A class for setting a rigid body transformation between iDynLimb and iDynNode. More...

#include <iDynBody.h>

Public Member Functions
	RigidBodyTransformation (iDyn::iDynLimb *_limb, const yarp::sig::Matrix &_H, const std::string &_info, bool _hasSensor=false, const FlowType kin=RBT_NODE_OUT, const FlowType wre=RBT_NODE_IN, const NewEulMode _mode=DYNAMIC, unsigned int verb=iCub::skinDynLib::VERBOSE)
	Constructor, defining the limb attached to the node. More...

	~RigidBodyTransformation ()
	Destructor. More...

bool	setRBT (const yarp::sig::Matrix &_H)
	Set the roto-translational matrix between the limb and the node, defining the rigid body transformation. More...

bool	setKinematic (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	Set the kinematic variables (w,dw,ddp) of the limb. More...

bool	setKinematicMeasure (const yarp::sig::Vector &w0, const yarp::sig::Vector &dw0, const yarp::sig::Vector &ddp0)
	Set the kinematic variables (w,dw,ddp) of the limb, coming from external measurements (ie a sensor). More...

bool	setWrench (const yarp::sig::Vector &F0, const yarp::sig::Vector &Mu0)
	Set the wrench variables (F,Mu) of the limb. More...

bool	setWrenchMeasure (const yarp::sig::Vector &F0, const yarp::sig::Vector &Mu0)
	Set the wrench variables (F,Mu) of the limb. More...

bool	setWrenchMeasure (iDyn::iDynSensor *sensor, const yarp::sig::Vector &Fsens, const yarp::sig::Vector &Musens)
	Set the wrench variables in the sensor. More...

yarp::sig::Matrix	getRBT () const
	Return the the (4x4) roto-translational matrix defining the rigid body transformation. More...

void	getKinematic (yarp::sig::Vector &wNode, yarp::sig::Vector &dwNode, yarp::sig::Vector &ddpNode)
	Get the kinematic variables (w,dw,ddp) of the limb, applies the RBT transformation and compute the kinematic variables of the node. More...

void	getWrench (yarp::sig::Vector &FNode, yarp::sig::Vector &MuNode)
	Get the wrench variables (F,Mu) of the limb, transform it according to the RBT and add it to the node wrench. More...

void	setInfoFlow (const FlowType kin, const FlowType wre)
	Set the flow of kinematic/wrench information: input to node or output from node. More...

FlowType	getKinematicFlow () const
	Return the kinematic flow type. More...

FlowType	getWrenchFlow () const
	return the wrench flow type More...

std::string	toString () const
	Return some information. More...

bool	isSensorized () const
	Return a boolean, depending if the limb attached to the RBT has a FT sensor or not. More...

void	computeLimbKinematic ()
	Calls the compute kinematic of the limb. More...

void	computeLimbWrench ()
	Calls the compute wrench of the limb. More...

unsigned int	getNLinks () const
	Return the number of links of the limb (N) More...

unsigned int	getDOF () const
	Return the number of DOF of the limb (DOF <= N) More...

yarp::sig::Matrix	getH (const unsigned int i, const bool allLink=false)
	Return the i-th roto-translational matrix of the chain. More...

yarp::sig::Matrix	getH ()
	Return the end-effector roto-translational matrix of the end-effector H of the end-effector. More...

yarp::sig::Vector	getEndEffPose (const bool axisRep=true)
	Return the end-effector pose: x-y-z Cartesian position and 3/4 angles of orientation. More...

yarp::sig::Matrix	computeGeoJacobian (const unsigned int iLink, const yarp::sig::Matrix &Pn, bool rbtRoto=false)
	This method is used to compute the Jacobian between two links in two different chains (eg from link 4 in chain_A to link 3 in chain_B. More...

yarp::sig::Matrix	computeGeoJacobian (const unsigned int iLink, const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &H0, bool rbtRoto=false)
	This method is used to compute the Jacobian between two links in two different chains. More...

yarp::sig::Matrix	computeGeoJacobian (const yarp::sig::Matrix &Pn, bool rbtRoto=false)
	This method is used to compute the Jacobian between two links in two different chains: in this case it returns the jacobian matrix of the whole chain (from base to end-effector) when Pn is an external vector. More...

yarp::sig::Matrix	computeGeoJacobian (const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &H0, bool rbtRoto=false)
	This method is used to compute the Jacobian between two links in two different chains: in this case it returns the jacobian matrix of the whole chain (from base to end-effector) when Pn is an external vector, and H0 is an external matrix. More...

yarp::sig::Matrix	computeGeoJacobian (bool rbtRoto=false)

yarp::sig::Matrix	computeGeoJacobian (const unsigned int iLink, bool rbtRoto=false)
	Returns the Jacobian matrix of the limb until the link whose index is iLink in the chain. More...

yarp::sig::Matrix	getR6 () const
	Return a 6x6 diagonal matrix with the rotational matrix of the RBT. More...

yarp::sig::Matrix	getH0 () const
	Return the H0 matrix of the limb attached to the RBT. More...

bool	setH0 (const yarp::sig::Matrix &_H0)
	Set a new H0 matrix in the limb attached to the RBT. More...

yarp::sig::Matrix	TESTING_computeCOMJacobian (const unsigned int iLink, bool rbtRoto=false)
	Returns the Jacobian matrix of the COM of the selected link (index = iLink) in the chain. More...

yarp::sig::Matrix	TESTING_computeCOMJacobian (const unsigned int iLink, const yarp::sig::Matrix &Pn, bool rbtRoto=false)
	Returns the Jacobian matrix of the COM of the selected link (index = iLink) in the chain: in this case Pn is an external vector, that happens when multiple limbs are connected. More...

yarp::sig::Matrix	TESTING_computeCOMJacobian (const unsigned int iLink, const yarp::sig::Matrix &Pn, const yarp::sig::Matrix &_H0, bool rbtRoto=false)
	Returns the Jacobian matrix of the COM of the selected link (index = iLink) in the chain: in this case Pn is an external vector, that happens when multiple limbs are connected. More...

yarp::sig::Matrix	getHCOM (unsigned int iLink)
	Returns the COM matrix of the selected link (index = iLink) in the chain. More...

Protected Member Functions
yarp::sig::Matrix	getR ()
	Return the rotational 3x3 matrix of the RBT. More...

yarp::sig::Vector	getr (bool proj=false)
	Return the translational part of the RBT matrix. More...

void	computeKinematic ()
	Basic computations for applying RBT on kinematic variables. More...

void	computeWrench ()
	Basic computations for applying RBT on wrench variables. More...

Protected Attributes
iDyn::iDynLimb *	limb
	the limb attached to the RigidBodyTransformation More...

FlowType	kinFlow
	kinematic flow: in-to/out-from node (RBT_NODE_IN/RBT_NODE_OUT) More...

FlowType	wreFlow
	wrench flow: in-to/out-from node (RBT_NODE_IN/RBT_NODE_OUT) More...

yarp::sig::Matrix	H
	the roto-translation between the limb and the node More...

NewEulMode	mode
	STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY. More...

std::string	info
	info or useful notes More...

unsigned int	verbose
	verbosity flag More...

bool	hasSensor
	flag for sensor or not - only used for setWrenchMeasures() More...

yarp::sig::Vector	w
	angular velocity More...

yarp::sig::Vector	dw
	angular acceleration More...

yarp::sig::Vector	ddp
	linear acceleration More...

yarp::sig::Vector	F
	force More...

yarp::sig::Vector	Mu
	moment More...

Detailed Description

A class for setting a rigid body transformation between iDynLimb and iDynNode.

This class is used by iDynNode to connect two or mutiple limbs and exchanging kinematic and wrench information between limbs.

Definition at line 131 of file iDynBody.h.

Constructor & Destructor Documentation

◆ RigidBodyTransformation()

RigidBodyTransformation::RigidBodyTransformation	(	iDyn::iDynLimb *	_limb,
		const yarp::sig::Matrix &	_H,
		const std::string &	_info,
		bool	_hasSensor = `false`,
		const FlowType	kin = `RBT_NODE_OUT`,
		const FlowType	wre = `RBT_NODE_IN`,
		const NewEulMode	_mode = `DYNAMIC`,
		unsigned int	verb = `iCub::skinDynLib::VERBOSE`
	)

Constructor, defining the limb attached to the node.

Parameters

_limb	pointer to a iDynLimb
_H	a (4x4) roto-translational matrix defining the rigid body transformation
_info	a string with information
kin	the kinematic flow
wre	the wrench flow
_mode	the NewEulMode for computations
verb	verbosity flag

Definition at line 44 of file iDynBody.cpp.

◆ ~RigidBodyTransformation()

RigidBodyTransformation::~RigidBodyTransformation ( )

Destructor.

Definition at line 61 of file iDynBody.cpp.

Member Function Documentation

◆ computeGeoJacobian() [1/6]

Matrix RigidBodyTransformation::computeGeoJacobian ( bool rbtRoto = false )

Parameters

rbtRoto if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix of the chain

Definition at line 345 of file iDynBody.cpp.

◆ computeGeoJacobian() [2/6]

Matrix RigidBodyTransformation::computeGeoJacobian	(	const unsigned int	iLink,
		bool	rbtRoto = `false`
	)

Returns the Jacobian matrix of the limb until the link whose index is iLink in the chain.

This method basically calls GeoJacobian(iLink) in the iDynChain of the limb.

Parameters

iLink	the index of the link, in the chain
rbtRoto	if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix of the chain - from the base to the i-th link

Definition at line 353 of file iDynBody.cpp.

◆ computeGeoJacobian() [3/6]

yarp::sig::Matrix iCub::iDyn::RigidBodyTransformation::computeGeoJacobian	(	const unsigned int	iLink,
		const yarp::sig::Matrix &	Pn,
		bool	rbtRoto = `false`
	)

This method is used to compute the Jacobian between two links in two different chains (eg from link 4 in chain_A to link 3 in chain_B.

Parameters

iLink	the index of the link, in the chain, being the base frame for the Jacobian computation
Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)
rbtRoto	if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix from the base of the chain until the iLink (e.g. from link 0 to 4)

◆ computeGeoJacobian() [4/6]

yarp::sig::Matrix iCub::iDyn::RigidBodyTransformation::computeGeoJacobian	(	const unsigned int	iLink,
		const yarp::sig::Matrix &	Pn,
		const yarp::sig::Matrix &	H0,
		bool	rbtRoto = `false`
	)

This method is used to compute the Jacobian between two links in two different chains.

Parameters

iLink	the index of the link, in the chain, being the base frame for the Jacobian computation
Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)
H0	the H0 matrix of the base to be used for the Jacobian computation
rbtRoto	if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix from the iLink of the chain until the base of the chain (ie from link 4 to 0)

◆ computeGeoJacobian() [5/6]

yarp::sig::Matrix iCub::iDyn::RigidBodyTransformation::computeGeoJacobian	(	const yarp::sig::Matrix &	Pn,
		bool	rbtRoto = `false`
	)

This method is used to compute the Jacobian between two links in two different chains: in this case it returns the jacobian matrix of the whole chain (from base to end-effector) when Pn is an external vector.

Parameters

Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)
rbtRoto	if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix of the chain

◆ computeGeoJacobian() [6/6]

yarp::sig::Matrix iCub::iDyn::RigidBodyTransformation::computeGeoJacobian	(	const yarp::sig::Matrix &	Pn,
		const yarp::sig::Matrix &	H0,
		bool	rbtRoto = `false`
	)

This method is used to compute the Jacobian between two links in two different chains: in this case it returns the jacobian matrix of the whole chain (from base to end-effector) when Pn is an external vector, and H0 is an external matrix.

Parameters

Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)
H0	the H0 matrix of the base to be used for the Jacobian computation
rbtRoto	if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix of the chain

◆ computeKinematic()

void RigidBodyTransformation::computeKinematic ( )

protected

Basic computations for applying RBT on kinematic variables.

The computations are similar to the Forward/Backward ones in OneLinkNewtonEuler: compute AngVel/AngAcc/LinAcc. Here they are fastened and adapted to the RBT.

Definition at line 195 of file iDynBody.cpp.

◆ computeLimbKinematic()

void RigidBodyTransformation::computeLimbKinematic ( )

Calls the compute kinematic of the limb.

Definition at line 278 of file iDynBody.cpp.

◆ computeLimbWrench()

void RigidBodyTransformation::computeLimbWrench ( )

Calls the compute wrench of the limb.

Definition at line 283 of file iDynBody.cpp.

◆ computeWrench()

void RigidBodyTransformation::computeWrench ( )

protected

Basic computations for applying RBT on wrench variables.

The computations are similar to the Forward/Backward ones in OneLinkNewtonEuler: compute Force/Moment. Here they are fastened and adapted to the RBT.

Definition at line 246 of file iDynBody.cpp.

◆ getDOF()

unsigned int RigidBodyTransformation::getDOF ( ) const

Return the number of DOF of the limb (DOF <= N)

Returns: the number of DOF in the limb

Definition at line 293 of file iDynBody.cpp.

◆ getEndEffPose()

Vector RigidBodyTransformation::getEndEffPose ( const bool axisRep = true )

Return the end-effector pose: x-y-z Cartesian position and 3/4 angles of orientation.

Parameters

axisRep a flag for the axis representation

Returns: the end effector pose

Definition at line 308 of file iDynBody.cpp.

◆ getH() [1/2]

Matrix RigidBodyTransformation::getH ( )

Return the end-effector roto-translational matrix of the end-effector H of the end-effector.

Definition at line 303 of file iDynBody.cpp.

◆ getH() [2/2]

Matrix RigidBodyTransformation::getH	(	const unsigned int	i,
		const bool	allLink = `false`
	)

Return the i-th roto-translational matrix of the chain.

This method basically calls iKinChain::getH(i,allLink). the boolean allLink specifies if all the links are considered, or only the unblocked ones (DOF)

Parameters

i	the link index in the chain (0<=i<N)
allLink	if all the links are considered

Returns: H of the i-th link

Definition at line 298 of file iDynBody.cpp.

◆ getH0()

Matrix RigidBodyTransformation::getH0 ( ) const

Return the H0 matrix of the limb attached to the RBT.

Returns: the H0 matrix of the limb attached to the RBT

Definition at line 361 of file iDynBody.cpp.

◆ getHCOM()

Matrix RigidBodyTransformation::getHCOM ( unsigned int iLink )

Returns the COM matrix of the selected link (index = iLink) in the chain.

Parameters

iLink the index of the link, in the chain

Returns: the roto-translational matrix of the selected link COM

Definition at line 401 of file iDynBody.cpp.

◆ getKinematic()

void RigidBodyTransformation::getKinematic	(	yarp::sig::Vector &	wNode,
		yarp::sig::Vector &	dwNode,
		yarp::sig::Vector &	ddpNode
	)

Get the kinematic variables (w,dw,ddp) of the limb, applies the RBT transformation and compute the kinematic variables of the node.

The variables are stored into the param vectors, which are accessible. This method calls getKinematicNewtonEuler() in the limb, and the limb itself knows whether to get this information in the base or in the end- effector, depending on its iteration mode for kinematics. This method is used by iDynNode to connect two or multiple limbs.

Parameters

wNode	the angular velocity of the Node - it is modified!
dwNode	the angular acceleration of the Node - it is modified!
ddpNode	the linear acceleration of the Node - it is modified!

Definition at line 152 of file iDynBody.cpp.

◆ getKinematicFlow()

FlowType RigidBodyTransformation::getKinematicFlow ( ) const

Return the kinematic flow type.

Returns: the kinematic flow

Definition at line 185 of file iDynBody.cpp.

◆ getNLinks()

unsigned int RigidBodyTransformation::getNLinks ( ) const

Return the number of links of the limb (N)

Returns: the number of links in the limb

Definition at line 288 of file iDynBody.cpp.

◆ getR()

Matrix RigidBodyTransformation::getR ( )

protected

Return the rotational 3x3 matrix of the RBT.

Returns: the rotational matrix of the RBT

Definition at line 126 of file iDynBody.cpp.

◆ getr()

Vector RigidBodyTransformation::getr ( bool proj = false )

protected

Return the translational part of the RBT matrix.

Parameters

proj=true/false

Returns: the distance vector of the RBT

Definition at line 145 of file iDynBody.cpp.

◆ getR6()

Matrix RigidBodyTransformation::getR6 ( ) const

Return a 6x6 diagonal matrix with the rotational matrix of the RBT.

Returns: a 6x6 diagonal matrix with the rotational matrix of the RBT

Definition at line 131 of file iDynBody.cpp.

◆ getRBT()

Matrix RigidBodyTransformation::getRBT ( ) const

Return the the (4x4) roto-translational matrix defining the rigid body transformation.

Returns: H, the 4x4 matrix of the RBT

Definition at line 121 of file iDynBody.cpp.

◆ getWrench()

void RigidBodyTransformation::getWrench	(	yarp::sig::Vector &	FNode,
		yarp::sig::Vector &	MuNode
	)

Get the wrench variables (F,Mu) of the limb, transform it according to the RBT and add it to the node wrench.

The variables are stored into the param vectors, which are accessible. This method calls getWrenchNewtonEuler() in the limb, and the limb itself knows whether to get this information in the base ot in the end-effector, depending on its iteration mode for wrenches. This method is used by iDynNode to connect two or multiple limbs.

Parameters

FNode	the iDynNode force - it is modified!
MuNode	the iDynNode moment - it is modified!

Definition at line 166 of file iDynBody.cpp.

◆ getWrenchFlow()

FlowType RigidBodyTransformation::getWrenchFlow ( ) const

return the wrench flow type

Returns: the wrench flow

Definition at line 190 of file iDynBody.cpp.

◆ isSensorized()

bool RigidBodyTransformation::isSensorized ( ) const

Return a boolean, depending if the limb attached to the RBT has a FT sensor or not.

Returns: true if the limb has a FT sensor, false otherwise

Definition at line 273 of file iDynBody.cpp.

◆ setH0()

bool RigidBodyTransformation::setH0 ( const yarp::sig::Matrix & _H0 )

Set a new H0 matrix in the limb attached to the RBT.

Parameters

_H0	the new H0 matrix of the limb attached to the RBT

Returns: true if succeed, false otherwise

Definition at line 366 of file iDynBody.cpp.

◆ setInfoFlow()

void RigidBodyTransformation::setInfoFlow	(	const FlowType	kin,
		const FlowType	wre
	)

Set the flow of kinematic/wrench information: input to node or output from node.

Parameters

kin	the kinematic flow
wre	the wrench flow

Definition at line 179 of file iDynBody.cpp.

◆ setKinematic()

bool RigidBodyTransformation::setKinematic	(	const yarp::sig::Vector &	w0,
		const yarp::sig::Vector &	dw0,
		const yarp::sig::Vector &	ddp0
	)

Set the kinematic variables (w,dw,ddp) of the limb.

This method calls initKinematicNewtonEuler() in the limb, and the limb itself knows whether to set this information in the base or in the end- effector, depending on its iteration mode for kinematics. This method is used by iDynNode to connect two or multiple limbs.

Parameters

w0	the angular velocity
dw0	the angular acceleration
ddp0	the linear acceleration

Returns: true if succeeds, false otherwise

Definition at line 83 of file iDynBody.cpp.

◆ setKinematicMeasure()

bool RigidBodyTransformation::setKinematicMeasure	(	const yarp::sig::Vector &	w0,
		const yarp::sig::Vector &	dw0,
		const yarp::sig::Vector &	ddp0
	)

Set the kinematic variables (w,dw,ddp) of the limb, coming from external measurements (ie a sensor).

This method calls initKinematicNewtonEuler() in the limb, and the limb itself knows whether to set this information in the base or in the end- effector, depending on its iteration mode for kinematics. This method is used by iDynNode to connect two or multiple limbs.

Parameters

w0	the angular velocity
dw0	the angular acceleration
ddp0	the linear acceleration

Returns: true if succeeds, false otherwise

Definition at line 95 of file iDynBody.cpp.

◆ setRBT()

bool RigidBodyTransformation::setRBT ( const yarp::sig::Matrix & _H )

Set the roto-translational matrix between the limb and the node, defining the rigid body transformation.

Parameters

_H	a (4x4) roto-translational matrix

Returns: true if succeeds, false otherwise

Definition at line 67 of file iDynBody.cpp.

◆ setWrench()

bool RigidBodyTransformation::setWrench	(	const yarp::sig::Vector &	F0,
		const yarp::sig::Vector &	Mu0
	)

Set the wrench variables (F,Mu) of the limb.

This method calls initWrenchNewtonEuler() in the limb, and the limb itself knows whether to set this information in the base ot in the end-effector, depending on its iteration mode for wrenches. This method is used by iDynNode to connect two or multiple limbs.

Parameters

F0	the force
Mu0	the moment

Returns: true if succeeds, false otherwise

Definition at line 100 of file iDynBody.cpp.

◆ setWrenchMeasure() [1/2]

bool iCub::iDyn::RigidBodyTransformation::setWrenchMeasure	(	const yarp::sig::Vector &	F0,
		const yarp::sig::Vector &	Mu0
	)

Set the wrench variables (F,Mu) of the limb.

This method calls initWrenchNewtonEuler() in the limb, and the limb itself knows whether to set this information in the base ot in the end-effector, depending on its iteration mode for wrenches. This method is used by iDynNode to connect two or multiple limbs.

Parameters

F0	the force
Mu0	the moment

Returns: true if succeeds, false otherwise

◆ setWrenchMeasure() [2/2]

bool iCub::iDyn::RigidBodyTransformation::setWrenchMeasure	(	iDyn::iDynSensor *	sensor,
		const yarp::sig::Vector &	Fsens,
		const yarp::sig::Vector &	Musens
	)

Set the wrench variables in the sensor.

Parameters

sensor	the sensor attached to the limb
Fsens	the force
Musens	the moment

Returns: true if succeeds, false otherwise

◆ TESTING_computeCOMJacobian() [1/3]

Matrix RigidBodyTransformation::TESTING_computeCOMJacobian	(	const unsigned int	iLink,
		bool	rbtRoto = `false`
	)

Returns the Jacobian matrix of the COM of the selected link (index = iLink) in the chain.

Parameters

iLink	the index of the link, in the chain
rbtRoto	if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix of the selected link COM

Definition at line 377 of file iDynBody.cpp.

◆ TESTING_computeCOMJacobian() [2/3]

yarp::sig::Matrix iCub::iDyn::RigidBodyTransformation::TESTING_computeCOMJacobian	(	const unsigned int	iLink,
		const yarp::sig::Matrix &	Pn,
		bool	rbtRoto = `false`
	)

Returns the Jacobian matrix of the COM of the selected link (index = iLink) in the chain: in this case Pn is an external vector, that happens when multiple limbs are connected.

Parameters

Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)
iLink	the index of the link, in the chain
rbtRoto	if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix of the selected link COM

◆ TESTING_computeCOMJacobian() [3/3]

yarp::sig::Matrix iCub::iDyn::RigidBodyTransformation::TESTING_computeCOMJacobian	(	const unsigned int	iLink,
		const yarp::sig::Matrix &	Pn,
		const yarp::sig::Matrix &	_H0,
		bool	rbtRoto = `false`
	)

Returns the Jacobian matrix of the COM of the selected link (index = iLink) in the chain: in this case Pn is an external vector, that happens when multiple limbs are connected.

The H0 matrix used to initialize the Jacobian computation is external too.

Parameters

Pn	the matrix describing the roto-translational matrix between base and end-effector (in two different limbs)
H0	the H0 matrix of the base to be used for the Jacobian computation
iLink	the index of the link, in the chain
rbtRoto	if false, simply return Jacobian; if true return T * Jacobian, where T is a 6x6 diagonal matrix with the rotational part of the RBT

Returns: the Jacobian matrix of the selected link COM

◆ toString()

std::string iCub::iDyn::RigidBodyTransformation::toString ( ) const

Return some information.

Returns: a string with information

Member Data Documentation

◆ ddp

yarp::sig::Vector iCub::iDyn::RigidBodyTransformation::ddp

protected

linear acceleration

Definition at line 167 of file iDynBody.h.

◆ dw

yarp::sig::Vector iCub::iDyn::RigidBodyTransformation::dw

protected

angular acceleration

Definition at line 165 of file iDynBody.h.

◆ F

yarp::sig::Vector iCub::iDyn::RigidBodyTransformation::F

protected

force

Definition at line 169 of file iDynBody.h.

◆ H

yarp::sig::Matrix iCub::iDyn::RigidBodyTransformation::H

protected

the roto-translation between the limb and the node

Definition at line 145 of file iDynBody.h.

◆ hasSensor

bool iCub::iDyn::RigidBodyTransformation::hasSensor

protected

flag for sensor or not - only used for setWrenchMeasures()

Definition at line 157 of file iDynBody.h.

◆ info

std::string iCub::iDyn::RigidBodyTransformation::info

protected

info or useful notes

Definition at line 151 of file iDynBody.h.

◆ kinFlow

FlowType iCub::iDyn::RigidBodyTransformation::kinFlow

protected

kinematic flow: in-to/out-from node (RBT_NODE_IN/RBT_NODE_OUT)

Definition at line 139 of file iDynBody.h.

◆ limb

iDyn::iDynLimb* iCub::iDyn::RigidBodyTransformation::limb

protected

the limb attached to the RigidBodyTransformation

Definition at line 136 of file iDynBody.h.

◆ mode

NewEulMode iCub::iDyn::RigidBodyTransformation::mode

protected

STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY.

Definition at line 148 of file iDynBody.h.

◆ Mu

yarp::sig::Vector iCub::iDyn::RigidBodyTransformation::Mu

protected

moment

Definition at line 171 of file iDynBody.h.

◆ verbose

unsigned int iCub::iDyn::RigidBodyTransformation::verbose

protected

verbosity flag

Definition at line 154 of file iDynBody.h.

◆ w

yarp::sig::Vector iCub::iDyn::RigidBodyTransformation::w

protected

angular velocity

Definition at line 163 of file iDynBody.h.

◆ wreFlow

FlowType iCub::iDyn::RigidBodyTransformation::wreFlow

protected

wrench flow: in-to/out-from node (RBT_NODE_IN/RBT_NODE_OUT)

Definition at line 142 of file iDynBody.h.

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

icub-main/src/libraries/iDyn/include/iCub/iDyn/iDynBody.h
icub-main/src/libraries/iDyn/src/iDynBody.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RigidBodyTransformation()

◆ ~RigidBodyTransformation()

Member Function Documentation

◆ computeGeoJacobian() [1/6]

◆ computeGeoJacobian() [2/6]

◆ computeGeoJacobian() [3/6]

◆ computeGeoJacobian() [4/6]

◆ computeGeoJacobian() [5/6]

◆ computeGeoJacobian() [6/6]

◆ computeKinematic()

◆ computeLimbKinematic()

◆ computeLimbWrench()

◆ computeWrench()

◆ getDOF()

◆ getEndEffPose()

◆ getH() [1/2]

◆ getH() [2/2]

◆ getH0()

◆ getHCOM()

◆ getKinematic()

◆ getKinematicFlow()

◆ getNLinks()

◆ getR()

◆ getr()

◆ getR6()

◆ getRBT()

◆ getWrench()

◆ getWrenchFlow()

◆ isSensorized()

◆ setH0()

◆ setInfoFlow()

◆ setKinematic()

◆ setKinematicMeasure()

◆ setRBT()

◆ setWrench()

◆ setWrenchMeasure() [1/2]

◆ setWrenchMeasure() [2/2]

◆ TESTING_computeCOMJacobian() [1/3]

◆ TESTING_computeCOMJacobian() [2/3]

◆ TESTING_computeCOMJacobian() [3/3]

◆ toString()

Member Data Documentation

◆ ddp

◆ dw

◆ F

◆ H

◆ hasSensor

◆ info

◆ kinFlow

◆ limb

◆ mode

◆ Mu

◆ verbose

◆ w

◆ wreFlow