A Base class for defining a Serial Link Chain. More...

#include <iKinFwd.h>

Inheritance diagram for iCub::iKin::iKinChain:

Public Member Functions
	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	clone (const iKinChain &c)

virtual void	build ()

virtual void	dispose ()

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
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 Base class for defining a Serial Link Chain.

Definition at line 353 of file iKinFwd.h.

Constructor & Destructor Documentation

◆ iKinChain() [1/2]

iKinChain::iKinChain ( )

Default constructor.

Definition at line 256 of file iKinFwd.cpp.

◆ iKinChain() [2/2]

iKinChain::iKinChain ( const iKinChain & c )

Creates a new Chain from an already existing Chain object.

Parameters

c	is the Chain to be copied.

Definition at line 283 of file iKinFwd.cpp.

◆ ~iKinChain()

iKinChain::~iKinChain ( )

virtual

Destructor.

Definition at line 1300 of file iKinFwd.cpp.

Member Function Documentation

◆ addLink()

bool iKinChain::addLink	(	const unsigned int	i,
		iKinLink &	l
	)

Adds a Link at the position ith within the Chain.

Parameters

i	is the ith position where the Link is to be added.
l	is the Link to be added.

Returns: true if successful (e.g. param i is in range).

Definition at line 299 of file iKinFwd.cpp.

◆ AnaJacobian() [1/3]

Matrix iKinChain::AnaJacobian	(	const unsigned int	i,
		unsigned int	col
	)

Returns the analitical Jacobian of the ith link.

Parameters

i	is the Link number.
col	selects the part of the derived homogeneous matrix to be put in the upper side of the Jacobian matrix: 0 => x, 1 => y, 2 => z, 3 => p

Returns: the analitical Jacobian.

Definition at line 911 of file iKinFwd.cpp.

◆ AnaJacobian() [2/3]

yarp::sig::Matrix iCub::iKin::iKinChain::AnaJacobian	(	const yarp::sig::Vector &	q,
		unsigned int	col = `3`
	)

Returns the analitical Jacobian of the end-effector computed in q.

Parameters

q	is the vector of new DOF values.
col	selects the part of the derived homogeneous matrix to be put in the upper side of the Jacobian matrix: 0 => x, 1 => y, 2 => z, 3 => p (default)

Returns: the analitical Jacobian.

◆ AnaJacobian() [3/3]

Matrix iKinChain::AnaJacobian ( unsigned int col = 3 )

Returns the analitical Jacobian of the end-effector.

Parameters

col	selects the part of the derived homogeneous matrix to be put in the upper side of the Jacobian matrix: 0 => x, 1 => y, 2 => z, 3 => p (default)

Returns: the analitical Jacobian.

Definition at line 957 of file iKinFwd.cpp.

◆ blockLink() [1/2]

bool iCub::iKin::iKinChain::blockLink ( const unsigned int i )

inline

Blocks the ith Link at the current value of its joint angle.

Chain DOF reduced by one.

Parameters

i	is the Link number.

Returns: true if successful (e.g. param i is in range).

Definition at line 478 of file iKinFwd.h.

◆ blockLink() [2/2]

bool iKinChain::blockLink	(	const unsigned int	i,
		double	Ang
	)

Blocks the ith Link at the a certain value of its joint angle.

Chain DOF reduced by one.

Parameters

i	is the Link number.
Ang	is the value of joint angle to which the Link is blocked.

Returns: true if successful (e.g. param i is in range).

Definition at line 394 of file iKinFwd.cpp.

◆ build()

void iKinChain::build ( )

protectedvirtual

Reimplemented in iCub::iDyn::iDynChain.

Definition at line 514 of file iKinFwd.cpp.

◆ clear()

void iKinChain::clear ( )

Removes all Links.

Definition at line 353 of file iKinFwd.cpp.

◆ clone()

void iKinChain::clone ( const iKinChain & c )

protectedvirtual

Definition at line 264 of file iKinFwd.cpp.

◆ d2RotAng()

Vector iKinChain::d2RotAng	(	const yarp::sig::Matrix &	R,
		const yarp::sig::Matrix &	dRi,
		const yarp::sig::Matrix &	dRj,
		const yarp::sig::Matrix &	d2R
	)

protected

Definition at line 686 of file iKinFwd.cpp.

◆ dispose()

void iKinChain::dispose ( )

protectedvirtual

Reimplemented in iCub::iDyn::iDynChain, iCub::iDyn::iDynLimb, and iCub::iKin::iKinLimb.

Definition at line 1307 of file iKinFwd.cpp.

