Kinematic chain useful for a model abstraction. More...

#include <ModelChain.h>

Inheritance diagram for XBot::ModelChain:

Collaboration diagram for XBot::ModelChain:

Public Types
typedef std::shared_ptr< ModelChain >	Ptr

Public Types inherited from XBot::KinematicChain
typedef std::shared_ptr< KinematicChain >	Ptr

typedef std::shared_ptr< const KinematicChain >	ConstPtr

Public Member Functions
bool	getJointPosition (Eigen::VectorXd &q) const

bool	getJointPosition (JointIdMap &q) const

bool	getJointPosition (JointNameMap &q) const

double	getJointPosition (int index) const

bool	getMotorPosition (Eigen::VectorXd &q) const

bool	getMotorPosition (JointIdMap &q) const

bool	getMotorPosition (JointNameMap &q) const

double	getMotorPosition (int index) const

bool	getJointVelocity (Eigen::VectorXd &qdot) const

bool	getJointVelocity (JointIdMap &qdot) const

bool	getJointVelocity (JointNameMap &qdot) const

double	getJointVelocity (int index) const

bool	getMotorVelocity (Eigen::VectorXd &qdot) const

bool	getMotorVelocity (JointIdMap &qdot) const

bool	getMotorVelocity (JointNameMap &qdot) const

double	getMotorVelocity (int index) const

bool	getJointAcceleration (Eigen::VectorXd &qddot) const

bool	getJointAcceleration (JointIdMap &qddot) const

bool	getJointAcceleration (JointNameMap &qddot) const

double	getJointAcceleration (int index) const

bool	getJointEffort (Eigen::VectorXd &tau) const

bool	getJointEffort (JointIdMap &tau) const

bool	getJointEffort (JointNameMap &tau) const

double	getJointEffort (int index) const

bool	setJointPosition (const Eigen::VectorXd &q)

bool	setJointPosition (const JointIdMap &q)

bool	setJointPosition (const JointNameMap &q)

bool	setJointPosition (int i, double q)

bool	setMotorPosition (const Eigen::VectorXd &q)

bool	setMotorPosition (const JointIdMap &q)

bool	setMotorPosition (const JointNameMap &q)

bool	setMotorPosition (int i, double q)

bool	setJointVelocity (const Eigen::VectorXd &qdot)

bool	setJointVelocity (const JointIdMap &qdot)

bool	setJointVelocity (const JointNameMap &qdot)

bool	setJointVelocity (int i, double qdot)

bool	setMotorVelocity (const Eigen::VectorXd &qdot)

bool	setMotorVelocity (const JointIdMap &qdot)

bool	setMotorVelocity (const JointNameMap &qdot)

bool	setMotorVelocity (int i, double qdot)

bool	setJointAcceleration (const Eigen::VectorXd &qddot)

bool	setJointAcceleration (const JointIdMap &qddot)

bool	setJointAcceleration (const JointNameMap &qddot)

bool	setJointAcceleration (int i, double qddot)

bool	setJointEffort (const Eigen::VectorXd &tau)

bool	setJointEffort (const JointIdMap &tau)

bool	setJointEffort (const JointNameMap &tau)

bool	setJointEffort (int i, double tau)

Public Member Functions inherited from XBot::KinematicChain
	KinematicChain ()
	Default constructor. More...

	KinematicChain (const std::string &chain_name, const XBot::XBotCoreModel &XBotModel)
	Construct a Kinematic Chain using the chain name and the XBotCoreModel. More...

	KinematicChain (const std::string &chain_name)
	Construct a Kinematic Chain using the chain name. More...

	KinematicChain (const KinematicChain &other)
	Custom copy constructor, which guarantees independence between copies by performing a deep copy. More...

