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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#ifndef __invdyn_robot_wrapper_hpp__ |
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#define __invdyn_robot_wrapper_hpp__ |
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#include "tsid/deprecated.hh" |
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#include "tsid/math/fwd.hpp" |
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#include "tsid/robots/fwd.hpp" |
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#include <pinocchio/multibody/model.hpp> |
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#include <pinocchio/multibody/data.hpp> |
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#include <pinocchio/spatial/fwd.hpp> |
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#include <string> |
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#include <vector> |
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namespace tsid { |
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namespace robots { |
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/// |
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/// \brief Wrapper for a robot based on pinocchio |
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/// |
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class RobotWrapper { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef math::Scalar Scalar; |
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typedef pinocchio::Model Model; |
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typedef pinocchio::Data Data; |
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typedef pinocchio::Motion Motion; |
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typedef pinocchio::Frame Frame; |
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typedef pinocchio::SE3 SE3; |
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typedef math::Vector Vector; |
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typedef math::Vector3 Vector3; |
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typedef math::Vector6 Vector6; |
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typedef math::Matrix Matrix; |
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typedef math::Matrix3x Matrix3x; |
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typedef math::RefVector RefVector; |
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typedef math::ConstRefVector ConstRefVector; |
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/* Possible root joints */ |
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typedef enum e_RootJointType { |
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FIXED_BASE_SYSTEM = 0, |
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FLOATING_BASE_SYSTEM = 1, |
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} RootJointType; |
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RobotWrapper(const std::string& filename, |
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const std::vector<std::string>& package_dirs, |
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bool verbose = false); |
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RobotWrapper(const std::string& filename, |
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const std::vector<std::string>& package_dirs, |
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const pinocchio::JointModelVariant& rootJoint, |
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bool verbose = false); |
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TSID_DEPRECATED RobotWrapper(const Model& m, bool verbose = false); |
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RobotWrapper(const Model& m, RootJointType rootJoint, bool verbose = false); |
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virtual ~RobotWrapper() {} |
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virtual int nq() const; |
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virtual int nq_actuated() const; |
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virtual int nv() const; |
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virtual int na() const; |
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virtual bool is_fixed_base() const; |
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/// |
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/// \brief Accessor to model. |
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/// |
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/// \returns a const reference on the model. |
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/// |
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const Model& model() const; |
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Model& model(); |
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void computeAllTerms(Data& data, const Vector& q, const Vector& v) const; |
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const Vector& rotor_inertias() const; |
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const Vector& gear_ratios() const; |
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bool rotor_inertias(ConstRefVector rotor_inertias); |
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bool gear_ratios(ConstRefVector gear_ratios); |
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void com(const Data& data, RefVector com_pos, RefVector com_vel, |
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RefVector com_acc) const; |
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const Vector3& com(const Data& data) const; |
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const Vector3& com_vel(const Data& data) const; |
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const Vector3& com_acc(const Data& data) const; |
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const Matrix3x& Jcom(const Data& data) const; |
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const Matrix& mass(const Data& data); |
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const Vector& nonLinearEffects(const Data& data) const; |
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const SE3& position(const Data& data, const Model::JointIndex index) const; |
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const Motion& velocity(const Data& data, const Model::JointIndex index) const; |
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const Motion& acceleration(const Data& data, |
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const Model::JointIndex index) const; |
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void jacobianWorld(const Data& data, const Model::JointIndex index, |
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Data::Matrix6x& J) const; |
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void jacobianLocal(const Data& data, const Model::JointIndex index, |
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Data::Matrix6x& J) const; |
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SE3 framePosition(const Data& data, const Model::FrameIndex index) const; |
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void framePosition(const Data& data, const Model::FrameIndex index, |
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SE3& framePosition) const; |
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Motion frameVelocity(const Data& data, const Model::FrameIndex index) const; |
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Motion frameVelocityWorldOriented(const Data& data, |
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const Model::FrameIndex index) const; |
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void frameVelocity(const Data& data, const Model::FrameIndex index, |
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Motion& frameVelocity) const; |
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Motion frameAcceleration(const Data& data, |
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const Model::FrameIndex index) const; |
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Motion frameAccelerationWorldOriented(const Data& data, |
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const Model::FrameIndex index) const; |
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void frameAcceleration(const Data& data, const Model::FrameIndex index, |
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Motion& frameAcceleration) const; |
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Motion frameClassicAcceleration(const Data& data, |
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const Model::FrameIndex index) const; |
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Motion frameClassicAccelerationWorldOriented( |
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const Data& data, const Model::FrameIndex index) const; |
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void frameClassicAcceleration(const Data& data, const Model::FrameIndex index, |
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Motion& frameAcceleration) const; |
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void frameJacobianWorld(Data& data, const Model::FrameIndex index, |
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Data::Matrix6x& J) const; |
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void frameJacobianLocal(Data& data, const Model::FrameIndex index, |
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Data::Matrix6x& J) const; |
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const Data::Matrix6x& momentumJacobian(const Data& data) const; |
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Vector3 angularMomentumTimeVariation(const Data& data) const; |
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void setGravity(const Motion& gravity); |
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protected: |
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void init(); |
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void updateMd(); |
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/// \brief Robot model. |
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Model m_model; |
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std::string m_model_filename; |
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bool m_verbose; |
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int m_nq_actuated; /// dimension of the configuration space of the actuated |
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/// DoF (nq for fixed-based, nq-7 for floating-base |
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/// robots) |
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int m_na; /// number of actuators (nv for fixed-based, nv-6 for floating-base |
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/// robots) |
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bool m_is_fixed_base; |
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Vector m_rotor_inertias; |
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Vector m_gear_ratios; |
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Vector m_Md; /// diagonal part of inertia matrix due to rotor inertias |
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Matrix m_M; /// inertia matrix including rotor inertias |
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}; |
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} // namespace robots |
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} // namespace tsid |
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#endif // ifndef __invdyn_robot_wrapper_hpp__ |
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