A class for computing joint force/moment/torque of an iCub leg (left/right) given the FT measurements of the sensor placed in the middle of the leg. More...
#include <iDynInv.h>
Inheritance diagram for iCub::iDyn::iDynSensorLeg:
Public Member Functions | |
| iDynSensorLeg (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. | |
| 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 leg (left/right) given the FT measurements of the sensor placed in the middle of the leg.
The sensor parameters are automatically set by chosing left or right during initialization of iCubLegDyn.
Constructor & Destructor Documentation
◆ iDynSensorLeg()
| iDynSensorLeg::iDynSensorLeg | ( | 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/etc) verb flag for verbosity
Definition at line 2787 of file iDynInv.cpp.
Member Function Documentation
◆ getType()
| string iDynSensorLeg::getType | ( | ) | const |
- Returns
- type the leg sensor type: left/arm
Definition at line 2810 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
