jrlDelegate::dynamicRobot Class Reference
[User Classes]

Classes to implement a non abstract class for a robot with dynamic properties from an object factory. More...

#include <jrl/dynamics/dynamicrobot.hh>

Inheritance diagram for jrlDelegate::dynamicRobot:

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Collaboration diagram for jrlDelegate::dynamicRobot:

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List of all members.

Public Member Functions
virtual bool	getJacobian (const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, const vector3d &inFrameLocalPosition, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)
	Compute and get position and orientation jacobian.
virtual bool	getPositionJacobian (const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, const vector3d &inFrameLocalPosition, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)
virtual bool	getOrientationJacobian (const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)
virtual bool	getJacobianCenterOfMass (const CjrlJoint &inStartJoint, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)
virtual bool	getSpecializedInverseKinematics (const CjrlJoint &jointRoot, const CjrlJoint &jointEnd, const matrix4d &jointRootPosition, const matrix4d &jointEndPosition, vectorN &q)
	Compute Speciliazed InverseKinematics between two joints.
Initialization

	dynamicRobot (CjrlRobotDynamicsObjectFactory *inObjectFactory)
	dynamicRobot (dynamicRobot *inDRNA)
	dynamicRobot ()
virtual bool	initialize ()
	Initialize data-structure necessary to dynamic computations This function should be called after building the tree of joints.
virtual	~dynamicRobot ()
	Destructor.
Kinematic chain

virtual void	rootJoint (CjrlJoint &inJoint)
	Set the root joint of the robot.
virtual CjrlJoint *	rootJoint () const
	Get the root joint of the robot.
virtual std::vector< CjrlJoint * >	jointVector ()
	Get a vector containing all the joints.
virtual std::vector< CjrlJoint * >	jointsBetween (const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint) const
	Get the chain of joints between two joints.
virtual double	upperBoundDof (unsigned int inRankInConfiguration)
	Get the upper bound for ith dof.
virtual double	lowerBoundDof (unsigned int inRankInConfiguration)
	Get the lower bound for ith dof.
virtual double	upperBoundDof (unsigned int inRankInConfiguration, const vectorN &inConfig)
	Compute the upper bound for ith dof using other configuration values if possible.
virtual double	lowerBoundDof (unsigned int inRankInConfiguration, const vectorN &inConfig)
	Compute the lower bound for ith dof using other configuration values if possible.
virtual unsigned int	numberDof () const
	Get the number of degrees of freedom of the robot.
virtual void	setJointOrderInConfig (std::vector< CjrlJoint * > inJointVector)
	Set the joint ordering in the configuration vector.
Configuration, velocity and acceleration

virtual bool	currentConfiguration (const vectorN &inConfig)
	Set the current configuration of the robot.
virtual const vectorN &	currentConfiguration () const
	Get the current configuration of the robot.
virtual bool	currentVelocity (const vectorN &inVelocity)
	Set the current velocity of the robot.
virtual const vectorN &	currentVelocity () const
	Get the current velocity of the robot.
virtual bool	currentAcceleration (const vectorN &inAcceleration)
	Set the current acceleration of the robot.
virtual const vectorN &	currentAcceleration () const
	Get the current acceleration of the robot.
virtual const matrixNxP &	currentForces () const
	Get the current forces of the robot.
virtual const matrixNxP &	currentTorques () const
	Get the current torques of the robot.
virtual const vectorN &	currentJointTorques () const
	Get the current joint torques of the robot.
Forward kinematics and dynamics

virtual bool	computeForwardKinematics ()
	Compute forward kinematics.
virtual bool	computeCenterOfMassDynamics ()
	Compute the dynamics of the center of mass.
virtual const vector3d &	positionCenterOfMass () const
	Get the position of the center of mass.
virtual const vector3d &	velocityCenterOfMass ()
	Get the velocity of the center of mass.
virtual const vector3d &	accelerationCenterOfMass ()
	Get the acceleration of the center of mass.
virtual const vector3d &	linearMomentumRobot ()
	Get the linear momentum of the robot.
virtual const vector3d &	derivativeLinearMomentum ()
	Get the time-derivative of the linear momentum.
virtual const vector3d &	angularMomentumRobot ()
	Get the angular momentum of the robot at the center of mass.
virtual const vector3d &	derivativeAngularMomentum ()
	Get the time-derivative of the angular momentum at the center of mass.
virtual double	mass () const
	Get the total mass of the robot.
Control of the implementation

virtual bool	isSupported (const std::string &inProperty)
	Whether the specified property in implemented.
virtual bool	getProperty (const std::string &inProperty, std::string &outValue)
	Get property corresponding to command name.
virtual bool	setProperty (std::string &inProperty, const std::string &inValue)
	Set property corresponding to command name.
Inertia matrix related methods

virtual void	computeInertiaMatrix ()
	Compute the inertia matrix of the robot according wrt ${\bf q}$ .
virtual const matrixNxP &	inertiaMatrix () const
	Get the inertia matrix of the robot according wrt ${\bf q}$ .
Actuated joints related methods.

virtual const std::vector < CjrlJoint * > &	getActuatedJoints () const
	Returns the list of actuated joints.
virtual void	setActuatedJoints (std::vector< CjrlJoint * > &lActuatedJoints)
	Specifies the list of actuated joints.
Protected Member Functions
void	setDynamicRobot (CjrlDynamicRobot *inDynamicRobot)

Detailed Description

Classes to implement a non abstract class for a robot with dynamic properties from an object factory.

Constructor & Destructor Documentation

jrlDelegate::dynamicRobot::dynamicRobot ( CjrlRobotDynamicsObjectFactory * inObjectFactory ) [inline]

jrlDelegate::dynamicRobot::dynamicRobot ( dynamicRobot * inDRNA ) [inline]

jrlDelegate::dynamicRobot::dynamicRobot ( ) [inline]

virtual jrlDelegate::dynamicRobot::~dynamicRobot ( ) [inline, virtual]

Destructor.

Member Function Documentation

virtual const vector3d& jrlDelegate::dynamicRobot::accelerationCenterOfMass ( ) [inline, virtual]

Get the acceleration of the center of mass.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::accelerationCenterOfMass().

virtual const vector3d& jrlDelegate::dynamicRobot::angularMomentumRobot ( ) [inline, virtual]

Get the angular momentum of the robot at the center of mass.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::angularMomentumRobot().

virtual bool jrlDelegate::dynamicRobot::computeCenterOfMassDynamics ( ) [inline, virtual]

Compute the dynamics of the center of mass.

Compute the linear and angular momentum and their time derivatives, at the center of mass.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::computeCenterOfMassDynamics().

virtual bool jrlDelegate::dynamicRobot::computeForwardKinematics ( ) [inline, virtual]

Compute forward kinematics.

Update the position, velocity and accelerations of each joint wrt ${\bf {q}}$ , ${\bf \dot{q}}$ , ${\bf \ddot{q}}$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::computeForwardKinematics().

virtual void jrlDelegate::dynamicRobot::computeInertiaMatrix ( ) [inline, virtual]

Compute the inertia matrix of the robot according wrt ${\bf q}$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::computeInertiaMatrix().

virtual const vectorN& jrlDelegate::dynamicRobot::currentAcceleration ( ) const [inline, virtual]

Get the current acceleration of the robot.

Returns:: the acceleration vector ${\bf \ddot{q}}$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentAcceleration().

virtual bool jrlDelegate::dynamicRobot::currentAcceleration ( const vectorN & inAcceleration ) [inline, virtual]

Set the current acceleration of the robot.

Parameters:

inAcceleration

the acceleration vector ${\bf \ddot{q}}$ .

Returns:: true if success, false if failure (the dimension of the input vector does not fit the number of degrees of freedom of the robot).

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentAcceleration().

virtual const vectorN& jrlDelegate::dynamicRobot::currentConfiguration ( ) const [inline, virtual]

Get the current configuration of the robot.

Returns:: the configuration vector ${\bf q}$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentConfiguration().

virtual bool jrlDelegate::dynamicRobot::currentConfiguration ( const vectorN & inConfig ) [inline, virtual]

Set the current configuration of the robot.

Parameters:

inConfig

the configuration vector ${\bf q}$ .

Returns:: true if success, false if failure (the dimension of the input vector does not fit the number of degrees of freedom of the robot).

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentConfiguration().

virtual const matrixNxP& jrlDelegate::dynamicRobot::currentForces ( ) const [inline, virtual]

Get the current forces of the robot.

Returns:: the force vector ${\bf f}$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentForces().

virtual const vectorN& jrlDelegate::dynamicRobot::currentJointTorques ( ) const [inline, virtual]

Get the current joint torques of the robot.

Returns:: the torque vector ${\bf \tau }$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentJointTorques().

virtual const matrixNxP& jrlDelegate::dynamicRobot::currentTorques ( ) const [inline, virtual]

Get the current torques of the robot.

Returns:: the torque vector ${\bf \tau }$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentTorques().

virtual const vectorN& jrlDelegate::dynamicRobot::currentVelocity ( ) const [inline, virtual]

Get the current velocity of the robot.

Returns:: the velocity vector ${\bf \dot{q}}$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentVelocity().

virtual bool jrlDelegate::dynamicRobot::currentVelocity ( const vectorN & inVelocity ) [inline, virtual]

Set the current velocity of the robot.

Parameters:

inVelocity

the velocity vector ${\bf \dot{q}}$ .

Returns:: true if success, false if failure (the dimension of the input vector does not fit the number of degrees of freedom of the robot).

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::currentVelocity().

virtual const vector3d& jrlDelegate::dynamicRobot::derivativeAngularMomentum ( ) [inline, virtual]

Get the time-derivative of the angular momentum at the center of mass.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::derivativeAngularMomentum().

virtual const vector3d& jrlDelegate::dynamicRobot::derivativeLinearMomentum ( ) [inline, virtual]

Get the time-derivative of the linear momentum.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::derivativeLinearMomentum().

virtual const std::vector<CjrlJoint*>& jrlDelegate::dynamicRobot::getActuatedJoints ( ) const [inline, virtual]

Returns the list of actuated joints.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::getActuatedJoints().

virtual bool jrlDelegate::dynamicRobot::getJacobian	(	const CjrlJoint &	inStartJoint,
		const CjrlJoint &	inEndJoint,
		const vector3d &	inFrameLocalPosition,
		matrixNxP &	outjacobian,
		unsigned int	offset = `0`,
		bool	inIncludeStartFreeFlyer = `true`
	)			`[inline, virtual]`

Compute and get position and orientation jacobian.

Parameters:

	inStartJoint	First joint in the chain of joints influencing the jacobian.
	inEndJoint	Joint where the control frame is located.
	inFrameLocalPosition	Position of the control frame in inEndJoint local frame.

Return values:

outjacobian

computed jacobian matrix.

Parameters:

	offset	is the rank of first non zero outjacobian column.
	inIncludeStartFreeFlyer	Option to include the contribution of a fictive freeflyer superposed with inStartJoint

Returns:: false if matrix has inadequate size. Number of columns in matrix outJacobian must be at least numberDof() if inIncludeStartFreeFlyer = true. It must be at least numberDof()-6 otherwise.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::getJacobian().

virtual bool jrlDelegate::dynamicRobot::getJacobianCenterOfMass	(	const CjrlJoint &	inStartJoint,
		matrixNxP &	outjacobian,
		unsigned int	offset = `0`,
		bool	inIncludeStartFreeFlyer = `true`
	)			`[inline, virtual]`

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::getJacobianCenterOfMass().

virtual bool jrlDelegate::dynamicRobot::getOrientationJacobian	(	const CjrlJoint &	inStartJoint,
		const CjrlJoint &	inEndJoint,
		matrixNxP &	outjacobian,
		unsigned int	offset = `0`,
		bool	inIncludeStartFreeFlyer = `true`
	)			`[inline, virtual]`

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::getOrientationJacobian().

virtual bool jrlDelegate::dynamicRobot::getPositionJacobian	(	const CjrlJoint &	inStartJoint,
		const CjrlJoint &	inEndJoint,
		const vector3d &	inFrameLocalPosition,
		matrixNxP &	outjacobian,
		unsigned int	offset = `0`,
		bool	inIncludeStartFreeFlyer = `true`
	)			`[inline, virtual]`

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::getPositionJacobian().

virtual bool jrlDelegate::dynamicRobot::getProperty	(	const std::string &	inProperty,
		std::string &	outValue
	)			`[inline, virtual]`

Get property corresponding to command name.

Parameters:

inProperty

name of the property.

Return values:

outValue

value of the property if implemented.

Note:: The returned string needs to be cast into the right type (double, int,...).

References CjrlDynamicRobot::getProperty().

virtual bool jrlDelegate::dynamicRobot::getSpecializedInverseKinematics	(	const CjrlJoint &	jointRoot,
		const CjrlJoint &	jointEnd,
		const matrix4d &	jointRootPosition,
		const matrix4d &	jointEndPosition,
		vectorN &	q
	)			`[inline, virtual]`

Compute Speciliazed InverseKinematics between two joints.

Specialized means that this method can be re implemented to be extremly efficient and used the particularity of your robot. For instance in some case, it is possible to use an exact inverse kinematics to compute a set of articular value.

This method does not intend to replace an architecture computing inverse kinematics through the Jacobian.

jointRootPosition and jointEndPosition have to be expressed in the same frame.

Parameters:

`[in]`	jointRoot,:	The root of the joint chain for which the specialized inverse kinematics should be computed.
`[in]`	jointEnd,:	The end of the joint chain for which the specialized inverse kinematics should be computed.
`[in]`	jointRootPosition,:	The desired position of the root.
`[in]`	jointEndPosition,:	The end position of the root.
`[out]`	q,:	Result i.e. the articular values.

Reimplemented from CjrlDynamicRobot.

References CjrlDynamicRobot::getSpecializedInverseKinematics().

virtual const matrixNxP& jrlDelegate::dynamicRobot::inertiaMatrix ( ) const [inline, virtual]

Get the inertia matrix of the robot according wrt ${\bf q}$ .

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::inertiaMatrix().

virtual bool jrlDelegate::dynamicRobot::initialize ( ) [inline, virtual]

Initialize data-structure necessary to dynamic computations This function should be called after building the tree of joints.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::initialize().

virtual bool jrlDelegate::dynamicRobot::isSupported ( const std::string & inProperty ) [inline, virtual]

Whether the specified property in implemented.

Reimplemented from CjrlDynamicRobot.

References CjrlDynamicRobot::isSupported().

virtual std::vector<CjrlJoint*> jrlDelegate::dynamicRobot::jointsBetween	(	const CjrlJoint &	inStartJoint,
		const CjrlJoint &	inEndJoint
	)			const `[inline, virtual]`

Get the chain of joints between two joints.

Parameters:

	inStartJoint	First joint.
	inEndJoint	Second joint.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::jointsBetween().

virtual std::vector< CjrlJoint* > jrlDelegate::dynamicRobot::jointVector ( ) [inline, virtual]

Get a vector containing all the joints.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::jointVector().

virtual const vector3d& jrlDelegate::dynamicRobot::linearMomentumRobot ( ) [inline, virtual]

Get the linear momentum of the robot.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::linearMomentumRobot().

virtual double jrlDelegate::dynamicRobot::lowerBoundDof	(	unsigned int	inRankInConfiguration,
		const vectorN &	inConfig
	)			`[inline, virtual]`

Compute the lower bound for ith dof using other configuration values if possible.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::lowerBoundDof().

virtual double jrlDelegate::dynamicRobot::lowerBoundDof ( unsigned int inRankInConfiguration ) [inline, virtual]

Get the lower bound for ith dof.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::lowerBoundDof().

virtual double jrlDelegate::dynamicRobot::mass ( ) const [inline, virtual]

Get the total mass of the robot.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::mass().

virtual unsigned int jrlDelegate::dynamicRobot::numberDof ( ) const [inline, virtual]

Get the number of degrees of freedom of the robot.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::numberDof().

virtual const vector3d& jrlDelegate::dynamicRobot::positionCenterOfMass ( ) const [inline, virtual]

Get the position of the center of mass.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::positionCenterOfMass().

virtual CjrlJoint* jrlDelegate::dynamicRobot::rootJoint ( ) const [inline, virtual]

Get the root joint of the robot.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::rootJoint().

virtual void jrlDelegate::dynamicRobot::rootJoint ( CjrlJoint & inJoint ) [inline, virtual]

Set the root joint of the robot.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::rootJoint().

virtual void jrlDelegate::dynamicRobot::setActuatedJoints ( std::vector< CjrlJoint * > & lActuatedJoints ) [inline, virtual]

Specifies the list of actuated joints.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::setActuatedJoints().

void jrlDelegate::dynamicRobot::setDynamicRobot ( CjrlDynamicRobot * inDynamicRobot ) [inline, protected]

Referenced by jrlDelegate::humanoidDynamicRobot::humanoidDynamicRobot().

virtual void jrlDelegate::dynamicRobot::setJointOrderInConfig ( std::vector< CjrlJoint * > inJointVector ) [inline, virtual]

Set the joint ordering in the configuration vector.

Parameters:

inJointVector

Vector of the robot joints

Specifies the order of the joints in the configuration vector. The vector should contain all the joints of the current robot.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::setJointOrderInConfig().

virtual bool jrlDelegate::dynamicRobot::setProperty	(	std::string &	inProperty,
		const std::string &	inValue
	)			`[inline, virtual]`

Set property corresponding to command name.

Parameters:

	inProperty	name of the property.
	inValue	value of the property.

Note:: The value string is obtained by writing the corresponding value in a string (operator<<).

Reimplemented from CjrlDynamicRobot.

References CjrlDynamicRobot::setProperty().

virtual double jrlDelegate::dynamicRobot::upperBoundDof	(	unsigned int	inRankInConfiguration,
		const vectorN &	inConfig
	)			`[inline, virtual]`

Compute the upper bound for ith dof using other configuration values if possible.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::upperBoundDof().

virtual double jrlDelegate::dynamicRobot::upperBoundDof ( unsigned int inRankInConfiguration ) [inline, virtual]

Get the upper bound for ith dof.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::upperBoundDof().

virtual const vector3d& jrlDelegate::dynamicRobot::velocityCenterOfMass ( ) [inline, virtual]

Get the velocity of the center of mass.

Implements CjrlDynamicRobot.

References CjrlDynamicRobot::velocityCenterOfMass().

jrlDelegate::dynamicRobot Class Reference [User Classes]

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

jrlDelegate::dynamicRobot Class Reference
[User Classes]