XBot::ModelInterface Class Reference

ModelInterface is an abstraction layer for a kinematic/dynamic model of a robot. More...

#include <ModelInterface.h>

Inheritance diagram for XBot::ModelInterface:

Collaboration diagram for XBot::ModelInterface:

Public Types
typedef std::shared_ptr< ModelInterface >	Ptr
	Shared pointer to a ModelInterface. More...
typedef std::shared_ptr< const ModelInterface >	ConstPtr
	Shared pointer to const ModelInterface. More...
Public Types inherited from XBot::XBotInterface
typedef std::shared_ptr< XBotInterface >	Ptr
typedef std::shared_ptr< const XBotInterface >	ConstPtr

Public Member Functions
	ModelInterface ()=default
ModelInterface &	operator= (const ModelInterface &other)=delete
	ModelInterface (const ModelInterface &other)=delete
ModelChain &	chain (const std::string &chain_name)
	Returns a handle to the kinematic chain named chain_name. More...
const ModelChain &	chain (const std::string &chain_name) const
ModelChain &	operator() (const std::string &chain_name)
	Returns a handle to the kinematic chain named chain_name. More...
const ModelChain &	operator() (const std::string &chain_name) const
ModelChain &	arm (int arm_id)
	Returns a handle to the kinematic chain corresponding to the arm n° arm_id. More...
const ModelChain &	arm (int arm_id) const
ModelChain &	leg (int leg_id)
	Returns a handle to the kinematic chain corresponding to the leg n° leg_id. More...
const ModelChain &	leg (int leg_id) const
template<typename... SyncFlags>
bool	syncFrom (const XBotInterface &other, SyncFlags... flags)
	Synchronizes the internal model state to the one of the XBotInterface given as an argument. More...
template<typename... SyncFlags>
bool	syncFrom_no_update (const XBotInterface &other, SyncFlags... flags)
	Synchronizes the internal model state to the one of the XBotInterface given as an argument. More...
bool	update (bool update_position=true, bool update_velocity=true, bool update_desired_acceleration=true)
	Updates the kinematic variables of the model according to the current state of the model. More...
virtual void	getModelOrderedJoints (std::vector< std::string > &joint_name) const =0
	Gets a vector with the joint names ordered according to the model. More...
int	getActuatedJointNum () const
	Gets the number of actuated joints in the model, i.e. More...
bool	isFloatingBase () const
	True if the robot is floating base, false if it has a fixed base. More...
virtual bool	setFloatingBasePose (const KDL::Frame &floating_base_pose)=0
	Sets the floating base pose w.r.t. More...
bool	setFloatingBaseOrientation (const KDL::Rotation &world_R_floating_base)
	Sets the floating base orientation w.r.t. More...
bool	getFloatingBasePose (KDL::Frame &floating_base_pose) const
	Gets the floating base pose w.r.t. More...
virtual bool	setFloatingBaseTwist (const KDL::Twist &floating_base_twist)=0
	Sets the floating base twist w.r.t. More...
bool	setFloatingBaseAngularVelocity (const KDL::Vector &floating_base_omega)
	Sets the floating base angular velocity w.r.t. More...
bool	setFloatingBaseState (const KDL::Frame &pose, const KDL::Twist &twist)
	Sets the floating base pose and twist w.r.t. More...
bool	setFloatingBaseState (XBot::ImuSensor::ConstPtr imu, const Eigen::Matrix3d &offset=Eigen::Matrix3d::Identity())
	Sets the floating base orientation and angular velocity w.r.t. More...
bool	getFloatingBaseTwist (KDL::Twist &floating_base_twist) const
	Gets the floating base twist w.r.t. More...
virtual bool	getFloatingBaseLink (std::string &floating_base_link) const =0
	Gets the name of the floating base link. More...
virtual bool	getPose (const std::string &source_frame, KDL::Frame &pose) const =0
	Computes the pose of the source_frame w.r.t. More...
bool	getPose (const std::string &source_frame, const std::string &target_frame, KDL::Frame &pose) const
	Computes the pose of the source_frame w.r.t. More...
bool	getOrientation (const std::string &source_frame, KDL::Rotation &orientation) const
	Computes the orientation of the source_frame w.r.t. More...
bool	getOrientation (const std::string &source_frame, const std::string &target_frame, KDL::Rotation &orientation) const
	Computes the orientation of the target_frame w.r.t. More...
bool	getPointPosition (const std::string &source_frame, const KDL::Vector &source_point, KDL::Vector &world_point) const
	Gets the position in world coordinates for a source_point expressed w.r.t. More...
bool	getPointPosition (const std::string &source_frame, const std::string &target_frame, const KDL::Vector &source_point, KDL::Vector &target_point) const
	Gets the position in target_frame coordinates for a source_point expressed w.r.t. More...
virtual bool	getJacobian (const std::string &link_name, const KDL::Vector &reference_point, KDL::Jacobian &J) const =0
	Gets the Jacobian of link_name expressed in the world frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name (i.e. More...
bool	getJacobian (const std::string &link_name, KDL::Jacobian &J) const
	Gets the Jacobian of link_name expressed in the world frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name (i.e. More...
bool	getJacobian (const std::string &link_name, const std::string &target_frame, KDL::Jacobian &J) const
	Gets the Jacobian of link_name expressed in the target_frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name according to target_frame (i.e. More...
void	getPosturalJacobian (Eigen::MatrixXd &J) const
	Gets the Jacacobian matrix corresponding to a joint-space postural task, i.e. More...
virtual bool	getRelativeJacobian (const std::string &target_link_name, const std::string &base_link_name, KDL::Jacobian &J) const
	Gets the relative Jacobian of target_link_name w.r.t to base_link_name. More...
virtual bool	getVelocityTwist (const std::string &link_name, KDL::Twist &velocity) const =0
	Gets the velocity twist of link_name (first linear, then angular velocity). More...
bool	getRelativeVelocityTwist (const std::string &link_name, const std::string &base_link_name, KDL::Twist &velocity) const
	Gets the velocity twist of link_name (first linear, then angular velocity) w.r.t. More...
virtual bool	getVelocityTwist (const std::string &source_frame, const std::string &target_frame, KDL::Twist &velocity) const
	Computes the velocity of the source_frame w.r.t. More...
virtual bool	getAccelerationTwist (const std::string &link_name, KDL::Twist &acceleration) const =0
	Gets the acceleration twist of link_name (first linear, then angular acceleration). More...
virtual bool	getRelativeAccelerationTwist (const std::string &link_name, const std::string &base_link_name, KDL::Twist &acceleration) const =0
	getRelativeAccelerationTwist compute the relative acceleration of body "link" wrt body "base_link" expressed in frame "base_link" More...
virtual bool	getPointAcceleration (const std::string &link_name, const KDL::Vector &point, KDL::Vector &acceleration) const =0
	Gets the acceleration of a given point which is solidal with the given link. More...
virtual bool	computeJdotQdot (const std::string &link_name, const KDL::Vector &point, KDL::Twist &jdotqdot) const
	Computed the product of the link_name jacobian time derivative by the joint velocity vector. More...
virtual bool	computeRelativeJdotQdot (const std::string &target_link_name, const std::string &base_link_name, KDL::Twist &jdotqdot) const =0
	computeRelativeJdotQdot return the relative acceleration component between "target_link" and "base_link", given by JdotQdot, expressed in "base_link" More...
virtual void	getCOM (KDL::Vector &com_position) const =0
	Gets the COM position vector w.r.t. More...
bool	getCOM (const std::string &reference_frame, KDL::Vector &com_position) const
	Gets the COM position vector w.r.t. More...
virtual void	getCOMJacobian (KDL::Jacobian &J, KDL::Vector &dJcomQdot) const
	Gets the COM Jacobian expressed in the world frame and the d(Jcom)/dt * qdot term, i.e. More...
virtual void	getCOMJacobian (KDL::Jacobian &J) const
	Gets the COM Jacobian expressed in the world frame. More...
virtual void	getCOMVelocity (KDL::Vector &velocity) const =0
	Gets the COM velocity expressed in the world frame. More...
virtual void	getCOMAcceleration (KDL::Vector &acceleration) const =0
	Gets the COM acceleration expressed in the world frame. More...
virtual void	getCentroidalMomentum (Eigen::Vector6d &centroidal_momentum) const =0
	Gets the robot centroidal momentum matrix, i.e. More...
virtual void	getCentroidalMomentumMatrix (Eigen::MatrixXd &centroidal_momentum_matrix, Eigen::Vector6d &CMMdotQdot) const
	Gets the robot centroidal momentum matrix, i.e. More...
virtual void	getCentroidalMomentumMatrix (Eigen::MatrixXd &centroidal_momentum_matrix) const
	Gets the robot mometum about its COM. More...
virtual double	getMass () const =0
	Gets the weight of the robot. More...
virtual void	getGravity (KDL::Vector &gravity) const =0
	Gets the gravity vector expressed in the world frame. More...
bool	getGravity (const std::string &reference_frame, KDL::Vector &gravity) const
	Gets the gravity vector expressed in the reference_frame. More...
virtual void	setGravity (const KDL::Vector &gravity)=0
	Sets the gravity vector expressed in the world frame. More...
bool	setGravity (const std::string &reference_frame, const KDL::Vector &gravity)
	Sets the gravity vector expressed in the reference_frame. More...
virtual void	getInertiaMatrix (Eigen::MatrixXd &M) const =0
	Gets the joint space inertia matrix of the robot. More...
virtual void	getInertiaInverseTimesVector (const Eigen::VectorXd &vec, Eigen::VectorXd &minv_vec) const
	getInertiaInverseTimesVector Computes the inverse of the Inertia Matrix times a given vector More...
virtual void	getInertiaInverseTimesMatrix (const Eigen::MatrixXd &Mat, Eigen::MatrixXd &Minv_Mat) const
	getInertiaInverseTimesMatrix Computes the inverse of the Inertia Matrix times a given matrix More...
virtual void	getInertiaInverse (Eigen::MatrixXd &Minv) const
	getInertiaInverse compute the inverse of the Inertia Matrix More...
virtual void	computeGravityCompensation (Eigen::VectorXd &g) const =0
	Computes gravity compensation torques. More...
virtual void	computeNonlinearTerm (Eigen::VectorXd &n) const =0
	Computes the non-linear torque term without the contribution from gravity, i.e. More...
virtual void	computeInverseDynamics (Eigen::VectorXd &tau) const =0
	Computes inverse dynamics. More...
bool	computeConstrainedInverseDynamics (const Eigen::MatrixXd &J, const Eigen::VectorXd &weights, Eigen::VectorXd &tau) const
	Computes inverse dynamics for a constrained system. More...
bool	getChainSelectionMatrix (const std::string &chain_name, Eigen::MatrixXd &S) const
	Gets a selection matrix for the requested chain, i.e. More...
bool	getJointSelectionMatrix (const std::string &joint_name, Eigen::RowVectorXd &S) const
	Gets a selection matrix for the requested joint, i.e. More...
bool	getJointSelectionMatrix (int joint_id, Eigen::RowVectorXd &S) const
	Gets a selection matrix for the requested joint, i.e. More...
bool	maskJacobian (const std::string &chain_name, KDL::Jacobian &J) const
	Applies a mask corresponding to the specified chain to the jacobian provided as an argument. More...
bool	setFloatingBasePose (const Eigen::Affine3d &floating_base_pose)
	Sets the floating base pose w.r.t. More...
bool	setFloatingBaseState (const Eigen::Affine3d &pose, const Eigen::Vector6d &twist)
	Sets the floating base pose and twist w.r.t. More...
bool	setFloatingBaseOrientation (const Eigen::Matrix3d &world_R_floating_base)
	Sets the floating base orientation w.r.t. More...
virtual bool	setFloatingBaseTwist (const Eigen::Vector6d &floating_base_twist)
	Sets the floating base twist w.r.t. More...
bool	setFloatingBaseAngularVelocity (const Eigen::Vector3d &floating_base_omega)
	Sets the floating base angular velocity w.r.t. More...
bool	getFloatingBasePose (Eigen::Affine3d &floating_base_pose) const
	Gets the floating base pose w.r.t. More...
bool	getFloatingBaseTwist (Eigen::Vector6d &floating_base_twist) const
	Gets the floating base twist w.r.t. More...
bool	getPose (const std::string &source_frame, const std::string &target_frame, Eigen::Affine3d &pose) const
	Computes the pose of the source_frame w.r.t. More...
bool	getPose (const std::string &source_frame, Eigen::Affine3d &pose) const
	Computes the pose of the source_frame w.r.t. More...
bool	getOrientation (const std::string &source_frame, Eigen::Matrix3d &orientation) const
	Computes the orientation of the source_frame w.r.t. More...
bool	getOrientation (const std::string &source_frame, const std::string &target_frame, Eigen::Matrix3d &orientation) const
	Computes the orientation of the source_frame w.r.t. More...
bool	getPointPosition (const std::string &source_frame, const Eigen::Vector3d &source_point, Eigen::Vector3d &world_point) const
	Gets the position in world coordinates for a source_point expressed w.r.t. More...
bool	getPointPosition (const std::string &source_frame, const std::string &target_frame, const Eigen::Vector3d &source_point, Eigen::Vector3d &target_point) const
	Gets the position in target_frame coordinates for a source_point expressed w.r.t. More...
bool	getJacobian (const std::string &link_name, Eigen::MatrixXd &J) const
	Gets the Jacobian of link_name expressed in the world frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name (i.e. More...
