#include <RBDyn/RBDyn/MultiBodyGraph.h>

Classes
struct	Arc

struct	Node

Public Member Functions
	MultiBodyGraph (const std::string rootName="Root")

	MultiBodyGraph (const MultiBodyGraph &mbg)

	~MultiBodyGraph ()

MultiBodyGraph &	operator= (const MultiBodyGraph &mbg)

void	clear ()

void	addBody (const Body &B)

void	addJoint (const Joint &J)

void	linkBodies (const std::string &b1Name, const sva::PTransformd &tB1, const std::string &b2Name, const sva::PTransformd &tB2, const std::string &jointName, bool isB1toB2=true)

const std::shared_ptr< Node >	nodeByName (const std::string &name) const

const std::shared_ptr< Joint >	jointByName (const std::string &name) const

std::size_t	nrNodes () const

std::size_t	nrJoints () const

MultiBody	makeMultiBody (const std::string &rootBodyName, bool isFixed, const sva::PTransformd &X_0_j0=sva::PTransformd::Identity(), const sva::PTransformd &X_b0_j0=sva::PTransformd::Identity()) const

MultiBody	makeMultiBody (const std::string &rootBodyName, Joint::Type rootJointType, const sva::PTransformd &X_0_j0=sva::PTransformd::Identity(), const sva::PTransformd &X_b0_j0=sva::PTransformd::Identity()) const

MultiBody	makeMultiBody (const std::string &rootBodyName, Joint::Type rootJointType, const Eigen::Vector3d &axis, const sva::PTransformd &X_0_j0=sva::PTransformd::Identity(), const sva::PTransformd &X_b0_j0=sva::PTransformd::Identity()) const

void	removeJoint (const std::string &rootBodyName, const std::string &jointName)

void	removeJoints (const std::string &rootBodyName, const std::vector< std::string > &joints)

void	mergeSubBodies (const std::string &rootBodyName, const std::string &jointName, const std::map< std::string, std::vector< double >> &jointPosByName)

std::map< std::string, sva::PTransformd >	bodiesBaseTransform (const std::string &rootBodyName, const sva::PTransformd &X_b0_j0=sva::PTransformd::Identity())

std::map< std::string, std::vector< std::string > >	successorJoints (const std::string &rootBodyName)

std::map< std::string, std::string >	predecessorJoint (const std::string &rootBodyName)

Static Public Member Functions
static MultiBodyGraph	fixJoints (const MultiBodyGraph &other, const std::vector< std::string > &jointsToFix, bool fixAllJoints=false)

Protected Attributes
std::string	rootJointName_

std::vector< std::shared_ptr< Node > >	nodes_

std::vector< std::shared_ptr< Joint > >	joints_

std::map< std::string, std::shared_ptr< Node > >	bodyNameToNode_

std::map< std::string, std::shared_ptr< Joint > >	jointNameToJoint_

Detailed Description

Graph representation of the robot. Provide a undirected graph representation of the robot that allow to create a kinematic tree from any body as root. The graph must be cycle free (closed loop is not supported).

Constructor & Destructor Documentation

◆ MultiBodyGraph() [1/2]

rbd::MultiBodyGraph::MultiBodyGraph ( const std::string rootName = "Root" )

◆ MultiBodyGraph() [2/2]

rbd::MultiBodyGraph::MultiBodyGraph ( const MultiBodyGraph & mbg )

◆ ~MultiBodyGraph()

rbd::MultiBodyGraph::~MultiBodyGraph ( )

Member Function Documentation

◆ addBody()

void rbd::MultiBodyGraph::addBody ( const Body & B )

Add a node to the graph.

Parameters

B	Body to add, his body name must be unique.

Exceptions

std::domain_error if the body name already exists

◆ addJoint()

void rbd::MultiBodyGraph::addJoint ( const Joint & J )

Add a joint.

Parameters

J	Joint to add, his joint name must be unique.

Exceptions

std::domain_error if the joint name already exists

◆ bodiesBaseTransform()

std::map<std::string, sva::PTransformd> rbd::MultiBodyGraph::bodiesBaseTransform	(	const std::string &	rootBodyName,
		const sva::PTransformd &	X_b0_j0 = `sva::PTransformd::Identity()`
	)

Compute the transformation to apply on each bodies to find their original base.

