A class for computing forces and torques in a iDynChain. More...

#include <iDynInv.h>

Public Member Functions
	OneChainNewtonEuler (iDyn::iDynChain *_c, std::string _info, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Constructor (note: without FT sensor)

	~OneChainNewtonEuler ()
	Standard destructor.

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

bool	getVelAccAfterForward (unsigned int i, yarp::sig::Vector &w, yarp::sig::Vector &dw, yarp::sig::Vector &dwM, yarp::sig::Vector &ddp, yarp::sig::Vector &ddpC) const
	Useful to debug, getting the intermediate computations after the forward phase.

bool	getWrenchAfterForward (unsigned int i, yarp::sig::Vector &F, yarp::sig::Vector &Mu) const
	Useful to debug, getting the intermediate computations after the forward phase.

void	getVelAccBase (yarp::sig::Vector &w, yarp::sig::Vector &dw, yarp::sig::Vector &ddp) const
	This method is used by iDynChain to retrieve kinematic information for connection with one or more iDynLimb, through iDynNode.

void	getVelAccEnd (yarp::sig::Vector &w, yarp::sig::Vector &dw, yarp::sig::Vector &ddp) const
	This method is used by iDynChain to retrieve kinematic information for connection with one or more iDynLimb, through iDynNode.

void	getWrenchBase (yarp::sig::Vector &F, yarp::sig::Vector &Mu) const
	This method is used by iDynChain to retrieve wrench information for connection with one or more iDynLimb, through iDynNode.

void	getWrenchEnd (yarp::sig::Vector &F, yarp::sig::Vector &Mu) const
	This method is used by iDynChain to retrieve wrench information for connection with one or more iDynLimb, through iDynNode.

void	setVerbose (unsigned int verb=iCub::skinDynLib::VERBOSE)

void	setMode (const NewEulMode _mode)

void	setInfo (const std::string _info)

bool	initKinematicBase (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	[classic] Initialize the base with measured or known kinematics variables

bool	initKinematicEnd (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	[inverse] Initialize the end-effector finalLink with measured or known kinematics variables

bool	initWrenchEnd (const yarp::sig::Vector &F0, const yarp::sig::Vector &Mu0)
	[classic] Initialize the end-effector finalLink with measured or known wrench

bool	initWrenchBase (const yarp::sig::Vector &F0, const yarp::sig::Vector &Mu0)
	[inverse] Initialize the base with measured or known wrench

std::string	getInfo () const

NewEulMode	getMode () const

void	ForwardKinematicFromBase ()
	[classic/inverse] Base function for forward of classical Newton-Euler.

void	ForwardKinematicFromBase (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	[classic/inverse] Forward of classical Newton-Euler, after initializing the base link

void	BackwardKinematicFromEnd ()
	[inverse] Base function for forward of classical Newton-Euler.

void	BackwardKinematicFromEnd (const yarp::sig::Vector &we, const yarp::sig::Vector &dwe, const yarp::sig::Vector &ddpe)
	[inverse] Forward of classical Newton-Euler, after initializing the base link

void	BackwardWrenchFromEnd ()
	[classic] Base function for backward of classical Newton-Euler.

void	BackwardWrenchFromEnd (const yarp::sig::Vector &F, const yarp::sig::Vector &Mu)
	[classic] Backward of classical Newton-Euler, after initializing the final link

void	computeTorques ()
	Computes all the torques in the chain, assuming that all the internal wrenches have been already computed.

void	ForwardWrenchFromBase ()
	[inverse] Base function for inverse Newton-Euler: from the i-th link to the end, forward of forces and moments using the inverse formula

void	ForwardWrenchFromBase (const yarp::sig::Vector &F, const yarp::sig::Vector &Mu)
	[inverse] Base function for inverse Newton-Euler: from the i-th link to the base, backward of forces and moments using the classical formula

bool	ForwardWrenchToEnd (unsigned int lSens)
	[inverse] Base function for inverse Newton-Euler: from the i-th link to the end, forward of forces and moments using the inverse formula

bool	BackwardWrenchToBase (unsigned int lSens)
	[classic/inverse] Base function for inverse Newton-Euler: from the i-th link to the base, backward of forces and moments using the classical formula

bool	ForwardWrenchFromAtoB (unsigned int lA, unsigned int lB)
	Base function for inverse Newton-Euler: from the lA-th link to the lB-th, forward of forces and moments using the inverse formula; lA < lB.

bool	BackwardWrenchFromAtoB (unsigned int lA, unsigned int lB)
	Base function for inverse Newton-Euler: from the lA-th link to the lB-th, backward of forces and moments; lA > lB.

