Detailed Description

Wraps RBDL model and provides additional functionality.

Definition at line 37 of file model.h.

#include <model.h>

Classes
class	JointData
	Stores precomputed data for each joint. More...

Public Member Functions
	Model ()
	Default constructor. It is necesary to load() model before using. More...

	Model (const std::string &urdf_filename)
	Construct using URDF model. More...

	Model (const ModelParameters &model_parameters, const std::string &urdf_filename)
	Construct using URDF model. More...

TagPartialCoMPtr	getCoMTag (const std::vector< std::string > &link_string_ids) const
	CoM Tag for several bodies. More...

TagCoMPtr	getCoMTag () const
	CoM tag. More...

std::size_t	getDOFNumber () const
	Return number of DoF. More...

TagPointPtr	getLinkCoMTag (const std::string &link_string_id) const
	Tag for the CoM of a link. More...

TagLinkPtr	getLinkTag (const std::string &link_string_id) const
	Tag for a link. More...

TagPointPtr	getPointTag (const std::string &link_string_id, const etools::Vector3 &position_local) const
	Tag for a point on a link. More...

void	getTagJacobian (Eigen::MatrixXd &jacobian, const TagPartialCoMPtr tag) const
	Get CoM jacbian for a set of bodies. More...

template<SpatialType::Type t_jacobian_type>
void	getTagJacobian (Eigen::MatrixXd &jacobian, const TagLinkPtr tag) const
	Get Jacobian for a specific tag. More...

template<SpatialType::Type t_jacobian_type>
void	getTagJacobian (Eigen::MatrixXd &jacobian, const TagPointPtr tag) const
	Get Jacobian for a specific tag. More...

void	getTagJacobian (Eigen::MatrixXd &jacobian, const TagCoMPtr tag) const
	Compute CoM Jacobian of the robot. More...

double	getTagMass (const TagCoMPtr tag) const
	Get mass. More...

double	getTagMass (const TagPartialCoMPtr tag) const
	Get mass. More...

double	getTagMass (const TagLinkPtr tag) const
	Get mass. More...

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

etools::Matrix3	getTagOrientation (const TagPointPtr tag) const
	Get orientation of a tag. More...

rigidbody::RigidBodyPose	getTagPose (const TagLinkPtr tag) const
	Get tag pose. More...

rigidbody::RigidBodyPose	getTagPose (const TagPointPtr tag) const
	Get tag pose. More...

etools::Vector3	getTagPosition (const TagPartialCoMPtr tag) const
	Get CoM of several bodies. More...

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

etools::Vector3	getTagPosition (const TagPointPtr tag) const
	Get position of a tag. More...

etools::Vector3	getTagPosition (const TagCoMPtr tag) const
	Get CoM of the robot. More...

void	load (const ModelParameters &model_parameters, const std::string &urdf_filename)
	Load URDF model. More...

void	load (const std::string &urdf_filename)
	Load URDF model. More...

void	update (const Eigen::VectorXd &joint_angles)
	Update model. More...

Public Attributes
ModelParameters	model_parameters_

RigidBodyDynamics::Model	rbdl_model_

double	total_mass_

Private Member Functions
etools::Vector3	expressInRootFrame (const std::size_t link_id, const etools::Vector3 &point_body_coordinates) const
	Express local position in root frame. More...

std::size_t	getLinkId (const std::string &string_id) const
	Determines id of a body based on its string id. More...

RigidBodyDynamics::Math::SpatialTransform	getLinkTransform (const LinkId id) const
	Returns spatial transform for a link. More...

etools::Vector3	getPointTagPosition (const std::size_t id, const etools::Vector3 &position_local) const
	Get position of a tag. More...

template<SpatialType::Type t_jacobian_type>
void	getTagJacobian (Eigen::MatrixXd &jacobian, const LinkId link_id, const etools::Vector3 tag_position) const
	Get Jacobian for a specific tag. More...

bool	isLinkFixed (const std::size_t link_id) const
	True if a body is fixed to its parent. More...

void	setDefaults ()
	Initialization. More...

