#include <jrl/walkgen/pinocchiorobot.hh>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PinocchioRobot ()
	Constructor and Destructor. More...

virtual	~PinocchioRobot ()

void	computeInverseDynamics ()
	Compute RNEA algorithm This is a front end for computeInverseDynamics(q,v,a). More...

void	computeInverseDynamics (Eigen::VectorXd &q, Eigen::VectorXd &v, Eigen::VectorXd &a)
	Compute RNEA algorithm from. More...

void	computeForwardKinematics ()
	Compute the geometry of the robot. More...

void	RPYToSpatialFreeFlyer (Eigen::Vector3d &rpy, Eigen::Vector3d &drpy, Eigen::Vector3d &ddrpy, Eigen::Quaterniond &quat, Eigen::Vector3d &omega, Eigen::Vector3d &domega)

virtual bool	ComputeSpecializedInverseKinematics (const pinocchio::JointIndex &jointRoot, const pinocchio::JointIndex &jointEnd, const Eigen::Matrix4d &jointRootPosition, const Eigen::Matrix4d &jointEndPosition, Eigen::VectorXd &q)
	ComputeSpecializedInverseKinematics : compute POSITION (not velocity) of the joints from end effector pose This is the implementation of the analitycal inverse kinematic extracted from the book of Kajita Authors Shuuji Kajita ; Hirohisa Hirukawa ; Kensuke Harada ; Kazuhito Yokoi ISBN 9782287877162 ; 9782287877155 It needs a specific distribution of the joint to work. More...

virtual bool	testArmsInverseKinematics ()
	testArmsInverseKinematics : test if the robot arms has the good joint configuration to use the analitical inverse geometry to be overloaded if the user wants another inverse kinematics RY-RX-RZ-RY-RZ-RY More...

virtual bool	testLegsInverseKinematics ()
	testLegsInverseKinematics : test if the robot legs has the good joint configuration to use the analitical inverse geometry to be overloaded if the user wants another inverse kinematics Two modes are available: FF-RZ-RX-RY-RY-RY-RX FF-RX-RZ-RY-RY-RY-RX More...

virtual bool	testOneModeOfLegsInverseKinematics (std::vector< std::string > &leftLegJointNames, std::vector< std::string > &rightLegJointNames)
	testOneModefOfLegInverseKinematics : test if the robot legs has one good joint configuration to use the analitical inverse geometry to be overloaded if the user wants another inverse kinematics More...

virtual void	initializeLegsInverseKinematics ()
	initializeInverseKinematics : initialize the internal data for the inverse kinematic e.g. More...

std::vector< pinocchio::JointIndex >	jointsBetween (pinocchio::JointIndex first, pinocchio::JointIndex second)
	tools : More...

std::vector< pinocchio::JointIndex >	fromRootToIt (pinocchio::JointIndex it)

pinocchio::Data *	Data ()
	Getters ///////. More...

pinocchio::Data *	DataInInitialePose ()

pinocchio::Model *	Model ()

PRFoot *	leftFoot ()

PRFoot *	rightFoot ()

pinocchio::JointIndex	leftWrist ()

pinocchio::JointIndex	rightWrist ()

pinocchio::JointIndex	chest ()

pinocchio::JointIndex	waist ()

double	mass ()

pinocchio::JointModelVector &	getActuatedJoints ()

Eigen::VectorXd &	currentPinoConfiguration ()

Eigen::VectorXd &	currentRPYConfiguration ()

Eigen::VectorXd &	currentPinoVelocity ()

Eigen::VectorXd &	currentPinoAcceleration ()

Eigen::VectorXd &	currentRPYVelocity ()

Eigen::VectorXd &	currentRPYAcceleration ()

unsigned	numberDof ()

unsigned	numberVelDof ()

void	zeroMomentumPoint (Eigen::Vector3d &zmp)

void	positionCenterOfMass (Eigen::Vector3d &com)

void	CenterOfMass (Eigen::Vector3d &com, Eigen::Vector3d &dcom, Eigen::Vector3d &ddcom)

void	currentPinoConfiguration (Eigen::VectorXd &conf)
	SETTERS ///////. More...

void	currentRPYConfiguration (Eigen::VectorXd &)

void	currentPinoVelocity (Eigen::VectorXd &vel)

void	currentPinoAcceleration (Eigen::VectorXd &acc)

void	currentRPYVelocity (Eigen::VectorXd &vel)

void	currentRPYAcceleration (Eigen::VectorXd &acc)

pinocchio::JointIndex	getFreeFlyerSize () const

pinocchio::JointIndex	getFreeFlyerVelSize () const

bool	isInitialized ()
	Initialization functions ////////////////////////. More...

