A class for defining the iCub Finger. More...

#include <iKinFwd.h>

Inheritance diagram for iCub::iKin::iCubFinger:

Public Member Functions
	iCubFinger ()
	Default constructor.

	iCubFinger (const std::string &_type)
	Constructor.

	iCubFinger (const iCubFinger &finger)
	Creates a new Finger from an already existing object.

iCubFinger &	operator= (const iCubFinger &finger)
	Copies a Finger object into the current one.

virtual bool	alignJointsBounds (const std::deque< yarp::dev::IControlLimits * > &lim)
	Alignes the finger joints bounds with current values set aboard the iCub.

virtual bool	getChainJoints (const yarp::sig::Vector &motorEncoders, yarp::sig::Vector &chainJoints)
	Retrieves the vector of actual finger's joint values (to be used in conjuction with the iKinLimb methods) from the vector of motor encoders.

virtual bool	getChainJoints (const yarp::sig::Vector &motorEncoders, const yarp::sig::Vector &jointEncoders, yarp::sig::Vector &chainJoints, const yarp::sig::Matrix &jointEncodersBounds=yarp::math::zeros(1, 2))
	Retrieves the vector of actual finger's joint values (to be used in conjuction with the iKinLimb methods) from the vector of motor encoders and joint encoders.

Public Member Functions inherited from iCub::iKin::iKinLimb
	iKinLimb ()
	Default constructor.

	iKinLimb (const std::string &_type)
	Constructor.

	iKinLimb (const iKinLimb &limb)
	Creates a new Limb from an already existing Limb object.

	iKinLimb (const yarp::os::Property &options)
	Creates a new Limb from a list of properties wherein links parameters are specified.

bool	fromLinksProperties (const yarp::os::Property &options)
	Initializes the Limb from a list of properties wherein links parameters are specified.

bool	toLinksProperties (yarp::os::Property &options)
	Provides the links attributes listed in a property object.

bool	isValid () const
	Checks if the limb has been properly configured.

iKinLimb &	operator= (const iKinLimb &limb)
	Copies a Limb object into the current one.

iKinChain *	asChain ()
	Returns a pointer to the Limb seen as Chain object.

std::string	getType () const
	Returns the Limb type as a string.

virtual	~iKinLimb ()
	Destructor.

Public Member Functions inherited from iCub::iKin::iKinChain
	iKinChain ()
	Default constructor.

	iKinChain (const iKinChain &c)
	Creates a new Chain from an already existing Chain object.

iKinChain &	operator= (const iKinChain &c)
	Copies a Chain object into the current one.

iKinChain &	operator<< (iKinLink &l)
	Adds a Link at the bottom of the Chain.

iKinChain &	operator-- (int)
	Removes a Link from the bottom of the Chain.

iKinLink &	operator[] (const unsigned int i)
	Returns a reference to the ith Link of the Chain.

iKinLink &	operator() (const unsigned int i)
	Returns a reference to the ith Link of the Chain considering only those Links related to DOF.

bool	addLink (const unsigned int i, iKinLink &l)
	Adds a Link at the position ith within the Chain.

bool	rmLink (const unsigned int i)
	Removes the ith Link from the Chain.

void	pushLink (iKinLink &l)
	Adds a Link at the bottom of the Chain.

void	clear ()
	Removes all Links.

void	popLink ()
	Removes a Link from the bottom of the Chain.

bool	blockLink (const unsigned int i, double Ang)
	Blocks the ith Link at the a certain value of its joint angle.

bool	blockLink (const unsigned int i)
	Blocks the ith Link at the current value of its joint angle.

bool	setBlockingValue (const unsigned int i, double Ang)
	Changes the value of the ith blocked Link.

bool	releaseLink (const unsigned int i)
	Releases the ith Link.

bool	isLinkBlocked (const unsigned int i)
	Queries whether the ith Link is blocked.

void	setAllConstraints (bool _constrained)
	Sets the constraint status of all chain links.

void	setConstraint (unsigned int i, bool _constrained)
	Sets the constraint status of ith link.

bool	getConstraint (unsigned int i)
	Returns the constraint status of ith link.

void	setAllLinkVerbosity (unsigned int _verbose)
	Sets the verbosity level of all Links belonging to the Chain.

void	setVerbosity (unsigned int _verbose)
	Sets the verbosity level of the Chain.

