Detailed Description

template<>
class humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >

Specific model description (relocated root)

Definition at line 620 of file model_description.h.

#include <model_description.h>

Inheritance diagram for humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >:

Public Types
enum	JointsDoFIds { KneePitch = 0, HipPitch = 1, HipRoll = 2, HeadYaw = 3, HeadPitch = 4, LShoulderPitch = 5, LShoulderRoll = 6, LElbowYaw = 7, LElbowRoll = 8, LWristYaw = 9, RShoulderPitch = 10, RShoulderRoll = 11, RElbowYaw = 12, RElbowRoll = 13, RWristYaw = 14, JOINTS_DOF_NUMBER = 15, DOF_NUMBER = ROOT_DOF_NUMBER + JOINTS_DOF_NUMBER }
	Ids of joints DoF. More...

enum	RootDoFIds { ROOT_TRANSLATION_X = 0, ROOT_TRANSLATION_Y = 1, ROOT_TRANSLATION_Z = 2, ROOT_ORIENTATION_ROLL = 3, ROOT_ORIENTATION_PITCH = 4, ROOT_ORIENTATION_YAW = 5, ROOT_DOF_NUMBER = 6 }
	Ids of root DoF. More...

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

Public Member Functions
typedef	EIGENTOOLS_CONSTANT_SIZE_VECTOR (JOINTS_DOF_NUMBER) JointAnglesVector

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	getDefaultGeneralizedCoordinates (JointAnglesVector &joint_angles, etools::Vector6 &root_pose)
	Get default generalized coordinates. More...

static void	getDefaultJointAngles (JointAnglesVector &joint_angles)
	Get default joint angles (with zero offset) More...

static void	getJointPositionBounds (JointAnglesVector &min_bounds, JointAnglesVector &max_bounds)
	Returns joint position bounds. More...

static void	getJointVelocityBounds (JointAnglesVector &joint_vel_bounds)
	Returns bounds on joint velocities. 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...

static void	getRootOrientation (etools::Vector3 &rpy, const etools::Vector6 &root_pose)
	Get root orientation given RPY Euler angles. More...

static void	getRootPosition (etools::Vector3 &position, const etools::Vector6 &root_pose)
	Get root position. More...

static void	getTorsoRootLocation (std::string &parent_link_string_id, etools::Vector3 &position)
	Location of the torso root. 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 void	setRootOrientation (etools::Vector6 &root_pose, const etools::Vector3 &rpy)
	Set root orientation given RPY Euler angles. More...

static void	setRootPosition (etools::Vector6 &root_pose, const etools::Vector3 &position)
	Set root position to the position given vector. 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...

Static Private Attributes
static const int	features_ = ModelFeatures::FIXED_WHEELS \| ModelFeatures::ROOT_TIBIA

Member Enumeration Documentation

◆ JointsDoFIds

enum humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >::JointsDoFIds

Ids of joints DoF.

Enumerator
KneePitch
HipPitch
HipRoll
HeadYaw
HeadPitch
LShoulderPitch
LShoulderRoll
LElbowYaw
LElbowRoll
LWristYaw
RShoulderPitch
RShoulderRoll
RElbowYaw
RElbowRoll
RWristYaw
JOINTS_DOF_NUMBER
DOF_NUMBER

Definition at line 647 of file model_description.h.

◆ RootDoFIds

enum humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >::RootDoFIds

Ids of root DoF.

Enumerator
ROOT_TRANSLATION_X
ROOT_TRANSLATION_Y
ROOT_TRANSLATION_Z
ROOT_ORIENTATION_ROLL
ROOT_ORIENTATION_PITCH
ROOT_ORIENTATION_YAW
ROOT_DOF_NUMBER

Definition at line 630 of file model_description.h.

◆ WheelIds

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

inherited

Enumerator
WHEEL_FRONT_LEFT
WHEEL_FRONT_RIGHT
WHEEL_BACK

Definition at line 70 of file model_description.h.

Member Function Documentation

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR()

typedef humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >::EIGENTOOLS_CONSTANT_SIZE_VECTOR ( JOINTS_DOF_NUMBER )

◆ getBaseLinksStringIds()

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

inlinestaticinherited

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 )

inlinestaticinherited

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 )

inlinestaticinherited

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 )

inlinestaticinherited

Get string ids of the links comprising the upper body.

Parameters

[out] ids ids

Definition at line 100 of file model_description.h.

◆ getDefaultGeneralizedCoordinates()

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS\|ModelFeatures::ROOT_TIBIA >::getDefaultGeneralizedCoordinates	(	JointAnglesVector &	joint_angles,
		etools::Vector6 &	root_pose
	)

inlinestatic

Get default generalized coordinates.

Parameters

[out]	joint_angles
[out]	root_pose

Definition at line 683 of file model_description.h.

◆ getDefaultJointAngles() [1/2]

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 )

inlinestaticprotectedinherited

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.

◆ getDefaultJointAngles() [2/2]

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >::getDefaultJointAngles ( JointAnglesVector & joint_angles )

inlinestatic

Get default joint angles (with zero offset)

Parameters

[out] joint_angles

Definition at line 720 of file model_description.h.

◆ getJointPositionBounds() [1/2]

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
	)

inlinestaticprotectedinherited

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.

◆ getJointPositionBounds() [2/2]

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS\|ModelFeatures::ROOT_TIBIA >::getJointPositionBounds	(	JointAnglesVector &	min_bounds,
		JointAnglesVector &	max_bounds
	)

inlinestatic

Returns joint position bounds.

Parameters

[out]	min_bounds
[out]	max_bounds

Definition at line 697 of file model_description.h.

◆ getJointVelocityBounds() [1/2]

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 )

inlinestaticprotectedinherited

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.

◆ getJointVelocityBounds() [2/2]

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >::getJointVelocityBounds ( JointAnglesVector & joint_vel_bounds )

inlinestatic

Returns bounds on joint velocities.

Parameters

[out] joint_vel_bounds

Definition at line 709 of file model_description.h.

◆ getMaxWheelVelocities()

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

inlinestaticinherited

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 ( )

inlinestaticinherited

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.

◆ getRootOrientation()

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS\|ModelFeatures::ROOT_TIBIA >::getRootOrientation	(	etools::Vector3 &	rpy,
		const etools::Vector6 &	root_pose
	)

inlinestatic

Get root orientation given RPY Euler angles.

Parameters

[out]	rpy
[in]	root_pose

Definition at line 788 of file model_description.h.

◆ getRootPosition()

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS\|ModelFeatures::ROOT_TIBIA >::getRootPosition	(	etools::Vector3 &	position,
		const etools::Vector6 &	root_pose
	)

inlinestatic

Get root position.

Parameters

[out]	position
[in]	root_pose

Definition at line 761 of file model_description.h.

◆ getTorsoRootLocation()

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS\|ModelFeatures::ROOT_TIBIA >::getTorsoRootLocation	(	std::string &	parent_link_string_id,
		etools::Vector3 &	position
	)

inlinestatic

Location of the torso root.

Parameters

[in]	parent_link_string_id
[in]	position

Definition at line 774 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 )

inlinestaticinherited

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.

◆ setRootOrientation()

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS\|ModelFeatures::ROOT_TIBIA >::setRootOrientation	(	etools::Vector6 &	root_pose,
		const etools::Vector3 &	rpy
	)

inlinestatic

Set root orientation given RPY Euler angles.

Parameters

[out]	root_pose
[in]	rpy

Definition at line 745 of file model_description.h.

◆ setRootPosition()

static void humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS\|ModelFeatures::ROOT_TIBIA >::setRootPosition	(	etools::Vector6 &	root_pose,
		const etools::Vector3 &	position
	)

inlinestatic

Set root position to the position given vector.

Parameters

[out]	root_pose
[in]	position

Definition at line 732 of file model_description.h.

Member Data Documentation

◆ features_

const int humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >::features_ = ModelFeatures::FIXED_WHEELS | ModelFeatures::ROOT_TIBIA

staticprivate

Definition at line 624 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::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Static Private Attributes

Member Enumeration Documentation

◆ JointsDoFIds

◆ RootDoFIds

◆ WheelIds

Member Function Documentation

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR()

◆ getBaseLinksStringIds()

◆ getBaseOrientationLinkStringId()

◆ getBasePositionLinkStringId()

◆ getBodyLinksStringIds()

◆ getDefaultGeneralizedCoordinates()

◆ getDefaultJointAngles() [1/2]

◆ getDefaultJointAngles() [2/2]

◆ getJointPositionBounds() [1/2]

◆ getJointPositionBounds() [2/2]

◆ getJointVelocityBounds() [1/2]

◆ getJointVelocityBounds() [2/2]

◆ getMaxWheelVelocities()

◆ getRootMotionToWheelsTransform()

◆ getRootOrientation()

◆ getRootPosition()

◆ getTorsoRootLocation()

◆ reorderJointsColumns()

◆ setRootOrientation()

◆ setRootPosition()

Member Data Documentation

◆ features_

template<>
class humoto::pepper_ik::ModelDescription< ModelFeatures::FIXED_WHEELS|ModelFeatures::ROOT_TIBIA >