bool	checkModel (pinocchio::Model *robotModel)

bool	initializeRobotModelAndData (pinocchio::Model robotModel, pinocchio::Data robotData)

bool	initializeLeftFoot (PRFoot leftFoot)

bool	initializeRightFoot (PRFoot rightFoot)

const std::string &	getName () const

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW PatternGeneratorJRL::PinocchioRobot::PinocchioRobot ( )

Constructor and Destructor.

virtual PatternGeneratorJRL::PinocchioRobot::~PinocchioRobot ( )

virtual

Member Function Documentation

void PatternGeneratorJRL::PinocchioRobot::CenterOfMass	(	Eigen::Vector3d &	com,
		Eigen::Vector3d &	dcom,
		Eigen::Vector3d &	ddcom
	)

inline

bool PatternGeneratorJRL::PinocchioRobot::checkModel ( pinocchio::Model * robotModel )

pinocchio::JointIndex PatternGeneratorJRL::PinocchioRobot::chest ( )

inline

void PatternGeneratorJRL::PinocchioRobot::computeForwardKinematics ( )

Compute the geometry of the robot.

void PatternGeneratorJRL::PinocchioRobot::computeInverseDynamics ( )

Compute RNEA algorithm This is a front end for computeInverseDynamics(q,v,a).

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::EvaluateMultiBodyZMP().

void PatternGeneratorJRL::PinocchioRobot::computeInverseDynamics	(	Eigen::VectorXd &	q,
		Eigen::VectorXd &	v,
		Eigen::VectorXd &	a
	)

Compute RNEA algorithm from.

Parameters

[in] q $q=[r,\theta,\hat{q}]$ with $r$ the position of the free floating base (usually the waist), $theta$ the free floating orientation in RPY format, ${q}$ the motor angles position.

virtual bool PatternGeneratorJRL::PinocchioRobot::ComputeSpecializedInverseKinematics	(	const pinocchio::JointIndex &	jointRoot,
		const pinocchio::JointIndex &	jointEnd,
		const Eigen::Matrix4d &	jointRootPosition,
		const Eigen::Matrix4d &	jointEndPosition,
		Eigen::VectorXd &	q
	)

virtual

ComputeSpecializedInverseKinematics : compute POSITION (not velocity) of the joints from end effector pose This is the implementation of the analitycal inverse kinematic extracted from the book of Kajita Authors Shuuji Kajita ; Hirohisa Hirukawa ; Kensuke Harada ; Kazuhito Yokoi ISBN 9782287877162 ; 9782287877155 It needs a specific distribution of the joint to work.

a test at the initialization of the class is [should be] done to check if everything is correct param root joint index, i.e. the waist or the shoulder param end joint index, i.e, the wrist or ankle indexes param root joint homogenous matrix position, param root joint homogenous matrix index, param 6D vector output, filled with zeros if the robot is not compatible

Eigen::VectorXd& PatternGeneratorJRL::PinocchioRobot::currentPinoAcceleration ( )

inline

void PatternGeneratorJRL::PinocchioRobot::currentPinoAcceleration ( Eigen::VectorXd & acc )

inline

Eigen::VectorXd& PatternGeneratorJRL::PinocchioRobot::currentPinoConfiguration ( )

inline

void PatternGeneratorJRL::PinocchioRobot::currentPinoConfiguration ( Eigen::VectorXd & conf )

SETTERS ///////.

Eigen::VectorXd& PatternGeneratorJRL::PinocchioRobot::currentPinoVelocity ( )

inline

void PatternGeneratorJRL::PinocchioRobot::currentPinoVelocity ( Eigen::VectorXd & vel )

inline

Eigen::VectorXd& PatternGeneratorJRL::PinocchioRobot::currentRPYAcceleration ( )

inline

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::Setup(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupFirstPhase().

void PatternGeneratorJRL::PinocchioRobot::currentRPYAcceleration ( Eigen::VectorXd & acc )

inline

Eigen::VectorXd& PatternGeneratorJRL::PinocchioRobot::currentRPYConfiguration ( )

inline

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::EvaluateMultiBodyZMP(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::Setup(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupFirstPhase().

void PatternGeneratorJRL::PinocchioRobot::currentRPYConfiguration ( Eigen::VectorXd & )

Eigen::VectorXd& PatternGeneratorJRL::PinocchioRobot::currentRPYVelocity ( )

inline

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::Setup(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SetupFirstPhase().

void PatternGeneratorJRL::PinocchioRobot::currentRPYVelocity ( Eigen::VectorXd & vel )

inline

pinocchio::Data* PatternGeneratorJRL::PinocchioRobot::Data ( )

inline

Getters ///////.