KinematicChain &	operator= (const KinematicChain &rhs)
	Custom copy assignment, which guarantees independence between copies by performing a deep copy. More...

bool	getChainState (const std::string &state_name, JointIdMap &q) const
	Gets the chain joints group state configuration as specified in the robot SRDF. More...

bool	getChainState (const std::string &state_name, JointNameMap &q) const
	Gets the chain joints group state configuration as specified in the robot SRDF. More...

bool	getChainState (const std::string &state_name, Eigen::VectorXd &q) const
	Gets the chain joints group state configuration as specified in the robot SRDF. More...

std::map< std::string, ForceTorqueSensor::ConstPtr >	getForceTorque () const
	Getter for the force-torque sensor map pertaining to the chain. More...

std::map< std::string, ImuSensor::ConstPtr >	getImu () const
	Getter for the IMU sensor map pertaining to the chain. More...

ForceTorqueSensor::ConstPtr	getForceTorque (const std::string &parent_link_name) const
	Returns a force-torque sensor given its parent-link name. More...

ImuSensor::ConstPtr	getImu (const std::string &parent_link_name) const
	Returns an IMU sensor given its parent-link name. More...

void	getJointLimits (Eigen::VectorXd &q_min, Eigen::VectorXd &q_max) const
	Gets a vector of the chain joint limits, as specified in the URDF file. More...

void	getVelocityLimits (Eigen::VectorXd &qdot_max) const
	Gets a vector of the chain joint velocity limits, as specified in the URDF file. More...

void	getEffortLimits (Eigen::VectorXd &tau_max) const
	Gets a vector of the chain joint effort limits, as specified in the URDF file. More...

void	getJointLimits (int i, double &q_min, double &q_max) const
	Gets the lower and upper joint limits of the i-th joint in the chain (from base link to tip link) More...

void	getVelocityLimits (int i, double &qdot_max) const
	Gets the velocity limit of the i-th joint in the chain (from base link to tip link) More...

void	getEffortLimits (int i, double &tau_max) const
	Gets the effort limit of the i-th joint in the chain (from base link to tip link) More...

bool	checkJointLimits (const Eigen::VectorXd &q, std::vector< std::string > &violating_joints) const
	Check the input joint position vector against joint limits. More...

bool	checkVelocityLimits (const Eigen::VectorXd &qdot, std::vector< std::string > &violating_joints) const
	Check the input joint velocity vector against joint limits. More...

bool	checkEffortLimits (const Eigen::VectorXd &tau, std::vector< std::string > &violating_joints) const
	Check the input joint effort vector against joint limits. More...

bool	checkJointLimits (const Eigen::VectorXd &q) const
	Check the input joint position vector against joint limits. More...

bool	checkVelocityLimits (const Eigen::VectorXd &qdot) const
	Check the input joint velocity vector against joint limits. More...

bool	checkEffortLimits (const Eigen::VectorXd &tau) const
	Check the input joint effort vector against joint limits. More...

bool	enforceJointLimits (Eigen::VectorXd &q) const
	Modifies the input joint position vector by enforcing joint limits. More...

bool	enforceVelocityLimit (Eigen::VectorXd &qdot) const
	Modifies the input joint velcoity vector by enforcing joint limits. More...

bool	enforceEffortLimit (Eigen::VectorXd &tau) const
	Modifies the input joint effort vector by enforcing effort limits. More...

bool	mapToEigen (const JointIdMap &id_map, Eigen::VectorXd &eigen_vector) const
	Converts a state vector for an arbitrary subset of the chain state (specified as a JointIdMap) to its Eigen representation. More...

bool	mapToEigen (const JointNameMap &name_map, Eigen::VectorXd &eigen_vector) const
	Converts a state vector for an arbitrary subset of the chain state (specified as a JointNameMap) to its Eigen representation. More...

bool	eigenToMap (const Eigen::VectorXd &eigen_vector, JointIdMap &id_map) const
	Converts a state vector for the whole chain to its JointIdMap representation. More...

bool	eigenToMap (const Eigen::VectorXd &eigen_vector, JointNameMap &name_map) const
	Converts a state vector for the whole chain to its JointNameMap representation. More...

void	pushBackJoint (Joint::Ptr joint)
	add a joint in the kinematic chain pushing it in the end of the chain More...

void	removeJoint (int i)
	remove the i-th joint in the kinematic chain More...

bool	isVirtual () const
	Method for determining whether a chain is virtual, i.e. More...

const std::string &	getChainName () const
	Method returning the name of the chain. More...

const std::string &	getBaseLinkName () const
	Method returning the name of the chain base link. More...

const std::string &	getTipLinkName () const
	Method returning the name of the chain tip link. More...

const std::string &	getChildLinkName (int i) const
	Method returning the name of the child link corresponding to the i-th joint of the chain. More...

const std::string &	getParentLinkName (int i) const
	Method returning the name of the parent link corresponding to the i-th joint of the chain. More...

const std::string &	getJointName (int i) const
	Method returning the name of the i-th joint of the chain. More...

const std::vector< std::string > &	getJointNames () const
	Returns a vector containing the namess of all joints in the chain, from base link to tip link. More...

int	getJointId (int i) const
	Method returning the ID of the i-th joint of the chain. More...

int	getChainDofIndex (int joint_id) const
	Getter for the chain dof index (local index of a joint inside a chain, this means that the base link of the chain has dof index = 0, tip link of the chain has dof index = getJointNum()-1 ) of a joint with the requested joint id. More...

int	getChainDofIndex (const std::string &joint_name) const
	Getter for the chain dof index (local index of a joint inside a chain, this means that the base link of the chain has dof index = 0, tip link of the chain has dof index = getJointNum()-1 ) of a joint with the requested joint name. More...

bool	hasJoint (int joint_id) const
	check if the chain has a joint with a certain id More...

bool	hasJoint (const std::string &joint_name) const
	check if the chain has a joint with a certain name More...

const std::vector< int > &	getJointIds () const
	Returns a vector containing the IDs of all joints in the chain, from base link to tip link. More...

int	getJointNum () const
	Method returning the number of enabled joints belonging to the chain. More...

const std::vector< urdf::JointConstSharedPtr > &	getUrdfJoints () const
	Method returning the vector of urdf::Joints corresponding to the chain. More...

const std::vector< urdf::LinkConstSharedPtr > &	getUrdfLinks () const
	Method returning the vector of urdf::Links corresponding to the chain. More...

void	shallowCopy (const KinematicChain &chain)
	Updates the current object (this) by performing a shallow copy with the chain passed as argument. More...

Joint::ConstPtr	getJoint (int i) const
	Getter for the i-th Joint Ptr. More...

bool	getJointPosition (Eigen::VectorXd &q) const

bool	getMotorPosition (Eigen::VectorXd &q) const

bool	getJointVelocity (Eigen::VectorXd &qdot) const

bool	getMotorVelocity (Eigen::VectorXd &qdot) const

bool	getJointAcceleration (Eigen::VectorXd &qddot) const

bool	getJointEffort (Eigen::VectorXd &tau) const

bool	getTemperature (Eigen::VectorXd &temp) const

bool	getJointPosition (JointIdMap &q) const

bool	getMotorPosition (JointIdMap &q) const

bool	getJointVelocity (JointIdMap &qdot) const

bool	getMotorVelocity (JointIdMap &qdot) const

bool	getJointAcceleration (JointIdMap &qddot) const

bool	getJointEffort (JointIdMap &tau) const

bool	getTemperature (JointIdMap &temp) const

bool	getJointPosition (JointNameMap &q) const

bool	getMotorPosition (JointNameMap &q) const

bool	getJointVelocity (JointNameMap &qdot) const

bool	getMotorVelocity (JointNameMap &qdot) const

bool	getJointAcceleration (JointNameMap &qddot) const

bool	getJointEffort (JointNameMap &tau) const

bool	getTemperature (JointNameMap &temp) const

double	getJointPosition (int index) const

double	getMotorPosition (int index) const

double	getJointVelocity (int index) const

double	getMotorVelocity (int index) const

double	getJointAcceleration (int index) const

double	getJointEffort (int index) const

double	getTemperature (int index) const

bool	setJointPosition (const Eigen::VectorXd &q)

bool	setMotorPosition (const Eigen::VectorXd &q)

bool	setJointVelocity (const Eigen::VectorXd &qdot)

bool	setMotorVelocity (const Eigen::VectorXd &qdot)

bool	setJointAcceleration (const Eigen::VectorXd &qddot)

bool	setJointEffort (const Eigen::VectorXd &tau)

bool	setTemperature (const Eigen::VectorXd &temp)

bool	setJointPosition (const JointIdMap &q)

bool	setMotorPosition (const JointIdMap &q)

bool	setJointVelocity (const JointIdMap &qdot)

bool	setMotorVelocity (const JointIdMap &qdot)

bool	setJointAcceleration (const JointIdMap &qddot)

bool	setJointEffort (const JointIdMap &tau)

bool	setTemperature (const JointIdMap &temp)

bool	setJointPosition (const JointNameMap &q)

bool	setMotorPosition (const JointNameMap &q)

bool	setJointVelocity (const JointNameMap &qdot)

bool	setMotorVelocity (const JointNameMap &qdot)

bool	setJointAcceleration (const JointNameMap &qddot)

bool	setJointEffort (const JointNameMap &tau)

bool	setTemperature (const JointNameMap &temp)

bool	setJointPosition (int i, double q)

bool	setMotorPosition (int i, double q)

bool	setJointVelocity (int i, double qdot)

bool	setMotorVelocity (int i, double qdot)

bool	setJointAcceleration (int i, double qddot)

bool	setJointEffort (int i, double tau)

bool	setTemperature (int i, double temp)

bool	getPositionReference (Eigen::VectorXd &q) const

bool	getVelocityReference (Eigen::VectorXd &qdot) const

bool	getEffortReference (Eigen::VectorXd &tau) const

bool	getStiffness (Eigen::VectorXd &K) const

bool	getDamping (Eigen::VectorXd &D) const

bool	getPositionReference (JointIdMap &q) const

bool	getVelocityReference (JointIdMap &qdot) const

bool	getEffortReference (JointIdMap &tau) const

bool	getStiffness (JointIdMap &K) const

bool	getDamping (JointIdMap &D) const

bool	getPositionReference (JointNameMap &q) const

bool	getVelocityReference (JointNameMap &qdot) const

bool	getEffortReference (JointNameMap &tau) const

bool	getStiffness (JointNameMap &K) const

bool	getDamping (JointNameMap &D) const

double	getPositionReference (int index) const

double	getVelocityReference (int index) const

double	getEffortReference (int index) const

double	getStiffness (int index) const

double	getDamping (int index) const

bool	setPositionReference (const Eigen::VectorXd &q)

bool	setVelocityReference (const Eigen::VectorXd &qdot)

bool	setEffortReference (const Eigen::VectorXd &tau)

bool	setStiffness (const Eigen::VectorXd &K)

bool	setDamping (const Eigen::VectorXd &D)

bool	setPositionReference (const JointIdMap &q)

bool	setVelocityReference (const JointIdMap &qdot)

bool	setEffortReference (const JointIdMap &tau)

bool	setStiffness (const JointIdMap &K)

bool	setDamping (const JointIdMap &D)

bool	setPositionReference (const JointNameMap &q)

bool	setVelocityReference (const JointNameMap &qdot)

bool	setEffortReference (const JointNameMap &tau)

bool	setStiffness (const JointNameMap &K)

bool	setDamping (const JointNameMap &D)

bool	setPositionReference (int i, double q)

bool	setVelocityReference (int i, double qdot)

bool	setEffortReference (int i, double tau)

bool	setStiffness (int i, double K)

bool	setDamping (int i, double D)

template<typename... SyncFlags>
bool	syncFrom (const KinematicChain &other, SyncFlags... flags)
	Synchronize the current KinematicChain with another KinematicChain object. More...

void	print () const
	Prints a pretty table about chain state. More...

void	printTracking () const
	Prints a pretty table about chain tracking. More...

Additional Inherited Members
Protected Member Functions inherited from XBot::KinematicChain
Joint::Ptr	getJointInternal (int i) const
	Getter for the i-th Joint Ptr. More...

std::map< std::string, ForceTorqueSensor::Ptr >	getForceTorqueInternal () const

std::map< std::string, ImuSensor::Ptr >	getImuInternal () const

Protected Attributes inherited from XBot::KinematicChain
std::map< std::string, XBot::Joint::Ptr >	_joint_name_map

std::map< int, XBot::Joint::Ptr >	_joint_id_map

std::vector< XBot::Joint::Ptr >	_joint_vector

std::vector< ForceTorqueSensor::Ptr >	_ft_vector

std::map< std::string, ForceTorqueSensor::Ptr >	_ft_map

std::vector< ImuSensor::Ptr >	_imu_vector

std::map< std::string, ImuSensor::Ptr >	_imu_map

Detailed Description

Kinematic chain useful for a model abstraction.

Member Typedef Documentation

◆ Ptr

typedef std::shared_ptr<ModelChain> XBot::ModelChain::Ptr

Member Function Documentation

◆ getJointAcceleration() [1/4]

bool XBot::KinematicChain::getJointAcceleration

◆ getJointAcceleration() [2/4]

double XBot::KinematicChain::getJointAcceleration

◆ getJointAcceleration() [3/4]

bool XBot::KinematicChain::getJointAcceleration

◆ getJointAcceleration() [4/4]

bool XBot::KinematicChain::getJointAcceleration

◆ getJointEffort() [1/4]

bool XBot::KinematicChain::getJointEffort

◆ getJointEffort() [2/4]

double XBot::KinematicChain::getJointEffort

◆ getJointEffort() [3/4]

bool XBot::KinematicChain::getJointEffort

◆ getJointEffort() [4/4]

bool XBot::KinematicChain::getJointEffort

◆ getJointPosition() [1/4]

bool XBot::KinematicChain::getJointPosition

◆ getJointPosition() [2/4]

double XBot::KinematicChain::getJointPosition

◆ getJointPosition() [3/4]

bool XBot::KinematicChain::getJointPosition

◆ getJointPosition() [4/4]

bool XBot::KinematicChain::getJointPosition

◆ getJointVelocity() [1/4]

bool XBot::KinematicChain::getJointVelocity

◆ getJointVelocity() [2/4]

double XBot::KinematicChain::getJointVelocity

◆ getJointVelocity() [3/4]

bool XBot::KinematicChain::getJointVelocity

◆ getJointVelocity() [4/4]

bool XBot::KinematicChain::getJointVelocity

◆ getMotorPosition() [1/4]

bool XBot::KinematicChain::getMotorPosition

◆ getMotorPosition() [2/4]

double XBot::KinematicChain::getMotorPosition

◆ getMotorPosition() [3/4]

bool XBot::KinematicChain::getMotorPosition

◆ getMotorPosition() [4/4]

bool XBot::KinematicChain::getMotorPosition

◆ getMotorVelocity() [1/4]

bool XBot::KinematicChain::getMotorVelocity

◆ getMotorVelocity() [2/4]

double XBot::KinematicChain::getMotorVelocity

◆ getMotorVelocity() [3/4]

bool XBot::KinematicChain::getMotorVelocity

◆ getMotorVelocity() [4/4]

bool XBot::KinematicChain::getMotorVelocity

◆ setJointAcceleration() [1/4]

bool XBot::KinematicChain::setJointAcceleration

◆ setJointAcceleration() [2/4]

bool XBot::KinematicChain::setJointAcceleration

◆ setJointAcceleration() [3/4]

bool XBot::KinematicChain::setJointAcceleration

◆ setJointAcceleration() [4/4]

bool XBot::KinematicChain::setJointAcceleration

◆ setJointEffort() [1/4]

bool XBot::KinematicChain::setJointEffort

◆ setJointEffort() [2/4]

bool XBot::KinematicChain::setJointEffort

◆ setJointEffort() [3/4]

bool XBot::KinematicChain::setJointEffort

◆ setJointEffort() [4/4]

bool XBot::KinematicChain::setJointEffort

◆ setJointPosition() [1/4]

bool XBot::KinematicChain::setJointPosition

◆ setJointPosition() [2/4]

bool XBot::KinematicChain::setJointPosition

◆ setJointPosition() [3/4]

bool XBot::KinematicChain::setJointPosition

◆ setJointPosition() [4/4]

bool XBot::KinematicChain::setJointPosition

◆ setJointVelocity() [1/4]

bool XBot::KinematicChain::setJointVelocity

◆ setJointVelocity() [2/4]

bool XBot::KinematicChain::setJointVelocity

◆ setJointVelocity() [3/4]

bool XBot::KinematicChain::setJointVelocity

◆ setJointVelocity() [4/4]

bool XBot::KinematicChain::setJointVelocity

◆ setMotorPosition() [1/4]

bool XBot::KinematicChain::setMotorPosition

◆ setMotorPosition() [2/4]

bool XBot::KinematicChain::setMotorPosition

◆ setMotorPosition() [3/4]

bool XBot::KinematicChain::setMotorPosition

◆ setMotorPosition() [4/4]

bool XBot::KinematicChain::setMotorPosition

◆ setMotorVelocity() [1/4]

bool XBot::KinematicChain::setMotorVelocity

◆ setMotorVelocity() [2/4]

bool XBot::KinematicChain::setMotorVelocity

◆ setMotorVelocity() [3/4]

bool XBot::KinematicChain::setMotorVelocity

◆ setMotorVelocity() [4/4]

bool XBot::KinematicChain::setMotorVelocity

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

/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/ModelChain.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

Member Function Documentation

◆ getJointAcceleration() [1/4]

◆ getJointAcceleration() [2/4]

◆ getJointAcceleration() [3/4]

◆ getJointAcceleration() [4/4]

◆ getJointEffort() [1/4]

◆ getJointEffort() [2/4]

◆ getJointEffort() [3/4]

◆ getJointEffort() [4/4]

◆ getJointPosition() [1/4]

◆ getJointPosition() [2/4]

◆ getJointPosition() [3/4]

◆ getJointPosition() [4/4]

◆ getJointVelocity() [1/4]

◆ getJointVelocity() [2/4]

◆ getJointVelocity() [3/4]

◆ getJointVelocity() [4/4]

◆ getMotorPosition() [1/4]

◆ getMotorPosition() [2/4]

◆ getMotorPosition() [3/4]

◆ getMotorPosition() [4/4]

◆ getMotorVelocity() [1/4]

◆ getMotorVelocity() [2/4]

◆ getMotorVelocity() [3/4]

◆ getMotorVelocity() [4/4]

◆ setJointAcceleration() [1/4]

◆ setJointAcceleration() [2/4]

◆ setJointAcceleration() [3/4]

◆ setJointAcceleration() [4/4]

◆ setJointEffort() [1/4]

◆ setJointEffort() [2/4]

◆ setJointEffort() [3/4]

◆ setJointEffort() [4/4]

◆ setJointPosition() [1/4]

◆ setJointPosition() [2/4]

◆ setJointPosition() [3/4]

◆ setJointPosition() [4/4]

◆ setJointVelocity() [1/4]

◆ setJointVelocity() [2/4]

◆ setJointVelocity() [3/4]

◆ setJointVelocity() [4/4]

◆ setMotorPosition() [1/4]

◆ setMotorPosition() [2/4]

◆ setMotorPosition() [3/4]

◆ setMotorPosition() [4/4]

◆ setMotorVelocity() [1/4]

◆ setMotorVelocity() [2/4]

◆ setMotorVelocity() [3/4]

◆ setMotorVelocity() [4/4]