A base class for computing forces and torques in a serial link chain. More...

#include <iDynInv.h>

Inheritance diagram for iCub::iDyn::OneLinkNewtonEuler:

Public Member Functions
	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	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

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

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::Vector &	getAngVel () const

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

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

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

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

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

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

virtual double	getTorque () const

virtual double	getIm () const

virtual double	getFs () const

virtual double	getFv () const

virtual double	getD2q () const

virtual double	getDq () const

virtual double	getKr () const

virtual double	getMass () const

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

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

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

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

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

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

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 Member Functions
virtual 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.

virtual 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.

virtual 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)

virtual 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)

virtual 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)

virtual 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)

virtual 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)

virtual 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)

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

Protected Attributes
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

Detailed Description

A base class for computing forces and torques in a serial link chain.

Definition at line 95 of file iDynInv.h.

Constructor & Destructor Documentation

◆ OneLinkNewtonEuler() [1/2]

OneLinkNewtonEuler::OneLinkNewtonEuler ( iDyn::iDynLink * dlink = NULL )

Default constructor.

Definition at line 46 of file iDynInv.cpp.

◆ OneLinkNewtonEuler() [2/2]

OneLinkNewtonEuler::OneLinkNewtonEuler	(	const NewEulMode	_mode,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`,
		iDyn::iDynLink *	dlink = `NULL`
	)

Constructor, with initialization of some data.

Definition at line 56 of file iDynInv.cpp.

◆ ~OneLinkNewtonEuler()

virtual iCub::iDyn::OneLinkNewtonEuler::~OneLinkNewtonEuler ( )

inlinevirtual

Destructor.

Definition at line 267 of file iDynInv.h.

Member Function Documentation

◆ BackwardKinematics()

void OneLinkNewtonEuler::BackwardKinematics ( OneLinkNewtonEuler * prev )

[Backward Kinematic computation] Compute w, dw, ddp, ddpC, dwM

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 729 of file iDynInv.cpp.

◆ BackwardWrench()

void OneLinkNewtonEuler::BackwardWrench ( OneLinkNewtonEuler * next )

[Backward Newton-Euler] Compute F, Mu, Tau

Parameters

next	the OneLinkNewtonEuler class of the following link

Definition at line 737 of file iDynInv.cpp.

◆ computeAngAcc()

void OneLinkNewtonEuler::computeAngAcc ( OneLinkNewtonEuler * prev )

protected

[Forward Newton-Euler] compute angular acceleration of the link

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 428 of file iDynInv.cpp.

◆ computeAngAccBackward()

void OneLinkNewtonEuler::computeAngAccBackward ( OneLinkNewtonEuler * prev )

protected

[Forward Newton-Euler] compute angular acceleration of the previous link frame

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 460 of file iDynInv.cpp.

◆ computeAngAccM()

void OneLinkNewtonEuler::computeAngAccM ( OneLinkNewtonEuler * prev )

protected

[Forward Newton-Euler] compute angular acceleration of the rotor

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Returns: dwM

Definition at line 563 of file iDynInv.cpp.

◆ computeAngVel()

void OneLinkNewtonEuler::computeAngVel ( OneLinkNewtonEuler * prev )

protected

[Forward Newton-Euler] compute angular velocity of the link

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 388 of file iDynInv.cpp.

◆ computeAngVelBackward()

void OneLinkNewtonEuler::computeAngVelBackward ( OneLinkNewtonEuler * prev )

protected

[Forward Newton-Euler] compute angular velocity of the previous link frame

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 408 of file iDynInv.cpp.

◆ computeForceBackward()

void OneLinkNewtonEuler::computeForceBackward ( OneLinkNewtonEuler * next )

protected

[Backward Newton-Euler] compute force from the following link

Parameters

next	the OneLinkNewtonEuler class of the following link

Definition at line 581 of file iDynInv.cpp.

◆ computeForceForward()

void OneLinkNewtonEuler::computeForceForward ( OneLinkNewtonEuler * prev )

protected

[Inverse Newton-Euler] compute force from the previous link

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 588 of file iDynInv.cpp.

