A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right arm. More...
#include <iDynInv.h>
Inheritance diagram for iCub::iDyn::iDynInvSensorArm:
Public Member Functions | |
| iDynInvSensorArm (iDyn::iCubArmDyn *_c, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::NO_VERBOSE) | |
| Constructor: the sensor is automatically set with "right" or "left" choice. More... | |
| iDynInvSensorArm (iDyn::iDynChain *_c, const std::string _type, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::NO_VERBOSE) | |
| Constructor: the sensor is automatically set with "right" or "left" choice; note that in this case there is not a specification of the iCubArmDyn, but the part must be specified. More... | |
| std::string | getType () const |
| Public Member Functions inherited from iCub::iDyn::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() 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 () |
Additional Inherited Members | |
| Protected Attributes inherited from iCub::iDyn::iDynInvSensor | |
| unsigned int | lSens |
| the link where the sensor is attached to More... | |
| SensorLinkNewtonEuler * | sens |
| the sensor More... | |
| iDynChain * | chain |
| 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... | |
Detailed Description
A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right arm.
The sensor parameters are automatically set by chosing left or right during initialization of the iCubArmDyn.
Constructor & Destructor Documentation
◆ iDynInvSensorArm() [1/2]
| iDynInvSensorArm::iDynInvSensorArm | ( | iDyn::iCubArmDyn * | _c, |
| const NewEulMode | _mode = DYNAMIC, |
||
| unsigned int | verb = iCub::skinDynLib::NO_VERBOSE |
||
| ) |
Constructor: the sensor is automatically set with "right" or "left" choice.
- Parameters
-
_c a pointer to the iCubArmDyn where the sensor is placed on _mode the analysis mode (STATIC/DYNAMIC) verb flag for verbosity
Definition at line 2338 of file iDynInv.cpp.
◆ iDynInvSensorArm() [2/2]
| iDynInvSensorArm::iDynInvSensorArm | ( | iDyn::iDynChain * | _c, |
| const std::string | _type, | ||
| const NewEulMode | _mode = DYNAMIC, |
||
| unsigned int | verb = iCub::skinDynLib::NO_VERBOSE |
||
| ) |
Constructor: the sensor is automatically set with "right" or "left" choice; note that in this case there is not a specification of the iCubArmDyn, but the part must be specified.
- Parameters
-
_c a pointer to the iDynChain where the sensor is placed on _type a string setting the arm type _mode the analysis mode (STATIC/DYNAMIC) verb flag for verbosity
Definition at line 2361 of file iDynInv.cpp.
Member Function Documentation
◆ getType()
| string iDynInvSensorArm::getType | ( | ) | const |
- Returns
- type the arm type: left/arm
Definition at line 2384 of file iDynInv.cpp.
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
