A class for computing force/moment of a sensor placed anywhere in a kinematic chain; its position in the chain is defined wrt a certain link in the chain; this class can be useful to estimate the FT measurements of the sensor. More...

#include <iDynInv.h>

Inheritance diagram for iCub::iDyn::iDynInvSensor:

Public Member Functions
	iDynInvSensor (iDyn::iDynChain *_c, const std::string &_info, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Constructor without FT sensor: the sensor must be set with setSensor()

	iDynInvSensor (iDyn::iDynChain *_c, unsigned int i, const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_HC, const double _m, const yarp::sig::Matrix &_I, const std::string &_info, const NewEulMode _mode=DYNAMIC, unsigned int verb=0)
	Constructor with FT sensor.

bool	setSensor (unsigned int i, 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.

bool	setSensor (unsigned int i, SensorLinkNewtonEuler *sensor)

void	computeSensorForceMoment ()
	Compute forces and moments at the sensor frame; this method calls special Forward and Backward methods of SensorLink, using Newton-Euler's formula applied in the link where the sensor is placed on; the link is automatically found, being specified by the index in the chain and the chain itself; The case of a contact (ie external force) acting in the host link is not currently implemented.

std::string	toString () const
	Print some information.

yarp::sig::Vector	getSensorForce () const
	Returns the sensor estimated force.

yarp::sig::Vector	getSensorMoment () const
	Returns the sensor estimated moment.

yarp::sig::Vector	getSensorForceMoment () const
	Get the sensor force and moment in a single (6x1) vector.

yarp::sig::Matrix	getH () const
	Get the sensor roto-translational matrix defining its position/orientation wrt the link.

double	getMass () const
	Get the mass of the portion of link defined between sensor and i-th frame.

yarp::sig::Matrix	getCOM () const
	Get the sensor roto-traslational matrix of the center of mass of the semi-link defined by the sensor in the i-th link.

yarp::sig::Matrix	getInertia () const
	Get the inertia of the portion of link defined between sensor and i-th frame.

void	setMode (const NewEulMode _mode=DYNAMIC)

void	setVerbose (unsigned int verb=iCub::skinDynLib::VERBOSE)

void	setInfo (const std::string &_info)

void	setSensorInfo (const std::string &_info)

bool	setDynamicParameters (const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I)
	Set the dynamic parameters of the the portion of link defined between sensor and i-th frame.

std::string	getInfo () const

std::string	getSensorInfo () const

unsigned int	getSensorLink () const

yarp::sig::Vector	getTorques () const

virtual	~iDynInvSensor ()

Protected Attributes
unsigned int	lSens
	the link where the sensor is attached to

SensorLinkNewtonEuler *	sens
	the sensor

iDynChain *	chain
	the iDynChain describing the robotic chain

NewEulMode	mode
	static/dynamic/etc..

unsigned int	verbose
	verbosity flag

std::string	info
	a string with useful information if needed

Friends
class	iFTransformation

Detailed Description

A class for computing force/moment of a sensor placed anywhere in a kinematic chain; its position in the chain is defined wrt a certain link in the chain; this class can be useful to estimate the FT measurements of the sensor.

Definition at line 1222 of file iDynInv.h.

Constructor & Destructor Documentation

◆ iDynInvSensor() [1/2]

iDynInvSensor::iDynInvSensor	(	iDyn::iDynChain *	_c,
		const std::string &	_info,
		const NewEulMode	_mode = `DYNAMIC`,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`
	)

Constructor without FT sensor: the sensor must be set with setSensor()

Parameters

_c	a pointer to the iDynChain where the sensor is placed on
_info	a string with information
_mode	the analysis mode (STATIC/DYNAMIC)
verb	flag for verbosity

Definition at line 2025 of file iDynInv.cpp.

