A class for defining generic Limb. More...

#include <iKinFwd.h>

Inheritance diagram for iCub::iKin::iKinLimb:

Public Member Functions
	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 bool	alignJointsBounds (const std::deque< yarp::dev::IControlLimits * > &)
	Alignes the Limb joints bounds with current values set aboard the robot.

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	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	allocate (const std::string &_type)

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::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 generic Limb.

Definition at line 872 of file iKinFwd.h.

Constructor & Destructor Documentation

◆ iKinLimb() [1/4]

iKinLimb::iKinLimb ( )

Default constructor.

Definition at line 1315 of file iKinFwd.cpp.

◆ iKinLimb() [2/4]

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

Constructor.

Parameters

_type is a string to discriminate between "left" and "right" limb

Definition at line 1322 of file iKinFwd.cpp.

◆ iKinLimb() [3/4]

iKinLimb::iKinLimb ( const iKinLimb & limb )

Creates a new Limb from an already existing Limb object.

Parameters

limb	is the Limb to be copied.

Definition at line 1329 of file iKinFwd.cpp.

◆ iKinLimb() [4/4]

iCub::iKin::iKinLimb::iKinLimb ( const yarp::os::Property & options )

Creates a new Limb from a list of properties wherein links parameters are specified.

Parameters

options is the list of links properties.

See also: fromLinksProperties

◆ ~iKinLimb()

iKinLimb::~iKinLimb ( )

virtual

Destructor.

Definition at line 1508 of file iKinFwd.cpp.

Member Function Documentation

◆ addLink()

bool iCub::iKin::iKinLimb::addLink	(	const unsigned int	i,
		iKinLink &	l
	)

inlineprotected

Definition at line 894 of file iKinFwd.h.

◆ alignJointsBounds()

virtual bool iCub::iKin::iKinLimb::alignJointsBounds ( const std::deque< yarp::dev::IControlLimits * > & )

inlinevirtual

Alignes the Limb joints bounds with current values set aboard the robot.

Parameters

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

Returns: true/false on success/failure.

Note: This method is empty in iKinLimb because it's limb-specific: see the implementations for iCubLimbs.

Reimplemented in iCub::iKin::iCubTorso, iCub::iKin::iCubArm, iCub::iKin::iCubFinger, iCub::iKin::iCubLeg, iCub::iKin::iCubEye, and iCub::iKin::iCubInertialSensor.

Definition at line 1030 of file iKinFwd.h.

◆ allocate()

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

protectedvirtual

Reimplemented in iCub::iKin::iCubTorso, iCub::iKin::iCubArm, iCub::iKin::iCubFinger, iCub::iKin::iCubLeg, iCub::iKin::iCubEye, iCub::iKin::iCubEyeNeckRef, iCub::iKin::iCubHeadCenter, iCub::iKin::iCubInertialSensor, iCub::iKin::iCubInertialSensorWaist, and genericRightArm.

Definition at line 1515 of file iKinFwd.cpp.

◆ asChain()

iKinChain * iCub::iKin::iKinLimb::asChain ( )

inline

Returns a pointer to the Limb seen as Chain object.

Useful to to operate on the Links of Limb.

Returns: a pointer to a Chain object with the same Links of Limb.

Definition at line 1012 of file iKinFwd.h.

◆ clear()

void iCub::iKin::iKinLimb::clear ( )

inlineprotected

Definition at line 897 of file iKinFwd.h.

◆ clone()

void iKinLimb::clone ( const iKinLimb & limb )

protectedvirtual

Definition at line 1522 of file iKinFwd.cpp.

◆ dispose()

void iKinLimb::dispose ( )

protectedvirtual

Reimplemented from iCub::iKin::iKinChain.

Definition at line 1534 of file iKinFwd.cpp.

◆ fromLinksProperties()

bool iKinLimb::fromLinksProperties ( const yarp::os::Property & options )

Initializes the Limb from a list of properties wherein links parameters are specified.

Parameters

options is the list of links properties.

Note: Available options are:

type <string>: specifies the limb handedness [left/right] (default=right).

H0 <list of 4x4 doubles (per rows)>: specifies the rigid roto-translation matrix from the root reference frame to the 0th frame (default=eye(4,4)).

HN <list of 4x4 doubles (per rows)>: specifies the rigid roto-translation matrix from the Nth frame to the end-effector (default=eye(4,4)).

numLinks <int>: specifies the expected number of links.

A <double>: specifies the link length [m] (default=0.0).