◆ DJacobian() [1/2]

yarp::sig::Matrix iCub::iKin::iKinChain::DJacobian	(	const unsigned int	lnk,
		const yarp::sig::Vector &	dq
	)

Compute the time derivative of the geometric Jacobian (link version).

Parameters

lnk	is the Link number up to which consider the computation.
dq	the (lnk-1)x1 joint velocity vector.

Returns: the 6x(lnk-1) matrix \( \partial{^2}F\left(q\right)/\partial t \partial q. \)

◆ DJacobian() [2/2]

yarp::sig::Matrix iCub::iKin::iKinChain::DJacobian ( const yarp::sig::Vector & dq )

Compute the time derivative of the geometric Jacobian.

Parameters

dq	the joint velocities.

Returns: the 6xDOF matrix \( \partial{^2}F\left(q\right)/\partial t \partial q. \)

◆ dRotAng()

Vector iKinChain::dRotAng	(	const yarp::sig::Matrix &	R,
		const yarp::sig::Matrix &	dR
	)

protected

Definition at line 673 of file iKinFwd.cpp.

◆ EndEffPose() [1/2]

Vector iKinChain::EndEffPose ( const bool axisRep = true )

Returns the coordinates of end-effector.

Two notations are provided: the first with Euler Angles (XYZ form=>6x1 output vector) and second with axis/angle representation (default=>7x1 output vector).

Parameters

axisRep if true returns the axis/angle notation.

Returns: the end-effector pose.

Definition at line 850 of file iKinFwd.cpp.

◆ EndEffPose() [2/2]

yarp::sig::Vector iCub::iKin::iKinChain::EndEffPose	(	const yarp::sig::Vector &	q,
		const bool	axisRep = `true`
	)

Returns the coordinates of end-effector computed in q.

Two notations are provided: the first with Euler Angles (XYZ form=>6x1 output vector) and second with axis/angle representation (default=>7x1 output vector).

Parameters

q	is the vector of new DOF values.
axisRep	if true returns the axis/angle notation.

Returns: the end-effector pose.

◆ EndEffPosition() [1/2]

Vector iKinChain::EndEffPosition ( )

Returns the 3D coordinates of end-effector position.

Returns: the end-effector position.

Definition at line 894 of file iKinFwd.cpp.

◆ EndEffPosition() [2/2]

yarp::sig::Vector iCub::iKin::iKinChain::EndEffPosition ( const yarp::sig::Vector & q )

Returns the 3D coordinates of end-effector position computed in q.

Parameters

q	is the vector of new DOF values.

Returns: the end-effector position.

◆ fastHessian_ij() [1/2]

Vector iKinChain::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.

Fast Version: to be used in conjunction with prepareForHessian().

Parameters

i	is the index of the first DOF.
j	is the index of the second DOF.

Returns: the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j. \)

Note: It is advisable to use this version when successive computations with different indexes values are needed.

See also: prepareForHessian

Definition at line 1117 of file iKinFwd.cpp.

◆ fastHessian_ij() [2/2]

Vector iKinChain::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.

Fast Version: to be used in conjunction with prepareForHessian(lnk).

Parameters

lnk	is the Link number up to which consider the computation.
i	is the index of the first link.
j	is the index of the second link.

Returns: the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j. \)

Note: It is advisable to use this version when successive computations with different indexes values are needed.

See also: prepareForHessian

Definition at line 1173 of file iKinFwd.cpp.

◆ GeoJacobian() [1/3]

Matrix iKinChain::GeoJacobian ( )

Returns the geometric Jacobian of the end-effector.

Returns: the 6xDOF geometric Jacobian matrix.

Note: The blocked links are not considered.

Definition at line 1048 of file iKinFwd.cpp.

◆ GeoJacobian() [2/3]

Matrix iKinChain::GeoJacobian ( const unsigned int i )

Returns the geometric Jacobian of the ith link.

Parameters

i	is the Link number.

Returns: the 6x(i-1) geometric Jacobian matrix.

Note: All the links are considered.

Definition at line 1012 of file iKinFwd.cpp.

◆ GeoJacobian() [3/3]

yarp::sig::Matrix iCub::iKin::iKinChain::GeoJacobian ( const yarp::sig::Vector & q )

Returns the geometric Jacobian of the end-effector computed in q.

Parameters

q	is the vector of new DOF values.

Returns: the geometric Jacobian.

Note: The blocked links are not considered.

◆ getAng() [1/2]

Vector iKinChain::getAng ( )

Returns the current free joint angles values.

Returns: the actual DOF values.

Definition at line 611 of file iKinFwd.cpp.

