A class for connecting two or mutiple limbs and exchanging kinematic and wrench information between limbs. More...

#include <iDynBody.h>

Inheritance diagram for iCub::iDyn::iDynNode:

Public Member Functions
	iDynNode (const NewEulMode _mode=DYNAMIC)
	Default constructor. More...

	iDynNode (const std::string &_info, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::VERBOSE)
	Constructor with parameters. More...

virtual void	addLimb (iDyn::iDynLimb *limb, const yarp::sig::Matrix &H, const FlowType kinFlow=RBT_NODE_OUT, const FlowType wreFlow=RBT_NODE_IN, bool hasSensor=false)
	Add one limb to the node, defining its RigidBodyTransformation. More...

yarp::sig::Matrix	getRBT (unsigned int iLimb) const
	Return the RBT matrix of a certain limb attached to the node. More...

bool	solveKinematics (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	Main function to manage the exchange of kinematic information among the limbs attached to the node. More...

bool	solveKinematics ()
	Main function to manage the exchange of kinematic information among the limbs attached to the node. More...

bool	setKinematicMeasure (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	Set the kinematic measurement (w,dw,ddp) on the limb where the kinematic flow is of type RBT_NODE_IN. More...

virtual bool	solveWrench ()
	Main function to manage the exchange of wrench information among the limbs attached to the node. More...

bool	solveWrench (const yarp::sig::Matrix &FM)
	This is to manage the exchange of wrench information among the limbs attached to the node. More...

bool	solveWrench (const yarp::sig::Matrix &F, const yarp::sig::Matrix &M)
	This is to manage the exchange of wrench information among the limbs attached to the node. More...

virtual bool	setWrenchMeasure (const yarp::sig::Matrix &F, const yarp::sig::Matrix &M)
	Set the wrench measure on the limbs with input wrench. More...

virtual bool	setWrenchMeasure (const yarp::sig::Matrix &FM)
	Set the wrench measure on the limbs with input wrench. More...

yarp::sig::Vector	getForce () const
	Return the node force. More...

yarp::sig::Vector	getMoment () const
	Return the node moment. More...

yarp::sig::Vector	getAngVel () const
	Return the node angular velocity. More...

yarp::sig::Vector	getAngAcc () const
	Return the node angular acceleration. More...

yarp::sig::Vector	getLinAcc () const
	Return the node linear acceleration. More...

yarp::sig::Matrix	computeJacobian (unsigned int iChain)
	Compute the Jacobian of the limb with index iChain in the node, in its default direction (as it would be done by iKin). More...

yarp::sig::Matrix	computeJacobian (unsigned int iChain, unsigned int iLink)
	Compute the Jacobian of the i-th link of the limb with index iChain in the node, in its default direction (as it would be done by iKin). More...

yarp::sig::Matrix	computeJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB)
	Compute the Jacobian between two links in two different chains. More...

yarp::sig::Matrix	computeJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB)
	Compute the Jacobian between two links in two different chains. More...

yarp::sig::Vector	computePose (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB, const bool axisRep)
	Compute the Pose of the end-effector, given a "virtual" chain connecting two limbs. More...

yarp::sig::Vector	computePose (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, const bool axisRep)
	Compute the Pose of the end-effector, given a "virtual" chain connecting two limbs. More...

yarp::sig::Matrix	TESTING_computeCOMJacobian (unsigned int iChain, unsigned int iLink)
	Compute the Jacobian of the COM of the i-th link of the limb with index iChain in the node. More...

yarp::sig::Matrix	TESTING_computeCOMJacobian (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB)
	Compute the Jacobian of the COM of link iLinkB, in chainB, when two different chains (A and B) are connected. More...

