Detailed Description

template<>
class humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >

Base description class of models with fixed wheels.

Definition at line 67 of file model_description.h.

#include <model_description.h>

Inheritance diagram for humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >:

Public Types
enum	WheelIds { WHEEL_FRONT_LEFT = 0, WHEEL_FRONT_RIGHT = 1, WHEEL_BACK = 2 }

Static Public Member Functions
static void	getBaseLinksStringIds (std::vector< std::string > &ids)
	Get string ids of the bodies comprising the base. More...

static void	getBaseOrientationLinkStringId (std::string &id)
	Get id of the body which is used to control orientation of the base. More...

static void	getBasePositionLinkStringId (std::string &id)
	Get id of the body which is used to control position of the base. More...

static void	getBodyLinksStringIds (std::vector< std::string > &ids)
	Get string ids of the links comprising the upper body. More...

static void	getMaxWheelVelocities (etools::Vector3 &max_velocities)
	Returns maximal velocites, which can be executed by the wheels. More...

static etools::Matrix3	getRootMotionToWheelsTransform ()
	Returns matrix which maps velocities of the wheels to translational and rotational motion of the base. More...

template<int t_features_out, int t_features_in>
static void	reorderJointsColumns (Eigen::MatrixXd &matrix)
	Use joint order to reorder columns of the given matrix. More...

Static Protected Member Functions
template<int t_features>
static void	getDefaultJointAngles (EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &joint_angles)
	Sets joint angles in the given vector to their default values. More...

template<int t_features>
static void	getJointPositionBounds (EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &min_bounds, EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &max_bounds)
	Returns joint position bounds. More...

template<int t_features>
static void	getJointVelocityBounds (EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &joint_vel_bounds)
	Returns bounds on joint velocities. More...

Member Enumeration Documentation

◆ WheelIds

enum humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::WheelIds

Enumerator
WHEEL_FRONT_LEFT
WHEEL_FRONT_RIGHT
WHEEL_BACK

Definition at line 70 of file model_description.h.

Member Function Documentation

◆ getBaseLinksStringIds()

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getBaseLinksStringIds ( std::vector< std::string > & ids )

inlinestatic

Get string ids of the bodies comprising the base.

Parameters

[out] ids ids

Definition at line 83 of file model_description.h.

◆ getBaseOrientationLinkStringId()

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getBaseOrientationLinkStringId ( std::string & id )

inlinestatic

Get id of the body which is used to control orientation of the base.

Parameters

[out] id id

Definition at line 165 of file model_description.h.

◆ getBasePositionLinkStringId()

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getBasePositionLinkStringId ( std::string & id )

inlinestatic

Get id of the body which is used to control position of the base.

Parameters

[out] id id

Definition at line 176 of file model_description.h.

◆ getBodyLinksStringIds()

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getBodyLinksStringIds ( std::vector< std::string > & ids )

inlinestatic

Get string ids of the links comprising the upper body.

Parameters

[out] ids ids

Definition at line 100 of file model_description.h.

◆ getDefaultJointAngles()

template<int t_features>

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getDefaultJointAngles ( EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) & joint_angles )

inlinestaticprotected

Sets joint angles in the given vector to their default values.

Template Parameters

t_features these features identify model description

Parameters

[out] joint_angles vector, where the joint angles are set

Definition at line 384 of file model_description.h.

◆ getJointPositionBounds()

template<int t_features>

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getJointPositionBounds	(	EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &	min_bounds,
		EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) &	max_bounds
	)

inlinestaticprotected

Returns joint position bounds.

Template Parameters

t_features these features identify model description

Parameters

[out]	min_bounds
[out]	max_bounds

Todo:: RBDL must load this from an URDF file!

Definition at line 309 of file model_description.h.

◆ getJointVelocityBounds()

template<int t_features>

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getJointVelocityBounds ( EIGENTOOLS_CONSTANT_SIZE_VECTOR(ModelDescription< t_features >::JOINTS_DOF_NUMBER) & joint_vel_bounds )

inlinestaticprotected

Returns bounds on joint velocities.

Template Parameters

t_features these features identify model description

Parameters

[out] joint_vel_bounds

Todo:: RBDL must load this from an URDF file!

Definition at line 356 of file model_description.h.

◆ getMaxWheelVelocities()

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getMaxWheelVelocities ( etools::Vector3 & max_velocities )

inlinestatic

Returns maximal velocites, which can be executed by the wheels.

Parameters

[out] max_velocities

Todo:: RBDL must load this from an URDF file!

Definition at line 290 of file model_description.h.

◆ getRootMotionToWheelsTransform()

static etools::Matrix3 humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::getRootMotionToWheelsTransform ( )

inlinestatic

Returns matrix which maps velocities of the wheels to translational and rotational motion of the base.

Returns: 3x3 matrix

Todo:: This code is based on the URDF file – may be there is a way to avoid hardcoding it.

Definition at line 188 of file model_description.h.

◆ reorderJointsColumns()

template<int t_features_out, int t_features_in>

static void humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >::reorderJointsColumns ( Eigen::MatrixXd & matrix )

inlinestatic

Use joint order to reorder columns of the given matrix.

Template Parameters

t_features_out	features of the model corresponding to output
t_features_in	features of the model corresponding to input

Parameters

[in,out] matrix

Definition at line 253 of file model_description.h.

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

modules/pepper_ik/include/pepper_ik/model_description.h

Detailed Description

template<> class humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >

Public Types

Static Public Member Functions

Static Protected Member Functions

Member Enumeration Documentation

◆ WheelIds

Member Function Documentation

◆ getBaseLinksStringIds()

◆ getBaseOrientationLinkStringId()

◆ getBasePositionLinkStringId()

◆ getBodyLinksStringIds()

◆ getDefaultJointAngles()

◆ getJointPositionBounds()

◆ getJointVelocityBounds()

◆ getMaxWheelVelocities()

◆ getRootMotionToWheelsTransform()

◆ reorderJointsColumns()

template<>
class humoto::pepper_ik::ModelDescriptionBase< ModelFeatures::FIXED_WHEELS >