Detailed Description

template<int t_features>
class humoto::pepper_ik::Model< t_features >

Model.

Template Parameters

t_features these features identify model

Definition at line 57 of file model.h.

#include <model.h>

Inheritance diagram for humoto::pepper_ik::Model< t_features >:

Classes
class	Constraints

class	SavedState

Public Member Functions
void	checkCurrentState () const
	Checks validity of the current state. More...

void	checkStateTransition (const humoto::pepper_ik::GeneralizedCoordinates< t_features > &generalized_coordinates_from, const double dt, const double error_tol=1e-7) const
	Check validity of translation from one state to another in the given time interval. 'generalized_coordinates_to' is assumed to be model's current state. More...

void	checkStateTransition (const humoto::pepper_ik::GeneralizedCoordinates< t_features > &generalized_coordinates_from, const humoto::pepper_ik::GeneralizedCoordinates< t_features > &generalized_coordinates_to, const double dt, const double error_tol=1e-7) const
	Check validity of translation from one state to another in the given time interval. More...

void	correct (const RobotCommand &command, const double time_interval)
	Correct state if the actual sampling interval is different from the expected. More...

void	correct (const humoto::pepper_ik::GeneralizedCoordinates< t_features > &generalized_coordinates, const RobotCommand &command, const double time_interval)
	Correct state if the actual sampling interval is different from the expected. More...

typedef	EIGENTOOLS_CONSTANT_SIZE_VECTOR (ModelDescription< t_features >::JOINTS_DOF_NUMBER) JointAnglesVector

etools::Vector3	getBaseCoM () const
	Get position of the base CoM. More...

void	getBaseCoMJacobian (Eigen::MatrixXd &jacobian) const
	Get Jacobian of the base CoM. More...

double	getBaseMass () const
	Get base mass. More...

etools::Matrix3	getBaseOrientation () const
	Get base orientation. More...

void	getBaseOrientationJacobian (Eigen::MatrixXd &jacobian) const
	Get base orientation Jacobian. More...

etools::Vector3	getBasePosition () const
	Get base position. More...

double	getBaseYaw () const
	Return Yaw angle of base orientation. More...

etools::Vector3	getBodyCoM () const
	Get position of the upper body CoM. More...

void	getBodyCoMJacobian (Eigen::MatrixXd &jacobian) const
	Get Jacobian of the upper body CoM. More...

double	getBodyMass () const
	Get body mass. More...

etools::Vector3	getCoM () const
	Get position of the robot's CoM. More...

void	getCoMJacobian (Eigen::MatrixXd &jacobian) const
	Get Jacobian of the upper body CoM. More...

rbdl::TagLinkPtr	getLinkTag (const std::string &id) const
	Get tag. More...

double	getMass () const
	Get mass of the robot. More...

void	getRobotCommand (RobotCommand &command, const double dt, const double error_tol=1e-7) const
	Compute robot command. More...

const GeneralizedCoordinates< t_features > &	getState () const
	Return current model state. More...

void	getStateError (MotionParameters &motion_param_errors, const MotionParameters &motion_param) const
	Computes errors with respect to the given motion parameters. More...

void	getTagCompleteJacobian (Eigen::MatrixXd &jacobian, const rbdl::TagLinkPtr tag) const
	Get tag complete Jacobian. More...

etools::Matrix3	getTagOrientation (const rbdl::TagLinkPtr tag) const
	Get tag orientation. More...

void	getTagOrientationJacobian (Eigen::MatrixXd &jacobian, const rbdl::TagLinkPtr tag) const
	Get tag orientation Jacobian. More...

etools::Vector3	getTagPosition (const rbdl::TagLinkPtr tag) const
	Get tag position. More...

rigidbody::RigidBodyPose	getTorsoRootPose ()
	Returns pose of the root of the default robot model (root = torso) More...

void	loadParameters (const std::string &filename)
	Initialize model based on an URDF file. More...

void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="model") const
	Log. More...

void	noop () const

void	saveCurrentState ()
	Make internal copy of the current state to avoid losing it while iteratively solving IK. More...

void	updateState (const humoto::ModelState &model_state)
	Update model state. More...

Public Attributes
Constraints	constraints_

humoto::rbdl::Model	rbdl_model_

Private Member Functions
void	initialize ()
	Initialize tags. More...

