Namespaces
	detail

	details

	gui

	lipm_stabilizer

Classes
struct	Base

struct	BodySensor

struct	Collision

struct	CompoundJointConstraintDescription

struct	Contact

struct	CylindricalSurface

struct	Device

struct	Flexibility

struct	ForceSensor

struct	Frame

struct	Gains

struct	GripperSurface

struct	JointSensor

struct	Mimic
	Stores mimic joint information. More...

struct	PlanarSurface

struct	QuadraticGenerator

struct	Plane

struct	PolygonInterpolator

struct	LoadRobotParameters

struct	Robot

struct	RobotConverter
	Copies all common properties from one robot to another encoders, sensors, etc) More...

struct	RobotConverterConfig
	Configuration for mc_rbdyn::RobotConverter. More...

struct	RobotData

struct	RobotFrame

class	RobotLoader
	Load RobotModule instances from shared libraries. More...

struct	DevicePtrVector

struct	VisualMap

struct	RobotModule

struct	Robots

struct	Springs

struct	Surface

Typedefs
typedef std::vector< BodySensor, Eigen::aligned_allocator< BodySensor > >	BodySensorVector

using	CompoundJointConstraintDescriptionVector = std::vector< CompoundJointConstraintDescription, Eigen::aligned_allocator< CompoundJointConstraintDescription > >

using	DevicePtr = std::unique_ptr< Device >

using	Sensor = Device

using	SensorPtr = DevicePtr

using	RobotsPtr = std::shared_ptr< Robots >

using	RobotPtr = std::shared_ptr< Robot >

using	ConstRobotPtr = std::shared_ptr< const Robot >

using	RobotFramePtr = std::shared_ptr< RobotFrame >

using	ConstRobotFramePtr = std::shared_ptr< const RobotFrame >

using	FramePtr = std::shared_ptr< Frame >

using	ConstFramePtr = std::shared_ptr< const Frame >

using	Gains2d = Gains< 2 >

using	Gains3d = Gains< 3 >

using	Gains6d = Gains< 6 >

using	RobotDataPtr = std::shared_ptr< RobotData >

using	S_ObjectPtr = std::shared_ptr< sch::S_Object >

typedef std::shared_ptr< RobotModule >	RobotModulePtr

using	RobotModuleVector = std::vector< RobotModule, Eigen::aligned_allocator< RobotModule > >

typedef std::shared_ptr< Surface >	SurfacePtr

Functions
bool	operator== (const mc_rbdyn::BodySensor &lhs, const mc_rbdyn::BodySensor &rhs)

MC_RBDYN_DLLAPI std::ostream &	operator<< (std::ostream &os, const Collision &c)

MC_RBDYN_DLLAPI std::vector< sva::PTransformd >	computePoints (const mc_rbdyn::Surface &robotSurface, const mc_rbdyn::Surface &envSurface, const sva::PTransformd &X_es_rs)

MC_RBDYN_DLLAPI sva::PTransformd	planar (const double &T, const double &B, const double &N_rot)

MC_RBDYN_DLLAPI sva::PTransformd	cylindrical (const double &T, const double &T_rot)

MC_RBDYN_DLLAPI void	planarParam (const sva::PTransformd &X_es_rs, double &T, double &B, double &N_rot)

MC_RBDYN_DLLAPI void	cylindricalParam (const sva::PTransformd &X_es_rs, double &T, double &T_rot)

MC_RBDYN_DLLAPI std::vector< double >	jointParam (const Surface &r1Surface, const Surface &r2Surface, const sva::PTransformd &X_es_rs)

bool	operator== (const mc_rbdyn::ForceSensor &lhs, const mc_rbdyn::ForceSensor &rhs)

Eigen::Matrix3d	hat (const Eigen::Vector3d &v)

MC_RBDYN_DLLAPI sva::RBInertiad	computeBoxInertia (double mass, const Eigen::Vector3d &size)

sva::RBInertiad	computeSphereInertia (double mass, double radius)

sva::RBInertiad	computeCylinderInertia (double mass, double radius, double length)
	Computes the inertia of a solid cylinder. More...

sva::RBInertiad	computeSuperEllipsoidInertia (double mass, const Eigen::Vector3d &size, double epsilon1, double epsilon2)
	Compute the inertia of a superellipsoid by interpolating between box and ellipsoid inertia. More...

bool	operator== (const JointSensor &lhs, const JointSensor &rhs)

bool	operator== (const Mimic &lhs, const Mimic &rhs)

MC_RBDYN_DLLAPI std::vector< Plane >	planes_from_polygon (const std::shared_ptr< geos::geom::Geometry > &geometry)

MC_RBDYN_DLLAPI std::vector< Eigen::Vector3d >	points_from_polygon (std::shared_ptr< geos::geom::Geometry > geometry)

MC_RBDYN_DLLAPI const mc_rbdyn::Robot &	robotFromConfig (const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix, bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
	Obtains a reference to a loaded robot from configuration (using robotName or robotIndex) More...

std::string MC_RBDYN_DLLAPI	robotNameFromConfig (const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix="", bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
	Helper to obtain the robot name from configuration. More...

unsigned int MC_RBDYN_DLLAPI	robotIndexFromConfig (const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix="", bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
	Helper to obtain the robot index from configuration. More...

MC_RBDYN_DLLAPI RobotModule::bounds_t	urdf_limits_to_bounds (const rbd::parsers::Limits &limits)
	Converts limits provided by RBDyn parsers to bounds. More...

MC_RBDYN_DLLAPI bool	check_module_compatibility (const RobotModule &lhs, const RobotModule &rhs)

bool	operator== (const RobotModule::Gripper::Safety &lhs, const RobotModule::Gripper::Safety &rhs)

bool	operator== (const RobotModule::Gripper &lhs, const RobotModule::Gripper &rhs)

MC_RBDYN_DLLAPI sva::RBInertiad	computeInertiaFromVisual (const rbd::parsers::Visual &visual, double mass)
	Computes the inertia from a visual geometry description. More...

MC_RBDYN_DLLAPI std::vector< std::shared_ptr< Surface > >	genSurfacesFromVisual (const rbd::parsers::Visual &visual)
	Generates planar surfaces from a visual geometry description. More...

MC_RBDYN_DLLAPI RobotModulePtr	robotModuleFromVisual (const std::string &name, const rbd::parsers::Visual &visual, const sva::RBInertiad &inertia, bool isFixed=true)
	Creates a RobotModule from a visual geometry and inertia. More...

MC_RBDYN_DLLAPI RobotModulePtr	robotModuleFromVisual (const std::string &name, const rbd::parsers::Visual &visual, double mass, bool isFixed=true)
	Creates a RobotModule from a visual geometry and mass. The inertia is computed based on the geometry type assuming the CoM to be at the geometric center of the shape and an homogenous density. More...

MC_RBDYN_DLLAPI RobotModulePtr	robotModuleFromVisual (const std::string &name, const mc_rtc::Configuration &config)
	Creates a RobotModule from a configuration. More...

MC_RBDYN_DLLAPI RobotsPtr	loadRobot (const RobotModule &module, const LoadRobotParameters &params={})

MC_RBDYN_DLLAPI RobotsPtr	loadRobot (const std::string &name, const RobotModule &module, const LoadRobotParameters &params={})

MC_RBDYN_DLLAPI RobotsPtr	loadRobots (const std::vector< std::shared_ptr< RobotModule >> &modules)

MC_RBDYN_DLLAPI RobotsPtr	loadRobotAndEnv (const RobotModule &module, const RobotModule &envModule)

MC_RBDYN_DLLAPI RobotsPtr	loadRobotFromUrdf (const std::string &name, const std::string &urdf, const rbd::parsers::ParserParameters &parser_params={}, const LoadRobotParameters &load_params={})

Eigen::Matrix3d	rpyToMat (const double &r, const double &p, const double &y)

Eigen::Matrix3d	rpyToMat (const Eigen::Vector3d &rpy)

sva::PTransformd	rpyToPT (const Eigen::Vector3d &rpy)

sva::PTransformd	rpyToPT (const double &r, const double &p, const double &y)

Eigen::Vector3d	rpyFromMat (const Eigen::Matrix3d &E)

Eigen::Vector3d	rpyFromQuat (const Eigen::Quaterniond &quat)

template<typename T >
Eigen::Vector3d	rpyFromRotation (const T &value)

MC_RBDYN_DLLAPI sch::S_Object *	surface_to_sch (const mc_rbdyn::Surface &surface, const double &depth=0.01, const unsigned int &slice=8)

MC_RBDYN_DLLAPI sch::S_Object *	sch_polyhedron (const std::vector< sva::PTransformd > &points)

MC_RBDYN_DLLAPI sch::S_Object *	planar_hull (const mc_rbdyn::PlanarSurface &surface, const double &depth)

MC_RBDYN_DLLAPI sch::S_Object *	cylindrical_hull (const mc_rbdyn::CylindricalSurface &surface, const unsigned int &slice)

MC_RBDYN_DLLAPI sch::S_Object *	gripper_hull (const mc_rbdyn::GripperSurface &surface, const double &depth)

MC_RBDYN_DLLAPI tinyxml2::XMLElement *	tfToOriginDom (tinyxml2::XMLDocument &doc, const sva::PTransformd &X, const std::string_view &tagName="origin")
	Create an <origin> XML element from a spatial transform. More...

MC_RBDYN_DLLAPI sva::PTransformd	tfFromOriginDom (const tinyxml2::XMLElement &dom)

MC_RBDYN_DLLAPI void	surfacesToXML (tinyxml2::XMLDocument &doc, const std::string &robotName, const std::vector< std::shared_ptr< Surface >> &surfaces)
	Add a <robot> element and its surfaces to an XML document. More...

MC_RBDYN_DLLAPI std::vector< std::shared_ptr< Surface > >	readRSDFFromDir (const std::string &dirname)
	Read all RSDF files from a directory and parse them into Surface objects. More...

Eigen::Vector3d MC_RBDYN_DLLAPI	zmp (const sva::ForceVecd &netTotalWrench, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.)
	Actual ZMP computation from net total wrench and the ZMP plane. More...

bool MC_RBDYN_DLLAPI	zmp (Eigen::Vector3d &zmpOut, const sva::ForceVecd &netTotalWrench, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) noexcept
	Actual ZMP computation from net total wrench and the ZMP plane. More...

Eigen::Vector3d MC_RBDYN_DLLAPI	zmp (const sva::ForceVecd &netTotalWrench, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.)
	ZMP computation from net total wrench and a frame. More...

bool MC_RBDYN_DLLAPI	zmp (Eigen::Vector3d &zmpOut, const sva::ForceVecd &netTotalWrench, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) noexcept
	ZMP computation from net total wrench and a frame. More...

Detailed Description

Forward declarations for the mc_rbdyn library

Interface used to load robots

Typedef Documentation

◆ BodySensorVector

typedef std::vector<BodySensor, Eigen::aligned_allocator<BodySensor> > mc_rbdyn::BodySensorVector

◆ CompoundJointConstraintDescriptionVector

using mc_rbdyn::CompoundJointConstraintDescriptionVector = typedef std::vector<CompoundJointConstraintDescription, Eigen::aligned_allocator<CompoundJointConstraintDescription> >

◆ ConstFramePtr

using mc_rbdyn::ConstFramePtr = typedef std::shared_ptr<const Frame>

◆ ConstRobotFramePtr

using mc_rbdyn::ConstRobotFramePtr = typedef std::shared_ptr<const RobotFrame>

◆ ConstRobotPtr

using mc_rbdyn::ConstRobotPtr = typedef std::shared_ptr<const Robot>

◆ DevicePtr

using mc_rbdyn::DevicePtr = typedef std::unique_ptr<Device>

◆ FramePtr

using mc_rbdyn::FramePtr = typedef std::shared_ptr<Frame>

◆ Gains2d

using mc_rbdyn::Gains2d = typedef Gains<2>

◆ Gains3d

using mc_rbdyn::Gains3d = typedef Gains<3>

◆ Gains6d

using mc_rbdyn::Gains6d = typedef Gains<6>

◆ RobotDataPtr

using mc_rbdyn::RobotDataPtr = typedef std::shared_ptr<RobotData>

◆ RobotFramePtr

using mc_rbdyn::RobotFramePtr = typedef std::shared_ptr<RobotFrame>

◆ RobotModulePtr

typedef std::shared_ptr<RobotModule> mc_rbdyn::RobotModulePtr

◆ RobotModuleVector

using mc_rbdyn::RobotModuleVector = typedef std::vector<RobotModule, Eigen::aligned_allocator<RobotModule> >

◆ RobotPtr

using mc_rbdyn::RobotPtr = typedef std::shared_ptr<Robot>

◆ RobotsPtr

using mc_rbdyn::RobotsPtr = typedef std::shared_ptr<Robots>

◆ S_ObjectPtr

using mc_rbdyn::S_ObjectPtr = typedef std::shared_ptr<sch::S_Object>

◆ Sensor

using mc_rbdyn::Sensor = typedef Device

◆ SensorPtr

using mc_rbdyn::SensorPtr = typedef DevicePtr

◆ SurfacePtr

typedef std::shared_ptr<Surface> mc_rbdyn::SurfacePtr

Function Documentation

◆ check_module_compatibility()

MC_RBDYN_DLLAPI bool mc_rbdyn::check_module_compatibility	(	const RobotModule &	lhs,
		const RobotModule &	rhs
	)

Checks that two RobotModule are compatible for control

The requirements are:

Same reference joint order
Same force sensors
Same body sensors
Same joint sensors
Same grippers
Same devices

Returns: True if the two modules are compatible, false otherwise

◆ computeBoxInertia()

MC_RBDYN_DLLAPI sva::RBInertiad mc_rbdyn::computeBoxInertia	(	double	mass,
		const Eigen::Vector3d &	size
	)

◆ computeCylinderInertia()

sva::RBInertiad mc_rbdyn::computeCylinderInertia	(	double	mass,
		double	radius,
		double	length
	)

Computes the inertia of a solid cylinder.

This function calculates the rotational inertia tensor for a cylinder given its mass, radius, and length.

Parameters

mass	Mass of the cylinder.
radius	Radius of the cylinder.
length	Length of the cylinder.

Returns: sva::RBInertiad Inertia of the cylinder.

◆ computeInertiaFromVisual()

MC_RBDYN_DLLAPI sva::RBInertiad mc_rbdyn::computeInertiaFromVisual	(	const rbd::parsers::Visual &	visual,
		double	mass
	)

Computes the inertia from a visual geometry description.

This function determines the inertia based on the type of geometry (box, sphere, etc.) and its parameters.

Parameters

visual	The visual geometry description.
mass	The mass of the object.

Returns: sva::RBInertiad The computed inertia.

Exceptions

Throws if the geometry type is unsupported.

◆ computePoints()

MC_RBDYN_DLLAPI std::vector<sva::PTransformd> mc_rbdyn::computePoints	(	const mc_rbdyn::Surface &	robotSurface,
		const mc_rbdyn::Surface &	envSurface,
		const sva::PTransformd &	X_es_rs
	)

◆ computeSphereInertia()

sva::RBInertiad mc_rbdyn::computeSphereInertia	(	double	mass,
		double	radius
	)

◆ computeSuperEllipsoidInertia()

sva::RBInertiad mc_rbdyn::computeSuperEllipsoidInertia	(	double	mass,
		const Eigen::Vector3d &	size,
		double	epsilon1,
		double	epsilon2
	)

Compute the inertia of a superellipsoid by interpolating between box and ellipsoid inertia.

The superellipsoid is defined by its bounding box (size) and exponents epsilon1 and epsilon2. This function approximates the inertia tensor by interpolating between the inertia of a box (epsilon1, epsilon2 → 0) and an ellipsoid (epsilon1, epsilon2 = 1) with the same bounding box.

Parameters

mass	The mass of the superellipsoid.
size	The size (bounding box) as an Eigen::Vector3d (x, y, z).
epsilon1	The first superellipsoid exponent (controls roundness).
epsilon2	The second superellipsoid exponent (controls roundness).

Returns: sva::RBInertiad The computed inertia.

◆ cylindrical()

MC_RBDYN_DLLAPI sva::PTransformd mc_rbdyn::cylindrical	(	const double &	T,
		const double &	T_rot
	)

◆ cylindrical_hull()

MC_RBDYN_DLLAPI sch::S_Object* mc_rbdyn::cylindrical_hull	(	const mc_rbdyn::CylindricalSurface &	surface,
		const unsigned int &	slice
	)

◆ cylindricalParam()

MC_RBDYN_DLLAPI void mc_rbdyn::cylindricalParam	(	const sva::PTransformd &	X_es_rs,
		double &	T,
		double &	T_rot
	)

◆ genSurfacesFromVisual()

MC_RBDYN_DLLAPI std::vector<std::shared_ptr<Surface> > mc_rbdyn::genSurfacesFromVisual ( const rbd::parsers::Visual & visual )

Generates planar surfaces from a visual geometry description.

Parameters

visual The visual geometry description.

Returns: std::vector<std::shared_ptr<Surface>> Vector of generated surfaces.

◆ gripper_hull()

MC_RBDYN_DLLAPI sch::S_Object* mc_rbdyn::gripper_hull	(	const mc_rbdyn::GripperSurface &	surface,
		const double &	depth
	)

◆ hat()

Eigen::Matrix3d mc_rbdyn::hat ( const Eigen::Vector3d & v )

inline

◆ jointParam()

MC_RBDYN_DLLAPI std::vector<double> mc_rbdyn::jointParam	(	const Surface &	r1Surface,
		const Surface &	r2Surface,
		const sva::PTransformd &	X_es_rs
	)

◆ loadRobot() [1/2]

MC_RBDYN_DLLAPI RobotsPtr mc_rbdyn::loadRobot	(	const RobotModule &	module,
		const LoadRobotParameters &	params = `{}`
	)

◆ loadRobot() [2/2]

MC_RBDYN_DLLAPI RobotsPtr mc_rbdyn::loadRobot	(	const std::string &	name,
		const RobotModule &	module,
		const LoadRobotParameters &	params = `{}`
	)

◆ loadRobotAndEnv()

MC_RBDYN_DLLAPI RobotsPtr mc_rbdyn::loadRobotAndEnv	(	const RobotModule &	module,
		const RobotModule &	envModule
	)

◆ loadRobotFromUrdf()

MC_RBDYN_DLLAPI RobotsPtr mc_rbdyn::loadRobotFromUrdf	(	const std::string &	name,
		const std::string &	urdf,
		const rbd::parsers::ParserParameters &	parser_params = `{}`,
		const LoadRobotParameters &	load_params = `{}`
	)

◆ loadRobots()

MC_RBDYN_DLLAPI RobotsPtr mc_rbdyn::loadRobots ( const std::vector< std::shared_ptr< RobotModule >> & modules )

◆ operator<<()

MC_RBDYN_DLLAPI std::ostream& mc_rbdyn::operator<<	(	std::ostream &	os,
		const Collision &	c
	)

◆ operator==() [1/6]

bool mc_rbdyn::operator==	(	const JointSensor &	lhs,
		const JointSensor &	rhs
	)

inline

◆ operator==() [2/6]

bool mc_rbdyn::operator==	(	const mc_rbdyn::BodySensor &	lhs,
		const mc_rbdyn::BodySensor &	rhs
	)

inline

◆ operator==() [3/6]

bool mc_rbdyn::operator==	(	const mc_rbdyn::ForceSensor &	lhs,
		const mc_rbdyn::ForceSensor &	rhs
	)

inline

◆ operator==() [4/6]

bool mc_rbdyn::operator==	(	const Mimic &	lhs,
		const Mimic &	rhs
	)

inline

◆ operator==() [5/6]

bool mc_rbdyn::operator==	(	const RobotModule::Gripper &	lhs,
		const RobotModule::Gripper &	rhs
	)

inline

◆ operator==() [6/6]

bool mc_rbdyn::operator==	(	const RobotModule::Gripper::Safety &	lhs,
		const RobotModule::Gripper::Safety &	rhs
	)

inline

◆ planar()

MC_RBDYN_DLLAPI sva::PTransformd mc_rbdyn::planar	(	const double &	T,
		const double &	B,
		const double &	N_rot
	)

◆ planar_hull()

MC_RBDYN_DLLAPI sch::S_Object* mc_rbdyn::planar_hull	(	const mc_rbdyn::PlanarSurface &	surface,
		const double &	depth
	)

◆ planarParam()

MC_RBDYN_DLLAPI void mc_rbdyn::planarParam	(	const sva::PTransformd &	X_es_rs,
		double &	T,
		double &	B,
		double &	N_rot
	)

◆ planes_from_polygon()

MC_RBDYN_DLLAPI std::vector<Plane> mc_rbdyn::planes_from_polygon ( const std::shared_ptr< geos::geom::Geometry > & geometry )

◆ points_from_polygon()

MC_RBDYN_DLLAPI std::vector<Eigen::Vector3d> mc_rbdyn::points_from_polygon ( std::shared_ptr< geos::geom::Geometry > geometry )

◆ readRSDFFromDir()

MC_RBDYN_DLLAPI std::vector<std::shared_ptr<Surface> > mc_rbdyn::readRSDFFromDir ( const std::string & dirname )

Read all RSDF files from a directory and parse them into Surface objects.

Parameters

dirname The directory containing .rsdf files.

Returns: Vector of shared pointers to parsed Surface objects.

◆ robotModuleFromVisual() [1/3]

MC_RBDYN_DLLAPI RobotModulePtr mc_rbdyn::robotModuleFromVisual	(	const std::string &	name,
		const mc_rtc::Configuration &	config
	)

Creates a RobotModule from a configuration.

Parameters

name Name of the robot module.

config

Configuration object. This should be the configuration of a rbd::parsers::Visual, with the addition of an inertia field. The inertia field is expected in the format of RBInertiad configuration, i.e.:

mass: double # mandatory
momentum: [x, y, z] # optional, defaults to [0,0,0]
inertia: [[Ixx, Ixy, Ixz], [Iyx, Iyy, Iyz], [Izx, Izy, Izz]] # optional, defaults to the shape's inertia, mandatory if momentum is provided

name: box
origin:
  translation: [0, 0, 0]
  rotation: [0, 0, 0]
material:
  color:
    r: 1
    g: 0
    b: 0
    a: 1
geometry:
  box:
    size: [1., 0.5, 2.]
inertia:
  mass: 10.0

Returns: RobotModulePtr Shared pointer to the created RobotModule.

◆ robotModuleFromVisual() [2/3]

MC_RBDYN_DLLAPI RobotModulePtr mc_rbdyn::robotModuleFromVisual	(	const std::string &	name,
		const rbd::parsers::Visual &	visual,
		const sva::RBInertiad &	inertia,
		bool	isFixed = `true`
	)

Creates a RobotModule from a visual geometry and inertia.

Parameters

name	Name of the robot module.
visual	The visual geometry description.
inertia	The inertia of the robot.
isFixed	Whether the robot is fixed (default: true).

Returns: RobotModulePtr Shared pointer to the created RobotModule.

◆ robotModuleFromVisual() [3/3]

MC_RBDYN_DLLAPI RobotModulePtr mc_rbdyn::robotModuleFromVisual	(	const std::string &	name,
		const rbd::parsers::Visual &	visual,
		double	mass,
		bool	isFixed = `true`
	)

Creates a RobotModule from a visual geometry and mass. The inertia is computed based on the geometry type assuming the CoM to be at the geometric center of the shape and an homogenous density.

Parameters

name	Name of the generated robot module.
visual	The visual geometry description.
mass	The mass of the robot.
isFixed	Whether the robot is fixed (default: true).

Returns: RobotModulePtr Shared pointer to the created RobotModule.

◆ rpyFromMat()

Eigen::Vector3d mc_rbdyn::rpyFromMat ( const Eigen::Matrix3d & E )

inline

Roll-pitch-yaw from rotation matrix.

Parameters

R	Rotation matrix.

Returns: rpy Vector of roll-pitch-yaw angles (Euler sequence (0, 1, 2)).

Adapted from formula (289) of "Representing attitude: Euler angles, unit quaternions, and rotation vectors".

◆ rpyFromQuat()

Eigen::Vector3d mc_rbdyn::rpyFromQuat ( const Eigen::Quaterniond & quat )

inline

Roll-pitch-yaw from unit quaternion.

Parameters

quat	Input unit quaternion.

Returns: rpy Vector of roll-pitch-yaw angles (Euler sequence (0, 1, 2)).

Be careful that Eigen's conversion to rotation matrices is the OPPOSITE of that from "Representing attitude: Euler angles, unit quaternions, and rotation vectors", i.e. we need to transpose/flip signs from Equation (290) of this paper.

◆ rpyFromRotation()

template<typename T >

Eigen::Vector3d mc_rbdyn::rpyFromRotation ( const T & value )

Generic version that can handle a Quaternion or Matrix and returns the RPY angles

◆ rpyToMat() [1/2]

Eigen::Matrix3d mc_rbdyn::rpyToMat	(	const double &	r,
		const double &	p,
		const double &	y
	)

inline

Rotation matrix from roll-pitch-yaw angles.

Parameters

r	Roll angle.
p	Pitch angle.
y	Yaw angle.

Returns: E Rotation matrix.

◆ rpyToMat() [2/2]

Eigen::Matrix3d mc_rbdyn::rpyToMat ( const Eigen::Vector3d & rpy )

inline

Rotation matrix from roll-pitch-yaw angles.

Parameters

rpy	Vector of roll-pitch-yaw angles.

Returns: E Rotation matrix.

◆ rpyToPT() [1/2]

sva::PTransformd mc_rbdyn::rpyToPT	(	const double &	r,
		const double &	p,
		const double &	y
	)

inline

Plucker transfrom from roll-pitch-yaw angles.

Parameters

r	Roll angle.
p	Pitch angle.
y	Yaw angle.

Returns: X Plucker transform with no translation.

◆ rpyToPT() [2/2]

sva::PTransformd mc_rbdyn::rpyToPT ( const Eigen::Vector3d & rpy )

inline

Plucker transfrom from roll-pitch-yaw angles.

Parameters

rpy	Vector of roll-pitch-yaw angles.

Returns: X Plucker transform with no translation.

◆ sch_polyhedron()

MC_RBDYN_DLLAPI sch::S_Object* mc_rbdyn::sch_polyhedron ( const std::vector< sva::PTransformd > & points )

◆ surface_to_sch()

MC_RBDYN_DLLAPI sch::S_Object* mc_rbdyn::surface_to_sch	(	const mc_rbdyn::Surface &	surface,
		const double &	depth = `0.01`,
		const unsigned int &	slice = `8`
	)

◆ surfacesToXML()

MC_RBDYN_DLLAPI void mc_rbdyn::surfacesToXML	(	tinyxml2::XMLDocument &	doc,
		const std::string &	robotName,
		const std::vector< std::shared_ptr< Surface >> &	surfaces
	)

Add a <robot> element and its surfaces to an XML document.

Parameters

doc	The XML document to populate.
robotName	The name of the robot.
surfaces	The surfaces to add as children of the robot element.

◆ tfFromOriginDom()

MC_RBDYN_DLLAPI sva::PTransformd mc_rbdyn::tfFromOriginDom ( const tinyxml2::XMLElement & dom )

◆ tfToOriginDom()

MC_RBDYN_DLLAPI tinyxml2::XMLElement* mc_rbdyn::tfToOriginDom	(	tinyxml2::XMLDocument &	doc,
		const sva::PTransformd &	X,
		const std::string_view &	tagName = `"origin"`
	)

Create an <origin> XML element from a spatial transform.

Parameters

doc	The XML document to which the element will belong.
X	The spatial transform (position and orientation). It will be represented as rpy and xyz attributes.
tagName	The tag name for the element (default: "origin").

Returns: Pointer to the created tinyxml2::XMLElement.

◆ urdf_limits_to_bounds()

MC_RBDYN_DLLAPI RobotModule::bounds_t mc_rbdyn::urdf_limits_to_bounds ( const rbd::parsers::Limits & limits )

Converts limits provided by RBDyn parsers to bounds.

Parameters

limits Limits as provided by RBDyn parsers

◆ zmp() [1/4]

Eigen::Vector3d MC_RBDYN_DLLAPI mc_rbdyn::zmp	(	const sva::ForceVecd &	netTotalWrench,
		const Eigen::Vector3d &	plane_p,
		const Eigen::Vector3d &	plane_n,
		double	minimalNetNormalForce = `1.`
	)

Actual ZMP computation from net total wrench and the ZMP plane.

Parameters

netTotalWrench	Total wrench for all links in contact
plane_p	Arbitrary point on the ZMP plane
plane_n	Normal to the ZMP plane (normalized)
minimalNetNormalForce[N]	Mininal force above which the ZMP computation is considered valid. Must be >0 (prevents a divide by zero).

Returns: zmp expressed in the requested plane

Exceptions

To	prevent dividing by zero, throws if the projected force is below minimalNetNormalForce newton. This is highly unlikely to happen and would likely indicate indicate that you are computing a ZMP from invalid forces (such as with the robot in the air).

◆ zmp() [2/4]

Eigen::Vector3d MC_RBDYN_DLLAPI mc_rbdyn::zmp	(	const sva::ForceVecd &	netTotalWrench,
		const sva::PTransformd &	zmpFrame,
		double	minimalNetNormalForce = `1.`
	)

ZMP computation from net total wrench and a frame.

See zmpDoc

Parameters

netTotalWrench
zmpFrame	Frame used for ZMP computation. The convention here is that the contact frame should have its z-axis pointing in the normal direction of the contact towards the robot.
minimalNetNormalForce[N]	Mininal force above which the ZMP computation is considered valid. Must be >0 (prevents a divide by zero).

Exceptions

To	prevent dividing by zero, throws if the projected force is below minimalNetNormalForce newton. This is highly unlikely to happen and would likely indicate indicate that you are computing a ZMP from invalid forces (such as with the robot in the air).

Returns: ZMP expressed in the plane defined by the zmpFrame frame.

◆ zmp() [3/4]

bool MC_RBDYN_DLLAPI mc_rbdyn::zmp	(	Eigen::Vector3d &	zmpOut,
		const sva::ForceVecd &	netTotalWrench,
		const Eigen::Vector3d &	plane_p,
		const Eigen::Vector3d &	plane_n,
		double	minimalNetNormalForce = `1.`
	)

noexcept

Actual ZMP computation from net total wrench and the ZMP plane.

See zmpDoc

Parameters

zmpOut	Output the updated ZMP
netTotalWrench	Total wrench for all links in contact
plane_p	Arbitrary point on the ZMP plane
plane_n	Normal to the ZMP plane (normalized)
minimalNetNormalForce[N]	Mininal force above which the ZMP computation is considered valid. Must be >0 (prevents a divide by zero).

Returns: True if the ZMP was computed, otherwise zmpOut is left as-is and false is returned

◆ zmp() [4/4]

bool MC_RBDYN_DLLAPI mc_rbdyn::zmp	(	Eigen::Vector3d &	zmpOut,
		const sva::ForceVecd &	netTotalWrench,
		const sva::PTransformd &	zmpFrame,
		double	minimalNetNormalForce = `1.`
	)

noexcept

ZMP computation from net total wrench and a frame.

See zmpDoc

Parameters

zmpOut	Output the updated ZMP
netTotalWrench
zmpFrame	Frame used for ZMP computation. The convention here is that the contact frame should have its z-axis pointing in the normal direction of the contact towards the robot.
minimalNetNormalForce[N]	Mininal force above which the ZMP computation is considered valid. Must be >0 (prevents a divide by zero).

Returns: True if the ZMP was computed, otherwise zmpOut is left as-is and false is returned

Namespaces

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ BodySensorVector

◆ CompoundJointConstraintDescriptionVector

◆ ConstFramePtr

◆ ConstRobotFramePtr

◆ ConstRobotPtr

◆ DevicePtr

◆ FramePtr

◆ Gains2d

◆ Gains3d

◆ Gains6d

◆ RobotDataPtr

◆ RobotFramePtr

◆ RobotModulePtr

◆ RobotModuleVector

◆ RobotPtr

◆ RobotsPtr

◆ S_ObjectPtr

◆ Sensor

◆ SensorPtr

◆ SurfacePtr

Function Documentation

◆ check_module_compatibility()

◆ computeBoxInertia()

◆ computeCylinderInertia()

◆ computeInertiaFromVisual()

◆ computePoints()

◆ computeSphereInertia()

◆ computeSuperEllipsoidInertia()

◆ cylindrical()

◆ cylindrical_hull()

◆ cylindricalParam()

◆ genSurfacesFromVisual()

◆ gripper_hull()

◆ hat()

◆ jointParam()

◆ loadRobot() [1/2]

◆ loadRobot() [2/2]

◆ loadRobotAndEnv()

◆ loadRobotFromUrdf()

◆ loadRobots()

◆ operator<<()

◆ operator==() [1/6]

◆ operator==() [2/6]

◆ operator==() [3/6]

◆ operator==() [4/6]

◆ operator==() [5/6]

◆ operator==() [6/6]

◆ planar()

◆ planar_hull()

◆ planarParam()

◆ planes_from_polygon()

◆ points_from_polygon()

◆ readRSDFFromDir()

◆ robotModuleFromVisual() [1/3]

◆ robotModuleFromVisual() [2/3]

◆ robotModuleFromVisual() [3/3]

◆ rpyFromMat()

◆ rpyFromQuat()

◆ rpyFromRotation()

◆ rpyToMat() [1/2]

◆ rpyToMat() [2/2]

◆ rpyToPT() [1/2]

◆ rpyToPT() [2/2]

◆ sch_polyhedron()

◆ surface_to_sch()

◆ surfacesToXML()

◆ tfFromOriginDom()

◆ tfToOriginDom()

◆ urdf_limits_to_bounds()

◆ zmp() [1/4]

◆ zmp() [2/4]

◆ zmp() [3/4]

◆ zmp() [4/4]