#include <tvm/Robot.h>

Inheritance diagram for tvm::Robot:

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Collaboration diagram for tvm::Robot:

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Public Member Functions
	Robot (Clock &clock, const std::string &name, rbd::MultiBodyGraph &mbg, rbd::MultiBody mb, rbd::MultiBodyConfig mbc, const rbd::parsers::Limits &limits={{}, {}, {}, {}})

const std::string &	name () const

double	mass () const

const VariableVector &	q () const

VariableVector &	q ()

const VariablePtr &	qFreeFlyer () const

VariablePtr &	qFreeFlyer ()

const VariablePtr &	qJoints () const

VariablePtr &	qJoints ()

const VariablePtr &	tau () const

VariablePtr &	tau ()

const rbd::MultiBody &	mb () const

rbd::MultiBody &	mb ()

const rbd::MultiBodyConfig &	mbc () const

rbd::MultiBodyConfig &	mbc ()

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

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

const Eigen::VectorXd &	lQBound () const

Eigen::VectorXd &	lQBound ()

const Eigen::VectorXd &	uQBound () const

Eigen::VectorXd &	uQBound ()

const Eigen::VectorXd &	lVelBound () const

Eigen::VectorXd &	lVelBound ()

const Eigen::VectorXd &	uVelBound () const

Eigen::VectorXd &	uVelBound ()

const Eigen::VectorXd &	lTauBound () const

Eigen::VectorXd &	lTauBound ()

const Eigen::VectorXd &	uTauBound () const

Eigen::VectorXd &	uTauBound ()

const Eigen::MatrixXd &	H () const

const Eigen::VectorXd &	C () const

const Eigen::Vector3d &	com () const

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

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
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

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

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

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

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

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

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

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

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

using	OutputParent = Outputs

using	OutputBase = Outputs

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

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

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

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

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

Protected Member Functions inherited from tvm::graph::abstract::Node< Robot >
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_ = false

Detailed Description

Represent a Robot

A robot is constructed by providing instances of MultiBodyGraph, MultiBody and MultiBodyConfig that are created from each other. It provides signals that are relevant for computing quantities related to a 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 FA
tau: generalized torque vector, this output isn't currently linked to any computation
CoM: center of mass signal, depends on FK
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 CoM (i.e. CoM + FK)
Dynamics: depends on FA + normalAcceleration (i.e. everything)

Constructor & Destructor Documentation

◆ Robot()

tvm::Robot::Robot	(	Clock &	clock,
		const std::string &	name,
		rbd::MultiBodyGraph &	mbg,
		rbd::MultiBody	mb,
		rbd::MultiBodyConfig	mbc,
		const rbd::parsers::Limits &	limits = `{{}, {}, {}, {}}`
	)

Constructor

Parameters

clock	Clock used in the ControlProblem
name	Name of the robot
mbg	MultiBodyGraph used to create mb/mbc
mb	MultiBody representing the robot's kinematic structure
mbc	MultiBodyConfig giving the robot's initial configuration
limits	Joint limits

Member Function Documentation

◆ bodyTransform()

const sva::PTransformd& tvm::Robot::bodyTransform ( const std::string & b ) const

inline

Access the transformation that allows to retrieve the original base of a body

◆ C()

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

inline

Access the non-linear effect vector Access the non-linear effect vector (Coriolis, gravity, external force).

◆ com()

const Eigen::Vector3d& tvm::Robot::com ( ) const

inline

Access the CoM position

◆ H()

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

inline

Access the inertia matrix

◆ lQBound() [1/2]

Eigen::VectorXd& tvm::Robot::lQBound ( )

inline

Access the joints' lower position limit

◆ lQBound() [2/2]

const Eigen::VectorXd& tvm::Robot::lQBound ( ) const

inline

Access the joints' lower position limit (const)

◆ lTauBound() [1/2]

Eigen::VectorXd& tvm::Robot::lTauBound ( )

inline

Access the robot's lower torque limit

◆ lTauBound() [2/2]

const Eigen::VectorXd& tvm::Robot::lTauBound ( ) const

inline

Access the robot's lower torque limit (const)

◆ lVelBound() [1/2]

Eigen::VectorXd& tvm::Robot::lVelBound ( )

inline

Access the joints' lower velocity limit

◆ lVelBound() [2/2]

const Eigen::VectorXd& tvm::Robot::lVelBound ( ) const

inline

Access the joints' lower velocity limit (const)

◆ mass()

double tvm::Robot::mass ( ) const

inline

Returns the robot's mass

◆ mb() [1/2]

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

inline

Access the robot's related rbd::MultiBody

◆ mb() [2/2]

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

inline

Access the robot's related rbd::MultiBody (const)

◆ mbc() [1/2]

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

inline

Access the robot's related rbd::MultiBodyConfig

◆ mbc() [2/2]

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

inline

Access the robot's related rbd::MultiBodyConfig (const)

◆ name()

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

inline

Access the robot's name

◆ normalAccB() [1/2]

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

inline

Access the vector of normal acceleration expressed in the body's frame

◆ normalAccB() [2/2]

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

inline

Access the vector of normal acceleration expressed in the body's frame (const)

◆ q() [1/2]

VariableVector& tvm::Robot::q ( )

inline

Access q variable

◆ q() [2/2]

const VariableVector& tvm::Robot::q ( ) const

inline

Access q variable (const)

◆ qFreeFlyer() [1/2]

VariablePtr& tvm::Robot::qFreeFlyer ( )

inline

Access free-flyer variable

◆ qFreeFlyer() [2/2]

const VariablePtr& tvm::Robot::qFreeFlyer ( ) const

inline

Access free-flyer variable (const)

◆ qJoints() [1/2]

VariablePtr& tvm::Robot::qJoints ( )

inline

Access joints variable

◆ qJoints() [2/2]

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

inline

Access joints variable (const)

◆ tau() [1/2]

VariablePtr& tvm::Robot::tau ( )

inline

Access tau variable

◆ tau() [2/2]

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

inline

Access tau variable (const)

◆ uQBound() [1/2]

Eigen::VectorXd& tvm::Robot::uQBound ( )

inline

Access the joints' upper position limit

◆ uQBound() [2/2]

const Eigen::VectorXd& tvm::Robot::uQBound ( ) const

inline

Access the joints' upper position limit (const)

◆ uTauBound() [1/2]

Eigen::VectorXd& tvm::Robot::uTauBound ( )

inline

Access the robot's upper torque limit

◆ uTauBound() [2/2]

const Eigen::VectorXd& tvm::Robot::uTauBound ( ) const

inline

Access the robot's upper torque limit (const)

◆ uVelBound() [1/2]

Eigen::VectorXd& tvm::Robot::uVelBound ( )

inline

Access the joints' upper velocity limit

◆ uVelBound() [2/2]

const Eigen::VectorXd& tvm::Robot::uVelBound ( ) const

inline

Access the joints' upper velocity limit (const)

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

include/tvm/Robot.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Robot()

Member Function Documentation

◆ bodyTransform()

◆ C()

◆ com()

◆ H()

◆ lQBound() [1/2]

◆ lQBound() [2/2]

◆ lTauBound() [1/2]

◆ lTauBound() [2/2]

◆ lVelBound() [1/2]

◆ lVelBound() [2/2]

◆ mass()

◆ mb() [1/2]

◆ mb() [2/2]

◆ mbc() [1/2]

◆ mbc() [2/2]

◆ name()

◆ normalAccB() [1/2]

◆ normalAccB() [2/2]

◆ q() [1/2]

◆ q() [2/2]

◆ qFreeFlyer() [1/2]

◆ qFreeFlyer() [2/2]

◆ qJoints() [1/2]

◆ qJoints() [2/2]

◆ tau() [1/2]

◆ tau() [2/2]

◆ uQBound() [1/2]

◆ uQBound() [2/2]

◆ uTauBound() [1/2]

◆ uTauBound() [2/2]

◆ uVelBound() [1/2]

◆ uVelBound() [2/2]