A class for connecting UpperTorso and LowerTorso of the iCub, then getting the WholeBody in the dynamic framework. More...

#include <iDynBody.h>

Public Member Functions
	iCubWholeBody (version_tag _tag, const NewEulMode mode=DYNAMIC, unsigned int verbose=iCub::skinDynLib::VERBOSE)
	Constructor: build the nodes and creates the whole body. More...

	~iCubWholeBody ()
	Standard destructor. More...

void	attachLowerTorso (const yarp::sig::Vector &FM_right_leg, const yarp::sig::Vector &FM_left_leg)
	Connect upper and lower torso: this procedure handles the exchange of kinematic and wrench variables between the two parts. More...

bool	computeCOM ()
	Performs the computation of the center of mass (COM) of the whole iCub. More...

bool	getCOM (iCub::skinDynLib::BodyPart which_part, yarp::sig::Vector &COM, double &mass)
	Retrieves the result of the last COM computation. More...

bool	getAllVelocities (yarp::sig::Vector &vel)
	Retrieves a vector containing the velocities of all the iCub joints, ordered in this way: left leg (6), right leg (6), torso (3), left arm (7), right arm (7), head (3). More...

bool	getAllPositions (yarp::sig::Vector &pos)
	Retrieves a vector containing the anglular position of all the iCub joints, ordered in this way: left leg (6), right leg (6), torso (3), left arm (7), right arm (7), head (3). More...

bool	EXPERIMENTAL_getCOMjacobian (iCub::skinDynLib::BodyPart which_part, yarp::sig::Matrix &jac)
	Retrieves the result of the last COM jacobian computation. More...

bool	EXPERIMENTAL_computeCOMjacobian ()
	Performs the computation of the center of mass jacobian of the whole iCub. More...

bool	EXPERIMENTAL_getCOMvelocity (iCub::skinDynLib::BodyPart which_part, yarp::sig::Vector &vel, yarp::sig::Vector &dq)
	Retrieves a 3x1 vector containing the velocity of the robot COM. More...

Public Attributes
iCubUpperTorso *	upperTorso
	pointer to UpperTorso = head + right arm + left arm More...

iCubLowerTorso *	lowerTorso
	pointer to LowerTorso = torso + right leg + left leg More...

double	whole_mass
	masses and position of the center of mass of the iCub sub-parts More...

double	lower_mass

double	upper_mass

yarp::sig::Vector	whole_COM

yarp::sig::Vector	upper_COM

yarp::sig::Vector	lower_COM

yarp::sig::Matrix	COM_Jacob

double	sw_getcom

Protected Attributes
RigidBodyTransformation *	rbt
	the rigid body transformation linking the UpperTorso node with the final link of the iCubTorsoDyn chain, defining the connection between Upper and Lower Torso More...

version_tag	tag

Detailed Description

A class for connecting UpperTorso and LowerTorso of the iCub, then getting the WholeBody in the dynamic framework.

It is merely a container: pointers to upper and lower torso objects are accessible, so all public methods of the two objects can be used.

Definition at line 1471 of file iDynBody.h.

Constructor & Destructor Documentation

◆ iCubWholeBody()

iCubWholeBody::iCubWholeBody	(	version_tag	_tag,
		const NewEulMode	mode = `DYNAMIC`,
		unsigned int	verbose = `iCub::skinDynLib::VERBOSE`
	)

Constructor: build the nodes and creates the whole body.

Parameters

mode	the computation mode: DYNAMIC/STATIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY
verbose	the verbosity level: NO_VERBOSE/VERBOSE/MORE_VERBOSE

Definition at line 2400 of file iDynBody.cpp.

◆ ~iCubWholeBody()

iCubWholeBody::~iCubWholeBody ( )

Standard destructor.

Definition at line 2414 of file iDynBody.cpp.

Member Function Documentation

◆ attachLowerTorso()

void iCubWholeBody::attachLowerTorso	(	const yarp::sig::Vector &	FM_right_leg,
		const yarp::sig::Vector &	FM_left_leg
	)

Connect upper and lower torso: this procedure handles the exchange of kinematic and wrench variables between the two parts.

Definition at line 2421 of file iDynBody.cpp.

◆ computeCOM()

bool iCubWholeBody::computeCOM ( )

Performs the computation of the center of mass (COM) of the whole iCub.

Returns: true if succeeds, false otherwise

Definition at line 2473 of file iDynBody.cpp.

◆ EXPERIMENTAL_computeCOMjacobian()

bool iCubWholeBody::EXPERIMENTAL_computeCOMjacobian ( )

Performs the computation of the center of mass jacobian of the whole iCub.

Returns: true if succeeds, false otherwise

Definition at line 2675 of file iDynBody.cpp.

◆ EXPERIMENTAL_getCOMjacobian()

bool iCubWholeBody::EXPERIMENTAL_getCOMjacobian	(	iCub::skinDynLib::BodyPart	which_part,
		yarp::sig::Matrix &	jac
	)

Retrieves the result of the last COM jacobian computation.

Parameters

jac	the jacobian matrix

Returns: true if succeeds, false otherwise

Definition at line 2746 of file iDynBody.cpp.

◆ EXPERIMENTAL_getCOMvelocity()

bool iCubWholeBody::EXPERIMENTAL_getCOMvelocity	(	iCub::skinDynLib::BodyPart	which_part,
		yarp::sig::Vector &	vel,
		yarp::sig::Vector &	dq
	)

Retrieves a 3x1 vector containing the velocity of the robot COM.

Parameters

vel	the velocity vector

Returns: true if succeeds, false otherwise

Definition at line 3016 of file iDynBody.cpp.

◆ getAllPositions()

bool iCubWholeBody::getAllPositions ( yarp::sig::Vector & pos )

Retrieves a vector containing the anglular position of all the iCub joints, ordered in this way: left leg (6), right leg (6), torso (3), left arm (7), right arm (7), head (3).

Parameters

pos	the position vector (size = 32)

Returns: true if succeeds, false otherwise

Definition at line 2607 of file iDynBody.cpp.

◆ getAllVelocities()

bool iCubWholeBody::getAllVelocities ( yarp::sig::Vector & vel )

Retrieves a vector containing the velocities of all the iCub joints, ordered in this way: left leg (6), right leg (6), torso (3), left arm (7), right arm (7), head (3).

Parameters

vel	the velocities vector (size = 32)

Returns: true if succeeds, false otherwise

Definition at line 2629 of file iDynBody.cpp.

◆ getCOM()

bool iCubWholeBody::getCOM	(	iCub::skinDynLib::BodyPart	which_part,
		yarp::sig::Vector &	COM,
		double &	mass
	)

Retrieves the result of the last COM computation.

Parameters

which_part	selects the result (e.g: LEFT_LEG, RIGHT_ARM, ALL, etc..)
COM	the computed COM of the selected part
mass	the computed mass of the selected part

Returns: true if succeeds, false otherwise

Definition at line 2511 of file iDynBody.cpp.

Member Data Documentation

◆ COM_Jacob

yarp::sig::Matrix iCub::iDyn::iCubWholeBody::COM_Jacob

Definition at line 1493 of file iDynBody.h.

◆ lower_COM

yarp::sig::Vector iCub::iDyn::iCubWholeBody::lower_COM

Definition at line 1492 of file iDynBody.h.

◆ lower_mass

double iCub::iDyn::iCubWholeBody::lower_mass

Definition at line 1488 of file iDynBody.h.

◆ lowerTorso

iCubLowerTorso* iCub::iDyn::iCubWholeBody::lowerTorso

pointer to LowerTorso = torso + right leg + left leg

Definition at line 1484 of file iDynBody.h.

◆ rbt

RigidBodyTransformation* iCub::iDyn::iCubWholeBody::rbt

protected

the rigid body transformation linking the UpperTorso node with the final link of the iCubTorsoDyn chain, defining the connection between Upper and Lower Torso

Definition at line 1476 of file iDynBody.h.

◆ sw_getcom

double iCub::iDyn::iCubWholeBody::sw_getcom

Definition at line 1494 of file iDynBody.h.

◆ tag

version_tag iCub::iDyn::iCubWholeBody::tag

protected

Definition at line 1477 of file iDynBody.h.

◆ upper_COM

yarp::sig::Vector iCub::iDyn::iCubWholeBody::upper_COM

Definition at line 1491 of file iDynBody.h.

◆ upper_mass

double iCub::iDyn::iCubWholeBody::upper_mass

Definition at line 1489 of file iDynBody.h.

◆ upperTorso

iCubUpperTorso* iCub::iDyn::iCubWholeBody::upperTorso

pointer to UpperTorso = head + right arm + left arm

Definition at line 1482 of file iDynBody.h.

◆ whole_COM

yarp::sig::Vector iCub::iDyn::iCubWholeBody::whole_COM

Definition at line 1490 of file iDynBody.h.

◆ whole_mass

double iCub::iDyn::iCubWholeBody::whole_mass

masses and position of the center of mass of the iCub sub-parts

Definition at line 1487 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

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ iCubWholeBody()

◆ ~iCubWholeBody()

Member Function Documentation

◆ attachLowerTorso()

◆ computeCOM()

◆ EXPERIMENTAL_computeCOMjacobian()

◆ EXPERIMENTAL_getCOMjacobian()

◆ EXPERIMENTAL_getCOMvelocity()

◆ getAllPositions()

◆ getAllVelocities()

◆ getCOM()

Member Data Documentation

◆ COM_Jacob

◆ lower_COM

◆ lower_mass

◆ lowerTorso

◆ rbt

◆ sw_getcom

◆ tag

◆ upper_COM

◆ upper_mass

◆ upperTorso

◆ whole_COM

◆ whole_mass