A Base class for defining a Serial Link Chain, using dynamics and kinematics. More...

#include <iDyn.h>

Inheritance diagram for iCub::iDyn::iDynChain:

Public Member Functions
	iDynChain ()
	Default constructor.

	iDynChain (const iDynChain &c)
	Creates a new Chain from an already existing Chain object.

iDynChain &	operator= (const iDynChain &c)
	Copies a Chain object into the current one.

yarp::sig::Vector	setAng (const yarp::sig::Vector &q)
	Sets the free joint angles to values of q[i].

yarp::sig::Vector	setDAng (const yarp::sig::Vector &dq)
	Sets the free joint angles velocity to values of dq[i].

yarp::sig::Vector	setD2Ang (const yarp::sig::Vector &ddq)
	Sets the free joint angles acceleration to values of ddq[i].

yarp::sig::Vector	getDAng ()
	Returns the current free joint angles velocity.

yarp::sig::Vector	getD2Ang ()
	Returns the current free joint angles acceleration.

yarp::sig::Vector	getJointBoundMin ()
	Returns a list containing the min value for each joint.

yarp::sig::Vector	getJointBoundMax ()
	Returns a list containing the max value for each joint.

double	setAng (const unsigned int i, double q)
	Sets the ith joint angle.

double	setDAng (const unsigned int i, double dq)
	Sets the ith joint angle velocity.

double	setD2Ang (const unsigned int i, double ddq)
	Sets the ith joint angle acceleration.

double	getDAng (const unsigned int i)
	Returns the current angle velocity of ith joint.

double	getD2Ang (const unsigned int i)
	Returns the current angle acceleration of ith joint.

yarp::sig::Vector	getMasses () const
	Returns the link masses as a vector.

bool	setMasses (yarp::sig::Vector _m)
	Set the link masses at once.

double	getMass (const unsigned int i) const
	Returns the i-th link mass.

bool	setMass (const unsigned int i, const double _m)
	Set the i-th link mass.

yarp::sig::Matrix	getInertia (const unsigned int i) const
	Returns the i-th link inertia matrix.

yarp::sig::Matrix	getForces () const
	Returns the links forces as a matrix, where the i-th col is the i-th force.

yarp::sig::Matrix	getMoments () const
	Returns the links moments as a matrix, where the i-th col is the i-th moment.

yarp::sig::Vector	getTorques () const
	Returns the links torque as a vector.

const yarp::sig::Vector &	getForce (const unsigned int iLink) const
	Returns the i-th link force.

const yarp::sig::Vector &	getMoment (const unsigned int iLink) const
	Returns the i-th link moment.

double	getTorque (const unsigned int iLink) const
	Returns the i-th link torque.

yarp::sig::Vector	getLinVel (const unsigned int i) const
	Returns the i-th link linear velocity.

yarp::sig::Vector	getLinVelCOM (const unsigned int i) const
	Returns the i-th link linear velocity of the COM.

yarp::sig::Vector	getLinAcc (const unsigned int i) const
	Returns the i-th link linear acceleration.

const yarp::sig::Vector &	getLinAccCOM (const unsigned int i) const
	Returns the i-th link linear acceleration of the COM.

yarp::sig::Vector	getAngVel (const unsigned int i) const
	Returns the i-th link angular velocity.

yarp::sig::Vector	getAngAcc (const unsigned int i) const
	Returns the i-th link angular acceleration.

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.

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.

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).

void	prepareNewtonEuler (const NewEulMode NewEulMode_s=DYNAMIC)
	Prepare for the Newton-Euler recursive computation of forces and torques.

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.

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.

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.

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.

void	setModeNewtonEuler (const NewEulMode NewEulMode_s=DYNAMIC)
	Set the computation mode for Newton-Euler (static/dynamic/etc)

yarp::sig::Matrix	getForcesNewtonEuler () const
	Returns the links forces as a matrix, where the (i+1)-th col is the i-th force.

yarp::sig::Matrix	getMomentsNewtonEuler () const
	Returns the links moments as a matrix, where the (i+1)-th col is the i-th moment.

yarp::sig::Vector	getTorquesNewtonEuler () const
	Returns the links torque as a vector.

yarp::sig::Vector	getForceMomentEndEff () const
	Returns the end effector force-moment as a single (6x1) vector.

void	setIterModeKinematic (const ChainIterationMode _iterateMode_kinematics=FORWARD)
	Set the iteration direction during recursive computation of kinematics variables (w,dw,d2p,d2pC).

void	setIterModeWrench (const ChainIterationMode _iterateMode_wrench=BACKWARD)
	Set the iteration direction during recursive computation of wrench variables (F,Mu,Tau).

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).

ChainIterationMode	getIterModeKinematic () const
	Get the iteration direction during recursive computation of kinematics variables (w,dw,d2p,d2pC).

ChainIterationMode	getIterModeWrench () const
	Get the iteration direction during recursive computation of wrench variables (F,Mu,Tau).

void	computeKinematicNewtonEuler ()
	Calls the proper method to compute kinematics variables: either ForwardKinematicFromBase() or BackwardKinematicFromEnd().

void	computeWrenchNewtonEuler ()
	Calls the proper method to compute wrench variables: either BackwardWrenchFromEnd() or ForwardWrenchFromBase().

