Class representing an external contact acting on a link of the robot body. More...

#include <dynContact.h>

Inheritance diagram for iCub::skinDynLib::dynContact:

Public Member Functions
	dynContact ()
	Default constructor.

	dynContact (const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP)
	Constructor with unknown moment and force direction.

	dynContact (const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_Mu)
	Constructor with known moment (usually zero) and unknown force direction.

	dynContact (const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_Mu, const yarp::sig::Vector &_Fdir)
	Constructor with known moment (usually zero) and known force direction.

virtual yarp::sig::Vector	getForceMoment () const
	Get the contact force and moment in a single (6x1) vector.

virtual const yarp::sig::Vector &	getForce () const
	Get the contact force.

virtual const yarp::sig::Vector &	getForceDirection () const
	Get the contact force direction.

virtual double	getForceModule () const
	Get the contact force module.

virtual const yarp::sig::Vector &	getMoment () const
	Get the contact moment.

virtual const yarp::sig::Vector &	getCoP () const
	Get the contact center of pressure expressed in the link reference frame.

virtual unsigned int	getLinkNumber () const
	Get the link number (where 0 is the first link of the chain).

virtual BodyPart	getBodyPart () const
	Get the body part of the contact.

virtual std::string	getBodyPartName () const
	Get the name of the contact body part.

virtual unsigned long	getId () const
	Get the id of this contact.

virtual bool	isMomentKnown () const
	Get true if the moment applied at this contact is known a-priori.

virtual bool	isForceDirectionKnown () const
	Get true if the direction of the force applied at this contact is known a-priori.

virtual bool	setForce (const yarp::sig::Vector &_F)
	Set the contact force.

virtual bool	setForceModule (double _Fmodule)
	Set the contact force module.

virtual bool	setForceDirection (const yarp::sig::Vector &_Fdir)
	Set the direction of the contact force.

virtual bool	setMoment (const yarp::sig::Vector &_Mu)
	Set the contact moment.

virtual bool	setForceMoment (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Set the contact force and moment.

virtual bool	setForceMoment (const yarp::sig::Vector &_FMu)
	Set the contact force and moment as a single (6x1) vector.

virtual bool	setCoP (const yarp::sig::Vector &_CoP)
	Set the contact center of pressure in link reference frame.

virtual void	setLinkNumber (unsigned int _linkNum)
	Set the contact link number (0 is the first link)

virtual void	setBodyPart (BodyPart _bodyPart)
	Set the body part of this contact.

virtual bool	fixForceDirection (const yarp::sig::Vector &_Fdir)
	Fix the direction of the contact force.

virtual bool	fixMoment ()
	Equivalent to calling fixMoment(zeros(3)).

virtual bool	fixMoment (const yarp::sig::Vector &_Mu)
	Fix the contact moment.

virtual void	unfixForceDirection ()
	Set the flag fDirKnown to false so that when estimating the contact wrenches the solver estimates also the force direction and does not consider it as known a-priori.

virtual void	unfixMoment ()
	Set the flag muKnown to false so that when estimating the contact wrenches the solver estimates also the contact moment and does not consider it as known a-priori.

virtual bool	read (yarp::os::ConnectionReader &connection) override

virtual bool	write (yarp::os::ConnectionWriter &connection) const override
	Write dynContact to a connection as a list of 4 elements, that are:

virtual std::string	toString (int precision=-1) const
	Convert this contact into a string.

virtual void	setVerbose (unsigned int verb=VERBOSE)
	Set the verbosity level of comments during operations.

Protected Member Functions
void	init (const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_Mu=yarp::sig::Vector(0), const yarp::sig::Vector &_Fdir=yarp::sig::Vector(0))

bool	checkVectorDim (const yarp::sig::Vector &v, unsigned int dim, const std::string &descr="")

Protected Attributes
unsigned long	contactId

BodyPart	bodyPart
	part of the body of the robot where the contact is applied

unsigned int	linkNumber
	number of the link where the contact is applied

yarp::sig::Vector	CoP
	center of pressure of the contact expressed w.r.t. the reference frame of the link

yarp::sig::Vector	Fdir
	contact force direction (unit vector)

yarp::sig::Vector	F
	contact force

double	Fmodule
	contact force module

yarp::sig::Vector	Mu
	contact moment

bool	muKnown
	True if the moment applied at the contact point is known.

bool	fDirKnown
	True if the direction of the force applied at the contact point is known.

unsigned int	verbose
	verbosity flag

Static Protected Attributes
static unsigned long	ID = 1

Detailed Description

Class representing an external contact acting on a link of the robot body.

A contact is identified by a unique id, a robot body part, a link number, the center of pressure (CoP), the contact force and moment. All the vectors (i.e. CoP, force, moment) are expressed w.r.t. the reference frame of the link.

This class is used in the process of estimating the contact wrenches. In the estimation process the link number and the contact position are supposed to be known. The force direction and the moment may be either known or unknown, depending on the sensor data.

Definition at line 51 of file dynContact.h.

Constructor & Destructor Documentation

◆ dynContact() [1/4]

dynContact::dynContact ( )

Default constructor.

Definition at line 33 of file dynContact.cpp.

◆ dynContact() [2/4]

iCub::skinDynLib::dynContact::dynContact	(	const BodyPart &	_bodyPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP
	)

Constructor with unknown moment and force direction.

Parameters

_bodyPart	the body part associated to this contact
_linkNumber	the number of the link on which this contact is applied
_CoP	the 3-dim center of pressure of this contact in link reference frame

◆ dynContact() [3/4]

iCub::skinDynLib::dynContact::dynContact	(	const BodyPart &	_bodyPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP,
		const yarp::sig::Vector &	_Mu
	)

Constructor with known moment (usually zero) and unknown force direction.

Parameters

_bodyPart	the body part associated to this contact
_linkNumber	the number of the link on which this contact is applied
_CoP	the 3-dim center of pressure of this contact in link reference frame
_Mu	the moment applied at this contact, expressed in link reference frame

◆ dynContact() [4/4]

iCub::skinDynLib::dynContact::dynContact	(	const BodyPart &	_bodyPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP,
		const yarp::sig::Vector &	_Mu,
		const yarp::sig::Vector &	_Fdir
	)

Constructor with known moment (usually zero) and known force direction.

Parameters

_bodyPart	the body part associated to this contact
_linkNumber	the number of the link on which this contact is applied
_CoP	the 3-dim center of pressure of this contact in link reference frame
_Mu	the moment applied at this contact, expressed in link reference frame
_Fdir	the direction of the contact force, expressed in link reference frame

Member Function Documentation

◆ checkVectorDim()

bool dynContact::checkVectorDim	(	const yarp::sig::Vector &	v,
		unsigned int	dim,
		const std::string &	descr = `""`
	)

protected

Definition at line 274 of file dynContact.cpp.

◆ fixForceDirection()

bool dynContact::fixForceDirection ( const yarp::sig::Vector & _Fdir )

virtual

Fix the direction of the contact force.

Differently from the method setForceDirection, this method also sets the flag 'fDirKnown' to true, so when estimating the contact wrenches the solver considers the force direction of this contact as known a-priori.

Parameters

_Fdir the contact force direction

Returns: true iff operation succeeded, false otherwise

Definition at line 167 of file dynContact.cpp.

◆ fixMoment() [1/2]

bool dynContact::fixMoment ( )

virtual

Equivalent to calling fixMoment(zeros(3)).

Definition at line 175 of file dynContact.cpp.

◆ fixMoment() [2/2]

virtual bool iCub::skinDynLib::dynContact::fixMoment ( const yarp::sig::Vector & _Mu )

virtual

Fix the contact moment.

Differently from the method setMoment, this method also sets the flag 'muKnown' to true, so when estimating the contact wrenches the solver considers the moment of this contact as known a-priori.

Parameters

_Mu	the contact moment

Returns: true iff operation succeeded, false otherwise

◆ getBodyPart()

BodyPart dynContact::getBodyPart ( ) const

virtual

Get the body part of the contact.

Returns: the contact body part

Definition at line 86 of file dynContact.cpp.

◆ getBodyPartName()

string dynContact::getBodyPartName ( ) const

virtual

Get the name of the contact body part.

Returns: the name of the contact body part

Definition at line 88 of file dynContact.cpp.

◆ getCoP()

const Vector & dynContact::getCoP ( ) const

virtual

Get the contact center of pressure expressed in the link reference frame.

Returns: a 3-dim vector

Definition at line 82 of file dynContact.cpp.

◆ getForce()

const Vector & dynContact::getForce ( ) const

virtual

Get the contact force.

Returns: a 3-dim vector

Definition at line 74 of file dynContact.cpp.

◆ getForceDirection()

const Vector & dynContact::getForceDirection ( ) const

virtual

Get the contact force direction.

Returns: a 3-dim vector with norm equal to one

Definition at line 76 of file dynContact.cpp.

◆ getForceModule()

double dynContact::getForceModule ( ) const

virtual

Get the contact force module.

Returns: the intensity of the contact force

Definition at line 78 of file dynContact.cpp.

◆ getForceMoment()

Vector dynContact::getForceMoment ( ) const

virtual

Get the contact force and moment in a single (6x1) vector.

Returns: a 6x1 vector where 0:2=force 3:5=moment

Definition at line 72 of file dynContact.cpp.

◆ getId()

unsigned long dynContact::getId ( ) const

virtual

Get the id of this contact.

Returns: the contact id

Definition at line 90 of file dynContact.cpp.

◆ getLinkNumber()

unsigned int dynContact::getLinkNumber ( ) const

virtual

Get the link number (where 0 is the first link of the chain).

Returns: the link number

Definition at line 84 of file dynContact.cpp.

◆ getMoment()

const Vector & dynContact::getMoment ( ) const

virtual

Get the contact moment.

Returns: a 3-dim vector

Definition at line 80 of file dynContact.cpp.

◆ init()

void dynContact::init	(	const BodyPart &	_bodyPart,
		unsigned int	_linkNumber,
		const yarp::sig::Vector &	_CoP,
		const yarp::sig::Vector &	_Mu = `yarp::sig::Vector(0)`,
		const yarp::sig::Vector &	_Fdir = `yarp::sig::Vector(0)`
	)

protected

Definition at line 49 of file dynContact.cpp.

◆ isForceDirectionKnown()

bool dynContact::isForceDirectionKnown ( ) const

virtual

Get true if the direction of the force applied at this contact is known a-priori.

Returns: true if the force direction is known, false otherwise.

Definition at line 97 of file dynContact.cpp.

◆ isMomentKnown()

bool dynContact::isMomentKnown ( ) const

virtual

Get true if the moment applied at this contact is known a-priori.

Returns: true if the moment is known, false otherwise.

Definition at line 95 of file dynContact.cpp.

◆ read()

bool dynContact::read ( yarp::os::ConnectionReader & connection )

overridevirtual

Reimplemented in iCub::skinDynLib::skinContact.

Definition at line 229 of file dynContact.cpp.

◆ setBodyPart()

void dynContact::setBodyPart ( BodyPart _bodyPart )

virtual

Set the body part of this contact.

Parameters

_bodyPart the contact body part

Returns: true if the operation succeeded, false otherwise

Definition at line 161 of file dynContact.cpp.

◆ setCoP()

bool dynContact::setCoP ( const yarp::sig::Vector & _CoP )

virtual

Set the contact center of pressure in link reference frame.

Parameters

_CoP	a 3x1 vector

Returns: true if the operation succeeded, false otherwise

Definition at line 150 of file dynContact.cpp.

◆ setForce()

bool dynContact::setForce ( const yarp::sig::Vector & _F )

virtual

Set the contact force.

Parameters

_F	a 3-dim vector containing the contact force

Returns: true if the operation succeeded, false otherwise

Definition at line 101 of file dynContact.cpp.

◆ setForceDirection()

bool dynContact::setForceDirection ( const yarp::sig::Vector & _Fdir )

virtual

Set the direction of the contact force.

Parameters

_Fdir a 3-dim vector containing the direction of the contact force

Returns: true if the operation succeeded, false otherwise

Note: If norm(_Fdir) is not 1 then _Fdir is normalized so that its norm is 1

Definition at line 122 of file dynContact.cpp.

◆ setForceModule()

bool dynContact::setForceModule ( double _Fmodule )

virtual

Set the contact force module.

Parameters

_Fmodule the module of the contact force

Returns: true if the operation succeeded, false otherwise

Definition at line 111 of file dynContact.cpp.

◆ setForceMoment() [1/2]

bool dynContact::setForceMoment	(	const yarp::sig::Vector &	_F,
		const yarp::sig::Vector &	_Mu
	)

virtual

Set the contact force and moment.

Parameters

_F	a 3-dim vector containing the contact force
_Mu	a 3-dim vector containing the contact moment

Returns: true if the operation succeeded, false otherwise

Definition at line 139 of file dynContact.cpp.

◆ setForceMoment() [2/2]

bool dynContact::setForceMoment ( const yarp::sig::Vector & _FMu )

virtual

Set the contact force and moment as a single (6x1) vector.

Parameters

_FMu	a 6x1 vector where 0:2=force 3:5=moment

Returns: true if the operation succeeded, false otherwise

Definition at line 143 of file dynContact.cpp.

◆ setLinkNumber()

void dynContact::setLinkNumber ( unsigned int _linkNum )

virtual

Set the contact link number (0 is the first link)

Parameters

_linkNum the link number

Returns: true if the operation succeeded, false otherwise

Definition at line 157 of file dynContact.cpp.

◆ setMoment()

bool dynContact::setMoment ( const yarp::sig::Vector & _Mu )

virtual

Set the contact moment.

Parameters

_Mu	a 3-dim vector containing the contact moment

Returns: true if the operation succeeded, false otherwise

Definition at line 132 of file dynContact.cpp.

◆ setVerbose()

void dynContact::setVerbose ( unsigned int verb = VERBOSE )

virtual

Set the verbosity level of comments during operations.

Parameters

verb	level of verbosity

Definition at line 270 of file dynContact.cpp.

◆ toString()

string dynContact::toString ( int precision = -1 ) const

virtual

Convert this contact into a string.

Useful to print some information.

Parameters

precision number of decimal digits to use in the string representation

Returns: a string representation of this contact in this format: "Contact id: "<< contactId<< "Body part: "<< bodyPartName<< ", link: "<< linkNumber<< ", CoP: "<< CoP<< ", F: "<< F<< ", M: "<< Mu

Reimplemented in iCub::skinDynLib::skinContact.

Definition at line 263 of file dynContact.cpp.

◆ unfixForceDirection()

void dynContact::unfixForceDirection ( )

virtual

Set the flag fDirKnown to false so that when estimating the contact wrenches the solver estimates also the force direction and does not consider it as known a-priori.

Definition at line 187 of file dynContact.cpp.

◆ unfixMoment()

void dynContact::unfixMoment ( )

virtual

Set the flag muKnown to false so that when estimating the contact wrenches the solver estimates also the contact moment and does not consider it as known a-priori.

Definition at line 189 of file dynContact.cpp.

◆ write()

bool dynContact::write ( yarp::os::ConnectionWriter & connection ) const

overridevirtual

Write dynContact to a connection as a list of 4 elements, that are:

a list of 3 int, containing contactId, bodyPart, linkNumber
a list of 3 double, containing the CoP
a list of 3 double, containing the force
a list of 3 double, containing the moment
Parameters

connection the connection to write to

Returns
true iff the dynContact was written correctly

Reimplemented in iCub::skinDynLib::skinContact.

Definition at line 194 of file dynContact.cpp.

Member Data Documentation

◆ bodyPart

BodyPart iCub::skinDynLib::dynContact::bodyPart

protected

part of the body of the robot where the contact is applied

Definition at line 60 of file dynContact.h.

◆ contactId

unsigned long iCub::skinDynLib::dynContact::contactId

protected

Definition at line 57 of file dynContact.h.

◆ CoP

yarp::sig::Vector iCub::skinDynLib::dynContact::CoP

protected

center of pressure of the contact expressed w.r.t. the reference frame of the link

Definition at line 64 of file dynContact.h.

◆ F

yarp::sig::Vector iCub::skinDynLib::dynContact::F

protected

contact force

Definition at line 68 of file dynContact.h.

◆ Fdir

yarp::sig::Vector iCub::skinDynLib::dynContact::Fdir

protected

contact force direction (unit vector)

Definition at line 66 of file dynContact.h.

◆ fDirKnown

bool iCub::skinDynLib::dynContact::fDirKnown

protected

True if the direction of the force applied at the contact point is known.

Definition at line 77 of file dynContact.h.

◆ Fmodule

double iCub::skinDynLib::dynContact::Fmodule

protected

contact force module

Definition at line 70 of file dynContact.h.

◆ ID

unsigned long dynContact::ID = 1

staticprotected

Definition at line 55 of file dynContact.h.

◆ linkNumber

unsigned int iCub::skinDynLib::dynContact::linkNumber

protected

number of the link where the contact is applied

Definition at line 62 of file dynContact.h.

◆ Mu

yarp::sig::Vector iCub::skinDynLib::dynContact::Mu

protected

contact moment

Definition at line 72 of file dynContact.h.

◆ muKnown

bool iCub::skinDynLib::dynContact::muKnown

protected

True if the moment applied at the contact point is known.

Definition at line 75 of file dynContact.h.

◆ verbose

unsigned int iCub::skinDynLib::dynContact::verbose

protected

verbosity flag

Definition at line 80 of file dynContact.h.

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

icub-main/src/libraries/skinDynLib/include/iCub/skinDynLib/dynContact.h
icub-main/src/libraries/skinDynLib/src/dynContact.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ dynContact() [1/4]

◆ dynContact() [2/4]

◆ dynContact() [3/4]

◆ dynContact() [4/4]

Member Function Documentation

◆ checkVectorDim()

◆ fixForceDirection()

◆ fixMoment() [1/2]

◆ fixMoment() [2/2]

◆ getBodyPart()

◆ getBodyPartName()

◆ getCoP()

◆ getForce()

◆ getForceDirection()

◆ getForceModule()

◆ getForceMoment()

◆ getId()

◆ getLinkNumber()

◆ getMoment()

◆ init()

◆ isForceDirectionKnown()

◆ isMomentKnown()

◆ read()

◆ setBodyPart()

◆ setCoP()

◆ setForce()

◆ setForceDirection()

◆ setForceModule()

◆ setForceMoment() [1/2]

◆ setForceMoment() [2/2]

◆ setLinkNumber()

◆ setMoment()

◆ setVerbose()

◆ toString()

◆ unfixForceDirection()

◆ unfixMoment()

◆ write()

Member Data Documentation

◆ bodyPart

◆ contactId

◆ CoP

◆ F

◆ Fdir

◆ fDirKnown

◆ Fmodule

◆ ID

◆ linkNumber

◆ Mu

◆ muKnown

◆ verbose