#include <mc_tvm/Robot.h>

Inheritance diagram for mc_tvm::Robot:

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Collaboration diagram for mc_tvm::Robot:

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Classes
struct	NewRobotToken

Public Types
using	mimic_variables_t = std::pair< tvm::VariableVector, Eigen::VectorXd >

Public Types inherited from tvm::graph::internal::AbstractNode
enum	Update_

typedef AbstractNode	UpdateParent

typedef AbstractNode	UpdateBase

Public Types inherited from tvm::graph::internal::Inputs
typedef std::unordered_map< abstract::Outputs *, std::set< int > >	inputs_t

typedef std::unordered_set< std::shared_ptr< abstract::Outputs > >	store_t

Public Types inherited from tvm::graph::abstract::Outputs
enum	Output_

typedef Outputs	OutputParent

typedef Outputs	OutputBase

Public Member Functions
	Robot (NewRobotToken, const mc_rbdyn::Robot &robot)

	Robot (Robot &&)=delete

Robot &	operator= (Robot &&)=delete

	Robot (const Robot &)=delete

Robot &	operator= (const Robot &)=delete

const mc_rbdyn::Robot &	robot () const

const Limits &	limits () const noexcept

Limits &	limits () noexcept

const tvm::VariablePtr &	q () const noexcept

tvm::VariablePtr &	q () noexcept

const tvm::VariablePtr &	alpha () const noexcept

tvm::VariablePtr &	alpha () noexcept

const tvm::VariablePtr &	alphaD () const noexcept

tvm::VariablePtr &	alphaD () noexcept

const tvm::VariablePtr &	qFloatingBase () const noexcept

tvm::VariablePtr &	qFloatingBase () noexcept

const tvm::VariablePtr &	qJoints () const noexcept

tvm::VariablePtr &	qJoints () noexcept

tvm::VariablePtr	qJoint (size_t jIdx)

tvm::VariablePtr	qJoint (const std::string &jName)

const std::map< tvm::VariablePtr, mimic_variables_t > &	mimics () const noexcept

std::map< tvm::VariablePtr, mimic_variables_t > &	mimics () noexcept

const tvm::VariablePtr &	tau () const noexcept

tvm::VariablePtr &	tau ()

const CoM &	comAlgo () const noexcept

CoM &	comAlgo () noexcept

const Momentum &	momentumAlgo () const noexcept

Momentum &	momentumAlgo () noexcept

const Eigen::MatrixXd &	H () const noexcept

const Eigen::VectorXd &	C () const noexcept

const std::vector< sva::MotionVecd > &	normalAccB () const noexcept

Eigen::DenseIndex	refJointIndexToQIndex (size_t jointIndex) const

Eigen::DenseIndex	refJointIndexToQDotIndex (size_t jointIndex) const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

void	addInput (T &source, EnumI i, Args... args)

void	removeInput (T *source)

void	removeInput (T *source, Args... args)

Iterator	getInput (T *source)

Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Friends
struct	mc_rbdyn::Robot

Additional Inherited Members
Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize

static constexpr auto	UpdateBaseName

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize

static constexpr auto	OutputBaseName

Protected Types inherited from tvm::graph::internal::AbstractNode
typedef std::map< Outputs *, std::set< int > >	input_dependency_t

Protected Member Functions inherited from tvm::graph::abstract::Node< class >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_

Detailed Description

Represent a robot managed by the optimization problem

It is created through an mc_rbdyn::Robot

It provides signals that are relevant for computing quantities related to the robot.

Variables:

q (split between free-flyer and joints)
tau (see Outputs)

Individual outputs:

FK: forward kinematics (computed by RBDyn::FK)
FV: forward velocity (computed by RBDyn::FV), depends on FK
FA: forward acceleration (computed by RBDyn::FA), depends on FV
NormalAcceleration: update bodies' normal acceleration, depends on FV
tau: generalized torque vector
H: inertia matrix signal, depends on FV
C: non-linear effect vector signal (Coriolis, gravity, external forces), depends on FV

Meta outputs: These outputs are provided for convenience sake

Geometry: depends on FK
Dynamics: depends on FA + normalAcceleration (i.e. everything)

Member Typedef Documentation

◆ mimic_variables_t

using mc_tvm::Robot::mimic_variables_t = std::pair<tvm::VariableVector, Eigen::VectorXd>

Constructor & Destructor Documentation

◆ Robot() [1/3]

mc_tvm::Robot::Robot	(	NewRobotToken	,
		const mc_rbdyn::Robot &	robot
	)

◆ Robot() [2/3]

mc_tvm::Robot::Robot ( Robot && )

delete

◆ Robot() [3/3]

mc_tvm::Robot::Robot ( const Robot & )

delete

Member Function Documentation

◆ alpha() [1/2]

const tvm::VariablePtr& mc_tvm::Robot::alpha ( ) const

inlinenoexcept

Access q first derivative (joint velocity) (const)

◆ alpha() [2/2]

tvm::VariablePtr& mc_tvm::Robot::alpha ( )

inlinenoexcept

Access q first derivative (joint velocity)

◆ alphaD() [1/2]

const tvm::VariablePtr& mc_tvm::Robot::alphaD ( ) const

inlinenoexcept

Access q second derivative (joint acceleration) (const)

◆ alphaD() [2/2]

tvm::VariablePtr& mc_tvm::Robot::alphaD ( )

inlinenoexcept

Access q second derivative (joint acceleration)

◆ C()

const Eigen::VectorXd& mc_tvm::Robot::C ( ) const

inlinenoexcept

Returns the non-linear dynamics component

◆ comAlgo() [1/2]

const CoM& mc_tvm::Robot::comAlgo ( ) const

inlinenoexcept

Returns the CoM algorithm associated to this robot (const)

◆ comAlgo() [2/2]

CoM& mc_tvm::Robot::comAlgo ( )

inlinenoexcept

Returns the CoM algorithm associated to this robot

◆ H()

const Eigen::MatrixXd& mc_tvm::Robot::H ( ) const

inlinenoexcept

Returns the mass matrix

◆ limits() [1/2]

const Limits& mc_tvm::Robot::limits ( ) const

inlinenoexcept

Retrieve the joint limits (const)

◆ limits() [2/2]

Limits& mc_tvm::Robot::limits ( )

inlinenoexcept

Retrieve the joint limits

◆ mimics() [1/2]

const std::map<tvm::VariablePtr, mimic_variables_t>& mc_tvm::Robot::mimics ( ) const

inlinenoexcept

Access mimics' variable map (const)

◆ mimics() [2/2]

std::map<tvm::VariablePtr, mimic_variables_t>& mc_tvm::Robot::mimics ( )

inlinenoexcept

Access mimics' variable map

◆ momentumAlgo() [1/2]

const Momentum& mc_tvm::Robot::momentumAlgo ( ) const

inlinenoexcept

Returns the momentum algorithm associated with this robot (const)

◆ momentumAlgo() [2/2]

Momentum& mc_tvm::Robot::momentumAlgo ( )

inlinenoexcept

Returns the momentum algorithm associated with this robot (const)

◆ normalAccB()

const std::vector<sva::MotionVecd>& mc_tvm::Robot::normalAccB ( ) const

inlinenoexcept

Vector of normal acceleration in body coordinates

◆ operator=() [1/2]

Robot& mc_tvm::Robot::operator= ( const Robot & )

delete

◆ operator=() [2/2]

Robot& mc_tvm::Robot::operator= ( Robot && )

delete

◆ q() [1/2]

const tvm::VariablePtr& mc_tvm::Robot::q ( ) const

inlinenoexcept

Access q variable (const)

◆ q() [2/2]

tvm::VariablePtr& mc_tvm::Robot::q ( )

inlinenoexcept

Access q variable

◆ qFloatingBase() [1/2]

const tvm::VariablePtr& mc_tvm::Robot::qFloatingBase ( ) const

inlinenoexcept

Access floating-base variable (const)

◆ qFloatingBase() [2/2]

tvm::VariablePtr& mc_tvm::Robot::qFloatingBase ( )

inlinenoexcept

Access free-flyer variable

◆ qJoint() [1/2]

tvm::VariablePtr mc_tvm::Robot::qJoint ( const std::string & jName )

inline

Given a joint name, returns the TVM variable it belongs to and the index of the joint in this variable

Parameters

jName Joint name

Exceptions

If	the robot does not have such a joint or the joint is not actuated

◆ qJoint() [2/2]

tvm::VariablePtr mc_tvm::Robot::qJoint ( size_t jIdx )

Given a joint index creates a TVM variable corresponding to this variable

Warning: This returns a different object (but the same variable from TVM pov) each time this function is called

Parameters

jIdx	Joint index

Exceptions

If	the joint index is out of bounds or the joint is not actuated

◆ qJoints() [1/2]

const tvm::VariablePtr& mc_tvm::Robot::qJoints ( ) const

inlinenoexcept

Access joints variable (const)

◆ qJoints() [2/2]

tvm::VariablePtr& mc_tvm::Robot::qJoints ( )

inlinenoexcept

Access joints variable

◆ refJointIndexToQDotIndex()

Eigen::DenseIndex mc_tvm::Robot::refJointIndexToQDotIndex ( size_t jointIndex ) const

inline

Given a joint index in the reference joint order, returns the corresponding joint index in the q derivatives variable

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

Parameters

jointIndex Joint index in refJointOrder

Returns: joint index in q

◆ refJointIndexToQIndex()

Eigen::DenseIndex mc_tvm::Robot::refJointIndexToQIndex ( size_t jointIndex ) const

inline

Given a joint index in the reference joint order, returns the corresponding joint index in the q variable

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

Parameters

jointIndex Joint index in refJointOrder

Returns: joint index in q

◆ robot()

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

inline

Retrieve the associated robot (const)

Exceptions

If	the original robot has been destroyed

◆ tau() [1/2]

tvm::VariablePtr& mc_tvm::Robot::tau ( )

inline

Access tau variable

◆ tau() [2/2]

const tvm::VariablePtr& mc_tvm::Robot::tau ( ) const

inlinenoexcept

Access tau variable (const)

Friends And Related Function Documentation

◆ mc_rbdyn::Robot

friend struct mc_rbdyn::Robot

friend

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

include/mc_tvm/Robot.h

Classes

Public Types

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ mimic_variables_t

Constructor & Destructor Documentation

◆ Robot() [1/3]

◆ Robot() [2/3]

◆ Robot() [3/3]

Member Function Documentation

◆ alpha() [1/2]

◆ alpha() [2/2]

◆ alphaD() [1/2]

◆ alphaD() [2/2]

◆ C()

◆ comAlgo() [1/2]

◆ comAlgo() [2/2]

◆ H()

◆ limits() [1/2]

◆ limits() [2/2]

◆ mimics() [1/2]

◆ mimics() [2/2]

◆ momentumAlgo() [1/2]

◆ momentumAlgo() [2/2]

◆ normalAccB()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ q() [1/2]

◆ q() [2/2]

◆ qFloatingBase() [1/2]

◆ qFloatingBase() [2/2]

◆ qJoint() [1/2]

◆ qJoint() [2/2]

◆ qJoints() [1/2]

◆ qJoints() [2/2]

◆ refJointIndexToQDotIndex()

◆ refJointIndexToQIndex()

◆ robot()

◆ tau() [1/2]

◆ tau() [2/2]

Friends And Related Function Documentation

◆ mc_rbdyn::Robot