pinocchio::Data* PatternGeneratorJRL::PinocchioRobot::DataInInitialePose ( )

inline

std::vector<pinocchio::JointIndex> PatternGeneratorJRL::PinocchioRobot::fromRootToIt ( pinocchio::JointIndex it )

pinocchio::JointModelVector& PatternGeneratorJRL::PinocchioRobot::getActuatedJoints ( )

inline

pinocchio::JointIndex PatternGeneratorJRL::PinocchioRobot::getFreeFlyerSize ( ) const

inline

pinocchio::JointIndex PatternGeneratorJRL::PinocchioRobot::getFreeFlyerVelSize ( ) const

inline

const std::string& PatternGeneratorJRL::PinocchioRobot::getName ( ) const

bool PatternGeneratorJRL::PinocchioRobot::initializeLeftFoot ( PRFoot leftFoot )

virtual void PatternGeneratorJRL::PinocchioRobot::initializeLegsInverseKinematics ( )

virtual

initializeInverseKinematics : initialize the internal data for the inverse kinematic e.g.

the femur length

Returns

bool PatternGeneratorJRL::PinocchioRobot::initializeRightFoot ( PRFoot rightFoot )

bool PatternGeneratorJRL::PinocchioRobot::initializeRobotModelAndData	(	pinocchio::Model *	robotModel,
		pinocchio::Data *	robotData
	)

bool PatternGeneratorJRL::PinocchioRobot::isInitialized ( )

inline

Initialization functions ////////////////////////.

std::vector<pinocchio::JointIndex> PatternGeneratorJRL::PinocchioRobot::jointsBetween	(	pinocchio::JointIndex	first,
		pinocchio::JointIndex	second
	)

tools :

PRFoot* PatternGeneratorJRL::PinocchioRobot::leftFoot ( )

inline

Referenced by PatternGeneratorJRL::RelativeFeetInequalities::~RelativeFeetInequalities().

pinocchio::JointIndex PatternGeneratorJRL::PinocchioRobot::leftWrist ( )

inline

double PatternGeneratorJRL::PinocchioRobot::mass ( )

inline

pinocchio::Model* PatternGeneratorJRL::PinocchioRobot::Model ( )

inline

unsigned PatternGeneratorJRL::PinocchioRobot::numberDof ( )

inline

unsigned PatternGeneratorJRL::PinocchioRobot::numberVelDof ( )

inline

void PatternGeneratorJRL::PinocchioRobot::positionCenterOfMass ( Eigen::Vector3d & com )

inline

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::EvaluateMultiBodyZMP().

PRFoot* PatternGeneratorJRL::PinocchioRobot::rightFoot ( )

inline

Referenced by PatternGeneratorJRL::RelativeFeetInequalities::~RelativeFeetInequalities().

pinocchio::JointIndex PatternGeneratorJRL::PinocchioRobot::rightWrist ( )

inline

void PatternGeneratorJRL::PinocchioRobot::RPYToSpatialFreeFlyer	(	Eigen::Vector3d &	rpy,
		Eigen::Vector3d &	drpy,
		Eigen::Vector3d &	ddrpy,
		Eigen::Quaterniond &	quat,
		Eigen::Vector3d &	omega,
		Eigen::Vector3d &	domega
	)

virtual bool PatternGeneratorJRL::PinocchioRobot::testArmsInverseKinematics ( )

virtual

testArmsInverseKinematics : test if the robot arms has the good joint configuration to use the analitical inverse geometry to be overloaded if the user wants another inverse kinematics RY-RX-RZ-RY-RZ-RY

Returns

virtual bool PatternGeneratorJRL::PinocchioRobot::testLegsInverseKinematics ( )

virtual

testLegsInverseKinematics : test if the robot legs has the good joint configuration to use the analitical inverse geometry to be overloaded if the user wants another inverse kinematics Two modes are available: FF-RZ-RX-RY-RY-RY-RX FF-RX-RZ-RY-RY-RY-RX

Returns

virtual bool PatternGeneratorJRL::PinocchioRobot::testOneModeOfLegsInverseKinematics	(	std::vector< std::string > &	leftLegJointNames,
		std::vector< std::string > &	rightLegJointNames
	)

virtual

testOneModefOfLegInverseKinematics : test if the robot legs has one good joint configuration to use the analitical inverse geometry to be overloaded if the user wants another inverse kinematics

Returns

pinocchio::JointIndex PatternGeneratorJRL::PinocchioRobot::waist ( )

inline

void PatternGeneratorJRL::PinocchioRobot::zeroMomentumPoint ( Eigen::Vector3d & zmp )

inline

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::EvaluateMultiBodyZMP().

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation