A class for computing joint force/moment/torque of an iCub arm (left/right) given the FT measurements of the sensor placed in the middle of the arm. More...
#include <iDynInv.h>
Inheritance diagram for iCub::iDyn::iDynSensorArm:
Public Member Functions | |
| iDynSensorArm (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. | |
| std::string | getType () const |
| Public Member Functions inherited from iCub::iDyn::iDynSensor | |
| iDynSensor (iDyn::iDynChain *_c, 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() | |
| iDynSensor (iDyn::iDynChain *_c, unsigned int i, const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_HC, const double _m, const yarp::sig::Matrix &_I, std::string _info, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::NO_VERBOSE) | |
| Constructor with FT sensor. | |
| bool | setSensorMeasures (const yarp::sig::Vector &F, const yarp::sig::Vector &Mu) |
| Set the sensor measured force and moment. | |
| bool | setSensorMeasures (const yarp::sig::Vector &FM) |
| Set the sensor measured force and moment at once. | |
| virtual bool | computeFromSensorNewtonEuler (const yarp::sig::Vector &F, const yarp::sig::Vector &Mu) |
| The main computation method: given the FT sensor measurements, compute forces moments and torques in the iDynChain. | |
| virtual bool | computeFromSensorNewtonEuler (const yarp::sig::Vector &FMu) |
| The main computation method: given the FT sensor measurements, compute forces moments and torques in the iDynChain. | |
| virtual void | computeFromSensorNewtonEuler () |
| The main computation method: given the FT sensor measurements, compute forces moments and torques in the iDynChain. | |
| virtual void | computeWrenchFromSensorNewtonEuler () |
| The main computation method: given the FT sensor measurements, compute forces moments and torques in the iDynChain. | |
| yarp::sig::Matrix | getForces () const |
| Returns the links forces as a matrix, where the i-th col is the i-th force. | |
| yarp::sig::Matrix | getMoments () const |
| Returns the links moments as a matrix, where the i-th col is the i-th moment. | |
| yarp::sig::Vector | getTorques () const |
| Returns the links torque as a vector. | |
| yarp::sig::Vector | getForce (const unsigned int iLink) const |
| Returns the i-th link force. | |
| yarp::sig::Vector | getMoment (const unsigned int iLink) const |
| Returns the i-th link moment. | |
| double | getTorque (const unsigned int iLink) const |
| Returns the i-th link torque. | |
| yarp::sig::Matrix | getForcesNewtonEuler () const |
| Returns the links forces as a matrix, where the i-th col is the i-th force. | |
| yarp::sig::Matrix | getMomentsNewtonEuler () const |
| Returns the links moments as a matrix, where the i-th col is the i-th moment. | |
| yarp::sig::Vector | getTorquesNewtonEuler () const |
| Returns the links torque as a vector. | |
| virtual yarp::sig::Vector | getForceMomentEndEff () const |
| Returns the end-effector force-moment as a single (6x1) vector. | |
| 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 joint force/moment/torque of an iCub arm (left/right) given the FT measurements of the sensor placed in the middle of the arm.
The sensor parameters are automatically set by chosing left or right during initialization of the iCubArmDyn.
Constructor & Destructor Documentation
◆ iDynSensorArm()
| iDynSensorArm::iDynSensorArm | ( | 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/etc) verb flag for verbosity
Definition at line 2707 of file iDynInv.cpp.
Member Function Documentation
◆ getType()
| string iDynSensorArm::getType | ( | ) | const |
- Returns
- type the arm sensor type: left/arm
Definition at line 2730 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
