Robot with geometric and dynamic model. More...

#include <hpp/model/device.hh>

Inheritance diagram for hpp::model::Device:

Public Types
enum	Computation_t { JOINT_POSITION = 0x0, JACOBIAN = 0x1, VELOCITY = 0x2, ACCELERATION = 0x4, COM = 0x8, ALL = 0Xffff }
	Flags to select computation To optimize computation time, computations performed by method computeForwardKinematics can be selected by calling method controlComputation. More...
typedef std::pair< JointPtr_t, JointPtr_t >	CollisionPair_t
	Collision pairs between bodies.
typedef std::list < CollisionPair_t >	CollisionPairs_t
Public Member Functions
const std::string &	name () const
	Get name of device.
virtual std::ostream &	print (std::ostream &os) const
	Print object in a stream.
Construction, copy and destruction
virtual	~Device ()
DevicePtr_t	clone () const
	Clone as a CkwsDevice.
Joints
void	rootJoint (JointPtr_t joint)
	Set the root of the kinematic chain.
void	rootJointPosition (const Transform3f &position)
	Set position of root joint in world frame.
JointPtr_t	rootJoint () const
	Get root joint.
void	registerJoint (const JointPtr_t &joint)
	Register joint in internal containers.
const JointVector_t &	getJointVector () const
	Get vector of joints.
JointPtr_t	getJointByName (const std::string &name) const
	Get joint by name.
JointPtr_t	getJointByBodyName (const std::string &name) const
	Get joint by body name.
size_type	configSize () const
	Size of configuration vectors Sum of joint dimensions and of extra configuration space dimension.
size_type	numberDof () const
	Size of velocity vectors Sum of joint number of degrees of freedom and of extra configuration space dimension.
Extra configuration space
ExtraConfigSpace &	extraConfigSpace ()
	Get degrees of freedom to store internal values in configurations.
const ExtraConfigSpace &	extraConfigSpace () const
	Get degrees of freedom to store internal values in configurations.
void	setDimensionExtraConfigSpace (const size_type &dimension)
	Set dimension of extra configuration space.
Current state
const Configuration_t &	currentConfiguration () const
	Get current configuration.
virtual bool	currentConfiguration (ConfigurationIn_t configuration)
	Set current configuration.
Configuration_t	neutralConfiguration () const
	Get the neutral configuration.
const vector_t &	currentVelocity () const
	Get current velocity.
void	currentVelocity (vectorIn_t velocity)
	Set current velocity.
const vector_t &	currentAcceleration () const
	Get current acceleration.
void	currentAcceleration (vectorIn_t acceleration)
	Set current acceleration.
Mass and center of mass
const value_type &	mass () const
	Get mass of robot.
const vector3_t &	positionCenterOfMass () const
	Get position of center of mass.
const ComJacobian_t &	jacobianCenterOfMass () const
	Get Jacobian of center of mass with respect to configuration.
void	addGripper (const GripperPtr_t &gripper)
	Add a gripper to the Device.
Grippers_t &	grippers ()
	Return list of grippers of the Device.
const Grippers_t &	grippers () const
	Return list of grippers of the Device.
Collision and distance computation
const ObjectVector_t &	obstacles (Request_t type) const
	Get list of obstacles.
virtual void	addCollisionPairs (const JointPtr_t &joint1, const JointPtr_t &joint2, Request_t type)
	Add collision pairs between objects attached to two joints.
virtual void	removeCollisionPairs (const JointPtr_t &joint1, const JointPtr_t &joint2, Request_t type)
	Remove collision pairs between objects attached to two joints.
const CollisionPairs_t &	collisionPairs (Request_t type) const
	Get list of collision or distance pairs.
ObjectIterator	objectIterator (Request_t type)
	Iterator over inner objects of the device.
bool	collisionTest () const
	Test collision of current configuration.
void	computeDistances ()
	Compute distances between pairs of objects stored in bodies.
const DistanceResults_t &	distanceResults () const
	Get result of distance computations.
Forward kinematics
void	controlComputation (const Computation_t &flag)
	Select computation Optimize computation time by selecting only necessary values in method computeForwardKinematics.
Computation_t	computationFlag () const
	Get computation flag.
virtual void	computeForwardKinematics ()
	Compute forward kinematics.
Static Public Member Functions
static DevicePtr_t	create (std::string name)
	Creation of a new device.
static DevicePtr_t	createCopy (const DevicePtr_t &device)
	Copy of a device.
Protected Member Functions
	Device (const std::string &name)
	Constructor.
void	init (const DeviceWkPtr_t &weakPtr)
	Initialization.
void	updateDistances ()
	Recompute number of distance pairs.
Friends
class	Body
class	Joint

