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iCub::iDyn::iDynInvSensor Class Reference

#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() More...
 
 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. More...
 
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. More...
 
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. More...
 
std::string toString () const
 Print some information. More...
 
yarp::sig::Vector getSensorForce () const
 Returns the sensor estimated force. More...
 
yarp::sig::Vector getSensorMoment () const
 Returns the sensor estimated moment. More...
 
yarp::sig::Vector getSensorForceMoment () const
 Get the sensor force and moment in a single (6x1) vector. More...
 
yarp::sig::Matrix getH () const
 Get the sensor roto-translational matrix defining its position/orientation wrt the link. More...
 
double getMass () const
 Get the mass of the portion of link defined between sensor and i-th frame. More...
 
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. More...
 
yarp::sig::Matrix getInertia () const
 Get the inertia of the portion of link defined between sensor and i-th frame. More...
 
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. More...
 
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 More...
 
SensorLinkNewtonEulersens
 the sensor More...
 
iDynChainchain
 the iDynChain describing the robotic chain More...
 
NewEulMode mode
 static/dynamic/etc.. More...
 
unsigned int verbose
 verbosity flag More...
 
std::string info
 a string with useful information if needed More...
 

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
_ca pointer to the iDynChain where the sensor is placed on
_infoa string with information
_modethe analysis mode (STATIC/DYNAMIC)
verbflag 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
_ca pointer to the iDynChain where the sensor is placed on
ithe i-th link to whom the sensor is attached
_Hthe roto-traslational matrix from the reference frame of the i-th link to the sensor
_HCthe roto-traslational matrix of the center of mass of the semi-link defined by the sensor in the i-th link
_mthe mass of the semi-link
_Ithe inertia of the semi-link
_infoa string with information
_modethe analysis mode (STATIC/DYNAMIC)
verbflag 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
_mis the semi-link mass
_HCis the rototranslation matrix from the link frame to the center of mass
_Iis 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
ithe i-th link to whom the sensor is attached
_Hthe roto-traslational matrix from the reference frame of the i-th link to the sensor
_HCthe roto-traslational matrix of the center of mass of the semi-link defined by the sensor in the i-th link
_mthe mass of the semi-link
_Ithe 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 Function 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: