A class for setting a virtual base link: this is useful to initialize the forward phase of Newton-Euler's method, by setting w, dw, ddp; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Newton-Euler computations. More...

#include <iDynInv.h>

Inheritance diagram for iCub::iDyn::BaseLinkNewtonEuler:

Public Member Functions
	BaseLinkNewtonEuler (const yarp::sig::Matrix &_H0, const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Default constructor.

	BaseLinkNewtonEuler (const yarp::sig::Matrix &_H0, const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp, const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Constructor, initializing the base data.

bool	setAsBase (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp)
	Sets the base data.

bool	setAsBase (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Sets the base data.

const yarp::sig::Vector &	getAngVel () const

const yarp::sig::Vector &	getAngAcc () const

const yarp::sig::Vector &	getAngAccM () const

const yarp::sig::Vector &	getLinAcc () const

const yarp::sig::Vector &	getLinAccC () const

const yarp::sig::Vector &	getForce () const

const yarp::sig::Vector &	getMoment (bool isBase=false) const

double	getTorque () const

const yarp::sig::Matrix &	getR ()

const yarp::sig::Matrix &	getRC ()

double	getIm () const

double	getD2q () const

double	getDq () const

double	getKr () const

double	getFs () const

double	getFv () const

double	getMass () const

const yarp::sig::Matrix &	getInertia () const

const yarp::sig::Vector &	getr (bool proj=false)

const yarp::sig::Vector &	getrC (bool proj=false)

bool	setForce (const yarp::sig::Vector &_F)
	Set the OneLink force: either the corresponding iDynLink force, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

bool	setMoment (const yarp::sig::Vector &_Mu)
	Set the OneLink moment: either the corresponding iDynLink moment, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

void	setTorque (const double _Tau)
	Set the OneLink torque, ie the corresponding iDynLink joint torque (nothing in the child classes derived from OneLink, such as SensorLink)

bool	setAngVel (const yarp::sig::Vector &_w)
	Set the OneLink angular velocity (w), ie the corresponding iDynLink angular velocity (w) (in the child classes derived from OneLink, it depends)

bool	setAngAcc (const yarp::sig::Vector &_dw)
	Set the OneLink angular acceleration (dw), ie the corresponding iDynLink angular acceleration (dw) (in the child classes derived from OneLink, it depends)

bool	setLinAcc (const yarp::sig::Vector &_ddp)
	Set the OneLink linear acceleration (ddp), ie the corresponding iDynLink linear acceleration (ddp) (in the child classes derived from OneLink, it depends)

bool	setLinAccC (const yarp::sig::Vector &_ddpC)
	Set the OneLink linear acceleration of the COM (ddpC), ie the corresponding iDynLink linear acceleration of the COM (ddpC) (nothing in the child classes derived from OneLink, except for SensorLink)

bool	setAngAccM (const yarp::sig::Vector &_dwM)
	Set the OneLink angular acceleration of the motor (dwM), ie the corresponding iDynLink angular acceleration of the COM (dwM) (nothing in the child classes derived from OneLink)

std::string	toString () const
	Useful to print some information.

Public Member Functions inherited from iCub::iDyn::OneLinkNewtonEuler
	OneLinkNewtonEuler (iDyn::iDynLink *dlink=NULL)
	Default constructor.

	OneLinkNewtonEuler (const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE, iDyn::iDynLink *dlink=NULL)
	Constructor, with initialization of some data.

virtual	~OneLinkNewtonEuler ()
	Destructor.

void	zero ()
	Set everything to zero; R is set to an identity matrix.

virtual bool	setAsFinal (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Set the frame as the final one: this is useful to initialize the backward phase of Newton-Euler's method, by setting F and Mu; R is an identity matrix.

virtual bool	setAsFinal (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp)
	Set the frame as the final one: this is useful to initialize the backward phase of Euler's method, by setting w, dw and ddp; R is an identity matrix.

