Collaboration diagram for Model:

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Public Types
typedef se3::JointIndex	JointIndex

typedef se3::GeomIndex	GeomIndex

typedef se3::FrameIndex	FrameIndex

typedef std::vector< Index >	IndexVector

Public Member Functions
	Model ()
	Default constructor. Builds an empty model with no joints.

template<typename JointModelDerived >
JointIndex	addJoint (const JointIndex parent, const JointModelBase< JointModelDerived > &joint_model, const SE3 &joint_placement, const std::string &joint_name, const Eigen::VectorXd &max_effort, const Eigen::VectorXd &max_velocity, const Eigen::VectorXd &min_config, const Eigen::VectorXd &max_config)
	Add a joint to the kinematic tree with given bounds. More...

template<typename JointModelDerived >
JointIndex	addJoint (const JointIndex parent, const JointModelBase< JointModelDerived > &joint_model, const SE3 &joint_placement, const std::string &joint_name)
	Add a joint to the kinematic tree with infinite bounds. More...

int	addJointFrame (const JointIndex &jointIndex, int frameIndex=-1)
	Add a joint to the frame tree. More...

void	appendBodyToJoint (const JointIndex joint_index, const Inertia &Y, const SE3 &body_placement=SE3::Identity())
	Append a body to a given joint of the kinematic tree. More...

int	addBodyFrame (const std::string &body_name, const JointIndex &parentJoint, const SE3 &body_placement=SE3::Identity(), int previousFrame=-1)
	Add a body to the frame tree. More...

JointIndex	getBodyId (const std::string &name) const
	Return the index of a body given by its name. More...

bool	existBodyName (const std::string &name) const
	Check if a body given by its name exists. More...

JointIndex	getJointId (const std::string &name) const
	Return the index of a joint given by its name. More...

bool	existJointName (const std::string &name) const
	Check if a joint given by its name exists. More...

PINOCCHIO_DEPRECATED const std::string &	getJointName (const JointIndex index) const
	Get the name of a joint given by its index. More...

FrameIndex	getFrameId (const std::string &name, const FrameType &type=(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)) const
	Returns the index of a frame given by its name. More...

bool	existFrame (const std::string &name, const FrameType &type=(FrameType)(JOINT\|FIXED_JOINT\|BODY\|OP_FRAME\|SENSOR)) const
	Checks if a frame given by its name exists. More...

int	addFrame (const Frame &frame)
	Adds a frame to the kinematic tree. More...

template<typename D >
bool	check (const AlgorithmCheckerBase< D > &checker=AlgorithmCheckerBase< D >()) const

bool	check () const
	Run check(fusion::list) with DEFAULT_CHECKERS as argument.

bool	check (const Data &data) const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef se3::Index	Index

int	nq
	Dimension of the configuration vector representation.

int	nv
	Dimension of the velocity vector space.

int	njoints
	Number of joints.

int	nbodies
	Number of bodies.

int	nframes
	Number of operational frames.

container::aligned_vector< Inertia >	inertias
	Spatial inertias of the body i expressed in the supporting joint frame i.

container::aligned_vector< SE3 >	jointPlacements
	Placement (SE3) of the input of joint i regarding to the parent joint output li.

JointModelVector	joints
	Model of joint i, encapsulated in a JointModelAccessor.

std::vector< JointIndex >	parents
	Joint parent of joint i, denoted li (li==parents[i]).

std::vector< std::string >	names
	Name of joint i

Eigen::VectorXd	neutralConfiguration
	Vector of joint's neutral configurations.

Eigen::VectorXd	rotorInertia
	Vector of rotor inertia parameters.

Eigen::VectorXd	rotorGearRatio
	Vector of rotor gear ratio parameters.

Eigen::VectorXd	effortLimit
	Vector of maximal joint torques.

Eigen::VectorXd	velocityLimit
	Vector of maximal joint velocities.

Eigen::VectorXd	lowerPositionLimit
	Lower joint configuration limit.

Eigen::VectorXd	upperPositionLimit
	Upper joint configuration limit.

container::aligned_vector< Frame >	frames
	Vector of operational frames registered on the model.

std::vector< IndexVector >	subtrees
	Vector of subtrees. subtree[j] corresponds to the subtree supported by the joint j. The first element of subtree[j] is the index of the joint j itself.

Motion	gravity
	Spatial gravity of the model.

std::string	name
	Model name;.

Static Public Attributes
static const Eigen::Vector3d	gravity981
	Default 3D gravity vector (=(0,0,-9.81)).

Protected Member Functions
void	addJointIndexToParentSubtrees (const JointIndex joint_id)
	Add the joint_id to its parent subtrees. More...

