mc_tvm::Robot Struct Reference

#include <mc_tvm/Robot.h>

Inheritance diagram for mc_tvm::Robot:

Collaboration diagram for mc_tvm::Robot:

Classes
struct	NewRobotToken

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

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

Friends
struct	mc_rbdyn::Robot

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

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

• include/mc_tvm/Robot.h