iTaSC::Armature Class Reference

#include <Armature.hpp>

Inherits iTaSC::ControlledObject.

Classes
struct	Effector_struct
struct	Joint_struct
struct	JointConstraint_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 const unsigned int	getNrOfCoordinates ()
virtual const unsigned int	getNrOfConstraints ()
Public Member Functions inherited from iTaSC::Object
	Object (ObjectType _type)
virtual	~Object ()
virtual const 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.

~Armature()

iTaSC::Armature::~Armature ( )

virtual

Definition at line 49 of file Armature.cpp.

References NULL.

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, KDL::Tree::getSegment(), KDL::Tree::getSegments(), 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 KDL::Tree::getSegments().

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::Tree::getSegment(), KDL::Tree::getSegments(), KDL::Joint::getType(), iTaSC::Armature::Joint_struct::max, iTaSC::Armature::Joint_struct::min, KDL::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::Tree::addSegment(), 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, KDL::Tree::getSegmentPtr(), initialize(), length(), iTaSC::ControlledObject::m_Cq, iTaSC::ControlledObject::m_Wy, KDL::Vector::Norm(), KDL::Frame::p, KDL::JntArray::resize(), 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().

Referenced by execute_scene().

getMaxJointChange()

double iTaSC::Armature::getMaxJointChange

(

)

Definition at line 265 of file Armature.cpp.

References fabs().

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 KDL::TreeFkSolverPos_recursive::JntToCart().

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(), KDL::Tree::getSegment(), and KDL::Tree::getSegments().

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.

References iTaSC::Cache::addChannel(), NULL, and KDL::JntArray::rows().

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, 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, iTaSC::Timestamp::interpolate, jit, iTaSC::ControlledObject::m_Wy, iTaSC::ControlledObject::m_ydot, iTaSC::Armature::JointConstraint_struct::param, iTaSC::Timestamp::reiterate, KDL::JntArray::rows(), 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, KDL::TreeFkSolverPos_recursive::JntToCart(), KDL::TreeJntToJacSolver::JntToJac(), iTaSC::ControlledObject::m_JqArray, iTaSC::ControlledObject::m_nee, iTaSC::ControlledObject::m_nq, and iTaSC::Object::m_updated.

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 callback, KDL::epsilon, KDL::epsilon2, KDL::Rotation::Inverse(), iTaSC::Armature::Joint_struct::locked, iTaSC::ControlledObject::m_nq, iTaSC::ControlledObject::m_qdot, iTaSC::Armature::Joint_struct::max, iTaSC::Armature::Joint_struct::min, min, iTaSC::Armature::Joint_struct::ndof, norm(), iTaSC::Timestamp::realTimestep, 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(), KDL::JntArray::rows(), and updateJacobian().

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

• Armature.hpp
• Armature.cpp