Robot with geometric and dynamic pinocchio. More...

#include <hpp/pinocchio/device.hh>

Inheritance diagram for hpp::pinocchio::Device:

Collaboration diagram for hpp::pinocchio::Device:

Public Types
typedef std::pair< JointPtr_t, JointPtr_t >	CollisionPair_t
	Collision pairs between bodies. More...

typedef std::list< CollisionPair_t >	CollisionPairs_t

Public Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print object in a stream. More...

fcl::AABB	computeAABB () const
	Compute an aligned bounding around the robot. More...

void	controlComputation (const Computation_t &flag)
	Select computation Optimize computation time by selecting only necessary values in method computeForwardKinematics. More...

Set pinocchio models and datas
void	setModel (ModelPtr_t modelPtr)
	Set pinocchio model. More...

void	setGeomModel (GeomModelPtr_t geomModelPtr)
	Set pinocchio geom. More...

void	setData (DataPtr_t dataPtr)
	Set Pinocchio data corresponding to model. More...

void	createData ()
	Create Pinocchio data from model. More...

void	setGeomData (GeomDataPtr_t geomDataPtr)
	Set Pinocchio geomData corresponding to model. More...

void	createGeomData ()
	Create Pinocchio geomData from model. More...

Joints
JointPtr_t	rootJoint () const
	Get root joint. More...

Frame	rootFrame () const
	Get root frame. More...

size_type	nbJoints () const
	Get number of joints. More...

JointPtr_t	jointAt (const size_type &i) const
	Access i-th joint. More...

JointPtr_t	getJointAtConfigRank (const size_type &r) const
	Get the joint at configuration rank r. More...

JointPtr_t	getJointAtVelocityRank (const size_type &r) const
	Get the joint at velocity rank r. More...

JointPtr_t	getJointByName (const std::string &name) const
	Get joint by name. More...

JointPtr_t	getJointByBodyName (const std::string &name) const
	Get joint by body name. More...

Frame	getFrameByName (const std::string &name) const
	Get frame by name. More...

size_type	configSize () const
	Size of configuration vectors Sum of joint dimensions and of extra configuration space dimension. More...

size_type	numberDof () const
	Size of velocity vectors Sum of joint number of degrees of freedom and of extra configuration space dimension. More...

const LiegroupSpacePtr_t &	configSpace () const
	Returns a LiegroupSpace representing the configuration space. More...

LiegroupSpacePtr_t	RnxSOnConfigSpace () const
	See Joint::RnxSOnConfigurationSpace. More...

Configuration_t	neutralConfiguration () const
	Get the neutral configuration. More...

Extra configuration space
ExtraConfigSpace &	extraConfigSpace ()
	Get degrees of freedom to store internal values in configurations. More...

const ExtraConfigSpace &	extraConfigSpace () const
	Get degrees of freedom to store internal values in configurations. More...

virtual void	setDimensionExtraConfigSpace (const size_type &dimension)
	Set dimension of extra configuration space. More...

Grippers
void	addGripper (const GripperPtr_t &gripper)
	Add a gripper to the Device. More...

Grippers_t &	grippers ()
	Return list of grippers of the Device. More...

const Grippers_t &	grippers () const
	Return list of grippers of the Device. More...

Collision and distance computation
BodyPtr_t	obstacles () const
	Get the static obstacles It corresponds to the geometries attached to the universe in pinocchio. More...

size_type	nbObjects () const
	Number of objects. More...

CollisionObjectPtr_t	objectAt (const size_type &i) const
	Access the i-th object. More...

bool	collisionTest (const bool stopAtFirstCollision=true)
	Test collision of current configuration. More...

void	computeDistances ()
	Compute distances between pairs of objects stored in bodies. More...

const DistanceResults_t &	distanceResults () const
	Get result of distance computations. More...

Multithreading
See DeviceSync for how to enable thread safety.
void	numberDeviceData (const size_type &s)
	Set the maximum number of concurrent use of the Device. More...

size_type	numberDeviceData () const
	Get the number of DeviceData. More...

Public Member Functions inherited from hpp::pinocchio::AbstractDevice
ModelConstPtr_t	modelPtr () const
	Access to pinocchio model. More...

ModelPtr_t	modelPtr ()
	Access to pinocchio model. More...

const Model &	model () const
	Access to pinocchio model. More...

Model &	model ()
	Access to pinocchio model. More...

GeomModelConstPtr_t	geomModelPtr () const
	Access to pinocchio geomModel. More...

GeomModelPtr_t	geomModelPtr ()
	Access to pinocchio geomModel. More...

const GeomModel &	geomModel () const
	Access to pinocchio geomModel. More...

GeomModel &	geomModel ()
	Access to pinocchio geomModel. More...

DataConstPtr_t	dataPtr () const
	Access to Pinocchio data/. More...

DataPtr_t	dataPtr ()
	Access to Pinocchio data/. More...

const Data &	data () const
	Access to Pinocchio data/. More...

Data &	data ()
	Access to Pinocchio data/. More...

