Humanoid robot. More...

#include <hpp/pinocchio/humanoid-robot.hh>

Inheritance diagram for hpp::pinocchio::HumanoidRobot:

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Collaboration diagram for hpp::pinocchio::HumanoidRobot:

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Public Member Functions
JointPtr_t	waist () const
	Get Joint corresponding to the waist.

void	waist (const JointPtr_t &joint)
	Set waist joint.

JointPtr_t	chest () const
	Get Joint corresponding to the chest.

void	chest (const JointPtr_t &joint)
	Set chest joint.

JointPtr_t	leftWrist () const
	Get Joint corresponding to the left wrist.

void	leftWrist (const JointPtr_t &joint)
	Set left wrist.

JointPtr_t	rightWrist () const
	Get Joint corresponding to the right wrist.

void	rightWrist (const JointPtr_t &joint)
	Set right wrist.

JointPtr_t	leftAnkle () const
	Get Joint corresponding to the left ankle.

void	leftAnkle (const JointPtr_t &joint)
	Set letf ankle.

JointPtr_t	rightAnkle () const
	Get Joint corresponding to the right ankle.

void	rightAnkle (const JointPtr_t &joint)
	Set right ankle.

JointPtr_t	gazeJoint () const
	Get gaze joint.

void	gazeJoint (const JointPtr_t &joint)
	Set gaze joint.

void	gaze (const vector3_t &origin, const vector3_t &dir)
	Set gaze parameters.

Construction, copy and destruction
virtual	~HumanoidRobot ()

virtual DevicePtr_t	clone () const
	Clone as a HumanoidRobot.

HumanoidRobotPtr_t	self () const

Public Member Functions inherited from hpp::pinocchio::Device
virtual std::ostream &	print (std::ostream &os) const
	Print object in a stream.

coal::AABB	computeAABB () const

void	setModel (ModelPtr_t modelPtr)
	Set pinocchio model.

void	setGeomModel (GeomModelPtr_t geomModelPtr)
	Set pinocchio geom.

void	setData (DataPtr_t dataPtr)
	Set Pinocchio data corresponding to model.

void	createData ()
	Create Pinocchio data from model.

void	setGeomData (GeomDataPtr_t geomDataPtr)
	Set Pinocchio geomData corresponding to model.

void	createGeomData ()
	Create Pinocchio geomData from model.

virtual void	removeJoints (const std::vector< std::string > &jointNames, Configuration_t referenceConfig)
	Remove some joints from the configuration space.

JointPtr_t	rootJoint () const
	Get root joint.

Frame	rootFrame () const
	Get root frame.

size_type	nbJoints () const

JointPtr_t	jointAt (const size_type &i) const

JointPtr_t	getJointAtConfigRank (const size_type &r) const

JointPtr_t	getJointAtVelocityRank (const size_type &r) const

JointPtr_t	getJointByName (const std::string &name) const

JointPtr_t	getJointByBodyName (const std::string &name) const

Frame	getFrameByName (const std::string &name) const

size_type	configSize () const

size_type	numberDof () const

const LiegroupSpacePtr_t &	configSpace () const
	Returns a LiegroupSpace representing the configuration space.

const LiegroupSpacePtr_t &	RnxSOnConfigSpace () const
	See Joint::RnxSOnConfigurationSpace.

Configuration_t	neutralConfiguration () const
	Get the neutral configuration.

void	addJointConstraint (JointLinearConstraint constraint)
	Add a joint constraint.

const std::vector< JointLinearConstraint > &	jointConstraints () const

ExtraConfigSpace &	extraConfigSpace ()

const ExtraConfigSpace &	extraConfigSpace () const

virtual void	setDimensionExtraConfigSpace (const size_type &dimension)
	Set dimension of extra configuration space.

void	addGripper (const GripperPtr_t &gripper)
	Add a gripper to the Device.

Grippers_t &	grippers ()
	Return list of grippers of the Device.

const Grippers_t &	grippers () const
	Return list of grippers of the Device.

BodyPtr_t	obstacles () const

size_type	nbObjects () const
	Number of objects.

CollisionObjectPtr_t	objectAt (const size_type &i) const

bool	collisionTest (const bool stopAtFirstCollision=true)

void	computeDistances ()

const DistanceResults_t &	distanceResults () const
	Get result of distance computations.

void	numberDeviceData (const size_type &s)
	Set the maximum number of concurrent use of the Device.

size_type	numberDeviceData () const
	Get the number of DeviceData.

virtual	~Device ()

DevicePtr_t	cloneConst () const
	Clone as a CkwsDevice Both pinocchio objects model and data are copied. TODO: this method is not implemented yet (assert if called)

DevicePtr_t	self () const

const std::string &	name () const
	Get name of device.

Public Member Functions inherited from hpp::pinocchio::AbstractDevice
ModelConstPtr_t	modelPtr () const
	Access to pinocchio model.

ModelPtr_t	modelPtr ()
	Access to pinocchio model.

const Model &	model () const
	Access to pinocchio model.

Model &	model ()
	Access to pinocchio model.

GeomModelConstPtr_t	geomModelPtr () const
	Access to pinocchio geomModel.

GeomModelPtr_t	geomModelPtr ()
	Access to pinocchio geomModel.

const GeomModel &	geomModel () const
	Access to pinocchio geomModel.

GeomModel &	geomModel ()
	Access to pinocchio geomModel.

DataConstPtr_t	dataPtr () const
	Access to Pinocchio data/.

DataPtr_t	dataPtr ()
	Access to Pinocchio data/.

const Data &	data () const
	Access to Pinocchio data/.

Data &	data ()
	Access to Pinocchio data/.

GeomDataConstPtr_t	geomDataPtr () const
	Access to Pinocchio geomData/.

GeomDataPtr_t	geomDataPtr ()
	Access to Pinocchio geomData/.

const GeomData &	geomData () const
	Access to Pinocchio geomData/.

GeomData &	geomData ()
	Access to Pinocchio geomData/.

const Configuration_t &	currentConfiguration () const
	Get current configuration.

virtual bool	currentConfiguration (ConfigurationIn_t configuration)

const vector_t &	currentVelocity () const
	Get current velocity.

bool	currentVelocity (vectorIn_t velocity)
	Set current velocity.

const vector_t &	currentAcceleration () const
	Get current acceleration.

bool	currentAcceleration (vectorIn_t acceleration)
	Set current acceleration.

const value_type &	mass () const
	Get mass of robot.

const vector3_t &	positionCenterOfMass () const
	Get position of center of mass.

const ComJacobian_t &	jacobianCenterOfMass () const
	Get Jacobian of center of mass with respect to configuration.

HPP_PINOCCHIO_DEPRECATED void	controlComputation (const Computation_t &)

HPP_PINOCCHIO_DEPRECATED Computation_t	computationFlag () const

void	computeForwardKinematics ()
	Compute forward kinematics computing everything.

void	computeForwardKinematics (int flag)

void	computeFramesForwardKinematics ()

void	updateGeometryPlacements ()
	Update the geometry placement to the currentConfiguration.

Static Public Member Functions
static HumanoidRobotPtr_t	create (const std::string &name)
	Creation of a new device.

Static Public Member Functions inherited from hpp::pinocchio::Device
static DevicePtr_t	create (const std::string &name)
	Creation of a new device.

static DevicePtr_t	createCopy (const DevicePtr_t &device)
	Copy of a device.

static DevicePtr_t	createCopyConst (const DeviceConstPtr_t &device)

Protected Member Functions
	HumanoidRobot (const std::string &name)
	Constructor.

	HumanoidRobot (const HumanoidRobot &other)

void	init (const HumanoidRobotWkPtr_t &weakPtr)
	Initialization.

void	initCopy (const HumanoidRobotWkPtr_t &weakPtr, const HumanoidRobot &other)

	HumanoidRobot ()
	For serialization only.

Protected Member Functions inherited from hpp::pinocchio::Device
	Device (const std::string &name)
	Constructor.

void	init (const DeviceWkPtr_t &weakPtr)
	Initialization.

void	initCopy (const DeviceWkPtr_t &weakPtr, const Device &other)
	Initialization of of a clone device.

	Device (const Device &device)
	Copy Constructor.

DeviceData &	d ()

DeviceData const &	d () const

void	invalidate ()

	Device ()

Protected Member Functions inherited from hpp::pinocchio::AbstractDevice
	AbstractDevice ()

	AbstractDevice (const ModelPtr_t &m, const GeomModelPtr_t &gm)

Additional Inherited Members
Public Types inherited from hpp::pinocchio::Device
typedef std::pair< JointPtr_t, JointPtr_t >	CollisionPair_t
	Collision pairs between bodies.

typedef std::list< CollisionPair_t >	CollisionPairs_t

Protected Attributes inherited from hpp::pinocchio::Device
DeviceData	d_

std::string	name_

Grippers_t	grippers_

LiegroupSpacePtr_t	configSpace_

LiegroupSpacePtr_t	configSpaceRnxSOn_

ExtraConfigSpace	extraConfigSpace_

std::vector< JointLinearConstraint >	jointConstraints_

DeviceWkPtr_t	weakPtr_

Protected Attributes inherited from hpp::pinocchio::AbstractDevice
ModelPtr_t	model_

GeomModelPtr_t	geomModel_

Detailed Description

Humanoid robot.

Constructor & Destructor Documentation

◆ ~HumanoidRobot()

virtual hpp::pinocchio::HumanoidRobot::~HumanoidRobot ( )

virtual

◆ HumanoidRobot() [1/3]

hpp::pinocchio::HumanoidRobot::HumanoidRobot ( const std::string & name )

protected

Constructor.

◆ HumanoidRobot() [2/3]

hpp::pinocchio::HumanoidRobot::HumanoidRobot ( const HumanoidRobot & other )

protected

◆ HumanoidRobot() [3/3]

hpp::pinocchio::HumanoidRobot::HumanoidRobot ( )

inlineprotected

For serialization only.

Member Function Documentation

◆ chest() [1/2]

JointPtr_t hpp::pinocchio::HumanoidRobot::chest ( ) const

Get Joint corresponding to the chest.

◆ chest() [2/2]

void hpp::pinocchio::HumanoidRobot::chest ( const JointPtr_t & joint )

Set chest joint.

◆ clone()

virtual DevicePtr_t hpp::pinocchio::HumanoidRobot::clone ( ) const

virtual

Clone as a HumanoidRobot.

Reimplemented from hpp::pinocchio::Device.

◆ create()

static HumanoidRobotPtr_t hpp::pinocchio::HumanoidRobot::create ( const std::string & name )

static

Creation of a new device.

Returns: a shared pointer to the new device

Parameters

name	Name of the device (is passed to CkkpDeviceComponent)

◆ gaze()

void hpp::pinocchio::HumanoidRobot::gaze	(	const vector3_t &	origin,
		const vector3_t &	dir
	)

inline

Set gaze parameters.

◆ gazeJoint() [1/2]

JointPtr_t hpp::pinocchio::HumanoidRobot::gazeJoint ( ) const

Get gaze joint.

◆ gazeJoint() [2/2]

void hpp::pinocchio::HumanoidRobot::gazeJoint ( const JointPtr_t & joint )

Set gaze joint.

◆ init()

void hpp::pinocchio::HumanoidRobot::init ( const HumanoidRobotWkPtr_t & weakPtr )

protected

Initialization.

◆ initCopy()

void hpp::pinocchio::HumanoidRobot::initCopy	(	const HumanoidRobotWkPtr_t &	weakPtr,
		const HumanoidRobot &	other
	)

protected

◆ leftAnkle() [1/2]

JointPtr_t hpp::pinocchio::HumanoidRobot::leftAnkle ( ) const

Get Joint corresponding to the left ankle.

◆ leftAnkle() [2/2]

void hpp::pinocchio::HumanoidRobot::leftAnkle ( const JointPtr_t & joint )

Set letf ankle.

◆ leftWrist() [1/2]

JointPtr_t hpp::pinocchio::HumanoidRobot::leftWrist ( ) const

Get Joint corresponding to the left wrist.

◆ leftWrist() [2/2]

void hpp::pinocchio::HumanoidRobot::leftWrist ( const JointPtr_t & joint )

Set left wrist.

◆ rightAnkle() [1/2]

JointPtr_t hpp::pinocchio::HumanoidRobot::rightAnkle ( ) const

Get Joint corresponding to the right ankle.

◆ rightAnkle() [2/2]

void hpp::pinocchio::HumanoidRobot::rightAnkle ( const JointPtr_t & joint )

Set right ankle.

◆ rightWrist() [1/2]

JointPtr_t hpp::pinocchio::HumanoidRobot::rightWrist ( ) const

Get Joint corresponding to the right wrist.

◆ rightWrist() [2/2]

void hpp::pinocchio::HumanoidRobot::rightWrist ( const JointPtr_t & joint )

Set right wrist.

◆ self()

HumanoidRobotPtr_t hpp::pinocchio::HumanoidRobot::self ( ) const

inline

◆ waist() [1/2]

JointPtr_t hpp::pinocchio::HumanoidRobot::waist ( ) const

Get Joint corresponding to the waist.

◆ waist() [2/2]

void hpp::pinocchio::HumanoidRobot::waist ( const JointPtr_t & joint )

Set waist joint.

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

include/hpp/pinocchio/humanoid-robot.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~HumanoidRobot()

◆ HumanoidRobot() [1/3]

◆ HumanoidRobot() [2/3]

◆ HumanoidRobot() [3/3]

Member Function Documentation

◆ chest() [1/2]

◆ chest() [2/2]

◆ clone()

◆ create()

◆ gaze()

◆ gazeJoint() [1/2]

◆ gazeJoint() [2/2]

◆ init()

◆ initCopy()

◆ leftAnkle() [1/2]

◆ leftAnkle() [2/2]

◆ leftWrist() [1/2]

◆ leftWrist() [2/2]

◆ rightAnkle() [1/2]

◆ rightAnkle() [2/2]

◆ rightWrist() [1/2]

◆ rightWrist() [2/2]

◆ self()

◆ waist() [1/2]

◆ waist() [2/2]