virtual bool	setMeasuredFMu (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Set measured force and moment in a 'sensor' frame: this is useful to initialize the forward phase of the Inverse Newton-Euler's method, by setting F and Mu, measured by the corresponding F/T sensor.

virtual bool	setMeasuredTorque (const double _Tau)
	Set measured torque in a joint torque sensor frame

void	setVerbose (unsigned int verb=iCub::skinDynLib::VERBOSE)
	Set the verbosity level of comments during operations.

void	setMode (const NewEulMode _mode)
	Set the operation mode (static,dynamic etc)

bool	setZM (const yarp::sig::Vector &_zm)
	Set the zM vector.

void	setInfo (const std::string &_info)
	Set some information about this OneLink class.

NewEulMode	getMode () const

yarp::sig::Vector	getZM () const

std::string	getInfo () const

virtual const yarp::sig::Matrix &	getH ()

void	ForwardKinematics (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] Compute w, dw, ddp, ddpC, dwM

void	BackwardKinematics (OneLinkNewtonEuler *prev)
	[Backward Kinematic computation] Compute w, dw, ddp, ddpC, dwM

void	BackwardWrench (OneLinkNewtonEuler *next)
	[Backward Newton-Euler] Compute F, Mu, Tau

void	ForwardWrench (OneLinkNewtonEuler *prev)
	[Inverse Newton-Euler] Compute F, Mu, Tau

virtual void	computeTorque (OneLinkNewtonEuler *prev)
	[all] Compute joint torque; moment must be pre-computed

Protected Attributes
yarp::sig::Vector	w
	initial angular velocity

yarp::sig::Vector	dw
	initial angular acceleration

yarp::sig::Vector	ddp
	initial linear acceleration

yarp::sig::Matrix	H0
	base roto-traslation (if necessary)

yarp::sig::Vector	F
	initial force

yarp::sig::Vector	Mu
	initial moment

yarp::sig::Vector	Mu0
	initial moment

double	Tau
	corresponding torque

const yarp::sig::Matrix	eye3x3

const yarp::sig::Matrix	zeros3x3

const yarp::sig::Vector	zeros3

Protected Attributes inherited from iCub::iDyn::OneLinkNewtonEuler
NewEulMode	mode
	STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY.

std::string	info
	info or useful notes

unsigned int	verbose
	verbosity flag

yarp::sig::Vector	z0
	z0=[0 0 1]'

yarp::sig::Vector	zm
	z^{i-1}_{m_{i}} versor rotating solidally with link i, projected in frame i ==>> constant

iDyn::iDynLink *	link
	the corresponding iDynLink

Additional Inherited Members
Protected Member Functions inherited from iCub::iDyn::OneLinkNewtonEuler
void	computeAngVel (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular velocity of the link

void	computeAngVelBackward (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular velocity of the previous link frame

void	computeAngAcc (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular acceleration of the link

void	computeAngAccBackward (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular acceleration of the previous link frame

void	computeLinAcc (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute linear acceleration of the reference frame of the link

void	computeLinAccBackward (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute linear acceleration of the reference frame of the previous link

void	computeLinAccC ()
	[Forward Newton-Euler] compute linear acceleration of the center of mass

void	computeAngAccM (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular acceleration of the rotor

void	computeForceBackward (OneLinkNewtonEuler *next)
	[Backward Newton-Euler] compute force from the following link

void	computeForceForward (OneLinkNewtonEuler *prev)
	[Inverse Newton-Euler] compute force from the previous link

void	computeMomentBackward (OneLinkNewtonEuler *next)
	[Backward Newton-Euler] compute moment from the following link

void	computeMomentForward (OneLinkNewtonEuler *prev)
	[Inverse Newton-Euler] compute moment from the previous link

Detailed Description

A class for setting a virtual base link: this is useful to initialize the forward phase of Newton-Euler's method, by setting w, dw, ddp; H is an identity matrix, while ddpC=ddp; Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Newton-Euler computations.

Definition at line 491 of file iDynInv.h.

