iCub::iDyn::iCubLegDynV2 Class Reference

A class for defining the 6-DOF iCub Leg. More...

#include <iDyn.h>

Inheritance diagram for iCub::iDyn::iCubLegDynV2:

Public Member Functions
	iCubLegDynV2 ()
	Default constructor. More...
	iCubLegDynV2 (const std::string &_type, const ChainComputationMode _mode=KINFWD_WREBWD)
	Constructor. More...
	iCubLegDynV2 (const iCubLegDyn &leg)
	Creates a new Leg from an already existing Leg object. More...
virtual bool	alignJointsBounds (const std::deque< yarp::dev::IControlLimits * > &lim)
	Alignes the Leg joints bounds with current values set aboard the iCub. More...
Public Member Functions inherited from iCub::iDyn::iDynLimb
	iDynLimb ()
	Default constructor: right arm is default. More...
	iDynLimb (const std::string &_type)
	Constructor. More...
	iDynLimb (const iDynLimb &limb)
	Creates a new Limb from an already existing Limb object. More...
	iDynLimb (const yarp::os::Property &option)
	Creates a new Limb from a list of properties wherein links parameters are specified. More...
bool	fromLinksProperties (const yarp::os::Property &option)
	Initializes the Limb from a list of properties wherein links parameters are specified. More...
bool	isValid ()
	Checks if the limb has been properly configured. More...
iDynLimb &	operator= (const iDynLimb &limb)
	Copies a Limb object into the current one. More...
iDynChain *	asChain ()
	Returns a pointer to the Limb seen as Chain object. More...
std::string	getType ()
	Returns the Limb type as a string. More...
virtual	~iDynLimb ()
	Destructor. More...
Public Member Functions inherited from iCub::iDyn::iDynChain
	iDynChain ()
	Default constructor. More...
	iDynChain (const iDynChain &c)
	Creates a new Chain from an already existing Chain object. More...
iDynChain &	operator= (const iDynChain &c)
	Copies a Chain object into the current one. More...
yarp::sig::Vector	setAng (const yarp::sig::Vector &q)
	Sets the free joint angles to values of q[i]. More...
yarp::sig::Vector	setDAng (const yarp::sig::Vector &dq)
	Sets the free joint angles velocity to values of dq[i]. More...
yarp::sig::Vector	setD2Ang (const yarp::sig::Vector &ddq)
	Sets the free joint angles acceleration to values of ddq[i]. More...
yarp::sig::Vector	getDAng ()
	Returns the current free joint angles velocity. More...
yarp::sig::Vector	getD2Ang ()
	Returns the current free joint angles acceleration. More...
yarp::sig::Vector	getJointBoundMin ()
	Returns a list containing the min value for each joint. More...
yarp::sig::Vector	getJointBoundMax ()
	Returns a list containing the max value for each joint. More...
double	setAng (const unsigned int i, double q)
	Sets the ith joint angle. More...
double	setDAng (const unsigned int i, double dq)
	Sets the ith joint angle velocity. More...
double	setD2Ang (const unsigned int i, double ddq)
	Sets the ith joint angle acceleration. More...
double	getDAng (const unsigned int i)
	Returns the current angle velocity of ith joint. More...
double	getD2Ang (const unsigned int i)
	Returns the current angle acceleration of ith joint. More...
yarp::sig::Vector	getMasses () const
	Returns the link masses as a vector. More...
bool	setMasses (yarp::sig::Vector _m)
	Set the link masses at once. More...
double	getMass (const unsigned int i) const
	Returns the i-th link mass. More...
bool	setMass (const unsigned int i, const double _m)
	Set the i-th link mass. More...
yarp::sig::Matrix	getInertia (const unsigned int i) const
	Returns the i-th link inertia matrix. More...
yarp::sig::Matrix	getForces () const
	Returns the links forces as a matrix, where the i-th col is the i-th force. More...
yarp::sig::Matrix	getMoments () const
	Returns the links moments as a matrix, where the i-th col is the i-th moment. More...
yarp::sig::Vector	getTorques () const
	Returns the links torque as a vector. More...
const yarp::sig::Vector &	getForce (const unsigned int iLink) const
	Returns the i-th link force. More...
const yarp::sig::Vector &	getMoment (const unsigned int iLink) const
	Returns the i-th link moment. More...
double	getTorque (const unsigned int iLink) const
	Returns the i-th link torque. More...
yarp::sig::Vector	getLinVel (const unsigned int i) const
	Returns the i-th link linear velocity. More...
yarp::sig::Vector	getLinVelCOM (const unsigned int i) const
	Returns the i-th link linear velocity of the COM. More...
yarp::sig::Vector	getLinAcc (const unsigned int i) const
	Returns the i-th link linear acceleration. More...
const yarp::sig::Vector &	getLinAccCOM (const unsigned int i) const
	Returns the i-th link linear acceleration of the COM. More...
yarp::sig::Vector	getAngVel (const unsigned int i) const
	Returns the i-th link angular velocity. More...
yarp::sig::Vector	getAngAcc (const unsigned int i) const
	Returns the i-th link angular acceleration. More...
bool	setDynamicParameters (const unsigned int i, const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I, const double _kr, const double _Fv, const double _Fs, const double _Im)
	Set the dynamic parameters of the i-th Link with motor. More...
bool	setDynamicParameters (const unsigned int i, const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I)
	Set the dynamic parameters of the i-th Link. More...
bool	setStaticParameters (const unsigned int i, const double _m, const yarp::sig::Matrix &_HC)
	Set the dynamic parameters of the i-th Link if the chain is in a static situation (inertia is null). More...
void	prepareNewtonEuler (const NewEulMode NewEulMode_s=DYNAMIC)
	Prepare for the Newton-Euler recursive computation of forces and torques. More...
bool	computeNewtonEuler (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0, const yarp::sig::Vector &Fend, const yarp::sig::Vector &Muend)
	Compute forces and torques with the Newton-Euler recursive algorithm: forward and backward phase are performed, and results are stored in the links; to get resulting forces and torques, one can call getForces() and getMoments() methods. More...
bool	computeNewtonEuler ()
	Compute forces and torques with the Newton-Euler recursive algorithm: forward and backward phase are performed, and results are stored in the links; to get resulting forces and torques, one can call getForces() and getMoments() methods; before calling this method, initNewtonEuler() must be called. More...
bool	initNewtonEuler (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0, const yarp::sig::Vector &Fend, const yarp::sig::Vector &Muend)
	Initialize the Newton-Euler method by setting the base (virtual link) velocity and accelerations ( w0, dw0 and ddp0 ) and the final (virtual link) forces and moments Fend and Muend. More...
