A base class for defining a Link with standard Denavit-Hartenberg convention, providing kinematic and dynamic information. More...

#include <iDyn.h>

Inheritance diagram for iCub::iDyn::iDynLink:

Public Member Functions
bool	setDynamicParameters (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 both Link and motor.

bool	setDynamicParameters (const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I)
	Set the dynamic parameters of the Link.

bool	setStaticParameters (const double _m, const yarp::sig::Matrix &_HC)
	Set the dynamic parameters of the Link if the chain is in a static situation (inertia is null).

bool	setInertia (const yarp::sig::Matrix &_I)
	Sets the link inertia.

void	setInertia (const double Ixx, const double Ixy, const double Ixz, const double Iyy, const double Iyz, const double Izz)
	Sets the link inertia matrix by setting the 6 inertial parameters.

void	setMass (const double _m)
	Sets the link mass.

double	setAng (const double _teta)
	Sets the joint position (position constraints are evaluated).

double	setDAng (const double _dteta)
	Sets the joint velocity.

double	setD2Ang (const double _ddteta)
	Sets the joint acceleration.

const yarp::sig::Vector &	getLinVel () const
	Gets the linear velocity of the link.

const yarp::sig::Vector &	getLinVelC () const
	Gets the linear velocity of the COM.

void	setAngPosVelAcc (const double _teta, const double _dteta, const double _ddteta)
	Sets the joint angle position, velocity, acceleration.

bool	setCOM (const yarp::sig::Matrix &_HC)
	Set the roto-translation matrix from i to COM.

bool	setCOM (const yarp::sig::Vector &_rC)
	Set the distance vector from i to COM; the rotation is not modified (set to identity as default)

void	setCOM (const double _rCx, const double _rCy, const double _rCz)
	Set the roto-translation matrix from i to COM, where the rotational part is and identity matrix, and the traslation is specified by the three parameters.

bool	setForce (const yarp::sig::Vector &_F)
	Sets the joint force, in the link frame: F^i_i.

bool	setMoment (const yarp::sig::Vector &_Mu)
	Sets the joint moment, in the link frame: Mu^i_i.

bool	setForceMoment (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Sets the joint force and moment, in the link frame: F^i_i , Mu^i_i.

void	setTorque (const double _Tau)
	Sets the joint moment, in the link frame: Tau_i.

const yarp::sig::Matrix &	getInertia () const
	Get the inertia matrix.

double	getMass () const
	Get the link mass.

double	getIm () const

double	getKr () const

double	getFs () const

double	getFv () const

const yarp::sig::Matrix &	getCOM () const
	Get the roto-translational matrix describing the COM.

double	getDAng () const
	Get the joint velocity.

double	getD2Ang () const
	Get the joint acceleration.

const yarp::sig::Vector &	getW () const
	Get the angular velocity of the link.

const yarp::sig::Vector &	getdW () const
	Get the angular acceleration of the link.

const yarp::sig::Vector &	getdWM () const
	Get the angular acceleration of the motor.

const yarp::sig::Vector &	getLinAcc () const
	Get the linear acceleration of the link.

const yarp::sig::Vector &	getLinAccC () const
	Get the linear acceleration of the COM.

const yarp::sig::Vector &	getForce () const
	Get the link force.

const yarp::sig::Vector &	getMoment () const
	Get the link moment.

double	getTorque () const
	Get the joint torque.

const yarp::sig::Matrix &	getH ()
	Redefine the getH of iKinLink so that it does not compute the H matrix if the joint angles have not changed since the last call to this method.

const yarp::sig::Matrix &	getR ()
	Get the link rotational matrix, from the Denavit-Hartenberg matrix.

const yarp::sig::Matrix &	getRC () const
	Get the link COM's rotational matrix, from the COM matrix.

const yarp::sig::Vector &	getr (bool proj=false)
	Get the link distance vector r, or r*R if projection is specified.

const yarp::sig::Vector &	getrC (bool proj=false) const
	Get the COM distance vector rC, or rC*R if projection is specified.

	iDynLink (double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI)
	Constructor, with initialization of kinematic data; dynamic data are set to zero, while the roto-translational matrix for the COM.

	iDynLink (const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I, double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI)
	Constructor, with initialization of kinematic and dynamic data.

