#include <mc_tvm/RobotFrame.h>

Inheritance diagram for mc_tvm::RobotFrame:

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Collaboration diagram for mc_tvm::RobotFrame:

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Classes
struct	NewRobotFrameToken

Public Member Functions
	RobotFrame (NewRobotFrameToken, const mc_rbdyn::RobotFrame &frame)

const tvm::internal::MatrixWithProperties &	jacobian () const noexcept

const sva::MotionVecd &	normalAcceleration () const noexcept

const tvm::internal::MatrixWithProperties &	JDot () const noexcept

const rbd::Jacobian &	rbdJacobian () const noexcept

const mc_rbdyn::RobotFrame &	frame () const noexcept

Public Member Functions inherited from mc_tvm::Frame
	Frame (NewFrameToken, const mc_rbdyn::Frame &frame)

const sva::PTransformd &	position () const noexcept

const sva::MotionVecd &	velocity () const noexcept

const mc_rbdyn::Frame &	frame () const noexcept

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

Protected Member Functions
void	updateJacobian ()

void	updateNormalAcceleration ()

void	updateJDot ()

Protected Member Functions inherited from mc_tvm::Frame
void	updatePosition ()

void	updateVelocity ()

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
Eigen::Matrix3d	h_ = Eigen::Matrix3d::Zero()

rbd::Jacobian	jac_

rbd::Blocks	blocks_

Eigen::MatrixXd	jacTmp_

tvm::internal::MatrixWithProperties	jacobian_

sva::MotionVecd	normalAcceleration_

tvm::internal::MatrixWithProperties	jacDot_

Protected Attributes inherited from mc_tvm::Frame
const mc_rbdyn::Frame &	frame_

sva::PTransformd	position_ = sva::PTransformd::Identity()

sva::MotionVecd	velocity_ = sva::MotionVecd::Zero()

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_

Friends
struct	mc_rbdyn::RobotFrame

Additional Inherited Members
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

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

Detailed Description

A frame associated to an mc_rbdyn::RobotFrame

Provides the frame position, jacobian, velocity and normal acceleration. These signals are correctly initialized on the object's creation.

Outputs:

Position: position of the frame in world coordinates
Jacobian: jacobian of the frame in world coordinates
Velocity: velocity of the frame in world coordinates
NormalAcceleration: normal acceleration of the frame in world coordinates
JDot: derivative of the jacobian of the frame in world coordinate

Constructor & Destructor Documentation

◆ RobotFrame()

mc_tvm::RobotFrame::RobotFrame	(	NewRobotFrameToken	,
		const mc_rbdyn::RobotFrame &	frame
	)

Member Function Documentation

◆ frame()

const mc_rbdyn::RobotFrame& mc_tvm::RobotFrame::frame ( ) const

inlinenoexcept

Returns the associated mc_rbdyn RobotFrame

◆ jacobian()

const tvm::internal::MatrixWithProperties& mc_tvm::RobotFrame::jacobian ( ) const

inlinenoexcept

Frame's jacobian

◆ JDot()

const tvm::internal::MatrixWithProperties& mc_tvm::RobotFrame::JDot ( ) const

inlinenoexcept

Frame's jacobian time derivative

◆ normalAcceleration()

const sva::MotionVecd& mc_tvm::RobotFrame::normalAcceleration ( ) const

inlinenoexcept

Frame's normal acceleration in inertial frame

◆ rbdJacobian()

const rbd::Jacobian& mc_tvm::RobotFrame::rbdJacobian ( ) const

inlinenoexcept

Access the internal RBDyn Jacobian object

You can copy the jacobian from this reference.

This is useful if your entity requires:

the body jacobian
the jacobian translated at varying position

◆ updateJacobian()

void mc_tvm::RobotFrame::updateJacobian ( )

protected

◆ updateJDot()

void mc_tvm::RobotFrame::updateJDot ( )

protected

◆ updateNormalAcceleration()

void mc_tvm::RobotFrame::updateNormalAcceleration ( )

protected

Friends And Related Function Documentation

◆ mc_rbdyn::RobotFrame

friend struct mc_rbdyn::RobotFrame

friend

Member Data Documentation

◆ blocks_

rbd::Blocks mc_tvm::RobotFrame::blocks_

protected

◆ h_

Eigen::Matrix3d mc_tvm::RobotFrame::h_ = Eigen::Matrix3d::Zero()

protected

◆ jac_

rbd::Jacobian mc_tvm::RobotFrame::jac_

protected

◆ jacDot_

tvm::internal::MatrixWithProperties mc_tvm::RobotFrame::jacDot_

protected

◆ jacobian_

tvm::internal::MatrixWithProperties mc_tvm::RobotFrame::jacobian_

protected

◆ jacTmp_

Eigen::MatrixXd mc_tvm::RobotFrame::jacTmp_

protected

◆ normalAcceleration_

sva::MotionVecd mc_tvm::RobotFrame::normalAcceleration_

protected

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

include/mc_tvm/RobotFrame.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RobotFrame()

Member Function Documentation

◆ frame()

◆ jacobian()

◆ JDot()

◆ normalAcceleration()

◆ rbdJacobian()

◆ updateJacobian()

◆ updateJDot()

◆ updateNormalAcceleration()

Friends And Related Function Documentation

◆ mc_rbdyn::RobotFrame

Member Data Documentation

◆ blocks_

◆ h_

◆ jac_

◆ jacDot_

◆ jacobian_

◆ jacTmp_

◆ normalAcceleration_