D <double>: specifies the link offset [m] (default=0.0).

alpha <double>: specifies the link twist [deg] (default=0.0).

offset <double>: specifies the joint angle offset [deg] (default=0.0).

min <double>: specifies the joint angle lower bound [deg] (default=0.0).

max <double>: specifies the joint angle upper bound [deg] (default=0.0).

blocked <double>: blocks the link at the specified value [deg] (default=released).

Note: The list should look like as the following:

type right 
H0 (1.0 2.0 3.0 ...) 
HN (1.0 2.0 3.0 ...) 
numLinks 4 
link_0 (option1 value1) (option2 value2) ... 
link_1 (option1 value1) ... 
... 

Note: Please note how the link options (e.g. A, D, alpha ...) are to be given using the group identifiers link_#.

Returns: true iff correctly configured.

Definition at line 1387 of file iKinFwd.cpp.

◆ getMatrixFromProperties()

void iKinLimb::getMatrixFromProperties	(	const yarp::os::Property &	options,
		const std::string &	tag,
		yarp::sig::Matrix &	H
	)

protectedvirtual

Definition at line 1351 of file iKinFwd.cpp.

◆ getType()

std::string iCub::iKin::iKinLimb::getType ( ) const

inline

Returns the Limb type as a string.

Returns: the type as a string {"left", "right"}.

Definition at line 1018 of file iKinFwd.h.

◆ isValid()

bool iCub::iKin::iKinLimb::isValid ( ) const

inline

Checks if the limb has been properly configured.

Returns: true iff correctly configured.

Definition at line 997 of file iKinFwd.h.

◆ operator()()

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

inlineprotected

Definition at line 893 of file iKinFwd.h.

◆ operator--()

iKinChain & iCub::iKin::iKinLimb::operator-- ( int )

inlineprotected

Definition at line 891 of file iKinFwd.h.

◆ operator<<()

iKinChain & iCub::iKin::iKinLimb::operator<< ( iKinLink & l )

inlineprotected

Definition at line 890 of file iKinFwd.h.

◆ operator=() [1/2]

iKinChain & iCub::iKin::iKinLimb::operator= ( const iKinChain & c )

inlineprotected

Definition at line 889 of file iKinFwd.h.

◆ operator=() [2/2]

iKinLimb & iKinLimb::operator= ( const iKinLimb & limb )

Copies a Limb object into the current one.

Parameters

limb	is a reference to an object of type iKinLimb.

Returns: a reference to the current object.

Definition at line 1498 of file iKinFwd.cpp.

◆ operator[]()

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

inlineprotected

Definition at line 892 of file iKinFwd.h.

◆ popLink()

void iCub::iKin::iKinLimb::popLink ( )

inlineprotected

Definition at line 898 of file iKinFwd.h.

◆ pushLink() [1/2]

void iCub::iKin::iKinLimb::pushLink ( iKinLink & l )

inlineprotected

Definition at line 896 of file iKinFwd.h.

◆ pushLink() [2/2]

void iKinLimb::pushLink ( iKinLink * pl )

protected

Definition at line 1343 of file iKinFwd.cpp.

◆ rmLink()

bool iCub::iKin::iKinLimb::rmLink ( const unsigned int i )

inlineprotected

Definition at line 895 of file iKinFwd.h.

◆ setMatrixToProperties()

void iKinLimb::setMatrixToProperties	(	yarp::os::Property &	options,
		const std::string &	tag,
		yarp::sig::Matrix &	H
	)

protectedvirtual

Definition at line 1374 of file iKinFwd.cpp.

◆ toLinksProperties()

bool iKinLimb::toLinksProperties ( yarp::os::Property & options )

Provides the links attributes listed in a property object.

Parameters

options is the list of links properties.

Returns: true iff successful.

Definition at line 1443 of file iKinFwd.cpp.

Member Data Documentation

◆ linkList

std::deque<iKinLink*> iCub::iKin::iKinLimb::linkList

protected

Definition at line 875 of file iKinFwd.h.

◆ type

std::string iCub::iKin::iKinLimb::type

protected

Definition at line 876 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

◆ iKinLimb() [1/4]

◆ iKinLimb() [2/4]

◆ iKinLimb() [3/4]

◆ iKinLimb() [4/4]

◆ ~iKinLimb()

Member Function Documentation

◆ addLink()

◆ alignJointsBounds()

◆ allocate()

◆ asChain()

◆ clear()

◆ clone()

◆ dispose()

◆ fromLinksProperties()

◆ getMatrixFromProperties()

◆ getType()

◆ isValid()

◆ operator()()

◆ operator--()

◆ operator<<()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator[]()

◆ popLink()

◆ pushLink() [1/2]

◆ pushLink() [2/2]

◆ rmLink()

◆ setMatrixToProperties()

◆ toLinksProperties()

Member Data Documentation

◆ linkList

◆ type