bool	getJacobian (const std::string &link_name, const std::string &target_frame, Eigen::MatrixXd &J) const
	Gets the Jacobian of link_name expressed in the target_frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name according to target_frame (i.e. More...
bool	getJacobian (const std::string &link_name, const Eigen::Vector3d &reference_point, Eigen::MatrixXd &J) const
	Gets the Jacobian of link_name expressed in the world frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name (i.e. More...
bool	getRelativeJacobian (const std::string &target_link_name, const std::string &base_link_name, Eigen::MatrixXd &J) const
	Gets the relative Jacobian of target_link_name w.r.t to base_link_name. More...
void	getCOM (Eigen::Vector3d &com_position) const
	Gets the COM position vector w.r.t. More...
bool	getCOM (const std::string &reference_frame, Eigen::Vector3d &com_position) const
	Gets the COM position vector w.r.t. More...
virtual void	getCOMJacobian (Eigen::MatrixXd &J, Eigen::Vector3d &dJcomQdot) const
	Gets the COM Jacobian expressed in the world frame and the d(Jcom)/dt * qdot term, i.e. More...
void	getCOMJacobian (Eigen::MatrixXd &J) const
	Gets the COM Jacobian expressed in the world frame. More...
void	getCOMVelocity (Eigen::Vector3d &velocity) const
	Gets the COM velocity expressed in the world frame. More...
void	getCOMAcceleration (Eigen::Vector3d &acceleration) const
	Gets the COM acceleration expressed in the world frame. More...
bool	getRelativeVelocityTwist (const std::string &link_name, const std::string &base_link_name, Eigen::Vector6d &velocity) const
	Gets the velocity twist of link_name (first linear, then angular velocity) w.r.t. More...
bool	getRelativeAccelerationTwist (const std::string &link_name, const std::string &base_link_name, Eigen::Vector6d &acceleration) const
	getRelativeAccelerationTwist compute the relative acceleration of body "link" wrt body "base_link" expressed in frame "base_link" More...
bool	getVelocityTwist (const std::string &link_name, Eigen::Vector6d &velocity) const
	Gets the velocity twist of link_name (first linear, then angular velocity). More...
virtual bool	getVelocityTwist (const std::string &source_frame, const std::string &target_frame, Eigen::Matrix< double, 6, 1 > &velocity) const
	Computes the velocity of the source_frame w.r.t. More...
bool	getAccelerationTwist (const std::string &link_name, Eigen::Vector6d &acceleration) const
	Gets the acceleration twist of link_name (first linear, then angular acceleration). More...
bool	getPointAcceleration (const std::string &link_name, const Eigen::Vector3d &point, Eigen::Vector3d &acceleration) const
	Gets the acceleration of a given point which is solidal with the given link. More...
bool	computeJdotQdot (const std::string &link_name, const Eigen::Vector3d &point, Eigen::Vector6d &jdotqdot) const
	Computed the product of the link_name jacobian time derivative by the joint velocity vector. More...
bool	computeRelativeJdotQdot (const std::string &target_link_name, const std::string &base_link_name, Eigen::Vector6d &jdotqdot) const
	computeRelativeJdotQdot return the relative acceleration component between "target_link" and "base_link", given by JdotQdot, expressed in "base_link" More...
void	getGravity (Eigen::Vector3d &gravity) const
	Gets the gravity vector expressed in the world frame. More...
bool	getGravity (const std::string &reference_frame, Eigen::Vector3d &gravity) const
	Gets the gravity vector expressed in the reference_frame. More...
void	setGravity (const Eigen::Vector3d &gravity)
	Sets the gravity vector expressed in the world frame. More...
bool	setGravity (const std::string &reference_frame, const Eigen::Vector3d &gravity)
	Sets the gravity vector expressed in the reference_frame. More...
bool	maskJacobian (const std::string &chain_name, Eigen::MatrixXd &J) const
	Applies a mask corresponding to the specified chain to the jacobian provided as an argument. More...
virtual int	getLinkID (const std::string &link_name) const =0
	getLinkID return the link ID More...
bool	getJointPosition (Eigen::VectorXd &q) const
	Gets the robot joint positions as an Eigen vector. More...
bool	getJointPosition (JointIdMap &q) const
	Gets the robot joint positions as a JointIdMap, i.e. More...
bool	getJointPosition (JointNameMap &q) const
	Gets the robot joint postions as a JointNameMap, i.e. More...
bool	getMotorPosition (Eigen::VectorXd &q) const
	Gets the robot motor positions as an Eigen vector. More...
bool	getMotorPosition (JointIdMap &q) const
	Gets the robot motor positions as a JointIdMap, i.e. More...
bool	getMotorPosition (JointNameMap &q) const
	Gets the robot motor postions as a JointNameMap, i.e. More...
bool	getJointVelocity (Eigen::VectorXd &qdot) const
	Gets the robot joint velocities as an Eigen vector. More...
bool	getJointVelocity (JointIdMap &qdot) const
	Gets the robot joint velocities as a JointIdMap, i.e. More...
bool	getJointVelocity (JointNameMap &qdot) const
	Gets the robot joint velocities as a JointNameMap, i.e. More...
bool	getMotorVelocity (Eigen::VectorXd &qdot) const
	Gets the robot motor velocities as an Eigen vector. More...
bool	getMotorVelocity (JointIdMap &qdot) const
	Gets the robot motor velocities as a JointIdMap, i.e. More...
bool	getMotorVelocity (JointNameMap &qdot) const
	Gets the robot motor velocities as a JointNameMap, i.e. More...
bool	getJointAcceleration (Eigen::VectorXd &qddot) const
	Gets the robot joint accelerations as an Eigen vector. More...
bool	getJointAcceleration (JointIdMap &qddot) const
	Gets the robot joint accelerations as a JointIdMap, i.e. More...
bool	getJointAcceleration (JointNameMap &qddot) const
	Gets the robot joint accelerations as a JointNameMap, i.e. More...
bool	getJointEffort (Eigen::VectorXd &tau) const
	Gets the robot joint efforts as an Eigen vector. More...
bool	getJointEffort (JointIdMap &tau) const
	Gets the robot joint efforts as a JointIdMap, i.e. More...
bool	getJointEffort (JointNameMap &tau) const
	Gets the robot joint efforts as a JointNameMap, i.e. More...
bool	getStiffness (Eigen::VectorXd &K) const
	Gets the robot stiffness as an Eigen vector. More...
bool	getStiffness (JointIdMap &K) const
	Gets the robot stiffness as a JointIdMap, i.e. More...
bool	getStiffness (JointNameMap &K) const
	Gets the robot stiffness as a JointNameMap, i.e. More...
bool	getDamping (Eigen::VectorXd &D) const
	Gets the robot damping as an Eigen vector. More...
bool	getDamping (JointIdMap &D) const
	Gets the robot damping as a JointIdMap, i.e. More...
bool	getDamping (JointNameMap &D) const
	Gets the robot damping as a JointNameMap, i.e. More...
bool	setJointPosition (const Eigen::VectorXd &q)
	Sets the XBotInterface internal joint positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setJointPosition (const JointIdMap &q)
	Sets the XBotInterface internal joint positions according to the input JointIdMap (i.e. More...
bool	setJointPosition (const JointNameMap &q)
	Sets the XBotInterface internal joint positions according to the input JointNameMap (i.e. More...
bool	setMotorPosition (const Eigen::VectorXd &q)
	Sets the XBotInterface internal motor positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setMotorPosition (const JointIdMap &q)
	Sets the XBotInterface internal motor positions according to the input JointIdMap (i.e. More...
bool	setMotorPosition (const JointNameMap &q)
	Sets the XBotInterface internal motor positions according to the input JointNameMap (i.e. More...
bool	setJointVelocity (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal joint velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setJointVelocity (const JointIdMap &qdot)
	Sets the XBotInterface internal joint velocities according to the input JointIdMap (i.e. More...
bool	setJointVelocity (const JointNameMap &qdot)
	Sets the XBotInterface internal joint velocities according to the input JointNameMap (i.e. More...
bool	setMotorVelocity (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal motor velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setMotorVelocity (const JointIdMap &qdot)
	Sets the XBotInterface internal motor velocities according to the input JointIdMap (i.e. More...
bool	setMotorVelocity (const JointNameMap &qdot)
	Sets the XBotInterface internal motor velocities according to the input JointNameMap (i.e. More...
bool	setJointAcceleration (const Eigen::VectorXd &qddot)
	Sets the XBotInterface internal joint accelerations according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setJointAcceleration (const JointIdMap &qddot)
	Sets the XBotInterface internal joint accelerations according to the input JointIdMap (i.e. More...
bool	setJointAcceleration (const JointNameMap &qddot)
	Sets the XBotInterface internal joint accelerations according to the input JointNameMap (i.e. More...
bool	setJointEffort (const Eigen::VectorXd &tau)
	Sets the XBotInterface internal joint efforts according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setJointEffort (const JointIdMap &tau)
	Sets the XBotInterface internal joint efforts according to the input JointIdMap (i.e. More...
bool	setJointEffort (const JointNameMap &tau)
	Sets the XBotInterface internal joint efforts according to the input JointNameMap (i.e. More...
bool	setStiffness (const Eigen::VectorXd &K)
	Sets the XBotInterface internal joint stiffness according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setStiffness (const JointIdMap &K)
	Sets the XBotInterface internal joint stiffness according to the input JointIdMap (i.e. More...
bool	setStiffness (const JointNameMap &K)
	Sets the XBotInterface internal joint stiffness according to the input JointNameMap (i.e. More...
bool	setDamping (const Eigen::VectorXd &D)
	Sets the XBotInterface internal joint damping according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setDamping (const JointIdMap &D)
	Sets the XBotInterface internal joint damping according to the input JointIdMap (i.e. More...
bool	setDamping (const JointNameMap &D)
	Sets the XBotInterface internal joint damping according to the input JointNameMap (i.e. More...
Public Member Functions inherited from XBot::XBotInterface
	XBotInterface ()
	XBotInterface (const XBotInterface &other)
XBotInterface &	operator= (const XBotInterface &rhs)
virtual	~XBotInterface ()
bool	init (const std::string &path_to_cfg)
bool	init (const ConfigOptions &options)
const ConfigOptions &	getConfigOptions () const
	Gets the configuration struct that has been used to build the XBotInterface. More...
const std::string &	getPathToConfig () const
	Gets the path to the YAML config file used to build the XBotInterface. More...
const urdf::ModelInterface &	getUrdf () const
	Getter for the robot URDF model corresponding to the URDF xml file specified in the YAML config file. More...
const std::string &	getUrdfPath () const
	getUrdfPath Getter for the path to the URDF model More...
const srdf_advr::Model &	getSrdf () const
	Getter fot the robot SRDF model corresponding to the SRDF xml file specified in the YAML config file. More...
const std::string &	getSrdfPath () const
	getSrdfPath Getter for the path to the SRDF model More...
const std::string &	getUrdfString () const
	Returns the robot URDF xml as a string. More...
const std::string &	getSrdfString () const
	Returns the robot SRDF xml as a string. More...
bool	getRobotState (const std::string &state_name, Eigen::VectorXd &q) const
	Gets the robot joints group state configuration as specified in the robot SRDF. More...
bool	getRobotState (const std::string &state_name, JointIdMap &q) const
	Gets the robot joints group state configuration as specified in the robot SRDF. More...
bool	getRobotState (const std::string &state_name, JointNameMap &q) const
	Gets the robot joints group state configuration as specified in the robot SRDF. More...
std::vector< std::string >	getChainNames () const
	Return a vector of available chain names as strings. More...
bool	hasChain (const std::string &chain_name) const
	A method for determining if a chain with name "chain_name" is defined inside the interface. More...
int	legs () const
	Returns the number of legs defined inside the interface. More...
int	arms () const
	Returns the number of arms defined inside the interface. More...
const std::vector< std::string > &	getEnabledJointNames () const
	Returns a vector of enabled joint names. More...
const std::vector< int > &	getEnabledJointId () const
	Returns a vector of enabled joint IDs. More...
bool	hasJoint (const std::string &joint_name) const
	Checks that a joint with name "joint_name" is defined as an enabled joint inside the interface. More...
bool	hasJoint (int joint_id) const
	Checks that a joint with ID "joint_id" is defined as an enabled joint inside the interface. More...
int	getJointNum () const
	Getter for the number of enabled joints. More...
XBot::Joint::ConstPtr	getJointByName (const std::string &joint_name) const
	Gets the joint with name "joint_name" if it is defined as enabled. More...
XBot::Joint::ConstPtr	getJointByID (int joint_id) const
	Gets the joint with ID "joint_id" if it is defined as enabled. More...
XBot::Joint::ConstPtr	getJointByDofIndex (int idx) const
	Gets the joint with the required dof index. More...