◆ getAng() [2/2]

double iKinChain::getAng ( const unsigned int i )

Returns the current angle of ith joint.

Parameters

i	is the Link number.

Returns: current ith joint angle.

Definition at line 645 of file iKinFwd.cpp.

◆ getConstraint()

bool iCub::iKin::iKinChain::getConstraint ( unsigned int i )

inline

Returns the constraint status of ith link.

Returns: current constraint status.

Definition at line 522 of file iKinFwd.h.

◆ getDOF()

unsigned int iCub::iKin::iKinChain::getDOF ( ) const

inline

Returns the current number of Chain's DOF.

DOF=N-M, where N=# of Links, M=# of blocked Links.

Returns: number of DOF.

Definition at line 556 of file iKinFwd.h.

◆ getH() [1/3]

Matrix iKinChain::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).

Returns: H(N-1)*HN

Definition at line 778 of file iKinFwd.cpp.

◆ getH() [2/3]

Matrix iKinChain::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.

The second parameter if true enables the spannig over the full set of links, i.e. the blocked links as well.

Parameters

i	is the Link number.
allLink	if true enables the spanning over the full set of links (false by default).

Returns: Hi

Definition at line 732 of file iKinFwd.cpp.

◆ getH() [3/3]

yarp::sig::Matrix iCub::iKin::iKinChain::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).

Parameters

q	is the vector of new DOF values.

Returns: H(N-1)*HN

◆ getH0()

yarp::sig::Matrix iCub::iKin::iKinChain::getH0 ( ) const

inline

Returns H0, the rigid roto-translation matrix from the root reference frame to the 0th frame.

Returns: H0

Definition at line 563 of file iKinFwd.h.

◆ getHN()

yarp::sig::Matrix iCub::iKin::iKinChain::getHN ( ) const

inline

Returns HN, the rigid roto-translation matrix from the Nth frame to the end-effector.

Returns: HN

Definition at line 578 of file iKinFwd.h.

◆ getN()

unsigned int iCub::iKin::iKinChain::getN ( ) const

inline

Returns the number of Links belonging to the Chain.

Returns: number of Links.

Definition at line 549 of file iKinFwd.h.

◆ getVerbosity()

unsigned int iCub::iKin::iKinChain::getVerbosity ( ) const

inline

Returns the current Chain verbosity level.

Returns: Link verbosity level.

Definition at line 543 of file iKinFwd.h.

◆ Hessian_ij() [1/2]

Vector iKinChain::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.

Parameters

i	is the index of the first DOF.
j	is the index of the second DOF.

Returns: the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j. \)

Definition at line 1094 of file iKinFwd.cpp.

◆ Hessian_ij() [2/2]

Vector iKinChain::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.

Parameters

lnk	is the Link number up to which consider the computation.
i	is the index of the first link.
j	is the index of the second link.

Returns: the 6x1 vector \( \partial{^2}F\left(q\right)/\partial q_i \partial q_j. \)

Definition at line 1149 of file iKinFwd.cpp.

◆ isLinkBlocked()

bool iKinChain::isLinkBlocked ( const unsigned int i )

Queries whether the ith Link is blocked.

Parameters

i	is the Link number.

Returns: true if blocked && (param i is in range).

Definition at line 483 of file iKinFwd.cpp.

◆ operator()()

iKinLink & iCub::iKin::iKinChain::operator() ( const unsigned int i )

inline

Returns a reference to the ith Link of the Chain considering only those Links related to DOF.

Parameters

i	is the Link number within the Chain (in DOF order)

Returns: a reference to the ith Link object.

Definition at line 426 of file iKinFwd.h.

◆ operator--()

iKinChain & iKinChain::operator-- ( int )

Removes a Link from the bottom of the Chain.

Returns: a reference to the current object.

Definition at line 385 of file iKinFwd.cpp.

◆ operator<<()

iKinChain & iKinChain::operator<< ( iKinLink & l )

Adds a Link at the bottom of the Chain.

Parameters

l	is the Link to be added.

Returns: a reference to the current object.

Definition at line 366 of file iKinFwd.cpp.

◆ operator=()

iKinChain & iKinChain::operator= ( const iKinChain & c )

Copies a Chain object into the current one.

Parameters

c	is a reference to an object of type iKinChain.

Returns: a reference to the current object.

Definition at line 290 of file iKinFwd.cpp.

◆ operator[]()

iKinLink & iCub::iKin::iKinChain::operator[] ( const unsigned int i )

inline

Returns a reference to the ith Link of the Chain.

Parameters

i	is the Link number within the Chain.

Returns: a reference to the ith Link object.

Definition at line 418 of file iKinFwd.h.

◆ popLink()

void iKinChain::popLink ( )

Removes a Link from the bottom of the Chain.

See also: operator--()

Definition at line 375 of file iKinFwd.cpp.

◆ Pose()

Vector iKinChain::Pose	(	const unsigned int	i,
		const bool	axisRep = `true`
	)

Returns the coordinates of ith Link.

Two notations are provided: the first with Euler Angles (XYZ form=>6x1 output vector) and second with axis/angle representation (default=>7x1 output vector).

Parameters

i	is the Link number.
axisRep	if true returns the axis/angle notation.

Returns: the ith Link Pose.

Definition at line 803 of file iKinFwd.cpp.

◆ Position()

Vector iKinChain::Position ( const unsigned int i )

Returns the 3D position coordinates of ith Link.

Parameters

i	is the Link number.

Returns: the ith Link Position.

Definition at line 842 of file iKinFwd.cpp.

◆ prepareForHessian() [1/2]

void iKinChain::prepareForHessian ( )

Prepares computation for a successive call to fastHessian_ij().

See also: fastHessian_ij

Definition at line 1102 of file iKinFwd.cpp.

◆ prepareForHessian() [2/2]

void iKinChain::prepareForHessian ( const unsigned int lnk )

Prepares computation for a successive call to fastHessian_ij() (link version).

Parameters

lnk	is the Link number up to which consider the computation.

See also: fastHessian_ij

Definition at line 1158 of file iKinFwd.cpp.

◆ pushLink()

void iKinChain::pushLink ( iKinLink & l )

Adds a Link at the bottom of the Chain.

Parameters

l	is the Link to be added.

See also: operator<<

Definition at line 343 of file iKinFwd.cpp.

◆ releaseLink()

bool iKinChain::releaseLink ( const unsigned int i )

Releases the ith Link.

Chain DOF augmented by one.

Parameters

i	is the Link number.

Returns: true if successful (e.g. param i is in range).

Definition at line 463 of file iKinFwd.cpp.

◆ rmLink()

bool iKinChain::rmLink ( const unsigned int i )

Removes the ith Link from the Chain.

Parameters

i	is the ith position from which the Link is to be removed.

Returns: true if successful (e.g. param i is in range).

Definition at line 321 of file iKinFwd.cpp.

◆ RotAng()

Vector iKinChain::RotAng ( const yarp::sig::Matrix & R )

protected

Definition at line 659 of file iKinFwd.cpp.

◆ setAllConstraints()

void iKinChain::setAllConstraints ( bool _constrained )

Sets the constraint status of all chain links.

Parameters

_constrained is the new constraint status.

Definition at line 498 of file iKinFwd.cpp.

◆ setAllLinkVerbosity()

void iKinChain::setAllLinkVerbosity ( unsigned int _verbose )

Sets the verbosity level of all Links belonging to the Chain.

Parameters

_verbose is the verbosity level.

Definition at line 506 of file iKinFwd.cpp.

◆ setAng() [1/2]

double iKinChain::setAng	(	const unsigned int	i,
		double	_Ang
	)

Sets the ith joint angle.

Parameters

i	is the Link number.
Ang	the new angle's value.

Returns: current ith joint angle (angle constraint is evaluated).

Definition at line 623 of file iKinFwd.cpp.

◆ setAng() [2/2]

yarp::sig::Vector iCub::iKin::iKinChain::setAng ( const yarp::sig::Vector & q )

Sets the free joint angles to values of q[i].

Parameters

q	is a vector containing values for DOF.

Returns: the actual DOF values (angles constraints are evaluated).

◆ setBlockingValue()

bool iKinChain::setBlockingValue	(	const unsigned int	i,
		double	Ang
	)

Changes the value of the ith blocked Link.

Avoid the overhead required for DOFs handling.

Parameters

i	is the Link number.
Ang	is the new value of joint angle to which the Link is blocked.

Returns: true if successful (e.g. param i is in range and the ith Link was already blocked).

Definition at line 414 of file iKinFwd.cpp.

◆ setConstraint()

void iCub::iKin::iKinChain::setConstraint	(	unsigned int	i,
		bool	_constrained
	)

inline

Sets the constraint status of ith link.

Parameters

_constrained is the new constraint status.

Definition at line 516 of file iKinFwd.h.

◆ setH0()

bool iKinChain::setH0 ( const yarp::sig::Matrix & _H0 )

Sets H0, the rigid roto-translation matrix from the root reference frame to the 0th frame.

Parameters

H0

Returns: true if succeed, false otherwise.

Definition at line 562 of file iKinFwd.cpp.

◆ setHN()

bool iKinChain::setHN ( const yarp::sig::Matrix & _HN )

Sets HN, the rigid roto-translation matrix from the Nth frame to the end-effector.

Parameters

HN

Returns: true if succeed, false otherwise.

Definition at line 580 of file iKinFwd.cpp.

◆ setVerbosity()

void iCub::iKin::iKinChain::setVerbosity ( unsigned int _verbose )

inline

Sets the verbosity level of the Chain.

Parameters

_verbose is a integer number which progressively enables different levels of warning messages. The larger this value the more detailed is the output.

Definition at line 537 of file iKinFwd.h.

Member Data Documentation

◆ allList

std::deque<iKinLink*> iCub::iKin::iKinChain::allList

protected

Definition at line 363 of file iKinFwd.h.

◆ curr_q

yarp::sig::Vector iCub::iKin::iKinChain::curr_q

protected

Definition at line 361 of file iKinFwd.h.

◆ DOF

unsigned int iCub::iKin::iKinChain::DOF

protected

Definition at line 357 of file iKinFwd.h.

◆ H0

yarp::sig::Matrix iCub::iKin::iKinChain::H0

protected

Definition at line 359 of file iKinFwd.h.

◆ hash

std::deque<unsigned int> iCub::iKin::iKinChain::hash

protected

Definition at line 366 of file iKinFwd.h.

◆ hash_dof

std::deque<unsigned int> iCub::iKin::iKinChain::hash_dof

protected

Definition at line 367 of file iKinFwd.h.

◆ hess_J

yarp::sig::Matrix iCub::iKin::iKinChain::hess_J

protected

Definition at line 369 of file iKinFwd.h.

◆ hess_Jlnk

yarp::sig::Matrix iCub::iKin::iKinChain::hess_Jlnk

protected

Definition at line 370 of file iKinFwd.h.

◆ HN

yarp::sig::Matrix iCub::iKin::iKinChain::HN

protected

Definition at line 360 of file iKinFwd.h.

◆ N

unsigned int iCub::iKin::iKinChain::N

protected

Definition at line 356 of file iKinFwd.h.

◆ quickList

std::deque<iKinLink*> iCub::iKin::iKinChain::quickList

protected

Definition at line 364 of file iKinFwd.h.

◆ verbose

unsigned int iCub::iKin::iKinChain::verbose

protected

Definition at line 358 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

◆ iKinChain() [1/2]

◆ iKinChain() [2/2]

◆ ~iKinChain()

Member Function Documentation

◆ addLink()

◆ AnaJacobian() [1/3]

◆ AnaJacobian() [2/3]

◆ AnaJacobian() [3/3]

◆ blockLink() [1/2]

◆ blockLink() [2/2]

◆ build()

◆ clear()

◆ clone()

◆ d2RotAng()

◆ dispose()

◆ DJacobian() [1/2]

◆ DJacobian() [2/2]

◆ dRotAng()

◆ EndEffPose() [1/2]

◆ EndEffPose() [2/2]

◆ EndEffPosition() [1/2]

◆ EndEffPosition() [2/2]

◆ fastHessian_ij() [1/2]

◆ fastHessian_ij() [2/2]

◆ GeoJacobian() [1/3]

◆ GeoJacobian() [2/3]

◆ GeoJacobian() [3/3]

◆ getAng() [1/2]

◆ getAng() [2/2]

◆ getConstraint()

◆ getDOF()

◆ getH() [1/3]

◆ getH() [2/3]

◆ getH() [3/3]

◆ getH0()

◆ getHN()

◆ getN()

◆ getVerbosity()

◆ Hessian_ij() [1/2]

◆ Hessian_ij() [2/2]

◆ isLinkBlocked()

◆ operator()()

◆ operator--()

◆ operator<<()

◆ operator=()

◆ operator[]()

◆ popLink()

◆ Pose()

◆ Position()

◆ prepareForHessian() [1/2]

◆ prepareForHessian() [2/2]

◆ pushLink()

◆ releaseLink()

◆ rmLink()

◆ RotAng()

◆ setAllConstraints()

◆ setAllLinkVerbosity()

◆ setAng() [1/2]

◆ setAng() [2/2]

◆ setBlockingValue()

◆ setConstraint()

◆ setH0()

◆ setHN()

◆ setVerbosity()

Member Data Documentation

◆ allList

◆ curr_q

◆ DOF

◆ H0

◆ hash

◆ hash_dof

◆ hess_J

◆ hess_Jlnk

◆ HN

◆ N