Detailed Description

Robot with geometric and dynamic model.

The creation of the device is done by Device::create(const std::string name). This function returns a shared pointer to the newly created object.

See also:: Smart pointers documentation: http://www.boost.org/libs/smart_ptr/smart_ptr.htm

Member Typedef Documentation

typedef std::pair<JointPtr_t, JointPtr_t> hpp::model::Device::CollisionPair_t

Collision pairs between bodies.

typedef std::list<CollisionPair_t> hpp::model::Device::CollisionPairs_t

Member Enumeration Documentation

enum hpp::model::Device::Computation_t

Flags to select computation To optimize computation time, computations performed by method computeForwardKinematics can be selected by calling method controlComputation.

Enumerator:

JOINT_POSITION
JACOBIAN
VELOCITY
ACCELERATION
COM
ALL

Constructor & Destructor Documentation

virtual hpp::model::Device::~Device ( ) [virtual]

hpp::model::Device::Device ( const std::string & name ) [protected]

Constructor.

Member Function Documentation

virtual void hpp::model::Device::addCollisionPairs	(	const JointPtr_t &	joint1,
		const JointPtr_t &	joint2,
		Request_t	type
	)		`[virtual]`

Add collision pairs between objects attached to two joints.

Parameters:

joint1	first joint
joint2	second joint
type	collision or distance.

Define collision pair between each object of joint 1 body and each object of joint2 body.

void hpp::model::Device::addGripper ( const GripperPtr_t & gripper ) [inline]

Add a gripper to the Device.

DevicePtr_t hpp::model::Device::clone ( ) const

Clone as a CkwsDevice.

Reimplemented in hpp::model::HumanoidRobot.

const CollisionPairs_t& hpp::model::Device::collisionPairs ( Request_t type ) const

Get list of collision or distance pairs.

Parameters:

type	collision or distance.

bool hpp::model::Device::collisionTest ( ) const

Test collision of current configuration.

Warning:: Users should call computeForwardKinematics first.

Computation_t hpp::model::Device::computationFlag ( ) const [inline]

Get computation flag.

void hpp::model::Device::computeDistances ( )

Compute distances between pairs of objects stored in bodies.

virtual void hpp::model::Device::computeForwardKinematics ( ) [virtual]

Compute forward kinematics.

size_type hpp::model::Device::configSize ( ) const

Size of configuration vectors Sum of joint dimensions and of extra configuration space dimension.

void hpp::model::Device::controlComputation ( const Computation_t & flag ) [inline]

Select computation Optimize computation time by selecting only necessary values in method computeForwardKinematics.

static DevicePtr_t hpp::model::Device::create ( std::string name ) [static]

Creation of a new device.

Returns:: a shared pointer to the new device

Parameters:

name	Name of the device (is passed to CkkpDeviceComponent)

Referenced by hpp::model::ObjectFactory::createRobot().

static DevicePtr_t hpp::model::Device::createCopy ( const DevicePtr_t & device ) [static]

Copy of a device.

Returns:: A shared pointer to new device.

Parameters:

device Device to be copied.

const vector_t& hpp::model::Device::currentAcceleration ( ) const [inline]

Get current acceleration.

void hpp::model::Device::currentAcceleration ( vectorIn_t acceleration ) [inline]

Set current acceleration.

const Configuration_t& hpp::model::Device::currentConfiguration ( ) const [inline]

Get current configuration.

virtual bool hpp::model::Device::currentConfiguration ( ConfigurationIn_t configuration ) [inline, virtual]

Set current configuration.

