A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right leg. More...

#include <iDynInv.h>

Inheritance diagram for iCub::iDyn::iDynInvSensorLeg:

Public Member Functions
	iDynInvSensorLeg (iDyn::iCubLegDyn *_c, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Constructor: the sensor is automatically set with "right" or "left" choice.

	iDynInvSensorLeg (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.

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()

	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 ()

Additional Inherited Members
Protected Attributes inherited from iCub::iDyn::iDynInvSensor
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

Detailed Description

A class for computing force/moment of the FT sensor placed in the middle of the iCub's left or right leg.

The sensor parameters are automatically set by chosing left or right during initialization of iCubLegDyn.

Definition at line 1529 of file iDynInv.h.

Constructor & Destructor Documentation

◆ iDynInvSensorLeg() [1/2]

iDynInvSensorLeg::iDynInvSensorLeg	(	iDyn::iCubLegDyn *	_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 iCubLegDyn where the sensor is placed on
_mode	the analysis mode (STATIC/DYNAMIC)
verb	flag for verbosity

Definition at line 2512 of file iDynInv.cpp.

◆ iDynInvSensorLeg() [2/2]

iDynInvSensorLeg::iDynInvSensorLeg	(	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.

Parameters

_c	a pointer to the iDynChain where the sensor is placed on
_type	a string setting the leg type
_mode	the analysis mode (STATIC/DYNAMIC)
verb	flag for verbosity

Definition at line 2535 of file iDynInv.cpp.

Member Function Documentation

◆ getType()

string iDynInvSensorLeg::getType ( ) const

Returns: type the leg type: left/arm

Definition at line 2558 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