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

#include <iKinFwd.h>

Inheritance diagram for iCub::iKin::iCubLeg:

Public Member Functions
	iCubLeg ()
	Default constructor. More...

	iCubLeg (const std::string &_type)
	Constructor. More...

virtual bool	alignJointsBounds (const std::deque< yarp::dev::IControlLimits * > &lim)
	Alignes the Leg 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)

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

A class for defining the iCub Leg.

Definition at line 1347 of file iKinFwd.h.

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()

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

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()

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

protectedvirtual

Reimplemented from iCub::iKin::iKinLimb.

Definition at line 2400 of file iKinFwd.cpp.

Member Data Documentation

◆ version

iKinLimbVersion iCub::iKin::iCubLeg::version

protected

Definition at line 1350 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