Dynamics and kinematics model of robots. Wraps pinocchio::Model and pinocchio::Data. Includes contacts. More...

#include <robot.hpp>

Public Types
using	Vector6d = Eigen::Matrix< double, 6, 1 >

Public Member Functions
	Robot (const RobotModelInfo &robot_model_info)
	Constructs a robot model according to the input model info. More...

	Robot ()
	Default constructor. More...

	~Robot ()=default
	Default destructor. More...

	Robot (const Robot &)=default
	Default copy constructor. More...

Robot &	operator= (const Robot &)=default
	Default copy assign operator. More...

	Robot (Robot &&) noexcept=default
	Default move constructor. More...

Robot &	operator= (Robot &&) noexcept=default
	Default move assign operator. More...

template<typename TangentVectorType , typename ConfigVectorType >
void	integrateConfiguration (const Eigen::MatrixBase< TangentVectorType > &v, const double integration_length, const Eigen::MatrixBase< ConfigVectorType > &q) const
	Integrates the generalized velocity, that is, performs q <- q + integration_length * v like computation on the configuration manifolds. More...

template<typename ConfigVectorType1 , typename TangentVectorType , typename ConfigVectorType2 >
void	integrateConfiguration (const Eigen::MatrixBase< ConfigVectorType1 > &q, const Eigen::MatrixBase< TangentVectorType > &v, const double integration_length, const Eigen::MatrixBase< ConfigVectorType2 > &q_integrated) const
	Integrates the generalized velocity, that is, performs q_integrated = q + integration_length * v like computation on the configuration manifolds. More...

template<typename ConfigVectorType , typename TangentVectorType , typename MatrixType1 , typename MatrixType2 >
void	dIntegrateTransport_dq (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< MatrixType1 > &Jin, const Eigen::MatrixBase< MatrixType2 > &Jout) const
	Transport the Jacobian w.r.t. the configuration evaluated at the integrated configuration q + v to q. More...

template<typename ConfigVectorType , typename TangentVectorType , typename MatrixType1 , typename MatrixType2 >
void	dIntegrateTransport_dv (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< MatrixType1 > &Jin, const Eigen::MatrixBase< MatrixType2 > &Jout) const
	Transport the Jacobian w.r.t. the generalized velocity evaluated at the integrated configuration q + v to q. More...

template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename TangentVectorType >
void	subtractConfiguration (const Eigen::MatrixBase< ConfigVectorType1 > &qf, const Eigen::MatrixBase< ConfigVectorType2 > &q0, const Eigen::MatrixBase< TangentVectorType > &qdiff) const
	Computes qf - q0 at the tangent space. The result means that the unit velocity from initial configuration q0 to terminal configuration qf. More...

template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename MatrixType >
void	dSubtractConfiguration_dqf (const Eigen::MatrixBase< ConfigVectorType1 > &qf, const Eigen::MatrixBase< ConfigVectorType2 > &q0, const Eigen::MatrixBase< MatrixType > &dqdiff_dqf) const
	Computes the partial derivative of the function of subtraction qf - q0 w.r.t. the terminal configuration qf. More...

template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename MatrixType >
void	dSubtractConfiguration_dq0 (const Eigen::MatrixBase< ConfigVectorType1 > &qf, const Eigen::MatrixBase< ConfigVectorType2 > &q0, const Eigen::MatrixBase< MatrixType > &dqdiff_dq0) const
	Computes the partial derivative of the function of subtraction qf - q0 w.r.t. the initial configuration qf. More...

template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename ConfigVectorType3 >
void	interpolateConfiguration (const Eigen::MatrixBase< ConfigVectorType1 > &q1, const Eigen::MatrixBase< ConfigVectorType2 > &q2, const double t, const Eigen::MatrixBase< ConfigVectorType3 > &qout) const
	Computes an interpolation of two configurations by (1.0 - t) * s1 + t * s2. More...

template<typename ConfigVectorType , typename MatrixType >
void	integrateCoeffWiseJacobian (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< MatrixType > &J) const
	Transforms the Jacobian w.r.t. configuration to tangentspace. More...

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	updateKinematics (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	Updates the kinematics of the robot. The frame placements, frame velocity, frame acceleration, and the relevant Jacobians are calculated. More...

template<typename ConfigVectorType , typename TangentVectorType >
void	updateKinematics (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Updates the kinematics of the robot. The frame placements, frame velocity, and the relevant Jacobians are calculated. More...

template<typename ConfigVectorType >
void	updateKinematics (const Eigen::MatrixBase< ConfigVectorType > &q)
	Updates the kinematics of the robot. The frame placements and and the relevant Jacobians are calculated. More...

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	updateFrameKinematics (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a)
	Updates the frame kinematics of the robot. The frame placements, velocities, and accelerations are calculated. More...

template<typename ConfigVectorType , typename TangentVectorType >
void	updateFrameKinematics (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
	Updates the frame kinematics of the robot. The frame placements and velocities are calculated. More...

template<typename ConfigVectorType >
void	updateFrameKinematics (const Eigen::MatrixBase< ConfigVectorType > &q)
	Updates the frame kinematics of the robot. The frame placements are calculated. More...

const Eigen::Vector3d &	framePosition (const int frame_id) const
	Returns the position of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

const Eigen::Vector3d &	framePosition (const std::string &frame_name) const
	Returns the position of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

const Eigen::Matrix3d &	frameRotation (const int frame_id) const
	Returns the rotation matrix of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

const Eigen::Matrix3d &	frameRotation (const std::string &frame_name) const
	Returns the rotation matrix of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

const SE3 &	framePlacement (const int frame_id) const
	Returns the SE(3) of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

const SE3 &	framePlacement (const std::string &frame_name) const
	Returns the SE(3) of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

const Eigen::Vector3d &	CoM () const
	Returns the position of the center of mass. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

Eigen::Vector3d	frameLinearVelocity (const int frame_id, const pinocchio::ReferenceFrame reference_frame=pinocchio::LOCAL_WORLD_ALIGNED) const
	Returns the linear (translational) velocity of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

Eigen::Vector3d	frameLinearVelocity (const std::string &frame_name, const pinocchio::ReferenceFrame reference_frame=pinocchio::LOCAL_WORLD_ALIGNED) const
	Returns the linear (translational) velocity of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

Eigen::Vector3d	frameAngularVelocity (const int frame_id, const pinocchio::ReferenceFrame reference_frame=pinocchio::LOCAL_WORLD_ALIGNED) const
	Returns the angular velocity of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

Eigen::Vector3d	frameAngularVelocity (const std::string &frame_name, const pinocchio::ReferenceFrame reference_frame=pinocchio::LOCAL_WORLD_ALIGNED) const
	Returns the angular velocity of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