Private Attributes
rbdl::TagPartialCoMPtr	base_com_tag_

rbdl::TagLinkPtr	base_orientation_tag_

rbdl::TagLinkPtr	base_position_tag_

rbdl::TagPartialCoMPtr	body_com_tag_

humoto::pepper_ik::GeneralizedCoordinates< t_features >	generalized_coordinates_
	state of the model More...

etools::Matrix3	root_motion_to_wheels_

SavedState	saved_state_

Member Function Documentation

◆ checkCurrentState()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::checkCurrentState ( ) const

inline

Checks validity of the current state.

Definition at line 643 of file model.h.

◆ checkStateTransition() [1/2]

template<int t_features>

void humoto::pepper_ik::Model< t_features >::checkStateTransition	(	const humoto::pepper_ik::GeneralizedCoordinates< t_features > &	generalized_coordinates_from,
		const double	dt,
		const double	error_tol = `1e-7`
	)		const

inline

Check validity of translation from one state to another in the given time interval. 'generalized_coordinates_to' is assumed to be model's current state.

Parameters

[in]	generalized_coordinates_from
[in]	dt
[in]	error_tol

Definition at line 658 of file model.h.

◆ checkStateTransition() [2/2]

template<int t_features>

void humoto::pepper_ik::Model< t_features >::checkStateTransition	(	const humoto::pepper_ik::GeneralizedCoordinates< t_features > &	generalized_coordinates_from,
		const humoto::pepper_ik::GeneralizedCoordinates< t_features > &	generalized_coordinates_to,
		const double	dt,
		const double	error_tol = `1e-7`
	)		const

inline

Check validity of translation from one state to another in the given time interval.

Parameters

[in]	generalized_coordinates_from
[in]	generalized_coordinates_to
[in]	dt
[in]	error_tol

Definition at line 675 of file model.h.

◆ correct() [1/2]

template<int t_features>

void humoto::pepper_ik::Model< t_features >::correct	(	const RobotCommand &	command,
		const double	time_interval
	)

inline

Correct state if the actual sampling interval is different from the expected.

Parameters

[in]	command
[in]	time_interval

Todo:: Implement correction of the base position for the models where the root does not coincide with the base.

Definition at line 569 of file model.h.

◆ correct() [2/2]

template<int t_features>

void humoto::pepper_ik::Model< t_features >::correct	(	const humoto::pepper_ik::GeneralizedCoordinates< t_features > &	generalized_coordinates,
		const RobotCommand &	command,
		const double	time_interval
	)

inline

Correct state if the actual sampling interval is different from the expected.

Parameters

[in]	generalized_coordinates
[in]	command
[in]	time_interval

Note: This version of correct() function updates the state and then corrects it, in some cases this allows to avoid update of the kinematic model.

Definition at line 624 of file model.h.

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR()

template<int t_features>

typedef humoto::pepper_ik::Model< t_features >::EIGENTOOLS_CONSTANT_SIZE_VECTOR ( ModelDescription< t_features >::JOINTS_DOF_NUMBER )

◆ getBaseCoM()

template<int t_features>

etools::Vector3 humoto::pepper_ik::Model< t_features >::getBaseCoM ( ) const

inline

Get position of the base CoM.

Returns: com_position

Definition at line 317 of file model.h.

◆ getBaseCoMJacobian()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::getBaseCoMJacobian ( Eigen::MatrixXd & jacobian ) const

inline

Get Jacobian of the base CoM.

Parameters

[out] jacobian

Definition at line 383 of file model.h.

◆ getBaseMass()

template<int t_features>

double humoto::pepper_ik::Model< t_features >::getBaseMass ( ) const

inline

Get base mass.

Returns: mass

Definition at line 328 of file model.h.

◆ getBaseOrientation()

template<int t_features>

etools::Matrix3 humoto::pepper_ik::Model< t_features >::getBaseOrientation ( ) const

inline

Get base orientation.

Returns: rotation matrix

Definition at line 427 of file model.h.

◆ getBaseOrientationJacobian()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::getBaseOrientationJacobian ( Eigen::MatrixXd & jacobian ) const

inline

Get base orientation Jacobian.

Parameters

[out] jacobian

Definition at line 416 of file model.h.

◆ getBasePosition()

template<int t_features>

etools::Vector3 humoto::pepper_ik::Model< t_features >::getBasePosition ( ) const

inline

Get base position.

Returns: rotation matrix

Definition at line 514 of file model.h.

◆ getBaseYaw()

template<int t_features>

double humoto::pepper_ik::Model< t_features >::getBaseYaw ( ) const

inline

Return Yaw angle of base orientation.

Returns: Yaw angle

Definition at line 438 of file model.h.

◆ getBodyCoM()

template<int t_features>

etools::Vector3 humoto::pepper_ik::Model< t_features >::getBodyCoM ( ) const

inline

Get position of the upper body CoM.

Returns: com_position

Definition at line 339 of file model.h.

◆ getBodyCoMJacobian()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::getBodyCoMJacobian ( Eigen::MatrixXd & jacobian ) const

inline

Get Jacobian of the upper body CoM.

Parameters

[out] jacobian

Definition at line 405 of file model.h.

◆ getBodyMass()

template<int t_features>

double humoto::pepper_ik::Model< t_features >::getBodyMass ( ) const

inline

Get body mass.

Returns: mass

Definition at line 350 of file model.h.

◆ getCoM()

template<int t_features>

etools::Vector3 humoto::pepper_ik::Model< t_features >::getCoM ( ) const

inline

Get position of the robot's CoM.

Returns: com_position

Definition at line 361 of file model.h.

◆ getCoMJacobian()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::getCoMJacobian ( Eigen::MatrixXd & jacobian ) const

inline

Get Jacobian of the upper body CoM.

Parameters

[out] jacobian

Definition at line 394 of file model.h.

◆ getLinkTag()

template<int t_features>

rbdl::TagLinkPtr humoto::pepper_ik::Model< t_features >::getLinkTag ( const std::string & id ) const

inline

Get tag.

Parameters

[in] id id (string)

Returns: tag

Definition at line 451 of file model.h.

◆ getMass()

template<int t_features>

double humoto::pepper_ik::Model< t_features >::getMass ( ) const

inline

Get mass of the robot.

Returns: mass of the upper body

Definition at line 372 of file model.h.

◆ getRobotCommand()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::getRobotCommand	(	RobotCommand &	command,
		const double	dt,
		const double	error_tol = `1e-7`
	)		const

inline

Compute robot command.

Parameters

[out]	command
[in]	dt	time interval between the new and the saved state
[in]	error_tol	tolerance for checking satisfaction of the bounds

Definition at line 527 of file model.h.

◆ getState()

template<int t_features>

const GeneralizedCoordinates<t_features>& humoto::pepper_ik::Model< t_features >::getState ( ) const

inline

Return current model state.

Returns: current state

Definition at line 733 of file model.h.

◆ getStateError()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::getStateError	(	MotionParameters &	motion_param_errors,
		const MotionParameters &	motion_param
	)		const

inline

Computes errors with respect to the given motion parameters.

Parameters

[out]	motion_param_errors
[in]	motion_param

Returns: MotionParameters class, where all members represent errors instead of the actual values.

Definition at line 748 of file model.h.

◆ getTagCompleteJacobian()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::getTagCompleteJacobian	(	Eigen::MatrixXd &	jacobian,
		const rbdl::TagLinkPtr	tag
	)		const

inline

Get tag complete Jacobian.

Parameters

[out]	jacobian
[in]	tag

Definition at line 502 of file model.h.

◆ getTagOrientation()

template<int t_features>

etools::Matrix3 humoto::pepper_ik::Model< t_features >::getTagOrientation ( const rbdl::TagLinkPtr tag ) const

inline

Get tag orientation.

Parameters

[in] tag

Returns: rotation matrix

Definition at line 464 of file model.h.

◆ getTagOrientationJacobian()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::getTagOrientationJacobian	(	Eigen::MatrixXd &	jacobian,
		const rbdl::TagLinkPtr	tag
	)		const

inline

Get tag orientation Jacobian.

Parameters

[out]	jacobian
[in]	tag

Definition at line 489 of file model.h.

◆ getTagPosition()

template<int t_features>

etools::Vector3 humoto::pepper_ik::Model< t_features >::getTagPosition ( const rbdl::TagLinkPtr tag ) const

inline

Get tag position.

Parameters

[in] tag

Returns: position vector

Definition at line 477 of file model.h.

◆ getTorsoRootPose()

template<int t_features>

rigidbody::RigidBodyPose humoto::pepper_ik::Model< t_features >::getTorsoRootPose ( )

inline

Returns pose of the root of the default robot model (root = torso)

Returns: root pose

Definition at line 768 of file model.h.

