A class for defining the iCub Leg. More...
#include <iKinFwd.h>
Inheritance diagram for iCub::iKin::iCubLeg:
Public Member Functions | |
| iCubLeg () | |
| Default constructor. | |
| iCubLeg (const std::string &_type) | |
| Constructor. | |
| virtual bool | alignJointsBounds (const std::deque< yarp::dev::IControlLimits * > &lim) |
| Alignes the Leg joints bounds with current values set aboard the iCub. | |
| 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) |
| 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 | |
| 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 |
Detailed Description
Constructor & Destructor Documentation
◆ iCubLeg() [1/2]
| iCubLeg::iCubLeg | ( | ) |
Default constructor.
Definition at line 2386 of file iKinFwd.cpp.
◆ iCubLeg() [2/2]
| iCubLeg::iCubLeg | ( | const std::string & | _type | ) |
Constructor.
- Parameters
-
_type is a string to discriminate between "left" and "right" leg. Further available options account for different HW versions, e.g. "left_v2".
Definition at line 2393 of file iKinFwd.cpp.
Member Function Documentation
◆ alignJointsBounds()
|
virtual |
Alignes the Leg joints bounds with current values set aboard the iCub.
- Parameters
-
lim is the ordered list of control interfaces that allows to access the Leg limits.
- Returns
- true/false on success/failure.
Reimplemented from iCub::iKin::iKinLimb.
Definition at line 2515 of file iKinFwd.cpp.
◆ allocate()
|
protectedvirtual |
Reimplemented from iCub::iKin::iKinLimb.
Definition at line 2400 of file iKinFwd.cpp.
Member Data Documentation
◆ version
|
protected |
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
