#include <mc_rbdyn/Robot.h>

Classes
struct	NewRobotToken

Public Types
using	convex_pair_t = std::pair< std::string, S_ObjectPtr >

Public Member Functions

Robot (Robot &&)

Robot & operator= (Robot &&)

~Robot ()

const std::string & name () const

const RobotModule & module () const

bool jointHasJointSensor (const std::string &joint) const noexcept

const JointSensor & jointJointSensor (const std::string &joint) const

const std::vector< JointSensor > & jointSensors () const noexcept

bool hasJoint (const std::string &name) const

bool hasBody (const std::string &name) const

bool hasFrame (const std::string &name) const noexcept

const RobotFrame & frame (const std::string &name) const

RobotFrame & frame (const std::string &name)

std::vector< std::string > frames () const

RobotFrame & makeFrame (const std::string &name, RobotFrame &parent, sva::PTransformd X_p_f, bool baked=false)

RobotFramePtr makeTemporaryFrame (const std::string &name, const RobotFrame &parent, sva::PTransformd X_p_f, bool baked=false) const

void makeFrames (std::vector< mc_rbdyn::RobotModule::FrameDescription > frames)

bool hasSurface (const std::string &surface) const

mc_rbdyn::Surface & surface (const std::string &sName)

const mc_rbdyn::Surface & surface (const std::string &sName) const

sva::PTransformd surfacePose (const std::string &sName) const

mc_rbdyn::Surface & copySurface (const std::string &sName, const std::string &name)

void addSurface (mc_rbdyn::SurfacePtr surface, bool doNotReplace=true)

const std::map< std::string, mc_rbdyn::SurfacePtr > & surfaces () const

std::vector< std::string > availableSurfaces () const

bool hasConvex (const std::string &name) const

convex_pair_t & convex (const std::string &cName)

const convex_pair_t & convex (const std::string &cName) const

const std::map< std::string, convex_pair_t > & convexes () const

void addConvex (const std::string &name, const std::string &body, S_ObjectPtr convex, const sva::PTransformd &X_b_c=sva::PTransformd::Identity())

void removeConvex (const std::string &name)

const sva::PTransformd & bodyTransform (const std::string &bName) const

const sva::PTransformd & bodyTransform (int bodyIndex) const

const std::vector< sva::PTransformd > & bodyTransforms () const

const sva::PTransformd & collisionTransform (const std::string &cName) const

void loadRSDFFromDir (const std::string &surfaceDir)

std::map< std::string, std::vector< double > > stance () const

mc_rbdyn::Robots & robots () noexcept

const mc_rbdyn::Robots & robots () const noexcept

unsigned int robotIndex () const

void forwardKinematics ()

void forwardKinematics (rbd::MultiBodyConfig &mbc) const

void forwardVelocity ()

void forwardVelocity (rbd::MultiBodyConfig &mbc) const

void forwardAcceleration (const sva::MotionVecd &A_0=sva::MotionVecd(Eigen::Vector6d::Zero()))

void forwardAcceleration (rbd::MultiBodyConfig &mbc, const sva::MotionVecd &A_0=sva::MotionVecd(Eigen::Vector6d::Zero())) const

void eulerIntegration (double step)

void eulerIntegration (rbd::MultiBodyConfig &mbc, double step) const

const sva::PTransformd & posW () const

void posW (const sva::PTransformd &pt)

void velW (const sva::MotionVecd &vel)

const sva::MotionVecd & velW () const

void accW (const sva::MotionVecd &acc)

const sva::MotionVecd accW () const

mc_control::Gripper & gripper (const std::string &gripper)

const mc_control::Gripper & gripper (const std::string &gripper) const

bool hasGripper (const std::string &gripper) const

const std::unordered_map< std::string, mc_control::GripperPtr > & grippersByName () const noexcept

const std::vector< mc_control::GripperRef > & grippers () const noexcept

const RobotDataPtr data () const noexcept

mc_tvm::Robot & tvmRobot () const

mc_tvm::Convex & tvmConvex (const std::string &name) const

Robot (NewRobotToken, const std::string &name, Robots &robots, unsigned int robots_idx, bool loadFiles, const LoadRobotParameters &params={})

Body sensors

These functions are related to force sensors

const BodySensor & bodySensor () const noexcept

void addBodySensor (const BodySensor &sensor)

bool hasBodySensor (const std::string &name) const noexcept

bool bodyHasBodySensor (const std::string &body) const noexcept

const BodySensor & bodySensor (const std::string &name) const

const BodySensor & bodyBodySensor (const std::string &name) const

const BodySensorVector & bodySensors () const noexcept

Returns the joint index of joint named

Exceptions

If	the joint does not exist within the robot.

unsigned int jointIndexByName (const std::string &name) const

int jointIndexInMBC (size_t jointIndex) const

Returns the body index of joint named

Exceptions

If	the body does not exist within the robot.

unsigned int bodyIndexByName (const std::string &name) const

rbd::MultiBody & mb ()

const rbd::MultiBody & mb () const

rbd::MultiBodyConfig & mbc ()

const rbd::MultiBodyConfig & mbc () const

rbd::MultiBodyGraph & mbg ()

const rbd::MultiBodyGraph & mbg () const

const std::vector< std::vector< double > > & q () const

const std::vector< std::vector< double > > & alpha () const

const std::vector< std::vector< double > > & alphaD () const

const std::vector< std::vector< double > > & jointTorque () const

const std::vector< std::vector< double > > & controlTorque () const noexcept

const std::vector< sva::PTransformd > & bodyPosW () const

const std::vector< sva::MotionVecd > & bodyVelW () const

const std::vector< sva::MotionVecd > & bodyVelB () const

const std::vector< sva::MotionVecd > & bodyAccB () const

std::vector< std::vector< double > > & q ()

std::vector< std::vector< double > > & alpha ()

std::vector< std::vector< double > > & alphaD ()

std::vector< std::vector< double > > & jointTorque ()

std::vector< std::vector< double > > & controlTorque () noexcept

std::vector< sva::PTransformd > & bodyPosW ()

std::vector< sva::MotionVecd > & bodyVelW ()

std::vector< sva::MotionVecd > & bodyVelB ()

std::vector< sva::MotionVecd > & bodyAccB ()

const sva::PTransformd & bodyPosW (const std::string &name) const

sva::PTransformd X_b1_b2 (const std::string &b1, const std::string &b2) const

const sva::MotionVecd & bodyVelW (const std::string &name) const

const sva::MotionVecd & bodyVelB (const std::string &name) const

const sva::MotionVecd & bodyAccB (const std::string &name) const

Eigen::Vector3d com () const

Eigen::Vector3d comVelocity () const

Eigen::Vector3d comAcceleration () const

sva::ForceVecd surfaceWrench (const std::string &surfaceName) const

sva::ForceVecd bodyWrench (const std::string &bodyName) const

Eigen::Vector2d cop (const std::string &frame, double min_pressure=0.5) const

Eigen::Vector3d copW (const std::string &frame, double min_pressure=0.5) const

sva::ForceVecd netWrench (const std::vector< std::string > &sensorNames) const

Computes net total wrench from a list of sensors. More...

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

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

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

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

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

ZMP computation from net total wrench and a frame. More...

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

ZMP computation from net total wrench and a frame. More...

Eigen::Vector3d zmp (const std::vector< std::string > &sensorNames, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const

bool zmp (Eigen::Vector3d &zmpOut, const std::vector< std::string > &sensorNames, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const noexcept

Eigen::Vector3d zmp (const std::vector< std::string > &sensorNames, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const

Computes the ZMP from sensor names and a frame. More...

bool zmp (Eigen::Vector3d &zmpOut, const std::vector< std::string > &sensorNames, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const noexcept

Computes the ZMP from sensor names and a frame. More...

const std::vector< std::vector< double > > & ql () const

const std::vector< std::vector< double > > & qu () const

const std::vector< std::vector< double > > & vl () const

const std::vector< std::vector< double > > & vu () const

const std::vector< std::vector< double > > & al () const

const std::vector< std::vector< double > > & au () const

const std::vector< std::vector< double > > & jl () const

const std::vector< std::vector< double > > & ju () const

const std::vector< std::vector< double > > & tl () const

const std::vector< std::vector< double > > & tu () const

const std::vector< std::vector< double > > & tdl () const

const std::vector< std::vector< double > > & tdu () const

std::vector< std::vector< double > > & ql ()

std::vector< std::vector< double > > & qu ()

std::vector< std::vector< double > > & vl ()

std::vector< std::vector< double > > & vu ()

std::vector< std::vector< double > > & al ()

std::vector< std::vector< double > > & au ()

std::vector< std::vector< double > > & jl ()

std::vector< std::vector< double > > & ju ()

std::vector< std::vector< double > > & tl ()

std::vector< std::vector< double > > & tu ()

std::vector< std::vector< double > > & tdl ()

std::vector< std::vector< double > > & tdu ()

const std::vector< Flexibility > & flexibility () const

std::vector< Flexibility > & flexibility ()

void zmpTarget (const Eigen::Vector3d &zmp)

const Eigen::Vector3d & zmpTarget () const

double mass () const noexcept

Joint sensors

These functions give information about joints' status

const std::vector< double > & encoderValues () const noexcept

const std::vector< double > & encoderVelocities () const noexcept

const std::vector< double > & jointTorques () const noexcept

const std::vector< std::string > & refJointOrder () const

Force sensors

These functions are related to force sensors

void addForceSensor (const mc_rbdyn::ForceSensor &fs)

bool hasForceSensor (const std::string &name) const noexcept

bool bodyHasForceSensor (const std::string &body) const noexcept

bool surfaceHasForceSensor (const std::string &surface) const

Checks if the surface has a force sensor directly attached to it. More...

bool bodyHasIndirectForceSensor (const std::string &body) const

bool surfaceHasIndirectForceSensor (const std::string &surface) const

const ForceSensor & forceSensor (const std::string &name) const

const ForceSensor & bodyForceSensor (const std::string &body) const

const ForceSensor * findBodyForceSensor (const std::string &body) const

const ForceSensor & surfaceForceSensor (const std::string &surfaceName) const

const ForceSensor & indirectBodyForceSensor (const std::string &body) const

Return a force sensor directly or indirectly attached to a body. More...

const ForceSensor & indirectSurfaceForceSensor (const std::string &surface) const

Return a force sensor directly or indirectly attached to a surface. More...

const std::vector< ForceSensor > & forceSensors () const noexcept

Devices

These functions are related to generic devices handling

template<typename T >

bool hasDevice (const std::string &name) const noexcept

template<typename T >

bool hasSensor (const std::string &name) const noexcept

template<typename T >

const T & device (const std::string &name) const

template<typename T >

T & device (const std::string &name)

const DevicePtrVector & devices () const noexcept

template<typename T >

const T & sensor (const std::string &name) const

template<typename T >

T & sensor (const std::string &name)

void addDevice (DevicePtr device)

void addSensor (SensorPtr sensor)

Protected Member Functions
void	copyLoadedData (Robot &destination) const

void	fixSurfaces ()

void	fixSurface (Surface &surface)

void	fixCollisionTransforms ()

std::string	findIndirectForceSensorBodyName (const std::string &bodyName) const
	Finds the name of the body to which a force sensor is attached, starting from the provided body and going up the kinematic tree. More...

Friends
struct	Robots

Member Typedef Documentation

◆ convex_pair_t

using mc_rbdyn::Robot::convex_pair_t = std::pair<std::string, S_ObjectPtr>

Constructor & Destructor Documentation

◆ Robot() [1/2]

mc_rbdyn::Robot::Robot ( Robot && )

◆ ~Robot()

mc_rbdyn::Robot::~Robot ( )

◆ Robot() [2/2]

mc_rbdyn::Robot::Robot	(	NewRobotToken	,
		const std::string &	name,
		Robots &	robots,
		unsigned int	robots_idx,
		bool	loadFiles,
		const LoadRobotParameters &	params = `{}`
	)

Invoked by Robots parent instance after mb/mbc/mbg/RobotModule are stored

When loadFiles is set to false, the convex and surfaces files are not loaded. This is used when copying one robot into another.

Member Function Documentation

◆ accW() [1/2]

const sva::MotionVecd mc_rbdyn::Robot::accW ( ) const

Return the robot's floating base acceleration expressed in the inertial frame

◆ accW() [2/2]

void mc_rbdyn::Robot::accW ( const sva::MotionVecd & acc )

Update the robot's floating base acceleration.

Parameters

vel	New floating base acceleration in the inertial frame.

Note: This function takes care of calling rbd::forwardAcceleration

◆ addBodySensor()

void mc_rbdyn::Robot::addBodySensor ( const BodySensor & sensor )

Add BodySensor to the robot

Parameters

sensor Body to add

◆ addConvex()

void mc_rbdyn::Robot::addConvex	(	const std::string &	name,
		const std::string &	body,
		S_ObjectPtr	convex,
		const sva::PTransformd &	X_b_c = `sva::PTransformd::Identity()`
	)

Add a convex online

This has no effect if name is already a convex of the robot

Parameters

name	Name of the convex
body	Name of the convex's parent body
convex	sch::Object object representing the convex
X_b_c	Transformation fro the convex's parent body to the convex

◆ addDevice()

void mc_rbdyn::Robot::addDevice ( DevicePtr device )

Add a generic device to the robot

◆ addForceSensor()

void mc_rbdyn::Robot::addForceSensor ( const mc_rbdyn::ForceSensor & fs )

Add a new force sensor to the robot

This also updates frames' sensors.

This does not load the calibration file for this sensor. It is up to the caller to do so if they have a file availble.

Parameters

sensor Sensor to be added to the robot

Exceptions

If	a sensor with the same name already exists within this robot

◆ addSensor()

void mc_rbdyn::Robot::addSensor ( SensorPtr sensor )

inline

Alias for

See also: addDevice

◆ addSurface()

void mc_rbdyn::Robot::addSurface	(	mc_rbdyn::SurfacePtr	surface,
		bool	doNotReplace = `true`
	)

Adds a surface with a new name

◆ al() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::al ( )

Access the robot's angular lower acceleration limits

◆ al() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::al ( ) const

Access the robot's angular lower acceleration limits (const)

◆ alpha() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::alpha ( )

Equivalent to robot.mbc().alpha

◆ alpha() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::alpha ( ) const

Equivalent to robot.mbc().alpha (const)

◆ alphaD() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::alphaD ( )

Equivalent to robot.mbc().alphaD

◆ alphaD() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::alphaD ( ) const

Equivalent to robot.mbc().alphaD (const)

◆ au() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::au ( )

Access the robot's angular upper acceleration limits

◆ au() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::au ( ) const

Access the robot's angular upper acceleration limits (const)

◆ availableSurfaces()

std::vector<std::string> mc_rbdyn::Robot::availableSurfaces ( ) const

Returns a list of available surfaces

◆ bodyAccB() [1/3]

std::vector<sva::MotionVecd>& mc_rbdyn::Robot::bodyAccB ( )

Equivalent to robot.mbc().bodyAccB

◆ bodyAccB() [2/3]

const std::vector<sva::MotionVecd>& mc_rbdyn::Robot::bodyAccB ( ) const

Equivalent to robot.mbc().bodyAccB (const)

◆ bodyAccB() [3/3]

const sva::MotionVecd& mc_rbdyn::Robot::bodyAccB ( const std::string & name ) const

Access the acceleration of body name in body coordinates

Exceptions

If	the body doest not exist within the robot

◆ bodyBodySensor()

const BodySensor& mc_rbdyn::Robot::bodyBodySensor ( const std::string & name ) const

Return a specific BodySensor by body name

Parameters

name	Name of the body

Exceptions

If	there is no sensor attached to the body

◆ bodyForceSensor()

const ForceSensor& mc_rbdyn::Robot::bodyForceSensor ( const std::string & body ) const

Return a force sensor attached to the provided body

Parameters

body	Name of the body to which the sensor is attached

Returns: The attached sensor

Exceptions

If	no sensor is directly attached to this body

See also: ForceSensor & indirectBodyForceSensor(const std::string & body); To get a sensor directly or indirectly attached to the body.

◆ bodyHasBodySensor()

bool mc_rbdyn::Robot::bodyHasBodySensor ( const std::string & body ) const

inlinenoexcept

Return true if the specified body has a body sensor attached to it

Parameters

body	Body to query

◆ bodyHasForceSensor()

bool mc_rbdyn::Robot::bodyHasForceSensor ( const std::string & body ) const

inlinenoexcept

Check if the body has a force sensor directly attached to it

Parameters

body	Name of the body to which the sensor is directly attached

See also: bodyHasIndirectForceSensor(const std::string &) if you wish to check whether a sensor is indirectly attached to a body

Returns: True if the body has a force sensor attached to it, false otherwise

◆ bodyHasIndirectForceSensor()

bool mc_rbdyn::Robot::bodyHasIndirectForceSensor ( const std::string & body ) const

inline

Check if the body has a force sensor attached to it (directly or indirectly)

Parameters

body	Name of the body to which the sensor is (directly or indirectly) attached

Returns: True if the body has a force sensor attached to it, false otherwise

◆ bodyIndexByName()

unsigned int mc_rbdyn::Robot::bodyIndexByName ( const std::string & name ) const

Access MultiBody representation of the robot

◆ bodyPosW() [1/3]

std::vector<sva::PTransformd>& mc_rbdyn::Robot::bodyPosW ( )

Equivalent to robot.mbc().bodyPosW

◆ bodyPosW() [2/3]

const std::vector<sva::PTransformd>& mc_rbdyn::Robot::bodyPosW ( ) const

Equivalent to robot.mbc().bodyPosW (const)

◆ bodyPosW() [3/3]

const sva::PTransformd& mc_rbdyn::Robot::bodyPosW ( const std::string & name ) const

Access the position of body name in world coordinates

Exceptions

If	the body does not exist within the robot

◆ bodySensor() [1/2]

const BodySensor& mc_rbdyn::Robot::bodySensor ( ) const

inlinenoexcept

Return the first BodySensor in the robot (const)

◆ bodySensor() [2/2]

const BodySensor& mc_rbdyn::Robot::bodySensor ( const std::string & name ) const

Return a specific BobySensor by name

Parameters

name	Name of the sensor

Exceptions

If	the sensor does not exist

◆ bodySensors()

const BodySensorVector& mc_rbdyn::Robot::bodySensors ( ) const

inlinenoexcept

Return all body sensors (const)

◆ bodyTransform() [1/2]

const sva::PTransformd& mc_rbdyn::Robot::bodyTransform ( const std::string & bName ) const

Access transformation from body bName to original base.

This can be used to correct transformations that were stored with the original base. Usually the robot's base is the original base so these transforms are identity.

◆ bodyTransform() [2/2]

const sva::PTransformd& mc_rbdyn::Robot::bodyTransform ( int bodyIndex ) const

Access body transform by index

◆ bodyTransforms()

const std::vector<sva::PTransformd>& mc_rbdyn::Robot::bodyTransforms ( ) const

Access body transform vector

◆ bodyVelB() [1/3]

std::vector<sva::MotionVecd>& mc_rbdyn::Robot::bodyVelB ( )

Equivalent to robot.mbc().bodyVelB

◆ bodyVelB() [2/3]

const std::vector<sva::MotionVecd>& mc_rbdyn::Robot::bodyVelB ( ) const

Equivalent to robot.mbc().bodyVelB (const)

◆ bodyVelB() [3/3]

const sva::MotionVecd& mc_rbdyn::Robot::bodyVelB ( const std::string & name ) const

Access the velocity of body name in body coordinates

Exceptions

If	the body doest not exist within the robot

◆ bodyVelW() [1/3]

std::vector<sva::MotionVecd>& mc_rbdyn::Robot::bodyVelW ( )

Equivalent to robot.mbc().bodyVelW

◆ bodyVelW() [2/3]

const std::vector<sva::MotionVecd>& mc_rbdyn::Robot::bodyVelW ( ) const

Equivalent to robot.mbc().bodyVelW (const)

◆ bodyVelW() [3/3]

const sva::MotionVecd& mc_rbdyn::Robot::bodyVelW ( const std::string & name ) const

Access the velocity of body name in world coordinates

Exceptions

If	the body doest not exist within the robot

◆ bodyWrench()

sva::ForceVecd mc_rbdyn::Robot::bodyWrench ( const std::string & bodyName ) const

Compute the gravity-free wrench in body frame

Note: If the body is indirectly attached to the sensor (i.e there are joints in-between), then the kinematic transformation will be taken into account but the effect of bodies in-between is not accounted for in the returned wrench.

Parameters

bodyName A body attached to a force sensor

Returns: Measured wrench in body frame

Exceptions

If	no sensor is attached to this surface

◆ collisionTransform()

const sva::PTransformd& mc_rbdyn::Robot::collisionTransform ( const std::string & cName ) const

Access transformation between the collision mesh and the body

◆ com()

Eigen::Vector3d mc_rbdyn::Robot::com ( ) const

Compute and returns the current robot's CoM

◆ comAcceleration()

Eigen::Vector3d mc_rbdyn::Robot::comAcceleration ( ) const

Compute and returns the current robot's CoM acceleration

◆ comVelocity()

Eigen::Vector3d mc_rbdyn::Robot::comVelocity ( ) const

Compute and returns the current robot's CoM velocity

◆ controlTorque() [1/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::controlTorque ( ) const

inlinenoexcept

Access the desired control torque

◆ controlTorque() [2/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::controlTorque ( )

inlinenoexcept

Access the desired control torque

◆ convex() [1/2]

convex_pair_t& mc_rbdyn::Robot::convex ( const std::string & cName )

Access a convex named cName

Returns: a pair giving the convex's parent body and the sch::Object object

◆ convex() [2/2]

const convex_pair_t& mc_rbdyn::Robot::convex ( const std::string & cName ) const

Access a convex named cName (const)

◆ convexes()

const std::map<std::string, convex_pair_t>& mc_rbdyn::Robot::convexes ( ) const

Access all convexes available in this robot

Returns: a map where keys are the convex name and values are those returned by convex

◆ cop()

Eigen::Vector2d mc_rbdyn::Robot::cop	(	const std::string &	frame,
		double	min_pressure = `0.5`
	)		const

Compute the cop in a given frame computed from gravity-free force measurements

Parameters

frame	A frame attached to a force sensor
min_pressure	Minimum pressure in N (default 0.5N).

Returns

Measured cop in provided frame

CoP if pressure >= min_pressure
Zero otherwise

Exceptions

If	the frame does not exist or no sensor is attached to this frame

◆ copW()

Eigen::Vector3d mc_rbdyn::Robot::copW	(	const std::string &	frame,
		double	min_pressure = `0.5`
	)		const

Compute the cop in inertial frame compute from gravity-free force measurements

Parameters

frame	A frame attached to a force sensor
min_pressure	Minimum pressure in N (default 0.5N).

Returns

Measured cop in inertial frame

CoP if pressure >= min_pressure
Zero otherwise

Exceptions

If	the frame does not exist or no sensor is attached to this frame

◆ copyLoadedData()

void mc_rbdyn::Robot::copyLoadedData ( Robot & destination ) const

protected

Copy loaded data from this robot to a new robot

◆ copySurface()

mc_rbdyn::Surface& mc_rbdyn::Robot::copySurface	(	const std::string &	sName,
		const std::string &	name
	)

Copy an existing surface with a new name

◆ data()

const RobotDataPtr mc_rbdyn::Robot::data ( ) const

inlinenoexcept

Access the data associated to this object

◆ device() [1/2]

template<typename T >

T& mc_rbdyn::Robot::device ( const std::string & name )

inline

Non-const variant

◆ device() [2/2]

template<typename T >

const T& mc_rbdyn::Robot::device ( const std::string & name ) const

Get a generic device of type T named name

The reference returned by this function is remains valid

Parameters

name	Name of the device

Template Parameters

T	type of the device requested

Exceptions

If	the device does not exist or does not have the right type

◆ devices()

const DevicePtrVector& mc_rbdyn::Robot::devices ( ) const

inlinenoexcept

Get all devices attached to a robot

◆ encoderValues()

const std::vector<double>& mc_rbdyn::Robot::encoderValues ( ) const

inlinenoexcept

Return the encoder values

◆ encoderVelocities()

const std::vector<double>& mc_rbdyn::Robot::encoderVelocities ( ) const

inlinenoexcept

Return the encoder velocities

◆ eulerIntegration() [1/2]

void mc_rbdyn::Robot::eulerIntegration ( double step )

Apply Euler integration to the robot using step timestep

◆ eulerIntegration() [2/2]

void mc_rbdyn::Robot::eulerIntegration	(	rbd::MultiBodyConfig &	mbc,
		double	step
	)		const

Apply Euler integration to mbc using the robot's mb() and step timestep

◆ findBodyForceSensor()

const ForceSensor* mc_rbdyn::Robot::findBodyForceSensor ( const std::string & body ) const

Return a force sensor attached (directly or indirectly) to the given body

Returns a null pointer if no such sensor exists

◆ findIndirectForceSensorBodyName()

std::string mc_rbdyn::Robot::findIndirectForceSensorBodyName ( const std::string & bodyName ) const

protected

Finds the name of the body to which a force sensor is attached, starting from the provided body and going up the kinematic tree.

Parameters

bodyName Name of the body to which the sensor is attached

Returns: Body name to which the sensor is attached when found. Empty string otherwise

◆ fixCollisionTransforms()

void mc_rbdyn::Robot::fixCollisionTransforms ( )

protected

Used to set the collision transforms correctly

◆ fixSurface()

void mc_rbdyn::Robot::fixSurface ( Surface & surface )

protected

Used to set the specified surface X_b_s correctly

This function should only be called once per surface.

Parameters

surfaces Surface that need to be modified

◆ fixSurfaces()

void mc_rbdyn::Robot::fixSurfaces ( )

protected

Used to set all robot surfaces' X_b_s correctly

This updates all surfaces in surfaces_ vector and should only be called once

◆ flexibility() [1/2]

std::vector<Flexibility>& mc_rbdyn::Robot::flexibility ( )

Return the flexibilities of the robot

◆ flexibility() [2/2]

const std::vector<Flexibility>& mc_rbdyn::Robot::flexibility ( ) const

Return the flexibilities of the robot (const)

◆ forceSensor()

const ForceSensor& mc_rbdyn::Robot::forceSensor ( const std::string & name ) const

Return a force sensor by name

Parameters

name	Name of the sensor

Returns: The sensor named name

Exceptions

If	no sensor with this name exists

◆ forceSensors()

const std::vector<ForceSensor>& mc_rbdyn::Robot::forceSensors ( ) const

inlinenoexcept

Returns all force sensors (const)

◆ forwardAcceleration() [1/2]

void mc_rbdyn::Robot::forwardAcceleration ( const sva::MotionVecd & A_0 = sva::MotionVecd(Eigen::Vector6d::Zero()) )

Apply forward acceleration to the robot

◆ forwardAcceleration() [2/2]

void mc_rbdyn::Robot::forwardAcceleration	(	rbd::MultiBodyConfig &	mbc,
		const sva::MotionVecd &	A_0 = `sva::MotionVecd(Eigen::Vector6d::Zero())`
	)		const

Apply forward acceleration to mbc using the robot's mb()

◆ forwardKinematics() [1/2]

void mc_rbdyn::Robot::forwardKinematics ( )

Apply forward kinematics to the robot

◆ forwardKinematics() [2/2]

void mc_rbdyn::Robot::forwardKinematics ( rbd::MultiBodyConfig & mbc ) const

Apply forward kinematics to mbc using the robot's mb()

◆ forwardVelocity() [1/2]

void mc_rbdyn::Robot::forwardVelocity ( )

Apply forward velocity to the robot

◆ forwardVelocity() [2/2]

void mc_rbdyn::Robot::forwardVelocity ( rbd::MultiBodyConfig & mbc ) const

Apply forward velocity to mbc using the robot's mb()

◆ frame() [1/2]

RobotFrame& mc_rbdyn::Robot::frame ( const std::string & name )

inline

Access the frame named name (non-const)

Exceptions

If	the frame does not exist

◆ frame() [2/2]

const RobotFrame& mc_rbdyn::Robot::frame ( const std::string & name ) const

inline

Access the frame named name

Exceptions

If	the frame does not exist

◆ frames()

std::vector<std::string> mc_rbdyn::Robot::frames ( ) const

Returns the list of available frames in this robot

◆ gripper() [1/2]

mc_control::Gripper& mc_rbdyn::Robot::gripper ( const std::string & gripper )

Access a gripper by name

Parameters

gripper Gripper name

Exceptions

If	the gripper does not exist within this robot

◆ gripper() [2/2]

const mc_control::Gripper& mc_rbdyn::Robot::gripper ( const std::string & gripper ) const

Access a gripper by name

Parameters

gripper Gripper name

Exceptions

If	the gripper does not exist within this robot

◆ grippers()

const std::vector<mc_control::GripperRef>& mc_rbdyn::Robot::grippers ( ) const

inlinenoexcept

Access all grippers

◆ grippersByName()

const std::unordered_map<std::string, mc_control::GripperPtr>& mc_rbdyn::Robot::grippersByName ( ) const

inlinenoexcept

◆ hasBody()

bool mc_rbdyn::Robot::hasBody ( const std::string & name ) const

Returns true if the robot has a body named name

◆ hasBodySensor()

bool mc_rbdyn::Robot::hasBodySensor ( const std::string & name ) const

inlinenoexcept

Return true if the robot has a body sensor named name

Parameters

name	Name of the body sensor

◆ hasConvex()

bool mc_rbdyn::Robot::hasConvex ( const std::string & name ) const

Check if a convex name exists

Returns: True if the convex exists, false otherwise

◆ hasDevice()

template<typename T >

bool mc_rbdyn::Robot::hasDevice ( const std::string & name ) const

noexcept

Returns true if a generic device of type T and named name exists in the robot

Parameters

name	Name of the device

Template Parameters

T	Type of device requested

◆ hasForceSensor()

bool mc_rbdyn::Robot::hasForceSensor ( const std::string & name ) const

inlinenoexcept

Check if a force sensor exists

Parameters

name	Name of the sensor

Returns: True if the sensor exists, false otherwise

◆ hasFrame()

bool mc_rbdyn::Robot::hasFrame ( const std::string & name ) const

inlinenoexcept

Returns true if the robot has a frame named name

◆ hasGripper()

bool mc_rbdyn::Robot::hasGripper ( const std::string & gripper ) const

Checks whether a gripper is part of this robot

◆ hasJoint()

bool mc_rbdyn::Robot::hasJoint ( const std::string & name ) const

Returns true if the robot has a joint named name

◆ hasSensor()

template<typename T >

bool mc_rbdyn::Robot::hasSensor ( const std::string & name ) const

inlinenoexcept

Alias for

See also: hasDevice

◆ hasSurface()

bool mc_rbdyn::Robot::hasSurface ( const std::string & surface ) const

Check if a surface surface exists

Returns: True if the surface exists, false otherwise

◆ indirectBodyForceSensor()

const ForceSensor& mc_rbdyn::Robot::indirectBodyForceSensor ( const std::string & body ) const

Return a force sensor directly or indirectly attached to a body.

When the sensor is not directly attached to the body, look up the kinematic chain until the root until a sensor is found.

Returns: The sensor to which the body is indirectly attached

Exceptions

If	no sensor is found between the body and the root

◆ indirectSurfaceForceSensor()

const ForceSensor& mc_rbdyn::Robot::indirectSurfaceForceSensor ( const std::string & surface ) const

Return a force sensor directly or indirectly attached to a surface.

When the sensor is not directly attached to the surface, look up the kinematic chain until the root until a sensor is found.

Parameters

surface Name of surface indirectly attached to the sensor

Returns: The sensor to which the surface is indirectly attached

Exceptions

If	no sensor is found between the surface and the root

◆ jl() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::jl ( )

Access the robot's angular lower jerk limits

◆ jl() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::jl ( ) const

Access the robot's angular lower jerk limits (const)

◆ jointHasJointSensor()

bool mc_rbdyn::Robot::jointHasJointSensor ( const std::string & joint ) const

inlinenoexcept

Return true if the specified joint has a joint sensor attached to it

Parameters

joint Joint to query

◆ jointIndexByName()

unsigned int mc_rbdyn::Robot::jointIndexByName ( const std::string & name ) const

Returns the joint index in the mbc of the joint with index jointIndex in refJointOrder

Note: Joint indices can be -1 for joints present in refJointOrder but not in the robot's mbc (such as filtered joints in some robot modules)

Parameters

jointIndex Joint index in refJointOrder

Returns: joint index in the mbc

Exceptions

If	jointIndex >= refJointOrder.size()

◆ jointIndexInMBC()

int mc_rbdyn::Robot::jointIndexInMBC ( size_t jointIndex ) const

Returns the joint index in the mbc of the joint with index jointIndex in refJointOrder

Note: Joint indices can be -1 for joints present in refJointOrder but not in the robot's mbc (such as filtered joints in some robot modules)

Parameters

jointIndex Joint index in refJointOrder

Returns: joint index in the mbc

Exceptions

If	jointIndex >= refJointOrder.size()

◆ jointJointSensor()

const JointSensor& mc_rbdyn::Robot::jointJointSensor ( const std::string & joint ) const

Return a specific JointSensor by joint name

Parameters

joint Name of the joint

Exceptions

If	there is no sensor attached to the joint

◆ jointSensors()

const std::vector<JointSensor>& mc_rbdyn::Robot::jointSensors ( ) const

inlinenoexcept

Return all joint sensors (const)

◆ jointTorque() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::jointTorque ( )

Equivalent to robot.mbc().jointTorque

◆ jointTorque() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::jointTorque ( ) const

Equivalent to robot.mbc().jointTorque (const)

◆ jointTorques()

const std::vector<double>& mc_rbdyn::Robot::jointTorques ( ) const

inlinenoexcept

Return the joint torques from sensors

◆ ju() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::ju ( )

Access the robot's angular upper jerk limits

◆ ju() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::ju ( ) const

Access the robot's angular upper jerk limits (const)

◆ loadRSDFFromDir()

void mc_rbdyn::Robot::loadRSDFFromDir ( const std::string & surfaceDir )

Load surfaces from the directory surfaceDir

◆ makeFrame()

RobotFrame& mc_rbdyn::Robot::makeFrame	(	const std::string &	name,
		RobotFrame &	parent,
		sva::PTransformd	X_p_f,
		bool	baked = `false`
	)

Create a new frame attached to this robot

Parameters

name	Name of the frame
frame	Parent frame of this frame
X_p_f	Transformation from the parent frame to the frame
baked	Attach the newly created frame to `parent` parent's body rather than `parent` if true

Returns: The newly created frame

Exceptions

If	`parent` does not belong to this robot or if `name` already exists in this robot

◆ makeFrames()

void mc_rbdyn::Robot::makeFrames ( std::vector< mc_rbdyn::RobotModule::FrameDescription > frames )

Create new frames attached to this robot

Parameters

frames Description of the frames

Exceptions

If	any of the frames' `parent` does not belong to this robot or if `name` already exists in this robot

◆ makeTemporaryFrame()

RobotFramePtr mc_rbdyn::Robot::makeTemporaryFrame	(	const std::string &	name,
		const RobotFrame &	parent,
		sva::PTransformd	X_p_f,
		bool	baked = `false`
	)		const

Create a new temporary frame

The frame is not kept by the robot and cannot be found via frame or inside frames

The main purpose is to tie a frame lifetime to another object (e.g. a task, a constraint, a state...) that needs it

Parameters

name	Name of the frame
frame	Parent frame of this frame
X_p_f	Transformation from the parent frame to the frame
baked	Attach the newly created frame to `parent` parent's body rather than `parent` if true

Returns: The newly created frame

Exceptions

If	`parent` does not belong to this robot

◆ mass()

double mc_rbdyn::Robot::mass ( ) const

inlinenoexcept

Compute and returns the mass of the robot

◆ mb() [1/2]

rbd::MultiBody& mc_rbdyn::Robot::mb ( )

Access MultiBody representation of the robot

◆ mb() [2/2]

const rbd::MultiBody& mc_rbdyn::Robot::mb ( ) const

Access MultiBody representation of the robot (const)

◆ mbc() [1/2]

rbd::MultiBodyConfig& mc_rbdyn::Robot::mbc ( )

Access MultiBodyConfig of the robot's mb()

◆ mbc() [2/2]

const rbd::MultiBodyConfig& mc_rbdyn::Robot::mbc ( ) const

Access MultiBodyConfig of the robot's mb() (const)

◆ mbg() [1/2]

rbd::MultiBodyGraph& mc_rbdyn::Robot::mbg ( )

Access MultiBodyGraph that generated the robot's mb()

◆ mbg() [2/2]

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

Access MultiBodyGraph that generated the robot's mb() (const)

◆ module()

const RobotModule& mc_rbdyn::Robot::module ( ) const

Retrieve the associated RobotModule

◆ name()

const std::string& mc_rbdyn::Robot::name ( ) const

Returns the name of the robot

Note: To rename a robot, use Robots::rename(const std::string &, const std::string &)

◆ netWrench()

sva::ForceVecd mc_rbdyn::Robot::netWrench ( const std::vector< std::string > & sensorNames ) const

Computes net total wrench from a list of sensors.

Parameters

sensorNames Names of all sensors used to compute the net wrench

Returns: Net total wrench (without gravity) in the inertial frame

◆ operator=()

Robot& mc_rbdyn::Robot::operator= ( Robot && )

◆ posW() [1/2]

const sva::PTransformd& mc_rbdyn::Robot::posW ( ) const

Return the robot's global pose

◆ posW() [2/2]

void mc_rbdyn::Robot::posW ( const sva::PTransformd & pt )

Set the robot's global pose. This is mostly meant for initialization purposes. In other scenarios there might be more things to do to properly move a robot (e.g. update contacts, set speed to zero).

Parameters

pt	The new global pose

Exceptions

If	joint(0) is neither free flyer nor fixed

Note: This function takes care of calling rbd::forwardKinematics

◆ q() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::q ( )

Equivalent to robot.mbc().q

◆ q() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::q ( ) const

Equivalent to robot.mbc().q (const)

◆ ql() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::ql ( )

Access the robot's angular lower limits

◆ ql() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::ql ( ) const

Access the robot's angular lower limits (const)

◆ qu() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::qu ( )

Access the robot's angular upper limits

◆ qu() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::qu ( ) const

Access the robot's angular upper limits (const)

◆ refJointOrder()

const std::vector<std::string>& mc_rbdyn::Robot::refJointOrder ( ) const

inline

Return the reference joint order for this robot

◆ removeConvex()

void mc_rbdyn::Robot::removeConvex ( const std::string & name )

Remove a given convex

Using this function while the given convex is involved in a collision is not safe and will very likely result in a crash.

This has no effect if name is not a convex of the robot.

Parameters

name	Name of the convex

◆ robotIndex()

unsigned int mc_rbdyn::Robot::robotIndex ( ) const

Access the robot's index in robots()

◆ robots() [1/2]

const mc_rbdyn::Robots& mc_rbdyn::Robot::robots ( ) const

inlinenoexcept

Access Robots instance this instance belongs to (const)

◆ robots() [2/2]

mc_rbdyn::Robots& mc_rbdyn::Robot::robots ( )

inlinenoexcept

Access Robots instance this instance belongs to

◆ sensor() [1/2]

template<typename T >

T& mc_rbdyn::Robot::sensor ( const std::string & name )

inline

Alias for

See also: device

◆ sensor() [2/2]

template<typename T >

const T& mc_rbdyn::Robot::sensor ( const std::string & name ) const

inline

Alias for

See also: device

◆ stance()

std::map<std::string, std::vector<double> > mc_rbdyn::Robot::stance ( ) const

Return the robot's default stance (e.g. half-sitting for humanoid)

◆ surface() [1/2]

mc_rbdyn::Surface& mc_rbdyn::Robot::surface ( const std::string & sName )

Access a surface by its name sName

◆ surface() [2/2]

const mc_rbdyn::Surface& mc_rbdyn::Robot::surface ( const std::string & sName ) const

Access a surface by its name sName (const)

◆ surfaceForceSensor()

const ForceSensor& mc_rbdyn::Robot::surfaceForceSensor ( const std::string & surfaceName ) const

Return a force sensor attached to the provided surface

Parameters

surface Name of the surface to which the sensor is attached

Returns: The attached sensor

Exceptions

If	no sensor is directly attached to this surface

See also: ForceSensor & indirectBodyForceSensor(const std::string & surface); To get a sensor directly or indirectly attached to the surface.

◆ surfaceHasForceSensor()

bool mc_rbdyn::Robot::surfaceHasForceSensor ( const std::string & surface ) const

inline

Checks if the surface has a force sensor directly attached to it.

Parameters

surface Name of the surface to which the sensor is directly attached

See also: surfaceHasIndirectForceSensor(const std::string &) if you wish to check whether a sensor is indirectly attached to a body

Exceptions

If	`surface` does not exist in this robot

Returns: True if the surface has a force sensor attached to it, false otherwise

◆ surfaceHasIndirectForceSensor()

bool mc_rbdyn::Robot::surfaceHasIndirectForceSensor ( const std::string & surface ) const

inline

Check if the surface has a force sensor attached to it (directly or indirectly)

Parameters

surface Name of the surface to which the sensor is directly attached

Returns: True if the surface has a force sensor attached to it, false otherwise

◆ surfacePose()

sva::PTransformd mc_rbdyn::Robot::surfacePose ( const std::string & sName ) const

Get the pose of a surface frame with respect to the inertial frame.

Parameters

sName Name of surface frame.

◆ surfaces()

const std::map<std::string, mc_rbdyn::SurfacePtr>& mc_rbdyn::Robot::surfaces ( ) const

Returns all available surfaces

◆ surfaceWrench()

sva::ForceVecd mc_rbdyn::Robot::surfaceWrench ( const std::string & surfaceName ) const

Compute the gravity-free wrench in surface frame

Note: If the surface is indirectly attached to the sensor (i.e there are joints in-between), then the kinematic transformation will be taken into account but the effect of bodies in-between is not accounted for in the returned wrench.

Parameters

surfaceName A surface attached to a force sensor

Returns: Measured wrench in surface frame

Exceptions

If	no sensor is attached to this surface

◆ tdl() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::tdl ( )

Access the robot's angular lower torque-derivative limits

◆ tdl() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::tdl ( ) const

Access the robot's angular lower torque-derivative limits (const)

◆ tdu() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::tdu ( )

Access the robot's angular upper torque-derivative limits

◆ tdu() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::tdu ( ) const

Access the robot's angular upper torque-derivative limits (const)

◆ tl() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::tl ( )

Access the robot's angular lower torque limits

◆ tl() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::tl ( ) const

Access the robot's angular lower torque limits (const)

◆ tu() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::tu ( )

Access the robot's angular upper torque limits

◆ tu() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::tu ( ) const

Access the robot's angular upper torque limits (const)

◆ tvmConvex()

mc_tvm::Convex& mc_rbdyn::Robot::tvmConvex ( const std::string & name ) const

Get the TVM convex associated to this robot convex

FIXME Returns a non-const reference from a const method because it is most often used to register dependencies between TVM nodes which require non-const objects

Parameters

name	Name of the convex

Exceptions

If	the convex does not exist

◆ tvmRobot()

mc_tvm::Robot& mc_rbdyn::Robot::tvmRobot ( ) const

Get the TVM robot associated to this robot

FIXME Returns a non-const reference from a const method because it is most often used to register dependencies between TVM nodes which require non-const objects

◆ velW() [1/2]

const sva::MotionVecd& mc_rbdyn::Robot::velW ( ) const

Return the robot's floating base velocity expressed in the inertial frame

◆ velW() [2/2]

void mc_rbdyn::Robot::velW ( const sva::MotionVecd & vel )

Update the robot's floating base velocity.

Parameters

vel	New floating base velocity in the inertial frame.

Note: This function takes care of calling rbd::forwardVelocity

◆ vl() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::vl ( )

Access the robot's angular lower velocity limits

◆ vl() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::vl ( ) const

Access the robot's angular lower velocity limits (const)

◆ vu() [1/2]

std::vector<std::vector<double> >& mc_rbdyn::Robot::vu ( )

Access the robot's angular upper velocity limits

◆ vu() [2/2]

const std::vector<std::vector<double> >& mc_rbdyn::Robot::vu ( ) const

Access the robot's angular upper velocity limits (const)

◆ X_b1_b2()

sva::PTransformd mc_rbdyn::Robot::X_b1_b2	(	const std::string &	b1,
		const std::string &	b2
	)		const

Relative transformation X_b1_b2 from body b1 to body b2

Parameters

b1	name of first body
b2	name of second body

Exceptions

If	b1 or b2 does not exist within the robot

◆ zmp() [1/8]

Eigen::Vector3d mc_rbdyn::Robot::zmp	(	const std::vector< std::string > &	sensorNames,
		const Eigen::Vector3d &	plane_p,
		const Eigen::Vector3d &	plane_n,
		double	minimalNetNormalForce = `1.`
	)		const

Computes the ZMP from sensor names and a plane

See zmpDoc

Parameters

sensorNames Names of all sensors attached to a link in contact with the environment

◆ zmp() [2/8]

Eigen::Vector3d mc_rbdyn::Robot::zmp	(	const std::vector< std::string > &	sensorNames,
		const sva::PTransformd &	zmpFrame,
		double	minimalNetNormalForce = `1.`
	)		const

Computes the ZMP from sensor names and a frame.

See zmpDoc

Parameters

sensorNames Names of all sensors attached to a link in contact with the environment

◆ zmp() [3/8]

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

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).

See also: Eigen::Vector3d mc_rbdyn::zmp(const sva::ForceVecd & netTotalWrench, const Eigen::Vector3d & plane_p, const Eigen::Vector3d & plane_n, double minimalNetNormalForce)

◆ zmp() [4/8]

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

ZMP computation from net total wrench and a frame.

See zmpDoc

See also: Eigen::Vector3d mc_rbdyn::zmp(const sva::ForceVecd & netTotalWrench, const sva::PTransformd & zmpFrame, double minimalNetNormalForce) const;

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.

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

◆ zmp() [5/8]

bool mc_rbdyn::Robot::zmp	(	Eigen::Vector3d &	zmpOut,
		const std::vector< std::string > &	sensorNames,
		const Eigen::Vector3d &	plane_p,
		const Eigen::Vector3d &	plane_n,
		double	minimalNetNormalForce = `1.`
	)		const

noexcept

Computes the ZMP from sensor names and a plane

See zmpDoc

Parameters

sensorNames Names of all sensors attached to a link in contact with the environment

◆ zmp() [6/8]

bool mc_rbdyn::Robot::zmp	(	Eigen::Vector3d &	zmpOut,
		const std::vector< std::string > &	sensorNames,
		const sva::PTransformd &	zmpFrame,
		double	minimalNetNormalForce = `1.`
	)		const

noexcept

Computes the ZMP from sensor names and a frame.

See zmpDoc

Parameters

sensorNames Names of all sensors attached to a link in contact with the environment

◆ zmp() [7/8]

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

noexcept

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

Parameters

zmpOut	Output of the ZMP computation expressed in the requested frame
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 computation was successful, false otherwise and zmpOut is untouched

See also: bool mc_rbdyn::zmp(Eigen::Vector3d & zmpOut, const sva::ForceVecd & netTotalWrench, const Eigen::Vector3d & plane_p, const Eigen::Vector3d & plane_n, double minimalNetNormalForce)

◆ zmp() [8/8]

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

noexcept

ZMP computation from net total wrench and a frame.

See zmpDoc

See also: Eigen::Vector3d mc_rbdyn::zmp(Eigen::Vector3d & zmpOut, const sva::ForceVecd & netTotalWrench, const sva::PTransformd & zmpFrame, double minimalNetNormalForce)

Parameters

zmpOut	Output of the ZMP computation expressed in the plane defined by the zmpFrame frame
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.

Returns: True if the computation was successful, false otherwise and zmpOut is untouched

◆ zmpTarget() [1/2]

const Eigen::Vector3d& mc_rbdyn::Robot::zmpTarget ( ) const

Returns the target zmp

Returns: Target ZMP. See zmpTarget(Eigen::Vector3d) for details.

◆ zmpTarget() [2/2]

void mc_rbdyn::Robot::zmpTarget ( const Eigen::Vector3d & zmp )

Set the target zmp defined with respect to base-link. This target is intended to be used by an external stabilizer such as Kawada's

Parameters

zmp	Note that usually the ZMP is a 2-vector assuming a perfectly flat ground. The convention here is that the ground is at (tz=0). Therefore the target zmp should be defined as (ZMPx, ZMPy, -zbaselink)

Friends And Related Function Documentation

◆ Robots

friend struct Robots

friend

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

include/mc_rbdyn/Robot.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Friends

Member Typedef Documentation

◆ convex_pair_t

Constructor & Destructor Documentation

◆ Robot() [1/2]

◆ ~Robot()

◆ Robot() [2/2]

Member Function Documentation

◆ accW() [1/2]

◆ accW() [2/2]

◆ addBodySensor()

◆ addConvex()

◆ addDevice()

◆ addForceSensor()

◆ addSensor()

◆ addSurface()

◆ al() [1/2]

◆ al() [2/2]

◆ alpha() [1/2]

◆ alpha() [2/2]

◆ alphaD() [1/2]

◆ alphaD() [2/2]

◆ au() [1/2]

◆ au() [2/2]

◆ availableSurfaces()

◆ bodyAccB() [1/3]

◆ bodyAccB() [2/3]

◆ bodyAccB() [3/3]

◆ bodyBodySensor()

◆ bodyForceSensor()

◆ bodyHasBodySensor()

◆ bodyHasForceSensor()

◆ bodyHasIndirectForceSensor()

◆ bodyIndexByName()

◆ bodyPosW() [1/3]

◆ bodyPosW() [2/3]

◆ bodyPosW() [3/3]

◆ bodySensor() [1/2]

◆ bodySensor() [2/2]

◆ bodySensors()

◆ bodyTransform() [1/2]

◆ bodyTransform() [2/2]

◆ bodyTransforms()

◆ bodyVelB() [1/3]

◆ bodyVelB() [2/3]

◆ bodyVelB() [3/3]

◆ bodyVelW() [1/3]

◆ bodyVelW() [2/3]

◆ bodyVelW() [3/3]

◆ bodyWrench()

◆ collisionTransform()

◆ com()

◆ comAcceleration()

◆ comVelocity()

◆ controlTorque() [1/2]

◆ controlTorque() [2/2]

◆ convex() [1/2]

◆ convex() [2/2]

◆ convexes()

◆ cop()

◆ copW()

◆ copyLoadedData()

◆ copySurface()

◆ data()

◆ device() [1/2]

◆ device() [2/2]

◆ devices()

◆ encoderValues()

◆ encoderVelocities()

◆ eulerIntegration() [1/2]

◆ eulerIntegration() [2/2]

◆ findBodyForceSensor()

◆ findIndirectForceSensorBodyName()

◆ fixCollisionTransforms()

◆ fixSurface()

◆ fixSurfaces()