int	getDofIndex (const std::string &joint_name) const
	Gets the Eigen ID of the joint with name "joint_name". More...
int	getDofIndex (int joint_id) const
	Gets the Eigen ID of the joint with ID "joint_id". More...
bool	getDofIndex (const std::string &chain_name, std::vector< int > &ids) const
	Gets dof indices of all joints inside chain "chain_name". More...
void	initLog (MatLogger2::Ptr logger, int buffer_size=-1, int interleave=1, std::string prefix="")
	Pre-allocates memory for logging the robot state to a mat file. More...
void	log (MatLogger2::Ptr logger, double timestamp, const std::string &prefix="") const
	Logs the current robot state. More...
std::map< std::string, ForceTorqueSensor::ConstPtr >	getForceTorque () const
	Getter for the force-torque sensor map pertaining to the whole robot. More...
ForceTorqueSensor::ConstPtr	getForceTorque (const std::string &parent_link_name) const
	Returns a force-torque sensor given its parent-link name. More...
ForceTorqueSensor::ConstPtr	getForceTorque (int ft_id) const
	Returns a force-torque sensor given its sensor ID. More...
std::map< std::string, ImuSensor::ConstPtr >	getImu ()
	Getter for the IMU sensor map pertaining to the chain. More...
ImuSensor::ConstPtr	getImu (const std::string &parent_link_name) const
	Returns an IMU sensor given its parent-link name. More...
ImuSensor::ConstPtr	getImu (int imu_id) const
	Returns an IMU sensor given its sensor ID. More...
std::map< std::string, Hand::Ptr >	getHand ()
	Getter for the hands map pertaining to the whole robot. More...
Hand::Ptr	getHand (int hand_id) const
	Returns a hand given its hand ID. More...
bool	eigenToMap (const Eigen::VectorXd &vector, JointNameMap &name_map) const
	Converts a state vector for the whole robot to its JointNameMap representation. More...
bool	eigenToMap (const Eigen::VectorXd &vector, JointIdMap &id_map) const
	Converts a state vector for the whole robot to its JointIdMap representation. More...
bool	mapToEigen (const JointNameMap &map, Eigen::VectorXd &vector) const
	Converts a state vector for an arbitrary subset of the robot state (specified as a JointNameMap) to its Eigen representation. More...
bool	mapToEigen (const JointIdMap &map, Eigen::VectorXd &vector) const
	Converts a state vector for an arbitrary subset of the robot state (specified as a JointIdMap) to its Eigen representation. More...
bool	getJointPosition (Eigen::VectorXd &q) const
	Gets the robot joint positions as an Eigen vector. More...
bool	getMotorPosition (Eigen::VectorXd &q) const
	Gets the robot motor positions as an Eigen vector. More...
bool	getJointVelocity (Eigen::VectorXd &qdot) const
	Gets the robot joint velocities as an Eigen vector. More...
bool	getMotorVelocity (Eigen::VectorXd &qdot) const
	Gets the robot motor velocities as an Eigen vector. More...
bool	getJointAcceleration (Eigen::VectorXd &qddot) const
	Gets the robot joint accelerations as an Eigen vector. More...
bool	getJointEffort (Eigen::VectorXd &tau) const
	Gets the robot joint efforts as an Eigen vector. More...
bool	getTemperature (Eigen::VectorXd &temp) const
	Gets the robot joint temperatures as an Eigen vector. More...
bool	getJointPosition (JointIdMap &q) const
	Gets the robot joint positions as a JointIdMap, i.e. More...
bool	getMotorPosition (JointIdMap &q) const
	Gets the robot motor positions as a JointIdMap, i.e. More...
bool	getJointVelocity (JointIdMap &qdot) const
	Gets the robot joint velocities as a JointIdMap, i.e. More...
bool	getMotorVelocity (JointIdMap &qdot) const
	Gets the robot motor velocities as a JointIdMap, i.e. More...
bool	getJointAcceleration (JointIdMap &qddot) const
	Gets the robot joint accelerations as a JointIdMap, i.e. More...
bool	getJointEffort (JointIdMap &tau) const
	Gets the robot joint efforts as a JointIdMap, i.e. More...
bool	getTemperature (JointIdMap &temp) const
	Gets the robot joint temperatures as a JointIdMap, i.e. More...
bool	getJointPosition (JointNameMap &q) const
	Gets the robot joint postions as a JointNameMap, i.e. More...
bool	getMotorPosition (JointNameMap &q) const
	Gets the robot motor postions as a JointNameMap, i.e. More...
bool	getJointVelocity (JointNameMap &qdot) const
	Gets the robot joint velocities as a JointNameMap, i.e. More...
bool	getMotorVelocity (JointNameMap &qdot) const
	Gets the robot motor velocities as a JointNameMap, i.e. More...
bool	getJointAcceleration (JointNameMap &qddot) const
	Gets the robot joint accelerations as a JointNameMap, i.e. More...
bool	getJointEffort (JointNameMap &tau) const
	Gets the robot joint efforts as a JointNameMap, i.e. More...
bool	getTemperature (JointNameMap &temp) const
	Gets the robot joint temperatures as a JointNameMap, i.e. More...
bool	setJointPosition (const Eigen::VectorXd &q)
	Sets the XBotInterface internal joint positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setMotorPosition (const Eigen::VectorXd &q)
	Sets the XBotInterface internal motor positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setJointVelocity (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal joint velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setMotorVelocity (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal motor velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setJointAcceleration (const Eigen::VectorXd &qddot)
	Sets the XBotInterface internal joint accelerations according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setJointEffort (const Eigen::VectorXd &tau)
	Sets the XBotInterface internal joint efforts according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setTemperature (const Eigen::VectorXd &temp)
	Sets the XBotInterface internal joint temperatures according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setJointPosition (const JointIdMap &q)
	Sets the XBotInterface internal joint positions according to the input JointIdMap (i.e. More...
bool	setMotorPosition (const JointIdMap &q)
	Sets the XBotInterface internal motor positions according to the input JointIdMap (i.e. More...
bool	setJointVelocity (const JointIdMap &qdot)
	Sets the XBotInterface internal joint velocities according to the input JointIdMap (i.e. More...
bool	setMotorVelocity (const JointIdMap &qdot)
	Sets the XBotInterface internal motor velocities according to the input JointIdMap (i.e. More...
bool	setJointAcceleration (const JointIdMap &qddot)
	Sets the XBotInterface internal joint accelerations according to the input JointIdMap (i.e. More...
bool	setJointEffort (const JointIdMap &tau)
	Sets the XBotInterface internal joint efforts according to the input JointIdMap (i.e. More...
bool	setTemperature (const JointIdMap &temp)
	Sets the XBotInterface internal motor temperatures according to the input JointIdMap (i.e. More...
bool	setJointPosition (const JointNameMap &q)
	Sets the XBotInterface internal joint positions according to the input JointNameMap (i.e. More...
bool	setMotorPosition (const JointNameMap &q)
	Sets the XBotInterface internal motor positions according to the input JointNameMap (i.e. More...
bool	setJointVelocity (const JointNameMap &qdot)
	Sets the XBotInterface internal joint velocities according to the input JointNameMap (i.e. More...
bool	setMotorVelocity (const JointNameMap &qdot)
	Sets the XBotInterface internal motor velocities according to the input JointNameMap (i.e. More...
bool	setJointAcceleration (const JointNameMap &qddot)
	Sets the XBotInterface internal joint accelerations according to the input JointNameMap (i.e. More...
bool	setJointEffort (const JointNameMap &tau)
	Sets the XBotInterface internal joint efforts according to the input JointNameMap (i.e. More...
bool	setTemperature (const JointNameMap &temp)
	Sets the XBotInterface internal joint temperatures according to the input JointNameMap (i.e. More...
bool	getPositionReference (Eigen::VectorXd &q) const
	Gets the robot position references as an Eigen vector. More...
bool	getVelocityReference (Eigen::VectorXd &qdot) const
	Gets the robot velocity references as an Eigen vector. More...
bool	getEffortReference (Eigen::VectorXd &tau) const
	Gets the robot effort references as an Eigen vector. More...
bool	getStiffness (Eigen::VectorXd &K) const
	Gets the robot stiffness as an Eigen vector. More...
bool	getDamping (Eigen::VectorXd &D) const
	Gets the robot damping as an Eigen vector. More...
bool	getPositionReference (JointIdMap &q) const
	Gets the robot position references as a JointIdMap, i.e. More...
bool	getVelocityReference (JointIdMap &qdot) const
	Gets the robot velocity references as a JointIdMap, i.e. More...
bool	getEffortReference (JointIdMap &tau) const
	Gets the robot effort references as a JointIdMap, i.e. More...
bool	getStiffness (JointIdMap &K) const
	Gets the robot stiffness as a JointIdMap, i.e. More...
bool	getDamping (JointIdMap &D) const
	Gets the robot damping as a JointIdMap, i.e. More...
bool	getPositionReference (JointNameMap &q) const
	Gets the robot postion references as a JointNameMap, i.e. More...
bool	getVelocityReference (JointNameMap &qdot) const
	Gets the robot velocity references as a JointNameMap, i.e. More...
bool	getEffortReference (JointNameMap &tau) const
	Gets the robot effort references as a JointNameMap, i.e. More...
bool	getStiffness (JointNameMap &K) const
	Gets the robot stiffness as a JointNameMap, i.e. More...
bool	getDamping (JointNameMap &D) const
	Gets the robot damping as a JointNameMap, i.e. More...
bool	setPositionReference (const Eigen::VectorXd &q)
	Sets the XBotInterface internal joint position references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setVelocityReference (const Eigen::VectorXd &qdot)
	Sets the XBotInterface internal joint velocity references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setEffortReference (const Eigen::VectorXd &tau)
	Sets the XBotInterface internal joint effort references according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setStiffness (const Eigen::VectorXd &K)
	Sets the XBotInterface internal joint stiffness according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setDamping (const Eigen::VectorXd &D)
	Sets the XBotInterface internal joint damping according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods. More...
bool	setPositionReference (const JointIdMap &q)
	Sets the XBotInterface internal joint position references according to the input JointIdMap (i.e. More...
bool	setVelocityReference (const JointIdMap &qdot)
	Sets the XBotInterface internal joint velocity references according to the input JointIdMap (i.e. More...
bool	setEffortReference (const JointIdMap &tau)
	Sets the XBotInterface internal joint effort references according to the input JointIdMap (i.e. More...
bool	setStiffness (const JointIdMap &K)
	Sets the XBotInterface internal joint stiffness according to the input JointIdMap (i.e. More...
bool	setDamping (const JointIdMap &D)
	Sets the XBotInterface internal joint damping according to the input JointIdMap (i.e. More...
bool	setPositionReference (const JointNameMap &q)
	Sets the XBotInterface internal joint position references according to the input JointNameMap (i.e. More...
bool	setVelocityReference (const JointNameMap &qdot)
	Sets the XBotInterface internal joint velocity references according to the input JointNameMap (i.e. More...
bool	setEffortReference (const JointNameMap &tau)
	Sets the XBotInterface internal joint effort references according to the input JointNameMap (i.e. More...
bool	setStiffness (const JointNameMap &K)
	Sets the XBotInterface internal joint stiffness according to the input JointNameMap (i.e. More...
bool	setDamping (const JointNameMap &D)
	Sets the XBotInterface internal joint damping according to the input JointNameMap (i.e. More...
void	getJointLimits (Eigen::VectorXd &q_min, Eigen::VectorXd &q_max) const
	Gets a vector of the robot joint limits, as specified in the URDF file. More...
void	getVelocityLimits (Eigen::VectorXd &qdot_max) const
	Gets a vector of the robot joint velocity limits, as specified in the URDF file. More...
void	getEffortLimits (Eigen::VectorXd &tau_max) const
	Gets a vector of the robot joint effort limits, as specified in the URDF file. 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 (JointIdMap &q) const
	Modifies the input joint position map by enforcing joint limits. More...
bool	enforceJointLimits (JointNameMap &q) const
	Modifies the input joint position map by enforcing joint limits. More...
bool	enforceJointLimits (Eigen::VectorXd &q) const
	Modifies the input joint position vector by enforcing joint limits. More...
bool	enforceEffortLimit (Eigen::VectorXd &tau) const
	Modifies the input joint effort vector by enforcing effort limits. More...
bool	enforceVelocityLimit (Eigen::VectorXd &qdot) const
	Modifies the input joint velcoity vector by enforcing joint limits. More...
template<typename... SyncFlags>
bool	sync (const XBotInterface &other, SyncFlags... flags)
	Synchronize the current XBotInterface with another XBotInterface object: only the common chains will be taken into account. More...
const std::map< std::string, XBot::KinematicChain::Ptr > &	getChainMap () const
	Getter for the chain map inside the XBotInterface. More...
void	print () const
	Print a pretty table about the robot state. More...
void	printTracking () const
	Print a pretty table about the robot tracking. More...

Static Public Member Functions
static ModelInterface::Ptr	getModel (const ConfigOptions &config)
	Factory method for generating instances of the ModelInterface class according to the provided configuration file, which specifies the URDF/SRDF to be used, as well as the specific implementation of ModelInterface to be loaded. More...
static ModelInterface::Ptr	getModel (const std::string &path_to_cfg, AnyMapConstPtr any_map=AnyMapConstPtr())
	Factory method for generating instances of the ModelInterface class according to the provided configuration file, which specifies the URDF/SRDF to be used, as well as the specific implementation of ModelInterface to be loaded. More...

Protected Member Functions
virtual bool	init_internal (const ConfigOptions &config)
virtual bool	init_model (const ConfigOptions &config)=0
virtual bool	update_internal (bool update_position, bool update_velocity, bool update_desired_acceleration)=0
void	rotationEigenToKDL (const Eigen::Matrix3d &eigen_rotation, KDL::Rotation &kdl_rotation) const
void	rotationKDLToEigen (const KDL::Rotation &kdl_rotation, Eigen::Matrix3d &eigen_rotation) const
Protected Member Functions inherited from XBot::XBotInterface
Joint::Ptr	getJointByNameInternal (const std::string &joint_name) const
Joint::Ptr	getJointByIdInternal (int joint_id) const
Joint::Ptr	getJointByDofIndexInternal (int dof_index) const
const std::map< std::string, ForceTorqueSensor::Ptr > &	getForceTorqueInternal () const
const std::map< std::string, ImuSensor::Ptr > &	getImuInternal () const
virtual bool	post_init ()
const std::vector< std::string > &	getModelOrderedChainName () const

Protected Attributes
bool	_is_floating_base
Protected Attributes inherited from XBot::XBotInterface
XBotCoreModel	_XBotModel
std::map< std::string, XBot::KinematicChain::Ptr >	_chain_map
std::vector< Joint::Ptr >	_ordered_joint_vector
std::vector< Joint::Ptr >	_joint_vector
std::map< std::string, ForceTorqueSensor::Ptr >	_ft_map
std::map< int, ForceTorqueSensor::Ptr >	_ft_id_map
std::map< std::string, ImuSensor::Ptr >	_imu_map
std::map< int, ImuSensor::Ptr >	_imu_id_map
std::map< std::string, Hand::Ptr >	_hand_map
std::map< int, Hand::Ptr >	_hand_id_map
std::vector< std::string >	_ordered_chain_names
std::map< int, int >	_joint_id_to_eigen_id
std::map< std::string, int >	_joint_name_to_eigen_id

Detailed Description

ModelInterface is an abstraction layer for a kinematic/dynamic model of a robot.

It inherits from the XBotInterface class the organization of a robot as a collection of kinematic chains.

Member Typedef Documentation

ConstPtr

typedef std::shared_ptr<const ModelInterface> XBot::ModelInterface::ConstPtr

Shared pointer to const ModelInterface.

Ptr

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

Shared pointer to a ModelInterface.

Constructor & Destructor Documentation

ModelInterface() [1/2]

XBot::ModelInterface::ModelInterface ( )

default

ModelInterface() [2/2]

XBot::ModelInterface::ModelInterface ( const ModelInterface &  other )

delete

Member Function Documentation

arm() [1/2]

XBot::ModelChain & XBot::ModelInterface::arm

(

int

arm_id

)

Returns a handle to the kinematic chain corresponding to the arm n° arm_id.

The order of arms is defined in the SRDF file which was provided to ModelInterface::getModel(). If the requested chain is not defined, a dummy chain is returned and an error is displayed.

Parameters

arm_id

The requested arm id, from 0 to arms()-1

Returns

A reference to the requested kinematic chain

arm() [2/2]

const XBot::ModelChain & XBot::ModelInterface::arm

(

int

arm_id

)

const

chain() [1/2]

XBot::ModelChain & XBot::ModelInterface::chain

(

const std::string &

chain_name

)

Returns a handle to the kinematic chain named chain_name.

If such a chain is not defined, a dummy chain is returned and an error is displayed.

Parameters

chain_name

The name of the requested chain

Returns

A reference to the requested kinematic chain

chain() [2/2]

const XBot::ModelChain & XBot::ModelInterface::chain

(

const std::string &

chain_name

)

const

computeConstrainedInverseDynamics()

bool XBot::ModelInterface::computeConstrainedInverseDynamics	(	const Eigen::MatrixXd &	J,
		const Eigen::VectorXd &	weights,
		Eigen::VectorXd &	tau
	)		const

Computes inverse dynamics for a constrained system.

Parameters

J	The constraint jacobian
weights	Torque weights for weighted least-squares computation (only matters if system is floating-base)
tau	The resultind ID torque vector

Returns

True if input has correct dimensions and computation goes alright.

computeGravityCompensation()

virtual void XBot::ModelInterface::computeGravityCompensation ( Eigen::VectorXd &  g ) const

pure virtual

Computes gravity compensation torques.

Make sure that you correctly specified the gravity vector in order to obtain correct results.

Parameters

g	The gravity compensation torque vector (if model is floating base, includes virtual joints effort).

Returns

void

computeInverseDynamics()

virtual void XBot::ModelInterface::computeInverseDynamics ( Eigen::VectorXd &  tau ) const

pure virtual

Computes inverse dynamics.

Parameters

tau	The inverse dynamics torque vector (if model is floating base, includes virtual joints effort).

Returns

void

computeJdotQdot() [1/2]

bool XBot::ModelInterface::computeJdotQdot	(	const std::string &	link_name,
		const Eigen::Vector3d &	point,
		Eigen::Vector6d &	jdotqdot
	)		const

Computed the product of the link_name jacobian time derivative by the joint velocity vector.

The reference point of the jacobian is provided as the argument "point".

Parameters

link_name	The link name
point	A point in link_name coordinates-
jdotqdot	The resulting acceleration twist.

Returns

True if link_name is a valid link name.

computeJdotQdot() [2/2]

bool XBot::ModelInterface::computeJdotQdot ( const std::string &  link_name, const KDL::Vector &  point, KDL::Twist &  jdotqdot  ) const

virtual

Computed the product of the link_name jacobian time derivative by the joint velocity vector.

The reference point of the jacobian is provided as the argument "point".

Parameters

link_name	The link name
point	A point in link_name coordinates-
jdotqdot	The resulting acceleration twist.

Returns

True if link_name is a valid link name.

computeNonlinearTerm()

virtual void XBot::ModelInterface::computeNonlinearTerm ( Eigen::VectorXd &  n ) const

pure virtual

Computes the non-linear torque term without the contribution from gravity, i.e.

the sum of centrifugal/coriolis torques.

Parameters

n	The non-linear torques vector (if model is floating base, includes virtual joints effort).

Returns

void

computeRelativeJdotQdot() [1/2]

bool XBot::ModelInterface::computeRelativeJdotQdot	(	const std::string &	target_link_name,
		const std::string &	base_link_name,
		Eigen::Vector6d &	jdotqdot
	)		const

computeRelativeJdotQdot return the relative acceleration component between "target_link" and "base_link", given by JdotQdot, expressed in "base_link"

Parameters

target_link_name
base_link_name
jdotqdot

Returns

true if target_link name and base_link name are valid. False otherwise

computeRelativeJdotQdot() [2/2]

virtual bool XBot::ModelInterface::computeRelativeJdotQdot ( const std::string &  target_link_name, const std::string &  base_link_name, KDL::Twist &  jdotqdot  ) const

pure virtual

computeRelativeJdotQdot return the relative acceleration component between "target_link" and "base_link", given by JdotQdot, expressed in "base_link"

Parameters

target_link_name
base_link_name
jdotqdot

Returns

true if target_link name and base_link name are valid. False otherwise

getAccelerationTwist() [1/2]

bool XBot::ModelInterface::getAccelerationTwist	(	const std::string &	link_name,
		Eigen::Vector6d &	acceleration
	)		const

Gets the acceleration twist of link_name (first linear, then angular acceleration).

The reference point of the acceleration twist is the origin of the link itself.

Parameters

link_name	The link name
velocity	The acceleration twist of the link "link_name"

Returns

True if the link_name is a valid link name. False otherwise.

getAccelerationTwist() [2/2]

virtual bool XBot::ModelInterface::getAccelerationTwist ( const std::string &  link_name, KDL::Twist &  acceleration  ) const

pure virtual

Gets the acceleration twist of link_name (first linear, then angular acceleration).

The reference point of the acceleration twist is the origin of the link itself.

Parameters

link_name	The link name
velocity	The acceleration twist of the link "link_name"

Returns

True if the link_name is a valid link name. False otherwise.

getActuatedJointNum()

int XBot::ModelInterface::getActuatedJointNum

(

)

const

Gets the number of actuated joints in the model, i.e.

possible virtual joints (floating base models) are not working.

Returns

int

getCentroidalMomentum()

virtual void XBot::ModelInterface::getCentroidalMomentum ( Eigen::Vector6d &  centroidal_momentum ) const

pure virtual

Gets the robot centroidal momentum matrix, i.e.

the jacobian of the centroidal momentum.

Parameters

centroidal_momentum

The robot centroidal momentum. The first three rows represent the robot linear momentum, while the last three rows contain the angular momentum about the COM,

Returns

void

getCentroidalMomentumMatrix() [1/2]

void XBot::ModelInterface::getCentroidalMomentumMatrix ( Eigen::MatrixXd &  centroidal_momentum_matrix ) const

virtual

Gets the robot mometum about its COM.

Parameters

centroidal_momentum_matrix

The robot centroidal momentum matrix. The first three rows represent the jacobian of the robot linear momentum, while the last three rows contain the angular momentum about the COM,

Returns

void

getCentroidalMomentumMatrix() [2/2]

void XBot::ModelInterface::getCentroidalMomentumMatrix ( Eigen::MatrixXd &  centroidal_momentum_matrix, Eigen::Vector6d &  CMMdotQdot  ) const

virtual

Gets the robot centroidal momentum matrix, i.e.

the jacobian of the centroidal momentum.

Parameters

centroidal_momentum_matrix	The robot centroidal momentum matrix. The first three rows represent the jacobian of the robot linear momentum, while the last three rows contain the angular momentum about the COM,
CMMdotQdot	The d(CMM)/dt * qdot term, i.e. the derivative of the centroidal momentum due to joint velocities.

Returns

void

getChainSelectionMatrix()

bool XBot::ModelInterface::getChainSelectionMatrix	(	const std::string &	chain_name,
		Eigen::MatrixXd &	S
	)		const

Gets a selection matrix for the requested chain, i.e.

a matrix S such that the product of S by the configuration vector returns the sub-vector pertaining to the specified chain.

Parameters

chain_name	The chain name.
S	The requested selection matrix.

Returns

True if chain_name is a valid chain name.

getCOM() [1/4]

bool XBot::ModelInterface::getCOM	(	const std::string &	reference_frame,
		Eigen::Vector3d &	com_position
	)		const

Gets the COM position vector w.r.t.

the reference_frame

Parameters

reference_frame	The link name w.r.t. which the COM position will be expressed
com_position	The center of mass position vector w.r.t. the reference_frame

Returns

True if the reference_frame is a valid link name. False otherwise.

getCOM() [2/4]

bool XBot::ModelInterface::getCOM	(	const std::string &	reference_frame,
		KDL::Vector &	com_position
	)		const

Gets the COM position vector w.r.t.

the reference_frame

Parameters

reference_frame	The link name w.r.t. which the COM position will be expressed
com_position	The center of mass position vector w.r.t. the reference_frame

Returns

True if the reference_frame is a valid link name. False otherwise.

getCOM() [3/4]

void XBot::ModelInterface::getCOM

(

Eigen::Vector3d &

com_position

)

const

Gets the COM position vector w.r.t.

the world frame

Parameters

com_position

The center of mass position vector w.r.t. the world frame

Returns

void

getCOM() [4/4]

virtual void XBot::ModelInterface::getCOM ( KDL::Vector &  com_position ) const

pure virtual

Gets the COM position vector w.r.t.

the world frame

Parameters

com_position

The center of mass position vector w.r.t. the world frame

Returns

void

getCOMAcceleration() [1/2]

void XBot::ModelInterface::getCOMAcceleration

(

Eigen::Vector3d &

acceleration

)

const

Gets the COM acceleration expressed in the world frame.

Parameters

velocity

The COM acceleration expressed in the world frame

Returns

void

getCOMAcceleration() [2/2]

virtual void XBot::ModelInterface::getCOMAcceleration ( KDL::Vector &  acceleration ) const

pure virtual

Gets the COM acceleration expressed in the world frame.

Parameters

velocity

The COM acceleration expressed in the world frame

Returns

void

getCOMJacobian() [1/4]

void XBot::ModelInterface::getCOMJacobian

(

Eigen::MatrixXd &

J

)

const

Gets the COM Jacobian expressed in the world frame.

Parameters

J	The COM Jacobian expressed in the world frame. Note that, since the COM is not fixed to any link, the Jacobian orientation part (i.e. the lower three rows) are undefined and filled with zeros.

Returns

void

getCOMJacobian() [2/4]

void XBot::ModelInterface::getCOMJacobian ( Eigen::MatrixXd &  J, Eigen::Vector3d &  dJcomQdot  ) const

virtual

Gets the COM Jacobian expressed in the world frame and the d(Jcom)/dt * qdot term, i.e.

the COM acceleration due to joint velocities.

Parameters

J	The COM Jacobian expressed in the world frame. Note that, since the COM is not fixed to any link, the Jacobian orientation part (i.e. the lower three rows) are undefined and filled with zeros.
dJcomqdot	The d(Jcom)/dt * qdot term, i.e. the COM acceleration due to joint velocities.

Returns

void

getCOMJacobian() [3/4]

void XBot::ModelInterface::getCOMJacobian ( KDL::Jacobian &  J ) const

virtual

Gets the COM Jacobian expressed in the world frame.

Parameters

J	The COM Jacobian expressed in the world frame. Note that, since the COM is not fixed to any link, the Jacobian orientation part (i.e. the lower three rows) are undefined and filled with zeros.

Returns

void

getCOMJacobian() [4/4]

void XBot::ModelInterface::getCOMJacobian ( KDL::Jacobian &  J, KDL::Vector &  dJcomQdot  ) const

virtual

Gets the COM Jacobian expressed in the world frame and the d(Jcom)/dt * qdot term, i.e.

the COM acceleration due to joint velocities.

Parameters

J	The COM Jacobian expressed in the world frame. Note that, since the COM is not fixed to any link, the Jacobian orientation part (i.e. the lower three rows) are undefined and filled with zeros.
dJcomqdot	The d(Jcom)/dt * qdot term, i.e. the COM acceleration due to joint velocities.

Returns

void

getCOMVelocity() [1/2]

void XBot::ModelInterface::getCOMVelocity

(

Eigen::Vector3d &

velocity

)

const

Gets the COM velocity expressed in the world frame.

Parameters

velocity

The COM velocity expressed in the world frame

Returns

void

getCOMVelocity() [2/2]

virtual void XBot::ModelInterface::getCOMVelocity ( KDL::Vector &  velocity ) const

pure virtual

Gets the COM velocity expressed in the world frame.

Parameters

velocity

The COM velocity expressed in the world frame

Returns

void

getDamping() [1/3]

bool XBot::XBotInterface::getDamping

Gets the robot damping as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

D	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns

bool

getDamping() [2/3]

bool XBot::XBotInterface::getDamping

Gets the robot damping as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

D	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getDamping() [3/3]

bool XBot::XBotInterface::getDamping

Gets the robot damping as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

D	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getFloatingBaseLink()

virtual bool XBot::ModelInterface::getFloatingBaseLink ( std::string &  floating_base_link ) const

pure virtual

Gets the name of the floating base link.

Parameters

floating_base_link

The name of the floating base link

Returns

True if the the model is floating base. False otherwise.

getFloatingBasePose() [1/2]

bool XBot::ModelInterface::getFloatingBasePose

(

Eigen::Affine3d &

floating_base_pose

)

const

Gets the floating base pose w.r.t.

the world frame

Parameters

floating_base_pose

The homogeneous transformation which transforms a point from floating base frame to world frame

Returns

True if the the model is floating base. False otherwise.

getFloatingBasePose() [2/2]

bool XBot::ModelInterface::getFloatingBasePose

(

KDL::Frame &

floating_base_pose

)

const

Gets the floating base pose w.r.t.

the world frame.

Parameters

floating_base_pose

The homogeneous transformation which transforms a point from floating base frame to world frame

Returns

True if the the model is floating base. False otherwise.

getFloatingBaseTwist() [1/2]

bool XBot::ModelInterface::getFloatingBaseTwist

(

Eigen::Vector6d &

floating_base_twist

)

const

Gets the floating base twist w.r.t.

the world frame

Parameters

floating_base_twist

The twist of the floating base w.r.t. the world

Returns

True if the the model is floating base. False otherwise.

getFloatingBaseTwist() [2/2]

bool XBot::ModelInterface::getFloatingBaseTwist

(

KDL::Twist &

floating_base_twist

)

const

Gets the floating base twist w.r.t.

the world frame

Parameters

floating_base_twist

The twist of the floating base w.r.t. the world

Returns

True if the the model is floating base. False otherwise.

getGravity() [1/4]

bool XBot::ModelInterface::getGravity	(	const std::string &	reference_frame,
		Eigen::Vector3d &	gravity
	)		const

Gets the gravity vector expressed in the reference_frame.

Parameters

reference_frame	The link name w.r.t. which the gravity vector will be expressed
gravity	The gravity vector expressed in the world frame

Returns

True if the reference_frame is a valid link name. False otherwise.

getGravity() [2/4]

bool XBot::ModelInterface::getGravity	(	const std::string &	reference_frame,
		KDL::Vector &	gravity
	)		const

Gets the gravity vector expressed in the reference_frame.

Parameters

reference_frame	The link name w.r.t. which the gravity vector will be expressed
gravity	The gravity vector expressed in the world frame

Returns

True if the reference_frame is a valid link name. False otherwise.

getGravity() [3/4]

void XBot::ModelInterface::getGravity

(

Eigen::Vector3d &

gravity

)

const

Gets the gravity vector expressed in the world frame.

Parameters

gravity

The gravity vector expressed in the world frame.

Returns

void

getGravity() [4/4]

virtual void XBot::ModelInterface::getGravity ( KDL::Vector &  gravity ) const

pure virtual

Gets the gravity vector expressed in the world frame.

Parameters

gravity

The gravity vector expressed in the world frame.

Returns

void

getInertiaInverse()

void XBot::ModelInterface::getInertiaInverse ( Eigen::MatrixXd &  Minv ) const

virtual

getInertiaInverse compute the inverse of the Inertia Matrix

Parameters

Minv	the inverse of the inertia matrix

getInertiaInverseTimesMatrix()

void XBot::ModelInterface::getInertiaInverseTimesMatrix ( const Eigen::MatrixXd &  Mat, Eigen::MatrixXd &  Minv_Mat  ) const

virtual

getInertiaInverseTimesMatrix Computes the inverse of the Inertia Matrix times a given matrix

Parameters

Mat	input matrix
Minv_Mat	the resultant matrix

getInertiaInverseTimesVector()

void XBot::ModelInterface::getInertiaInverseTimesVector ( const Eigen::VectorXd &  vec, Eigen::VectorXd &  minv_vec  ) const

virtual

getInertiaInverseTimesVector Computes the inverse of the Inertia Matrix times a given vector

Parameters

vec	input vector
minv_vec	the resultant vector

getInertiaMatrix()

virtual void XBot::ModelInterface::getInertiaMatrix ( Eigen::MatrixXd &  M ) const

pure virtual

Gets the joint space inertia matrix of the robot.

Parameters

M	The requested inertia matrix.

Returns

void

getJacobian() [1/6]

bool XBot::ModelInterface::getJacobian	(	const std::string &	link_name,
		const Eigen::Vector3d &	reference_point,
		Eigen::MatrixXd &	J
	)		const

Gets the Jacobian of link_name expressed in the world frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name (i.e.

first linear then angular velocity). The reference point of the Jacobian is the reference_point arg.

Parameters

link_name	The link name
reference_point	The reference point w.r.t. which the jacobian is computed
J	The Jacobian expressed in the world frame

Returns

True if the link_name is a valid link name. False otherwise.

getJacobian() [2/6]

virtual bool XBot::ModelInterface::getJacobian ( const std::string &  link_name, const KDL::Vector &  reference_point, KDL::Jacobian &  J  ) const

pure virtual

Gets the Jacobian of link_name expressed in the world frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name (i.e.

first linear then angular velocity). The reference point of the Jacobian is the reference_point arg.

Parameters

link_name	The link name
reference_point	The reference point w.r.t. which the jacobian is computed
J	The Jacobian expressed in the world frame

Returns

True if the link_name is a valid link name. False otherwise.

getJacobian() [3/6]

bool XBot::ModelInterface::getJacobian	(	const std::string &	link_name,
		const std::string &	target_frame,
		Eigen::MatrixXd &	J
	)		const

Gets the Jacobian of link_name expressed in the target_frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name according to target_frame (i.e.

first linear then angular velocity). The reference point is the origin of the link with link_name name.

Parameters

link_name	The link name
target_frame	The target frame name
J	The Jacobian expressed in the world frame

Returns

True if the link_name is a valid link name. False otherwise.

getJacobian() [4/6]

bool XBot::ModelInterface::getJacobian	(	const std::string &	link_name,
		const std::string &	target_frame,
		KDL::Jacobian &	J
	)		const

Gets the Jacobian of link_name expressed in the target_frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name according to target_frame (i.e.

first linear then angular velocity). The reference point is the origin of the link with link_name name.

Parameters

link_name	The link name
target_frame	The target frame name
J	The Jacobian expressed in the world frame

Returns

True if the link_name is a valid link name. False otherwise.

getJacobian() [5/6]

bool XBot::ModelInterface::getJacobian	(	const std::string &	link_name,
		Eigen::MatrixXd &	J
	)		const

Gets the Jacobian of link_name expressed in the world frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name (i.e.

first linear then angular velocity). The reference point is the origin of the link with link_name name.

Parameters

link_name	The link name
J	The Jacobian expressed in the world frame

Returns

True if the link_name is a valid link name. False otherwise.

getJacobian() [6/6]

bool XBot::ModelInterface::getJacobian	(	const std::string &	link_name,
		KDL::Jacobian &	J
	)		const

Gets the Jacobian of link_name expressed in the world frame, i.e a matrix such that its product with the derivative of the configuration vector gives the velocity twist of link_name (i.e.

first linear then angular velocity). The reference point is the origin of the link with link_name name.

Parameters

link_name	The link name
J	The Jacobian expressed in the world frame

Returns

True if the link_name and target_frame are valid link names. False otherwise.

getJointAcceleration() [1/3]

bool XBot::XBotInterface::getJointAcceleration

Gets the robot joint accelerations as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

qddot

A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns

bool

getJointAcceleration() [2/3]

bool XBot::XBotInterface::getJointAcceleration

Gets the robot joint accelerations as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

qddot

A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getJointAcceleration() [3/3]

bool XBot::XBotInterface::getJointAcceleration

Gets the robot joint accelerations as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

qddot

A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getJointEffort() [1/3]

bool XBot::XBotInterface::getJointEffort

Gets the robot joint efforts as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

tau	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns

bool

getJointEffort() [2/3]

bool XBot::XBotInterface::getJointEffort

Gets the robot joint efforts as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

tau	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getJointEffort() [3/3]

bool XBot::XBotInterface::getJointEffort

Gets the robot joint efforts as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

tau	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getJointPosition() [1/3]

bool XBot::XBotInterface::getJointPosition

Gets the robot joint positions as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns

bool

getJointPosition() [2/3]

bool XBot::XBotInterface::getJointPosition

Gets the robot joint positions as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getJointPosition() [3/3]

bool XBot::XBotInterface::getJointPosition

Gets the robot joint postions as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getJointSelectionMatrix() [1/2]

bool XBot::ModelInterface::getJointSelectionMatrix	(	const std::string &	joint_name,
		Eigen::RowVectorXd &	S
	)		const

Gets a selection matrix for the requested joint, i.e.

a matrix S such that the product of S by the configuration vector returns the value pertaining to the specified joint.

Parameters

joint_name	The chain name.
S	The requested selection matrix.

Returns

True if joint_name is a valid joint name.

getJointSelectionMatrix() [2/2]

bool XBot::ModelInterface::getJointSelectionMatrix	(	int	joint_id,
		Eigen::RowVectorXd &	S
	)		const

Gets a selection matrix for the requested joint, i.e.

a matrix S such that the product of S by the configuration vector returns the value pertaining to the specified joint.

Parameters

joint_id	The chain ID.
S	The requested selection matrix.

Returns

True if joint_id is a valid joint ID.

getJointVelocity() [1/3]

bool XBot::XBotInterface::getJointVelocity

Gets the robot joint velocities as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns

bool

getJointVelocity() [2/3]

bool XBot::XBotInterface::getJointVelocity

Gets the robot joint velocities as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getJointVelocity() [3/3]

bool XBot::XBotInterface::getJointVelocity

Gets the robot joint velocities as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getLinkID()

virtual int XBot::ModelInterface::getLinkID ( const std::string &  link_name ) const

pure virtual

getLinkID return the link ID

Parameters

link_name

the name fo the link

Returns

ID of the link, -1 if the link does not exist

getMass()

virtual double XBot::ModelInterface::getMass ( ) const

pure virtual

Gets the weight of the robot.

Returns

a double with the weight of the robot in kg

getModel() [1/2]

XBot::ModelInterface::Ptr XBot::ModelInterface::getModel ( const ConfigOptions &  config )

static

Factory method for generating instances of the ModelInterface class according to the provided configuration file, which specifies the URDF/SRDF to be used, as well as the specific implementation of ModelInterface to be loaded.

Parameters

path_to_cfg	Path to the YAML configuration file.
any_map	a map with objects needed by RobotInterface actual implementations

Returns

A shared pointer to a new instance of ModelInterface.

getModel() [2/2]

XBot::ModelInterface::Ptr XBot::ModelInterface::getModel ( const std::string &  path_to_cfg, AnyMapConstPtr  any_map = AnyMapConstPtr()  )

static

Factory method for generating instances of the ModelInterface class according to the provided configuration file, which specifies the URDF/SRDF to be used, as well as the specific implementation of ModelInterface to be loaded.

Parameters

path_to_cfg	Path to the YAML configuration file.
any_map	a map with objects needed by RobotInterface actual implementations

Returns

A shared pointer to a new instance of ModelInterface.

getModelOrderedJoints()

virtual void XBot::ModelInterface::getModelOrderedJoints ( std::vector< std::string > &  joint_name ) const

pure virtual

Gets a vector with the joint names ordered according to the model.

If the model is floating-base, the first six names are the virtual joint names.

Parameters

joint_name

The joint names ordered according to the model.

Returns

void

getMotorPosition() [1/3]

bool XBot::XBotInterface::getMotorPosition

Gets the robot motor positions as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns

bool

getMotorPosition() [2/3]

bool XBot::XBotInterface::getMotorPosition

Gets the robot motor positions as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getMotorPosition() [3/3]

bool XBot::XBotInterface::getMotorPosition

Gets the robot motor postions as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

q	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getMotorVelocity() [1/3]

bool XBot::XBotInterface::getMotorVelocity

Gets the robot motor velocities as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns

bool

getMotorVelocity() [2/3]

bool XBot::XBotInterface::getMotorVelocity

Gets the robot motor velocities as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getMotorVelocity() [3/3]

bool XBot::XBotInterface::getMotorVelocity

Gets the robot motor velocities as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

qdot	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getOrientation() [1/4]

bool XBot::ModelInterface::getOrientation	(	const std::string &	source_frame,
		const std::string &	target_frame,
		Eigen::Matrix3d &	orientation
	)		const

Computes the orientation of the source_frame w.r.t.

the target_frame

Parameters

source_frame	The source link name.
target_frame	The target link name.
orientation	A rotation matrix which rotates a vector from source frame to target frame v_target = R * v_source

Returns

True if both source_frame and target_frame are valid. False otherwise.

getOrientation() [2/4]

bool XBot::ModelInterface::getOrientation	(	const std::string &	source_frame,
		const std::string &	target_frame,
		KDL::Rotation &	orientation
	)		const

Computes the orientation of the target_frame w.r.t.

the source_frame

Parameters

source_frame	The source link name.
target_frame	The target link name.
orientation	A rotation matrix which rotates a vector from source frame to target frame v_target = R * v_source

Returns

True if both source_frame and target_frame are valid. False otherwise.

getOrientation() [3/4]

bool XBot::ModelInterface::getOrientation	(	const std::string &	source_frame,
		Eigen::Matrix3d &	orientation
	)		const

Computes the orientation of the source_frame w.r.t.

the world frame

Parameters

source_frame	The source link name.
orientation	A rotation matrix which rotates a vector from source frame to world frame v_world = R * v_source

Returns

True if source_frame is valid. False otherwise.

getOrientation() [4/4]

bool XBot::ModelInterface::getOrientation	(	const std::string &	source_frame,
		KDL::Rotation &	orientation
	)		const

Computes the orientation of the source_frame w.r.t.

the world frame

Parameters

source_frame	The source link name.
orientation	A rotation matrix which rotates a vector from source frame to world frame v_world = R * v_source

Returns

True if source_frame is valid. False otherwise.

getPointAcceleration() [1/2]

bool XBot::ModelInterface::getPointAcceleration	(	const std::string &	link_name,
		const Eigen::Vector3d &	point,
		Eigen::Vector3d &	acceleration
	)		const

Gets the acceleration of a given point which is solidal with the given link.

Parameters

link_name	The link which point is attached to.
point	A point in link frame coordinates.
acceleration	The acceleration of point.

Returns

bool True if link_name is a valid link name.

getPointAcceleration() [2/2]

virtual bool XBot::ModelInterface::getPointAcceleration ( const std::string &  link_name, const KDL::Vector &  point, KDL::Vector &  acceleration  ) const

pure virtual

Gets the acceleration of a given point which is solidal with the given link.

Parameters

link_name	The link which point is attached to.
point	A point in link frame coordinates.
acceleration	The acceleration of point.

Returns

bool True if link_name is a valid link name.

getPointPosition() [1/4]

bool XBot::ModelInterface::getPointPosition	(	const std::string &	source_frame,
		const Eigen::Vector3d &	source_point,
		Eigen::Vector3d &	world_point
	)		const

Gets the position in world coordinates for a source_point expressed w.r.t.

a source_frame.

Parameters

source_frame	The frame according to which source_point is expressed.
source_point	The source_point in source-frame coordinates.
world_point	The requested point in world coordinates.

Returns

True if source_frame is a valid link name.

getPointPosition() [2/4]

bool XBot::ModelInterface::getPointPosition	(	const std::string &	source_frame,
		const KDL::Vector &	source_point,
		KDL::Vector &	world_point
	)		const

Gets the position in world coordinates for a source_point expressed w.r.t.

a source_frame.

Parameters

source_frame	The frame according to which source_point is expressed.
source_point	The source_point in source-frame coordinates.
world_point	The requested point in world coordinates.

Returns

True if source_frame is a valid link name.

getPointPosition() [3/4]

bool XBot::ModelInterface::getPointPosition	(	const std::string &	source_frame,
		const std::string &	target_frame,
		const Eigen::Vector3d &	source_point,
		Eigen::Vector3d &	target_point
	)		const

Gets the position in target_frame coordinates for a source_point expressed w.r.t.

source_frame.

Parameters

source_frame	The source link name.
target_frame	The target link name.
source_point	The source_point in world coordinates.
target_point	The requested point in target_frame coordinates.

Returns

True if target_frame and source_frame are valid link names.

getPointPosition() [4/4]

bool XBot::ModelInterface::getPointPosition	(	const std::string &	source_frame,
		const std::string &	target_frame,
		const KDL::Vector &	source_point,
		KDL::Vector &	target_point
	)		const

Gets the position in target_frame coordinates for a source_point expressed w.r.t.

source_frame.

Parameters

source_frame	The source link name.
target_frame	The target link name.
source_point	The source_point in world coordinates.
target_point	The requested point in target_frame coordinates.

Returns

True if target_frame and source_frame are valid link names.

getPose() [1/4]

bool XBot::ModelInterface::getPose	(	const std::string &	source_frame,
		const std::string &	target_frame,
		Eigen::Affine3d &	pose
	)		const

Computes the pose of the source_frame w.r.t.

the target_frame

Parameters

source_frame	The source link name.
target_frame	The target link name.
pose	A homogeneous transformation which transforms a point from source frame to target frame P_target = T * P_source

Returns

True if both source_frame and target_frame are valid. False otherwise.

getPose() [2/4]

bool XBot::ModelInterface::getPose	(	const std::string &	source_frame,
		const std::string &	target_frame,
		KDL::Frame &	pose
	)		const

Computes the pose of the source_frame w.r.t.

the target_frame

Parameters

source_frame	The source link name.
target_frame	The target link name.
pose	A homogeneous transformation which transforms a point from source frame to target frame P_target = T * P_source

Returns

True if both source_frame and target_frame are valid. False otherwise.

getPose() [3/4]

bool XBot::ModelInterface::getPose	(	const std::string &	source_frame,
		Eigen::Affine3d &	pose
	)		const

Computes the pose of the source_frame w.r.t.

the world frame

Parameters

source_frame	The source link name.
pose	A homogeneous transformation which transforms a point from source frame to world frame P_world = T * P_source

Returns

True if source_frame is valid. False otherwise.

getPose() [4/4]

virtual bool XBot::ModelInterface::getPose ( const std::string &  source_frame, KDL::Frame &  pose  ) const

pure virtual

Computes the pose of the source_frame w.r.t.

the world frame

Parameters

source_frame	The source link name.
pose	A homogeneous transformation which transforms a point from source frame to world frame P_world = T * P_source

Returns

True if source_frame is valid. False otherwise.

getPosturalJacobian()

void XBot::ModelInterface::getPosturalJacobian

(

Eigen::MatrixXd &

J

)

const

Gets the Jacacobian matrix corresponding to a joint-space postural task, i.e.

the identity matrix if the robot is fixed-base and a selection matrix for actuated joints if the robot is floating-base

Parameters

J	The postural jacobian

Returns

void

getRelativeAccelerationTwist() [1/2]

bool XBot::ModelInterface::getRelativeAccelerationTwist	(	const std::string &	link_name,
		const std::string &	base_link_name,
		Eigen::Vector6d &	acceleration
	)		const

getRelativeAccelerationTwist compute the relative acceleration of body "link" wrt body "base_link" expressed in frame "base_link"

Parameters

link_name
base_link_name
acceleration	relative acceleration

Returns

true if link and base_link names are valid. False otherwise

getRelativeAccelerationTwist() [2/2]

virtual bool XBot::ModelInterface::getRelativeAccelerationTwist ( const std::string &  link_name, const std::string &  base_link_name, KDL::Twist &  acceleration  ) const

pure virtual

getRelativeAccelerationTwist compute the relative acceleration of body "link" wrt body "base_link" expressed in frame "base_link"

Parameters

link_name
base_link_name
acceleration	relative acceleration

Returns

true if link and base_link names are valid. False otherwise

getRelativeJacobian() [1/2]

bool XBot::ModelInterface::getRelativeJacobian	(	const std::string &	target_link_name,
		const std::string &	base_link_name,
		Eigen::MatrixXd &	J
	)		const

Gets the relative Jacobian of target_link_name w.r.t to base_link_name.

The result is represented in the reference frame of base_link_name.

Parameters

target_link_name	The name of the target link
base_link_name	The name of the base link
J	The requested jacobian.

Returns

bool

getRelativeJacobian() [2/2]

bool XBot::ModelInterface::getRelativeJacobian ( const std::string &  target_link_name, const std::string &  base_link_name, KDL::Jacobian &  J  ) const

virtual

Gets the relative Jacobian of target_link_name w.r.t to base_link_name.

The result is represented in the reference frame of base_link_name.

Parameters

target_link_name	The name of the target link
base_link_name	The name of the base link
J	The requested jacobian.

Returns

bool

getRelativeVelocityTwist() [1/2]

bool XBot::ModelInterface::getRelativeVelocityTwist	(	const std::string &	link_name,
		const std::string &	base_link_name,
		Eigen::Vector6d &	velocity
	)		const

Gets the velocity twist of link_name (first linear, then angular velocity) w.r.t.

a user-specified base-link. The reference point of the velocity twist is the origin of the link itself.

Parameters

link_name	The link for which the twist is computed
base_link_name	The base link for the computed velocity
velocity	The twist of the link "link_name" w.r.t. "base_link_name"

Returns

True if the link_name and base_link_name are valid link names. False otherwise.

getRelativeVelocityTwist() [2/2]

bool XBot::ModelInterface::getRelativeVelocityTwist	(	const std::string &	link_name,
		const std::string &	base_link_name,
		KDL::Twist &	velocity
	)		const

Gets the velocity twist of link_name (first linear, then angular velocity) w.r.t.

a user-specified base-link. The reference point of the velocity twist is the origin of the link itself.

Parameters

link_name	The link for which the twist is computed
base_link_name	The base link for the computed velocity
velocity	The twist of the link "link_name" w.r.t. "base_link_name"

Returns

True if the link_name and base_link_name are valid link names. False otherwise.

getStiffness() [1/3]

bool XBot::XBotInterface::getStiffness

Gets the robot stiffness as an Eigen vector.

The joint order inside the vector can be queried by calling the getEnabledJointNames/getEnabledJointId methods.

Parameters

K	A reference to an Eigen vector to be filled with the requested joint state. If the provided vector has wrong size it is resized automatically.

Returns

bool

getStiffness() [2/3]

bool XBot::XBotInterface::getStiffness

Gets the robot stiffness as a JointIdMap, i.e.

a map whose key represents the joint ID and whose value represents the required joint state.

Parameters

K	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getStiffness() [3/3]

bool XBot::XBotInterface::getStiffness

Gets the robot stiffness as a JointNameMap, i.e.

a map whose key represents the joint human-readable name and whose value represents the required joint state.

Parameters

K	A reference to a JointIdMap to be filled with the requested joint state. It is the user responsibility to clear the map before it is filled (if required).

Returns

bool

getVelocityTwist() [1/4]

bool XBot::ModelInterface::getVelocityTwist	(	const std::string &	link_name,
		Eigen::Vector6d &	velocity
	)		const

Gets the velocity twist of link_name (first linear, then angular velocity).

The reference point of the velocity twist is the origin of the link itself.

Parameters

link_name	The link name
velocity	The twist of the link "link_name"

Returns

True if the link_name is a valid link name. False otherwise.

getVelocityTwist() [2/4]

virtual bool XBot::ModelInterface::getVelocityTwist ( const std::string &  link_name, KDL::Twist &  velocity  ) const

pure virtual

Gets the velocity twist of link_name (first linear, then angular velocity).

The reference point of the velocity twist is the origin of the link itself.

Parameters

link_name	The link name
velocity	The twist of the link "link_name"

Returns

True if the link_name is a valid link name. False otherwise.

getVelocityTwist() [3/4]

bool XBot::ModelInterface::getVelocityTwist ( const std::string &  source_frame, const std::string &  target_frame, Eigen::Matrix< double, 6, 1 > &  velocity  ) const

virtual

Computes the velocity of the source_frame w.r.t.

the target_frame expressed in target_frame

Parameters

source_frame	The source link name.
target_frame	The target link name.
velocity	A twist computed as: v = J*qdot, where J is the relative Jacobian computed using getRelativeJacobian(source_frame, target_frame)

Returns

True if both source_frame and target_frame are valid. False otherwise.

getVelocityTwist() [4/4]

bool XBot::ModelInterface::getVelocityTwist ( const std::string &  source_frame, const std::string &  target_frame, KDL::Twist &  velocity  ) const

virtual

Computes the velocity of the source_frame w.r.t.

the target_frame expressed in target_frame

Parameters

source_frame	The source link name.
target_frame	The target link name.
velocity	A twist computed as: v = J*qdot, where J is the relative Jacobian computed using getRelativeJacobian(source_frame, target_frame)

Returns

True if both source_frame and target_frame are valid. False otherwise.

init_internal()

bool XBot::ModelInterface::init_internal ( const ConfigOptions &  config )

protectedvirtual

Reimplemented from XBot::XBotInterface.

init_model()

virtual bool XBot::ModelInterface::init_model ( const ConfigOptions &  config )

protectedpure virtual

isFloatingBase()

bool XBot::ModelInterface::isFloatingBase

(

)

const

True if the robot is floating base, false if it has a fixed base.

Returns

True if the robot is floating base, false if it has a fixed base.

leg() [1/2]

XBot::ModelChain & XBot::ModelInterface::leg

(

int

leg_id

)

Returns a handle to the kinematic chain corresponding to the leg n° leg_id.

The order of legs is defined in the SRDF file which was provided to ModelInterface::getModel(). If the requested chain is not defined, a dummy chain is returned and an error is displayed.

Parameters

arm_id

The requested leg id, from 0 to legs()-1

Returns

A reference to the requested kinematic chain

leg() [2/2]

const XBot::ModelChain & XBot::ModelInterface::leg

(

int

leg_id

)

const

maskJacobian() [1/2]

bool XBot::ModelInterface::maskJacobian	(	const std::string &	chain_name,
		Eigen::MatrixXd &	J
	)		const

Applies a mask corresponding to the specified chain to the jacobian provided as an argument.

This amounts to setting the columns of the jacobian corresponding the the chain to zero.

Parameters

chain_name	The name of the chain.
J	The jacobian which the mask has to be applied to.

Returns

True if chain_name is a valid chain name and J has the correct row size.

maskJacobian() [2/2]

bool XBot::ModelInterface::maskJacobian	(	const std::string &	chain_name,
		KDL::Jacobian &	J
	)		const

Applies a mask corresponding to the specified chain to the jacobian provided as an argument.

This amounts to setting the columns of the jacobian corresponding the the chain to zero.

Parameters

chain_name	The name of the chain.
J	The jacobian which the mask has to be applied to.

Returns

True if chain_name is a valid chain name and J has the correct row size.

operator()() [1/2]

XBot::ModelChain & XBot::ModelInterface::operator()

(

const std::string &

chain_name

)

Returns a handle to the kinematic chain named chain_name.

If such a chain is not defined, a dummy chain is returned and an error is displayed.

Parameters

chain_name

The name of the requested chain

Returns

A reference to the requested kinematic chain

operator()() [2/2]

const XBot::ModelChain & XBot::ModelInterface::operator()

(

const std::string &

chain_name

)

const

operator=()

ModelInterface& XBot::ModelInterface::operator= ( const ModelInterface &  other )

delete

rotationEigenToKDL()

void XBot::ModelInterface::rotationEigenToKDL ( const Eigen::Matrix3d &  eigen_rotation, KDL::Rotation &  kdl_rotation  ) const

inlineprotected

rotationKDLToEigen()

void XBot::ModelInterface::rotationKDLToEigen ( const KDL::Rotation &  kdl_rotation, Eigen::Matrix3d &  eigen_rotation  ) const

inlineprotected

setDamping() [1/3]

bool XBot::XBotInterface::setDamping

Sets the XBotInterface internal joint damping according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

D	The vector of input joint states.

Returns

True if the size of the provided vector matches getJointNum().

setDamping() [2/3]

bool XBot::XBotInterface::setDamping

Sets the XBotInterface internal joint damping according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

K	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setDamping() [3/3]

bool XBot::XBotInterface::setDamping

Sets the XBotInterface internal joint damping according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

D	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setFloatingBaseAngularVelocity() [1/2]

bool XBot::ModelInterface::setFloatingBaseAngularVelocity

(

const Eigen::Vector3d &

floating_base_omega

)

Sets the floating base angular velocity w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

floating_base_omega

The angular velocity of the floating base w.r.t. the world

Returns

True if the the model is floating base. False otherwise.

setFloatingBaseAngularVelocity() [2/2]

bool XBot::ModelInterface::setFloatingBaseAngularVelocity

(

const KDL::Vector &

floating_base_omega

)

Sets the floating base angular velocity w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

floating_base_omega

The angular velocity of the floating base w.r.t. the world

Returns

True if the the model is floating base. False otherwise.

setFloatingBaseOrientation() [1/2]

bool XBot::ModelInterface::setFloatingBaseOrientation

(

const Eigen::Matrix3d &

world_R_floating_base

)

Sets the floating base orientation w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

world_R_floating_base

A rotation matrix which rotates a vector from floating base frame to world frame

Returns

True if the model is floating-base. False otherwise.

setFloatingBaseOrientation() [2/2]

bool XBot::ModelInterface::setFloatingBaseOrientation

(

const KDL::Rotation &

world_R_floating_base

)

Sets the floating base orientation w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

world_R_floating_base

A rotation matrix which rotates a vector from floating base frame to world frame

Returns

True if the model is floating-base. False otherwise.

setFloatingBasePose() [1/2]

bool XBot::ModelInterface::setFloatingBasePose

(

const Eigen::Affine3d &

floating_base_pose

)

Sets the floating base pose w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

floating_base_pose

A homogeneous transformation which transforms a point from floating base frame to world frame

Returns

True if the floating_base_pose frame is valid. False otherwise.

setFloatingBasePose() [2/2]

virtual bool XBot::ModelInterface::setFloatingBasePose ( const KDL::Frame &  floating_base_pose )

pure virtual

Sets the floating base pose w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

floating_base_pose

A homogeneous transformation which transforms a point from floating base frame to world frame

Returns

True if the model is floating-base. False otherwise.

setFloatingBaseState() [1/3]

bool XBot::ModelInterface::setFloatingBaseState	(	const Eigen::Affine3d &	pose,
		const Eigen::Vector6d &	twist
	)

Sets the floating base pose and twist w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

pose	The pose of the floating base w.r.t. the world
twist	The twist of the floating base w.r.t. the world

Returns

True if the the model is floating base. False otherwise.

setFloatingBaseState() [2/3]

bool XBot::ModelInterface::setFloatingBaseState	(	const KDL::Frame &	pose,
		const KDL::Twist &	twist
	)

Sets the floating base pose and twist w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

pose	The pose of the floating base w.r.t. the world
twist	The twist of the floating base w.r.t. the world

Returns

True if the the model is floating base. False otherwise.

setFloatingBaseState() [3/3]

bool XBot::ModelInterface::setFloatingBaseState	(	XBot::ImuSensor::ConstPtr	imu,
		const Eigen::Matrix3d &	offset = Eigen::Matrix3d::Identity()
	)

Sets the floating base orientation and angular velocity w.r.t.

the world frame from an IMU sensor attached to the model. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

imu	The pose of the floating base w.r.t. the world
offset	Rotation are premultiplied by this roation offset

Returns

True if the the model is floating base and the imu is valid. False otherwise.

setFloatingBaseTwist() [1/2]

bool XBot::ModelInterface::setFloatingBaseTwist ( const Eigen::Vector6d &  floating_base_twist )

virtual

Sets the floating base twist w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

floating_base_twist

The twist of the floating base w.r.t. the world

Returns

True if the twist was set correctly (e.g. the model is indeed floating-base)

setFloatingBaseTwist() [2/2]

virtual bool XBot::ModelInterface::setFloatingBaseTwist ( const KDL::Twist &  floating_base_twist )

pure virtual

Sets the floating base twist w.r.t.

the world frame. Note that update() must be called in order to recompute kinematics/dynamics accordingly.

Parameters

floating_base_twist

The twist of the floating base w.r.t. the world

Returns

True if the twist was set correctly (e.g. the model is indeed floating-base)

setGravity() [1/4]

void XBot::ModelInterface::setGravity

(

const Eigen::Vector3d &

gravity

)

Sets the gravity vector expressed in the world frame.

Parameters

gravity

The gravity vector expressed in the world frame.

Returns

void

setGravity() [2/4]

virtual void XBot::ModelInterface::setGravity ( const KDL::Vector &  gravity )

pure virtual

Sets the gravity vector expressed in the world frame.

Parameters

gravity

The gravity vector expressed in the world frame.

Returns

void

setGravity() [3/4]

bool XBot::ModelInterface::setGravity	(	const std::string &	reference_frame,
		const Eigen::Vector3d &	gravity
	)

Sets the gravity vector expressed in the reference_frame.

Parameters

reference_frame	The link name w.r.t. which the gravity vector will be expressed
gravity	The gravity vector expressed in the reference_frame

Returns

True if the reference_frame is a valid link name. False otherwise.

setGravity() [4/4]

bool XBot::ModelInterface::setGravity	(	const std::string &	reference_frame,
		const KDL::Vector &	gravity
	)

Sets the gravity vector expressed in the reference_frame.

Parameters

reference_frame	The link name w.r.t. which the gravity vector will be expressed
gravity	The gravity vector expressed in the reference_frame

Returns

True if the reference_frame is a valid link name. False otherwise.

setJointAcceleration() [1/3]

bool XBot::XBotInterface::setJointAcceleration

Sets the XBotInterface internal joint accelerations according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

qddot

The vector of input joint states.

Returns

True if the size of the provided vector matches getJointNum().

setJointAcceleration() [2/3]

bool XBot::XBotInterface::setJointAcceleration

Sets the XBotInterface internal joint accelerations according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qddot

The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setJointAcceleration() [3/3]

bool XBot::XBotInterface::setJointAcceleration

Sets the XBotInterface internal joint accelerations according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qddot

The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setJointEffort() [1/3]

bool XBot::XBotInterface::setJointEffort

Sets the XBotInterface internal joint efforts according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

tau	The vector of input joint states.

Returns

True if the size of the provided vector matches getJointNum().

setJointEffort() [2/3]

bool XBot::XBotInterface::setJointEffort

Sets the XBotInterface internal joint efforts according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

tau	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setJointEffort() [3/3]

bool XBot::XBotInterface::setJointEffort

Sets the XBotInterface internal joint efforts according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

tau	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setJointPosition() [1/3]

bool XBot::XBotInterface::setJointPosition

Sets the XBotInterface internal joint positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	The vector of input joint states.

Returns

True if the size of the provided vector matches getJointNum().

setJointPosition() [2/3]

bool XBot::XBotInterface::setJointPosition

Sets the XBotInterface internal joint positions according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setJointPosition() [3/3]

bool XBot::XBotInterface::setJointPosition

Sets the XBotInterface internal joint positions according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setJointVelocity() [1/3]

bool XBot::XBotInterface::setJointVelocity

Sets the XBotInterface internal joint velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	The vector of input joint states.

Returns

True if the size of the provided vector matches getJointNum().

setJointVelocity() [2/3]

bool XBot::XBotInterface::setJointVelocity

Sets the XBotInterface internal joint velocities according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setJointVelocity() [3/3]

bool XBot::XBotInterface::setJointVelocity

Sets the XBotInterface internal joint velocities according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setMotorPosition() [1/3]

bool XBot::XBotInterface::setMotorPosition

Sets the XBotInterface internal motor positions according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

q	The vector of input joint states.

Returns

True if the size of the provided vector matches getJointNum().

setMotorPosition() [2/3]

bool XBot::XBotInterface::setMotorPosition

Sets the XBotInterface internal motor positions according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setMotorPosition() [3/3]

bool XBot::XBotInterface::setMotorPosition

Sets the XBotInterface internal motor positions according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

q	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setMotorVelocity() [1/3]

bool XBot::XBotInterface::setMotorVelocity

Sets the XBotInterface internal motor velocities according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

qdot	The vector of input joint states.

Returns

True if the size of the provided vector matches getJointNum().

setMotorVelocity() [2/3]

bool XBot::XBotInterface::setMotorVelocity

Sets the XBotInterface internal motor velocities according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setMotorVelocity() [3/3]

bool XBot::XBotInterface::setMotorVelocity

Sets the XBotInterface internal motor velocities according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

qdot	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setStiffness() [1/3]

bool XBot::XBotInterface::setStiffness

Sets the XBotInterface internal joint stiffness according to the provided vector, which must be ordered as specified by the getEnabledJointNames/getEnabledJointId methods.

Parameters

K	The vector of input joint states.

Returns

True if the size of the provided vector matches getJointNum().

setStiffness() [2/3]

bool XBot::XBotInterface::setStiffness

Sets the XBotInterface internal joint stiffness according to the input JointIdMap (i.e.

a map whose key represents the joint ID and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

K	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

setStiffness() [3/3]

bool XBot::XBotInterface::setStiffness

Sets the XBotInterface internal joint stiffness according to the input JointNameMap (i.e.

a map whose key represents the joint name and whose value represents the joint state), which can include joint states for an arbitrary subset of the whole robot.

Parameters

K	The input JointIdMap

Returns

True if all joint IDs inside the provided map are valid.

syncFrom()

template<typename... SyncFlags>

bool XBot::ModelInterface::syncFrom	(	const XBotInterface &	other,
		SyncFlags...	flags
	)

Synchronizes the internal model state to the one of the XBotInterface given as an argument.

This can be either another ModelInterface or a RobotInterface. Flags can be specified to select a part of the state to be synchronized. ModelInterface::update() is automatcally called, so that the kinematics and dynamics of the ModelInterface is updated as well.

@usage model.syncFrom(other_model, XBot::Sync::Position, XBot::Sync::Effort) @usage model.syncFrom(other_model, XBot::Sync::Position)

Parameters

other

The RobotInterface or ModelInterface whose state is copied to this model.

flags

Flags to specify what part of the state must be synchronized. By default (i.e. if this argument is omitted) the whole state is synchronized. Otherwise, an arbitrary number of flags can be specified in order to select a subset of the state. The flags must be of the enum type XBot::Sync, which can take the following values: Sync::Position, Sync::Velocity Sync::Acceleration Sync::Effort Sync::Stiffness Sync::Damping Sync::Impedance Sync::Imu Sync::ForceTorque Sync::Sensors Sync::MotorSide [NOTE: must be used together with Position OR Velocity] Sync::All

Returns

True if the synchronization is allowed, false otherwise.

syncFrom_no_update()

template<typename... SyncFlags>

bool XBot::ModelInterface::syncFrom_no_update	(	const XBotInterface &	other,
		SyncFlags...	flags
	)

Synchronizes the internal model state to the one of the XBotInterface given as an argument.

This can be either another ModelInterface or a RobotInterface. Flags can be specified to select a part of the state to be synchronized. As the only difference with ModelInterface::syncFrom(), ModelInterface::update() is NOT automatcally called.

@usage model.syncFrom(other_model, XBot::Sync::Position, XBot::Sync::Effort) @usage model.syncFrom(other_model, XBot::Sync::Position)

Parameters

other

The RobotInterface or ModelInterface whose state is copied to this model.

flags

Flags to specify what part of the state must be synchronized. By default (i.e. if this argument is omitted) the whole state is synchronized. Otherwise, an arbitrary number of flags can be specified in order to select a subset of the state. The flags must be of the enum type XBot::Sync, which can take the following values: Sync::Position, Sync::Velocity Sync::Acceleration Sync::Effort Sync::Stiffness Sync::Damping Sync::Impedance Sync::All

Returns

True if the synchronization is allowed, false otherwise.

update()

bool XBot::ModelInterface::update	(	bool	update_position = true,
		bool	update_velocity = true,
		bool	update_desired_acceleration = true
	)

Updates the kinematic variables of the model according to the current state of the model.

When called without arguments, it only updates joint positions (no velocities/accelerations).

Parameters

update_position	True if you want to update the positions. False otherwise.
update_velocity	True if you want to update the velocities. False otherwise.
update_desired_acceleration	True if you want to update the desired accelerations. False otherwise.

Returns

True if the update is successful. False otherwise.

update_internal()

virtual bool XBot::ModelInterface::update_internal ( bool  update_position, bool  update_velocity, bool  update_desired_acceleration  )

protectedpure virtual

Member Data Documentation

_is_floating_base

bool XBot::ModelInterface::_is_floating_base

protected

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

• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/ModelInterface.h
• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/src/ModelInterface.cpp