	iDynLink (const double _m, const yarp::sig::Vector &_C, const yarp::sig::Matrix &_I, double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI)
	Constructor, with initialization of kinematic and dynamic data.

	iDynLink (const double _m, const double _rCx, const double _rCy, const double _rCz, const double Ixx, const double Ixy, const double Ixz, const double Iyy, const double Iyz, const double Izz, double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI)
	Constructor, with initialization of kinematic and dynamic data.

	iDynLink (const iDynLink &c)
	Copy constructor.

void	zero ()
	Set all dynamic parameters to zero.

iDynLink &	operator= (const iDynLink &c)
	Overload of operator =.

Public Member Functions inherited from iCub::iKin::iKinLink
	iKinLink (double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI)
	Constructor.

	iKinLink (const iKinLink &l)
	Creates a new Link from an already existing Link object.

iKinLink &	operator= (const iKinLink &l)
	Copies a Link object into the current one.

void	setConstraint (bool _constrained)
	Sets the constraint status.

bool	getConstraint () const
	Returns the constraint status.

void	setVerbosity (unsigned int _verbose)
	Sets Link verbosity level.

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

bool	isBlocked () const
	Returns the Link blocking status.

double	getA () const
	Returns the Link length A.

void	setA (const double _A)
	Sets the Link length A.

double	getD () const
	Returns the Link offset D.

void	setD (const double _D)
	Sets the Link offset D.

double	getAlpha () const
	Returns the Link twist Alpha.

void	setAlpha (const double _Alpha)
	Sets the Link twist Alpha.

double	getOffset () const
	Returns the joint angle offset.

void	setOffset (const double _Offset)
	Sets the joint angle offset.

double	getMin () const
	Returns the joint angle lower bound.

void	setMin (const double _Min)
	Sets the joint angle lower bound.

double	getMax () const
	Returns the joint angle upper bound.

void	setMax (const double _Max)
	Sets the joint angle higher bound.

double	getAng () const
	Returns the current joint angle value.

double	setAng (double _Ang)
	Sets the joint angle value.

yarp::sig::Matrix	getH (bool c_override=false)
	Computes the homogeneous transformation matrix H of the Link.

yarp::sig::Matrix	getH (double _Ang, bool c_override=false)
	Same as getH() with specification of new joint angle position.

yarp::sig::Matrix	getDnH (unsigned int n=1, bool c_override=false)
	Computes the derivative of order n of the homogeneous transformation matrix H with respect to the joint angle.

virtual	~iKinLink ()
	Default destructor.

virtual void	setPosVelAcc (const double, const double, const double)

virtual bool	setForce (const yarp::sig::Vector &, const yarp::sig::Vector &)

virtual const yarp::sig::Matrix &	getRC ()

virtual const yarp::sig::Vector &	getr ()

virtual const yarp::sig::Vector &	getrC ()

Protected Member Functions
	iDynLink ()
	Default constructor : not implemented.

virtual void	clone (const iDynLink &l)
	Clone function.

virtual void	updateHstore ()

Protected Member Functions inherited from iCub::iKin::iKinLink
	iKinLink ()

virtual void	clone (const iKinLink &l)

bool	isCumulative ()

void	block ()

void	block (double _Ang)

void	release ()

void	rmCumH ()

void	addCumH (const yarp::sig::Matrix &_cumH)

Protected Attributes
yarp::sig::Matrix	H_store

yarp::sig::Matrix	R_store

yarp::sig::Vector	r_store

yarp::sig::Vector	r_proj_store

bool	H_store_valid

double	m
	m_i, mass

yarp::sig::Matrix	HC
	4x4, H^i_{C_i} = R^i_{C_i}, r^i_{i,C_i}, roto-translation matrix from i to Ci, constant

yarp::sig::Matrix	RC
	3x3, R^i_{C_i} rotational part of HC, constant

yarp::sig::Vector	rc
	3x1, r^i_{i,C_i}, translational part of HC, constant

yarp::sig::Vector	rc_proj

yarp::sig::Matrix	I
	3x3, I^i_i, inertia matrix, constant

double	dq
	dq, joint vel

double	ddq
	ddq=d2q, joint acc

yarp::sig::Vector	w
	1x3, w^i_i angular velocity

yarp::sig::Vector	dw
	1x3, dw^i_i angular acceleration

yarp::sig::Vector	dwM
	1x3, dw^{i-1}_{m_i} angular acceleration of rotor

yarp::sig::Vector	dp
	1x3, dp^i_i linear velocity of frame i

yarp::sig::Vector	dpC
	1x3, dp^i_{C_i} linear velocity of center of mass C_i

yarp::sig::Vector	ddp
	1x3, d2p=ddp^i_i linear acceleration of frame i

yarp::sig::Vector	ddpC
	1x3, d2p=ddp^i_{C_i} linear acceleration of center of mass C_i

yarp::sig::Vector	F
	1x3, f^i_i force

yarp::sig::Vector	Mu
	1x3, mu^i_i moment

double	Tau
	tau_i joint torque

double	Im
	I_{m_i} rotor inertia.

double	kr
	k_{r,i} inertia constant

double	Fv
	F_{v,i} viscous friction.

double	Fs
	F_{s,i} static friction.

Protected Attributes inherited from iCub::iKin::iKinLink
double	A

double	D

double	Alpha

double	Offset

double	c_alpha

double	s_alpha

double	Min

double	Max

double	Ang

bool	blocked

bool	cumulative

bool	constrained

unsigned int	verbose

yarp::sig::Matrix	H

yarp::sig::Matrix	cumH

yarp::sig::Matrix	DnH

const yarp::sig::Matrix	zeros1x1

const yarp::sig::Vector	zeros1

Friends
class	iDynChain

class	OneLinkNewtonEuler

Detailed Description

A base class for defining a Link with standard Denavit-Hartenberg convention, providing kinematic and dynamic information.

Note: This class implements revolute joints only, as they are the unique type of joints used in humanoid robotics

Definition at line 117 of file iDyn.h.

Constructor & Destructor Documentation

◆ iDynLink() [1/6]

iCub::iDyn::iDynLink::iDynLink ( )

protected

Default constructor : not implemented.

◆ iDynLink() [2/6]

iDynLink::iDynLink	(	double	_A,
		double	_D,
		double	_Alpha,
		double	_Offset,
		double	_Min = `-iCub::ctrl::CTRL_PI`,
		double	_Max = `iCub::ctrl::CTRL_PI`
	)

Constructor, with initialization of kinematic data; dynamic data are set to zero, while the roto-translational matrix for the COM.

Parameters

_A	is the link length
_D	is the link offset
_Alpha	is the link twist
_Offset	is the joint angle offset in [-pi,pi]
_Min	is the joint angle lower bound in [-pi,pi] (-pi by default)
_Max	is the joint angle higher bound in [-pi,pi] (pi by default)

Definition at line 128 of file iDyn.cpp.

◆ iDynLink() [3/6]

iCub::iDyn::iDynLink::iDynLink	(	const double	_m,
		const yarp::sig::Matrix &	_HC,
		const yarp::sig::Matrix &	_I,
		double	_A,
		double	_D,
		double	_Alpha,
		double	_Offset,
		double	_Min = `-iCub::ctrl::CTRL_PI`,
		double	_Max = `iCub::ctrl::CTRL_PI`
	)

Constructor, with initialization of kinematic and dynamic data.

Parameters

_m	is the Link mass
_HC	is the rototranslation matrix from the link frame to the center of mass
_I	is the Inertia matrix
_A	is the Link length
_D	is the Link offset
_Alpha	is the Link twist
_Offset	is the joint angle offset in [-pi,pi]
_Min	is the joint angle lower bound in [-pi,pi] (-pi by default)
_Max	is the joint angle higher bound in [-pi,pi] (pi by default)

◆ iDynLink() [4/6]

iCub::iDyn::iDynLink::iDynLink	(	const double	_m,
		const yarp::sig::Vector &	_C,
		const yarp::sig::Matrix &	_I,
		double	_A,
		double	_D,
		double	_Alpha,
		double	_Offset,
		double	_Min = `-iCub::ctrl::CTRL_PI`,
		double	_Max = `iCub::ctrl::CTRL_PI`
	)

Constructor, with initialization of kinematic and dynamic data.

Parameters

_m	is the Link mass
_C	is the distance vector of COM wrt the link frame, the orientation of COM is the same of the link
_I	is the Inertia matrix
_A	is the Link length
_D	is the Link offset
_Alpha	is the Link twist
_Offset	is the joint angle offset in [-pi,pi]
_Min	is the joint angle lower bound in [-pi,pi] (-pi by default)
_Max	is the joint angle higher bound in [-pi,pi] (pi by default)

◆ iDynLink() [5/6]

iDynLink::iDynLink	(	const double	_m,
		const double	_rCx,
		const double	_rCy,
		const double	_rCz,
		const double	Ixx,
		const double	Ixy,
		const double	Ixz,
		const double	Iyy,
		const double	Iyz,
		const double	Izz,
		double	_A,
		double	_D,
		double	_Alpha,
		double	_Offset,
		double	_Min = `-iCub::ctrl::CTRL_PI`,
		double	_Max = `iCub::ctrl::CTRL_PI`
	)

Constructor, with initialization of kinematic and dynamic data.

Parameters

_m	is the Link mass
_rCx	is the x component of the distance vector of COM wrt the link frame
_rCy	is the y component of the distance vector of COM wrt the link frame
_rCz	is the z component of the distance vector of COM wrt the link frame
Ixx	is the xx component of the inertia matrix of the link
Ixy	is the xy component of the inertia matrix of the link
Ixz	is the xz component of the inertia matrix of the link
Iyy	is the yy component of the inertia matrix of the link
Iyz	is the yz component of the inertia matrix of the link
Izz	is the zz component of the inertia matrix of the link
_A	is the Link length
_D	is the Link offset
_Alpha	is the Link twist
_Offset	is the joint angle offset in [-pi,pi]
_Min	is the joint angle lower bound in [-pi,pi] (-pi by default)
_Max	is the joint angle higher bound in [-pi,pi] (pi by default)

Definition at line 152 of file iDyn.cpp.

◆ iDynLink() [6/6]

iDynLink::iDynLink ( const iDynLink & c )

Copy constructor.

Definition at line 161 of file iDyn.cpp.

Member Function Documentation

◆ clone()

void iDynLink::clone ( const iDynLink & l )

protectedvirtual

Clone function.

Definition at line 173 of file iDyn.cpp.

◆ getCOM()

const Matrix & iDynLink::getCOM ( ) const

virtual

Get the roto-translational matrix describing the COM.

Returns: HC the roto-translational matrix of the COM (4x4)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 412 of file iDyn.cpp.

◆ getD2Ang()

double iDynLink::getD2Ang ( ) const

virtual

Get the joint acceleration.

Returns: ddq =d2q the joint acceleration

Reimplemented from iCub::iKin::iKinLink.

Definition at line 414 of file iDyn.cpp.

◆ getDAng()

double iDynLink::getDAng ( ) const

virtual

Get the joint velocity.

Returns: dq the joint velocity

Reimplemented from iCub::iKin::iKinLink.

Definition at line 413 of file iDyn.cpp.

◆ getdW()

const Vector & iDynLink::getdW ( ) const

virtual

Get the angular acceleration of the link.

Returns: dW the angular acceleration of the link (3x1)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 416 of file iDyn.cpp.

◆ getdWM()

const Vector & iDynLink::getdWM ( ) const

virtual

Get the angular acceleration of the motor.

Returns: dWM the angular acceleration of the motor (3x1)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 417 of file iDyn.cpp.

◆ getForce()

const Vector & iDynLink::getForce ( ) const

virtual

Get the link force.

Returns: Mu the link force (3x1)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 422 of file iDyn.cpp.

◆ getFs()

double iDynLink::getFs ( ) const

virtual

Reimplemented from iCub::iKin::iKinLink.

Definition at line 410 of file iDyn.cpp.

◆ getFv()

double iDynLink::getFv ( ) const

virtual

Reimplemented from iCub::iKin::iKinLink.

Definition at line 411 of file iDyn.cpp.

◆ getH()

const Matrix & iDynLink::getH ( )

Redefine the getH of iKinLink so that it does not compute the H matrix if the joint angles have not changed since the last call to this method.