Parameters

rootBodyName	Name of graph root.
X_b0_j0	Transformation from the root body to the root joint.

Returns: Computed transformations by body name.

Exceptions

std::out_of_range.

◆ clear()

void rbd::MultiBodyGraph::clear ( )

◆ fixJoints()

static MultiBodyGraph rbd::MultiBodyGraph::fixJoints	(	const MultiBodyGraph &	other,
		const std::vector< std::string > &	jointsToFix,
		bool	fixAllJoints = `false`
	)

static

Return a copy of a graph with the specified joints fixed.

Parameters

other	Graph to be copied.
jointsToFix	Names of the joints to be fixed.
fixAllJoints	If true, all joints are fixed. The value of jointsToFix is disregarded.

Returns: a copy of other with some joints fixed according to parameters.

◆ jointByName()

const std::shared_ptr<Joint> rbd::MultiBodyGraph::jointByName ( const std::string & name ) const

Parameters

name	Name of the joint.

Returns: Joint with the Name name.

Exceptions

std::out_of_range If name don't exist.

◆ linkBodies()

void rbd::MultiBodyGraph::linkBodies	(	const std::string &	b1Name,
		const sva::PTransformd &	tB1,
		const std::string &	b2Name,
		const sva::PTransformd &	tB2,
		const std::string &	jointName,
		bool	isB1toB2 = `true`
	)

Create an arc to the graph.

Parameters

b1Name	Body 1 name.
tB1	Transformation from body 1 to joint in body 1 coordinate.
b2Name	Body 2 name.
tB2	Transformation from body 2 to joint in body 2 coordinate.
jointName	Joint between the two body name.
isB1toB2	If true use the joint forward value as body 1 to body 2 forward value of the joint and the inverse value for body 2 to body 1 joint. If false the behavior is inversed.

Exceptions

std::out_of_range If b1Name or b2Name or jointName don't exist.

◆ makeMultiBody() [1/3]

MultiBody rbd::MultiBodyGraph::makeMultiBody	(	const std::string &	rootBodyName,
		bool	isFixed,
		const sva::PTransformd &	X_0_j0 = `sva::PTransformd::Identity()`,
		const sva::PTransformd &	X_b0_j0 = `sva::PTransformd::Identity()`
	)		const

Create a MultiBody from the graph.

Parameters

rootBodyName	Name of the root body.
isFixed	True if the root is fixed, false if the root is free.
X_0_j0	Transformation to the root joint.
X_b0_j0	Transformation from the root body to the root joint.

Exceptions

std::out_of_range If rootBodyId don't exist.

◆ makeMultiBody() [2/3]

MultiBody rbd::MultiBodyGraph::makeMultiBody	(	const std::string &	rootBodyName,
		Joint::Type	rootJointType,
		const Eigen::Vector3d &	axis,
		const sva::PTransformd &	X_0_j0 = `sva::PTransformd::Identity()`,
		const sva::PTransformd &	X_b0_j0 = `sva::PTransformd::Identity()`
	)		const

Create a MultiBody from the graph.

Parameters

rootBodyName	Name of the root body.
rootJointType	MultiBody root joint type.
axis	MultiBody root joint axis.
X_0_j0	Transformation to the root joint.
X_b0_j0	Transformation from the root body to the root joint.

Exceptions

std::out_of_range If rootBodyId don't exist.

◆ makeMultiBody() [3/3]

MultiBody rbd::MultiBodyGraph::makeMultiBody	(	const std::string &	rootBodyName,
		Joint::Type	rootJointType,
		const sva::PTransformd &	X_0_j0 = `sva::PTransformd::Identity()`,
		const sva::PTransformd &	X_b0_j0 = `sva::PTransformd::Identity()`
	)		const

Create a MultiBody from the graph.

Parameters

rootBodyName	Name of the root body.
rootJointType	MultiBody root joint type.
X_0_j0	Transformation to the root joint.
X_b0_j0	Transformation from the root body to the root joint.

Exceptions

std::out_of_range If rootBodyId don't exist.

◆ mergeSubBodies()

void rbd::MultiBodyGraph::mergeSubBodies	(	const std::string &	rootBodyName,
		const std::string &	jointName,
		const std::map< std::string, std::vector< double >> &	jointPosByName
	)

Merge jointName child bodies in jointName parent body (merge inertia matrix)

Parameters

rootBodyName	Name of graph root.
jointName	Merge all node after jointName in jointName parent node.
jointPosByName	Joint configuration by joint name.

Exceptions

std::out_of_range,std::domain_error.

◆ nodeByName()

const std::shared_ptr<Node> rbd::MultiBodyGraph::nodeByName ( const std::string & name ) const

Parameters

name	Name of the node.

Returns: Node with the Name name.

Exceptions

std::out_of_range if id don't exist.

◆ nrJoints()

std::size_t rbd::MultiBodyGraph::nrJoints ( ) const

Returns: Numbers of joints.

◆ nrNodes()

std::size_t rbd::MultiBodyGraph::nrNodes ( ) const

Returns: Numbers of nodes.

◆ operator=()

MultiBodyGraph& rbd::MultiBodyGraph::operator= ( const MultiBodyGraph & mbg )

◆ predecessorJoint()

std::map<std::string, std::string> rbd::MultiBodyGraph::predecessorJoint ( const std::string & rootBodyName )

Return the dictionary of predecessor joint name by body name.

Parameters

rootBodyName Name of graph root.

Returns: dictionary of predecessor joint name by body name.

Exceptions

std::out_of_range.

◆ removeJoint()

void rbd::MultiBodyGraph::removeJoint	(	const std::string &	rootBodyName,
		const std::string &	jointName
	)

Remove a joint (and successor joints and bodies) from the graph.

Parameters

rootBodyName	Name of graph root.
jointName	Name of joint to remove.

Exceptions

std::out_of_range If rootBodyName doesn't exist.

◆ removeJoints()

void rbd::MultiBodyGraph::removeJoints	(	const std::string &	rootBodyName,
		const std::vector< std::string > &	joints
	)

Remove joints (and successor joints and bodies) from the graph. Do nothing for each joint name that doesn't exist.

Parameters

rootBodyName	Name of the graph root.
joints	List of joints names to remove.

Exceptions

std::out_of_range If rootBodyName doesn't exist.

◆ successorJoints()

std::map<std::string, std::vector<std::string> > rbd::MultiBodyGraph::successorJoints ( const std::string & rootBodyName )

Return the dictionary of successor joints name by body name.

Parameters

rootBodyName Name of graph root.

Returns: dictionary of successor joints id by body id.

Exceptions

std::out_of_range.

Member Data Documentation

◆ bodyNameToNode_

std::map<std::string, std::shared_ptr<Node> > rbd::MultiBodyGraph::bodyNameToNode_

protected

◆ jointNameToJoint_

std::map<std::string, std::shared_ptr<Joint> > rbd::MultiBodyGraph::jointNameToJoint_

protected

◆ joints_

std::vector<std::shared_ptr<Joint> > rbd::MultiBodyGraph::joints_

protected

◆ nodes_

std::vector<std::shared_ptr<Node> > rbd::MultiBodyGraph::nodes_

protected

◆ rootJointName_

std::string rbd::MultiBodyGraph::rootJointName_

protected

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

src/RBDyn/RBDyn/MultiBodyGraph.h

Classes

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MultiBodyGraph() [1/2]

◆ MultiBodyGraph() [2/2]

◆ ~MultiBodyGraph()

Member Function Documentation

◆ addBody()

◆ addJoint()

◆ bodiesBaseTransform()

◆ clear()

◆ fixJoints()

◆ jointByName()

◆ linkBodies()

◆ makeMultiBody() [1/3]

◆ makeMultiBody() [2/3]

◆ makeMultiBody() [3/3]

◆ mergeSubBodies()

◆ nodeByName()

◆ nrJoints()

◆ nrNodes()

◆ operator=()

◆ predecessorJoint()

◆ removeJoint()

◆ removeJoints()

◆ successorJoints()

Member Data Documentation

◆ bodyNameToNode_

◆ jointNameToJoint_

◆ joints_

◆ nodes_

◆ rootJointName_