Protected Attributes
iDyn::iDynChain *	chain
	the real kinematic/dynamic chain of the robot

OneLinkNewtonEuler **	neChain
	the chain of links/frames for Newton-Euler computations

unsigned int	nLinks
	number of links

unsigned int	nEndEff
	the index of the end-effector in the chain (the last frame)

NewEulMode	mode
	static/dynamic/dynamicWrotor

std::string	info
	info or useful notes

unsigned int	verbose
	verbosity flag

Friends
class	iDynChain

Detailed Description

A class for computing forces and torques in a iDynChain.

Definition at line 881 of file iDynInv.h.

Constructor & Destructor Documentation

◆ OneChainNewtonEuler()

OneChainNewtonEuler::OneChainNewtonEuler	(	iDyn::iDynChain *	_c,
		std::string	_info,
		const NewEulMode	_mode = `DYNAMIC`,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`
	)

Constructor (note: without FT sensor)

Definition at line 1673 of file iDynInv.cpp.

◆ ~OneChainNewtonEuler()

OneChainNewtonEuler::~OneChainNewtonEuler ( )

Standard destructor.

Definition at line 1713 of file iDynInv.cpp.

Member Function Documentation

◆ BackwardKinematicFromEnd() [1/2]

void OneChainNewtonEuler::BackwardKinematicFromEnd ( )

[inverse] Base function for forward of classical Newton-Euler.

Definition at line 1867 of file iDynInv.cpp.

◆ BackwardKinematicFromEnd() [2/2]

void iCub::iDyn::OneChainNewtonEuler::BackwardKinematicFromEnd	(	const yarp::sig::Vector &	we,
		const yarp::sig::Vector &	dwe,
		const yarp::sig::Vector &	ddpe
	)

[inverse] Forward of classical Newton-Euler, after initializing the base link

◆ BackwardWrenchFromAtoB()

bool OneChainNewtonEuler::BackwardWrenchFromAtoB	(	unsigned int	lA,
		unsigned int	lB
	)

Base function for inverse Newton-Euler: from the lA-th link to the lB-th, backward of forces and moments; lA > lB.

Parameters

lA	the lA-th link
lB	the lB-th link

Returns: true if the operation is successful, false otherwise (eg out of range index)

Definition at line 1995 of file iDynInv.cpp.

◆ BackwardWrenchFromEnd() [1/2]

void OneChainNewtonEuler::BackwardWrenchFromEnd ( )

[classic] Base function for backward of classical Newton-Euler.

Definition at line 1883 of file iDynInv.cpp.

◆ BackwardWrenchFromEnd() [2/2]

void iCub::iDyn::OneChainNewtonEuler::BackwardWrenchFromEnd	(	const yarp::sig::Vector &	F,
		const yarp::sig::Vector &	Mu
	)

[classic] Backward of classical Newton-Euler, after initializing the final link

◆ BackwardWrenchToBase()

bool OneChainNewtonEuler::BackwardWrenchToBase ( unsigned int lSens )

[classic/inverse] Base function for inverse Newton-Euler: from the i-th link to the base, backward of forces and moments using the classical formula

Parameters

lSens the i-th link, where the sensor is attached to

Returns: true if the operation is successful, false otherwise (eg out of range index)

Definition at line 1947 of file iDynInv.cpp.

◆ computeTorques()

void OneChainNewtonEuler::computeTorques ( )

Computes all the torques in the chain, assuming that all the internal wrenches have been already computed.

Definition at line 1892 of file iDynInv.cpp.

◆ ForwardKinematicFromBase() [1/2]

void OneChainNewtonEuler::ForwardKinematicFromBase ( )

[classic/inverse] Base function for forward of classical Newton-Euler.

Definition at line 1851 of file iDynInv.cpp.

◆ ForwardKinematicFromBase() [2/2]

void iCub::iDyn::OneChainNewtonEuler::ForwardKinematicFromBase	(	const yarp::sig::Vector &	w0,
		const yarp::sig::Vector &	dw0,
		const yarp::sig::Vector &	ddp0
	)

[classic/inverse] Forward of classical Newton-Euler, after initializing the base link

◆ ForwardWrenchFromAtoB()

bool OneChainNewtonEuler::ForwardWrenchFromAtoB	(	unsigned int	lA,
		unsigned int	lB
	)

Base function for inverse Newton-Euler: from the lA-th link to the lB-th, forward of forces and moments using the inverse formula; lA < lB.

Parameters

lA	the lA-th link
lB	the lB-th link

Returns: true if the operation is successful, false otherwise (eg out of range index)

Definition at line 1976 of file iDynInv.cpp.

◆ ForwardWrenchFromBase() [1/2]

void OneChainNewtonEuler::ForwardWrenchFromBase ( )

[inverse] Base function for inverse Newton-Euler: from the i-th link to the end, forward of forces and moments using the inverse formula

Definition at line 1908 of file iDynInv.cpp.

◆ ForwardWrenchFromBase() [2/2]

void iCub::iDyn::OneChainNewtonEuler::ForwardWrenchFromBase	(	const yarp::sig::Vector &	F,
		const yarp::sig::Vector &	Mu
	)

[inverse] Base function for inverse Newton-Euler: from the i-th link to the base, backward of forces and moments using the classical formula

Parameters

lSens the i-th link, where the sensor is attached to

Returns: true if the operation is successful, false otherwise (eg out of range index)

◆ ForwardWrenchToEnd()

bool OneChainNewtonEuler::ForwardWrenchToEnd ( unsigned int lSens )

[inverse] Base function for inverse Newton-Euler: from the i-th link to the end, forward of forces and moments using the inverse formula

Parameters

lSens the i-th link, where the sensor is attached to

Returns: true if the operation is successful, false otherwise (eg out of range index)

Definition at line 1926 of file iDynInv.cpp.

◆ getInfo()

string OneChainNewtonEuler::getInfo ( ) const

Returns: information about the chain

Definition at line 1843 of file iDynInv.cpp.

◆ getMode()

NewEulMode OneChainNewtonEuler::getMode ( ) const

Returns: the computational mode: static/dynamic/etc

Definition at line 1844 of file iDynInv.cpp.

◆ getVelAccAfterForward()

bool OneChainNewtonEuler::getVelAccAfterForward	(	unsigned int	i,
		yarp::sig::Vector &	w,
		yarp::sig::Vector &	dw,
		yarp::sig::Vector &	dwM,
		yarp::sig::Vector &	ddp,
		yarp::sig::Vector &	ddpC
	)		const

Useful to debug, getting the intermediate computations after the forward phase.

Definition at line 1732 of file iDynInv.cpp.

◆ getVelAccBase()

void OneChainNewtonEuler::getVelAccBase	(	yarp::sig::Vector &	w,
		yarp::sig::Vector &	dw,
		yarp::sig::Vector &	ddp
	)		const

This method is used by iDynChain to retrieve kinematic information for connection with one or more iDynLimb, through iDynNode.

Definition at line 1767 of file iDynInv.cpp.

◆ getVelAccEnd()

void OneChainNewtonEuler::getVelAccEnd	(	yarp::sig::Vector &	w,
		yarp::sig::Vector &	dw,
		yarp::sig::Vector &	ddp
	)		const

This method is used by iDynChain to retrieve kinematic information for connection with one or more iDynLimb, through iDynNode.

Definition at line 1774 of file iDynInv.cpp.

◆ getWrenchAfterForward()

bool OneChainNewtonEuler::getWrenchAfterForward	(	unsigned int	i,
		yarp::sig::Vector &	F,
		yarp::sig::Vector &	Mu
	)		const

Useful to debug, getting the intermediate computations after the forward phase.

Definition at line 1751 of file iDynInv.cpp.

◆ getWrenchBase()

void OneChainNewtonEuler::getWrenchBase	(	yarp::sig::Vector &	F,
		yarp::sig::Vector &	Mu
	)		const

This method is used by iDynChain to retrieve wrench information for connection with one or more iDynLimb, through iDynNode.

Definition at line 1781 of file iDynInv.cpp.

◆ getWrenchEnd()

void OneChainNewtonEuler::getWrenchEnd	(	yarp::sig::Vector &	F,
		yarp::sig::Vector &	Mu
	)		const

This method is used by iDynChain to retrieve wrench information for connection with one or more iDynLimb, through iDynNode.

Definition at line 1787 of file iDynInv.cpp.

◆ initKinematicBase()

bool OneChainNewtonEuler::initKinematicBase	(	const yarp::sig::Vector &	w0,
		const yarp::sig::Vector &	dw0,
		const yarp::sig::Vector &	ddp0
	)

[classic] Initialize the base with measured or known kinematics variables

Parameters

w0	angular velocity
dw0	angular acceleration
ddp0	linear acceleration

Returns: true if succeeds, false otherwise

Definition at line 1818 of file iDynInv.cpp.

◆ initKinematicEnd()

bool OneChainNewtonEuler::initKinematicEnd	(	const yarp::sig::Vector &	w0,
		const yarp::sig::Vector &	dw0,
		const yarp::sig::Vector &	ddp0
	)

[inverse] Initialize the end-effector finalLink with measured or known kinematics variables

Parameters

w0	angular velocity
dw0	angular acceleration
ddp0	linear acceleration

Returns: true if succeeds, false otherwise

Definition at line 1823 of file iDynInv.cpp.

◆ initWrenchBase()

bool OneChainNewtonEuler::initWrenchBase	(	const yarp::sig::Vector &	F0,
		const yarp::sig::Vector &	Mu0
	)

[inverse] Initialize the base with measured or known wrench

Parameters

F0	force
Mu0	moment

Returns: true if succeeds, false otherwise

Definition at line 1833 of file iDynInv.cpp.

◆ initWrenchEnd()

bool OneChainNewtonEuler::initWrenchEnd	(	const yarp::sig::Vector &	F0,
		const yarp::sig::Vector &	Mu0
	)

[classic] Initialize the end-effector finalLink with measured or known wrench

Parameters

F0	force
Mu0	moment

Returns: true if succeeds, false otherwise

Definition at line 1828 of file iDynInv.cpp.

◆ setInfo()

void OneChainNewtonEuler::setInfo ( const std::string _info )

Definition at line 1813 of file iDynInv.cpp.

◆ setMode()

void OneChainNewtonEuler::setMode ( const NewEulMode _mode )

Definition at line 1806 of file iDynInv.cpp.

◆ setVerbose()

void OneChainNewtonEuler::setVerbose ( unsigned int verb = iCub::skinDynLib::VERBOSE )

Definition at line 1799 of file iDynInv.cpp.

◆ toString()

string OneChainNewtonEuler::toString ( ) const

Useful to print some information.

Definition at line 1720 of file iDynInv.cpp.

Friends And Related Symbol Documentation

◆ iDynChain

friend class iDynChain

friend

Definition at line 883 of file iDynInv.h.

Member Data Documentation

◆ chain

iDyn::iDynChain* iCub::iDyn::OneChainNewtonEuler::chain

protected

the real kinematic/dynamic chain of the robot

Definition at line 888 of file iDynInv.h.

◆ info

std::string iCub::iDyn::OneChainNewtonEuler::info

protected

info or useful notes

Definition at line 900 of file iDynInv.h.

◆ mode

NewEulMode iCub::iDyn::OneChainNewtonEuler::mode

protected

static/dynamic/dynamicWrotor

Definition at line 898 of file iDynInv.h.

◆ neChain

OneLinkNewtonEuler** iCub::iDyn::OneChainNewtonEuler::neChain

protected

the chain of links/frames for Newton-Euler computations

Definition at line 890 of file iDynInv.h.

◆ nEndEff

unsigned int iCub::iDyn::OneChainNewtonEuler::nEndEff

protected

the index of the end-effector in the chain (the last frame)

Definition at line 895 of file iDynInv.h.

◆ nLinks

unsigned int iCub::iDyn::OneChainNewtonEuler::nLinks

protected

number of links

Definition at line 893 of file iDynInv.h.

◆ verbose

unsigned int iCub::iDyn::OneChainNewtonEuler::verbose

protected

verbosity flag

Definition at line 902 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

Friends

Detailed Description

Constructor & Destructor Documentation

◆ OneChainNewtonEuler()

◆ ~OneChainNewtonEuler()

Member Function Documentation

◆ BackwardKinematicFromEnd() [1/2]

◆ BackwardKinematicFromEnd() [2/2]

◆ BackwardWrenchFromAtoB()

◆ BackwardWrenchFromEnd() [1/2]

◆ BackwardWrenchFromEnd() [2/2]

◆ BackwardWrenchToBase()

◆ computeTorques()

◆ ForwardKinematicFromBase() [1/2]

◆ ForwardKinematicFromBase() [2/2]

◆ ForwardWrenchFromAtoB()

◆ ForwardWrenchFromBase() [1/2]

◆ ForwardWrenchFromBase() [2/2]

◆ ForwardWrenchToEnd()

◆ getInfo()

◆ getMode()

◆ getVelAccAfterForward()

◆ getVelAccBase()

◆ getVelAccEnd()

◆ getWrenchAfterForward()

◆ getWrenchBase()

◆ getWrenchEnd()

◆ initKinematicBase()

◆ initKinematicEnd()

◆ initWrenchBase()

◆ initWrenchEnd()

◆ setInfo()

◆ setMode()

◆ setVerbose()

◆ toString()

Friends And Related Symbol Documentation

◆ iDynChain

Member Data Documentation

◆ chain

◆ info

◆ mode

◆ neChain

◆ nEndEff

◆ nLinks

◆ verbose