elements of linkExtWrenches depend of the chosen FrameVelocityRepresentation .
The state is the one given set by the setRobotState method.
bool iDynTree::
Compute the free floating inverse dynamics (Span version).
| Parameters | |
|---|---|
| baseAcc in | the acceleration of the base link |
| s_ddot in | the accelerations of the joints |
| linkExtForces in | the external wrenches excerted by the environment on the model |
| baseForceAndJointTorques out | the output generalized torques |
| Returns | true if all went well, false otherwise. |
This method computes .
The semantics of baseAcc, the base part of baseForceAndJointTorques and of the elements of linkExtWrenches depend of the chosen FrameVelocityRepresentation .
The state is the one given set by the setRobotState method.
bool iDynTree::
This method is similar to inverseDynamics, but provides as an additional output the internal 6D force/torques (aka wrenches) excerted by the two links connected to each joint, in the linkInternalWrenches argument.
The linkInternalWrenches is a container of (number of links) 6D Force/Torques, one associated to each link. In particular, if the link is the link with index the element linkInternalWrenches(i) contains, depending on the choice of FrameVelocityRepresentation:
FrameVelocityRepresentation | linkInternalWrenches(i) |
|---|---|
MIXED_REPRESENTATION (default) | |
BODY_FIXED_REPRESENTATION | |
INERTIAL_FIXED_REPRESENTATION |
Where if is a given frame, is the 6D force/torque that the parent link excerts on its child expressed in frame .
bool iDynTree::
Variant of inverseDynamicsWithInternalJointForceTorques that takes iDynTree::
See inverseDynamicsWithInternalJointForceTorques for the description of the input and output parameters.
bool iDynTree::
Compute the getNrOfDOFS()+6 vector of generalized bias (gravity+coriolis) forces.
| Parameters | |
|---|---|
| generalizedBiasForces out | the output generalized bias forces |
| Returns | true if all went well, false otherwise |
This method computes .
The semantics of the base part of generalizedBiasForces depend of the chosen FrameVelocityRepresentation .
The state is the one given set by the setRobotState method.
bool iDynTree::
Compute the getNrOfDOFS()+6 vector of generalized bias (gravity+coriolis) forces.
| Returns | true if all went well, false otherwise. |
|---|
(Span version)
This method computes .
The semantics of the base part of generalizedBiasForces depend of the chosen FrameVelocityRepresentation .
The state is the one given set by the setRobotState method.
bool iDynTree::
Compute the getNrOfDOFS()+6 vector of generalized gravity forces.
| Parameters | |
|---|---|
| generalizedGravityForces out | the output gravity generalized forces |
| Returns | true if all went well, false otherwise |
This method computes .
The semantics of the base part of generalizedGravityForces depend of the chosen FrameVelocityRepresentation .
The state is the one given set by the setRobotState method.
bool iDynTree::
Compute the getNrOfDOFS()+6 vector of generalized gravity forces.
| Returns | true if all went well, false otherwise. |
|---|
This method computes .
The semantics of the base part of generalizedGravityForces depend of the chosen FrameVelocityRepresentation .
The state is the one given set by the setRobotState method.
bool iDynTree::
Compute the getNrOfDOFS()+6 vector of generalized external forces.
| Parameters | |
|---|---|
| linkExtForces | |
| generalizedExternalForces out | the output external generalized forces |
| Returns | true if all went well, false otherwise |
This method computes .
The semantics of the base part of generalizedExternalForces and of the elements of linkExtWrenches depend of the chosen FrameVelocityRepresentation .
The state is the one given set by the setRobotState method.
bool iDynTree::
Compute the free floating inverse dynamics as a linear function of inertial parameters.
| Parameters | |
|---|---|
| baseAcc in | the acceleration of the base link |
| s_ddot in | the accelerations of the joints |
| baseForceAndJointTorquesRegressor out | The (6+model.getNrOfDOFs() X 10*model.getNrOfLinks()) inverse dynamics regressor. |
| Returns | true if all went well, false otherwise |
This methods computes the matrix such that:
where is the vector of inertial parameters returned by the Model::
The semantics of baseAcc, the base part (first six rows) of baseForceAndJointTorquesRegressor depend of the chosen FrameVelocityRepresentation .
The state is the one given set by the setRobotState method.