Definition at line 445 of file iDyn.cpp.

◆ getIm()

double iDynLink::getIm ( ) const

virtual

Reimplemented from iCub::iKin::iKinLink.

Definition at line 408 of file iDyn.cpp.

◆ getInertia()

const Matrix & iDynLink::getInertia ( ) const

virtual

Get the inertia matrix.

Returns: I the inertia matrix (4x4)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 406 of file iDyn.cpp.

◆ getKr()

double iDynLink::getKr ( ) const

virtual

Reimplemented from iCub::iKin::iKinLink.

Definition at line 409 of file iDyn.cpp.

◆ getLinAcc()

const Vector & iDynLink::getLinAcc ( ) const

virtual

Get the linear acceleration of the link.

Returns: ddpC the linear acceleration of the link (3x1)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 420 of file iDyn.cpp.

◆ getLinAccC()

const Vector & iDynLink::getLinAccC ( ) const

virtual

Get the linear acceleration of the COM.

Returns: ddpC the linear acceleration of the COM (3x1)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 421 of file iDyn.cpp.

◆ getLinVel()

const Vector & iDynLink::getLinVel ( ) const

virtual

Gets the linear velocity of the link.

Returns: current link velocity (the computation is not implemented at the moment)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 418 of file iDyn.cpp.

◆ getLinVelC()

const Vector & iDynLink::getLinVelC ( ) const

virtual

Gets the linear velocity of the COM.

Returns: current COM velocity (the computation is not implemented at the moment)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 419 of file iDyn.cpp.

◆ getMass()

double iDynLink::getMass ( ) const

virtual

Get the link mass.

Returns: m the link mass

Reimplemented from iCub::iKin::iKinLink.

Definition at line 407 of file iDyn.cpp.

◆ getMoment()

const Vector & iDynLink::getMoment ( ) const

virtual

Get the link moment.

Returns: Mu the link moment (3x1)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 423 of file iDyn.cpp.

◆ getR()

const Matrix & iDynLink::getR ( )

virtual

Get the link rotational matrix, from the Denavit-Hartenberg matrix.

Returns: R the link rotational matrix (3x3)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 439 of file iDyn.cpp.

◆ getr()

const Vector & iDynLink::getr ( bool proj = false )

Get the link distance vector r, or r*R if projection is specified.

Parameters

proj	true/false enables or disable the projection along the rotation of the link

Returns: r if false, r*R if true

Definition at line 451 of file iDyn.cpp.

◆ getRC()

const Matrix & iDynLink::getRC ( ) const

Get the link COM's rotational matrix, from the COM matrix.

Returns: R the COM rotational matrix (3x3)

Definition at line 425 of file iDyn.cpp.

◆ getrC()

const Vector & iDynLink::getrC ( bool proj = false ) const

Get the COM distance vector rC, or rC*R if projection is specified.

Parameters

proj	true/false enables or disable the projection along the rotation of the link

Returns: rC if false, rC*R if true

Definition at line 459 of file iDyn.cpp.

◆ getTorque()

double iDynLink::getTorque ( ) const

virtual

Get the joint torque.

Returns: Tau the joint torque

Reimplemented from iCub::iKin::iKinLink.

Definition at line 424 of file iDyn.cpp.

◆ getW()

const Vector & iDynLink::getW ( ) const

virtual

Get the angular velocity of the link.

Returns: w the angular velocity of the link (3x1)

Reimplemented from iCub::iKin::iKinLink.

Definition at line 415 of file iDyn.cpp.

◆ operator=()

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

Overload of operator =.

Definition at line 167 of file iDyn.cpp.

◆ setAng()

double iDynLink::setAng ( const double _teta )

Sets the joint position (position constraints are evaluated).

Parameters

_teta is the new angle value

Returns: current joint angle

Definition at line 262 of file iDyn.cpp.

◆ setAngPosVelAcc()

void iDynLink::setAngPosVelAcc	(	const double	_teta,
		const double	_dteta,
		const double	_ddteta
	)

Sets the joint angle position, velocity, acceleration.

constraints are automatically checked if present.

Parameters

_teta	is the new position value
_dteta	is the new velocity value
_ddteta	is the new acceleration value

Definition at line 280 of file iDyn.cpp.

◆ setCOM() [1/3]

void iDynLink::setCOM	(	const double	_rCx,
		const double	_rCy,
		const double	_rCz
	)

Set the roto-translation matrix from i to COM, where the rotational part is and identity matrix, and the traslation is specified by the three parameters.

Parameters

_rCx	is the x component of the distance vector of COM wrt the link frame
_rCy	is the y component of the distance vector of COM wrt the link frame
_rCz	is the z component of the distance vector of COM wrt the link frame

Definition at line 329 of file iDyn.cpp.

◆ setCOM() [2/3]

bool iDynLink::setCOM ( const yarp::sig::Matrix & _HC )

virtual

Set the roto-translation matrix from i to COM.

Parameters

_HC	is the roto-translational matrix describing the rotation of the link reference frame w.r.t. the COM and the distance vector bewteen them

Returns: true if operation is successful (ie matrix size is correct), false otherwise

Reimplemented from iCub::iKin::iKinLink.

Definition at line 287 of file iDyn.cpp.

◆ setCOM() [3/3]

bool iDynLink::setCOM ( const yarp::sig::Vector & _rC )

virtual

Set the distance vector from i to COM; the rotation is not modified (set to identity as default)

Parameters

_rC	is distance vector bewteen the link reference frame and the COM

Returns: true if operation is successful (ie vector size is correct), false otherwise

Reimplemented from iCub::iKin::iKinLink.

Definition at line 308 of file iDyn.cpp.

◆ setD2Ang()

double iDynLink::setD2Ang ( const double _ddteta )

virtual

Sets the joint acceleration.

Parameters

_ddteta is the new acceleration value

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

Reimplemented from iCub::iKin::iKinLink.

Definition at line 274 of file iDyn.cpp.

◆ setDAng()

double iDynLink::setDAng ( const double _dteta )

virtual

Sets the joint velocity.

Parameters

_dteta is the new velocity value

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

Reimplemented from iCub::iKin::iKinLink.

Definition at line 268 of file iDyn.cpp.

◆ setDynamicParameters() [1/2]

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

virtual

Set the dynamic parameters of the Link.

Parameters

_m	is the 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), false otherwise

Reimplemented from iCub::iKin::iKinLink.

Definition at line 219 of file iDyn.cpp.

◆ setDynamicParameters() [2/2]

bool iDynLink::setDynamicParameters	(	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
	)

virtual

Set the dynamic parameters of both Link and motor.

Parameters

_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

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

Reimplemented from iCub::iKin::iKinLink.

Definition at line 209 of file iDyn.cpp.

◆ setForce()

bool iDynLink::setForce ( const yarp::sig::Vector & _F )

Sets the joint force, in the link frame: F^i_i.

Parameters

_F	is the measured/computed force

Returns: true if operation is successful (ie vector size is correct), false otherwise

Definition at line 340 of file iDyn.cpp.

◆ setForceMoment()

bool iDynLink::setForceMoment	(	const yarp::sig::Vector &	_F,
		const yarp::sig::Vector &	_Mu
	)

Sets the joint force and moment, in the link frame: F^i_i , Mu^i_i.

Parameters

_F	is the measured/computed force
_Mu	is the measured/computed moment

Returns: true if operation is successful (ie vectors size is correct), false otherwise

Definition at line 370 of file iDyn.cpp.

◆ setInertia() [1/2]

void iDynLink::setInertia	(	const double	Ixx,
		const double	Ixy,
		const double	Ixz,
		const double	Iyy,
		const double	Iyz,
		const double	Izz
	)

Sets the link inertia matrix by setting the 6 inertial parameters.

Parameters

Ixx	is the xx component of the inertia matrix of the link
Ixy	is the xy component of the inertia matrix of the link
Ixz	is the xz component of the inertia matrix of the link
Iyy	is the yy component of the inertia matrix of the link
Iyz	is the yz component of the inertia matrix of the link
Izz	is the zz component of the inertia matrix of the link

Definition at line 246 of file iDyn.cpp.

◆ setInertia() [2/2]

bool iDynLink::setInertia ( const yarp::sig::Matrix & _I )

virtual

Sets the link inertia.

Parameters

_I	is the inertia matrix

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

Reimplemented from iCub::iKin::iKinLink.

Definition at line 231 of file iDyn.cpp.

◆ setMass()

void iDynLink::setMass ( const double _m )

virtual

Sets the link mass.

Parameters

_m	is the mass

Reimplemented from iCub::iKin::iKinLink.

Definition at line 257 of file iDyn.cpp.

◆ setMoment()

bool iDynLink::setMoment ( const yarp::sig::Vector & _Mu )

virtual

Sets the joint moment, in the link frame: Mu^i_i.

Parameters

_Mu	is the measured/computed moment

Returns: true if operation is successful (ie vector size is correct), false otherwise

Reimplemented from iCub::iKin::iKinLink.

Definition at line 355 of file iDyn.cpp.

◆ setStaticParameters()

bool iDynLink::setStaticParameters	(	const double	_m,
		const yarp::sig::Matrix &	_HC
	)

virtual

Set the dynamic parameters of the Link if the chain is in a static situation (inertia is null).

Parameters

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

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

Reimplemented from iCub::iKin::iKinLink.

Definition at line 225 of file iDyn.cpp.

◆ setTorque()

void iDynLink::setTorque ( const double _Tau )

virtual

Sets the joint moment, in the link frame: Tau_i.

Parameters

_Tau	is the measured/computed moment

Reimplemented from iCub::iKin::iKinLink.

Definition at line 375 of file iDyn.cpp.

◆ updateHstore()

void iDynLink::updateHstore ( )

protectedvirtual

Definition at line 427 of file iDyn.cpp.

◆ zero()

void iDynLink::zero ( )

Set all dynamic parameters to zero.

Definition at line 380 of file iDyn.cpp.

Friends And Related Symbol Documentation

◆ iDynChain

friend class iDynChain

friend

Definition at line 119 of file iDyn.h.

◆ OneLinkNewtonEuler

friend class OneLinkNewtonEuler

friend

Definition at line 120 of file iDyn.h.

Member Data Documentation

◆ ddp

yarp::sig::Vector iCub::iDyn::iDynLink::ddp

protected

1x3, d2p=ddp^i_i linear acceleration of frame i

Definition at line 157 of file iDyn.h.

◆ ddpC

yarp::sig::Vector iCub::iDyn::iDynLink::ddpC

protected

1x3, d2p=ddp^i_{C_i} linear acceleration of center of mass C_i

Definition at line 159 of file iDyn.h.

◆ ddq

double iCub::iDyn::iDynLink::ddq

protected

ddq=d2q, joint acc

Definition at line 144 of file iDyn.h.

◆ dp

yarp::sig::Vector iCub::iDyn::iDynLink::dp

protected

1x3, dp^i_i linear velocity of frame i

Definition at line 153 of file iDyn.h.

◆ dpC

yarp::sig::Vector iCub::iDyn::iDynLink::dpC

protected

1x3, dp^i_{C_i} linear velocity of center of mass C_i

Definition at line 155 of file iDyn.h.

◆ dq

double iCub::iDyn::iDynLink::dq

protected

dq, joint vel

Definition at line 142 of file iDyn.h.

◆ dw

yarp::sig::Vector iCub::iDyn::iDynLink::dw

protected

1x3, dw^i_i angular acceleration

Definition at line 148 of file iDyn.h.

◆ dwM

yarp::sig::Vector iCub::iDyn::iDynLink::dwM

protected

1x3, dw^{i-1}_{m_i} angular acceleration of rotor

Definition at line 150 of file iDyn.h.

◆ F

yarp::sig::Vector iCub::iDyn::iDynLink::F

protected

1x3, f^i_i force

Definition at line 162 of file iDyn.h.

◆ Fs

double iCub::iDyn::iDynLink::Fs

protected

F_{s,i} static friction.

Definition at line 177 of file iDyn.h.

◆ Fv

double iCub::iDyn::iDynLink::Fv

protected

F_{v,i} viscous friction.

Definition at line 175 of file iDyn.h.

◆ H_store

yarp::sig::Matrix iCub::iDyn::iDynLink::H_store

protected

Definition at line 124 of file iDyn.h.

◆ H_store_valid

bool iCub::iDyn::iDynLink::H_store_valid

protected

Definition at line 129 of file iDyn.h.