Private Attributes
std::vector< JointData >	joint_data_

Constructor & Destructor Documentation

◆ Model() [1/3]

humoto::rbdl::Model::Model ( )

inline

Default constructor. It is necesary to load() model before using.

Definition at line 50 of file model.h.

◆ Model() [2/3]

humoto::rbdl::Model::Model ( const std::string & urdf_filename )

inlineexplicit

Construct using URDF model.

Parameters

[in] urdf_filename

Definition at line 61 of file model.h.

◆ Model() [3/3]

humoto::rbdl::Model::Model	(	const ModelParameters &	model_parameters,
		const std::string &	urdf_filename
	)

inline

Construct using URDF model.

Parameters

[in]	model_parameters
[in]	urdf_filename

Definition at line 73 of file model.h.

Member Function Documentation

◆ expressInRootFrame()

etools::Vector3 humoto::rbdl::Model::expressInRootFrame	(	const std::size_t	link_id,
		const etools::Vector3 &	point_body_coordinates
	)		const

inlineprivate

Express local position in root frame.

Parameters

[in]	link_id
[in]	point_body_coordinates

Returns: 3d vector

Attention: Based on CalcBodyToBaseCoordinates() function from RBDL.

Definition at line 759 of file model.h.

◆ getCoMTag() [1/2]

TagPartialCoMPtr humoto::rbdl::Model::getCoMTag ( const std::vector< std::string > & link_string_ids ) const

inline

CoM Tag for several bodies.

Parameters

[in] link_string_ids

Returns: tag

Definition at line 205 of file model.h.

◆ getCoMTag() [2/2]

TagCoMPtr humoto::rbdl::Model::getCoMTag ( ) const

inline

CoM tag.

Returns: tag

Definition at line 229 of file model.h.

◆ getDOFNumber()

std::size_t humoto::rbdl::Model::getDOFNumber ( ) const

inline

Return number of DoF.

Returns: number of DoF

Definition at line 143 of file model.h.

◆ getLinkCoMTag()

TagPointPtr humoto::rbdl::Model::getLinkCoMTag ( const std::string & link_string_id ) const

inline

Tag for the CoM of a link.

Parameters

[in] link_string_id

Returns: tag

Definition at line 189 of file model.h.

◆ getLinkId()

std::size_t humoto::rbdl::Model::getLinkId ( const std::string & string_id ) const

inlineprivate

Determines id of a body based on its string id.

Parameters

[in] string_id

Returns: id

Definition at line 742 of file model.h.

◆ getLinkTag()

TagLinkPtr humoto::rbdl::Model::getLinkTag ( const std::string & link_string_id ) const

inline

Tag for a link.

Parameters

[in] link_string_id

Returns: tag

Definition at line 158 of file model.h.

◆ getLinkTransform()

RigidBodyDynamics::Math::SpatialTransform humoto::rbdl::Model::getLinkTransform ( const LinkId id ) const

inlineprivate

Returns spatial transform for a link.

Parameters

[in] id

Returns: spatial transform

Definition at line 851 of file model.h.

◆ getPointTag()

TagPointPtr humoto::rbdl::Model::getPointTag	(	const std::string &	link_string_id,
		const etools::Vector3 &	position_local
	)		const

inline

Tag for a point on a link.

Parameters

[in]	link_string_id
[in]	position_local	position of the point in the local frame

Returns: tag

Definition at line 173 of file model.h.

◆ getPointTagPosition()

etools::Vector3 humoto::rbdl::Model::getPointTagPosition	(	const std::size_t	id,
		const etools::Vector3 &	position_local
	)		const

inlineprivate

Get position of a tag.

Parameters

[in]	id	parent link id
[in]	position_local	position in the link frame

Returns: 3d position vector

Definition at line 796 of file model.h.

◆ getTagJacobian() [1/5]

void humoto::rbdl::Model::getTagJacobian	(	Eigen::MatrixXd &	jacobian,
		const TagPartialCoMPtr	tag
	)		const

inline

Get CoM jacbian for a set of bodies.

Parameters

[out]	jacobian
[in]	tag

Definition at line 440 of file model.h.

◆ getTagJacobian() [2/5]

template<SpatialType::Type t_jacobian_type>

void humoto::rbdl::Model::getTagJacobian	(	Eigen::MatrixXd &	jacobian,
		const TagLinkPtr	tag
	)		const

inline

Get Jacobian for a specific tag.

Parameters

[out]	jacobian
[in]	tag

Attention: Based on CalcPointJacobian() function from RBDL.

Definition at line 476 of file model.h.

◆ getTagJacobian() [3/5]

template<SpatialType::Type t_jacobian_type>

void humoto::rbdl::Model::getTagJacobian	(	Eigen::MatrixXd &	jacobian,
		const TagPointPtr	tag
	)		const

inline

Get Jacobian for a specific tag.

Parameters

[out]	jacobian
[in]	tag

Attention: Based on CalcPointJacobian() function from RBDL.

Definition at line 492 of file model.h.

◆ getTagJacobian() [4/5]

void humoto::rbdl::Model::getTagJacobian	(	Eigen::MatrixXd &	jacobian,
		const TagCoMPtr	tag
	)		const

inline

Compute CoM Jacobian of the robot.

Parameters

[out]	jacobian
[in]	tag

Definition at line 506 of file model.h.

◆ getTagJacobian() [5/5]

template<SpatialType::Type t_jacobian_type>

void humoto::rbdl::Model::getTagJacobian	(	Eigen::MatrixXd &	jacobian,
		const LinkId	link_id,
		const etools::Vector3	tag_position
	)		const

inlineprivate

Get Jacobian for a specific tag.

Parameters

[out]	jacobian
[in]	link_id
[in]	tag_position	(local)

Attention: Based on CalcPointJacobian() function from RBDL.

Definition at line 816 of file model.h.

◆ getTagMass() [1/3]

double humoto::rbdl::Model::getTagMass ( const TagCoMPtr tag ) const

inline

Get mass.

Parameters

[in] tag

Returns: mass

Definition at line 401 of file model.h.

◆ getTagMass() [2/3]

double humoto::rbdl::Model::getTagMass ( const TagPartialCoMPtr tag ) const

inline

Get mass.

Parameters

[in] tag CoM tag

Returns: total mass of the bodies

Definition at line 414 of file model.h.

◆ getTagMass() [3/3]

double humoto::rbdl::Model::getTagMass ( const TagLinkPtr tag ) const

inline

Get mass.

Parameters

[in] tag CoM tag

Returns: total mass of the bodies

Definition at line 427 of file model.h.

◆ getTagOrientation() [1/2]

etools::Matrix3 humoto::rbdl::Model::getTagOrientation ( const TagLinkPtr tag ) const

inline

Get orientation of a tag.

Parameters

[in] tag

Returns: 3x3 matrix

Definition at line 331 of file model.h.

◆ getTagOrientation() [2/2]

etools::Matrix3 humoto::rbdl::Model::getTagOrientation ( const TagPointPtr tag ) const

inline

Get orientation of a tag.

Parameters

[in] tag

Returns: 3x3 matrix

Definition at line 344 of file model.h.

◆ getTagPose() [1/2]

rigidbody::RigidBodyPose humoto::rbdl::Model::getTagPose ( const TagLinkPtr tag ) const

inline

Get tag pose.

Parameters

[in] tag

Returns: 3x3 matrix

Definition at line 358 of file model.h.

◆ getTagPose() [2/2]

rigidbody::RigidBodyPose humoto::rbdl::Model::getTagPose ( const TagPointPtr tag ) const

inline

Get tag pose.

Parameters

[in] tag

Returns: 3x3 matrix

Definition at line 379 of file model.h.

◆ getTagPosition() [1/4]

etools::Vector3 humoto::rbdl::Model::getTagPosition ( const TagPartialCoMPtr tag ) const

inline

Get CoM of several bodies.

Parameters

[in] tag CoM tag

Returns: CoM position

Definition at line 244 of file model.h.

◆ getTagPosition() [2/4]

etools::Vector3 humoto::rbdl::Model::getTagPosition ( const TagLinkPtr tag ) const

inline

Get position of a tag.

Parameters

[in] tag

Returns: 3d position vector

Definition at line 276 of file model.h.

◆ getTagPosition() [3/4]

etools::Vector3 humoto::rbdl::Model::getTagPosition ( const TagPointPtr tag ) const

inline

Get position of a tag.

Parameters

[in] tag

Returns: 3d position vector

Definition at line 289 of file model.h.

◆ getTagPosition() [4/4]

etools::Vector3 humoto::rbdl::Model::getTagPosition ( const TagCoMPtr tag ) const

inline

Get CoM of the robot.

Parameters

[in] tag

Returns: total mass

Definition at line 303 of file model.h.

◆ isLinkFixed()

bool humoto::rbdl::Model::isLinkFixed ( const std::size_t link_id ) const

inlineprivate

True if a body is fixed to its parent.

Parameters

[in] link_id

Returns: true/false

Attention: Based on IsFixedLinkId() function from RBDL.

Definition at line 719 of file model.h.

◆ load() [1/2]

void humoto::rbdl::Model::load	(	const ModelParameters &	model_parameters,
		const std::string &	urdf_filename
	)

inline

Load URDF model.

Parameters

[in]	model_parameters
[in]	urdf_filename

Definition at line 86 of file model.h.

◆ load() [2/2]

void humoto::rbdl::Model::load ( const std::string & urdf_filename )

inline

Load URDF model.

Parameters

[in] urdf_filename

Definition at line 99 of file model.h.

◆ setDefaults()

void humoto::rbdl::Model::setDefaults ( )

inlineprivate

Initialization.

Definition at line 704 of file model.h.

◆ update()

void humoto::rbdl::Model::update ( const Eigen::VectorXd & joint_angles )

inline

Update model.

Parameters

[in] joint_angles new joint angles

Definition at line 128 of file model.h.

Member Data Documentation

◆ joint_data_

std::vector<JointData> humoto::rbdl::Model::joint_data_

private

Definition at line 697 of file model.h.

◆ model_parameters_

ModelParameters humoto::rbdl::Model::model_parameters_

Definition at line 40 of file model.h.

◆ rbdl_model_

RigidBodyDynamics::Model humoto::rbdl::Model::rbdl_model_

Definition at line 41 of file model.h.

◆ total_mass_

double humoto::rbdl::Model::total_mass_

Definition at line 42 of file model.h.

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

bridges/rbdl/interface/rbdl/model.h

Detailed Description

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ Model() [1/3]

◆ Model() [2/3]

◆ Model() [3/3]

Member Function Documentation

◆ expressInRootFrame()

◆ getCoMTag() [1/2]

◆ getCoMTag() [2/2]

◆ getDOFNumber()

◆ getLinkCoMTag()

◆ getLinkId()

◆ getLinkTag()

◆ getLinkTransform()

◆ getPointTag()

◆ getPointTagPosition()

◆ getTagJacobian() [1/5]

◆ getTagJacobian() [2/5]

◆ getTagJacobian() [3/5]

◆ getTagJacobian() [4/5]

◆ getTagJacobian() [5/5]

◆ getTagMass() [1/3]

◆ getTagMass() [2/3]

◆ getTagMass() [3/3]

◆ getTagOrientation() [1/2]

◆ getTagOrientation() [2/2]

◆ getTagPose() [1/2]

◆ getTagPose() [2/2]

◆ getTagPosition() [1/4]

◆ getTagPosition() [2/4]

◆ getTagPosition() [3/4]

◆ getTagPosition() [4/4]

◆ isLinkFixed()

◆ load() [1/2]

◆ load() [2/2]

◆ setDefaults()

◆ update()

Member Data Documentation

◆ joint_data_

◆ model_parameters_

◆ rbdl_model_

◆ total_mass_