#include <sot/core/robot-utils.hh>

Public Member Functions
	RobotUtil ()

void	create_id_to_name_map ()
	This method creates the map between id and name. More...

const Index &	get_id_from_name (const std::string &name)
	Given a joint name it finds the associated joint id. More...

const std::string &	get_name_from_id (Index id)
	Given a joint id it finds the associated joint name. More...

void	set_name_to_id (const std::string &jointName, const Index &jointId)
	Set relation between the name and the SoT id. More...

void	set_urdf_to_sot (const std::vector< Index > &urdf_to_sot)
	Set the map between urdf index and sot index. More...

void	set_urdf_to_sot (const dg::Vector &urdf_to_sot)

void	set_joint_limits_for_id (const Index &idx, const double &lq, const double &uq)
	Set the limits (lq,uq) for joint idx. More...

bool	joints_urdf_to_sot (ConstRefVector q_urdf, RefVector q_sot)

bool	joints_sot_to_urdf (ConstRefVector q_sot, RefVector q_urdf)

bool	velocity_urdf_to_sot (ConstRefVector q_urdf, ConstRefVector v_urdf, RefVector v_sot)

bool	velocity_sot_to_urdf (ConstRefVector q_urdf, ConstRefVector v_sot, RefVector v_urdf)

bool	config_urdf_to_sot (ConstRefVector q_urdf, RefVector q_sot)

bool	config_sot_to_urdf (ConstRefVector q_sot, RefVector q_urdf)

bool	base_urdf_to_sot (ConstRefVector q_urdf, RefVector q_sot)

bool	base_sot_to_urdf (ConstRefVector q_sot, RefVector q_urdf)

const JointLimits &	get_joint_limits_from_id (Index id)
	Given a joint id it finds the associated joint limits. More...

JointLimits	cp_get_joint_limits_from_id (Index id)

Public Attributes
ForceUtil	m_force_util
	Forces data. More...

FootUtil	m_foot_util
	Foot information. More...

HandUtil	m_hand_util
	Hand information. More...

std::vector< Index >	m_urdf_to_sot
	Map from the urdf index to the SoT index. More...

std::size_t	m_nbJoints
	Nb of Dofs for the robot. More...

std::map< std::string, Index >	m_name_to_id
	Map from the name to the id. More...

std::map< Index, std::string >	m_id_to_name
	The map between id and name. More...

std::map< Index, JointLimits >	m_limits_map
	The joint limits map. More...

std::string	m_imu_joint_name
	The name of the joint IMU is attached to. More...

std::string	m_urdf_filename
	URDF file path. More...

dynamicgraph::Vector	m_dgv_urdf_to_sot

Logger related methods
Logger	logger_

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
	Send messages `msg` with level `t`. More...

void	setLoggerVerbosityLevel (LoggerVerbosity lv)
	Specify the verbosity level of the logger. More...

LoggerVerbosity	getLoggerVerbosityLevel ()
	Get the logger's verbosity level. More...

void	display (std::ostream &os) const

Constructor & Destructor Documentation

◆ RobotUtil()

dynamicgraph::sot::RobotUtil::RobotUtil ( )

Member Function Documentation

◆ base_sot_to_urdf()

bool dynamicgraph::sot::RobotUtil::base_sot_to_urdf	(	ConstRefVector	q_sot,
		RefVector	q_urdf
	)

◆ base_urdf_to_sot()

bool dynamicgraph::sot::RobotUtil::base_urdf_to_sot	(	ConstRefVector	q_urdf,
		RefVector	q_sot
	)

◆ config_sot_to_urdf()

bool dynamicgraph::sot::RobotUtil::config_sot_to_urdf	(	ConstRefVector	q_sot,
		RefVector	q_urdf
	)

◆ config_urdf_to_sot()

bool dynamicgraph::sot::RobotUtil::config_urdf_to_sot	(	ConstRefVector	q_urdf,
		RefVector	q_sot
	)

◆ cp_get_joint_limits_from_id()

JointLimits dynamicgraph::sot::RobotUtil::cp_get_joint_limits_from_id ( Index id )

◆ create_id_to_name_map()

void dynamicgraph::sot::RobotUtil::create_id_to_name_map ( )

This method creates the map between id and name.

It is called each time a new link between id and name is inserted (i.e. when set_name_to_id is called).

◆ display()

void dynamicgraph::sot::RobotUtil::display ( std::ostream & os ) const

◆ get_id_from_name()

const Index& dynamicgraph::sot::RobotUtil::get_id_from_name ( const std::string & name )

Given a joint name it finds the associated joint id.

If the specified joint name is not found it returns -1;

Parameters

name	Name of the joint to find.

Returns: The id of the specified joint, -1 if not found.

◆ get_joint_limits_from_id()

const JointLimits& dynamicgraph::sot::RobotUtil::get_joint_limits_from_id ( Index id )

Given a joint id it finds the associated joint limits.

If the specified joint is not found it returns JointLimits(0,0).

Parameters

id	Id of the joint to find.

Returns: The limits of the specified joint, JointLimits(0,0) if not found.

◆ get_name_from_id()

const std::string& dynamicgraph::sot::RobotUtil::get_name_from_id ( Index id )

Given a joint id it finds the associated joint name.

If the specified joint is not found it returns "Joint name not found";

Parameters

id	Id of the joint to find.

Returns: The name of the specified joint, "Joint name not found" if not found. Get the joint name from its index

◆ getLoggerVerbosityLevel()

LoggerVerbosity dynamicgraph::sot::RobotUtil::getLoggerVerbosityLevel ( )

inline

Get the logger's verbosity level.

◆ joints_sot_to_urdf()

bool dynamicgraph::sot::RobotUtil::joints_sot_to_urdf	(	ConstRefVector	q_sot,
		RefVector	q_urdf
	)

◆ joints_urdf_to_sot()

bool dynamicgraph::sot::RobotUtil::joints_urdf_to_sot	(	ConstRefVector	q_urdf,
		RefVector	q_sot
	)

◆ sendMsg()

void dynamicgraph::sot::RobotUtil::sendMsg	(	const std::string &	msg,
		MsgType	t = `MSG_TYPE_INFO`,
		const char *	file = `""`,
		int	line = `0`
	)

Send messages msg with level t.

Add string file and line to message.

◆ set_joint_limits_for_id()

void dynamicgraph::sot::RobotUtil::set_joint_limits_for_id	(	const Index &	idx,
		const double &	lq,
		const double &	uq
	)

Set the limits (lq,uq) for joint idx.

◆ set_name_to_id()

void dynamicgraph::sot::RobotUtil::set_name_to_id	(	const std::string &	jointName,
		const Index &	jointId
	)

Set relation between the name and the SoT id.

◆ set_urdf_to_sot() [1/2]

void dynamicgraph::sot::RobotUtil::set_urdf_to_sot ( const std::vector< Index > & urdf_to_sot )

Set the map between urdf index and sot index.

◆ set_urdf_to_sot() [2/2]

void dynamicgraph::sot::RobotUtil::set_urdf_to_sot ( const dg::Vector & urdf_to_sot )

◆ setLoggerVerbosityLevel()

void dynamicgraph::sot::RobotUtil::setLoggerVerbosityLevel ( LoggerVerbosity lv )

inline

Specify the verbosity level of the logger.

◆ velocity_sot_to_urdf()

bool dynamicgraph::sot::RobotUtil::velocity_sot_to_urdf	(	ConstRefVector	q_urdf,
		ConstRefVector	v_sot,
		RefVector	v_urdf
	)

◆ velocity_urdf_to_sot()

bool dynamicgraph::sot::RobotUtil::velocity_urdf_to_sot	(	ConstRefVector	q_urdf,
		ConstRefVector	v_urdf,
		RefVector	v_sot
	)

Member Data Documentation

◆ logger_

Logger dynamicgraph::sot::RobotUtil::logger_

protected

◆ m_dgv_urdf_to_sot

dynamicgraph::Vector dynamicgraph::sot::RobotUtil::m_dgv_urdf_to_sot

◆ m_foot_util

FootUtil dynamicgraph::sot::RobotUtil::m_foot_util

Foot information.

◆ m_force_util

ForceUtil dynamicgraph::sot::RobotUtil::m_force_util

Forces data.

◆ m_hand_util

HandUtil dynamicgraph::sot::RobotUtil::m_hand_util

Hand information.

◆ m_id_to_name

std::map<Index, std::string> dynamicgraph::sot::RobotUtil::m_id_to_name

The map between id and name.

◆ m_imu_joint_name

std::string dynamicgraph::sot::RobotUtil::m_imu_joint_name

The name of the joint IMU is attached to.

◆ m_limits_map

std::map<Index, JointLimits> dynamicgraph::sot::RobotUtil::m_limits_map

The joint limits map.

◆ m_name_to_id

std::map<std::string, Index> dynamicgraph::sot::RobotUtil::m_name_to_id

Map from the name to the id.

◆ m_nbJoints

std::size_t dynamicgraph::sot::RobotUtil::m_nbJoints

Nb of Dofs for the robot.

◆ m_urdf_filename

std::string dynamicgraph::sot::RobotUtil::m_urdf_filename

URDF file path.

◆ m_urdf_to_sot

std::vector<Index> dynamicgraph::sot::RobotUtil::m_urdf_to_sot

Map from the urdf index to the SoT index.

Public Member Functions

Public Attributes

Logger related methods

Constructor & Destructor Documentation

◆ RobotUtil()

Member Function Documentation

◆ base_sot_to_urdf()

◆ base_urdf_to_sot()

◆ config_sot_to_urdf()

◆ config_urdf_to_sot()

◆ cp_get_joint_limits_from_id()

◆ create_id_to_name_map()

◆ display()

◆ get_id_from_name()

◆ get_joint_limits_from_id()

◆ get_name_from_id()

◆ getLoggerVerbosityLevel()

◆ joints_sot_to_urdf()

◆ joints_urdf_to_sot()

◆ sendMsg()

◆ set_joint_limits_for_id()

◆ set_name_to_id()

◆ set_urdf_to_sot() [1/2]

◆ set_urdf_to_sot() [2/2]

◆ setLoggerVerbosityLevel()

◆ velocity_sot_to_urdf()

◆ velocity_urdf_to_sot()

Member Data Documentation

◆ logger_

◆ m_dgv_urdf_to_sot

◆ m_foot_util

◆ m_force_util

◆ m_hand_util

◆ m_id_to_name

◆ m_imu_joint_name

◆ m_limits_map

◆ m_name_to_id

◆ m_nbJoints

◆ m_urdf_filename

◆ m_urdf_to_sot