iCub-main
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A class for defining the iCub Eye with the root reference frame attached to the neck. More...
#include <iKinFwd.h>
Public Member Functions | |
iCubEyeNeckRef () | |
Default constructor. More... | |
iCubEyeNeckRef (const std::string &_type) | |
Constructor. More... | |
Public Member Functions inherited from iCub::iKin::iCubEye | |
iCubEye () | |
Default constructor. More... | |
iCubEye (const std::string &_type) | |
Constructor. More... | |
virtual bool | alignJointsBounds (const std::deque< yarp::dev::IControlLimits * > &lim) |
Alignes the Eye joints bounds with current values set aboard the iCub. More... | |
Public Member Functions inherited from iCub::iKin::iKinLimb | |
iKinLimb () | |
Default constructor. More... | |
iKinLimb (const std::string &_type) | |
Constructor. More... | |
iKinLimb (const iKinLimb &limb) | |
Creates a new Limb from an already existing Limb object. More... | |
iKinLimb (const yarp::os::Property &options) | |
Creates a new Limb from a list of properties wherein links parameters are specified. More... | |
bool | fromLinksProperties (const yarp::os::Property &options) |
Initializes the Limb from a list of properties wherein links parameters are specified. More... | |
bool | toLinksProperties (yarp::os::Property &options) |
Provides the links attributes listed in a property object. More... | |
bool | isValid () const |
Checks if the limb has been properly configured. More... | |
iKinLimb & | operator= (const iKinLimb &limb) |
Copies a Limb object into the current one. More... | |
iKinChain * | asChain () |
Returns a pointer to the Limb seen as Chain object. More... | |
std::string | getType () const |
Returns the Limb type as a string. More... | |
virtual | ~iKinLimb () |
Destructor. More... | |
Public Member Functions inherited from iCub::iKin::iKinChain | |
iKinChain () | |
Default constructor. More... | |
iKinChain (const iKinChain &c) | |
Creates a new Chain from an already existing Chain object. More... | |
iKinChain & | operator= (const iKinChain &c) |
Copies a Chain object into the current one. More... | |
iKinChain & | operator<< (iKinLink &l) |
Adds a Link at the bottom of the Chain. More... | |
iKinChain & | operator-- (int) |
Removes a Link from the bottom of the Chain. More... | |
iKinLink & | operator[] (const unsigned int i) |
Returns a reference to the ith Link of the Chain. More... | |
iKinLink & | operator() (const unsigned int i) |
Returns a reference to the ith Link of the Chain considering only those Links related to DOF. More... | |
bool | addLink (const unsigned int i, iKinLink &l) |
Adds a Link at the position ith within the Chain. More... | |
bool | rmLink (const unsigned int i) |
Removes the ith Link from the Chain. More... | |
void | pushLink (iKinLink &l) |
Adds a Link at the bottom of the Chain. More... | |
void | clear () |
Removes all Links. More... | |
void | popLink () |
Removes a Link from the bottom of the Chain. More... | |
bool | blockLink (const unsigned int i, double Ang) |
Blocks the ith Link at the a certain value of its joint angle. More... | |
bool | blockLink (const unsigned int i) |
Blocks the ith Link at the current value of its joint angle. More... | |
bool | setBlockingValue (const unsigned int i, double Ang) |
Changes the value of the ith blocked Link. More... | |
bool | releaseLink (const unsigned int i) |
Releases the ith Link. More... | |
bool | isLinkBlocked (const unsigned int i) |
Queries whether the ith Link is blocked. More... | |
void | setAllConstraints (bool _constrained) |
Sets the constraint status of all chain links. More... | |
void | setConstraint (unsigned int i, bool _constrained) |
Sets the constraint status of ith link. More... | |
bool | getConstraint (unsigned int i) |
Returns the constraint status of ith link. More... | |
void | setAllLinkVerbosity (unsigned int _verbose) |
Sets the verbosity level of all Links belonging to the Chain. More... | |
void | setVerbosity (unsigned int _verbose) |
Sets the verbosity level of the Chain. More... | |
unsigned int | getVerbosity () const |
Returns the current Chain verbosity level. More... | |
unsigned int | getN () const |
Returns the number of Links belonging to the Chain. More... | |
unsigned int | getDOF () const |
Returns the current number of Chain's DOF. More... | |
yarp::sig::Matrix | getH0 () const |
Returns H0, the rigid roto-translation matrix from the root reference frame to the 0th frame. More... | |
bool | setH0 (const yarp::sig::Matrix &_H0) |
Sets H0, the rigid roto-translation matrix from the root reference frame to the 0th frame. More... | |
yarp::sig::Matrix | getHN () const |
Returns HN, the rigid roto-translation matrix from the Nth frame to the end-effector. More... | |
bool | setHN (const yarp::sig::Matrix &_HN) |
Sets HN, the rigid roto-translation matrix from the Nth frame to the end-effector. More... | |
yarp::sig::Vector | setAng (const yarp::sig::Vector &q) |
Sets the free joint angles to values of q[i]. More... | |
yarp::sig::Vector | getAng () |
Returns the current free joint angles values. More... | |
double | setAng (const unsigned int i, double _Ang) |
Sets the ith joint angle. More... | |
double | getAng (const unsigned int i) |
Returns the current angle of ith joint. More... | |
yarp::sig::Matrix | getH (const unsigned int i, const bool allLink=false) |
Returns the rigid roto-translation matrix from the root reference frame to the ith frame in Denavit-Hartenberg notation. More... | |
yarp::sig::Matrix | getH () |
Returns the rigid roto-translation matrix from the root reference frame to the end-effector frame in Denavit-Hartenberg notation (HN is taken into account). More... | |
yarp::sig::Matrix | getH (const yarp::sig::Vector &q) |
Returns the rigid roto-translation matrix from the root reference frame to the end-effector frame in Denavit-Hartenberg notation (HN is taken into account). More... | |
yarp::sig::Vector | Pose (const unsigned int i, const bool axisRep=true) |
Returns the coordinates of ith Link. More... | |
yarp::sig::Vector | Position (const unsigned int i) |
Returns the 3D position coordinates of ith Link. More... | |
yarp::sig::Vector | EndEffPose (const bool axisRep=true) |
Returns the coordinates of end-effector. More... | |
yarp::sig::Vector | EndEffPose (const yarp::sig::Vector &q, const bool axisRep=true) |
Returns the coordinates of end-effector computed in q. More... | |
yarp::sig::Vector | EndEffPosition () |
Returns the 3D coordinates of end-effector position. More... | |
yarp::sig::Vector | EndEffPosition (const yarp::sig::Vector &q) |
Returns the 3D coordinates of end-effector position computed in q. More... | |
yarp::sig::Matrix | AnaJacobian (const unsigned int i, unsigned int col) |
Returns the analitical Jacobian of the ith link. More... | |
yarp::sig::Matrix | AnaJacobian (unsigned int col=3) |
Returns the analitical Jacobian of the end-effector. More... | |
yarp::sig::Matrix | AnaJacobian (const yarp::sig::Vector &q, unsigned int col=3) |
Returns the analitical Jacobian of the end-effector computed in q. More... | |
yarp::sig::Matrix | GeoJacobian (const unsigned int i) |
Returns the geometric Jacobian of the ith link. More... | |
yarp::sig::Matrix | GeoJacobian () |
Returns the geometric Jacobian of the end-effector. More... | |
yarp::sig::Matrix | GeoJacobian (const yarp::sig::Vector &q) |
Returns the geometric Jacobian of the end-effector computed in q. More... | |
yarp::sig::Vector | Hessian_ij (const unsigned int i, const unsigned int j) |
Returns the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j, \) where \( F\left(q\right) \) is the forward kinematic function and \( \left(q_i,q_j\right) \) is the DOF couple. More... | |
void | prepareForHessian () |
Prepares computation for a successive call to fastHessian_ij(). More... | |
yarp::sig::Vector | fastHessian_ij (const unsigned int i, const unsigned int j) |
Returns the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j, \) where \( F\left(q\right) \) is the forward kinematic function and \( \left(q_i,q_j\right) \) is the DOF couple. More... | |
yarp::sig::Vector | Hessian_ij (const unsigned int lnk, const unsigned int i, const unsigned int j) |
Returns the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j, \) where \( F\left(q\right) \) is the forward kinematic function and \( \left(q_i,q_j\right) \) is the couple of links. More... | |
void | prepareForHessian (const unsigned int lnk) |
Prepares computation for a successive call to fastHessian_ij() (link version). More... | |
yarp::sig::Vector | fastHessian_ij (const unsigned int lnk, const unsigned int i, const unsigned int j) |
Returns the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j, \) where \( F\left(q\right) \) is the forward kinematic function and \( \left(q_i,q_j\right) \) is the couple of links. More... | |
yarp::sig::Matrix | DJacobian (const yarp::sig::Vector &dq) |
Compute the time derivative of the geometric Jacobian. More... | |
yarp::sig::Matrix | DJacobian (const unsigned int lnk, const yarp::sig::Vector &dq) |
Compute the time derivative of the geometric Jacobian (link version). More... | |
virtual | ~iKinChain () |
Destructor. More... | |
Protected Member Functions | |
virtual void | allocate (const std::string &_type) |
Protected Member Functions inherited from iCub::iKin::iKinLimb | |
virtual void | getMatrixFromProperties (const yarp::os::Property &options, const std::string &tag, yarp::sig::Matrix &H) |
virtual void | setMatrixToProperties (yarp::os::Property &options, const std::string &tag, yarp::sig::Matrix &H) |
virtual void | clone (const iKinLimb &limb) |
virtual void | dispose () |
iKinChain & | operator= (const iKinChain &c) |
iKinChain & | operator<< (iKinLink &l) |
iKinChain & | operator-- (int) |
iKinLink & | operator[] (const unsigned int i) |
iKinLink & | operator() (const unsigned int i) |
bool | addLink (const unsigned int i, iKinLink &l) |
bool | rmLink (const unsigned int i) |
void | pushLink (iKinLink &l) |
void | clear () |
void | popLink () |
void | pushLink (iKinLink *pl) |
Protected Member Functions inherited from iCub::iKin::iKinChain | |
virtual void | clone (const iKinChain &c) |
virtual void | build () |
yarp::sig::Vector | RotAng (const yarp::sig::Matrix &R) |
yarp::sig::Vector | dRotAng (const yarp::sig::Matrix &R, const yarp::sig::Matrix &dR) |
yarp::sig::Vector | d2RotAng (const yarp::sig::Matrix &R, const yarp::sig::Matrix &dRi, const yarp::sig::Matrix &dRj, const yarp::sig::Matrix &d2R) |
Additional Inherited Members | |
Protected Attributes inherited from iCub::iKin::iCubEye | |
iKinLimbVersion | version |
Protected Attributes inherited from iCub::iKin::iKinLimb | |
std::deque< iKinLink * > | linkList |
std::string | type |
Protected Attributes inherited from iCub::iKin::iKinChain | |
unsigned int | N |
unsigned int | DOF |
unsigned int | verbose |
yarp::sig::Matrix | H0 |
yarp::sig::Matrix | HN |
yarp::sig::Vector | curr_q |
std::deque< iKinLink * > | allList |
std::deque< iKinLink * > | quickList |
std::deque< unsigned int > | hash |
std::deque< unsigned int > | hash_dof |
yarp::sig::Matrix | hess_J |
yarp::sig::Matrix | hess_Jlnk |
A class for defining the iCub Eye with the root reference frame attached to the neck.
iCubEyeNeckRef::iCubEyeNeckRef | ( | ) |
Default constructor.
Definition at line 2729 of file iKinFwd.cpp.
iCubEyeNeckRef::iCubEyeNeckRef | ( | const std::string & | _type | ) |
Constructor.
_type | is a string to discriminate between "left" and "right" eye. Further available options account for different HW versions, e.g. "left_v2". |
Definition at line 2736 of file iKinFwd.cpp.
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protectedvirtual |
Reimplemented from iCub::iKin::iCubEye.
Definition at line 2743 of file iKinFwd.cpp.