◆ iDynInvSensor() [2/2]

iCub::iDyn::iDynInvSensor::iDynInvSensor	(	iDyn::iDynChain *	_c,
		unsigned int	i,
		const yarp::sig::Matrix &	_H,
		const yarp::sig::Matrix &	_HC,
		const double	_m,
		const yarp::sig::Matrix &	_I,
		const std::string &	_info,
		const NewEulMode	_mode = `DYNAMIC`,
		unsigned int	verb = `0`
	)

Constructor with FT sensor.

Parameters

_c	a pointer to the iDynChain where the sensor is placed on
i	the i-th link to whom the sensor is attached
_H	the roto-traslational matrix from the reference frame of the i-th link to the sensor
_HC	the roto-traslational matrix of the center of mass of the semi-link defined by the sensor in the i-th link
_m	the mass of the semi-link
_I	the inertia of the semi-link
_info	a string with information
_mode	the analysis mode (STATIC/DYNAMIC)
verb	flag for verbosity

◆ ~iDynInvSensor()

iDynInvSensor::~iDynInvSensor ( )

virtual

Definition at line 2047 of file iDynInv.cpp.

Member Function Documentation

◆ computeSensorForceMoment()

void iDynInvSensor::computeSensorForceMoment ( )

Compute forces and moments at the sensor frame; this method calls special Forward and Backward methods of SensorLink, using Newton-Euler's formula applied in the link where the sensor is placed on; the link is automatically found, being specified by the index in the chain and the chain itself; The case of a contact (ie external force) acting in the host link is not currently implemented.

Definition at line 2102 of file iDynInv.cpp.

◆ getCOM()

Matrix iDynInvSensor::getCOM ( ) const

Get the sensor roto-traslational matrix of the center of mass of the semi-link defined by the sensor in the i-th link.

Returns: a (4x4) matrix

Definition at line 2223 of file iDynInv.cpp.

◆ getH()

Matrix iDynInvSensor::getH ( ) const

Get the sensor roto-translational matrix defining its position/orientation wrt the link.

Returns: a (4x4) matrix

Definition at line 2197 of file iDynInv.cpp.

◆ getInertia()

Matrix iDynInvSensor::getInertia ( ) const

Get the inertia of the portion of link defined between sensor and i-th frame.

Returns: a (3x3) matrix, inertia of the semi-link

Definition at line 2240 of file iDynInv.cpp.

◆ getInfo()

string iDynInvSensor::getInfo ( ) const

Definition at line 2195 of file iDynInv.cpp.

◆ getMass()

double iDynInvSensor::getMass ( ) const

Get the mass of the portion of link defined between sensor and i-th frame.

Returns: the mass of the semi-link

Definition at line 2210 of file iDynInv.cpp.

◆ getSensorForce()

Vector iDynInvSensor::getSensorForce ( ) const

Returns the sensor estimated force.

Returns: the force at the sensor frame

Definition at line 2118 of file iDynInv.cpp.

◆ getSensorForceMoment()

Vector iDynInvSensor::getSensorForceMoment ( ) const

Get the sensor force and moment in a single (6x1) vector.

Returns: a (6x1) vector where 0:2=force 3:5=moment

Definition at line 2265 of file iDynInv.cpp.

◆ getSensorInfo()

string iDynInvSensor::getSensorInfo ( ) const

Definition at line 2253 of file iDynInv.cpp.

◆ getSensorLink()

unsigned int iDynInvSensor::getSensorLink ( ) const

Definition at line 2277 of file iDynInv.cpp.

◆ getSensorMoment()

Vector iDynInvSensor::getSensorMoment ( ) const

Returns the sensor estimated moment.

Returns: the moment at the sensor frame

Definition at line 2130 of file iDynInv.cpp.

◆ getTorques()

Vector iDynInvSensor::getTorques ( ) const

Definition at line 2142 of file iDynInv.cpp.

◆ setDynamicParameters()

bool iDynInvSensor::setDynamicParameters	(	const double	_m,
		const yarp::sig::Matrix &	_HC,
		const yarp::sig::Matrix &	_I
	)

Set the dynamic parameters of the the portion of link defined between sensor and i-th frame.