bool	initNewtonEuler ()
	Initialize the Newton-Euler method by setting the base (virtual link) velocity and accelerations ( w0, dw0 and ddp0 ) and the final (virtual link) forces and moments Fend and Muend all to zero. More...
void	setModeNewtonEuler (const NewEulMode NewEulMode_s=DYNAMIC)
	Set the computation mode for Newton-Euler (static/dynamic/etc) More...
yarp::sig::Matrix	getForcesNewtonEuler () const
	Returns the links forces as a matrix, where the (i+1)-th col is the i-th force. More...
yarp::sig::Matrix	getMomentsNewtonEuler () const
	Returns the links moments as a matrix, where the (i+1)-th col is the i-th moment. More...
yarp::sig::Vector	getTorquesNewtonEuler () const
	Returns the links torque as a vector. More...
yarp::sig::Vector	getForceMomentEndEff () const
	Returns the end effector force-moment as a single (6x1) vector. More...
void	setIterModeKinematic (const ChainIterationMode _iterateMode_kinematics=FORWARD)
	Set the iteration direction during recursive computation of kinematics variables (w,dw,d2p,d2pC). More...
void	setIterModeWrench (const ChainIterationMode _iterateMode_wrench=BACKWARD)
	Set the iteration direction during recursive computation of wrench variables (F,Mu,Tau). More...
void	setIterMode (const ChainComputationMode mode=KINFWD_WREBWD)
	Set the computation mode during recursive computation of kinematics (w,dw,d2p,d2pC) and wrench variables(F,Mu,Tau). More...
ChainIterationMode	getIterModeKinematic () const
	Get the iteration direction during recursive computation of kinematics variables (w,dw,d2p,d2pC). More...
ChainIterationMode	getIterModeWrench () const
	Get the iteration direction during recursive computation of wrench variables (F,Mu,Tau). More...
void	computeKinematicNewtonEuler ()
	Calls the proper method to compute kinematics variables: either ForwardKinematicFromBase() or BackwardKinematicFromEnd(). More...
void	computeWrenchNewtonEuler ()
	Calls the proper method to compute wrench variables: either BackwardWrenchFromEnd() or ForwardWrenchFromBase(). More...
bool	initKinematicNewtonEuler (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	Calls the proper method to set kinematics variables in OneChainNewtonEuler: either initKinematicBase() or initKinematicEnd(). More...
bool	initWrenchNewtonEuler (const yarp::sig::Vector &Fend, const yarp::sig::Vector &Muend)
	Calls the proper method to set wrench variables in OneChainNewtonEuler: either initKinematicBase() or initKinematicEnd(). More...
void	getKinematicNewtonEuler (yarp::sig::Vector &w, yarp::sig::Vector &dw, yarp::sig::Vector &ddp)
	Calls the proper method to get kinematics variables in OneChainNewtonEuler either in the base or in the final link. More...
void	getFrameKinematic (unsigned int i, yarp::sig::Vector &w, yarp::sig::Vector &dw, yarp::sig::Vector &ddp)
	Get the kinematic information of the i-th frame in the OneChainNewtonEuler associated to the current iDynChain, i.e. More...
void	getFrameWrench (unsigned int i, yarp::sig::Vector &F, yarp::sig::Vector &Mu)
	Get the wrench information of the i-th frame in the OneChainNewtonEuler associated to the current iDynChain, i.e. More...
void	getWrenchNewtonEuler (yarp::sig::Vector &F, yarp::sig::Vector &Mu)
	Calls the proper method to get wrench variables in OneChainNewtonEuler either in the base or in the final link. More...
virtual	~iDynChain ()
	Destructor. More...
yarp::sig::Matrix	computeGeoJacobian (const unsigned int iLinkN, const yarp::sig::Matrix &Pn)
	Compute the Jacobian from link 0 to iLinkN. More...
yarp::sig::Matrix	computeGeoJacobian (const unsigned int iLinkN, const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &_H0)
	Compute the Jacobian from link 0 to iLinkN. More...
yarp::sig::Matrix	computeGeoJacobian (const yarp::sig::Matrix &Pn)
	Compute the Jacobian of the chain, from link 0 to N. More...
yarp::sig::Matrix	computeGeoJacobian (const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &_H0)
	Compute the Jacobian of the chain, from link 0 to N. More...
yarp::sig::Matrix	getDenHart (unsigned int i)
	Return the Denavit-Hartenberg matrix of the i-th link in the chain. More...
yarp::sig::Matrix	TESTING_computeCOMJacobian (const unsigned int iLink)
	Compute the Jacobian of the COM of link indexed iLink. More...
yarp::sig::Matrix	TESTING_computeCOMJacobian (const unsigned int iLink, const yarp::sig::Matrix &Pn)
	Compute the Jacobian of the COM of link iLink (considering chain 0-iLink). More...
yarp::sig::Matrix	TESTING_computeCOMJacobian (const unsigned int iLink, const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &_H0)
	Compute the Jacobian of the COM of link iLink (considering chain 0-iLink). More...
yarp::sig::Matrix	getCOM (unsigned int iLink)
	Return the COM matrix of the i-th link. More...
yarp::sig::Matrix	getHCOM (unsigned int iLink)
	Return the H matrix until the COM of the i-th link. More...
yarp::sig::Matrix	computeMassMatrix ()
	Compute the joint space mass matrix considering only the active joints. More...
yarp::sig::Matrix	computeMassMatrix (const yarp::sig::Vector &q)
	Compute the joint space mass matrix considering only the active joints. More...
yarp::sig::Vector	computeCcTorques ()
	Compute the torques due to centrifugal and coriolis effects considering only the active joints. More...
yarp::sig::Vector	computeCcTorques (const yarp::sig::Vector &q, const yarp::sig::Vector &dq)
	Compute the torques due to centrifugal and coriolis effects considering only the active joints. More...
yarp::sig::Vector	computeGravityTorques (const yarp::sig::Vector &ddp0)
	Compute the torques generated by gravity considering only the active joints. More...
yarp::sig::Vector	computeGravityTorques (const yarp::sig::Vector &ddp0, const yarp::sig::Vector &q)
	Compute the torques generated by gravity considering only the active joints. More...
yarp::sig::Vector	computeCcGravityTorques (const yarp::sig::Vector &ddp0)
	Compute the torques generated by gravity and centrifugal and coriolis forces, considering only the active joints. More...
yarp::sig::Vector	computeCcGravityTorques (const yarp::sig::Vector &ddp0, const yarp::sig::Vector &q, const yarp::sig::Vector &dq)
	Compute the torques generated by gravity and centrifugal and coriolis forces, considering only the active joints. More...
Public Member Functions inherited from iCub::iKin::iKinChain
	iKinChain ()
	Default constructor. More...
	iKinChain (const iKinChain &c)
	Creates a new Chain from an already existing Chain object. More...
iKinChain &	operator= (const iKinChain &c)
	Copies a Chain object into the current one. More...
iKinChain &	operator<< (iKinLink &l)
	Adds a Link at the bottom of the Chain. More...
iKinChain &	operator-- (int)
	Removes a Link from the bottom of the Chain. More...
iKinLink &	operator[] (const unsigned int i)
	Returns a reference to the ith Link of the Chain. More...
iKinLink &	operator() (const unsigned int i)
	Returns a reference to the ith Link of the Chain considering only those Links related to DOF. More...
bool	addLink (const unsigned int i, iKinLink &l)
	Adds a Link at the position ith within the Chain. More...
bool	rmLink (const unsigned int i)
	Removes the ith Link from the Chain. More...
void	pushLink (iKinLink &l)
	Adds a Link at the bottom of the Chain. More...
void	clear ()
	Removes all Links. More...
void	popLink ()
	Removes a Link from the bottom of the Chain. More...
bool	blockLink (const unsigned int i, double Ang)
	Blocks the ith Link at the a certain value of its joint angle. More...
bool	blockLink (const unsigned int i)
	Blocks the ith Link at the current value of its joint angle. More...
bool	setBlockingValue (const unsigned int i, double Ang)
	Changes the value of the ith blocked Link. More...
bool	releaseLink (const unsigned int i)
	Releases the ith Link. More...
bool	isLinkBlocked (const unsigned int i)
	Queries whether the ith Link is blocked. More...
void	setAllConstraints (bool _constrained)
	Sets the constraint status of all chain links. More...
void	setConstraint (unsigned int i, bool _constrained)
	Sets the constraint status of ith link. More...
bool	getConstraint (unsigned int i)
	Returns the constraint status of ith link. More...
void	setAllLinkVerbosity (unsigned int _verbose)
	Sets the verbosity level of all Links belonging to the Chain. More...
void	setVerbosity (unsigned int _verbose)
	Sets the verbosity level of the Chain. More...
unsigned int	getVerbosity () const
	Returns the current Chain verbosity level. More...
unsigned int	getN () const
	Returns the number of Links belonging to the Chain. More...
unsigned int	getDOF () const
	Returns the current number of Chain's DOF. More...
yarp::sig::Matrix	getH0 () const
	Returns H0, the rigid roto-translation matrix from the root reference frame to the 0th frame. More...
bool	setH0 (const yarp::sig::Matrix &_H0)
	Sets H0, the rigid roto-translation matrix from the root reference frame to the 0th frame. More...
yarp::sig::Matrix	getHN () const
	Returns HN, the rigid roto-translation matrix from the Nth frame to the end-effector. More...
bool	setHN (const yarp::sig::Matrix &_HN)
	Sets HN, the rigid roto-translation matrix from the Nth frame to the end-effector. More...
yarp::sig::Vector	setAng (const yarp::sig::Vector &q)
	Sets the free joint angles to values of q[i]. More...
yarp::sig::Vector	getAng ()
	Returns the current free joint angles values. More...
double	setAng (const unsigned int i, double _Ang)
	Sets the ith joint angle. More...
double	getAng (const unsigned int i)
	Returns the current angle of ith joint. More...
yarp::sig::Matrix	getH (const unsigned int i, const bool allLink=false)
	Returns the rigid roto-translation matrix from the root reference frame to the ith frame in Denavit-Hartenberg notation. More...
yarp::sig::Matrix	getH ()
	Returns the rigid roto-translation matrix from the root reference frame to the end-effector frame in Denavit-Hartenberg notation (HN is taken into account). More...
yarp::sig::Matrix	getH (const yarp::sig::Vector &q)
	Returns the rigid roto-translation matrix from the root reference frame to the end-effector frame in Denavit-Hartenberg notation (HN is taken into account). More...
yarp::sig::Vector	Pose (const unsigned int i, const bool axisRep=true)
	Returns the coordinates of ith Link. More...
yarp::sig::Vector	Position (const unsigned int i)
	Returns the 3D position coordinates of ith Link. More...
yarp::sig::Vector	EndEffPose (const bool axisRep=true)
	Returns the coordinates of end-effector. More...
yarp::sig::Vector	EndEffPose (const yarp::sig::Vector &q, const bool axisRep=true)
	Returns the coordinates of end-effector computed in q. More...
yarp::sig::Vector	EndEffPosition ()
	Returns the 3D coordinates of end-effector position. More...
yarp::sig::Vector	EndEffPosition (const yarp::sig::Vector &q)
	Returns the 3D coordinates of end-effector position computed in q. More...
yarp::sig::Matrix	AnaJacobian (const unsigned int i, unsigned int col)
	Returns the analitical Jacobian of the ith link. More...
yarp::sig::Matrix	AnaJacobian (unsigned int col=3)
	Returns the analitical Jacobian of the end-effector. More...
yarp::sig::Matrix	AnaJacobian (const yarp::sig::Vector &q, unsigned int col=3)
	Returns the analitical Jacobian of the end-effector computed in q. More...
yarp::sig::Matrix	GeoJacobian (const unsigned int i)
	Returns the geometric Jacobian of the ith link. More...
yarp::sig::Matrix	GeoJacobian ()
	Returns the geometric Jacobian of the end-effector. More...
yarp::sig::Matrix	GeoJacobian (const yarp::sig::Vector &q)
	Returns the geometric Jacobian of the end-effector computed in q. More...
yarp::sig::Vector	Hessian_ij (const unsigned int i, const unsigned int j)
	Returns the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j, \) where \( F\left(q\right) \) is the forward kinematic function and \( \left(q_i,q_j\right) \) is the DOF couple. More...
void	prepareForHessian ()
	Prepares computation for a successive call to fastHessian_ij(). More...
yarp::sig::Vector	fastHessian_ij (const unsigned int i, const unsigned int j)
	Returns the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j, \) where \( F\left(q\right) \) is the forward kinematic function and \( \left(q_i,q_j\right) \) is the DOF couple. More...
yarp::sig::Vector	Hessian_ij (const unsigned int lnk, const unsigned int i, const unsigned int j)
	Returns the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j, \) where \( F\left(q\right) \) is the forward kinematic function and \( \left(q_i,q_j\right) \) is the couple of links. More...
void	prepareForHessian (const unsigned int lnk)
	Prepares computation for a successive call to fastHessian_ij() (link version). More...
yarp::sig::Vector	fastHessian_ij (const unsigned int lnk, const unsigned int i, const unsigned int j)
	Returns the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j, \) where \( F\left(q\right) \) is the forward kinematic function and \( \left(q_i,q_j\right) \) is the couple of links. More...
yarp::sig::Matrix	DJacobian (const yarp::sig::Vector &dq)
	Compute the time derivative of the geometric Jacobian. More...
yarp::sig::Matrix	DJacobian (const unsigned int lnk, const yarp::sig::Vector &dq)
	Compute the time derivative of the geometric Jacobian (link version). More...
virtual	~iKinChain ()
	Destructor. More...

