#include <jrl/walkgen/pinocchiorobot.hh>

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

virtual	~PinocchioRobot ()

void	computeInverseDynamics ()

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

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. 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. 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. the femur length 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 ()

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 ()

Eigen::VectorXd &	currentTau ()

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)

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 ()

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

◆ PinocchioRobot()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW PatternGeneratorJRL::PinocchioRobot::PinocchioRobot ( )

Constructor and Destructor.

◆ ~PinocchioRobot()

virtual PatternGeneratorJRL::PinocchioRobot::~PinocchioRobot ( )

virtual

Member Function Documentation

◆ CenterOfMass()

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

inline

◆ checkModel()

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

◆ chest()

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

inline

◆ computeForwardKinematics()

void PatternGeneratorJRL::PinocchioRobot::computeForwardKinematics ( )

Compute the geometry of the robot.

◆ computeInverseDynamics() [1/2]

void PatternGeneratorJRL::PinocchioRobot::computeInverseDynamics ( )

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

◆ computeInverseDynamics() [2/2]

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, $\hat{q}$ the motor angles position.

◆ ComputeSpecializedInverseKinematics()

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.

◆ currentPinoAcceleration() [1/2]

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

inline

◆ currentPinoAcceleration() [2/2]

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

inline

◆ currentPinoConfiguration() [1/2]

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

inline

◆ currentPinoConfiguration() [2/2]

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

SETTERS ///////

◆ currentPinoVelocity() [1/2]

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

inline

◆ currentPinoVelocity() [2/2]

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

inline

◆ currentRPYAcceleration() [1/2]

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

inline

◆ currentRPYAcceleration() [2/2]

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

inline

◆ currentRPYConfiguration() [1/2]

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

inline

◆ currentRPYConfiguration() [2/2]

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

◆ currentRPYVelocity() [1/2]

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

inline

◆ currentRPYVelocity() [2/2]

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

inline

◆ currentTau()

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

inline

◆ Data()

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

inline

Getters ///////

◆ DataInInitialePose()

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

inline

◆ fromRootToIt()

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

◆ getActuatedJoints()

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

inline

◆ getFreeFlyerSize()

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

inline

◆ getFreeFlyerVelSize()

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

inline

◆ getName()

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

◆ initializeLeftFoot()

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

◆ initializeLegsInverseKinematics()

virtual void PatternGeneratorJRL::PinocchioRobot::initializeLegsInverseKinematics ( )

virtual

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

Returns

◆ initializeRightFoot()

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

◆ initializeRobotModelAndData()

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

◆ isInitialized()

bool PatternGeneratorJRL::PinocchioRobot::isInitialized ( )

inline

Initialization functions ////////////////////////

◆ jointsBetween()

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

tools :

◆ leftFoot()

PRFoot* PatternGeneratorJRL::PinocchioRobot::leftFoot ( )

inline

◆ leftWrist()

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

inline

◆ mass()

double PatternGeneratorJRL::PinocchioRobot::mass ( )

inline

◆ Model()

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

inline

◆ numberDof()

unsigned PatternGeneratorJRL::PinocchioRobot::numberDof ( )

inline

◆ numberVelDof()

unsigned PatternGeneratorJRL::PinocchioRobot::numberVelDof ( )

inline

◆ positionCenterOfMass()

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

inline

◆ rightFoot()

PRFoot* PatternGeneratorJRL::PinocchioRobot::rightFoot ( )

inline

◆ rightWrist()

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

inline

◆ RPYToSpatialFreeFlyer()

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

◆ testArmsInverseKinematics()

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

◆ testLegsInverseKinematics()

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

◆ testOneModeOfLegsInverseKinematics()

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

◆ waist()

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

inline

◆ zeroMomentumPoint()

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

inline

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

include/jrl/walkgen/pinocchiorobot.hh

Public Member Functions

Constructor & Destructor Documentation

◆ PinocchioRobot()

◆ ~PinocchioRobot()

Member Function Documentation

◆ CenterOfMass()

◆ checkModel()

◆ chest()

◆ computeForwardKinematics()

◆ computeInverseDynamics() [1/2]

◆ computeInverseDynamics() [2/2]

◆ ComputeSpecializedInverseKinematics()

◆ currentPinoAcceleration() [1/2]

◆ currentPinoAcceleration() [2/2]

◆ currentPinoConfiguration() [1/2]

◆ currentPinoConfiguration() [2/2]

◆ currentPinoVelocity() [1/2]

◆ currentPinoVelocity() [2/2]

◆ currentRPYAcceleration() [1/2]

◆ currentRPYAcceleration() [2/2]

◆ currentRPYConfiguration() [1/2]

◆ currentRPYConfiguration() [2/2]

◆ currentRPYVelocity() [1/2]

◆ currentRPYVelocity() [2/2]

◆ currentTau()

◆ Data()

◆ DataInInitialePose()

◆ fromRootToIt()

◆ getActuatedJoints()

◆ getFreeFlyerSize()

◆ getFreeFlyerVelSize()

◆ getName()

◆ initializeLeftFoot()

◆ initializeLegsInverseKinematics()

◆ initializeRightFoot()

◆ initializeRobotModelAndData()

◆ isInitialized()

◆ jointsBetween()

◆ leftFoot()

◆ leftWrist()

◆ mass()

◆ Model()

◆ numberDof()

◆ numberVelDof()

◆ positionCenterOfMass()

◆ rightFoot()

◆ rightWrist()

◆ RPYToSpatialFreeFlyer()

◆ testArmsInverseKinematics()

◆ testLegsInverseKinematics()

◆ testOneModeOfLegsInverseKinematics()

◆ waist()

◆ zeroMomentumPoint()