Protected Member Functions
void	zero ()
	Reset all data to zero. More...

void	compute_Pn_HAN (unsigned int iChainA, JacobType dirA, unsigned int iChainB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node)
	Compute Pn and H_A_Node matrices given two chains. More...

void	compute_Pn_HAN (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node)
	Compute Pn and H_A_Node matrices given two chains. More...

void	compute_Pn_HAN_COM (unsigned int iChainA, JacobType dirA, unsigned int iChainB, unsigned int iLinkB, JacobType dirB, yarp::sig::Matrix &Pn, yarp::sig::Matrix &H_A_Node)
	Compute Pn and H_A_Node matrices given two chains. More...

unsigned int	howManyWrenchInputs (bool afterAttach=false) const
	Return the number of limbs with wrench input, i.e. More...

unsigned int	howManyKinematicInputs (bool afterAttach=false) const
	Return the number of limbs with kinematic input, i.e. More...

Protected Attributes
std::deque< RigidBodyTransformation >	rbtList
	the list of RBT More...

NewEulMode	mode
	STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY. More...

std::string	info
	info or useful notes More...

unsigned int	verbose
	verbosity flag More...

yarp::sig::Vector	w
	angular velocity More...

yarp::sig::Vector	dw
	angular acceleration More...

yarp::sig::Vector	ddp
	linear acceleration More...

yarp::sig::Vector	F
	force More...

yarp::sig::Vector	Mu
	moment More...

yarp::sig::Vector	COM
	COM position of the node. More...

double	mass
	total mass of the node More...

Detailed Description

A class for connecting two or mutiple limbs and exchanging kinematic and wrench information between limbs.

A virtual node, connecting multiple limbs, is set. The limbs can exchange kinematics and wrench information with the node through a RigidBodyTransfromation. The node only has kinematic (w,dw,ddp) and wrench (F,Mu) information: no mass, length, inertia, COM, or else. Each limb is connected to the node by a roto-translation matrix, which must be set when a limb is attached to the node: a RigidBodyTransfromation object is then created, which allows the proper computation of wrench and kinematic variables. When multiple limbs are attached to a node, the kinematic variables are set by a single limb, having kinematic flow = RBT_NODE_IN, while the wrench variables are found as the sum of the wrench contribution of all the links (inbound and outbound wrenches must balance in the node).

Definition at line 531 of file iDynBody.h.

Constructor & Destructor Documentation

◆ iDynNode() [1/2]

iDynNode::iDynNode ( const NewEulMode _mode = DYNAMIC )

Default constructor.

Parameters

_mode the modality for dynamic computation

Definition at line 416 of file iDynBody.cpp.

◆ iDynNode() [2/2]

iDynNode::iDynNode	(	const std::string &	_info,
		const NewEulMode	_mode = `DYNAMIC`,
		unsigned int	verb = `iCub::skinDynLib::VERBOSE`
	)

Constructor with parameters.

Parameters

_info	some information on the node, i.e. its description
_mode	the modality for dynamic computation
verb	verbosity level

Definition at line 424 of file iDynBody.cpp.

Member Function Documentation

◆ addLimb()

void iDynNode::addLimb	(	iDyn::iDynLimb *	limb,
		const yarp::sig::Matrix &	H,
		const FlowType	kinFlow = `RBT_NODE_OUT`,
		const FlowType	wreFlow = `RBT_NODE_IN`,
		bool	hasSensor = `false`
	)

virtual

Add one limb to the node, defining its RigidBodyTransformation.

A new RigidBodyTransformation is added to the RBT list.

Parameters

limb	pointer to generic limb
H	a (4x4) roto-translational matrix defining the transformation between node and limb base/end
kinFlow	the type of information flow of kinematics variables
wreFlow	the type of information flow of wrench variables
hasSensor	flag for having or not a FT sensor

Definition at line 442 of file iDynBody.cpp.

◆ compute_Pn_HAN() [1/2]

void iCub::iDyn::iDynNode::compute_Pn_HAN	(	unsigned int	iChainA,
		JacobType	dirA,
		unsigned int	iChainB,
		JacobType	dirB,
		yarp::sig::Matrix &	Pn,
		yarp::sig::Matrix &	H_A_Node
	)

protected

Compute Pn and H_A_Node matrices given two chains.

This function is private, and is used by computeJacobian() and computePose() to merely avoid code duplication.

◆ compute_Pn_HAN() [2/2]

void iCub::iDyn::iDynNode::compute_Pn_HAN	(	unsigned int	iChainA,
		JacobType	dirA,
		unsigned int	iChainB,
		unsigned int	iLinkB,
		JacobType	dirB,
		yarp::sig::Matrix &	Pn,
		yarp::sig::Matrix &	H_A_Node
	)

protected

Compute Pn and H_A_Node matrices given two chains.

This function is private, and is used by computeJacobian() and computePose() to merely avoid code duplication.

◆ compute_Pn_HAN_COM()

void iDynNode::compute_Pn_HAN_COM	(	unsigned int	iChainA,
		JacobType	dirA,
		unsigned int	iChainB,
		unsigned int	iLinkB,
		JacobType	dirB,
		yarp::sig::Matrix &	Pn,
		yarp::sig::Matrix &	H_A_Node
	)

protected

Compute Pn and H_A_Node matrices given two chains.

This function is private, and is used by computeCOMJacobian() and computeCOMPose() to merely avoid code duplication.

Definition at line 1281 of file iDynBody.cpp.

◆ computeJacobian() [1/4]

Matrix iDynNode::computeJacobian ( unsigned int iChain )

Compute the Jacobian of the limb with index iChain in the node, in its default direction (as it would be done by iKin).

Parameters

iChain the index of the chain (limb) in the node

Returns: the Jacobian matrix

Definition at line 834 of file iDynBody.cpp.

◆ computeJacobian() [2/4]

Matrix iDynNode::computeJacobian	(	unsigned int	iChain,
		unsigned int	iLink
	)

Compute the Jacobian of the i-th link of the limb with index iChain in the node, in its default direction (as it would be done by iKin).

If the link index is not correct, a null Jacobian is returned.

Important note: since we are specifying the link index in the chain, the Jacobian computation will deal with all the links, even blocked links. The Jacobian size is not 6x(the DOF until iLinkB) but 6xiLinkB, where 0<iLinkB<N

Parameters

iChain	the index of the chain (limb) in the node
iLink	the index of the limnk in the limb

Returns: the Jacobian matrix

Definition at line 847 of file iDynBody.cpp.

◆ computeJacobian() [3/4]

Matrix iDynNode::computeJacobian	(	unsigned int	iChainA,
		JacobType	dirA,
		unsigned int	iChainB,
		JacobType	dirB
	)

Compute the Jacobian between two links in two different chains.

The chains are specified by their index in the list (the progressive number of insertion). The first limb (limb A - index=iChainA) has the base link of the jacobian while the second limb (limb B - index=iChainB) has the final link of the jacobian. Whether the base/final of the Jacobian coincides with the base/end of the chains, depends on the flags dirA,dirB: if dirA=JAC_DIR, then the beginning is at the base of chain, otherwise it is at the end-effector; if dirB=JAC_DIR, the final link of the jacobian is on the end-effector of the chain, otherwise on its base.

Parameters

iChainA	the index of the chain (the limb) in the node having the base frame
dirA	the 'direction' of the chain wrt the jacobian computation
iChainB	the index of the chain (the limb) in the node having the final frame
dirB	the 'direction' of the chain wrt the jacobian computation

Returns: the Jacobian matrix

Definition at line 862 of file iDynBody.cpp.

◆ computeJacobian() [4/4]

Matrix iDynNode::computeJacobian	(	unsigned int	iChainA,
		JacobType	dirA,
		unsigned int	iChainB,
		unsigned int	iLinkB,
		JacobType	dirB
	)

Compute the Jacobian between two links in two different chains.

The chains are specified by their index in the list (the progressive number of insertion). The first limb has the base of the jacobian (base or end-effector of the limb, depending on the Jacobian direction JacA) while the second limb (limb B - index=iChainB) has the final link of the jacobian (index=iLinkB).

Important note: since we are specifying the link index in chain B, the Jacobian computation on chain B will deal with all the links, even blocked links. The Jacobian size is not 6x(DOF_A + the DOF until iLinkB) but 6x(DOF_A+iLinkB), where 0<iLinkB<N

Parameters

iChainA	the index of the chain (the limb) in the node having the base (<0>) frame
dirA	the 'direction' of the chain wrt the jacobian computation
iChainB	the index of the chain (the limb) in the node having the final (<N>) frame
iLinkB	the index of the link, in the indexChainN chain, being the final (<N>) frame for the Jacobian computation
dirB	the 'direction' of the chain wrt the jacobian computation

Returns: the Jacobian matrix

Definition at line 927 of file iDynBody.cpp.

◆ computePose() [1/2]

Vector iDynNode::computePose	(	unsigned int	iChainA,
		JacobType	dirA,
		unsigned int	iChainB,
		JacobType	dirB,
		const bool	axisRep
	)

Compute the Pose of the end-effector, given a "virtual" chain connecting two limbs.

The chains are specified by their index in the list (the progressive number of insertion). The first limb (limb A - index=iChainA) has the base link of the augmented chain while the second limb (limb B - index=iChainB) has the final link of the augmented chain . Whether the base/end of the augmented chain coincides with the base/end of the single chains, depends on the flags dirA,dirB: if dirA=JAC_DIR, then the beginning is at the base of chain, otherwise it is at the end-effector; if dirB=JAC_DIR, the final link of the augmented chain is on the end-effector of the chain, otherwise on its base. This method is useful to compute the end-effector pose (i.e. computing the arm pose, when the chain torso + arm is considered) in a multi-limb chain.

Parameters

iChainA	the index of the chain (the limb) in the node having the base frame
dirA	the 'direction' of visit of the chain
iChainB	the index of the chain (the limb) in the node having the final frame
dirB	the 'direction' of visit of the chain

Returns: the Jacobian matrix

Definition at line 1062 of file iDynBody.cpp.

◆ computePose() [2/2]

Vector iDynNode::computePose	(	unsigned int	iChainA,
		JacobType	dirA,
		unsigned int	iChainB,
		unsigned int	iLinkB,
		JacobType	dirB,
		const bool	axisRep
	)

Compute the Pose of the end-effector, given a "virtual" chain connecting two limbs.

The chains are specified by their index in the list (the progressive number of insertion). The first limb (limb A - index=iChainA) has the base link of the augmented chain while the second limb (limb B - index=iChainB) has the final link of the augmented chain, ending in the link iLinkB. Whether the base/end of the augmented chain coincides with the base/end of the single chains, depends on the flags dirA,dirB: if dirA=JAC_DIR, then the beginning is at the base of chain, otherwise it is at the end-effector; if dirB=JAC_DIR, the final link of the augmented chain is on the end-effector of the chain, otherwise on its base. This method is useful to compute the end-effector pose (i.e. computing the elbow pose, when the chain torso + arm is considered) in a multi-limb chain.

Parameters

iChainA	the index of the chain (the limb) in the node having the base frame
dirA	the 'direction' of visit of the chain
iChainB	the index of the chain (the limb) in the node having the final frame
iLinkB	the index of the link, in the indexChainN chain, being the final (<N>) frame for the Jacobian computation
dirB	the 'direction' of visit of the chain

Returns: the Jacobian matrix

Definition at line 1122 of file iDynBody.cpp.

◆ getAngAcc()

Vector iDynNode::getAngAcc ( ) const

Return the node angular acceleration.

Returns: the node angular acceleration

Definition at line 823 of file iDynBody.cpp.

◆ getAngVel()

Vector iDynNode::getAngVel ( ) const

Return the node angular velocity.

Returns: the node angular velocity

Definition at line 821 of file iDynBody.cpp.

◆ getForce()

Vector iDynNode::getForce ( ) const

Return the node force.

Returns: the node force

Definition at line 817 of file iDynBody.cpp.

◆ getLinAcc()

Vector iDynNode::getLinAcc ( ) const

Return the node linear acceleration.

Returns: the node linear acceleration

Definition at line 825 of file iDynBody.cpp.

◆ getMoment()

Vector iDynNode::getMoment ( ) const

Return the node moment.

Returns: the node moment

Definition at line 819 of file iDynBody.cpp.

◆ getRBT()

Matrix iDynNode::getRBT ( unsigned int iLimb ) const

Return the RBT matrix of a certain limb attached to the node.

Parameters

iLimb the index of the limb - the index is the number of insertion of the limb in the node

Returns: the RBT matrix of that limb, attached to the node

Definition at line 449 of file iDynBody.cpp.

◆ howManyKinematicInputs()

unsigned int iDynNode::howManyKinematicInputs ( bool afterAttach = false ) const

protected

Return the number of limbs with kinematic input, i.e.

receiving kinematic information from external measurements.

Parameters

afterAttach =true only if the limb received kinematic parameters during an attachTorso() procedure

Returns: the number of limbs with kinematic input, if afterAttach=false; if afterAttach=true, the number is of limbs - 1

Definition at line 801 of file iDynBody.cpp.

◆ howManyWrenchInputs()

unsigned int iDynNode::howManyWrenchInputs ( bool afterAttach = false ) const

protected

Return the number of limbs with wrench input, i.e.

receiving wrench information from external measurements.

Parameters

afterAttach =true only if the limb received wrench parameters during an attachTorso() procedure

Returns: the number of limbs with wrench input, if afterAttach=false; if afterAttach=true, the number is of limbs - 1

Definition at line 785 of file iDynBody.cpp.

◆ setKinematicMeasure()

bool iDynNode::setKinematicMeasure	(	const yarp::sig::Vector &	w0,
		const yarp::sig::Vector &	dw0,
		const yarp::sig::Vector &	ddp0
	)

Set the kinematic measurement (w,dw,ddp) on the limb where the kinematic flow is of type RBT_NODE_IN.

Definition at line 561 of file iDynBody.cpp.

◆ setWrenchMeasure() [1/2]

virtual bool iCub::iDyn::iDynNode::setWrenchMeasure	(	const yarp::sig::Matrix &	F,
		const yarp::sig::Matrix &	M
	)

virtual

Set the wrench measure on the limbs with input wrench.

Parameters

F	a (3xN) matrix with forces
M	a (3xN) matrix with moments

Returns: true if succeeds, false otherwise

◆ setWrenchMeasure() [2/2]

virtual bool iCub::iDyn::iDynNode::setWrenchMeasure ( const yarp::sig::Matrix & FM )

virtual

Set the wrench measure on the limbs with input wrench.

Parameters

FM	a (6xN) matrix with forces and moments

Returns: true if succeeds, false otherwise

◆ solveKinematics() [1/2]

bool iDynNode::solveKinematics ( )

Main function to manage the exchange of kinematic information among the limbs attached to the node.

Returns: true if succeeds, false otherwise

Definition at line 462 of file iDynBody.cpp.

◆ solveKinematics() [2/2]

bool iCub::iDyn::iDynNode::solveKinematics	(	const yarp::sig::Vector &	w0,
		const yarp::sig::Vector &	dw0,
		const yarp::sig::Vector &	ddp0
	)

Main function to manage the exchange of kinematic information among the limbs attached to the node.

One single limb with kinematic flow of input type must exist: this limb is initilized with the kinematic variables w0,dw0,ddp0 (eg the up receives this information from the inertia sensor). The limb itself knows where to init the chain (base/end) depending on how it is attached to the node. Then the first limb kinematics is solved. The kinematic variables are retrieved from the RBT, which applies its roto-translation. Then the kinematic variables are sent to the other limbs, having kinematic flow of output type: the RBT transformation is applied from node to limb.

Parameters

w0	the initial/measured angular velocity
dw0	the initial/measured angular acceleration
ddp0	the initial/measured linear acceleration

Returns: true if succeeds, false otherwise

◆ solveWrench() [1/3]

bool iDynNode::solveWrench ( )

virtual

Main function to manage the exchange of wrench information among the limbs attached to the node.

Multiple limbs with wrench flow of input type can exist, but at least one limb with output type must exist, to compute the wrench balance on the node. The measured/input wrenches to the limbs are here assumed to be set elsewhere: eg another class or the main is setting the measured wrenches. Note: RBT calls computeWrenchNewtonEuler in the limb, meaning that performs a "basic" wrench computation without any sensor, just setting wrenches at the end-effector or at the base, and calling recursive wrench computation.

Returns: true if succeeds, false otherwise

Reimplemented in iCub::iDyn::iDynSensorNode.

Definition at line 590 of file iDynBody.cpp.

◆ solveWrench() [2/3]

bool iCub::iDyn::iDynNode::solveWrench	(	const yarp::sig::Matrix &	F,
		const yarp::sig::Matrix &	M
	)

This is to manage the exchange of wrench information among the limbs attached to the node.

Multiple limbs with wrench flow of input type can exist, but at least one limb with output type must exist, to compute the wrench balance on the node. The measured/input wrenches to the limbs are here passed as a big matrix. In this function the input wrench is set in the limb calling initWrenchNewtonEuler(), which simply set the measured forces in the base/final link of the limb. Input (eg measured) wrenches are stored in two 3xN matrix: each column is a 3x1 vector with force/moment; N is the number of columns, ie the number of measured/input wrenches to the limb the order is assumed coherent with the one built when adding limbs eg: adding limbs: addLimb(limb1), addLimb(limb2), addLimb(limb3) where limb1, limb3 have wrench flow input passing wrenches: Matrix F(3,2), F.setcol(0,f1), F.setcol(1,f3) and similar for moment

Note: RBT calls computeWrenchNewtonEuler in the limb, meaning that perform a "basic" wrench computation without any sensor, just setting wrenches at the end-effector or at the base, and calling recursive wrench computation.

Parameters

F	a (3xN) matrix with forces
M	a (3xN) matrix with moments

Returns: true if succeeds, false otherwise

◆ solveWrench() [3/3]

bool iCub::iDyn::iDynNode::solveWrench ( const yarp::sig::Matrix & FM )

This is to manage the exchange of wrench information among the limbs attached to the node.

Multiple limbs with wrench flow of input type can exist, but at least one limb with output type must exist, to compute the wrench balance on the node. The measured/input wrenches to the limbs are here passed as a big matrix. In this function the input wrench is set in the limb calling initWrenchNewtonEuler(), which simply set the measured forces in the base/final link of the limb. elsewhere: eg another class or the main is setting the measured wrenches. Input (eg measured) wrenches are stored in a 6xN matrix: each column is a 6x1 vector with force/moment; N is the number of columns, ie the number of measured/input wrenches to the limb the order is assumed coherent with the one built when adding limbs eg: adding limbs: addLimb(limb1), addLimb(limb2), addLimb(limb3) where limb1, limb3 have wrench flow input setting wrenches: Matrix FM(6,2), FM.setcol(0,fm1), FM.setcol(1,fm3)

Note: RBT calls computeWrenchNewtonEuler in the limb, meaning that perform a "basic" wrench computation without any sensor, just setting wrenches at the end-effector or at the base, and calling recursive wrench computation.

Parameters

FM	a (6xN) matrix with forces and moments

Returns: true if succeeds, false otherwise

◆ TESTING_computeCOMJacobian() [1/2]

Matrix iDynNode::TESTING_computeCOMJacobian	(	unsigned int	iChain,
		unsigned int	iLink
	)

Compute the Jacobian of the COM of the i-th link of the limb with index iChain in the node.

If the link index is not correct, a null Jacobian is returned.

Parameters

iChain	the index of the chain (limb) in the node
iLink	the index of the limnk in the limb

Returns: the Jacobian matrix of the COM

Definition at line 1194 of file iDynBody.cpp.

◆ TESTING_computeCOMJacobian() [2/2]

Matrix iDynNode::TESTING_computeCOMJacobian	(	unsigned int	iChainA,
		JacobType	dirA,
		unsigned int	iChainB,
		unsigned int	iLinkB,
		JacobType	dirB
	)

Compute the Jacobian of the COM of link iLinkB, in chainB, when two different chains (A and B) are connected.

The chains are specified by their index in the list (the progressive number of insertion). The first limb has the base of the jacobian (base or end-effector of the limb, depending on the Jacobian direction JacA) while the second limb (limb B - index=iChainB) has the final link of the jacobian (index=iLinkB).

Parameters

iChainA	the index of the chain (the limb) in the node having the base (<0>) frame
dirA	the 'direction' of the chain wrt the jacobian computation
iChainB	the index of the chain (the limb) in the node having the final (<N>) frame
iLinkB	the index of the link, in the indexChainN chain, being the final (<N>) frame for the Jacobian computation
dirB	the 'direction' of the chain wrt the jacobian computation

Returns: the Jacobian matrix of the COM

Definition at line 1209 of file iDynBody.cpp.

◆ zero()

void iDynNode::zero ( void )

protected

Reset all data to zero.

The list of limbs is not modified or deleted.

Definition at line 433 of file iDynBody.cpp.

Member Data Documentation

◆ COM

yarp::sig::Vector iCub::iDyn::iDynNode::COM

protected

COM position of the node.

Definition at line 558 of file iDynBody.h.

◆ ddp

yarp::sig::Vector iCub::iDyn::iDynNode::ddp

protected

linear acceleration

Definition at line 552 of file iDynBody.h.

◆ dw

yarp::sig::Vector iCub::iDyn::iDynNode::dw

protected

angular acceleration

Definition at line 550 of file iDynBody.h.

◆ F

yarp::sig::Vector iCub::iDyn::iDynNode::F

protected

force

Definition at line 554 of file iDynBody.h.

◆ info

std::string iCub::iDyn::iDynNode::info

protected

info or useful notes

Definition at line 542 of file iDynBody.h.

◆ mass

double iCub::iDyn::iDynNode::mass

protected

total mass of the node

Definition at line 560 of file iDynBody.h.

◆ mode

NewEulMode iCub::iDyn::iDynNode::mode

protected

STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY.

Definition at line 539 of file iDynBody.h.

◆ Mu

yarp::sig::Vector iCub::iDyn::iDynNode::Mu

protected

moment

Definition at line 556 of file iDynBody.h.

◆ rbtList

std::deque<RigidBodyTransformation> iCub::iDyn::iDynNode::rbtList

protected

the list of RBT

Definition at line 536 of file iDynBody.h.

◆ verbose

unsigned int iCub::iDyn::iDynNode::verbose

protected

verbosity flag

Definition at line 545 of file iDynBody.h.

◆ w

yarp::sig::Vector iCub::iDyn::iDynNode::w

protected

angular velocity

Definition at line 548 of file iDynBody.h.

The documentation for this class was generated from the following files:

icub-main/src/libraries/iDyn/include/iCub/iDyn/iDynBody.h
icub-main/src/libraries/iDyn/src/iDynBody.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ iDynNode() [1/2]

◆ iDynNode() [2/2]

Member Function Documentation

◆ addLimb()

◆ compute_Pn_HAN() [1/2]

◆ compute_Pn_HAN() [2/2]

◆ compute_Pn_HAN_COM()

◆ computeJacobian() [1/4]

◆ computeJacobian() [2/4]

◆ computeJacobian() [3/4]

◆ computeJacobian() [4/4]

◆ computePose() [1/2]

◆ computePose() [2/2]

◆ getAngAcc()

◆ getAngVel()

◆ getForce()

◆ getLinAcc()

◆ getMoment()

◆ getRBT()

◆ howManyKinematicInputs()

◆ howManyWrenchInputs()

◆ setKinematicMeasure()

◆ setWrenchMeasure() [1/2]

◆ setWrenchMeasure() [2/2]

◆ solveKinematics() [1/2]

◆ solveKinematics() [2/2]

◆ solveWrench() [1/3]

◆ solveWrench() [2/3]

◆ solveWrench() [3/3]

◆ TESTING_computeCOMJacobian() [1/2]

◆ TESTING_computeCOMJacobian() [2/2]

◆ zero()

Member Data Documentation

◆ COM

◆ ddp

◆ dw

◆ F

◆ info

◆ mass

◆ mode

◆ Mu

◆ rbtList

◆ verbose

◆ w