Protected Member Functions
virtual void	allocate (const std::string &_type)
	commented by Traversaro, 2 sept 2013 void iCubLegDynV2::allocate(const string &_type) { iDynLimb::allocate(_type); More...
Protected Member Functions inherited from iCub::iDyn::iDynLimb
virtual void	clone (const iDynLimb &limb)
virtual void	dispose ()
	Dispose. More...
iDynChain &	operator= (const iDynChain &c)
iKin::iKinChain &	operator<< (iKin::iKinLink &l)
iKin::iKinChain &	operator-- (int)
iKin::iKinLink &	operator[] (const unsigned int i)
iKin::iKinLink &	operator() (const unsigned int i)
bool	addLink (const unsigned int i, iKin::iKinLink &l)
bool	rmLink (const unsigned int i)
void	pushLink (iKin::iKinLink &l)
void	clear ()
void	popLink ()
void	pushLink (iDynLink *pl)
Protected Member Functions inherited from iCub::iDyn::iDynChain
virtual void	clone (const iDynChain &c)
	Clone function. More...
virtual void	build ()
	Build chains and lists. More...
iDynLink *	refLink (const unsigned int i)
	Returns a pointer to the ith iDynLink. More...
Protected Member Functions inherited from iCub::iKin::iKinChain
virtual void	clone (const iKinChain &c)
yarp::sig::Vector	RotAng (const yarp::sig::Matrix &R)
yarp::sig::Vector	dRotAng (const yarp::sig::Matrix &R, const yarp::sig::Matrix &dR)
yarp::sig::Vector	d2RotAng (const yarp::sig::Matrix &R, const yarp::sig::Matrix &dRi, const yarp::sig::Matrix &dRj, const yarp::sig::Matrix &d2R)

Additional Inherited Members
Protected Attributes inherited from iCub::iDyn::iDynLimb
std::deque< iDynLink * >	linkList
std::string	type
bool	configured
Protected Attributes inherited from iCub::iDyn::iDynChain
ChainIterationMode	iterateMode_kinematics
	specifies the 'direction' of recursive computation of kinematics variables (w,dw,d2p): FORWARD, BACKWARD More...
ChainIterationMode	iterateMode_wrench
	specifies the 'direction' of recursive computation of wrenches (F,Mu): FORWARD, BACKWARD More...
yarp::sig::Vector	curr_dq
	q vel More...
yarp::sig::Vector	curr_ddq
	q acc More...
OneChainNewtonEuler *	NE
	pointer to OneChainNewtonEuler class, to be used for computing forces and torques More...
const yarp::sig::Vector	zero0
Protected Attributes inherited from iCub::iKin::iKinChain
unsigned int	N
unsigned int	DOF
unsigned int	verbose
yarp::sig::Matrix	H0
yarp::sig::Matrix	HN
yarp::sig::Vector	curr_q
std::deque< iKinLink * >	allList
std::deque< iKinLink * >	quickList
std::deque< unsigned int >	hash
std::deque< unsigned int >	hash_dof
yarp::sig::Matrix	hess_J
yarp::sig::Matrix	hess_Jlnk

Detailed Description

A class for defining the 6-DOF iCub Leg.

Definition at line 1491 of file iDyn.h.

Constructor & Destructor Documentation

iCubLegDynV2() [1/3]

iCubLegDynV2::iCubLegDynV2

(

)

Default constructor.

Definition at line 2343 of file iDyn.cpp.

iCubLegDynV2() [2/3]

iCubLegDynV2::iCubLegDynV2	(	const std::string &	_type,
		const ChainComputationMode	_mode = KINFWD_WREBWD
	)

Constructor.

Parameters

_type

is a string to discriminate between "left" and "right" leg

Definition at line 2349 of file iDyn.cpp.

iCubLegDynV2() [3/3]

iCubLegDynV2::iCubLegDynV2

(

const iCubLegDyn &

leg

)

Creates a new Leg from an already existing Leg object.

Parameters

leg	is the Leg to be copied.

Definition at line 2355 of file iDyn.cpp.

Member Function Documentation

alignJointsBounds()

bool iCubLegDynV2::alignJointsBounds ( const std::deque< yarp::dev::IControlLimits * > &  lim )

virtual

Alignes the Leg joints bounds with current values set aboard the iCub.

Parameters

lim	is the ordered list of control interfaces that allows to access the Leg limits.

Returns

true/false on success/failure.

Reimplemented from iCub::iDyn::iDynLimb.

Definition at line 2493 of file iDyn.cpp.

allocate()

void iCubLegDynV2::allocate ( const std::string &  _type )

protectedvirtual

commented by Traversaro, 2 sept 2013 void iCubLegDynV2::allocate(const string &_type) { iDynLimb::allocate(_type);

Matrix H0(4,4); H0.eye();
setH0(H0);

#ifdef LEGS_NO_WEIGHT if(getType()="right") { create iDynLink from parameters calling pushLink(new iDynLink(mass,HC,I,A,D,alfa,offset,min,max)); m rcx rcy rcZ I1 I2 I3 I4 I5 I6 A D alpha offset
pushLink(new iDynLink(0, 80.4310e-6, -6.91643e-3, 2.30470e-3, 0, 0, 0, 0, 0, 0, 0.0, 0.0, M_PI/2.0, M_PI/2.0, -44.0*CTRL_DEG2RAD, 132.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, -31.3229e-6, -1.09640e-3, 59.8624e-3, 0, 0, 0, 0, 0, 0, 0.0, M_PI/2.0, M_PI/2.0, -17.0*CTRL_DEG2RAD, 119.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, 3.1143e-3, 60.0431e-3, -1.3437e-3, 0, 0, 0, 0, 0, 0, -0.0009175, 0.234545, -M_PI/2.0, -M_PI/2.0, -79.0*CTRL_DEG2RAD, 79.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, 124.3956e-3, -45.0091e-6, -6.2408e-3, 0, 0, 0, 0, 0, 0, -0.2005, 0.0, M_PI, M_PI/2.0, -125.0*CTRL_DEG2RAD, 23.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, -5.3995e-6, -0.858761e-3, -10.2169e-3, 0, 0, 0, 0, 0, 0, 0.0, 0.0, M_PI/2.0, 0.0, -42.0*CTRL_DEG2RAD, 21.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, 32.41539-3, 613.9310e-6, 24.0690e-3, 0, 0, 0, 0, 0, 0, -0.0685, 0.0035, M_PI, 0.0, -24.0*CTRL_DEG2RAD, 24.0*CTRL_DEG2RAD));

} else { pushLink(new iDynLink(0, 80.4310e-6, -6.91643e-3, -2.30470e-3, 0, 0, 0, 0, 0, 0, 0.0, 0.0, M_PI/2.0, M_PI/2.0, -44.0*CTRL_DEG2RAD, 132.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, 31.3229e-6, -1.09640e-3, -59.8624e-3, 0, 0, 0, 0, 0, 0, 0.0, 0.0, M_PI/2.0, M_PI/2.0, -17.0*CTRL_DEG2RAD, 119.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, 3.1143e-3, 60.0431e-3, 1.3437e-3, 0, 0, 0, 0, 0, 0, -0.0009175, 0.234545, -M_PI/2.0, -M_PI/2.0, -79.0*CTRL_DEG2RAD, 79.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, 124.3956e-3, -45.0091e-6, 6.2408e-3, 0, 0, 0, 0, 0, 0, -0.2005, 0.0, M_PI, M_PI/2.0, -125.0*CTRL_DEG2RAD, 23.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, 5.3995e-6, -0.858761e-3, 10.2169e-3, 0, 0, 0, 0, 0, 0, 0.0, 0.0, M_PI/2.0, 0.0, -42.0*CTRL_DEG2RAD, 21.0*CTRL_DEG2RAD)); pushLink(new iDynLink(0, 32.41539-3, -613.9310e-6, 24.0690e-3, 0, 0, 0, 0, 0, 0, -0.0685, 0.0035, M_PI, 0.0, -24.0*CTRL_DEG2RAD, 24.0*CTRL_DEG2RAD));

} #else if(getType()=="right") { create iDynLink from parameters calling pushLink(new iDynLink(mass,HC,I,A,D,alfa,offset,min,max));

    pushLink(new iDynLink(0.695,  80.4310e-6,  -6.91643e-3,  2.30470e-3,        4470.534e-6,    -22.209e-6,     -13.9712e-6,        3250.8524e-6,       -47.7629e-6,        4904.8747e-6,       0.0,        0.0,    M_PI/2.0,    M_PI/2.0,  -44.0*CTRL_DEG2RAD,     132.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(0.982, -31.3229e-6,  -1.09640e-3,  59.8624e-3,         27271.4e-6,    -1.2116e-6,      11.5713e-6,          25364.6e-6,      -491.0806e-6,           4173.9e-6,       0.0,        0.0,    M_PI/2.0,    M_PI/2.0,  -17.0*CTRL_DEG2RAD,     119.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(1.522,   3.1143e-3,   60.0431e-3,  -1.3437e-3,         45491.7e-6,  -940.9711e-6,     -53.7405e-6,          10040.0e-6,        -1203.0e-6,          45825.5e-6,   -0.0009175,    0.234545,   -M_PI/2.0,   -M_PI/2.0,  -79.0*CTRL_DEG2RAD,      79.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(2.032, 124.3956e-3,  -45.0091e-6,  -6.2408e-3,         15455.9e-6,    -1390.3e-6,       3945.4e-6,          70277.0e-6,      -719.9501e-6,          65964.5e-6,      -0.2005,         0.0,        M_PI,    M_PI/2.0, -125.0*CTRL_DEG2RAD,      23.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(0.643, -26.5892e-6,  -0.82253e-3, -10.2574e-3,        4765.926e-3,     9.7426e-6,     -26.8085e-6,           4093.5e-6,       353.7961e-6,           3668.8e-6,          0.0,         0.0,    M_PI/2.0,         0.0,  -42.0*CTRL_DEG2RAD,      21.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(0.861, 32.41539e-3,  613.9310e-6,  24.0690e-3,         1584.66e-6,  14.357686e-6,    21.079452e-6,        2014.6957e-6,      17.241674e-6,        977.22556e-6,      -0.0685,      0.0035,        M_PI,         0.0,  -24.0*CTRL_DEG2RAD,      24.0*CTRL_DEG2RAD));

}
else
{

    pushLink(new iDynLink(0.695,   80.4310e-6,  -6.91643e-3, -2.30470e-3,       4470.534e-6,    -22.209e-6,      13.9712e-6,        3250.8524e-6,        47.7629e-6,        4904.8747e-6,       0.0,        0.0,    M_PI/2.0,    M_PI/2.0,  -44.0*CTRL_DEG2RAD,     132.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(0.982,   31.3229e-6,  -1.09640e-3, -59.8624e-3,        27271.4e-6,     1.2116e-6,      11.5713e-6,          25364.6e-6,       491.0806e-6,           4173.9e-6,       0.0,        0.0,    M_PI/2.0,    M_PI/2.0,  -17.0*CTRL_DEG2RAD,     119.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(1.522,    3.1143e-3,   60.0431e-3,   1.3437e-3,        45491.7e-6,  -940.9711e-6,      53.7405e-6,          10040.0e-6,         1203.0e-6,          45825.5e-6,   -0.0009175,    0.234545,   -M_PI/2.0,   -M_PI/2.0,  -79.0*CTRL_DEG2RAD,      79.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(2.032,  124.3956e-3,  -45.0091e-6,   6.2408e-3,        15455.9e-6,    -1390.3e-6,      -3945.4e-6,          70277.0e-6,       719.9501e-6,          65964.5e-6,      -0.2005,         0.0,        M_PI,    M_PI/2.0, -125.0*CTRL_DEG2RAD,      23.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(0.643,   26.5892e-6,  -0.82253e-3,  10.2574e-3,       4765.926e-3,     9.7426e-6,      26.8085e-6,           4093.5e-6,      -353.7961e-6,           3668.8e-6,          0.0,         0.0,    M_PI/2.0,         0.0,  -42.0*CTRL_DEG2RAD,      21.0*CTRL_DEG2RAD));
    pushLink(new iDynLink(0.861,   32.4154e-3, -613.9310e-6,  24.0690e-3,        1584.66e-6, -14.357866e-6,    21.079452e-6,        2014.6957e-6,     -17.241674e-6,        977.22556e-6,      -0.0685,      0.0035,        M_PI,         0.0,  -24.0*CTRL_DEG2RAD,      24.0*CTRL_DEG2RAD));

}

#endif

#ifdef NO_JOINT_COSTRAINTS this->setAllConstraints(false); #endif }

Reimplemented from iCub::iDyn::iDynLimb.

Definition at line 2428 of file iDyn.cpp.

---

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

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