◆ HC

yarp::sig::Matrix iCub::iDyn::iDynLink::HC

protected

4x4, H^i_{C_i} = R^i_{C_i}, r^i_{i,C_i}, roto-translation matrix from i to Ci, constant

Definition at line 134 of file iDyn.h.

◆ I

yarp::sig::Matrix iCub::iDyn::iDynLink::I

protected

3x3, I^i_i, inertia matrix, constant

Definition at line 140 of file iDyn.h.

◆ Im

double iCub::iDyn::iDynLink::Im

protected

I_{m_i} rotor inertia.

Definition at line 171 of file iDyn.h.

◆ kr

double iCub::iDyn::iDynLink::kr

protected

k_{r,i} inertia constant

Definition at line 173 of file iDyn.h.

◆ m

double iCub::iDyn::iDynLink::m

protected

m_i, mass

Definition at line 132 of file iDyn.h.

◆ Mu

yarp::sig::Vector iCub::iDyn::iDynLink::Mu

protected

1x3, mu^i_i moment

Definition at line 164 of file iDyn.h.

◆ r_proj_store

yarp::sig::Vector iCub::iDyn::iDynLink::r_proj_store

protected

Definition at line 127 of file iDyn.h.

◆ R_store

yarp::sig::Matrix iCub::iDyn::iDynLink::R_store

protected

Definition at line 125 of file iDyn.h.

◆ r_store

yarp::sig::Vector iCub::iDyn::iDynLink::r_store

protected

Definition at line 126 of file iDyn.h.

◆ RC

yarp::sig::Matrix iCub::iDyn::iDynLink::RC

protected

3x3, R^i_{C_i} rotational part of HC, constant

Definition at line 136 of file iDyn.h.

◆ rc

yarp::sig::Vector iCub::iDyn::iDynLink::rc

protected

3x1, r^i_{i,C_i}, translational part of HC, constant

Definition at line 138 of file iDyn.h.

◆ rc_proj

yarp::sig::Vector iCub::iDyn::iDynLink::rc_proj

protected

Definition at line 138 of file iDyn.h.

◆ Tau

double iCub::iDyn::iDynLink::Tau

protected

tau_i joint torque

Definition at line 166 of file iDyn.h.

◆ w

yarp::sig::Vector iCub::iDyn::iDynLink::w

protected

1x3, w^i_i angular velocity

Definition at line 146 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

◆ iDynLink() [1/6]

◆ iDynLink() [2/6]

◆ iDynLink() [3/6]

◆ iDynLink() [4/6]

◆ iDynLink() [5/6]

◆ iDynLink() [6/6]

Member Function Documentation

◆ clone()

◆ getCOM()

◆ getD2Ang()

◆ getDAng()

◆ getdW()

◆ getdWM()

◆ getForce()

◆ getFs()

◆ getFv()

◆ getH()

◆ getIm()

◆ getInertia()

◆ getKr()

◆ getLinAcc()

◆ getLinAccC()

◆ getLinVel()

◆ getLinVelC()

◆ getMass()

◆ getMoment()

◆ getR()

◆ getr()

◆ getRC()

◆ getrC()

◆ getTorque()

◆ getW()

◆ operator=()

◆ setAng()

◆ setAngPosVelAcc()

◆ setCOM() [1/3]

◆ setCOM() [2/3]

◆ setCOM() [3/3]

◆ setD2Ang()

◆ setDAng()

◆ setDynamicParameters() [1/2]

◆ setDynamicParameters() [2/2]

◆ setForce()

◆ setForceMoment()

◆ setInertia() [1/2]

◆ setInertia() [2/2]

◆ setMass()

◆ setMoment()

◆ setStaticParameters()

◆ setTorque()

◆ updateHstore()

◆ zero()

Friends And Related Symbol Documentation

◆ iDynChain

◆ OneLinkNewtonEuler

Member Data Documentation

◆ ddp

◆ ddpC

◆ ddq

◆ dp

◆ dpC

◆ dq

◆ dw

◆ dwM

◆ F

◆ Fs

◆ Fv

◆ H_store

◆ H_store_valid

◆ HC

◆ I

◆ Im

◆ kr

◆ m