A class for connecting torso, left and right leg of the iCub, and exchanging kinematic and wrench information between limbs, when both legs have FT sensors and the torso use the kinematic and wrench information coming from UpperTorso. More...
#include <iDynBody.h>
Inheritance diagram for iCub::iDyn::iCubLowerTorso:
Public Member Functions | |
| iCubLowerTorso (version_tag _tag, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::VERBOSE) | |
| Constructor. | |
| ~iCubLowerTorso () | |
| Destructor. | |
| Public Member Functions inherited from iCub::iDyn::iDynSensorTorsoNode | |
| iDynSensorTorsoNode (const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::VERBOSE) | |
| Constructor. | |
| iDynSensorTorsoNode (const std::string &_info, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::VERBOSE) | |
| Constructor. | |
| ~iDynSensorTorsoNode () | |
| Destructor. | |
| bool | update () |
| Main method for solving kinematics and wrench among limbs, where information are shared. | |
| bool | update (const yarp::sig::Vector &FM_right, const yarp::sig::Vector &FM_left, bool afterAttach=true) |
| Main method for solving kinematics and wrench among limbs, where information are shared. | |
| bool | update (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0, const yarp::sig::Vector &FM_right, const yarp::sig::Vector &FM_left, const yarp::sig::Vector &FM_up) |
| Main method for solving kinematics and wrench among limbs, where information are shared. | |
| yarp::sig::Matrix | getHLeft () |
| Return HLeft, i.e. | |
| yarp::sig::Matrix | getHRight () |
| Return HRight, i.e. | |
| yarp::sig::Matrix | getHUp () |
| Return HUp, i.e. | |
| yarp::sig::Matrix | getForces (const std::string &limbType) |
| Return the chosen limb forces, as a 6xN matrix. | |
| yarp::sig::Vector | getForce (const std::string &limbType, const unsigned int iLink) const |
| Return the chosen limb-link force, as a 3x1 vector. | |
| yarp::sig::Matrix | getMoments (const std::string &limbType) |
| Return the chosen limb moments, as a 6xN matrix. | |
| yarp::sig::Vector | getMoment (const std::string &limbType, const unsigned int iLink) const |
| Return the chosen limb-link moment, as a 3x1 vector. | |
| yarp::sig::Vector | getTorques (const std::string &limbType) |
| Return the chosen limb torques, as a Nx1 vector. | |
| double | getTorque (const std::string &limbType, const unsigned int iLink) const |
| Return the chosen limb-link torque, as a real value. | |
| bool | computeCOM () |
| Performs the computation of the center of mass (COM) of the node. | |
| bool | EXPERIMENTAL_computeCOMjacobian () |
| Performs the computation of the center of mass jacobian of the node. | |
| yarp::sig::Vector | getTorsoForce () const |
| Return the torso force. | |
| yarp::sig::Vector | getTorsoMoment () const |
| Return the torso moment. | |
| yarp::sig::Vector | getTorsoAngVel () const |
| Return the torso angular velocity. | |
| yarp::sig::Vector | getTorsoAngAcc () const |
| Return the torso angular acceleration. | |
| yarp::sig::Vector | getTorsoLinAcc () const |
| Return the torso linear acceleration. | |
| bool | setInertialMeasure (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0) |
| Set the inertial sensor measurements on the central-up limb. | |
| bool | setSensorMeasurement (const yarp::sig::Vector &FM_right, const yarp::sig::Vector &FM_left) |
| Set the FT sensor measurements on the sensor in right and left limb. | |
| bool | setSensorMeasurement (const yarp::sig::Vector &FM_right, const yarp::sig::Vector &FM_left, const yarp::sig::Vector &FM_up) |
| Set the FT sensor measurements on the sensor in right and left limb. | |
| yarp::sig::Vector | setAng (const std::string &limbType, const yarp::sig::Vector &_q) |
| Set joints angle position in the chosen limb. | |
| yarp::sig::Vector | getAng (const std::string &limbType) |
| Get joints angle position in the chosen limb. | |
| double | setAng (const std::string &limbType, const unsigned int i, double _q) |
| Set the i-th joint angle position in the chosen limb. | |
| double | getAng (const std::string &limbType, const unsigned int i) |
| Get a joint angle position in the chosen limb. | |
| yarp::sig::Vector | setDAng (const std::string &limbType, const yarp::sig::Vector &_dq) |
| Set joints angle velocity in the chosen limb. | |
| yarp::sig::Vector | getDAng (const std::string &limbType) |
| Get joints angle velocity in the chosen limb. | |
| double | setDAng (const std::string &limbType, const unsigned int i, double _dq) |
| Set the i-th joint angle velocity in the chosen limb. | |
| double | getDAng (const std::string &limbType, const unsigned int i) |
| Get a joint angle velocity in the chosen limb. | |
| yarp::sig::Vector | setD2Ang (const std::string &limbType, const yarp::sig::Vector &_ddq) |
| Set joints angle acceleration in the chosen limb. | |
| yarp::sig::Vector | getD2Ang (const std::string &limbType) |
| Get joints angle acceleration in the chosen limb. | |
| double | setD2Ang (const std::string &limbType, const unsigned int i, double _ddq) |
| Set the i-th joint angle acceleration in the chosen limb. | |
| double | getD2Ang (const std::string &limbType, const unsigned int i) |
| Get a joint angle acceleration in the chosen limb. | |
| unsigned int | getNLinks (const std::string &limbType) const |
| yarp::sig::Matrix | estimateSensorsWrench (const yarp::sig::Matrix &FM, bool afterAttach=false) |
| Redefinition from iDynSensorNode. | |
| void | clearContactList () |
| Public Member Functions inherited from iCub::iDyn::iDynSensorNode | |
| iDynSensorNode (const NewEulMode _mode=DYNAMIC) | |
| Default constructor. | |
| iDynSensorNode (const std::string &_info, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::VERBOSE) | |
| Constructor. | |
| virtual void | addLimb (iDyn::iDynLimb *limb, const yarp::sig::Matrix &H, const FlowType kinFlow=RBT_NODE_OUT, const FlowType wreFlow=RBT_NODE_IN) |
| Add one limb to the node, defining its RigidBodyTransformation. | |
| void | addLimb (iDyn::iDynLimb *limb, const yarp::sig::Matrix &H, iDyn::iDynSensor *sensor, const FlowType kinFlow=RBT_NODE_OUT, const FlowType wreFlow=RBT_NODE_IN) |
| Add one limb to the node, defining its RigidBodyTransformation and the iDynSensor used to solve it after FT sensor measurements. | |
| virtual bool | solveWrench () |
| Main function to manage the exchange of wrench information among the limbs attached to the node. | |
| virtual bool | setWrenchMeasure (const yarp::sig::Matrix &F, const yarp::sig::Matrix &M, bool afterAttach=false) |
| Set the Wrench measures on the limbs attached to the node. | |
| virtual bool | setWrenchMeasure (const yarp::sig::Matrix &FM, bool afterAttach=false) |
| Set the Wrench measures on the limbs attached to the node. | |
| yarp::sig::Matrix | estimateSensorsWrench (const yarp::sig::Matrix &FM, bool afterAttach=false) |
| Exploit iDynInvSensor methods to retrieve FT sensor measurements after solving wrenches in the limbs. | |
| Public Member Functions inherited from iCub::iDyn::iDynNode | |
| iDynNode (const NewEulMode _mode=DYNAMIC) | |
| Default constructor. | |
| iDynNode (const std::string &_info, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::VERBOSE) | |
| Constructor with parameters. | |
| virtual void | addLimb (iDyn::iDynLimb *limb, const yarp::sig::Matrix &H, const FlowType kinFlow=RBT_NODE_OUT, const FlowType wreFlow=RBT_NODE_IN, bool hasSensor=false) |
| Add one limb to the node, defining its RigidBodyTransformation. | |
| yarp::sig::Matrix | getRBT (unsigned int iLimb) const |
| Return the RBT matrix of a certain limb attached to the node. | |
| bool | solveKinematics (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0) |
| Main function to manage the exchange of kinematic information among the limbs attached to the node. | |
| bool | solveKinematics () |
| Main function to manage the exchange of kinematic information among the limbs attached to the node. | |
| bool | setKinematicMeasure (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0) |
| Set the kinematic measurement (w,dw,ddp) on the limb where the kinematic flow is of type RBT_NODE_IN. | |
| bool | solveWrench (const yarp::sig::Matrix &FM) |
| This is to manage the exchange of wrench information among the limbs attached to the node. | |
| bool | solveWrench (const yarp::sig::Matrix &F, const yarp::sig::Matrix &M) |
| This is to manage the exchange of wrench information among the limbs attached to the node. | |
| virtual bool | setWrenchMeasure (const yarp::sig::Matrix &F, const yarp::sig::Matrix &M) |
| Set the wrench measure on the limbs with input wrench. | |
| virtual bool | setWrenchMeasure (const yarp::sig::Matrix &FM) |
| Set the wrench measure on the limbs with input wrench. | |
| yarp::sig::Vector | getForce () const |
| Return the node force. | |
| yarp::sig::Vector | getMoment () const |
| Return the node moment. | |
| yarp::sig::Vector | getAngVel () const |
| Return the node angular velocity. | |
| yarp::sig::Vector | getAngAcc () const |
| Return the node angular acceleration. | |
| yarp::sig::Vector | getLinAcc () const |
| Return the node linear acceleration. | |
| yarp::sig::Matrix | computeJacobian (unsigned int iChain) |
| Compute the Jacobian of the limb with index iChain in the node, in its default direction (as it would be done by iKin). | |
| yarp::sig::Matrix | computeJacobian (unsigned int iChain, unsigned int iLink) |
| Compute the Jacobian of the i-th link of the limb with index iChain in the node, in its default direction (as it would be done by iKin). | |
| yarp::sig::Matrix | computeJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB) |
| Compute the Jacobian between two links in two different chains. | |
| yarp::sig::Matrix | computeJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB) |
| Compute the Jacobian between two links in two different chains. | |
| yarp::sig::Vector | computePose (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB, const bool axisRep) |
| Compute the Pose of the end-effector, given a "virtual" chain connecting two limbs. | |
| yarp::sig::Vector | computePose (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, const bool axisRep) |
| Compute the Pose of the end-effector, given a "virtual" chain connecting two limbs. | |
| yarp::sig::Matrix | TESTING_computeCOMJacobian (unsigned int iChain, unsigned int iLink) |
| Compute the Jacobian of the COM of the i-th link of the limb with index iChain in the node. | |
| yarp::sig::Matrix | TESTING_computeCOMJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB) |
| Compute the Jacobian of the COM of link iLinkB, in chainB, when two different chains (A and B) are connected. | |
Protected Member Functions | |
| void | build () |
| Protected Member Functions inherited from iCub::iDyn::iDynSensorNode | |
| unsigned int | howManySensors () const |
| Protected Member Functions inherited from iCub::iDyn::iDynNode | |
| void | zero () |
| Reset all data to zero. | |
| void | compute_Pn_HAN (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node) |
| Compute Pn and H_A_Node matrices given two chains. | |
| void | compute_Pn_HAN (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node) |
| Compute Pn and H_A_Node matrices given two chains. | |
| void | compute_Pn_HAN_COM (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node) |
| Compute Pn and H_A_Node matrices given two chains. | |
| unsigned int | howManyWrenchInputs (bool afterAttach=false) const |
| Return the number of limbs with wrench input, i.e. | |
| unsigned int | howManyKinematicInputs (bool afterAttach=false) const |
| Return the number of limbs with kinematic input, i.e. | |
Protected Attributes | |
| version_tag | tag |
| Build the node. | |
| Protected Attributes inherited from iCub::iDyn::iDynSensorNode | |
| std::deque< iDyn::iDynSensor * > | sensorList |
| the list of iDynSensors used to solve each limb after FT sensor measurements | |
| Protected Attributes inherited from iCub::iDyn::iDynNode | |
| std::deque< RigidBodyTransformation > | rbtList |
| the list of RBT | |
| 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 | w |
| angular velocity | |
| yarp::sig::Vector | dw |
| angular acceleration | |
| yarp::sig::Vector | ddp |
| linear acceleration | |
| yarp::sig::Vector | F |
| force | |
| yarp::sig::Vector | Mu |
| moment | |
| yarp::sig::Vector | COM |
| COM position of the node. | |
| double | mass |
| total mass of the node | |
Additional Inherited Members | |
| Public Attributes inherited from iCub::iDyn::iDynSensorTorsoNode | |
| yarp::sig::Matrix | HUp |
| roto-translational matrix defining the central-up base frame with respect to the torso node | |
| yarp::sig::Matrix | HLeft |
| roto-translational matrix defining the left limb base frame with respect to the torso node | |
| yarp::sig::Matrix | HRight |
| roto-translational matrix defining the right limb base frame with respect to the torso node | |
| std::string | left_name |
| name of left limb | |
| std::string | right_name |
| name of right limb | |
| std::string | up_name |
| name of central-up limb | |
| std::string | name |
| the torso node name | |
| iDyn::iDynContactSolver * | leftSensor |
| Build the node. | |
| iDyn::iDynContactSolver * | rightSensor |
| right FT sensor and solver | |
| iDyn::iDynLimb * | left |
| left limb | |
| iDyn::iDynLimb * | right |
| right limb | |
| iDyn::iDynLimb * | up |
| central-up limb | |
| yarp::sig::Vector | total_COM_UP |
| COMs and masses of the limbs. | |
| yarp::sig::Vector | total_COM_LF |
| yarp::sig::Vector | total_COM_RT |
| double | total_mass_UP |
| double | total_mass_LF |
| double | total_mass_RT |
| yarp::sig::Matrix | COM_jacob_UP |
| yarp::sig::Matrix | COM_jacob_LF |
| yarp::sig::Matrix | COM_jacob_RT |
Detailed Description
A class for connecting torso, left and right leg of the iCub, and exchanging kinematic and wrench information between limbs, when both legs have FT sensors and the torso use the kinematic and wrench information coming from UpperTorso.
The correct connection bewteen UpperTorso and LowerTorso is not handled here; it is supposed that LowerTorso receives correct kinematic and wrench variables for the initialization of the kinematic and wrench phases.
Definition at line 1437 of file iDynBody.h.
Constructor & Destructor Documentation
◆ iCubLowerTorso()
| iCubLowerTorso::iCubLowerTorso | ( | version_tag | _tag, |
| const NewEulMode | _mode = DYNAMIC, |
||
| unsigned int | verb = iCub::skinDynLib::VERBOSE |
||
| ) |
Constructor.
- Parameters
-
_info some information, ie the node name _mode the computation mode for kinematic/wrench using Newton-Euler's formula verb verbosity flag
Definition at line 2317 of file iDynBody.cpp.
◆ ~iCubLowerTorso()
| iCubLowerTorso::~iCubLowerTorso | ( | ) |
Destructor.
Definition at line 2387 of file iDynBody.cpp.
Member Function Documentation
◆ build()
|
protected |
Definition at line 2324 of file iDynBody.cpp.
Member Data Documentation
◆ tag
|
protected |
Build the node.
Definition at line 1443 of file iDynBody.h.
The documentation for this class was generated from the following files:
- icub-main/src/libraries/iDyn/include/iCub/iDyn/iDynBody.h
- icub-main/src/libraries/iDyn/src/iDynBody.cpp