Returns:: True if the current configuration was modified and false if the current configuration did not change.

const vector_t& hpp::model::Device::currentVelocity ( ) const [inline]

Get current velocity.

void hpp::model::Device::currentVelocity ( vectorIn_t velocity ) [inline]

Set current velocity.

const DistanceResults_t& hpp::model::Device::distanceResults ( ) const [inline]

Get result of distance computations.

ExtraConfigSpace& hpp::model::Device::extraConfigSpace ( ) [inline]

Get degrees of freedom to store internal values in configurations.

In some applications, it is useful to store extra variables with the configuration vector. For instance, when planning motions in state space using roadmap based methods, the velocity of the robot is stored in the nodes of the roadmap.

const ExtraConfigSpace& hpp::model::Device::extraConfigSpace ( ) const [inline]

Get degrees of freedom to store internal values in configurations.

In some applications, it is useful to store extra variables with the configuration vector. For instance, when planning motions in state space using roadmap based methods, the velocity of the robot is stored in the nodes of the roadmap.

JointPtr_t hpp::model::Device::getJointByBodyName ( const std::string & name ) const

Get joint by body name.

Exceptions:

runtime_error if device has no body with this name

JointPtr_t hpp::model::Device::getJointByName ( const std::string & name ) const

Get joint by name.

Parameters:

name	name of the joint.

Exceptions:

runtime_error if device has no joint with this name

const JointVector_t& hpp::model::Device::getJointVector ( ) const

Get vector of joints.

Grippers_t& hpp::model::Device::grippers ( ) [inline]

Return list of grippers of the Device.

const Grippers_t& hpp::model::Device::grippers ( ) const [inline]

Return list of grippers of the Device.

void hpp::model::Device::init ( const DeviceWkPtr_t & weakPtr ) [protected]

Initialization.

const ComJacobian_t& hpp::model::Device::jacobianCenterOfMass ( ) const [inline]

Get Jacobian of center of mass with respect to configuration.

const value_type& hpp::model::Device::mass ( ) const [inline]

Get mass of robot.

const std::string& hpp::model::Device::name ( ) const [inline]

Get name of device.

Configuration_t hpp::model::Device::neutralConfiguration ( ) const

Get the neutral configuration.

size_type hpp::model::Device::numberDof ( ) const

Size of velocity vectors Sum of joint number of degrees of freedom and of extra configuration space dimension.

ObjectIterator hpp::model::Device::objectIterator ( Request_t type )

Iterator over inner objects of the device.

Parameters:

type	Collision or distance

const ObjectVector_t& hpp::model::Device::obstacles ( Request_t type ) const

Get list of obstacles.

Parameters:

type	collision or distance.

const vector3_t& hpp::model::Device::positionCenterOfMass ( ) const [inline]

Get position of center of mass.

virtual std::ostream& hpp::model::Device::print ( std::ostream & os ) const [virtual]

Print object in a stream.

void hpp::model::Device::registerJoint ( const JointPtr_t & joint )

Register joint in internal containers.

virtual void hpp::model::Device::removeCollisionPairs	(	const JointPtr_t &	joint1,
		const JointPtr_t &	joint2,
		Request_t	type
	)		`[virtual]`

Remove collision pairs between objects attached to two joints.

Parameters:

joint1	first joint
joint2	second joint
type	collision or distance.

remove collision between each object of joint 1 body and each object of joint2 body

void hpp::model::Device::rootJoint ( JointPtr_t joint )

Set the root of the kinematic chain.

JointPtr_t hpp::model::Device::rootJoint ( ) const

Get root joint.

void hpp::model::Device::rootJointPosition ( const Transform3f & position )

Set position of root joint in world frame.

void hpp::model::Device::setDimensionExtraConfigSpace ( const size_type & dimension ) [inline]

Set dimension of extra configuration space.

void hpp::model::Device::updateDistances ( ) [protected]

Recompute number of distance pairs.

Friends And Related Function Documentation

friend class Body [friend]

friend class Joint [friend]

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation