#include <mc_rbdyn/RobotModule.h>

Collaboration diagram for mc_rbdyn::RobotModule:

Classes
struct	FrameDescription

struct	Gripper

Public Types
using	bounds_t = std::vector< std::map< std::string, std::vector< double > >>

using	accelerationBounds_t = std::vector< std::map< std::string, std::vector< double > >>

using	jerkBounds_t = std::vector< std::map< std::string, std::vector< double > >>

using	torqueDerivativeBounds_t = std::vector< std::map< std::string, std::vector< double > >>

Public Member Functions
	RobotModule (const std::string &path, const std::string &name)

	RobotModule (const std::string &path, const std::string &name, const std::string &urdf_path)

	RobotModule (const std::string &name, const rbd::parsers::ParserResult &res)

void	init (const rbd::parsers::ParserResult &res)

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

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

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

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

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

const std::map< std::string, std::pair< std::string, std::string > > &	convexHull () const

const std::map< std::string, std::pair< std::string, S_ObjectPtr > > &	collisionObjects () const

const std::map< std::string, std::pair< std::string, std::string > > &	stpbvHull () const

const std::map< std::string, sva::PTransformd > &	collisionTransforms () const

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

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

const BodySensorVector &	bodySensors () const

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

const Springs &	springs () const

const std::vector< mc_rbdyn::Collision > &	minimalSelfCollisions () const

const std::vector< mc_rbdyn::Collision > &	commonSelfCollisions () const

const std::vector< Gripper > &	grippers () const

const Gripper::Safety &	gripperSafety () const

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

const std::array< double, 7 > &	default_attitude () const

const mc_rbdyn::lipm_stabilizer::StabilizerConfiguration &	defaultLIPMStabilizerConfiguration () const

void	boundsFromURDF (const rbd::parsers::Limits &limits)

void	expand_stance ()

void	make_default_ref_joint_order ()

const CompoundJointConstraintDescriptionVector &	compoundJoints () const

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

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

std::string	real_urdf () const

const DevicePtrVector &	devices () const

const std::vector< FrameDescription > &	frames () const noexcept

Public Attributes
RobotConverterConfig	controlToCanonicalConfig

std::function< void(const mc_rbdyn::Robot &control, mc_rbdyn::Robot &canonical)>	controlToCanonicalPostProcess

std::string	path

std::string	name

std::string	urdf_path

std::string	rsdf_dir

std::string	calib_dir

rbd::MultiBody	mb

rbd::MultiBodyConfig	mbc

rbd::MultiBodyGraph	mbg

bounds_t	_bounds

accelerationBounds_t	_accelerationBounds

jerkBounds_t	_jerkBounds

torqueDerivativeBounds_t	_torqueDerivativeBounds

std::map< std::string, std::vector< double > >	_stance

std::map< std::string, std::pair< std::string, std::string > >	_convexHull

std::map< std::string, std::pair< std::string, S_ObjectPtr > >	_collisionObjects

std::map< std::string, std::pair< std::string, std::string > >	_stpbvHull

VisualMap	_visual

VisualMap	_collision

std::map< std::string, sva::PTransformd >	_collisionTransforms

std::vector< Flexibility >	_flexibility

std::vector< ForceSensor >	_forceSensors

BodySensorVector	_bodySensors

std::vector< JointSensor >	_jointSensors

Springs	_springs

std::vector< mc_rbdyn::Collision >	_minimalSelfCollisions

std::vector< mc_rbdyn::Collision >	_commonSelfCollisions

std::vector< Gripper >	_grippers

Gripper::Safety	_gripperSafety

std::vector< std::string >	_ref_joint_order

std::array< double, 7 >	_default_attitude = {{1., 0., 0., 0., 0., 0., 0.}}

CompoundJointConstraintDescriptionVector	_compoundJoints

std::vector< std::string >	_parameters

std::vector< std::string >	_canonicalParameters

mc_rbdyn::lipm_stabilizer::StabilizerConfiguration	_lipmStabilizerConfig

std::string	_real_urdf

DevicePtrVector	_devices

std::vector< FrameDescription >	_frames

Member Typedef Documentation

◆ accelerationBounds_t

using mc_rbdyn::RobotModule::accelerationBounds_t = std::vector<std::map<std::string, std::vector<double> >>

Holds information regarding the additional acceleration bounds (specified in addition to urdf limits)

The vector should have 2 entries:

lower/upper acceleration bounds

Each entry is a map joint name <-> bound

◆ bounds_t

using mc_rbdyn::RobotModule::bounds_t = std::vector<std::map<std::string, std::vector<double> >>

Holds information regarding the bounds (specified in the urdf)

The vector should have 6 entries:

lower/upper position bounds
lower/upper velocity bounds
lower/upper torque bounds

Each entry is a map joint name <-> bound

◆ jerkBounds_t

using mc_rbdyn::RobotModule::jerkBounds_t = std::vector<std::map<std::string, std::vector<double> >>

Holds information regarding the additional jerk bounds (specified in addition to urdf limits)

The vector should have 2 entries:

lower/upper jerk bounds

Each entry is a map joint name <-> bound

◆ torqueDerivativeBounds_t

using mc_rbdyn::RobotModule::torqueDerivativeBounds_t = std::vector<std::map<std::string, std::vector<double> >>

Holds information regarding the additional torque-derivative bounds (specified in addition to urdf limits)

The vector should have 2 entries:

lower/upper torque-derivative bounds

Each entry is a map joint name <-> bound

Constructor & Destructor Documentation

◆ RobotModule() [1/3]

mc_rbdyn::RobotModule::RobotModule	(	const std::string &	path,
		const std::string &	name
	)

inline

Construct from a provided path and name

As a result:

name is defined as name
path is defined as path
urdf_path is path + /urdf/ + name + .urdf
rsdf_dir is path + /rsdf/ + name
calib_dir is path + /calib/ + name:q

No further action is taken. This constructor is useful to inherit from

Parameters

path	Path to the robot description
name	Name of the robot

◆ RobotModule() [2/3]

mc_rbdyn::RobotModule::RobotModule	(	const std::string &	path,
		const std::string &	name,
		const std::string &	urdf_path
	)

inline

Construct from a provided path, name and urdf_path

See also: RobotModule(const std::string &, const std::string &)

The different is that urdf_path is defined to urdf_path

Parameters

path	Path to the robot description
name	Name of the robot
urdf_path	Path to the robot URDF

◆ RobotModule() [3/3]

mc_rbdyn::RobotModule::RobotModule	(	const std::string &	name,
		const rbd::parsers::ParserResult &	res
	)

Construct from a parser result

Member Function Documentation

◆ accelerationBounds()

const std::vector<std::map<std::string, std::vector<double> > >& mc_rbdyn::RobotModule::accelerationBounds ( ) const

inline

Returns the robot's acceleration bounds

The vector should hold 2 string -> vector<double> map

Each map's keys are joint names and values are joint limits.

They should be provided in the following order:

acceleration limits (lower/upper)

◆ bodySensors()

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

inline

Return the body sensors of the robot

See also: mc_rbdyn::BodySensor for details on the expected data

◆ bounds()

const std::vector<std::map<std::string, std::vector<double> > >& mc_rbdyn::RobotModule::bounds ( ) const

inline

Returns the robot's bounds obtained from parsing a urdf

The vector should hold 6 string -> vector<double> map

Each map's keys are joint names and values are joint limits.

They should be provided in the following order:

joint limits (lower/upper)
velocity limits (lower/upper)
torque limits (lower/upper)

◆ boundsFromURDF()

void mc_rbdyn::RobotModule::boundsFromURDF ( const rbd::parsers::Limits & limits )

Generate correct bounds from URDF bounds

URDF outputs bounds in {lower, upper, velocity, torque} forms

This function set _bounds to: {lower, upper, -velocity, velocity, -torque, torque}

◆ canonicalParameters()

const std::vector<std::string>& mc_rbdyn::RobotModule::canonicalParameters ( ) const

inline

Returns the list of parameters to get a RobotModule that is a canonical representation of this module

◆ collisionObjects()

const std::map<std::string, std::pair<std::string, S_ObjectPtr> >& mc_rbdyn::RobotModule::collisionObjects ( ) const

inline

Returns a map describing collision objects for the robot

A key defines a valid collision name, there should be no collision with the names convexHull()

A value is composed of two strings:

the name of the body the object is attached to
the collision object

The transformation between the convex and the body it's attached to are provided in a separate map see collisionTransforms()

◆ collisionTransforms()

const std::map<std::string, sva::PTransformd>& mc_rbdyn::RobotModule::collisionTransforms ( ) const

inline

Returns a map describing the transformation between convex/STPBV hulls and their parent bodies

A key defines the collision name. The value is the transformation between this collision object and its parent body

◆ commonSelfCollisions()

const std::vector<mc_rbdyn::Collision>& mc_rbdyn::RobotModule::commonSelfCollisions ( ) const

inline

Return a common self-collision set

This set of collision describe self-collisions that you want to enable for general applications. Generally this is a super-set of minimalSelfCollisions

See also: mc_rbdyn::Collision for details on the expected data

◆ compoundJoints()

const CompoundJointConstraintDescriptionVector& mc_rbdyn::RobotModule::compoundJoints ( ) const

inline

Returns a list of compound joint constraint description

See also: mc_rbdyn::CompoundJointConstraintDescription for details on the expected data

◆ convexHull()

const std::map<std::string, std::pair<std::string, std::string> >& mc_rbdyn::RobotModule::convexHull ( ) const

inline

Returns a map describing the convex hulls for the robot

A key defines a valid collision name, there should be no collision with the names in collisionObjects()

A value is composed of two strings:

the name of the body the convex is attached to
the path to the file containing the convex description

The transformation between the convex and the body it's attached to are provided in a separate map see collisionTransforms()

◆ default_attitude()

const std::array<double, 7>& mc_rbdyn::RobotModule::default_attitude ( ) const

inline

Return the default attitude of the floating base

This attitute is associated to the stance() configuration

◆ defaultLIPMStabilizerConfiguration()

const mc_rbdyn::lipm_stabilizer::StabilizerConfiguration& mc_rbdyn::RobotModule::defaultLIPMStabilizerConfiguration ( ) const

inline

Return default configuration for the lipm stabilizer

◆ devices()

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

inline

Returns a list of non standard sensors supported by this module

◆ expand_stance()

void mc_rbdyn::RobotModule::expand_stance ( )

Add missing elements to the current module stance

If joints are present in the MultiBody but absent from the default stance, this will add a default value for this joint to the stance (the joint's zero configuration).

◆ flexibility()

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

inline

Return the flexibilities of the robot

See also: mc_rbdyn::Flexibility for details on the expected data

◆ forceSensors()

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

inline

Return the force sensors of the robot

See also: mc_rbdyn::ForceSensor for details on the expected data

◆ frames()

const std::vector<FrameDescription>& mc_rbdyn::RobotModule::frames ( ) const

inlinenoexcept

Returns a list of robot frames supported by this module

◆ grippers()

const std::vector<Gripper>& mc_rbdyn::RobotModule::grippers ( ) const

inline

Return the grippers in the robot

See also: mc_rbdyn::Gripper for details on the expected data

◆ gripperSafety()

const Gripper::Safety& mc_rbdyn::RobotModule::gripperSafety ( ) const

inline

Returns default gripper safety parameters if one is not provided by a gripper.

This can also be used to provide identical settings for every grippers in a robot

See also: mc_rbdyn::Gripper::Safety for details on the safety parameters

◆ init()

void mc_rbdyn::RobotModule::init ( const rbd::parsers::ParserResult & res )

Initialize the module from a parser result

Initialize mb, mbc and mbg
Initial limits
Initialize _collisionTransforms
Initialize _visual
Create a default joint order
Create a default stance

◆ jerkBounds()

const std::vector<std::map<std::string, std::vector<double> > >& mc_rbdyn::RobotModule::jerkBounds ( ) const

inline

Returns the robot's jerk bounds

The vector should hold 2 string -> vector<double> map

Each map's keys are joint names and values are joint limits.

They should be provided in the following order:

jerk limits (lower/upper)

◆ jointSensors()

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

inline

Return the joint sensors of the robot

See also: mc_rbdyn::JointSensor for details on the expected data

◆ make_default_ref_joint_order()

void mc_rbdyn::RobotModule::make_default_ref_joint_order ( )

Make a valid ref_joint_order

If ref_joint_order() is empty, this will generate a list of actuated joints in the order they appear in the kinematic tree

◆ minimalSelfCollisions()

const std::vector<mc_rbdyn::Collision>& mc_rbdyn::RobotModule::minimalSelfCollisions ( ) const

inline

Return a minimal self-collision set

This set of collision describe self-collisions that you always want to enable regardless of the application

See also: mc_rbdyn::Collision for details on the expected data

◆ parameters()

const std::vector<std::string>& mc_rbdyn::RobotModule::parameters ( ) const

inline

Returns the list of parameters passed to mc_rbdyn::RobotLoader::get_robot_module to obtain this module

◆ real_urdf()

std::string mc_rbdyn::RobotModule::real_urdf ( ) const

inline

Returns the path to a "real" URDF file

This will be used to show a visually distinct robot for displaying the control and observed models simulatenously.

This defaults to urdf_path

◆ ref_joint_order()

const std::vector<std::string>& mc_rbdyn::RobotModule::ref_joint_order ( ) const

inline

Return the reference (native controller) joint order of the robot

If it is empty, make_default_ref_joint_order() will be used to generate one

◆ springs()

const Springs& mc_rbdyn::RobotModule::springs ( ) const

inline

Return the springs of a robot

See also: mc_rbdyn::Spring for details on the expected data

◆ stance()

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

inline

Returns a default configuration for the robot

Keys are joint names and values are joint configurations.

It should be ok to include joints that are not in the robot (e.g. generate the same default stance for variants of a robot. However, each actuated joint in the robot should have a valid entry, see expand_stance

For the floating base see default_attitude

◆ stpbvHull()

const std::map<std::string, std::pair<std::string, std::string> >& mc_rbdyn::RobotModule::stpbvHull ( ) const

inline

Returns a map describing the STPBV hulls for the robot

A key defines a valid collision name, a value is composed of two strings:

the name of the body the convex is attached to
the path to the file containing the STPBV description

The transformation between the STPBV and the body it's attached to are provided in a separate map see collisionTransforms()

◆ torqueDerivativeBounds()

const std::vector<std::map<std::string, std::vector<double> > >& mc_rbdyn::RobotModule::torqueDerivativeBounds ( ) const

inline

Returns the robot's torque-derivative bounds

The vector should hold 2 string -> vector<double> map

Each map's keys are joint names and values are joint limits.

They should be provided in the following order:

torque-derivative limits (lower/upper)

Member Data Documentation

◆ _accelerationBounds

accelerationBounds_t mc_rbdyn::RobotModule::_accelerationBounds

See also: accelerationBounds()

◆ _bodySensors

BodySensorVector mc_rbdyn::RobotModule::_bodySensors

See also: bodySensors()

◆ _bounds

bounds_t mc_rbdyn::RobotModule::_bounds

See also: bounds()

◆ _canonicalParameters

std::vector<std::string> mc_rbdyn::RobotModule::_canonicalParameters

See also: canonicalParameters()

◆ _collision

VisualMap mc_rbdyn::RobotModule::_collision

Holds collision representation of bodies in the robot

◆ _collisionObjects

std::map<std::string, std::pair<std::string, S_ObjectPtr> > mc_rbdyn::RobotModule::_collisionObjects

See also: collisionObjects()

◆ _collisionTransforms

std::map<std::string, sva::PTransformd> mc_rbdyn::RobotModule::_collisionTransforms

See also: collisionTransforms()

◆ _commonSelfCollisions

std::vector<mc_rbdyn::Collision> mc_rbdyn::RobotModule::_commonSelfCollisions

See also: commonSelfCollisions()

◆ _compoundJoints

CompoundJointConstraintDescriptionVector mc_rbdyn::RobotModule::_compoundJoints

See also: compoundJoints()

◆ _convexHull

std::map<std::string, std::pair<std::string, std::string> > mc_rbdyn::RobotModule::_convexHull

See also: convexHull()

◆ _default_attitude

std::array<double, 7> mc_rbdyn::RobotModule::_default_attitude = {{1., 0., 0., 0., 0., 0., 0.}}

See also: default_attitude()

◆ _devices

DevicePtrVector mc_rbdyn::RobotModule::_devices

See also: sensors()

◆ _flexibility

std::vector<Flexibility> mc_rbdyn::RobotModule::_flexibility

See also: flexibility()

◆ _forceSensors

std::vector<ForceSensor> mc_rbdyn::RobotModule::_forceSensors

See also: forceSensors()

◆ _frames

std::vector<FrameDescription> mc_rbdyn::RobotModule::_frames

See also: frames()

◆ _grippers

std::vector<Gripper> mc_rbdyn::RobotModule::_grippers

See also: grippers()

◆ _gripperSafety

Gripper::Safety mc_rbdyn::RobotModule::_gripperSafety

See also: gripperSafety()

◆ _jerkBounds

jerkBounds_t mc_rbdyn::RobotModule::_jerkBounds

See also: jerkBounds()

◆ _jointSensors

std::vector<JointSensor> mc_rbdyn::RobotModule::_jointSensors

See also: jointSensors()

◆ _lipmStabilizerConfig

mc_rbdyn::lipm_stabilizer::StabilizerConfiguration mc_rbdyn::RobotModule::_lipmStabilizerConfig

See also: defaultLIPMStabilizerConfiguration()

◆ _minimalSelfCollisions

std::vector<mc_rbdyn::Collision> mc_rbdyn::RobotModule::_minimalSelfCollisions

See also: minimalSelfCollisions()

◆ _parameters

std::vector<std::string> mc_rbdyn::RobotModule::_parameters

See also: parameters()

◆ _real_urdf

std::string mc_rbdyn::RobotModule::_real_urdf

See also: real_urdf()

◆ _ref_joint_order

std::vector<std::string> mc_rbdyn::RobotModule::_ref_joint_order

See also: ref_joint_order()

◆ _springs

Springs mc_rbdyn::RobotModule::_springs

See also: springs()

◆ _stance

std::map<std::string, std::vector<double> > mc_rbdyn::RobotModule::_stance

See also: stance()

◆ _stpbvHull

std::map<std::string, std::pair<std::string, std::string> > mc_rbdyn::RobotModule::_stpbvHull

See also: stpbvHull()

◆ _torqueDerivativeBounds

torqueDerivativeBounds_t mc_rbdyn::RobotModule::_torqueDerivativeBounds

See also: torqueDerivativeBounds()

◆ _visual

VisualMap mc_rbdyn::RobotModule::_visual

Holds visual representation of bodies in the robot

◆ calib_dir

std::string mc_rbdyn::RobotModule::calib_dir

Path to the robot's calib folder

◆ controlToCanonicalConfig

RobotConverterConfig mc_rbdyn::RobotModule::controlToCanonicalConfig

Returns the configuration for the control to canonical conversion

The default configuration:

copies the common configuration values from the control model to the canonical model
copies the initial encoders value into the canonical model for other joints
enforce mimic relations
copy the world pose of the control model to the canonical model

◆ controlToCanonicalPostProcess

std::function<void(const mc_rbdyn::Robot & control, mc_rbdyn::Robot & canonical)> mc_rbdyn::RobotModule::controlToCanonicalPostProcess

Initial value:

=

[](const mc_rbdyn::Robot &, mc_rbdyn::Robot &) {}

◆ mb

rbd::MultiBody mc_rbdyn::RobotModule::mb

RBDyn representation of this robot

◆ mbc

rbd::MultiBodyConfig mc_rbdyn::RobotModule::mbc

RBDyn configuration of this robot

◆ mbg

rbd::MultiBodyGraph mc_rbdyn::RobotModule::mbg

RBDyn graph representation of this robot

◆ name

std::string mc_rbdyn::RobotModule::name

(default) Name of the robot

◆ path

std::string mc_rbdyn::RobotModule::path

Path to the robot's description package

◆ rsdf_dir

std::string mc_rbdyn::RobotModule::rsdf_dir

Path to the robot's RSDF folder

◆ urdf_path

std::string mc_rbdyn::RobotModule::urdf_path

Path to the robot's URDF file

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

include/mc_rbdyn/RobotModule.h

Classes

Public Types

Public Member Functions

Public Attributes

Member Typedef Documentation

◆ accelerationBounds_t

◆ bounds_t

◆ jerkBounds_t

◆ torqueDerivativeBounds_t

Constructor & Destructor Documentation

◆ RobotModule() [1/3]

◆ RobotModule() [2/3]

◆ RobotModule() [3/3]

Member Function Documentation

◆ accelerationBounds()

◆ bodySensors()

◆ bounds()

◆ boundsFromURDF()

◆ canonicalParameters()

◆ collisionObjects()

◆ collisionTransforms()

◆ commonSelfCollisions()

◆ compoundJoints()

◆ convexHull()

◆ default_attitude()

◆ defaultLIPMStabilizerConfiguration()

◆ devices()

◆ expand_stance()

◆ flexibility()

◆ forceSensors()

◆ frames()

◆ grippers()

◆ gripperSafety()

◆ init()

◆ jerkBounds()

◆ jointSensors()

◆ make_default_ref_joint_order()

◆ minimalSelfCollisions()

◆ parameters()

◆ real_urdf()

◆ ref_joint_order()

◆ springs()

◆ stance()

◆ stpbvHull()

◆ torqueDerivativeBounds()

Member Data Documentation

◆ _accelerationBounds

◆ _bodySensors

◆ _bounds

◆ _canonicalParameters

◆ _collision

◆ _collisionObjects

◆ _collisionTransforms

◆ _commonSelfCollisions

◆ _compoundJoints

◆ _convexHull

◆ _default_attitude

◆ _devices

◆ _flexibility

◆ _forceSensors

◆ _frames

◆ _grippers

◆ _gripperSafety

◆ _jerkBounds

◆ _jointSensors

◆ _lipmStabilizerConfig

◆ _minimalSelfCollisions

◆ _parameters

◆ _real_urdf

◆ _ref_joint_order

◆ _springs

◆ _stance

◆ _stpbvHull

◆ _torqueDerivativeBounds

◆ _visual

◆ calib_dir

◆ controlToCanonicalConfig

◆ controlToCanonicalPostProcess

◆ mb

◆ mbc