tvm::robot Namespace Reference

Namespaces
	internal

Classes
class	CollisionFunction
class	CoMFunction
class	CoMInConvexFunction
class	Contact
class	ConvexHull
class	Frame
class	JointsSelector
class	OrientationFunction
class	PositionFunction
class	PostureFunction

Typedefs
using	ContactPtr = std::shared_ptr< Contact >
using	ConvexHullPtr = std::shared_ptr< ConvexHull >
using	FramePtr = std::shared_ptr< Frame >

Enumerations
enum class	ContactConstraintType { Acceleration , Velocity , Position }
enum class	ContactType { Regular , Force , Geometric }

Functions
std::unique_ptr< Robot > TVM_DLLAPI	fromURDF (tvm::Clock &clock, const std::string &name, const std::string &path, bool fixed, const std::vector< std::string > &filteredLinks, const std::map< std::string, std::vector< double >> &q)

Typedef Documentation

ContactPtr

using tvm::robot::ContactPtr = typedef std::shared_ptr<Contact>

ConvexHullPtr

using tvm::robot::ConvexHullPtr = typedef std::shared_ptr<ConvexHull>

FramePtr

using tvm::robot::FramePtr = typedef std::shared_ptr<Frame>

Enumeration Type Documentation

ContactConstraintType

enum tvm::robot::ContactConstraintType

strong

For a given contact, specify the type of constraint that is applied:

• Acceleration: constraint the two frames relative-acceleration to remain the same
• Velocity: constraint the two frames relative-velocity to remain the same
• Position: constrant the two frames relative-position to remain the same

This is done by specifiying different coefficient to the task's dynamics.

This only applies to contacts that include a geometric component.

Enumerator
Acceleration
Velocity
Position

ContactType

enum tvm::robot::ContactType

strong

Specify the type of contact:

• Regular: both Force and Geometric
• Force: force-only contact (no geometric constraint)
• Geometric: geometric-only contact (no additional forces applied by the robots onto each other)

Enumerator
Regular
Force
Geometric

Function Documentation

fromURDF()

std::unique_ptr<Robot> TVM_DLLAPI tvm::robot::fromURDF	(	tvm::Clock &	clock,
		const std::string &	name,
		const std::string &	path,
		bool	fixed,
		const std::vector< std::string > &	filteredLinks,
		const std::map< std::string, std::vector< double >> &	q
	)

Load a robot from a URDF file

clock Clock tied to the robot

name Name of the robot

path Path to the URDF file

fixed If true, load a fixed-based robot, otherwise add a free-flyer base

fileteredLinks Ignore the links in this list when parsing the URDF file

q Starting configuration of the robot

Exceptions

tvm::exception::DataException

if path does not exist