A class for setting a virtual sensor link on the iCub leg, for the leg FT sensor. More...

#include <iDynInv.h>

Inheritance diagram for iCub::iDyn::iCubLegSensorLink:

Public Member Functions
	iCubLegSensorLink (const std::string _type, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Constructor: the sensor parameters are automatically set with "right" or "left" choice.
virtual	~iCubLegSensorLink ()
	Destructor.
std::string	getType () const
Public Member Functions inherited from iCub::iDyn::SensorLinkNewtonEuler
	SensorLinkNewtonEuler (const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Default constructor.
	SensorLinkNewtonEuler (const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_COM, const double _m, const yarp::sig::Matrix &_I, const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Constructor.
virtual	~SensorLinkNewtonEuler ()
	Destructor.
bool	setMeasuredFMu (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Set the sensor measured force/moment - if measured by a FT sensor.
bool	setSensor (const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_HC, const double _m, const yarp::sig::Matrix &_I)
	Set a new sensor or new sensor properties.
void	ForwardAttachToLink (iDynLink *link)
	Compute w,dw,ddp,dppC given the reference frame of the link where the sensor is.
void	BackwardAttachToLink (iDynLink *link)
	Compute F,Mu given the reference frame of the link where the sensor is.
void	ForwardForcesMomentsToLink (iDynLink *link)
	Forward the sensor forces and moments, measured by the sensor, to the reference frame of the link where the sensor is: this method is the base for the inverse Newton-Euler algorithm, since it forwards the sensor measurements to the iDynChain.
yarp::sig::Vector	getForceMoment () const
	Get the sensor force and moment in a single (6x1) vector.
const yarp::sig::Vector &	getAngVel () const
const yarp::sig::Vector &	getAngAcc () const
const yarp::sig::Vector &	getLinAcc () const
const yarp::sig::Vector &	getLinAccC () const
const yarp::sig::Vector &	getForce () const
const yarp::sig::Vector &	getMoment (bool isBase=false) const
double	getIm () const
double	getFs () const
double	getFv () const
double	getD2q () const
double	getDq () const
double	getKr () const
const yarp::sig::Vector &	getAngAccM () const
double	getTorque () const
const yarp::sig::Matrix &	getH () const
double	getMass () const
const yarp::sig::Matrix &	getInertia () const
const yarp::sig::Matrix &	getR ()
const yarp::sig::Matrix &	getRC ()
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.
void	computeAngVel (iDynLink *link)
void	computeAngAcc (iDynLink *link)
void	computeLinAcc (iDynLink *link)
void	computeLinAccC ()
void	computeForce (iDynLink *link)
void	computeMoment (iDynLink *link)
void	computeForceToLink (iDynLink *link)
void	computeMomentToLink (iDynLink *link)
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	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	setMeasuredTorque (const double _Tau)
	Set measured torque in a joint torque sensor frame.
void	setVerbose (unsigned int verb=iCub::skinDynLib::VERBOSE)
	Set the verbosity level of comments during operations.
void	setMode (const NewEulMode _mode)
	Set the operation mode (static,dynamic etc).
bool	setZM (const yarp::sig::Vector &_zm)
	Set the zM vector.
void	setInfo (const std::string &_info)
	Set some information about this OneLink class.
NewEulMode	getMode () const
yarp::sig::Vector	getZM () const
std::string	getInfo () const
virtual const yarp::sig::Matrix &	getH ()
void	ForwardKinematics (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] Compute w, dw, ddp, ddpC, dwM
void	BackwardKinematics (OneLinkNewtonEuler *prev)
	[Backward Kinematic computation] Compute w, dw, ddp, ddpC, dwM
void	BackwardWrench (OneLinkNewtonEuler *next)
	[Backward Newton-Euler] Compute F, Mu, Tau
void	ForwardWrench (OneLinkNewtonEuler *prev)
	[Inverse Newton-Euler] Compute F, Mu, Tau
virtual void	computeTorque (OneLinkNewtonEuler *prev)
	[all] Compute joint torque; moment must be pre-computed

Protected Attributes
std::string	type
	the leg type: left/right
Protected Attributes inherited from iCub::iDyn::SensorLinkNewtonEuler
yarp::sig::Vector	F
	measured or estimated force
yarp::sig::Vector	Mu
	measured or estimated moment
yarp::sig::Vector	w
	angular velocity
yarp::sig::Vector	dw
	angular acceleration
yarp::sig::Vector	ddp
	linear acceleration
yarp::sig::Vector	ddpC
	linear acceleration of the COM
yarp::sig::Matrix	H
	the roto-translational matrix from the i-th link to the sensor: it's the matrix describing the sensor position and orientation with respect to the frame of the link where the sensor is placed on
yarp::sig::Matrix	COM
	the roto-translational matrix of the COM of the semi-link (bewteen sensor and ith link frame)
yarp::sig::Matrix	I
	the semi-link inertia
double	m
	the semi-link mass (the portion of link defined by the sensor)
yarp::sig::Matrix	R
yarp::sig::Matrix	RC
yarp::sig::Vector	r
yarp::sig::Vector	r_proj
yarp::sig::Vector	rc
yarp::sig::Vector	rc_proj
const yarp::sig::Vector	zeros0
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 sensor link on the iCub leg, for the leg FT sensor.

The parameters are automatically set after choosing "left" or "right" part. By default, the CAD parameters are set.

Definition at line 1410 of file iDynInv.h.

Constructor & Destructor Documentation

◆ iCubLegSensorLink()

iCubLegSensorLink::iCubLegSensorLink	(	const std::string	_type,
		const NewEulMode	_mode = DYNAMIC,
		unsigned int	verb = iCub::skinDynLib::NO_VERBOSE )

Constructor: the sensor parameters are automatically set with "right" or "left" choice.

Parameters

_type	a string "left"/"right"
_mode	the analysis mode (STATIC/DYNAMIC)
verb	flag for verbosity

Definition at line 2460 of file iDynInv.cpp.

◆ ~iCubLegSensorLink()

virtual iCub::iDyn::iCubLegSensorLink::~iCubLegSensorLink ( )

inlinevirtual

Destructor.

Definition at line 1430 of file iDynInv.h.

Member Function Documentation

◆ getType()

string iCubLegSensorLink::getType ( ) const

virtual

Returns: type the leg type: left/right

Reimplemented from iCub::iDyn::SensorLinkNewtonEuler.

Definition at line 2498 of file iDynInv.cpp.

Member Data Documentation

◆ type

std::string iCub::iDyn::iCubLegSensorLink::type

protected

the leg type: left/right

Definition at line 1415 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