◆ computeLinAcc()

void OneLinkNewtonEuler::computeLinAcc ( OneLinkNewtonEuler * prev )

protected

[Forward Newton-Euler] compute linear acceleration of the reference frame of the link

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 492 of file iDynInv.cpp.

◆ computeLinAccBackward()

void OneLinkNewtonEuler::computeLinAccBackward ( OneLinkNewtonEuler * prev )

protected

[Forward Newton-Euler] compute linear acceleration of the reference frame of the previous link

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 517 of file iDynInv.cpp.

◆ computeLinAccC()

void OneLinkNewtonEuler::computeLinAccC ( )

protected

[Forward Newton-Euler] compute linear acceleration of the center of mass

Returns: ddpC

Definition at line 542 of file iDynInv.cpp.

◆ computeMomentBackward()

void OneLinkNewtonEuler::computeMomentBackward ( OneLinkNewtonEuler * next )

protected

[Backward Newton-Euler] compute moment from the following link

Parameters

next	the OneLinkNewtonEuler class of the following link

Definition at line 596 of file iDynInv.cpp.

◆ computeMomentForward()

void OneLinkNewtonEuler::computeMomentForward ( OneLinkNewtonEuler * prev )

protected

[Inverse Newton-Euler] compute moment from the previous link

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 642 of file iDynInv.cpp.

◆ computeTorque()

void OneLinkNewtonEuler::computeTorque ( OneLinkNewtonEuler * prev )

virtual

[all] Compute joint torque; moment must be pre-computed

Parameters

next	the OneLinkNewtonEuler class of the following link

Definition at line 698 of file iDynInv.cpp.

◆ ForwardKinematics()

void OneLinkNewtonEuler::ForwardKinematics ( OneLinkNewtonEuler * prev )

[Forward Newton-Euler] Compute w, dw, ddp, ddpC, dwM

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 720 of file iDynInv.cpp.

◆ ForwardWrench()

void OneLinkNewtonEuler::ForwardWrench ( OneLinkNewtonEuler * prev )

[Inverse Newton-Euler] Compute F, Mu, Tau

Parameters

prev	the OneLinkNewtonEuler class of the previous link

Definition at line 743 of file iDynInv.cpp.

◆ getAngAcc()

const Vector & OneLinkNewtonEuler::getAngAcc ( ) const

virtual

Returns: dw = angular acceleration (3x1)

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 340 of file iDynInv.cpp.

◆ getAngAccM()

const Vector & OneLinkNewtonEuler::getAngAccM ( ) const

virtual

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

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 342 of file iDynInv.cpp.

◆ getAngVel()

const Vector & OneLinkNewtonEuler::getAngVel ( ) const

virtual

Returns: w = angular velocity (3x1)

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 338 of file iDynInv.cpp.

◆ getD2q()

double OneLinkNewtonEuler::getD2q ( ) const

virtual

Returns: ddq = d2q = joint acceleration

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 364 of file iDynInv.cpp.

◆ getDq()

double OneLinkNewtonEuler::getDq ( ) const

virtual

Returns: dq = dq = joint velocity

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 366 of file iDynInv.cpp.

◆ getForce()

const Vector & OneLinkNewtonEuler::getForce ( ) const

virtual

Returns: F = force (3x1)

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 348 of file iDynInv.cpp.

◆ getFs()

double OneLinkNewtonEuler::getFs ( ) const

virtual

Returns: Fs = static friction

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 370 of file iDynInv.cpp.

◆ getFv()

double OneLinkNewtonEuler::getFv ( ) const

virtual

Returns: Fv = viscous friction

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 372 of file iDynInv.cpp.

◆ getH()

const Matrix & OneLinkNewtonEuler::getH ( )

virtual

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

Reimplemented in iCub::iDyn::FinalLinkNewtonEuler.

Definition at line 356 of file iDynInv.cpp.

◆ getIm()

double OneLinkNewtonEuler::getIm ( ) const

virtual

Returns: Im

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 362 of file iDynInv.cpp.

◆ getInertia()

const Matrix & OneLinkNewtonEuler::getInertia ( ) const

virtual

Returns: I = inertia of the link

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 376 of file iDynInv.cpp.

◆ getInfo()

string OneLinkNewtonEuler::getInfo ( ) const

Returns: the info string

Definition at line 354 of file iDynInv.cpp.

◆ getKr()

double OneLinkNewtonEuler::getKr ( ) const

virtual

Returns: Kr

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 368 of file iDynInv.cpp.

◆ getLinAcc()

const Vector & OneLinkNewtonEuler::getLinAcc ( ) const

virtual

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

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 344 of file iDynInv.cpp.

◆ getLinAccC()

const Vector & OneLinkNewtonEuler::getLinAccC ( ) const

virtual

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

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 346 of file iDynInv.cpp.

◆ getMass()

double OneLinkNewtonEuler::getMass ( ) const

virtual

Returns: m = mass of the link

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 374 of file iDynInv.cpp.

◆ getMode()

NewEulMode OneLinkNewtonEuler::getMode ( ) const

Returns: the operation mode (static, dynamic etc)

Definition at line 334 of file iDynInv.cpp.

◆ getMoment()

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

virtual

Returns: Mu = moment (3x1)

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 350 of file iDynInv.cpp.

◆ getR()

const Matrix & OneLinkNewtonEuler::getR ( )

virtual

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

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 358 of file iDynInv.cpp.

◆ getr()

const Vector & OneLinkNewtonEuler::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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 378 of file iDynInv.cpp.

◆ getRC()

const Matrix & OneLinkNewtonEuler::getRC ( )

virtual

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

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 360 of file iDynInv.cpp.

◆ getrC()

const Vector & OneLinkNewtonEuler::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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 380 of file iDynInv.cpp.

◆ getTorque()

double OneLinkNewtonEuler::getTorque ( ) const

virtual

Returns: Tau = torque (1x1)

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 352 of file iDynInv.cpp.

◆ getZM()

Vector OneLinkNewtonEuler::getZM ( ) const

Returns: zM vector (3x1)

Definition at line 336 of file iDynInv.cpp.

◆ setAngAcc()

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

protectedvirtual

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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 196 of file iDynInv.cpp.

◆ setAngAccM()

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

protectedvirtual

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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 241 of file iDynInv.cpp.

◆ setAngVel()

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

protectedvirtual

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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 181 of file iDynInv.cpp.

◆ setAsBase() [1/2]

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

virtual

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler.

◆ setAsBase() [2/2]

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

virtual

Virtual method to set the frame as the base one: this is useful to initialize the forward phase of Newton-Euler's method.

The BaseLink class is used to this scope.

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler.

◆ setAsFinal() [1/2]

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

virtual

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.

Parameters

_F	the final force
_Mu	the final moment

Reimplemented in iCub::iDyn::FinalLinkNewtonEuler.

◆ setAsFinal() [2/2]

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

virtual

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.

Parameters

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

Reimplemented in iCub::iDyn::FinalLinkNewtonEuler.

◆ setForce()

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

protectedvirtual

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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 146 of file iDynInv.cpp.

◆ setInfo()

void OneLinkNewtonEuler::setInfo ( const std::string & _info )

Set some information about this OneLink class.

Parameters

_info a string

Definition at line 256 of file iDynInv.cpp.

◆ setLinAcc()

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

protectedvirtual

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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 211 of file iDynInv.cpp.

◆ setLinAccC()

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

protectedvirtual

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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 226 of file iDynInv.cpp.

◆ setMeasuredFMu()

bool OneLinkNewtonEuler::setMeasuredFMu	(	const yarp::sig::Vector &	_F,
		const yarp::sig::Vector &	_Mu
	)

virtual

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.

Parameters

_F	the sensor force
_Mu	the sensor moment

Reimplemented in iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 261 of file iDynInv.cpp.

◆ setMeasuredTorque()

bool OneLinkNewtonEuler::setMeasuredTorque ( const double _Tau )

virtual

Set measured torque in a joint torque sensor frame

Parameters

_Tau	the sensor torque

Definition at line 286 of file iDynInv.cpp.

◆ setMode()

void OneLinkNewtonEuler::setMode ( const NewEulMode _mode )

Set the operation mode (static,dynamic etc)

Parameters

_mode the NewEulMode defining the type of operations

Definition at line 122 of file iDynInv.cpp.

◆ setMoment()

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

protectedvirtual

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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 161 of file iDynInv.cpp.

◆ setTorque()

void OneLinkNewtonEuler::setTorque ( const double _Tau )

protectedvirtual

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 in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 176 of file iDynInv.cpp.

◆ setVerbose()

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

Set the verbosity level of comments during operations.

Parameters

verb,a boolean flag

Definition at line 117 of file iDynInv.cpp.

◆ setZM()

bool OneLinkNewtonEuler::setZM ( const yarp::sig::Vector & _zm )

Set the zM vector.

Parameters

_zm	a (3x1) vector zM

Returns: true if size is correct, false otherwise

Definition at line 127 of file iDynInv.cpp.

◆ toString()

string OneLinkNewtonEuler::toString ( ) const

virtual

Useful to print some information.

Reimplemented in iCub::iDyn::BaseLinkNewtonEuler, iCub::iDyn::FinalLinkNewtonEuler, and iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 301 of file iDynInv.cpp.

◆ zero()

void OneLinkNewtonEuler::zero ( )

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

Definition at line 66 of file iDynInv.cpp.

Member Data Documentation

◆ info

std::string iCub::iDyn::OneLinkNewtonEuler::info

protected

info or useful notes

Definition at line 102 of file iDynInv.h.

◆ link

iDyn::iDynLink* iCub::iDyn::OneLinkNewtonEuler::link

protected

the corresponding iDynLink

Definition at line 110 of file iDynInv.h.

◆ mode

NewEulMode iCub::iDyn::OneLinkNewtonEuler::mode

protected

STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY.

Definition at line 100 of file iDynInv.h.

◆ verbose

unsigned int iCub::iDyn::OneLinkNewtonEuler::verbose

protected

verbosity flag

Definition at line 104 of file iDynInv.h.

◆ z0

yarp::sig::Vector iCub::iDyn::OneLinkNewtonEuler::z0

protected

z0=[0 0 1]'

Definition at line 106 of file iDynInv.h.

◆ zm

yarp::sig::Vector iCub::iDyn::OneLinkNewtonEuler::zm

protected

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

Definition at line 108 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 Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OneLinkNewtonEuler() [1/2]

◆ OneLinkNewtonEuler() [2/2]

◆ ~OneLinkNewtonEuler()

Member Function Documentation

◆ BackwardKinematics()

◆ BackwardWrench()

◆ computeAngAcc()

◆ computeAngAccBackward()

◆ computeAngAccM()

◆ computeAngVel()

◆ computeAngVelBackward()

◆ computeForceBackward()

◆ computeForceForward()

◆ computeLinAcc()

◆ computeLinAccBackward()

◆ computeLinAccC()

◆ computeMomentBackward()

◆ computeMomentForward()

◆ computeTorque()

◆ ForwardKinematics()

◆ ForwardWrench()

◆ getAngAcc()

◆ getAngAccM()

◆ getAngVel()

◆ getD2q()

◆ getDq()

◆ getForce()

◆ getFs()

◆ getFv()

◆ getH()

◆ getIm()

◆ getInertia()

◆ getInfo()

◆ getKr()

◆ getLinAcc()

◆ getLinAccC()

◆ getMass()

◆ getMode()

◆ getMoment()

◆ getR()

◆ getr()

◆ getRC()

◆ getrC()

◆ getTorque()

◆ getZM()

◆ setAngAcc()

◆ setAngAccM()

◆ setAngVel()

◆ setAsBase() [1/2]

◆ setAsBase() [2/2]

◆ setAsFinal() [1/2]

◆ setAsFinal() [2/2]

◆ setForce()

◆ setInfo()

◆ setLinAcc()

◆ setLinAccC()

◆ setMeasuredFMu()

◆ setMeasuredTorque()

◆ setMode()

◆ setMoment()

◆ setTorque()

◆ setVerbose()

◆ setZM()

◆ toString()

◆ zero()

Member Data Documentation

◆ info

◆ link

◆ mode

◆ verbose

◆ z0

◆ zm