Detailed Description

Definition at line 39 of file model.hpp.

Member Function Documentation

int addBodyFrame	(	const std::string &	body_name,
		const JointIndex &	parentJoint,
		const SE3 &	body_placement = `SE3::Identity()`,
		int	previousFrame = `-1`
	)

inline

Add a body to the frame tree.

Parameters

[in]	body_name	Name of the body.
[in]	parentJoint	Index of the parent joint.
[in]	body_placement	The relative placement of the body regarding to the parent joint. Set default to the Identity placement.
[in]	previousFrame	Index of the parent frame. If negative, the parent frame is the frame of the parent joint.

Returns: The index of the new frame or -1 in case of error.

Definition at line 156 of file model.hxx.

Referenced by Model::Model().

int addFrame ( const Frame & frame )

inline

Adds a frame to the kinematic tree.

Parameters

[in] frame The frame to add to the kinematic tree.

Returns: Returns the index of the frame if it has been successfully added, -1 otherwise.

Definition at line 219 of file model.hxx.

References FrameTpl< _Scalar, _Options >::name, and FrameTpl< _Scalar, _Options >::type.

Referenced by Model::Model().

Model::JointIndex addJoint	(	const JointIndex	parent,
		const JointModelBase< JointModelDerived > &	joint_model,
		const SE3 &	joint_placement,
		const std::string &	joint_name,
		const Eigen::VectorXd &	max_effort,
		const Eigen::VectorXd &	max_velocity,
		const Eigen::VectorXd &	min_config,
		const Eigen::VectorXd &	max_config
	)

Add a joint to the kinematic tree with given bounds.

Remarks: This method does not add a Frame of same name to the vector of frames. Use Model::addJointFrame.; The inertia supported by the joint is set to Zero.

Template Parameters

JointModelDerived The type of the joint model.

Parameters

[in]	parent	Index of the parent joint.
[in]	joint_model	The joint model.
[in]	joint_placement	Placement of the joint inside its parent joint.
[in]	joint_name	Name of the joint. If empty, the name is random.
[in]	max_effort	Maximal joint torque.
[in]	max_velocity	Maximal joint velocity.
[in]	min_config	Lower joint configuration.
[in]	max_config	Upper joint configuration.

Returns: The index of the new joint.

See also: Model::appendBodyToJoint, Model::addJointFrame

Definition at line 57 of file model.hxx.

References se3::nq(), and se3::nv().

Referenced by Model::Model().

Model::JointIndex addJoint	(	const JointIndex	parent,
		const JointModelBase< JointModelDerived > &	joint_model,
		const SE3 &	joint_placement,
		const std::string &	joint_name
	)

Add a joint to the kinematic tree with infinite bounds.

Remarks: This method also adds a Frame of same name to the vector of frames.; The inertia supported by the joint is set to Zero.

Template Parameters

JointModelDerived The type of the joint model.

Parameters

[in]	parent	Index of the parent joint.
[in]	joint_model	The joint model.
[in]	joint_placement	Placement of the joint inside its parent joint.
[in]	joint_name	Name of the joint. If empty, the name is random.

Returns: The index of the new joint.

See also: Model::appendBodyToJoint

Definition at line 117 of file model.hxx.

int addJointFrame	(	const JointIndex &	jointIndex,
		int	frameIndex = `-1`
	)

inline

Add a joint to the frame tree.

Parameters

[in]	jointIndex	Index of the joint.
[in]	frameIndex	Index of the parent frame. If negative, the parent frame is the frame of the parent joint.

Returns: The index of the new frame or -1 in case of error.

Definition at line 133 of file model.hxx.

Referenced by Model::Model().

void addJointIndexToParentSubtrees ( const JointIndex joint_id )

inlineprotected

Add the joint_id to its parent subtrees.

Parameters

[in] joint_id The id of the joint to add to the subtrees

Definition at line 233 of file model.hxx.

Referenced by Model::check().

void appendBodyToJoint	(	const JointIndex	joint_index,
		const Inertia &	Y,
		const SE3 &	body_placement = `SE3::Identity()`
	)

inline

Append a body to a given joint of the kinematic tree.

Parameters

[in]	joint_index	Index of the supporting joint.
[in]	Y	Spatial inertia of the body.
[in]	body_placement	The relative placement of the body regarding to the parent joint. Set default to the Identity placement.

See also: Model::addJoint

Definition at line 147 of file model.hxx.

References InertiaBase< Derived >::se3Action().

Referenced by Model::Model().

bool check ( const AlgorithmCheckerBase< D > & checker = AlgorithmCheckerBase<D>() ) const

inline

Check the validity of the attributes of Model with respect to the specification of some algorithms.

The method is a template so that the checkers can be defined in each algorithms.

Parameters

[in] checker a class, typically defined in the algorithm module, that validates the attributes of model.

Returns: true if the Model is valid, false otherwise.

Definition at line 331 of file model.hpp.

References Model::addJointIndexToParentSubtrees(), and Model::check().

Referenced by se3::aba(), se3::ccrba(), se3::centerOfMass(), se3::computeABADerivatives(), se3::computeAllTerms(), se3::computeCollisions(), se3::computeCoriolisMatrix(), se3::computeDistances(), se3::computeForwardKinematicsDerivatives(), se3::computeGeneralizedGravity(), se3::computeGeneralizedGravityDerivatives(), se3::computeJointJacobians(), se3::computeJointJacobiansTimeVariation(), se3::computeMinverse(), se3::computeRNEADerivatives(), se3::crba(), se3::crbaMinimal(), se3::dccrba(), se3::emptyForwardPass(), se3::forwardDynamics(), se3::forwardKinematics(), se3::framesForwardKinematics(), se3::getComFromCrba(), se3::getFrameAcceleration(), se3::getFrameJacobian(), se3::getFrameJacobianTimeVariation(), se3::getFrameVelocity(), se3::getJacobianComFromCrba(), se3::getJointAccelerationDerivatives(), se3::getJointJacobian(), se3::getJointJacobianTimeVariation(), se3::getJointVelocityDerivatives(), se3::impulseDynamics(), se3::jacobianCenterOfMass(), se3::jointJacobian(), se3::kineticEnergy(), se3::nonLinearEffects(), se3::potentialEnergy(), se3::rnea(), se3::updateFramePlacements(), se3::updateGeometryPlacements(), and se3::updateGlobalPlacements().

bool check ( const Data & data ) const

inline

Run checkData on data and current model.

Parameters

[in] data to be checked wrt *this.

Returns: true if the data is valid, false otherwise.

Definition at line 146 of file check.hxx.

References se3::checkData().

bool existBodyName ( const std::string & name ) const

inline

Check if a body given by its name exists.

Parameters

[in] name Name of the body.

Returns: True if the body exists in the kinematic tree.

Definition at line 175 of file model.hxx.

Referenced by Model::Model().

bool existFrame	(	const std::string &	name,
		const FrameType &	type = `(FrameType) (JOINT \| FIXED_JOINT \| BODY \| OP_FRAME \| SENSOR )`
	)		const

inline

Checks if a frame given by its name exists.

Parameters

[in]	name	Name of the frame.
[in]	type	Type of the frame.

Returns: Returns true if the frame exists.

Definition at line 212 of file model.hxx.

Referenced by Model::Model().

bool existJointName ( const std::string & name ) const

inline

Check if a joint given by its name exists.

Parameters

[in] name Name of the joint.

Returns: True if the joint exists in the kinematic tree.

Definition at line 189 of file model.hxx.

Referenced by Model::Model().

Model::JointIndex getBodyId ( const std::string & name ) const

inline

Return the index of a body given by its name.

Warning: If no body is found, return the number of elements at time T. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent body)

Parameters

[in] name Name of the body.

Returns: Index of the body.

Definition at line 170 of file model.hxx.

Referenced by Model::Model().

Model::FrameIndex getFrameId	(	const std::string &	name,
		const FrameType &	type = `(FrameType) (JOINT \| FIXED_JOINT \| BODY \| OP_FRAME \| SENSOR )`
	)		const

inline

Returns the index of a frame given by its name.

See also: Model::existFrame to check if the frame exists or not.

Warning: If no frame is found, returns the size of the vector of Model::frames. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent frame).

Parameters

[in]	name	Name of the frame.
[in]	type	Type of the frame.

Returns: Index of the frame.

Definition at line 200 of file model.hxx.

Referenced by Model::Model().

Model::JointIndex getJointId ( const std::string & name ) const

inline

Return the index of a joint given by its name.

Warning: If no joint is found, return the number of elements at time T. This can lead to errors if the model is expanded after this method is called (for example to get the id of a parent joint)

Parameters

[in] name Name of the joint.

Returns: name Name of the joint.

Definition at line 181 of file model.hxx.

Referenced by Model::Model().

const std::string & getJointName ( const JointIndex index ) const

inline

Get the name of a joint given by its index.

Parameters

[in] index Index of the joint.

Returns: Name of the joint.

Definition at line 194 of file model.hxx.

Referenced by Model::Model().

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation