diff --git a/RobotModelRBDL_8hpp_source.html b/RobotModelRBDL_8hpp_source.html index 31a7957e..ba4b856a 100644 --- a/RobotModelRBDL_8hpp_source.html +++ b/RobotModelRBDL_8hpp_source.html @@ -85,71 +85,69 @@
15 RigidBodyDynamics::Math::MatrixNd J, H_q;
16
17 std::vector<std::string> jointNamesInRBDLOrder(const std::string &urdf_file);
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18 void updateFloatingBase(const base::samples::RigidBodyStateSE3& floating_base_state_in);
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19 void clear();
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20
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21public:
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22 RobotModelRBDL();
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23 virtual ~RobotModelRBDL();
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24
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30 virtual bool configure(const RobotModelConfig& cfg);
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31
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37 virtual void update(const base::samples::Joints& joint_state,
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38 const base::samples::RigidBodyStateSE3& floating_base_state = base::samples::RigidBodyStateSE3());
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39
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41 virtual void systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd);
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42
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49 virtual const base::samples::RigidBodyStateSE3 &rigidBodyState(const std::string &root_frame, const std::string &tip_frame);
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50
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56 virtual const base::MatrixXd &spaceJacobian(const std::string &root_frame, const std::string &tip_frame);
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57
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63 virtual const base::MatrixXd &bodyJacobian(const std::string &root_frame, const std::string &tip_frame);
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64
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70 virtual const base::MatrixXd &comJacobian();
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71
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79 virtual const base::MatrixXd &jacobianDot(const std::string &root_frame, const std::string &tip_frame);
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80
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86 virtual const base::Acceleration &spatialAccelerationBias(const std::string &root_frame, const std::string &tip_frame);
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87
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89 virtual const base::MatrixXd &jointSpaceInertiaMatrix();
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90
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92 virtual const base::VectorXd &biasForces();
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93
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95 virtual const base::samples::RigidBodyStateSE3& centerOfMass();
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96
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98 virtual void computeInverseDynamics(base::commands::Joints &solver_output);
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99};
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18 void clear();
+
19
+
20public:
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21 RobotModelRBDL();
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22 virtual ~RobotModelRBDL();
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23
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29 virtual bool configure(const RobotModelConfig& cfg);
+
30
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36 virtual void update(const base::samples::Joints& joint_state,
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37 const base::samples::RigidBodyStateSE3& floating_base_state = base::samples::RigidBodyStateSE3());
+
38
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40 virtual void systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd);
+
41
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48 virtual const base::samples::RigidBodyStateSE3 &rigidBodyState(const std::string &root_frame, const std::string &tip_frame);
+
49
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55 virtual const base::MatrixXd &spaceJacobian(const std::string &root_frame, const std::string &tip_frame);
+
56
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62 virtual const base::MatrixXd &bodyJacobian(const std::string &root_frame, const std::string &tip_frame);
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63
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69 virtual const base::MatrixXd &comJacobian();
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70
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78 virtual const base::MatrixXd &jacobianDot(const std::string &root_frame, const std::string &tip_frame);
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79
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85 virtual const base::Acceleration &spatialAccelerationBias(const std::string &root_frame, const std::string &tip_frame);
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86
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88 virtual const base::MatrixXd &jointSpaceInertiaMatrix();
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89
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91 virtual const base::VectorXd &biasForces();
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92
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94 virtual const base::samples::RigidBodyStateSE3& centerOfMass();
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95
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97 virtual void computeInverseDynamics(base::commands::Joints &solver_output);
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98};
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100
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101}
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102
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103#endif
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99
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100}
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101
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102#endif
RobotModel.hpp
wbc::RobotModelRBDL
Definition RobotModelRBDL.hpp:9
-
wbc::RobotModelRBDL::biasForces
virtual const base::VectorXd & biasForces()
Definition RobotModelRBDL.cpp:384
-
wbc::RobotModelRBDL::systemState
virtual void systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd)
Definition RobotModelRBDL.cpp:208
-
wbc::RobotModelRBDL::computeInverseDynamics
virtual void computeInverseDynamics(base::commands::Joints &solver_output)
Compute and return the inverse dynamics solution.
Definition RobotModelRBDL.cpp:416
-
wbc::RobotModelRBDL::configure
virtual bool configure(const RobotModelConfig &cfg)
Load and configure the robot model.
Definition RobotModelRBDL.cpp:30
-
wbc::RobotModelRBDL::rigidBodyState
virtual const base::samples::RigidBodyStateSE3 & rigidBodyState(const std::string &root_frame, const std::string &tip_frame)
Computes and returns the relative transform between the two given frames. By convention this is the p...
Definition RobotModelRBDL.cpp:214
+
wbc::RobotModelRBDL::biasForces
virtual const base::VectorXd & biasForces()
Definition RobotModelRBDL.cpp:380
+
wbc::RobotModelRBDL::systemState
virtual void systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd)
Definition RobotModelRBDL.cpp:204
+
wbc::RobotModelRBDL::computeInverseDynamics
virtual void computeInverseDynamics(base::commands::Joints &solver_output)
Compute and return the inverse dynamics solution.
Definition RobotModelRBDL.cpp:412
+
wbc::RobotModelRBDL::configure
virtual bool configure(const RobotModelConfig &cfg)
Load and configure the robot model.
Definition RobotModelRBDL.cpp:26
+
wbc::RobotModelRBDL::rigidBodyState
virtual const base::samples::RigidBodyStateSE3 & rigidBodyState(const std::string &root_frame, const std::string &tip_frame)
Computes and returns the relative transform between the two given frames. By convention this is the p...
Definition RobotModelRBDL.cpp:210
wbc::RobotModelRBDL::q
Eigen::VectorXd q
Definition RobotModelRBDL.hpp:14
wbc::RobotModelRBDL::~RobotModelRBDL
virtual ~RobotModelRBDL()
Definition RobotModelRBDL.cpp:17
wbc::RobotModelRBDL::qd
Eigen::VectorXd qd
Definition RobotModelRBDL.hpp:14
-
wbc::RobotModelRBDL::spaceJacobian
virtual const base::MatrixXd & spaceJacobian(const std::string &root_frame, const std::string &tip_frame)
Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobi...
Definition RobotModelRBDL.cpp:249
+
wbc::RobotModelRBDL::spaceJacobian
virtual const base::MatrixXd & spaceJacobian(const std::string &root_frame, const std::string &tip_frame)
Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobi...
Definition RobotModelRBDL.cpp:245
wbc::RobotModelRBDL::RobotModelRBDL
RobotModelRBDL()
Definition RobotModelRBDL.cpp:13
wbc::RobotModelRBDL::clear
void clear()
Definition RobotModelRBDL.cpp:21
-
wbc::RobotModelRBDL::comJacobian
virtual const base::MatrixXd & comJacobian()
Returns the CoM Jacobian for the entire robot, which maps the robot joint velocities to linear spatia...
Definition RobotModelRBDL.cpp:319
-
wbc::RobotModelRBDL::jacobianDot
virtual const base::MatrixXd & jacobianDot(const std::string &root_frame, const std::string &tip_frame)
Returns the derivative of the Jacobian for the kinematic chain between root and the tip frame as full...
Definition RobotModelRBDL.cpp:342
+
wbc::RobotModelRBDL::comJacobian
virtual const base::MatrixXd & comJacobian()
Returns the CoM Jacobian for the entire robot, which maps the robot joint velocities to linear spatia...
Definition RobotModelRBDL.cpp:315
+
wbc::RobotModelRBDL::jacobianDot
virtual const base::MatrixXd & jacobianDot(const std::string &root_frame, const std::string &tip_frame)
Returns the derivative of the Jacobian for the kinematic chain between root and the tip frame as full...
Definition RobotModelRBDL.cpp:338
wbc::RobotModelRBDL::jointNamesInRBDLOrder
std::vector< std::string > jointNamesInRBDLOrder(const std::string &urdf_file)
-
wbc::RobotModelRBDL::centerOfMass
virtual const base::samples::RigidBodyStateSE3 & centerOfMass()
Return Current center of gravity in expressed base frame.
Definition RobotModelRBDL.cpp:395
+
wbc::RobotModelRBDL::centerOfMass
virtual const base::samples::RigidBodyStateSE3 & centerOfMass()
Return Current center of gravity in expressed base frame.
Definition RobotModelRBDL.cpp:391
wbc::RobotModelRBDL::tau
Eigen::VectorXd tau
Definition RobotModelRBDL.hpp:14
wbc::RobotModelRBDL::reg
static RobotModelRegistry< RobotModelRBDL > reg
Definition RobotModelRBDL.hpp:11
wbc::RobotModelRBDL::rbdl_model
std::shared_ptr< RigidBodyDynamics::Model > rbdl_model
Definition RobotModelRBDL.hpp:13
-
wbc::RobotModelRBDL::spatialAccelerationBias
virtual const base::Acceleration & spatialAccelerationBias(const std::string &root_frame, const std::string &tip_frame)
Returns the spatial acceleration bias, i.e. the term Jdot*qdot.
Definition RobotModelRBDL.cpp:346
-
wbc::RobotModelRBDL::bodyJacobian
virtual const base::MatrixXd & bodyJacobian(const std::string &root_frame, const std::string &tip_frame)
Returns the Body Jacobian for the kinematic chain between root and the tip frame as full body Jacobia...
Definition RobotModelRBDL.cpp:285
-
wbc::RobotModelRBDL::update
virtual void update(const base::samples::Joints &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state=base::samples::RigidBodyStateSE3())
Update the robot configuration.
Definition RobotModelRBDL.cpp:124
-
wbc::RobotModelRBDL::jointSpaceInertiaMatrix
virtual const base::MatrixXd & jointSpaceInertiaMatrix()
Definition RobotModelRBDL.cpp:373
+
wbc::RobotModelRBDL::spatialAccelerationBias
virtual const base::Acceleration & spatialAccelerationBias(const std::string &root_frame, const std::string &tip_frame)
Returns the spatial acceleration bias, i.e. the term Jdot*qdot.
Definition RobotModelRBDL.cpp:342
+
wbc::RobotModelRBDL::bodyJacobian
virtual const base::MatrixXd & bodyJacobian(const std::string &root_frame, const std::string &tip_frame)
Returns the Body Jacobian for the kinematic chain between root and the tip frame as full body Jacobia...
Definition RobotModelRBDL.cpp:281
+
wbc::RobotModelRBDL::update
virtual void update(const base::samples::Joints &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state=base::samples::RigidBodyStateSE3())
Update the robot configuration.
Definition RobotModelRBDL.cpp:120
+
wbc::RobotModelRBDL::jointSpaceInertiaMatrix
virtual const base::MatrixXd & jointSpaceInertiaMatrix()
Definition RobotModelRBDL.cpp:369
wbc::RobotModelRBDL::H_q
RigidBodyDynamics::Math::MatrixNd H_q
Definition RobotModelRBDL.hpp:15
-
wbc::RobotModelRBDL::updateFloatingBase
void updateFloatingBase(const base::samples::RigidBodyStateSE3 &floating_base_state_in)
Definition RobotModelRBDL.cpp:26
wbc::RobotModelRBDL::J
RigidBodyDynamics::Math::MatrixNd J
Definition RobotModelRBDL.hpp:15
wbc::RobotModelRBDL::qdd
Eigen::VectorXd qdd
Definition RobotModelRBDL.hpp:14
wbc::RobotModel
Interface for all robot models. This has to provide all kinematics and dynamics information that is r...
Definition RobotModel.hpp:22
diff --git a/URDFTools_8cpp.html b/URDFTools_8cpp.html index 69dd51a5..127bf1fe 100644 --- a/URDFTools_8cpp.html +++ b/URDFTools_8cpp.html @@ -74,6 +74,7 @@ #include <base-logging/Logging.hpp>
#include <urdf_model/link.h>
#include <stack>
+#include <fstream>
diff --git a/URDFTools_8hpp_source.html b/URDFTools_8hpp_source.html index e121dc74..92b5ffc1 100644 --- a/URDFTools_8hpp_source.html +++ b/URDFTools_8hpp_source.html @@ -109,13 +109,13 @@
48
49#endif
wbc::URDFTools
Definition URDFTools.hpp:14
-
wbc::URDFTools::robotNameFromURDF
static const std::string robotNameFromURDF(const std::string &filename)
Definition URDFTools.cpp:89
-
wbc::URDFTools::rootLinkFromURDF
static const std::string rootLinkFromURDF(const std::string &filename)
Definition URDFTools.cpp:81
-
wbc::URDFTools::jointLimitsFromURDF
static void jointLimitsFromURDF(const std::string &filename, base::JointLimits &limits)
Definition URDFTools.cpp:45
-
wbc::URDFTools::printTree
static void printTree(const std::string &filename)
Definition URDFTools.cpp:113
-
wbc::URDFTools::applyJointBlacklist
static bool applyJointBlacklist(urdf::ModelInterfaceSharedPtr &robot_urdf, const std::vector< std::string > &blacklist)
Definition URDFTools.cpp:232
-
wbc::URDFTools::addFloatingBaseToURDF
static std::vector< std::string > addFloatingBaseToURDF(urdf::ModelInterfaceSharedPtr &robot_urdf, const std::string &world_frame_id="world")
Definition URDFTools.cpp:122
-
wbc::URDFTools::jointNamesFromURDF
static std::vector< std::string > jointNamesFromURDF(const std::string &filename)
Definition URDFTools.cpp:9
+
wbc::URDFTools::robotNameFromURDF
static const std::string robotNameFromURDF(const std::string &filename)
Definition URDFTools.cpp:90
+
wbc::URDFTools::rootLinkFromURDF
static const std::string rootLinkFromURDF(const std::string &filename)
Definition URDFTools.cpp:82
+
wbc::URDFTools::jointLimitsFromURDF
static void jointLimitsFromURDF(const std::string &filename, base::JointLimits &limits)
Definition URDFTools.cpp:46
+
wbc::URDFTools::printTree
static void printTree(const std::string &filename)
Definition URDFTools.cpp:114
+
wbc::URDFTools::applyJointBlacklist
static bool applyJointBlacklist(urdf::ModelInterfaceSharedPtr &robot_urdf, const std::vector< std::string > &blacklist)
Definition URDFTools.cpp:239
+
wbc::URDFTools::addFloatingBaseToURDF
static std::vector< std::string > addFloatingBaseToURDF(urdf::ModelInterfaceSharedPtr &robot_urdf, const std::string &world_frame_id="world")
Definition URDFTools.cpp:123
+
wbc::URDFTools::jointNamesFromURDF
static std::vector< std::string > jointNamesFromURDF(const std::string &filename)
Definition URDFTools.cpp:10
base
Definition ControllerTools.cpp:6
wbc
Definition ContactsAccelerationConstraint.cpp:3
diff --git a/classwbc_1_1RobotModelRBDL-members.html b/classwbc_1_1RobotModelRBDL-members.html index 66c26a40..c5562c46 100644 --- a/classwbc_1_1RobotModelRBDL-members.html +++ b/classwbc_1_1RobotModelRBDL-members.html @@ -143,11 +143,10 @@ - - - - - + + + +

Namespaces

systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd)wbc::RobotModelRBDLvirtual
tauwbc::RobotModelRBDLprotected
update(const base::samples::Joints &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state=base::samples::RigidBodyStateSE3())wbc::RobotModelRBDLvirtual
updateFloatingBase(const base::samples::RigidBodyStateSE3 &floating_base_state_in)wbc::RobotModelRBDLprotected
world_framewbc::RobotModelprotected
worldFrame()wbc::RobotModelinline
~RobotModel()wbc::RobotModelinlinevirtual
~RobotModelRBDL()wbc::RobotModelRBDLvirtual
world_framewbc::RobotModelprotected
worldFrame()wbc::RobotModelinline
~RobotModel()wbc::RobotModelinlinevirtual
~RobotModelRBDL()wbc::RobotModelRBDLvirtual
diff --git a/classwbc_1_1RobotModelRBDL.html b/classwbc_1_1RobotModelRBDL.html index 2ff835cc..7aca0af6 100644 --- a/classwbc_1_1RobotModelRBDL.html +++ b/classwbc_1_1RobotModelRBDL.html @@ -202,8 +202,6 @@ Protected Member Functions std::vector< std::string > jointNamesInRBDLOrder (const std::string &urdf_file)   -void updateFloatingBase (const base::samples::RigidBodyStateSE3 &floating_base_state_in) -  void clear ()   - Protected Member Functions inherited from wbc::RobotModel @@ -844,31 +842,6 @@

wbc::RobotModel.

- - - -

◆ updateFloatingBase()

- -
-
- - - - - -
- - - - - - - -
void wbc::RobotModelRBDL::updateFloatingBase (const base::samples::RigidBodyStateSE3 & floating_base_state_in)
- 		-protected
-
-

Member Data Documentation

diff --git a/doxygen_crawl.html b/doxygen_crawl.html index ebec11f7..6d9e7f50 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -1320,7 +1320,6 @@ - diff --git a/functions_func_u.html b/functions_func_u.html index 11b6d07d..11cc7c3c 100644 --- a/functions_func_u.html +++ b/functions_func_u.html @@ -66,7 +66,6 @@

- u -

diff --git a/functions_u.html b/functions_u.html index ee652d74..e0e5ed21 100644 --- a/functions_u.html +++ b/functions_u.html @@ -69,7 +69,6 @@

- u -