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iTaSC::Armature Class Reference

#include <Armature.hpp>

Inherits iTaSC::ControlledObject.

Classes

struct  Effector_struct
struct  JointConstraint_struct
struct  Joint_struct

Public Types

enum  ID {
  ID_JOINT =1 , ID_JOINT_RX =2 , ID_JOINT_RY =3 , ID_JOINT_RZ =4 ,
  ID_JOINT_TX =2 , ID_JOINT_TY =3 , ID_JOINT_TZ =4
}
typedef std::vector< Effector_struct > EffectorList
typedef std::vector< JointConstraint_struct * > JointConstraintList
typedef std::vector< Joint_struct > JointList
Public Types inherited from iTaSC::Object
enum  ObjectType { Controlled , UnControlled }

Public Member Functions

 Armature ()
virtual ~Armature ()
bool addSegment (const std::string &segment_name, const std::string &hook_name, const Joint &joint, const double &q_rest, const Frame &f_tip=F_identity, const Inertia &M=Inertia::Zero())
int addConstraint (const std::string &segment_name, ConstraintCallback _function, void *_param=NULL, bool _freeParam=false, bool _substep=false)
int addLimitConstraint (const std::string &segment_name, unsigned int dof, double _min, double _max)
double getMaxJointChange ()
double getMaxEndEffectorChange ()
bool getSegment (const std::string &segment_name, const unsigned int q_size, const Joint *&p_joint, double &q_rest, double &q, const Frame *&p_tip)
bool getRelativeFrame (Frame &result, const std::string &segment_name, const std::string &base_name=m_root)
virtual bool finalize ()
virtual int addEndEffector (const std::string &name)
virtual const Frame & getPose (const unsigned int end_effector)
virtual bool updateJoint (const Timestamp &timestamp, JointLockCallback &callback)
virtual void updateKinematics (const Timestamp &timestamp)
virtual void pushCache (const Timestamp &timestamp)
virtual void updateControlOutput (const Timestamp &timestamp)
virtual bool setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep=0.0)
virtual void initCache (Cache *_cache)
virtual bool setJointArray (const KDL::JntArray &joints)
virtual const KDL::JntArray & getJointArray ()
virtual double getArmLength ()
Public Member Functions inherited from iTaSC::ControlledObject
 ControlledObject ()
virtual ~ControlledObject ()
virtual void initialize (unsigned int _nq, unsigned int _nc, unsigned int _nee)
virtual void setJointVelocity (const e_vector qdot_in)
virtual double getMaxTimestep (double &timestep)
virtual bool setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0
virtual const e_vector & getControlOutput () const
virtual const e_matrix & getJq (unsigned int ee) const
virtual const e_matrix & getCq () const
virtual e_matrix & getWq ()
virtual void setWq (const e_matrix &Wq_in)
virtual const e_vector & getWy () const
virtual unsigned int getNrOfCoordinates ()
virtual unsigned int getNrOfConstraints ()
Public Member Functions inherited from iTaSC::Object
 Object (ObjectType _type)
virtual ~Object ()
virtual ObjectType getType ()
bool updated ()
void updated (bool val)

Protected Member Functions

virtual void updateJacobian ()

Additional Inherited Members

Static Public Attributes inherited from iTaSC::Object
static WorldObject world
Protected Attributes inherited from iTaSC::ControlledObject
e_scalar m_maxDeltaQ
unsigned int m_nq
unsigned int m_nc
unsigned int m_nee
e_matrix m_Wq
e_matrix m_Cq
e_vector m_Wy
e_vector m_ydot
e_vector m_qdot
std::vector< e_matrix > m_JqArray
Protected Attributes inherited from iTaSC::Object
Cache * m_cache
KDL::Frame m_internalPose
bool m_updated

Detailed Description

Definition at line 20 of file Armature.hpp.

Member Typedef Documentation

◆ EffectorList

typedef std::vector<Effector_struct> iTaSC::Armature::EffectorList

Definition at line 59 of file Armature.hpp.

◆ JointConstraintList

typedef std::vector<JointConstraint_struct*> iTaSC::Armature::JointConstraintList

Definition at line 83 of file Armature.hpp.

◆ JointList

typedef std::vector<Joint_struct> iTaSC::Armature::JointList

Definition at line 97 of file Armature.hpp.

Member Enumeration Documentation

◆ ID

enum iTaSC::Armature::ID
Enumerator
ID_JOINT 
ID_JOINT_RX 
ID_JOINT_RY 
ID_JOINT_RZ 
ID_JOINT_TX 
ID_JOINT_TY 
ID_JOINT_TZ 

Definition at line 61 of file Armature.hpp.

Constructor & Destructor Documentation

◆ Armature()

iTaSC::Armature::Armature ( )

Definition at line 22 of file Armature.cpp.

References iTaSC::ControlledObject::ControlledObject(), false, and if().

◆ ~Armature()

iTaSC::Armature::~Armature ( )
virtual

Definition at line 49 of file Armature.cpp.

Member Function Documentation

◆ addConstraint()

int iTaSC::Armature::addConstraint ( const std::string & segment_name,
ConstraintCallback _function,
void * _param = NULL,
bool _freeParam = false,
bool _substep = false )

Definition at line 298 of file Armature.cpp.

References free(), iTaSC::Armature::JointConstraint_struct::freeParam, iTaSC::Armature::JointConstraint_struct::function, iTaSC::Armature::JointConstraint_struct::param, iTaSC::Armature::JointConstraint_struct::segment, iTaSC::Armature::JointConstraint_struct::substep, and iTaSC::Armature::JointConstraint_struct::v_nr.

Referenced by convert_tree().

◆ addEndEffector()

int iTaSC::Armature::addEndEffector ( const std::string & name)
virtual

Reimplemented from iTaSC::Object.

Definition at line 355 of file Armature.cpp.

References name.

Referenced by convert_tree().

◆ addLimitConstraint()

int iTaSC::Armature::addLimitConstraint ( const std::string & segment_name,
unsigned int dof,
double _min,
double _max )

Definition at line 336 of file Armature.cpp.

References KDL::Joint::getNDof(), KDL::Joint::getType(), iTaSC::Armature::Joint_struct::max, iTaSC::Armature::Joint_struct::min, iTaSC::Joint::Swing, and iTaSC::Armature::Joint_struct::useLimit.

Referenced by convert_tree().

◆ addSegment()

bool iTaSC::Armature::addSegment ( const std::string & segment_name,
const std::string & hook_name,
const Joint & joint,
const double & q_rest,
const Frame & f_tip = F_identity,
const Inertia & M = Inertia::Zero() )

Definition at line 232 of file Armature.cpp.

References KDL::Joint::getNDof(), KDL::Joint::getType(), and M.

Referenced by convert_tree().

◆ finalize()

bool iTaSC::Armature::finalize ( )
virtual

Reimplemented from iTaSC::Object.

Definition at line 374 of file Armature.cpp.

References iTaSC::ConstraintValues::alpha, KDL::epsilon, i, initialize(), length(), iTaSC::ControlledObject::m_Cq, iTaSC::ControlledObject::m_Wy, name, KDL::Vector::Norm(), KDL::Frame::p, iTaSC::Armature::JointConstraint_struct::segment, updateJacobian(), iTaSC::Armature::JointConstraint_struct::v_nr, and iTaSC::Armature::JointConstraint_struct::values.

◆ getArmLength()

virtual double iTaSC::Armature::getArmLength ( )
inlinevirtual

Definition at line 48 of file Armature.hpp.

◆ getJointArray()

const KDL::JntArray & iTaSC::Armature::getJointArray ( )
virtual

Definition at line 439 of file Armature.cpp.

◆ getMaxEndEffectorChange()

double iTaSC::Armature::getMaxEndEffectorChange ( )

Definition at line 279 of file Armature.cpp.

References KDL::diff(), i, KDL::Vector::Norm(), KDL::Twist::rot, and KDL::Twist::vel.

Referenced by execute_scene().

◆ getMaxJointChange()

double iTaSC::Armature::getMaxJointChange ( )

Definition at line 265 of file Armature.cpp.

References fabs(), and i.

Referenced by execute_scene().

◆ getPose()

const Frame & iTaSC::Armature::getPose ( const unsigned int end_effector)
virtual

Reimplemented from iTaSC::Object.

Definition at line 655 of file Armature.cpp.

References iTaSC::F_identity, and iTaSC::ControlledObject::m_nee.

Referenced by base_callback().

◆ getRelativeFrame()

bool iTaSC::Armature::getRelativeFrame ( Frame & result,
const std::string & segment_name,
const std::string & base_name = m_root )

Definition at line 662 of file Armature.cpp.

References false, and result.

Referenced by base_callback(), and execute_scene().

◆ getSegment()

bool iTaSC::Armature::getSegment ( const std::string & segment_name,
const unsigned int q_size,
const Joint *& p_joint,
double & q_rest,
double & q,
const Frame *& p_tip )

Definition at line 249 of file Armature.cpp.

References KDL::Joint::getNDof(), and name.

Referenced by base_callback(), and execute_scene().

◆ initCache()

void iTaSC::Armature::initCache ( Cache * _cache)
virtual

Implements iTaSC::Object.

Definition at line 136 of file Armature.cpp.

◆ pushCache()

void iTaSC::Armature::pushCache ( const Timestamp & timestamp)
virtual

Implements iTaSC::Object.

Definition at line 420 of file Armature.cpp.

References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.

Referenced by updateKinematics().

◆ setControlParameter()

bool iTaSC::Armature::setControlParameter ( unsigned int constraintId,
unsigned int valueId,
ConstraintAction action,
double value,
double timestep = 0.0 )
virtual

Definition at line 715 of file Armature.cpp.

References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, iTaSC::ACT_NONE, iTaSC::ACT_TOLERANCE, iTaSC::ACT_VALUE, iTaSC::ACT_VELOCITY, iTaSC::ConstraintValues::alpha, CONSTRAINT_ID_ALL, iTaSC::ConstraintValues::feedback, i, iTaSC::ConstraintSingleValue::id, ID_JOINT, iTaSC::ControlledObject::m_Wy, iTaSC::ConstraintValues::tolerance, iTaSC::Armature::JointConstraint_struct::v_nr, iTaSC::Armature::JointConstraint_struct::value, iTaSC::Armature::JointConstraint_struct::values, iTaSC::Armature::JointConstraint_struct::y_nr, iTaSC::ConstraintSingleValue::yd, and iTaSC::ConstraintSingleValue::yddot.

◆ setJointArray()

bool iTaSC::Armature::setJointArray ( const KDL::JntArray & joints)
virtual

Definition at line 428 of file Armature.cpp.

References KDL::JntArray::rows(), and updateJacobian().

Referenced by execute_scene().

◆ updateControlOutput()

void iTaSC::Armature::updateControlOutput ( const Timestamp & timestamp)
virtual

Implements iTaSC::ControlledObject.

Definition at line 669 of file Armature.cpp.

References iTaSC::ConstraintValues::alpha, iTaSC::Timestamp::cacheTimestamp, iTaSC::ConstraintValues::feedback, iTaSC::Armature::JointConstraint_struct::function, i, iTaSC::Timestamp::interpolate, jit, iTaSC::ControlledObject::m_Wy, iTaSC::ControlledObject::m_ydot, iTaSC::Armature::JointConstraint_struct::param, iTaSC::Timestamp::reiterate, iTaSC::Armature::JointConstraint_struct::segment, iTaSC::Armature::JointConstraint_struct::substep, iTaSC::Timestamp::substep, iTaSC::Armature::JointConstraint_struct::v_nr, iTaSC::Armature::JointConstraint_struct::value, iTaSC::Armature::JointConstraint_struct::values, iTaSC::ConstraintSingleValue::y, iTaSC::Armature::JointConstraint_struct::y_nr, iTaSC::ConstraintSingleValue::yd, iTaSC::ConstraintSingleValue::yddot, and iTaSC::ConstraintSingleValue::ydot.

◆ updateJacobian()

void iTaSC::Armature::updateJacobian ( )
protectedvirtual

Implements iTaSC::Object.

Definition at line 636 of file Armature.cpp.

References KDL::changeRefPoint(), e_matrix, i, iTaSC::ControlledObject::m_JqArray, iTaSC::ControlledObject::m_nee, iTaSC::ControlledObject::m_nq, iTaSC::Object::m_updated, and name.

Referenced by finalize(), setJointArray(), and updateKinematics().

◆ updateJoint()

bool iTaSC::Armature::updateJoint ( const Timestamp & timestamp,
JointLockCallback & callback )
virtual

Implements iTaSC::ControlledObject.

Definition at line 444 of file Armature.cpp.

References KDL::epsilon, KDL::epsilon2, i, KDL::Rotation::Inverse(), iTaSC::Armature::Joint_struct::locked, iTaSC::ControlledObject::JointLockCallback::lockJoint(), iTaSC::ControlledObject::m_nq, iTaSC::ControlledObject::m_qdot, iTaSC::Armature::Joint_struct::max, KDL::max(), iTaSC::Armature::Joint_struct::min, KDL::min(), iTaSC::Armature::Joint_struct::ndof, norm(), iTaSC::Timestamp::realTimestep, KDL::Rot(), KDL::Joint::Sphere, KDL::sqr(), KDL::sqrt(), KDL::Joint::Swing, and iTaSC::Armature::Joint_struct::type.

◆ updateKinematics()

void iTaSC::Armature::updateKinematics ( const Timestamp & timestamp)
virtual

Implements iTaSC::Object.

Definition at line 622 of file Armature.cpp.

References pushCache(), and updateJacobian().

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