Constructor & Destructor Documentation

◆ BaseLinkNewtonEuler() [1/2]

iCub::iDyn::BaseLinkNewtonEuler::BaseLinkNewtonEuler	(	const yarp::sig::Matrix &	_H0,
		const NewEulMode	_mode,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`
	)

Default constructor.

Parameters

_H0	the base roto-translation
_mode	the analysis mode (static/dynamic)
verb	flag for verbosity

◆ BaseLinkNewtonEuler() [2/2]

iCub::iDyn::BaseLinkNewtonEuler::BaseLinkNewtonEuler	(	const yarp::sig::Matrix &	_H0,
		const yarp::sig::Vector &	_w,
		const yarp::sig::Vector &	_dw,
		const yarp::sig::Vector &	_ddp,
		const NewEulMode	_mode,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`
	)

Constructor, initializing the base data.

Parameters

_H0	the base roto-translation
_w	the initial angular velocity
_dw	the initial angular acceleration
_ddp	the initial linear acceleration
_mode	the analysis mode (static/dynamic)
verb	flag for verbosity

Member Function Documentation

◆ getAngAcc()

const Vector & BaseLinkNewtonEuler::getAngAcc ( ) const

virtual

Returns: dw = angular acceleration (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 875 of file iDynInv.cpp.

◆ getAngAccM()

const Vector & BaseLinkNewtonEuler::getAngAccM ( ) const

virtual

Returns: dwM = angular acceleration of the rotor (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 877 of file iDynInv.cpp.

◆ getAngVel()

const Vector & BaseLinkNewtonEuler::getAngVel ( ) const

virtual

Returns: w = angular velocity (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 873 of file iDynInv.cpp.

◆ getD2q()

double BaseLinkNewtonEuler::getD2q ( ) const

virtual

Returns: ddq = d2q = joint acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 896 of file iDynInv.cpp.

◆ getDq()

double BaseLinkNewtonEuler::getDq ( ) const

virtual

Returns: dq = dq = joint velocity

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 897 of file iDynInv.cpp.

◆ getForce()

const Vector & BaseLinkNewtonEuler::getForce ( ) const

virtual

Returns: F = force (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 883 of file iDynInv.cpp.

◆ getFs()

double BaseLinkNewtonEuler::getFs ( ) const

virtual

Returns: Fs = static friction

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 894 of file iDynInv.cpp.

◆ getFv()

double BaseLinkNewtonEuler::getFv ( ) const

virtual

Returns: Fv = viscous friction

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 895 of file iDynInv.cpp.

◆ getIm()

double BaseLinkNewtonEuler::getIm ( ) const

virtual

Returns: Im

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 893 of file iDynInv.cpp.

◆ getInertia()

const Matrix & BaseLinkNewtonEuler::getInertia ( ) const

virtual

Returns: I = inertia of the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 900 of file iDynInv.cpp.

◆ getKr()

double BaseLinkNewtonEuler::getKr ( ) const

virtual

Returns: Kr

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 898 of file iDynInv.cpp.

◆ getLinAcc()

const Vector & BaseLinkNewtonEuler::getLinAcc ( ) const

virtual

Returns: ddp = d2p = linear acceleration (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 879 of file iDynInv.cpp.

◆ getLinAccC()

const Vector & BaseLinkNewtonEuler::getLinAccC ( ) const

virtual

Returns: ddpC = d2pC = linear acceleration of the center of mass (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 881 of file iDynInv.cpp.

◆ getMass()

double BaseLinkNewtonEuler::getMass ( ) const

virtual

Returns: m = mass of the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 899 of file iDynInv.cpp.

◆ getMoment()

const Vector & BaseLinkNewtonEuler::getMoment ( bool isBase = false ) const

virtual

Returns: Mu = moment (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 884 of file iDynInv.cpp.

◆ getR()

const Matrix & BaseLinkNewtonEuler::getR ( )

virtual

Returns: R = (3x3) rotational matrix from the Denavit-Hartenberg roto-translational matrix describing the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 891 of file iDynInv.cpp.

◆ getr()

const Vector & BaseLinkNewtonEuler::getr ( bool proj = false )

virtual

Returns: r = (3x1) distance vector from the Denavit-Hartenberg roto-translational matrix describing the distance vector between frames and <i-1>

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 901 of file iDynInv.cpp.

◆ getRC()

const Matrix & BaseLinkNewtonEuler::getRC ( )

virtual

Returns: RC = (3x3) rotational matrix from the roto-translational matrix of the link COM

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 892 of file iDynInv.cpp.

◆ getrC()

const Vector & BaseLinkNewtonEuler::getrC ( bool proj = false )

virtual

Returns: rC = (3x1) distance vector from the roto-translational matrix of the link COM, describing the distance vector between COM and frame

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 902 of file iDynInv.cpp.

◆ getTorque()

double BaseLinkNewtonEuler::getTorque ( ) const

virtual

Returns: Tau = torque (1x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 890 of file iDynInv.cpp.

◆ setAngAcc()

bool BaseLinkNewtonEuler::setAngAcc ( const yarp::sig::Vector & _dw )

virtual

Set the OneLink angular acceleration (dw), ie the corresponding iDynLink angular acceleration (dw) (in the child classes derived from OneLink, it depends)

Parameters

_dw	angular acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 955 of file iDynInv.cpp.

◆ setAngAccM()

bool BaseLinkNewtonEuler::setAngAccM ( const yarp::sig::Vector & _dwM )

virtual

Set the OneLink angular acceleration of the motor (dwM), ie the corresponding iDynLink angular acceleration of the COM (dwM) (nothing in the child classes derived from OneLink)

Parameters

_dwM	angular acceleration of the motor

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 994 of file iDynInv.cpp.

◆ setAngVel()

bool BaseLinkNewtonEuler::setAngVel ( const yarp::sig::Vector & _w )

virtual

Set the OneLink angular velocity (w), ie the corresponding iDynLink angular velocity (w) (in the child classes derived from OneLink, it depends)

Parameters

_w	angular velocity

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 939 of file iDynInv.cpp.

◆ setAsBase() [1/2]

bool iCub::iDyn::BaseLinkNewtonEuler::setAsBase	(	const yarp::sig::Vector &	_F,
		const yarp::sig::Vector &	_Mu
	)

virtual

Sets the base data.

Parameters

_F	the initial angular velocity
_Mu	the initial angular acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

◆ setAsBase() [2/2]

bool iCub::iDyn::BaseLinkNewtonEuler::setAsBase	(	const yarp::sig::Vector &	_w,
		const yarp::sig::Vector &	_dw,
		const yarp::sig::Vector &	_ddp
	)

virtual

Sets the base data.

Parameters

_w	the initial angular velocity
_dw	the initial angular acceleration
_ddp	the initial linear acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

◆ setForce()

bool BaseLinkNewtonEuler::setForce ( const yarp::sig::Vector & _F )

virtual

Set the OneLink force: either the corresponding iDynLink force, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

Parameters

_F	a (3x1) vector of forces

Returns: true if size is correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 904 of file iDynInv.cpp.

◆ setLinAcc()

bool BaseLinkNewtonEuler::setLinAcc ( const yarp::sig::Vector & _ddp )

virtual

Set the OneLink linear acceleration (ddp), ie the corresponding iDynLink linear acceleration (ddp) (in the child classes derived from OneLink, it depends)

Parameters

_ddp	linear acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 971 of file iDynInv.cpp.

◆ setLinAccC()

bool BaseLinkNewtonEuler::setLinAccC ( const yarp::sig::Vector & _ddpC )

virtual

Set the OneLink linear acceleration of the COM (ddpC), ie the corresponding iDynLink linear acceleration of the COM (ddpC) (nothing in the child classes derived from OneLink, except for SensorLink)

Parameters

_ddpC linear acceleration of the COM

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 987 of file iDynInv.cpp.

◆ setMoment()

bool BaseLinkNewtonEuler::setMoment ( const yarp::sig::Vector & _Mu )

virtual

Set the OneLink moment: either the corresponding iDynLink moment, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

Parameters

_Mu	a 3x1 vector of moments

Returns: true if size is correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 920 of file iDynInv.cpp.

◆ setTorque()

void BaseLinkNewtonEuler::setTorque ( const double _Tau )

virtual

Set the OneLink torque, ie the corresponding iDynLink joint torque (nothing in the child classes derived from OneLink, such as SensorLink)

Parameters

_Tau	a real torque value

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 937 of file iDynInv.cpp.

◆ toString()

string BaseLinkNewtonEuler::toString ( ) const

virtual

Useful to print some information.

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 852 of file iDynInv.cpp.

Member Data Documentation

◆ ddp

yarp::sig::Vector iCub::iDyn::BaseLinkNewtonEuler::ddp

protected

initial linear acceleration

Definition at line 499 of file iDynInv.h.

◆ dw

yarp::sig::Vector iCub::iDyn::BaseLinkNewtonEuler::dw

protected

initial angular acceleration

Definition at line 497 of file iDynInv.h.

◆ eye3x3

const yarp::sig::Matrix iCub::iDyn::BaseLinkNewtonEuler::eye3x3

protected

Definition at line 512 of file iDynInv.h.

◆ F

yarp::sig::Vector iCub::iDyn::BaseLinkNewtonEuler::F

protected

initial force

Definition at line 503 of file iDynInv.h.

◆ H0

yarp::sig::Matrix iCub::iDyn::BaseLinkNewtonEuler::H0

protected

base roto-traslation (if necessary)

Definition at line 501 of file iDynInv.h.

◆ Mu

yarp::sig::Vector iCub::iDyn::BaseLinkNewtonEuler::Mu

protected

initial moment

Definition at line 505 of file iDynInv.h.

◆ Mu0

yarp::sig::Vector iCub::iDyn::BaseLinkNewtonEuler::Mu0

protected

initial moment

Definition at line 507 of file iDynInv.h.

◆ Tau

double iCub::iDyn::BaseLinkNewtonEuler::Tau

protected

corresponding torque

Definition at line 509 of file iDynInv.h.

◆ w

yarp::sig::Vector iCub::iDyn::BaseLinkNewtonEuler::w

protected

initial angular velocity

Definition at line 495 of file iDynInv.h.

◆ zeros3

const yarp::sig::Vector iCub::iDyn::BaseLinkNewtonEuler::zeros3

protected

Definition at line 514 of file iDynInv.h.

◆ zeros3x3

const yarp::sig::Matrix iCub::iDyn::BaseLinkNewtonEuler::zeros3x3

protected

Definition at line 513 of file iDynInv.h.

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

icub-main/src/libraries/iDyn/include/iCub/iDyn/iDynInv.h
icub-main/src/libraries/iDyn/src/iDynInv.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BaseLinkNewtonEuler() [1/2]

◆ BaseLinkNewtonEuler() [2/2]

Member Function Documentation

◆ getAngAcc()

◆ getAngAccM()

◆ getAngVel()

◆ getD2q()

◆ getDq()

◆ getForce()

◆ getFs()

◆ getFv()

◆ getIm()

◆ getInertia()

◆ getKr()

◆ getLinAcc()

◆ getLinAccC()

◆ getMass()

◆ getMoment()

◆ getR()

◆ getr()

◆ getRC()

◆ getrC()

◆ getTorque()

◆ setAngAcc()

◆ setAngAccM()

◆ setAngVel()

◆ setAsBase() [1/2]

◆ setAsBase() [2/2]

◆ setForce()

◆ setLinAcc()

◆ setLinAccC()

◆ setMoment()

◆ setTorque()

◆ toString()

Member Data Documentation

◆ ddp

◆ dw

◆ eye3x3

◆ F

◆ H0

◆ Mu

◆ Mu0

◆ Tau

◆ w

◆ zeros3

◆ zeros3x3