Vector6d	frameSpatialVelocity (const int frame_id, const pinocchio::ReferenceFrame reference_frame=pinocchio::LOCAL_WORLD_ALIGNED) const
	Returns the spatial velocity of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

Vector6d	frameSpatialVelocity (const std::string &frame_name, const pinocchio::ReferenceFrame reference_frame=pinocchio::LOCAL_WORLD_ALIGNED) const
	Returns the spatial velocity of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

const Eigen::Vector3d &	CoMVelocity () const
	Returns the linear velocity of the center of mass expressed in the world frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called. More...

template<typename MatrixType >
void	getFrameJacobian (const int frame_id, const Eigen::MatrixBase< MatrixType > &J)
	Computes the Jacobian of the frame position expressed in the local coordinate. Before calling this function, updateKinematics() must be called. More...

template<typename MatrixType >
void	getCoMJacobian (const Eigen::MatrixBase< MatrixType > &J) const
	Gets the Jacobian of the position of the center of mass. Before calling this function, updateKinematics() must be called. More...

template<typename Vector3dType >
void	transformFromLocalToWorld (const int frame_id, const Eigen::Vector3d &vec_local, const Eigen::MatrixBase< Vector3dType > &vec_world) const
	Transforms 3D quantity from local frame to the world frame. More...

template<typename Vector3dType , typename MatrixType >
void	getJacobianTransformFromLocalToWorld (const int frame_id, const Eigen::MatrixBase< Vector3dType > &vec_world, const Eigen::MatrixBase< MatrixType > &J)
	Jacobian of the transformation mapping of a 3D quantity from local frame to the world frame. More...

template<typename VectorType >
void	computeBaumgarteResidual (const ContactStatus &contact_status, const Eigen::MatrixBase< VectorType > &baumgarte_residual)
	Computes the residual of the contact constriants represented by Baumgarte's stabilization method. Before calling this function, updateKinematics() must be called. More...

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeBaumgarteDerivatives (const ContactStatus &contact_status, const Eigen::MatrixBase< MatrixType1 > &baumgarte_partial_dq, const Eigen::MatrixBase< MatrixType2 > &baumgarte_partial_dv, const Eigen::MatrixBase< MatrixType3 > &baumgarte_partial_da)
	Computes the partial derivatives of the contact constriants represented by the Baumgarte's stabilization method. Before calling this function, updateKinematics() must be called. More...

template<typename VectorType >
void	computeImpactVelocityResidual (const ImpactStatus &impact_status, const Eigen::MatrixBase< VectorType > &velocity_residual) const
	Computes the residual of the impact velocity constraint. Before calling this function, updateKinematics() must be called. More...

template<typename MatrixType1 , typename MatrixType2 >
void	computeImpactVelocityDerivatives (const ImpactStatus &impact_status, const Eigen::MatrixBase< MatrixType1 > &velocity_partial_dq, const Eigen::MatrixBase< MatrixType2 > &velocity_partial_dv)
	Computes the partial derivatives of the impact velocity constraint. Before calling this function, updateKinematics() must be called. More...

template<typename VectorType >
void	computeContactPositionResidual (const ImpactStatus &impact_status, const Eigen::MatrixBase< VectorType > &position_residual)
	Computes the residual of the contact position constraint at the impact. Before calling this function, updateKinematics() must be called. More...

template<typename MatrixType >
void	computeContactPositionDerivative (const ImpactStatus &impact_status, const Eigen::MatrixBase< MatrixType > &position_partial_dq)
	Computes the partial derivative of the contact position at the impact. Before calling this function, updateKinematics() must be called. More...

void	setContactForces (const ContactStatus &contact_status, const std::vector< Vector6d > &f)
	Set contact forces in this robot model for each active contacts. More...

void	setImpactForces (const ImpactStatus &impact_status, const std::vector< Vector6d > &f)
	Set impact forces in this robot model for each active impacts. More...

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename TangentVectorType3 >
void	RNEA (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const Eigen::MatrixBase< TangentVectorType3 > &tau)
	Computes inverse dynamics, i.e., generalized torques corresponding for given configuration, velocity, acceleration, and contact forces. If the robot has contacts, update contact forces via setContactForces() before calling this function. More...

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	RNEADerivatives (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &a, const Eigen::MatrixBase< MatrixType1 > &dRNEA_partial_dq, const Eigen::MatrixBase< MatrixType2 > &dRNEA_partial_dv, const Eigen::MatrixBase< MatrixType3 > &dRNEA_partial_da)
	Computes the partial dervatives of the function of inverse dynamics with respect to the configuration, velocity, and acceleration. If the robot has contacts, update contact forces via setContactForces() before calling this function. More...

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >
void	RNEAImpact (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &dv, const Eigen::MatrixBase< TangentVectorType2 > &res)
	Computes the residual of the impact dynamics for given configuration and impact change in the generalized velocity, and impact forces by using RNEA. Before call this function, update contact forces via setImpactForces(). More...

template<typename ConfigVectorType , typename TangentVectorType , typename MatrixType1 , typename MatrixType2 >
void	RNEAImpactDerivatives (const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &dv, const Eigen::MatrixBase< MatrixType1 > &dRNEA_partial_dq, const Eigen::MatrixBase< MatrixType2 > &dRNEA_partial_ddv)
	Computes the partial dervatives of the function of impuse dynamics with respect to configuration and impact changes in the velocity. Before calling this function, update contact forces via setImpactForces(). More...

template<typename MatrixType1 , typename MatrixType2 >
void	computeMinv (const Eigen::MatrixBase< MatrixType1 > &M, const Eigen::MatrixBase< MatrixType2 > &Minv)
	Computes the inverse of the joint inertia matrix M. More...

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >
void	computeMJtJinv (const Eigen::MatrixBase< MatrixType1 > &M, const Eigen::MatrixBase< MatrixType2 > &J, const Eigen::MatrixBase< MatrixType3 > &MJtJinv)
	Computes the inverse of the contact dynamics matrix [[M J^T], [J O]]. More...

Eigen::VectorXd	generateFeasibleConfiguration () const
	Generates feasible configuration randomly. More...

template<typename ConfigVectorType >
void	normalizeConfiguration (const Eigen::MatrixBase< ConfigVectorType > &q) const
	Normalizes a configuration vector. More...

int	frameId (const std::string &frame_name) const
	Gets the id of the specified frame. More...

std::string	frameName (const int frame_id) const
	Gets the name of the specified frame. More...

double	totalMass () const
	Returns the total mass of this robot model. More...

double	totalWeight () const
	Returns the total weight of this robot model. More...

int	dimq () const
	Returns the dimensiton of the configuration. More...

int	dimv () const
	Returns the dimensiton of the velocity, i.e, tangent space. More...

int	dimu () const
	Returns the dimensiton of the velocity, i.e, tangent space. More...

int	max_dimf () const
	Returns the maximum dimension of the contacts. More...

int	dim_passive () const
	Returns the dimensiton of the generalized torques corresponding to the passive joints. More...

bool	hasFloatingBase () const
	Returns true if the robot has a floating base and false if not. More...

int	maxNumContacts () const
	Returns the maximum number of the contacts. More...

int	maxNumPointContacts () const
	Returns the maximum number of the point contacts. More...

int	maxNumSurfaceContacts () const
	Returns the maximum number of the surface contacts. More...

ContactType	contactType (const int contact_index) const
	Returns the type of the contact. More...

std::vector< ContactType >	contactTypes () const
	Returns the types of the contacts. More...

std::vector< int >	contactFrames () const
	Retruns the indices of the frames involving the point or surface contacts. More...

std::vector< std::string >	contactFrameNames () const
	Retruns the names of the contact frames involving the point or. More...

std::vector< int >	pointContactFrames () const
	Retruns the indices of the frames involving the contacts. More...

std::vector< std::string >	pointContactFrameNames () const
	Retruns the names of the frames involving the contacts. More...

std::vector< int >	surfaceContactFrames () const
	Retruns the indices of the frames involving the surface contacts. More...

std::vector< std::string >	surfaceContactFrameNames () const
	Retruns the names of the frames involving the surface contacts. More...

ContactStatus	createContactStatus () const
	Creates a ContactStatus for this robot model. More...

ImpactStatus	createImpactStatus () const
	Creates a ImpactStatus for this robot model. More...

void	initializeJointLimits ()
	Initializes the results of jointEffortLimit(), jointVelocityLimit(), lowerJointPositionLimit(), and upperJointPositionLimit() by the URDF. More...

Eigen::VectorXd	jointEffortLimit () const
	Returns the effort limit of each joints. More...

Eigen::VectorXd	jointVelocityLimit () const
	Returns the joint velocity limit of each joints. More...

Eigen::VectorXd	lowerJointPositionLimit () const
	Returns the lower limit of the position of each joints. More...

Eigen::VectorXd	upperJointPositionLimit () const
	Returns the upper limit of the position of each joints. More...

void	setJointEffortLimit (const Eigen::VectorXd &joint_effort_limit)
	Sets the effort limit of each joints. More...

void	setJointVelocityLimit (const Eigen::VectorXd &joint_velocity_limit)
	Sets the joint velocity limit of each joints. More...

void	setLowerJointPositionLimit (const Eigen::VectorXd &lower_joint_position_limit)
	Sets the lower limit of the position of each joints. More...

void	setUpperJointPositionLimit (const Eigen::VectorXd &upper_joint_position_limit)
	Sets the upper limit of the position of each joints. More...

const RobotModelInfo &	robotModelInfo () const
	Gets the robot model info. More...

const RobotProperties &	robotProperties () const
	Gets a collectio of the properties of this robot model. More...

void	setRobotProperties (const RobotProperties &properties)
	Sets a collection of the properties for this robot model. More...

void	disp (std::ostream &os) const
	Displays the robot model onto a ostream. More...

Friends
std::ostream &	operator<< (std::ostream &os, const Robot &robot)

Detailed Description

Dynamics and kinematics model of robots. Wraps pinocchio::Model and pinocchio::Data. Includes contacts.

Member Typedef Documentation

◆ Vector6d

using robotoc::Robot::Vector6d = Eigen::Matrix<double, 6, 1>

Constructor & Destructor Documentation

◆ Robot() [1/4]

robotoc::Robot::Robot ( const RobotModelInfo & robot_model_info )

Constructs a robot model according to the input model info.

Parameters

[in] robot_model_info Info of a robot model.

◆ Robot() [2/4]

robotoc::Robot::Robot ( )

Default constructor.

◆ ~Robot()

robotoc::Robot::~Robot ( )

default

Default destructor.

◆ Robot() [3/4]

robotoc::Robot::Robot ( const Robot & )

default

Default copy constructor.

◆ Robot() [4/4]

robotoc::Robot::Robot ( Robot && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ CoM()

const Eigen::Vector3d & robotoc::Robot::CoM ( ) const

Returns the position of the center of mass. Before calling this function, updateKinematics() or updateFrameKinematics() must be called.

◆ computeBaumgarteDerivatives()

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void robotoc::Robot::computeBaumgarteDerivatives	(	const ContactStatus &	contact_status,
		const Eigen::MatrixBase< MatrixType1 > &	baumgarte_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	baumgarte_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	baumgarte_partial_da
	)

inline

Computes the partial derivatives of the contact constriants represented by the Baumgarte's stabilization method. Before calling this function, updateKinematics() must be called.

Parameters

[in]	contact_status	Contact status.
[out]	baumgarte_partial_dq	The partial derivative with respect to the configuaration. Size must be ContactStatus::dimf() x Robot::dimv().
[out]	baumgarte_partial_dv	The partial derivative with respect to the velocity. Size must be ContactStatus::dimf() x Robot::dimv().
[out]	baumgarte_partial_da	The partial derivative with respect to the acceleration. Size must be ContactStatus::dimf() x be Robot::dimv().

◆ computeBaumgarteResidual()

template<typename VectorType >

void robotoc::Robot::computeBaumgarteResidual	(	const ContactStatus &	contact_status,
		const Eigen::MatrixBase< VectorType > &	baumgarte_residual
	)

inline

Computes the residual of the contact constriants represented by Baumgarte's stabilization method. Before calling this function, updateKinematics() must be called.

Parameters

[in]	contact_status	Contact status.
[out]	baumgarte_residual	Residuals in the contact constraints. Size must be ContactStatus::dimf().

◆ computeContactPositionDerivative()

template<typename MatrixType >

void robotoc::Robot::computeContactPositionDerivative	(	const ImpactStatus &	impact_status,
		const Eigen::MatrixBase< MatrixType > &	position_partial_dq
	)

inline

Computes the partial derivative of the contact position at the impact. Before calling this function, updateKinematics() must be called.

Parameters

[in]	impact_status	Impact status.
[out]	position_partial_dq	The result of the partial derivative with respect to the configuaration. Rows must be at least 3. Cols must be Robot::dimv().

◆ computeContactPositionResidual()

template<typename VectorType >

void robotoc::Robot::computeContactPositionResidual	(	const ImpactStatus &	impact_status,
		const Eigen::MatrixBase< VectorType > &	position_residual
	)

inline

Computes the residual of the contact position constraint at the impact. Before calling this function, updateKinematics() must be called.

Parameters

[in]	impact_status	Impact status.
[out]	position_residual	Residuals in the contact position constraint. Size must be ImpactStatus::dimf().

◆ computeImpactVelocityDerivatives()

template<typename MatrixType1 , typename MatrixType2 >

void robotoc::Robot::computeImpactVelocityDerivatives	(	const ImpactStatus &	impact_status,
		const Eigen::MatrixBase< MatrixType1 > &	velocity_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	velocity_partial_dv
	)

inline

Computes the partial derivatives of the impact velocity constraint. Before calling this function, updateKinematics() must be called.

Parameters

[in]	impact_status	Impact status.
[out]	velocity_partial_dq	The partial derivative with respect to the configuaration. Size must be ImpactStatus::dimf() x Robot::dimv().
[out]	velocity_partial_dv	The partial derivative with respect to the velocity. Size must be ImpactStatus::dimf() x Robot::dimv().

◆ computeImpactVelocityResidual()

template<typename VectorType >

void robotoc::Robot::computeImpactVelocityResidual	(	const ImpactStatus &	impact_status,
		const Eigen::MatrixBase< VectorType > &	velocity_residual
	)		const

inline

Computes the residual of the impact velocity constraint. Before calling this function, updateKinematics() must be called.

Parameters

[in]	impact_status	Impact status.
[out]	velocity_residual	Residuals in the contact velocity constraint. Size must be ImpactStatus::dimf().

◆ computeMinv()

template<typename MatrixType1 , typename MatrixType2 >

void robotoc::Robot::computeMinv	(	const Eigen::MatrixBase< MatrixType1 > &	M,
		const Eigen::MatrixBase< MatrixType2 > &	Minv
	)

inline

Computes the inverse of the joint inertia matrix M.

Parameters

[in]	M	Joint inertia matrix. Size must be Robot::dimv() x Robot::dimv().
[out]	Minv	Inverse of the joint inertia matrix M. Size must be Robot::dimv() x Robot::dimv().

◆ computeMJtJinv()

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void robotoc::Robot::computeMJtJinv	(	const Eigen::MatrixBase< MatrixType1 > &	M,
		const Eigen::MatrixBase< MatrixType2 > &	J,
		const Eigen::MatrixBase< MatrixType3 > &	MJtJinv
	)

inline

Computes the inverse of the contact dynamics matrix [[M J^T], [J O]].

Parameters

[in]	M	Joint inertia matrix. Size must be Robot::dimv() x Robot::dimv().
[in]	J	Contact Jacobian. Size must be ContactStatus::dimf() x Robot::dimv().
[out]	MJtJinv	Inverse of the matrix [[M J^T], [J O]]. Size must be (Robot::dimv() + ContactStatus::dimf()) x (Robot::dimv() + ContactStatus::dimf()).

◆ CoMVelocity()

const Eigen::Vector3d & robotoc::Robot::CoMVelocity ( ) const

Returns the linear velocity of the center of mass expressed in the world frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called.

◆ contactFrameNames()

std::vector< std::string > robotoc::Robot::contactFrameNames ( ) const

Retruns the names of the contact frames involving the point or.

surface contacts.

Returns: Names of the contact frames.

◆ contactFrames()

std::vector< int > robotoc::Robot::contactFrames ( ) const

Retruns the indices of the frames involving the point or surface contacts.

Returns: Indices of the contact frames.

◆ contactType()

ContactType robotoc::Robot::contactType ( const int contact_index ) const

Returns the type of the contact.

Parameters

[in] contact_index Index of a contact of interedted.

Returns: Contact type.

◆ contactTypes()

std::vector< ContactType > robotoc::Robot::contactTypes ( ) const

Returns the types of the contacts.

Returns: Contact types.

◆ createContactStatus()

ContactStatus robotoc::Robot::createContactStatus ( ) const

Creates a ContactStatus for this robot model.

Returns: ContactStatus for this robot model.

◆ createImpactStatus()

ImpactStatus robotoc::Robot::createImpactStatus ( ) const

Creates a ImpactStatus for this robot model.

Returns: ImpactStatus for this robot model.

◆ dim_passive()

int robotoc::Robot::dim_passive ( ) const

Returns the dimensiton of the generalized torques corresponding to the passive joints.

Returns: The dimensiton of the generalized torques corresponding to the
passive joints.

◆ dimq()

int robotoc::Robot::dimq ( ) const

Returns the dimensiton of the configuration.

Returns: The dimensiton of the configuration.

◆ dimu()

int robotoc::Robot::dimu ( ) const

Returns the dimensiton of the velocity, i.e, tangent space.

Returns: The dimensiton of the velocity, i.e, the dimension of the tangent space of the configuration space.

◆ dimv()

int robotoc::Robot::dimv ( ) const

Returns the dimensiton of the velocity, i.e, tangent space.

Returns: The dimensiton of the velocity, i.e, the dimension of the tangent space of the configuration space.

◆ dIntegrateTransport_dq()

template<typename ConfigVectorType , typename TangentVectorType , typename MatrixType1 , typename MatrixType2 >

void robotoc::Robot::dIntegrateTransport_dq	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< MatrixType1 > &	Jin,
		const Eigen::MatrixBase< MatrixType2 > &	Jout
	)		const

inline

Transport the Jacobian w.r.t. the configuration evaluated at the integrated configuration q + v to q.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().
[in]	Jin	The Jacobian w.r.t. the configuration evaluated at q + v. Cols must be Robot::dimv().
[out]	Jout	The resultant Jacobian w.r.t. the configuration evaluated at q. The number of columns must be Robot::dimv().

◆ dIntegrateTransport_dv()

template<typename ConfigVectorType , typename TangentVectorType , typename MatrixType1 , typename MatrixType2 >

void robotoc::Robot::dIntegrateTransport_dv	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const Eigen::MatrixBase< MatrixType1 > &	Jin,
		const Eigen::MatrixBase< MatrixType2 > &	Jout
	)		const

inline

Transport the Jacobian w.r.t. the generalized velocity evaluated at the integrated configuration q + v to q.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().
[in]	Jin	The Jacobian w.r.t. the generalized velocity evaluated at q + v. Cols must be Robot::dimv().
[out]	Jout	The resultant Jacobian w.r.t. the generalized velocity evaluated at q. The number of columns must be Robot::dimv().

◆ disp()

void robotoc::Robot::disp ( std::ostream & os ) const

Displays the robot model onto a ostream.

◆ dSubtractConfiguration_dq0()

template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename MatrixType >

void robotoc::Robot::dSubtractConfiguration_dq0	(	const Eigen::MatrixBase< ConfigVectorType1 > &	qf,
		const Eigen::MatrixBase< ConfigVectorType2 > &	q0,
		const Eigen::MatrixBase< MatrixType > &	dqdiff_dq0
	)		const

inline

Computes the partial derivative of the function of subtraction qf - q0 w.r.t. the initial configuration qf.

Parameters

[in]	qf	Terminal configuration. Size must be Robot::dimq().
[in]	q0	Initial configuration. Size must be Robot::dimq().
[out]	dqdiff_dq0	The partial derivative of the subtraction. Size must be Robot::dimv() x Robot::dimv().

◆ dSubtractConfiguration_dqf()

template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename MatrixType >

void robotoc::Robot::dSubtractConfiguration_dqf	(	const Eigen::MatrixBase< ConfigVectorType1 > &	qf,
		const Eigen::MatrixBase< ConfigVectorType2 > &	q0,
		const Eigen::MatrixBase< MatrixType > &	dqdiff_dqf
	)		const

inline

Computes the partial derivative of the function of subtraction qf - q0 w.r.t. the terminal configuration qf.

Parameters

[in]	qf	Terminal configuration. Size must be Robot::dimq().
[in]	q0	Initial configuration. Size must be Robot::dimq().
[out]	dqdiff_dqf	The partial derivative of the subtraction. Size must be Robot::dimv() x Robot::dimv().

◆ frameAngularVelocity() [1/2]

Eigen::Vector3d robotoc::Robot::frameAngularVelocity	(	const int	frame_id,
		const pinocchio::ReferenceFrame	reference_frame = `pinocchio::LOCAL_WORLD_ALIGNED`
	)		const

Returns the angular velocity of the frame. Before calling
this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in]	frame_id	Index of the frame.
[in]	reference_frame	Reference frame. Default is pinocchio::LOCAL_WORLD_ALIGNED (world velocity).

Returns: Angular velocity of the frame.

◆ frameAngularVelocity() [2/2]

Eigen::Vector3d robotoc::Robot::frameAngularVelocity	(	const std::string &	frame_name,
		const pinocchio::ReferenceFrame	reference_frame = `pinocchio::LOCAL_WORLD_ALIGNED`
	)		const

Returns the angular velocity of the frame. Before calling
this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in]	frame_name	Name of the frame.
[in]	reference_frame	Reference frame. Default is pinocchio::LOCAL_WORLD_ALIGNED (world velocity).

Returns: Angular velocity of the frame.

◆ frameId()

int robotoc::Robot::frameId ( const std::string & frame_name ) const

Gets the id of the specified frame.

Parameters

[in] frame_name Frame name of interest.

Returns: id of the specified frame. Returns maximum number of the frames if the frame whose name is frame_name does not exist.

◆ frameLinearVelocity() [1/2]

Eigen::Vector3d robotoc::Robot::frameLinearVelocity	(	const int	frame_id,
		const pinocchio::ReferenceFrame	reference_frame = `pinocchio::LOCAL_WORLD_ALIGNED`
	)		const

Returns the linear (translational) velocity of the frame. Before calling
this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in]	frame_id	Index of the frame.
[in]	reference_frame	Reference frame. Default is pinocchio::LOCAL_WORLD_ALIGNED (world velocity).

Returns: Translational velocity of the frame.

◆ frameLinearVelocity() [2/2]

Eigen::Vector3d robotoc::Robot::frameLinearVelocity	(	const std::string &	frame_name,
		const pinocchio::ReferenceFrame	reference_frame = `pinocchio::LOCAL_WORLD_ALIGNED`
	)		const

Returns the linear (translational) velocity of the frame. Before calling
this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in]	frame_name	Name of the frame.
[in]	reference_frame	Reference frame. Default is pinocchio::LOCAL_WORLD_ALIGNED (world velocity).

Returns: Translational velocity of the frame.

◆ frameName()

std::string robotoc::Robot::frameName ( const int frame_id ) const

Gets the name of the specified frame.

Parameters

[in] frame_id Frame id of interest.

Returns: Name of the specified frame.

◆ framePlacement() [1/2]

const SE3 & robotoc::Robot::framePlacement ( const int frame_id ) const

Returns the SE(3) of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in] frame_id Index of the frame.

Returns: Const reference to the SE(3) of the frame.

◆ framePlacement() [2/2]

const SE3 & robotoc::Robot::framePlacement ( const std::string & frame_name ) const

Returns the SE(3) of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in] frame_name Name of the frame.

Returns: Const reference to the SE(3) of the frame.

◆ framePosition() [1/2]

const Eigen::Vector3d & robotoc::Robot::framePosition ( const int frame_id ) const

Returns the position of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in] frame_id Index of the frame.

Returns: Const reference to the position of the frame.

◆ framePosition() [2/2]

const Eigen::Vector3d & robotoc::Robot::framePosition ( const std::string & frame_name ) const

Returns the position of the frame. Before calling this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in] frame_name Name of the frame.

Returns: Const reference to the position of the frame.

◆ frameRotation() [1/2]

const Eigen::Matrix3d & robotoc::Robot::frameRotation ( const int frame_id ) const

Returns the rotation matrix of the frame. Before calling this
function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in] frame_id Index of the frame.

Returns: Const reference to the rotation matrix of the frame.

◆ frameRotation() [2/2]

const Eigen::Matrix3d & robotoc::Robot::frameRotation ( const std::string & frame_name ) const

Returns the rotation matrix of the frame. Before calling this
function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in] frame_name Name of the frame.

Returns: Const reference to the rotation matrix of the frame.

◆ frameSpatialVelocity() [1/2]

Vector6d robotoc::Robot::frameSpatialVelocity	(	const int	frame_id,
		const pinocchio::ReferenceFrame	reference_frame = `pinocchio::LOCAL_WORLD_ALIGNED`
	)		const

Returns the spatial velocity of the frame. Before calling
this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in]	frame_id	Index of the frame.
[in]	reference_frame	Reference frame. Default is pinocchio::LOCAL_WORLD_ALIGNED (world velocity).

Returns: Spatial velocity of the frame.

◆ frameSpatialVelocity() [2/2]

Vector6d robotoc::Robot::frameSpatialVelocity	(	const std::string &	frame_name,
		const pinocchio::ReferenceFrame	reference_frame = `pinocchio::LOCAL_WORLD_ALIGNED`
	)		const

Returns the spatial velocity of the frame. Before calling
this function, updateKinematics() or updateFrameKinematics() must be called.

Parameters

[in]	frame_name	Name of the frame.
[in]	reference_frame	Reference frame. Default is pinocchio::LOCAL_WORLD_ALIGNED (world velocity).

Returns: Spatial velocity of the frame.

◆ generateFeasibleConfiguration()

Eigen::VectorXd robotoc::Robot::generateFeasibleConfiguration ( ) const

Generates feasible configuration randomly.

Returns: The random and feasible configuration. Size is Robot::dimq().

◆ getCoMJacobian()

template<typename MatrixType >

void robotoc::Robot::getCoMJacobian ( const Eigen::MatrixBase< MatrixType > & J ) const

inline

Gets the Jacobian of the position of the center of mass. Before calling this function, updateKinematics() must be called.

Parameters

[out] J Jacobian. Size must be 3 x Robot::dimv().

◆ getFrameJacobian()

template<typename MatrixType >

void robotoc::Robot::getFrameJacobian	(	const int	frame_id,
		const Eigen::MatrixBase< MatrixType > &	J
	)

inline

Computes the Jacobian of the frame position expressed in the local coordinate. Before calling this function, updateKinematics() must be called.

Parameters

[in]	frame_id	Index of the frame.
[out]	J	Jacobian. Size must be 6 x Robot::dimv().

◆ getJacobianTransformFromLocalToWorld()

template<typename Vector3dType , typename MatrixType >

void robotoc::Robot::getJacobianTransformFromLocalToWorld	(	const int	frame_id,
		const Eigen::MatrixBase< Vector3dType > &	vec_world,
		const Eigen::MatrixBase< MatrixType > &	J
	)

inline

Jacobian of the transformation mapping of a 3D quantity from local frame to the world frame.

Parameters

[in]	frame_id	Index of the frame whose local coordinate is of interest.
[in]	vec_world	3-dimensional vector-valued quantity expressed at the world frame.
[out]	J	The Jacobian. Size must be 6 x Robot::dimv(). The result is stored at the top 3 rows.

◆ hasFloatingBase()

bool robotoc::Robot::hasFloatingBase ( ) const

Returns true if the robot has a floating base and false if not.

Returns: true if the robot has a floating base and false if not.

◆ initializeJointLimits()

void robotoc::Robot::initializeJointLimits ( )

Initializes the results of jointEffortLimit(), jointVelocityLimit(), lowerJointPositionLimit(), and upperJointPositionLimit() by the URDF.

◆ integrateCoeffWiseJacobian()

template<typename ConfigVectorType , typename MatrixType >

void robotoc::Robot::integrateCoeffWiseJacobian	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< MatrixType > &	J
	)		const

inline

Transforms the Jacobian w.r.t. configuration to tangentspace.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in,out]	J	Jacobian. Size must be Robot::dimq() x Robot::dimv().

◆ integrateConfiguration() [1/2]

template<typename ConfigVectorType1 , typename TangentVectorType , typename ConfigVectorType2 >

void robotoc::Robot::integrateConfiguration	(	const Eigen::MatrixBase< ConfigVectorType1 > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v,
		const double	integration_length,
		const Eigen::MatrixBase< ConfigVectorType2 > &	q_integrated
	)		const

inline

Integrates the generalized velocity, that is, performs q_integrated = q + integration_length * v like computation on the configuration manifolds.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().
[in]	integration_length	The length of the integration.
[out]	q_integrated	Configuration. Size must be Robot::dimq().

◆ integrateConfiguration() [2/2]

template<typename TangentVectorType , typename ConfigVectorType >

void robotoc::Robot::integrateConfiguration	(	const Eigen::MatrixBase< TangentVectorType > &	v,
		const double	integration_length,
		const Eigen::MatrixBase< ConfigVectorType > &	q
	)		const

inline

Integrates the generalized velocity, that is, performs q <- q + integration_length * v like computation on the configuration manifolds.

Parameters

[in]	v	Generalized velocity. Size must be Robot::dimv().
[in]	integration_length	The length of the integration.
[in,out]	q	Configuration. Size must be Robot::dimq().

◆ interpolateConfiguration()

template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename ConfigVectorType3 >

void robotoc::Robot::interpolateConfiguration	(	const Eigen::MatrixBase< ConfigVectorType1 > &	q1,
		const Eigen::MatrixBase< ConfigVectorType2 > &	q2,
		const double	t,
		const Eigen::MatrixBase< ConfigVectorType3 > &	qout
	)		const

inline

Computes an interpolation of two configurations by (1.0 - t) * s1 + t * s2.

Parameters

[in]	q1	Configuration. Size must be Robot::dimq().
[in]	q2	Configuration. Size must be Robot::dimq().
[in]	t	Interpolation parameter. Must be between 0 to 1.
[out]	qout	Configuration. Size must be Robot::dimq().

◆ jointEffortLimit()

Eigen::VectorXd robotoc::Robot::jointEffortLimit ( ) const

Returns the effort limit of each joints.

Returns: The effort limit of each joints.

◆ jointVelocityLimit()

Eigen::VectorXd robotoc::Robot::jointVelocityLimit ( ) const

Returns the joint velocity limit of each joints.

Returns: The joint velocity limit of each joints.

◆ lowerJointPositionLimit()

Eigen::VectorXd robotoc::Robot::lowerJointPositionLimit ( ) const

Returns the lower limit of the position of each joints.

Returns: The lower limit of the position of each joints.

◆ max_dimf()

int robotoc::Robot::max_dimf ( ) const

Returns the maximum dimension of the contacts.

Returns: The maximum dimension of the contacts.

◆ maxNumContacts()

int robotoc::Robot::maxNumContacts ( ) const

Returns the maximum number of the contacts.

Returns: The maximum number of the contacts.

◆ maxNumPointContacts()

int robotoc::Robot::maxNumPointContacts ( ) const

Returns the maximum number of the point contacts.

Returns: The maximum number of the point contacts.

◆ maxNumSurfaceContacts()

int robotoc::Robot::maxNumSurfaceContacts ( ) const

Returns the maximum number of the surface contacts.

Returns: The maximum number of the surface contacts.

◆ normalizeConfiguration()

template<typename ConfigVectorType >

void robotoc::Robot::normalizeConfiguration ( const Eigen::MatrixBase< ConfigVectorType > & q ) const

inline

Normalizes a configuration vector.

Parameters

[in,out] q The normalized configuration. Size must be Robot::dimq().

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

Robot & robotoc::Robot::operator= ( Robot && )

defaultnoexcept

Default move assign operator.

◆ pointContactFrameNames()

std::vector< std::string > robotoc::Robot::pointContactFrameNames ( ) const

Retruns the names of the frames involving the contacts.

Returns: Names of the contact frames.

◆ pointContactFrames()

std::vector< int > robotoc::Robot::pointContactFrames ( ) const

Retruns the indices of the frames involving the contacts.

Returns: Indices of the contact frames.

◆ RNEA()

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename TangentVectorType3 >

void robotoc::Robot::RNEA	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v,
		const Eigen::MatrixBase< TangentVectorType2 > &	a,
		const Eigen::MatrixBase< TangentVectorType3 > &	tau
	)

inline

Computes inverse dynamics, i.e., generalized torques corresponding for given configuration, velocity, acceleration, and contact forces. If the robot has contacts, update contact forces via setContactForces() before calling this function.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().
[in]	a	Generalized acceleration. Size must be Robot::dimv().
[out]	tau	Generalized torques for fully actuated system. Size must be Robot::dimv().

◆ RNEADerivatives()

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 , typename MatrixType1 , typename MatrixType2 , typename MatrixType3 >

void robotoc::Robot::RNEADerivatives	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v,
		const Eigen::MatrixBase< TangentVectorType2 > &	a,
		const Eigen::MatrixBase< MatrixType1 > &	dRNEA_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	dRNEA_partial_dv,
		const Eigen::MatrixBase< MatrixType3 > &	dRNEA_partial_da
	)

inline

Computes the partial dervatives of the function of inverse dynamics with respect to the configuration, velocity, and acceleration. If the robot has contacts, update contact forces via setContactForces() before calling this function.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().
[in]	a	Generalized acceleration. Size must be Robot::dimv().
[out]	dRNEA_partial_dq	The partial derivative of inverse dynamics with respect to the configuration. The size must be Robot::dimv() x Robot::dimv().
[out]	dRNEA_partial_dv	The partial derivative of inverse dynamics with respect to the velocity. The size must be Robot::dimv() x Robot::dimv().
[out]	dRNEA_partial_da	The partial derivative of inverse dynamics with respect to the acceleration. The size must be Robot::dimv() x Robot::dimv().

◆ RNEAImpact()

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void robotoc::Robot::RNEAImpact	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	dv,
		const Eigen::MatrixBase< TangentVectorType2 > &	res
	)

inline

Computes the residual of the impact dynamics for given configuration and impact change in the generalized velocity, and impact forces by using RNEA. Before call this function, update contact forces via setImpactForces().

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	dv	Impact change in the velocity. Size must be Robot::dimv().
[out]	res	Residual of impact dynamics. Size must be Robot::dimv().

◆ RNEAImpactDerivatives()

template<typename ConfigVectorType , typename TangentVectorType , typename MatrixType1 , typename MatrixType2 >

void robotoc::Robot::RNEAImpactDerivatives	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	dv,
		const Eigen::MatrixBase< MatrixType1 > &	dRNEA_partial_dq,
		const Eigen::MatrixBase< MatrixType2 > &	dRNEA_partial_ddv
	)

inline

Computes the partial dervatives of the function of impuse dynamics with respect to configuration and impact changes in the velocity. Before calling this function, update contact forces via setImpactForces().

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	dv	Impact change in the velocity. Size must be Robot::dimv().
[out]	dRNEA_partial_dq	The partial derivative of impact dynamics with respect to the configuration. The size must be Robot::dimv() x Robot::dimv().
[out]	dRNEA_partial_ddv	The partial derivative of impact dynamics with respect to the change in velocity. The size must be Robot::dimv() x Robot::dimv().

◆ robotModelInfo()

const RobotModelInfo & robotoc::Robot::robotModelInfo ( ) const

Gets the robot model info.

Returns: const reference to a the robot model info.

◆ robotProperties()

const RobotProperties & robotoc::Robot::robotProperties ( ) const

Gets a collectio of the properties of this robot model.

Returns: const reference to a collectio of the properties of this robot model.

◆ setContactForces()

void robotoc::Robot::setContactForces	(	const ContactStatus &	contact_status,
		const std::vector< Vector6d > &	f
	)

Set contact forces in this robot model for each active contacts.

Parameters

[in]	contact_status	Contact status.
[in]	f	The stack of the contact wrenches represented in the local coordinate of the contact frame. Size must be Robot::maxNumContacts().

◆ setImpactForces()

void robotoc::Robot::setImpactForces	(	const ImpactStatus &	impact_status,
		const std::vector< Vector6d > &	f
	)

inline

Set impact forces in this robot model for each active impacts.

Parameters

[in]	impact_status	Impact status.
[in]	f	The stack of the impact wrenches represented in the local coordinate of the contact frame. Size must be Robot::maxNumContacts().

◆ setJointEffortLimit()

void robotoc::Robot::setJointEffortLimit ( const Eigen::VectorXd & joint_effort_limit )

Sets the effort limit of each joints.

Parameters

[in] joint_effort_limit The effort limit of each joints.

◆ setJointVelocityLimit()

void robotoc::Robot::setJointVelocityLimit ( const Eigen::VectorXd & joint_velocity_limit )

Sets the joint velocity limit of each joints.

Parameters

[in] joint_velocity_limit Sets the joint velocity limit of each joints.

◆ setLowerJointPositionLimit()

void robotoc::Robot::setLowerJointPositionLimit ( const Eigen::VectorXd & lower_joint_position_limit )

Sets the lower limit of the position of each joints.

Parameters

[in] lower_joint_position_limit The lower limit of the position of each joints.

◆ setRobotProperties()

void robotoc::Robot::setRobotProperties ( const RobotProperties & properties )

Sets a collection of the properties for this robot model.

Parameters

[in] properties A collection of the properties for this robot model.

◆ setUpperJointPositionLimit()

void robotoc::Robot::setUpperJointPositionLimit ( const Eigen::VectorXd & upper_joint_position_limit )

Sets the upper limit of the position of each joints.

Parameters

[in] upper_joint_position_limit The upper limit of the position of each joints.

◆ subtractConfiguration()

template<typename ConfigVectorType1 , typename ConfigVectorType2 , typename TangentVectorType >

void robotoc::Robot::subtractConfiguration	(	const Eigen::MatrixBase< ConfigVectorType1 > &	qf,
		const Eigen::MatrixBase< ConfigVectorType2 > &	q0,
		const Eigen::MatrixBase< TangentVectorType > &	qdiff
	)		const

inline

Computes qf - q0 at the tangent space. The result means that the unit velocity from initial configuration q0 to terminal configuration qf.

Parameters

[in]	qf	Terminal configuration. Size must be Robot::dimq().
[in]	q0	Initial configuration. Size must be Robot::dimq().
[out]	qdiff	Difference of the configurations, qf - q0. Size must be Robot::dimv().

◆ surfaceContactFrameNames()

std::vector< std::string > robotoc::Robot::surfaceContactFrameNames ( ) const

Retruns the names of the frames involving the surface contacts.

Returns: Names of the surface contact frames.

◆ surfaceContactFrames()

std::vector< int > robotoc::Robot::surfaceContactFrames ( ) const

Retruns the indices of the frames involving the surface contacts.

Returns: Indices of the surface contact frames.

◆ totalMass()

double robotoc::Robot::totalMass ( ) const

Returns the total mass of this robot model.

Returns: The total mass of this robot model.

◆ totalWeight()

double robotoc::Robot::totalWeight ( ) const

Returns the total weight of this robot model.

Returns: The total weight of this robot model.

◆ transformFromLocalToWorld()

template<typename Vector3dType >

void robotoc::Robot::transformFromLocalToWorld	(	const int	frame_id,
		const Eigen::Vector3d &	vec_local,
		const Eigen::MatrixBase< Vector3dType > &	vec_world
	)		const

inline

Transforms 3D quantity from local frame to the world frame.

Parameters

[in]	frame_id	Index of the frame whose local coordinate is of interest.
[in]	vec_local	3-dimensional vector-valued quantity expressed at the local frame.
[out]	vec_world	3-dimensional vector-valued quantity expressed at the world frame.

◆ updateFrameKinematics() [1/3]

template<typename ConfigVectorType >

void robotoc::Robot::updateFrameKinematics ( const Eigen::MatrixBase< ConfigVectorType > & q )

inline

Updates the frame kinematics of the robot. The frame placements are calculated.

Parameters

[in] q Configuration. Size must be Robot::dimq().

◆ updateFrameKinematics() [2/3]

template<typename ConfigVectorType , typename TangentVectorType >

void robotoc::Robot::updateFrameKinematics	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Updates the frame kinematics of the robot. The frame placements and velocities are calculated.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().

◆ updateFrameKinematics() [3/3]

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void robotoc::Robot::updateFrameKinematics	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v,
		const Eigen::MatrixBase< TangentVectorType2 > &	a
	)

inline

Updates the frame kinematics of the robot. The frame placements, velocities, and accelerations are calculated.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().
[in]	a	Generalized acceleration. Size must be Robot::dimv().

◆ updateKinematics() [1/3]

template<typename ConfigVectorType >

void robotoc::Robot::updateKinematics ( const Eigen::MatrixBase< ConfigVectorType > & q )

inline

Updates the kinematics of the robot. The frame placements and and the relevant Jacobians are calculated.

Parameters

[in] q Configuration. Size must be Robot::dimq().

◆ updateKinematics() [2/3]

template<typename ConfigVectorType , typename TangentVectorType >

void robotoc::Robot::updateKinematics	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType > &	v
	)

inline

Updates the kinematics of the robot. The frame placements, frame velocity, and the relevant Jacobians are calculated.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().

◆ updateKinematics() [3/3]

template<typename ConfigVectorType , typename TangentVectorType1 , typename TangentVectorType2 >

void robotoc::Robot::updateKinematics	(	const Eigen::MatrixBase< ConfigVectorType > &	q,
		const Eigen::MatrixBase< TangentVectorType1 > &	v,
		const Eigen::MatrixBase< TangentVectorType2 > &	a
	)

inline

Updates the kinematics of the robot. The frame placements, frame velocity, frame acceleration, and the relevant Jacobians are calculated.

Parameters

[in]	q	Configuration. Size must be Robot::dimq().
[in]	v	Generalized velocity. Size must be Robot::dimv().
[in]	a	Generalized acceleration. Size must be Robot::dimv().

◆ upperJointPositionLimit()

Eigen::VectorXd robotoc::Robot::upperJointPositionLimit ( ) const

Returns the upper limit of the position of each joints.

Returns: The upper limit of the position of each joints.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const Robot &	robot
	)

friend

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

/github/workspace/include/robotoc/robot/robot.hpp
/github/workspace/include/robotoc/robot/robot.hxx

Public Types

Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ Vector6d

Constructor & Destructor Documentation

◆ Robot() [1/4]

◆ Robot() [2/4]

◆ ~Robot()

◆ Robot() [3/4]

◆ Robot() [4/4]

Member Function Documentation

◆ CoM()

◆ computeBaumgarteDerivatives()

◆ computeBaumgarteResidual()

◆ computeContactPositionDerivative()

◆ computeContactPositionResidual()

◆ computeImpactVelocityDerivatives()

◆ computeImpactVelocityResidual()

◆ computeMinv()

◆ computeMJtJinv()

◆ CoMVelocity()

◆ contactFrameNames()

◆ contactFrames()

◆ contactType()

◆ contactTypes()

◆ createContactStatus()

◆ createImpactStatus()

◆ dim_passive()

◆ dimq()

◆ dimu()

◆ dimv()

◆ dIntegrateTransport_dq()

◆ dIntegrateTransport_dv()

◆ disp()

◆ dSubtractConfiguration_dq0()

◆ dSubtractConfiguration_dqf()

◆ frameAngularVelocity() [1/2]

◆ frameAngularVelocity() [2/2]

◆ frameId()

◆ frameLinearVelocity() [1/2]

◆ frameLinearVelocity() [2/2]

◆ frameName()

◆ framePlacement() [1/2]

◆ framePlacement() [2/2]

◆ framePosition() [1/2]

◆ framePosition() [2/2]

◆ frameRotation() [1/2]

◆ frameRotation() [2/2]

◆ frameSpatialVelocity() [1/2]

◆ frameSpatialVelocity() [2/2]

◆ generateFeasibleConfiguration()

◆ getCoMJacobian()

◆ getFrameJacobian()

◆ getJacobianTransformFromLocalToWorld()

◆ hasFloatingBase()

◆ initializeJointLimits()

◆ integrateCoeffWiseJacobian()

◆ integrateConfiguration() [1/2]

◆ integrateConfiguration() [2/2]

◆ interpolateConfiguration()

◆ jointEffortLimit()

◆ jointVelocityLimit()

◆ lowerJointPositionLimit()

◆ max_dimf()

◆ maxNumContacts()

◆ maxNumPointContacts()

◆ maxNumSurfaceContacts()

◆ normalizeConfiguration()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pointContactFrameNames()

◆ pointContactFrames()

◆ RNEA()

◆ RNEADerivatives()

◆ RNEAImpact()

◆ RNEAImpactDerivatives()

◆ robotModelInfo()

◆ robotProperties()