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().

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().

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.

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.

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.

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.

virtual	~iDynChain ()
	Destructor.

yarp::sig::Matrix	computeGeoJacobian (const unsigned int iLinkN, const yarp::sig::Matrix &Pn)
	Compute the Jacobian from link 0 to iLinkN.

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.

yarp::sig::Matrix	computeGeoJacobian (const yarp::sig::Matrix &Pn)
	Compute the Jacobian of the chain, from link 0 to N.

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.

yarp::sig::Matrix	getDenHart (unsigned int i)
	Return the Denavit-Hartenberg matrix of the i-th link in the chain.

yarp::sig::Matrix	TESTING_computeCOMJacobian (const unsigned int iLink)
	Compute the Jacobian of the COM of link indexed iLink.

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).

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).

yarp::sig::Matrix	getCOM (unsigned int iLink)
	Return the COM matrix of the i-th link.

yarp::sig::Matrix	getHCOM (unsigned int iLink)
	Return the H matrix until the COM of the i-th link.

yarp::sig::Matrix	computeMassMatrix ()
	Compute the joint space mass matrix considering only the active joints.

yarp::sig::Matrix	computeMassMatrix (const yarp::sig::Vector &q)
	Compute the joint space mass matrix considering only the active joints.

yarp::sig::Vector	computeCcTorques ()
	Compute the torques due to centrifugal and coriolis effects considering only the active joints.

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.

yarp::sig::Vector	computeGravityTorques (const yarp::sig::Vector &ddp0)
	Compute the torques generated by gravity considering only the active joints.

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.

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.

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.

Public Member Functions inherited from iCub::iKin::iKinChain
	iKinChain ()
	Default constructor.

	iKinChain (const iKinChain &c)
	Creates a new Chain from an already existing Chain object.

iKinChain &	operator= (const iKinChain &c)
	Copies a Chain object into the current one.

iKinChain &	operator<< (iKinLink &l)
	Adds a Link at the bottom of the Chain.

iKinChain &	operator-- (int)
	Removes a Link from the bottom of the Chain.

iKinLink &	operator[] (const unsigned int i)
	Returns a reference to the ith Link of the Chain.

iKinLink &	operator() (const unsigned int i)
	Returns a reference to the ith Link of the Chain considering only those Links related to DOF.

bool	addLink (const unsigned int i, iKinLink &l)
	Adds a Link at the position ith within the Chain.

bool	rmLink (const unsigned int i)
	Removes the ith Link from the Chain.

void	pushLink (iKinLink &l)
	Adds a Link at the bottom of the Chain.

void	clear ()
	Removes all Links.

void	popLink ()
	Removes a Link from the bottom of the Chain.

bool	blockLink (const unsigned int i, double Ang)
	Blocks the ith Link at the a certain value of its joint angle.

bool	blockLink (const unsigned int i)
	Blocks the ith Link at the current value of its joint angle.

bool	setBlockingValue (const unsigned int i, double Ang)
	Changes the value of the ith blocked Link.

bool	releaseLink (const unsigned int i)
	Releases the ith Link.

bool	isLinkBlocked (const unsigned int i)
	Queries whether the ith Link is blocked.

void	setAllConstraints (bool _constrained)
	Sets the constraint status of all chain links.

void	setConstraint (unsigned int i, bool _constrained)
	Sets the constraint status of ith link.

bool	getConstraint (unsigned int i)
	Returns the constraint status of ith link.

void	setAllLinkVerbosity (unsigned int _verbose)
	Sets the verbosity level of all Links belonging to the Chain.

void	setVerbosity (unsigned int _verbose)
	Sets the verbosity level of the Chain.

unsigned int	getVerbosity () const
	Returns the current Chain verbosity level.

unsigned int	getN () const
	Returns the number of Links belonging to the Chain.

unsigned int	getDOF () const
	Returns the current number of Chain's DOF.

yarp::sig::Matrix	getH0 () const
	Returns H0, the rigid roto-translation matrix from the root reference frame to the 0th frame.

bool	setH0 (const yarp::sig::Matrix &_H0)
	Sets H0, the rigid roto-translation matrix from the root reference frame to the 0th frame.

yarp::sig::Matrix	getHN () const
	Returns HN, the rigid roto-translation matrix from the Nth frame to the end-effector.

bool	setHN (const yarp::sig::Matrix &_HN)
	Sets HN, the rigid roto-translation matrix from the Nth frame to the end-effector.

yarp::sig::Vector	setAng (const yarp::sig::Vector &q)
	Sets the free joint angles to values of q[i].

yarp::sig::Vector	getAng ()
	Returns the current free joint angles values.

double	setAng (const unsigned int i, double _Ang)
	Sets the ith joint angle.

double	getAng (const unsigned int i)
	Returns the current angle of ith joint.

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.

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).

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).

yarp::sig::Vector	Pose (const unsigned int i, const bool axisRep=true)
	Returns the coordinates of ith Link.

yarp::sig::Vector	Position (const unsigned int i)
	Returns the 3D position coordinates of ith Link.

yarp::sig::Vector	EndEffPose (const bool axisRep=true)
	Returns the coordinates of end-effector.

yarp::sig::Vector	EndEffPose (const yarp::sig::Vector &q, const bool axisRep=true)
	Returns the coordinates of end-effector computed in q.

yarp::sig::Vector	EndEffPosition ()
	Returns the 3D coordinates of end-effector position.

yarp::sig::Vector	EndEffPosition (const yarp::sig::Vector &q)
	Returns the 3D coordinates of end-effector position computed in q.

yarp::sig::Matrix	AnaJacobian (const unsigned int i, unsigned int col)
	Returns the analitical Jacobian of the ith link.

yarp::sig::Matrix	AnaJacobian (unsigned int col=3)
	Returns the analitical Jacobian of the end-effector.

yarp::sig::Matrix	AnaJacobian (const yarp::sig::Vector &q, unsigned int col=3)
	Returns the analitical Jacobian of the end-effector computed in q.

yarp::sig::Matrix	GeoJacobian (const unsigned int i)
	Returns the geometric Jacobian of the ith link.

yarp::sig::Matrix	GeoJacobian ()
	Returns the geometric Jacobian of the end-effector.

yarp::sig::Matrix	GeoJacobian (const yarp::sig::Vector &q)
	Returns the geometric Jacobian of the end-effector computed in q.

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.

void	prepareForHessian ()
	Prepares computation for a successive call to fastHessian_ij().

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.

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.

void	prepareForHessian (const unsigned int lnk)
	Prepares computation for a successive call to fastHessian_ij() (link version).

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.

yarp::sig::Matrix	DJacobian (const yarp::sig::Vector &dq)
	Compute the time derivative of the geometric Jacobian.

yarp::sig::Matrix	DJacobian (const unsigned int lnk, const yarp::sig::Vector &dq)
	Compute the time derivative of the geometric Jacobian (link version).

virtual	~iKinChain ()
	Destructor.

Protected Member Functions
virtual void	clone (const iDynChain &c)
	Clone function.

virtual void	build ()
	Build chains and lists.

virtual void	dispose ()
	Dispose.

iDynLink *	refLink (const unsigned int i)
	Returns a pointer to the ith iDynLink.

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)

Protected Attributes
ChainIterationMode	iterateMode_kinematics
	specifies the 'direction' of recursive computation of kinematics variables (w,dw,d2p): FORWARD, BACKWARD

ChainIterationMode	iterateMode_wrench
	specifies the 'direction' of recursive computation of wrenches (F,Mu): FORWARD, BACKWARD

yarp::sig::Vector	curr_dq
	q vel

yarp::sig::Vector	curr_ddq
	q acc

OneChainNewtonEuler *	NE
	pointer to OneChainNewtonEuler class, to be used for computing forces and torques

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

Friends
class	OneChainNewtonEuler

class	iDynInvSensor

class	iDynSensor

class	RigidBodyTransformation

class	iDynContactSolver

Detailed Description

A Base class for defining a Serial Link Chain, using dynamics and kinematics.

Definition at line 532 of file iDyn.h.

Constructor & Destructor Documentation

◆ iDynChain() [1/2]

iDynChain::iDynChain ( )

Default constructor.

Definition at line 476 of file iDyn.cpp.

◆ iDynChain() [2/2]

iDynChain::iDynChain ( const iDynChain & c )

Creates a new Chain from an already existing Chain object.

Parameters

c	is the Chain to be copied

Definition at line 503 of file iDyn.cpp.

◆ ~iDynChain()

iDynChain::~iDynChain ( )

virtual

Destructor.

Definition at line 518 of file iDyn.cpp.

Member Function Documentation

◆ build()

void iDynChain::build ( )

protectedvirtual

Build chains and lists.

Reimplemented from iCub::iKin::iKinChain.

Definition at line 493 of file iDyn.cpp.

◆ clone()

void iDynChain::clone ( const iDynChain & c )

protectedvirtual

Clone function.

Definition at line 483 of file iDyn.cpp.

◆ computeCcGravityTorques() [1/2]

yarp::sig::Vector iCub::iDyn::iDynChain::computeCcGravityTorques ( const yarp::sig::Vector & ddp0 )

Compute the torques generated by gravity and centrifugal and coriolis forces, considering only the active joints.

Parameters

ddp0	a vector that is equal and opposite to gravity expressed in the base reference frame (not the 0th frame)

Returns: a DOF-dim vector

Note: Calling this method is faster than calling computeGravityTorques and computeCcTorques subsequently.

◆ computeCcGravityTorques() [2/2]

yarp::sig::Vector iCub::iDyn::iDynChain::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.

Parameters

ddp0	a vector that is equal and opposite to gravity expressed in the base reference frame (not the 0th frame)
q	vector of the active joint positions
dq	vector of the active joint velocities

Returns: a DOF-dim vector

Note: Calling this method is faster than calling computeGravityTorques and computeCcTorques subsequently.

◆ computeCcTorques() [1/2]

Vector iDynChain::computeCcTorques ( )

Compute the torques due to centrifugal and coriolis effects considering only the active joints.

Returns: a DOF-dim vector

Definition at line 1673 of file iDyn.cpp.

◆ computeCcTorques() [2/2]

yarp::sig::Vector iCub::iDyn::iDynChain::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.

Parameters

q	vector of the active joint positions
dq	vector of the active joint velocities

Returns: a DOF-dim vector

◆ computeGeoJacobian() [1/4]

yarp::sig::Matrix iCub::iDyn::iDynChain::computeGeoJacobian	(	const unsigned int	iLinkN,
		const yarp::sig::Matrix &	Pn
	)

Compute the Jacobian from link 0 to iLinkN.

This method is used to compute the Jacobian between two links in two different chains.

Parameters

iLinkN	the index of the link, in the chain, being the final (<N>) frame for the Jacobian computation
Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)

Returns: the Jacobian matrix from the iLink of the chain until the base of the chain (ie from link 4 to 0)

◆ computeGeoJacobian() [2/4]

yarp::sig::Matrix iCub::iDyn::iDynChain::computeGeoJacobian	(	const unsigned int	iLinkN,
		const yarp::sig::Matrix &	Pn,
		const yarp::sig::Matrix &	_H0
	)

Compute the Jacobian from link 0 to iLinkN.

This method is used to compute the Jacobian between two links in two different chains.

Parameters

iLinkN	the index of the link, in the chain, being the final (<N>) frame for the Jacobian computation
Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)
_H0	the matrix to initialize the jacobian computation, usually taking into account the previous limb

Returns: the Jacobian matrix from the iLink of the chain until the base of the chain (ie from link 4 to 0)

◆ computeGeoJacobian() [3/4]

yarp::sig::Matrix iCub::iDyn::iDynChain::computeGeoJacobian ( const yarp::sig::Matrix & Pn )

Compute the Jacobian of the chain, from link 0 to N.

This method is used to compute the Jacobian between two links in two different chains.

Parameters

Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)

Returns: the Jacobian matrix from the iLink of the chain until the base of the chain (ie from link 4 to 0)

◆ computeGeoJacobian() [4/4]

yarp::sig::Matrix iCub::iDyn::iDynChain::computeGeoJacobian	(	const yarp::sig::Matrix &	Pn,
		const yarp::sig::Matrix &	_H0
	)

Compute the Jacobian of the chain, from link 0 to N.

This method is used to compute the Jacobian between two links in two different chains.

Parameters

Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)
_H0	the matrix to initialize the jacobian computation, usually taking into account the previous limb

Returns: the Jacobian matrix from the iLink of the chain until the base of the chain (ie from link 4 to 0)

◆ computeGravityTorques() [1/2]

yarp::sig::Vector iCub::iDyn::iDynChain::computeGravityTorques ( const yarp::sig::Vector & ddp0 )

Compute the torques generated by gravity considering only the active joints.

Parameters

ddp0	a vector that is equal and opposite to gravity expressed in the base reference frame (not the 0th frame)

Returns: a DOF-dim vector

Note: After calling this method the NewtonEulerMode is set to STATIC

◆ computeGravityTorques() [2/2]

yarp::sig::Vector iCub::iDyn::iDynChain::computeGravityTorques	(	const yarp::sig::Vector &	ddp0,
		const yarp::sig::Vector &	q
	)

Compute the torques generated by gravity considering only the active joints.

Parameters

ddp0	a vector that is equal and opposite to gravity expressed in the base reference frame (not the 0th frame)
q	vector of the active joint positions

Returns: a DOF-dim vector

Note: After calling this method the NewtonEulerMode is set to STATIC

◆ computeKinematicNewtonEuler()

void iDynChain::computeKinematicNewtonEuler ( )

Calls the proper method to compute kinematics variables: either ForwardKinematicFromBase() or BackwardKinematicFromEnd().

This method is protected and it is used by iDynSensor and iDynNode for the Kinematics computations.

Definition at line 992 of file iDyn.cpp.

◆ computeMassMatrix() [1/2]

Matrix iDynChain::computeMassMatrix ( )

Compute the joint space mass matrix considering only the active joints.

Returns: a DOF-by-DOF symmetric positive-definite matrix

Definition at line 1605 of file iDyn.cpp.

◆ computeMassMatrix() [2/2]

yarp::sig::Matrix iCub::iDyn::iDynChain::computeMassMatrix ( const yarp::sig::Vector & q )

Compute the joint space mass matrix considering only the active joints.

Parameters

q	vector of the active joint positions

Returns: a DOF-by-DOF symmetric positive-definite matrix

◆ computeNewtonEuler() [1/2]

bool iDynChain::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.

Definition at line 965 of file iDyn.cpp.

◆ computeNewtonEuler() [2/2]

bool iCub::iDyn::iDynChain::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.

The function parameters contain the information for initializing the kinematic and wrench phase.

◆ computeWrenchNewtonEuler()

void iDynChain::computeWrenchNewtonEuler ( )

Calls the proper method to compute wrench variables: either BackwardWrenchFromEnd() or ForwardWrenchFromBase().

This method is protected and it is used by iDynSensor and iDynNode for the Wrench computations.

Definition at line 1000 of file iDyn.cpp.

◆ dispose()

void iDynChain::dispose ( )

protectedvirtual

Dispose.

Reimplemented from iCub::iKin::iKinChain.

Reimplemented in iCub::iDyn::iDynLimb.

Definition at line 508 of file iDyn.cpp.

◆ getAngAcc()

Vector iDynChain::getAngAcc ( const unsigned int i ) const

Returns the i-th link angular acceleration.

Returns: the i-th link angular acceleration

Definition at line 744 of file iDyn.cpp.

◆ getAngVel()

Vector iDynChain::getAngVel ( const unsigned int i ) const

Returns the i-th link angular velocity.

Returns: the i-th link angular velocity

Definition at line 733 of file iDyn.cpp.

◆ getCOM()

Matrix iDynChain::getCOM ( unsigned int iLink )

Return the COM matrix of the i-th link.

Returns: the COM matrix of the i-th link

Definition at line 1585 of file iDyn.cpp.

◆ getD2Ang() [1/2]

Vector iDynChain::getD2Ang ( )

Returns the current free joint angles acceleration.

Returns: the actual DOF values

Definition at line 597 of file iDyn.cpp.

◆ getD2Ang() [2/2]

double iDynChain::getD2Ang ( const unsigned int i )

Returns the current angle acceleration of ith joint.

Parameters

i	is the Link position

Returns: current ith joint angle acceleration

Definition at line 678 of file iDyn.cpp.

◆ getDAng() [1/2]

Vector iDynChain::getDAng ( )

Returns the current free joint angles velocity.

Returns: the actual DOF values

Definition at line 584 of file iDyn.cpp.

◆ getDAng() [2/2]

double iDynChain::getDAng ( const unsigned int i )

Returns the current angle velocity of ith joint.

Parameters

i	is the Link position

Returns: current ith joint angle velocity

Definition at line 667 of file iDyn.cpp.

◆ getDenHart()

Matrix iDynChain::getDenHart ( unsigned int i )

Return the Denavit-Hartenberg matrix of the i-th link in the chain.

Note that all the links are considered (0<=i<N)

Parameters

i	the i-th link in the chain

Returns: the Denavit-Hartenberg matrix of the i-th link

Definition at line 1467 of file iDyn.cpp.

◆ getForce()

const Vector & iDynChain::getForce ( const unsigned int iLink ) const

Returns the i-th link force.

Returns: the i-th link force

Definition at line 766 of file iDyn.cpp.

◆ getForceMomentEndEff()

Vector iDynChain::getForceMomentEndEff ( ) const

Returns the end effector force-moment as a single (6x1) vector.

Returns: a (6x1) vector, in the form 0:2=F 3:5=Mu

Definition at line 1272 of file iDyn.cpp.

◆ getForces()

Matrix iDynChain::getForces ( ) const

Returns the links forces as a matrix, where the i-th col is the i-th force.

Returns: a 3xN matrix with forces, in the form: i-th col = F_i

Definition at line 859 of file iDyn.cpp.

◆ getForcesNewtonEuler()

Matrix iDynChain::getForcesNewtonEuler ( ) const

Returns the links forces as a matrix, where the (i+1)-th col is the i-th force.

Returns: a 3x(N+2) matrix with forces, in the form: (i+1)-th col = F_i

Definition at line 1226 of file iDyn.cpp.

◆ getFrameKinematic()

void iDynChain::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.

the virtual links (Base, Final) are also considered.

Parameters

i	the i-th frame in the OneChainNE
w	the vector which will contain the angular velocity
dw	the vector which will contain the angular acceleration
ddp	the vector which will contain the linear acceleration

Definition at line 1036 of file iDyn.cpp.

◆ getFrameWrench()

void iDynChain::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.

the virtual links (Base, Final) are also considered.

Parameters

i	the i-th frame in the OneChainNE
F	the vector which will contain the force
Mu	the vector which will contain the moment

Definition at line 1055 of file iDyn.cpp.

◆ getHCOM()

Matrix iDynChain::getHCOM ( unsigned int iLink )

Return the H matrix until the COM of the i-th link.

Returns: the H matrix until the COM of the i-th link

Definition at line 1595 of file iDyn.cpp.

◆ getInertia()

Matrix iDynChain::getInertia ( const unsigned int i ) const

Returns the i-th link inertia matrix.

Returns: the i-th link inertia matrix

Definition at line 847 of file iDyn.cpp.

◆ getIterModeKinematic()

ChainIterationMode iDynChain::getIterModeKinematic ( ) const

Get the iteration direction during recursive computation of kinematics variables (w,dw,d2p,d2pC).

Returns: iterateMode_kinematics

Definition at line 1292 of file iDyn.cpp.

◆ getIterModeWrench()

ChainIterationMode iDynChain::getIterModeWrench ( ) const

Get the iteration direction during recursive computation of wrench variables (F,Mu,Tau).

Returns: iterateMode_wrench

Definition at line 1297 of file iDyn.cpp.

◆ getJointBoundMax()

Vector iDynChain::getJointBoundMax ( )

Returns a list containing the max value for each joint.

Returns: the max joint bounds

Definition at line 621 of file iDyn.cpp.

◆ getJointBoundMin()

Vector iDynChain::getJointBoundMin ( )

Returns a list containing the min value for each joint.

Returns: the min joint bounds

Definition at line 610 of file iDyn.cpp.

◆ getKinematicNewtonEuler()

void iDynChain::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.

This method is used by RigidBodyTransformation for setting the kinematics variables.

Parameters

w	the vector which will contain the angular velocity
dw	the vector which will contain the angular acceleration
ddp	the vector which will contain the linear acceleration

Definition at line 1008 of file iDyn.cpp.

◆ getLinAcc()

Vector iDynChain::getLinAcc ( const unsigned int i ) const

Returns the i-th link linear acceleration.

Returns: the i-th link linear acceleration

Definition at line 711 of file iDyn.cpp.

◆ getLinAccCOM()

const Vector & iDynChain::getLinAccCOM ( const unsigned int i ) const

Returns the i-th link linear acceleration of the COM.

Returns: the i-th link linear acceleration of the COM

Definition at line 722 of file iDyn.cpp.

◆ getLinVel()

Vector iDynChain::getLinVel ( const unsigned int i ) const

Returns the i-th link linear velocity.

Returns: the i-th link linear velocity

Definition at line 689 of file iDyn.cpp.

◆ getLinVelCOM()

Vector iDynChain::getLinVelCOM ( const unsigned int i ) const

Returns the i-th link linear velocity of the COM.

Returns: the i-th link linear velocity of the COM

Definition at line 700 of file iDyn.cpp.

◆ getMass()

double iDynChain::getMass ( const unsigned int i ) const

Returns the i-th link mass.

Returns: the i-th link mass

Definition at line 822 of file iDyn.cpp.

◆ getMasses()

Vector iDynChain::getMasses ( ) const

Returns the link masses as a vector.

Returns: a vector with all the link masses

Definition at line 799 of file iDyn.cpp.

◆ getMoment()

const Vector & iDynChain::getMoment ( const unsigned int iLink ) const

Returns the i-th link moment.

Returns: the i-th link moment

Definition at line 777 of file iDyn.cpp.

◆ getMoments()

Matrix iDynChain::getMoments ( ) const

Returns the links moments as a matrix, where the i-th col is the i-th moment.

Returns: a 3xN matrix with moments, in the form: i-th col = Mu_i

Definition at line 867 of file iDyn.cpp.

◆ getMomentsNewtonEuler()

Matrix iDynChain::getMomentsNewtonEuler ( ) const

Returns the links moments as a matrix, where the (i+1)-th col is the i-th moment.

Returns: a 3x(N+2) matrix with moments, in the form: (i+1)-th col = Mu_i

Definition at line 1242 of file iDyn.cpp.

◆ getTorque()

double iDynChain::getTorque ( const unsigned int iLink ) const

Returns the i-th link torque.

Returns: the i-th link torque

Definition at line 788 of file iDyn.cpp.

◆ getTorques()

Vector iDynChain::getTorques ( ) const

Returns the links torque as a vector.

Returns: a vector with the torques

Definition at line 875 of file iDyn.cpp.

◆ getTorquesNewtonEuler()

Vector iDynChain::getTorquesNewtonEuler ( ) const

Returns the links torque as a vector.

Returns: a Nx1 vector with the torques

Definition at line 1257 of file iDyn.cpp.

◆ getWrenchNewtonEuler()

void iDynChain::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.

This method is used by RigidBodyTransformation for setting the wrench variables.

Definition at line 1072 of file iDyn.cpp.

◆ initKinematicNewtonEuler()

bool iDynChain::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().

This method is protected and it is used by RigidBodyTransformation for setting the Kinematics variables.

Parameters

w0	angular velocity
dw0	angular acceleration
ddp0	linear acceleration

Returns: true if succeed, false otherwise

Definition at line 1144 of file iDyn.cpp.

◆ initNewtonEuler() [1/2]

bool iDynChain::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.

Definition at line 1099 of file iDyn.cpp.

◆ initNewtonEuler() [2/2]

bool iCub::iDyn::iDynChain::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.

◆ initWrenchNewtonEuler()

bool iDynChain::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().

This method is protected and it is used by RigidBodyTransformation for setting the Kinematics variables.

Parameters

Fend	external force
Muend	external moment

Returns: true if succeed, false otherwise

Definition at line 1174 of file iDyn.cpp.

◆ operator=()

iDynChain & iDynChain::operator= ( const iDynChain & c )

Copies a Chain object into the current one.

Parameters

c	is a reference to an object of type iKinChain

Returns: a reference to the current object

Definition at line 523 of file iDyn.cpp.

◆ prepareNewtonEuler()

void iDynChain::prepareNewtonEuler ( const NewEulMode NewEulMode_s = DYNAMIC )

Prepare for the Newton-Euler recursive computation of forces and torques.

Definition at line 916 of file iDyn.cpp.

◆ refLink()

iDynLink * iDynChain::refLink ( const unsigned int i )

protected

Returns a pointer to the ith iDynLink.

Parameters

i	is the Link position

Returns: pointer to ith link

Definition at line 755 of file iDyn.cpp.

◆ setAng() [1/2]

double iDynChain::setAng	(	const unsigned int	i,
		double	q
	)

Sets the ith joint angle.

Parameters

i	is the Link position.
Ang	the new angle's value.

Returns: current ith joint angle (angle constraint is evaluated).

Definition at line 632 of file iDyn.cpp.

◆ setAng() [2/2]

yarp::sig::Vector iCub::iDyn::iDynChain::setAng ( const yarp::sig::Vector & q )

Sets the free joint angles to values of q[i].

Parameters

q	is a vector containing values for DOF.

Returns: the actual DOF values (angles constraints are evaluated).

◆ setD2Ang() [1/2]

double iDynChain::setD2Ang	(	const unsigned int	i,
		double	ddq
	)

Sets the ith joint angle acceleration.

Parameters

i	is the Link position
Ang	the new angle's acceleration value

Returns: current ith joint angle (acceleration constraints can be evaluated - not done at the moment)

Definition at line 656 of file iDyn.cpp.

◆ setD2Ang() [2/2]

yarp::sig::Vector iCub::iDyn::iDynChain::setD2Ang ( const yarp::sig::Vector & ddq )

Sets the free joint angles acceleration to values of ddq[i].

Parameters

ddq	is a vector containing values for each DOF's acceleration

Returns: the actual DOF acceleration values (acceleration constraints can be evaluated - not done at the moment)

◆ setDAng() [1/2]

double iDynChain::setDAng	(	const unsigned int	i,
		double	dq
	)

Sets the ith joint angle velocity.

Parameters

i	is the Link position
Ang	the new angle's velocity value

Returns: current ith joint angle (velocity constraints can be evaluated - not done at the moment)

Definition at line 644 of file iDyn.cpp.

◆ setDAng() [2/2]

yarp::sig::Vector iCub::iDyn::iDynChain::setDAng ( const yarp::sig::Vector & dq )

Sets the free joint angles velocity to values of dq[i].

Parameters

dq	is a vector containing values for each DOF's velocity

Returns: the actual DOF velocity vector (velocity constraints can be evaluated - not done at the moment)

◆ setDynamicParameters() [1/2]

bool iCub::iDyn::iDynChain::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.

Parameters

i	the i-th Link
_m	is the Link mass
_HC	is the rototranslation matrix from the link frame to the center of mass
_I	is the Inertia matrix

◆ setDynamicParameters() [2/2]

bool iCub::iDyn::iDynChain::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.

Parameters

i	the i-th Link
_m	is the Link mass
_HC	is the rototranslation matrix from the link frame to the center of mass
_I	is the Inertia matrix
_kr	is the rotor constant
_Fv	is the viscous friction constant
_Fs	is the static friction constant
_Im	is the rotor inertia

◆ setIterMode()

void iDynChain::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).

The mode is NE_KIN_WRE_kw, where the suffix 'kw' identifies the modes for the kinematics ('k') and wrench ('w') computations: {FF,FB,BF,BB} where the F stands for FORWARD and B for BACKWARD. Default mode is KINFWD_WREBWD, which sets Kinematics=FORWARD and Wrench=BACKWARD.

Parameters

mode	NE_KIN_WRE_{FF,FB,BF,BB}

Definition at line 1302 of file iDyn.cpp.

◆ setIterModeKinematic()

void iDynChain::setIterModeKinematic ( const ChainIterationMode _iterateMode_kinematics = FORWARD )

Set the iteration direction during recursive computation of kinematics variables (w,dw,d2p,d2pC).

Default is FORWARD, which is also set in the constructor.

Parameters

_iterateMode_kinematics FORWARD/BACKWARD

Definition at line 1282 of file iDyn.cpp.

◆ setIterModeWrench()

void iDynChain::setIterModeWrench ( const ChainIterationMode _iterateMode_wrench = BACKWARD )

Set the iteration direction during recursive computation of wrench variables (F,Mu,Tau).

Default is BACKWARD, which is also set in the constructor.

Parameters

_iterateMode_wrench FORWARD/BACKWARD

Definition at line 1287 of file iDyn.cpp.

◆ setMass()

bool iDynChain::setMass	(	const unsigned int	i,
		const double	_m
	)

Set the i-th link mass.

Returns: true if operation is successful, false otherwise

Definition at line 833 of file iDyn.cpp.

◆ setMasses()

bool iDynChain::setMasses ( yarp::sig::Vector _m )

Set the link masses at once.

Returns: true if operation is successful, false otherwise

Definition at line 807 of file iDyn.cpp.

◆ setModeNewtonEuler()

void iDynChain::setModeNewtonEuler ( const NewEulMode NewEulMode_s = DYNAMIC )

Set the computation mode for Newton-Euler (static/dynamic/etc)

Definition at line 1204 of file iDyn.cpp.

◆ setStaticParameters()

bool iDynChain::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).

Parameters

i	the i-th Link
_m	is the Link mass
_HC	is the rototranslation matrix from the link frame to the center of mass

Definition at line 905 of file iDyn.cpp.

◆ TESTING_computeCOMJacobian() [1/3]

Matrix iDynChain::TESTING_computeCOMJacobian ( const unsigned int iLink )

Compute the Jacobian of the COM of link indexed iLink.

The chain considered for the computation is the entire kinematic chain, between links 0 and N-1. Hence, the Jacobian is 6xN (differently from the Jacobian of the i-th link which assumes the chain to be from 0 to iLink, and differently from the Jacobian of the end-effector which is 6xDOF).

Parameters

iLinkN the index of the link, in the chain

Returns: the Jacobian matrix of the COM of the iLink of the chain

Definition at line 1478 of file iDyn.cpp.

◆ TESTING_computeCOMJacobian() [2/3]

yarp::sig::Matrix iCub::iDyn::iDynChain::TESTING_computeCOMJacobian	(	const unsigned int	iLink,
		const yarp::sig::Matrix &	Pn
	)

Compute the Jacobian of the COM of link iLink (considering chain 0-iLink).

Parameters

iLinkN	the index of the link, in the chain, being the final frame for the Jacobian computation
Pn	the matrix describing the roto-translational matrix between base and the iLink (in two different limbs)

Returns: the Jacobian matrix of the COM of the iLink of the chain

◆ TESTING_computeCOMJacobian() [3/3]

yarp::sig::Matrix iCub::iDyn::iDynChain::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).

Parameters

iLinkN	the index of the link, in the chain, being the final frame for the Jacobian computation
Pn	the matrix describing the roto-translational matrix between base and the iLink (in two different limbs)
_H0	the matrix to initialize the jacobian computation, usually taking into account the previous limb

Returns: the Jacobian matrix of the COM of the iLink of the chain

Friends And Related Symbol Documentation

◆ iDynContactSolver

friend class iDynContactSolver

friend

Definition at line 538 of file iDyn.h.

◆ iDynInvSensor

friend class iDynInvSensor

friend

Definition at line 535 of file iDyn.h.

◆ iDynSensor

friend class iDynSensor

friend

Definition at line 536 of file iDyn.h.

◆ OneChainNewtonEuler

friend class OneChainNewtonEuler

friend

Definition at line 534 of file iDyn.h.

◆ RigidBodyTransformation

friend class RigidBodyTransformation

friend

Definition at line 537 of file iDyn.h.

Member Data Documentation

◆ curr_ddq

yarp::sig::Vector iCub::iDyn::iDynChain::curr_ddq

protected

q acc

Definition at line 551 of file iDyn.h.

◆ curr_dq

yarp::sig::Vector iCub::iDyn::iDynChain::curr_dq

protected

q vel

Definition at line 549 of file iDyn.h.

◆ iterateMode_kinematics

ChainIterationMode iCub::iDyn::iDynChain::iterateMode_kinematics

protected

specifies the 'direction' of recursive computation of kinematics variables (w,dw,d2p): FORWARD, BACKWARD

Definition at line 543 of file iDyn.h.

◆ iterateMode_wrench

ChainIterationMode iCub::iDyn::iDynChain::iterateMode_wrench

protected

specifies the 'direction' of recursive computation of wrenches (F,Mu): FORWARD, BACKWARD

Definition at line 545 of file iDyn.h.

◆ NE

OneChainNewtonEuler* iCub::iDyn::iDynChain::NE

protected

pointer to OneChainNewtonEuler class, to be used for computing forces and torques

Definition at line 554 of file iDyn.h.

◆ zero0

const yarp::sig::Vector iCub::iDyn::iDynChain::zero0

protected

Definition at line 556 of file iDyn.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ iDynChain() [1/2]

◆ iDynChain() [2/2]

◆ ~iDynChain()

Member Function Documentation

◆ build()

◆ clone()

◆ computeCcGravityTorques() [1/2]

◆ computeCcGravityTorques() [2/2]

◆ computeCcTorques() [1/2]

◆ computeCcTorques() [2/2]

◆ computeGeoJacobian() [1/4]

◆ computeGeoJacobian() [2/4]

◆ computeGeoJacobian() [3/4]

◆ computeGeoJacobian() [4/4]

◆ computeGravityTorques() [1/2]

◆ computeGravityTorques() [2/2]

◆ computeKinematicNewtonEuler()

◆ computeMassMatrix() [1/2]

◆ computeMassMatrix() [2/2]

◆ computeNewtonEuler() [1/2]

◆ computeNewtonEuler() [2/2]

◆ computeWrenchNewtonEuler()

◆ dispose()

◆ getAngAcc()

◆ getAngVel()

◆ getCOM()

◆ getD2Ang() [1/2]

◆ getD2Ang() [2/2]

◆ getDAng() [1/2]

◆ getDAng() [2/2]

◆ getDenHart()

◆ getForce()

◆ getForceMomentEndEff()

◆ getForces()

◆ getForcesNewtonEuler()

◆ getFrameKinematic()

◆ getFrameWrench()

◆ getHCOM()

◆ getInertia()

◆ getIterModeKinematic()

◆ getIterModeWrench()

◆ getJointBoundMax()

◆ getJointBoundMin()

◆ getKinematicNewtonEuler()

◆ getLinAcc()

◆ getLinAccCOM()

◆ getLinVel()

◆ getLinVelCOM()

◆ getMass()

◆ getMasses()

◆ getMoment()

◆ getMoments()

◆ getMomentsNewtonEuler()

◆ getTorque()

◆ getTorques()

◆ getTorquesNewtonEuler()

◆ getWrenchNewtonEuler()

◆ initKinematicNewtonEuler()

◆ initNewtonEuler() [1/2]

◆ initNewtonEuler() [2/2]

◆ initWrenchNewtonEuler()

◆ operator=()

◆ prepareNewtonEuler()

◆ refLink()

◆ setAng() [1/2]

◆ setAng() [2/2]

◆ setD2Ang() [1/2]

◆ setD2Ang() [2/2]

◆ setDAng() [1/2]

◆ setDAng() [2/2]

◆ setDynamicParameters() [1/2]

◆ setDynamicParameters() [2/2]

◆ setIterMode()

◆ setIterModeKinematic()