◆ initialize()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::initialize ( )

inlineprivate

Initialize tags.

Definition at line 96 of file model.h.

◆ loadParameters()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::loadParameters ( const std::string & filename )

inline

Initialize model based on an URDF file.

Parameters

[in] filename

Definition at line 274 of file model.h.

◆ log()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"model"`
	)		const

inlinevirtual

Log.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Implements humoto::Model.

Definition at line 786 of file model.h.

◆ noop()

void humoto::Model::noop ( ) const

inlineinherited

Definition at line 57 of file model.h.

◆ saveCurrentState()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::saveCurrentState ( )

inline

Make internal copy of the current state to avoid losing it while iteratively solving IK.

Definition at line 303 of file model.h.

◆ updateState()

template<int t_features>

void humoto::pepper_ik::Model< t_features >::updateState ( const humoto::ModelState & model_state )

inlinevirtual

Update model state.

Parameters

[in] model_state model state.

Implements humoto::Model.

Definition at line 717 of file model.h.

Member Data Documentation

◆ base_com_tag_

template<int t_features>

rbdl::TagPartialCoMPtr humoto::pepper_ik::Model< t_features >::base_com_tag_

private

Definition at line 78 of file model.h.

◆ base_orientation_tag_

template<int t_features>

rbdl::TagLinkPtr humoto::pepper_ik::Model< t_features >::base_orientation_tag_

private

Definition at line 81 of file model.h.

◆ base_position_tag_

template<int t_features>

rbdl::TagLinkPtr humoto::pepper_ik::Model< t_features >::base_position_tag_

private

Definition at line 82 of file model.h.

◆ body_com_tag_

template<int t_features>

rbdl::TagPartialCoMPtr humoto::pepper_ik::Model< t_features >::body_com_tag_

private

Definition at line 79 of file model.h.

◆ constraints_

template<int t_features>

Constraints humoto::pepper_ik::Model< t_features >::constraints_

Definition at line 264 of file model.h.

◆ generalized_coordinates_

template<int t_features>

humoto::pepper_ik::GeneralizedCoordinates<t_features> humoto::pepper_ik::Model< t_features >::generalized_coordinates_

private

state of the model

Definition at line 89 of file model.h.

◆ rbdl_model_

template<int t_features>

humoto::rbdl::Model humoto::pepper_ik::Model< t_features >::rbdl_model_

Definition at line 262 of file model.h.

◆ root_motion_to_wheels_

template<int t_features>

etools::Matrix3 humoto::pepper_ik::Model< t_features >::root_motion_to_wheels_

private

Definition at line 84 of file model.h.

◆ saved_state_

template<int t_features>

SavedState humoto::pepper_ik::Model< t_features >::saved_state_

private

Definition at line 86 of file model.h.

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

modules/pepper_ik/include/pepper_ik/model.h

Detailed Description

template<int t_features> class humoto::pepper_ik::Model< t_features >

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Member Function Documentation

◆ checkCurrentState()

◆ checkStateTransition() [1/2]

◆ checkStateTransition() [2/2]

◆ correct() [1/2]

◆ correct() [2/2]

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR()

◆ getBaseCoM()

◆ getBaseCoMJacobian()

◆ getBaseMass()

◆ getBaseOrientation()

◆ getBaseOrientationJacobian()

◆ getBasePosition()

◆ getBaseYaw()

◆ getBodyCoM()

◆ getBodyCoMJacobian()

◆ getBodyMass()

◆ getCoM()

◆ getCoMJacobian()

◆ getLinkTag()

◆ getMass()

◆ getRobotCommand()

◆ getState()

◆ getStateError()

◆ getTagCompleteJacobian()

◆ getTagOrientation()

◆ getTagOrientationJacobian()

◆ getTagPosition()

◆ getTorsoRootPose()

◆ initialize()

◆ loadParameters()

◆ log()

◆ noop()

◆ saveCurrentState()

◆ updateState()

Member Data Documentation

◆ base_com_tag_

◆ base_orientation_tag_

◆ base_position_tag_

◆ body_com_tag_

◆ constraints_

◆ generalized_coordinates_

◆ rbdl_model_

◆ root_motion_to_wheels_

◆ saved_state_

template<int t_features>
class humoto::pepper_ik::Model< t_features >