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

unsigned int	getN () const
	Returns the number of Links belonging to the Chain.

unsigned int	getDOF () const
	Returns the current number of Chain's DOF.

yarp::sig::Matrix	getH0 () const
	Returns H0, the rigid roto-translation matrix from the root reference frame to the 0th frame.

bool	setH0 (const yarp::sig::Matrix &_H0)
	Sets H0, the rigid roto-translation matrix from the root reference frame to the 0th frame.

yarp::sig::Matrix	getHN () const
	Returns HN, the rigid roto-translation matrix from the Nth frame to the end-effector.

bool	setHN (const yarp::sig::Matrix &_HN)
	Sets HN, the rigid roto-translation matrix from the Nth frame to the end-effector.

yarp::sig::Vector	setAng (const yarp::sig::Vector &q)
	Sets the free joint angles to values of q[i].

yarp::sig::Vector	getAng ()
	Returns the current free joint angles values.

double	setAng (const unsigned int i, double _Ang)
	Sets the ith joint angle.

double	getAng (const unsigned int i)
	Returns the current angle of ith joint.

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.

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).

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).

yarp::sig::Vector	Pose (const unsigned int i, const bool axisRep=true)
	Returns the coordinates of ith Link.

yarp::sig::Vector	Position (const unsigned int i)
	Returns the 3D position coordinates of ith Link.

yarp::sig::Vector	EndEffPose (const bool axisRep=true)
	Returns the coordinates of end-effector.

yarp::sig::Vector	EndEffPose (const yarp::sig::Vector &q, const bool axisRep=true)
	Returns the coordinates of end-effector computed in q.

yarp::sig::Vector	EndEffPosition ()
	Returns the 3D coordinates of end-effector position.

yarp::sig::Vector	EndEffPosition (const yarp::sig::Vector &q)
	Returns the 3D coordinates of end-effector position computed in q.

yarp::sig::Matrix	AnaJacobian (const unsigned int i, unsigned int col)
	Returns the analitical Jacobian of the ith link.

yarp::sig::Matrix	AnaJacobian (unsigned int col=3)
	Returns the analitical Jacobian of the end-effector.

yarp::sig::Matrix	AnaJacobian (const yarp::sig::Vector &q, unsigned int col=3)
	Returns the analitical Jacobian of the end-effector computed in q.

yarp::sig::Matrix	GeoJacobian (const unsigned int i)
	Returns the geometric Jacobian of the ith link.

yarp::sig::Matrix	GeoJacobian ()
	Returns the geometric Jacobian of the end-effector.

yarp::sig::Matrix	GeoJacobian (const yarp::sig::Vector &q)
	Returns the geometric Jacobian of the end-effector computed in q.

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.

void	prepareForHessian ()
	Prepares computation for a successive call to fastHessian_ij().

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.

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.

void	prepareForHessian (const unsigned int lnk)
	Prepares computation for a successive call to fastHessian_ij() (link version).

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.

yarp::sig::Matrix	DJacobian (const yarp::sig::Vector &dq)
	Compute the time derivative of the geometric Jacobian.

yarp::sig::Matrix	DJacobian (const unsigned int lnk, const yarp::sig::Vector &dq)
	Compute the time derivative of the geometric Jacobian (link version).

virtual	~iKinChain ()
	Destructor.

Protected Member Functions
virtual void	allocate (const std::string &_type)

virtual void	clone (const iCubFinger &finger)

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)

Protected Attributes
std::string	hand

std::string	finger

std::string	version

double	fingers_abduction_max {0.0}

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

Detailed Description

A class for defining the iCub Finger.

The outcomes of forward kinematics are relative to the reference frame attached to the corresponding iCubArm end-effector.

Definition at line 1232 of file iKinFwd.h.

Constructor & Destructor Documentation

◆ iCubFinger() [1/3]

iCubFinger::iCubFinger ( )

Default constructor.

Definition at line 1931 of file iKinFwd.cpp.

◆ iCubFinger() [2/3]

iCubFinger::iCubFinger ( const std::string & _type )

Constructor.

Parameters

Note: "na" (i.e. not-applicable) is the default hardware version for index, middle, ring and little finger, whereas "b" is the default for the thumb; "a" and "b" refer to different mechanical configurations, please see the manual.

Definition at line 1938 of file iKinFwd.cpp.

◆ iCubFinger() [3/3]

iCubFinger::iCubFinger ( const iCubFinger & finger )

Creates a new Finger from an already existing object.

Parameters

sensor is the object to be copied.

Definition at line 1945 of file iKinFwd.cpp.

Member Function Documentation

◆ alignJointsBounds()

bool iCubFinger::alignJointsBounds ( const std::deque< yarp::dev::IControlLimits * > & lim )

virtual

Alignes the finger joints bounds with current values set aboard the iCub.

Parameters

lim	is the ordered list of control interfaces that allows to access the Arm limits.

Returns: true/false on success/failure.

Reimplemented from iCub::iKin::iKinLimb.

Definition at line 2143 of file iKinFwd.cpp.

◆ allocate()

void iCubFinger::allocate ( const std::string & _type )

protectedvirtual

Reimplemented from iCub::iKin::iKinLimb.

Definition at line 1972 of file iKinFwd.cpp.

◆ clone()

void iCubFinger::clone ( const iCubFinger & finger )

protectedvirtual

Definition at line 1952 of file iKinFwd.cpp.

◆ getChainJoints() [1/2]

virtual bool iCub::iKin::iCubFinger::getChainJoints	(	const yarp::sig::Vector &	motorEncoders,
		const yarp::sig::Vector &	jointEncoders,
		yarp::sig::Vector &	chainJoints,
		const yarp::sig::Matrix &	jointEncodersBounds = `yarp::math::zeros(1, 2)`
	)

virtual

Retrieves the vector of actual finger's joint values (to be used in conjuction with the iKinLimb methods) from the vector of motor encoders and joint encoders.

Parameters

motorEncoders	the vector of motor encoders from which to extract the joint values of the finger. It can be composed of 16 or 9 elements, depending if it comprises the arm encoders as well or just the hand encoders.
jointEncoders	the vector of joint encoders from which to extract the joint values of the finger. It contains 15 analog numbers accounting for in order the proximal and the two distal phalanxes of the thumb, index, middle, ring and little fingers.
chainJoints	the vector containing the joints values to be used with the iKinLimb methods expressed in degrees.
jointEncodersBounds	the matrix 15-by-2 containing the minimum and maximum bounds of analog readings. By default, the matrix (255 0; 255 0; ...) is used.

Returns: true/false on success/failure.

◆ getChainJoints() [2/2]

virtual bool iCub::iKin::iCubFinger::getChainJoints	(	const yarp::sig::Vector &	motorEncoders,
		yarp::sig::Vector &	chainJoints
	)

virtual

Retrieves the vector of actual finger's joint values (to be used in conjuction with the iKinLimb methods) from the vector of motor encoders.

Parameters

motorEncoders	the vector of motor encoders from which to extract the joint values of the finger. It can be composed of 16 or 9 elements, depending if it comprises the arm encoders as well or just the hand encoders.
chainJoints	the vector containing the joints values to be used with the iKinLimb methods.

Returns: true/false on success/failure.

Note: This method accounts also for the underactuated joints, meaning that the actual number of DOFs of the index, for example, is 4 and not 3: one for the abduction movement, one for the proximal movement and 2 coupled movements for the distal joint (equally partitioned).

◆ operator=()

iCubFinger & iCubFinger::operator= ( const iCubFinger & finger )

Copies a Finger object into the current one.

Parameters

finger is a reference to an object of type iCubFinger.

Returns: a reference to the current object.

Definition at line 1961 of file iKinFwd.cpp.

Member Data Documentation

◆ finger

std::string iCub::iKin::iCubFinger::finger

protected

Definition at line 1236 of file iKinFwd.h.

◆ fingers_abduction_max

double iCub::iKin::iCubFinger::fingers_abduction_max {0.0}

protected

Definition at line 1238 of file iKinFwd.h.

◆ hand

std::string iCub::iKin::iCubFinger::hand

protected

Definition at line 1235 of file iKinFwd.h.

◆ version

std::string iCub::iKin::iCubFinger::version

protected

Definition at line 1237 of file iKinFwd.h.

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

icub-main/src/libraries/iKin/include/iCub/iKin/iKinFwd.h
icub-main/src/libraries/iKin/src/iKinFwd.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ iCubFinger() [1/3]

◆ iCubFinger() [2/3]

◆ iCubFinger() [3/3]

Member Function Documentation

◆ alignJointsBounds()

◆ allocate()

◆ clone()

◆ getChainJoints() [1/2]

◆ getChainJoints() [2/2]

◆ operator=()

Member Data Documentation

◆ finger

◆ fingers_abduction_max

◆ hand

◆ version