A class for setting a virtual final link: this is useful to initialize the backward phase of Newton-Euler's method, by setting F, Mu; 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::FinalLinkNewtonEuler:

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

	FinalLinkNewtonEuler (const yarp::sig::Matrix &_HN, const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu, const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Constructor, initializing the final frame data.

bool	setAsFinal (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Set the final frame data.

bool	setAsFinal (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp)
	Set the final frame data.

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

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

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

double	getTorque () const

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

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

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

double	getIm () const

double	getFs () const

double	getFv () const

double	getD2q () const

double	getDq () const

double	getKr () 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	setAsBase (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp)
	Virtual method to set the frame as the base one: this is useful to initialize the forward phase of Newton-Euler's method.

virtual bool	setAsBase (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)

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

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::Vector	F
	final force

yarp::sig::Vector	Mu
	final moment

yarp::sig::Matrix	HN
	final roto-traslation (if necessary)

const yarp::sig::Matrix	eye4x4

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 final link: this is useful to initialize the backward phase of Newton-Euler's method, by setting F, Mu; 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 610 of file iDynInv.h.

Constructor & Destructor Documentation

◆ FinalLinkNewtonEuler() [1/2]

FinalLinkNewtonEuler::FinalLinkNewtonEuler	(	const yarp::sig::Matrix &	_HN,
		const NewEulMode	_mode,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`
	)

Default constructor.

Parameters

_mode	the analysis mode (static/dynamic)
verb	flag for verbosity

Definition at line 1011 of file iDynInv.cpp.

◆ FinalLinkNewtonEuler() [2/2]

iCub::iDyn::FinalLinkNewtonEuler::FinalLinkNewtonEuler	(	const yarp::sig::Matrix &	_HN,
		const yarp::sig::Vector &	_F,
		const yarp::sig::Vector &	_Mu,
		const NewEulMode	_mode,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`
	)

Constructor, initializing the final frame data.

Parameters

_F	the final force
_Mu	the final moment
_mode	the analysis mode (static/dynamic)
verb	flag for verbosity

Member Function Documentation

◆ getAngAcc()

const Vector & FinalLinkNewtonEuler::getAngAcc ( ) const

virtual

Returns: dw = angular acceleration (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1128 of file iDynInv.cpp.

◆ getAngAccM()

const Vector & FinalLinkNewtonEuler::getAngAccM ( ) const

virtual

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

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1129 of file iDynInv.cpp.

◆ getAngVel()

const Vector & FinalLinkNewtonEuler::getAngVel ( ) const

virtual

Returns: w = angular velocity (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1127 of file iDynInv.cpp.

◆ getD2q()

double FinalLinkNewtonEuler::getD2q ( ) const

virtual

Returns: ddq = d2q = joint acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1139 of file iDynInv.cpp.

◆ getDq()

double FinalLinkNewtonEuler::getDq ( ) const

virtual

Returns: dq = dq = joint velocity

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1140 of file iDynInv.cpp.

◆ getForce()

const Vector & FinalLinkNewtonEuler::getForce ( ) const

virtual

Returns: F = force (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1123 of file iDynInv.cpp.

◆ getFs()

double FinalLinkNewtonEuler::getFs ( ) const

virtual

Returns: Fs = static friction

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1137 of file iDynInv.cpp.

◆ getFv()

double FinalLinkNewtonEuler::getFv ( ) const

virtual

Returns: Fv = viscous friction

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1138 of file iDynInv.cpp.

◆ getH()

const Matrix & FinalLinkNewtonEuler::getH ( )

virtual

Returns: H = (4x4) the Denavit-Hartenberg roto-translational matrix describing the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1133 of file iDynInv.cpp.

◆ getIm()

double FinalLinkNewtonEuler::getIm ( ) const

virtual

Returns: Im

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1136 of file iDynInv.cpp.

◆ getInertia()

const Matrix & FinalLinkNewtonEuler::getInertia ( ) const

virtual

Returns: I = inertia of the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1143 of file iDynInv.cpp.

◆ getKr()

double FinalLinkNewtonEuler::getKr ( ) const

virtual

Returns: Kr

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1141 of file iDynInv.cpp.

◆ getLinAcc()

const Vector & FinalLinkNewtonEuler::getLinAcc ( ) const

virtual

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

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1130 of file iDynInv.cpp.

◆ getLinAccC()

const Vector & FinalLinkNewtonEuler::getLinAccC ( ) const

virtual

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

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1131 of file iDynInv.cpp.

◆ getMass()

double FinalLinkNewtonEuler::getMass ( ) const

virtual

Returns: m = mass of the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1142 of file iDynInv.cpp.

◆ getMoment()

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

virtual

Returns: Mu = moment (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1125 of file iDynInv.cpp.

◆ getR()

const Matrix & FinalLinkNewtonEuler::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 1134 of file iDynInv.cpp.

◆ getr()

const Vector & FinalLinkNewtonEuler::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 1144 of file iDynInv.cpp.

◆ getRC()

const Matrix & FinalLinkNewtonEuler::getRC ( )

virtual

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

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1135 of file iDynInv.cpp.

◆ getrC()

const Vector & FinalLinkNewtonEuler::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 1145 of file iDynInv.cpp.

◆ getTorque()

double FinalLinkNewtonEuler::getTorque ( ) const

virtual

Returns: Tau = torque (1x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1132 of file iDynInv.cpp.

◆ setAngAcc()

bool FinalLinkNewtonEuler::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 1190 of file iDynInv.cpp.

◆ setAngAccM()

bool FinalLinkNewtonEuler::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 1213 of file iDynInv.cpp.

◆ setAngVel()

bool FinalLinkNewtonEuler::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 1181 of file iDynInv.cpp.

◆ setAsFinal() [1/2]

bool iCub::iDyn::FinalLinkNewtonEuler::setAsFinal	(	const yarp::sig::Vector &	_F,
		const yarp::sig::Vector &	_Mu
	)

virtual

Set the final frame data.

Parameters

_F	the final force
_Mu	the final moment

Returns: true if dimensions are correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

◆ setAsFinal() [2/2]

bool iCub::iDyn::FinalLinkNewtonEuler::setAsFinal	(	const yarp::sig::Vector &	_w,
		const yarp::sig::Vector &	_dw,
		const yarp::sig::Vector &	_ddp
	)

virtual

Set the final frame data.

Parameters

_w	the final force
_dw	the final force
_ddp	the final moment

Returns: true if dimensions are correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

◆ setForce()

bool FinalLinkNewtonEuler::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 1147 of file iDynInv.cpp.

◆ setLinAcc()

bool FinalLinkNewtonEuler::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 1198 of file iDynInv.cpp.

◆ setLinAccC()

bool FinalLinkNewtonEuler::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 1206 of file iDynInv.cpp.

◆ setMoment()

bool FinalLinkNewtonEuler::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 1163 of file iDynInv.cpp.

◆ setTorque()

void FinalLinkNewtonEuler::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 1179 of file iDynInv.cpp.

◆ toString()

string FinalLinkNewtonEuler::toString ( ) const

virtual

Useful to print some information.

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1103 of file iDynInv.cpp.

Member Data Documentation

◆ ddp

yarp::sig::Vector iCub::iDyn::FinalLinkNewtonEuler::ddp

protected

initial linear acceleration

Definition at line 618 of file iDynInv.h.

◆ dw

yarp::sig::Vector iCub::iDyn::FinalLinkNewtonEuler::dw

protected

initial angular acceleration

Definition at line 616 of file iDynInv.h.

◆ eye3x3

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

protected

Definition at line 628 of file iDynInv.h.

◆ eye4x4

const yarp::sig::Matrix iCub::iDyn::FinalLinkNewtonEuler::eye4x4

protected

Definition at line 627 of file iDynInv.h.

◆ F

yarp::sig::Vector iCub::iDyn::FinalLinkNewtonEuler::F

protected

final force

Definition at line 620 of file iDynInv.h.

◆ HN

yarp::sig::Matrix iCub::iDyn::FinalLinkNewtonEuler::HN

protected

final roto-traslation (if necessary)

Definition at line 624 of file iDynInv.h.

◆ Mu

yarp::sig::Vector iCub::iDyn::FinalLinkNewtonEuler::Mu

protected

final moment

Definition at line 622 of file iDynInv.h.

◆ w

yarp::sig::Vector iCub::iDyn::FinalLinkNewtonEuler::w

protected

initial angular velocity

Definition at line 614 of file iDynInv.h.

◆ zeros3

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

protected

Definition at line 630 of file iDynInv.h.

◆ zeros3x3

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

protected

Definition at line 629 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

◆ FinalLinkNewtonEuler() [1/2]

◆ FinalLinkNewtonEuler() [2/2]

Member Function Documentation

◆ getAngAcc()

◆ getAngAccM()

◆ getAngVel()

◆ getD2q()

◆ getDq()

◆ getForce()

◆ getFs()

◆ getFv()

◆ getH()

◆ getIm()

◆ getInertia()

◆ getKr()

◆ getLinAcc()

◆ getLinAccC()

◆ getMass()

◆ getMoment()

◆ getR()

◆ getr()

◆ getRC()

◆ getrC()

◆ getTorque()

◆ setAngAcc()

◆ setAngAccM()

◆ setAngVel()

◆ setAsFinal() [1/2]

◆ setAsFinal() [2/2]

◆ setForce()

◆ setLinAcc()

◆ setLinAccC()

◆ setMoment()

◆ setTorque()

◆ toString()

Member Data Documentation

◆ ddp

◆ dw

◆ eye3x3

◆ eye4x4

◆ F

◆ HN

◆ Mu

◆ w

◆ zeros3

◆ zeros3x3