Parameters

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

Returns: true if operation is successful (ie matrices size is correct, and the sensor is defined), false otherwise

Definition at line 2175 of file iDynInv.cpp.

◆ setInfo()

void iDynInvSensor::setInfo ( const std::string & _info )

Definition at line 2165 of file iDynInv.cpp.

◆ setMode()

void iDynInvSensor::setMode ( const NewEulMode _mode = DYNAMIC )

Definition at line 2153 of file iDynInv.cpp.

◆ setSensor() [1/2]

bool iCub::iDyn::iDynInvSensor::setSensor	(	unsigned int	i,
		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.

Parameters

i	the i-th link to whom the sensor is attached
_H	the roto-traslational matrix from the reference frame of the i-th link to the sensor
_HC	the roto-traslational matrix of the center of mass of the semi-link defined by the sensor in the i-th link
_m	the mass of the semi-link
_I	the inertia of the semi-link

Returns: true if the operation is successful, false otherwise (eg if index is out of range)

◆ setSensor() [2/2]

bool iDynInvSensor::setSensor	(	unsigned int	i,
		SensorLinkNewtonEuler *	sensor
	)

Definition at line 2090 of file iDynInv.cpp.

◆ setSensorInfo()

void iDynInvSensor::setSensorInfo ( const std::string & _info )

Definition at line 2170 of file iDynInv.cpp.

◆ setVerbose()

void iDynInvSensor::setVerbose ( unsigned int verb = iCub::skinDynLib::VERBOSE )

Definition at line 2159 of file iDynInv.cpp.

◆ toString()

string iDynInvSensor::toString ( ) const

Print some information.

Definition at line 2057 of file iDynInv.cpp.

Friends And Related Symbol Documentation

◆ iFTransformation

friend class iFTransformation

friend

Definition at line 1224 of file iDynInv.h.

Member Data Documentation

◆ chain

iDynChain* iCub::iDyn::iDynInvSensor::chain

protected

the iDynChain describing the robotic chain

Definition at line 1232 of file iDynInv.h.

◆ info

std::string iCub::iDyn::iDynInvSensor::info

protected

a string with useful information if needed

Definition at line 1238 of file iDynInv.h.

◆ lSens

unsigned int iCub::iDyn::iDynInvSensor::lSens

protected

the link where the sensor is attached to

Definition at line 1228 of file iDynInv.h.

◆ mode

NewEulMode iCub::iDyn::iDynInvSensor::mode

protected

static/dynamic/etc..

Definition at line 1234 of file iDynInv.h.

◆ sens

SensorLinkNewtonEuler* iCub::iDyn::iDynInvSensor::sens

protected

the sensor

Definition at line 1230 of file iDynInv.h.

◆ verbose

unsigned int iCub::iDyn::iDynInvSensor::verbose

protected

verbosity flag

Definition at line 1236 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

Friends

Detailed Description

Constructor & Destructor Documentation

◆ iDynInvSensor() [1/2]

◆ iDynInvSensor() [2/2]

◆ ~iDynInvSensor()

Member Function Documentation

◆ computeSensorForceMoment()

◆ getCOM()

◆ getH()

◆ getInertia()

◆ getInfo()

◆ getMass()

◆ getSensorForce()

◆ getSensorForceMoment()

◆ getSensorInfo()

◆ getSensorLink()

◆ getSensorMoment()

◆ getTorques()

◆ setDynamicParameters()

◆ setInfo()

◆ setMode()

◆ setSensor() [1/2]

◆ setSensor() [2/2]

◆ setSensorInfo()

◆ setVerbose()

◆ toString()

Friends And Related Symbol Documentation

◆ iFTransformation

Member Data Documentation

◆ chain

◆ info

◆ lSens

◆ mode

◆ sens

◆ verbose