GeomDataConstPtr_t	geomDataPtr () const
	Access to Pinocchio geomData/. More...

GeomDataPtr_t	geomDataPtr ()
	Access to Pinocchio geomData/. More...

const GeomData &	geomData () const
	Access to Pinocchio geomData/. More...

GeomData &	geomData ()
	Access to Pinocchio geomData/. More...

const Configuration_t &	currentConfiguration () const
	Get current configuration. More...

virtual bool	currentConfiguration (ConfigurationIn_t configuration)
	Set current configuration. More...

const vector_t &	currentVelocity () const
	Get current velocity. More...

bool	currentVelocity (vectorIn_t velocity)
	Set current velocity. More...

const vector_t &	currentAcceleration () const
	Get current acceleration. More...

bool	currentAcceleration (vectorIn_t acceleration)
	Set current acceleration. More...

const value_type &	mass () const
	Get mass of robot. More...

const vector3_t &	positionCenterOfMass () const
	Get position of center of mass. More...

const ComJacobian_t &	jacobianCenterOfMass () const
	Get Jacobian of center of mass with respect to configuration. More...

Computation_t	computationFlag () const
	Get computation flag. More...

void	computeForwardKinematics ()
	Compute forward kinematics. More...

void	computeFramesForwardKinematics ()
	Compute frame forward kinematics. More...

void	updateGeometryPlacements ()
	Update the geometry placement to the currentConfiguration. More...

Protected Member Functions
	Device (const std::string &name)
	Constructor. More...

void	init (const DeviceWkPtr_t &weakPtr)
	Initialization. More...

void	initCopy (const DeviceWkPtr_t &weakPtr, const Device &other)
	Initialization of of a clone device. More...

	Device (const Device &device)
	Copy Constructor. More...

DeviceData &	d ()

DeviceData const &	d () const

void	invalidate ()

Protected Member Functions inherited from hpp::pinocchio::AbstractDevice
	AbstractDevice ()

	AbstractDevice (const ModelPtr_t &m, const GeomModelPtr_t &gm)

Protected Attributes
DeviceData	d_

std::string	name_

Grippers_t	grippers_

LiegroupSpacePtr_t	configSpace_

ExtraConfigSpace	extraConfigSpace_

DeviceWkPtr_t	weakPtr_

Protected Attributes inherited from hpp::pinocchio::AbstractDevice
ModelPtr_t	model_

GeomModelPtr_t	geomModel_

Friends
class	Joint

class	Frame

class	DeviceSync

class	CollisionObject

Construction, copy and destruction
virtual	~Device ()

virtual DevicePtr_t	clone () const
	Clone as a CkwsDevice The pinocchio model is not copied (only copy the pointer). More...

DevicePtr_t	cloneConst () const
	Clone as a CkwsDevice Both pinocchio objects model and data are copied. More...

const std::string &	name () const
	Get name of device. More...

static DevicePtr_t	create (const std::string &name)
	Creation of a new device. More...

static DevicePtr_t	createCopy (const DevicePtr_t &device)
	Copy of a device. More...

static DevicePtr_t	createCopyConst (const DeviceConstPtr_t &device)

Detailed Description

Robot with geometric and dynamic pinocchio.

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::pinocchio::Device::CollisionPair_t

Collision pairs between bodies.

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

Constructor & Destructor Documentation

virtual hpp::pinocchio::Device::~Device ( )

virtual

hpp::pinocchio::Device::Device ( const std::string & name )

protected

Constructor.

hpp::pinocchio::Device::Device ( const Device & device )

protected

Copy Constructor.

Member Function Documentation

void hpp::pinocchio::Device::addGripper ( const GripperPtr_t & gripper )

inline

Add a gripper to the Device.

virtual DevicePtr_t hpp::pinocchio::Device::clone ( ) const

inlinevirtual

Clone as a CkwsDevice The pinocchio model is not copied (only copy the pointer).

A new Pinocchio "data" is created. As the model is not copied, cloning is a non constant operation.

See also: cloneConst

Reimplemented in hpp::pinocchio::HumanoidRobot.

DevicePtr_t hpp::pinocchio::Device::cloneConst ( ) const

inline

Clone as a CkwsDevice Both pinocchio objects model and data are copied.

TODO: this method is not implemented yet (assert if called)

bool hpp::pinocchio::Device::collisionTest ( const bool stopAtFirstCollision = true )

Test collision of current configuration.

Parameters

stopAtFirstCollision act as named

Warning: Users should call computeForwardKinematics first.

fcl::AABB hpp::pinocchio::Device::computeAABB ( ) const

Compute an aligned bounding around the robot.

The bounding box is computed as follows:

for each direct children of the universe joint:
- compute a bounding box of its center (using the bounds in translation)
- compute the maximal distance between the its center and each bodies attach its subtree.
- sum the two.
sum all the BB obtained.

void hpp::pinocchio::Device::computeDistances ( )

Compute distances between pairs of objects stored in bodies.

Warning: Users should call computeForwardKinematics first.

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

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

const LiegroupSpacePtr_t& hpp::pinocchio::Device::configSpace ( ) const

inline

Returns a LiegroupSpace representing the configuration space.

void hpp::pinocchio::Device::controlComputation ( const Computation_t & flag )

virtual

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

Reimplemented from hpp::pinocchio::AbstractDevice.

static DevicePtr_t hpp::pinocchio::Device::create ( const std::string & name )

static

Creation of a new device.

Returns: a shared pointer to the new device

Parameters

name	Name of the device

static DevicePtr_t hpp::pinocchio::Device::createCopy ( const DevicePtr_t & device )

static

Copy of a device.

Returns: A shared pointer to new device.

Parameters

device Device to be copied. The pinocchio model is not copied (only copy the pointer). A new Pinocchio "data" is created.

static DevicePtr_t hpp::pinocchio::Device::createCopyConst ( const DeviceConstPtr_t & device )

static

void hpp::pinocchio::Device::createData ( )

Create Pinocchio data from model.

void hpp::pinocchio::Device::createGeomData ( )

Create Pinocchio geomData from model.

DeviceData& hpp::pinocchio::Device::d ( )

inlineprotectedvirtual

Implements hpp::pinocchio::AbstractDevice.

DeviceData const& hpp::pinocchio::Device::d ( ) const

inlineprotectedvirtual

Implements hpp::pinocchio::AbstractDevice.

const DistanceResults_t& hpp::pinocchio::Device::distanceResults ( ) const

Get result of distance computations.

ExtraConfigSpace& hpp::pinocchio::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::pinocchio::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.

Frame hpp::pinocchio::Device::getFrameByName ( const std::string & name ) const

Get frame by name.

Parameters

name	name of the frame.

Exceptions

runtime_error if device has no frame with this name

JointPtr_t hpp::pinocchio::Device::getJointAtConfigRank ( const size_type & r ) const

Get the joint at configuration rank r.

Returns: joint j such that j->rankInConfiguration () <= r < j->rankInConfiguration () + j->configSize ()

JointPtr_t hpp::pinocchio::Device::getJointAtVelocityRank ( const size_type & r ) const

Get the joint at velocity rank r.

Returns: joint j such that j->rankInVelocity () <= r < j->rankInVelocity () + j->numberDof ()

JointPtr_t hpp::pinocchio::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::pinocchio::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

Grippers_t& hpp::pinocchio::Device::grippers ( )

inline

Return list of grippers of the Device.

const Grippers_t& hpp::pinocchio::Device::grippers ( ) const

inline

Return list of grippers of the Device.

void hpp::pinocchio::Device::init ( const DeviceWkPtr_t & weakPtr )

protected

Initialization.

void hpp::pinocchio::Device::initCopy	(	const DeviceWkPtr_t &	weakPtr,
		const Device &	other
	)

protected

Initialization of of a clone device.

void hpp::pinocchio::Device::invalidate ( )

inlineprotected

References hpp::pinocchio::DeviceData::invalidate().

JointPtr_t hpp::pinocchio::Device::jointAt ( const size_type & i ) const

Access i-th joint.

const std::string& hpp::pinocchio::Device::name ( ) const

inline

Get name of device.

References create().

size_type hpp::pinocchio::Device::nbJoints ( ) const

Get number of joints.

size_type hpp::pinocchio::Device::nbObjects ( ) const

Number of objects.

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

Get the neutral configuration.

void hpp::pinocchio::Device::numberDeviceData ( const size_type & s )

Set the maximum number of concurrent use of the Device.

size_type hpp::pinocchio::Device::numberDeviceData ( ) const

Get the number of DeviceData.

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

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

CollisionObjectPtr_t hpp::pinocchio::Device::objectAt ( const size_type & i ) const

Access the i-th object.

See also: Device::nbObjects() const

BodyPtr_t hpp::pinocchio::Device::obstacles ( ) const

Get the static obstacles It corresponds to the geometries attached to the universe in pinocchio.

virtual std::ostream& hpp::pinocchio::Device::print ( std::ostream & os ) const

virtual

Print object in a stream.

Referenced by hpp::pinocchio::operator<<().

LiegroupSpacePtr_t hpp::pinocchio::Device::RnxSOnConfigSpace ( ) const

See Joint::RnxSOnConfigurationSpace.

Frame hpp::pinocchio::Device::rootFrame ( ) const

Get root frame.

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

Get root joint.

void hpp::pinocchio::Device::setData ( DataPtr_t dataPtr )

inline

Set Pinocchio data corresponding to model.

virtual void hpp::pinocchio::Device::setDimensionExtraConfigSpace ( const size_type & dimension )

inlinevirtual

Set dimension of extra configuration space.

void hpp::pinocchio::Device::setGeomData ( GeomDataPtr_t geomDataPtr )

inline

Set Pinocchio geomData corresponding to model.

void hpp::pinocchio::Device::setGeomModel ( GeomModelPtr_t geomModelPtr )

inline

Set pinocchio geom.

void hpp::pinocchio::Device::setModel ( ModelPtr_t modelPtr )

inline

Set pinocchio model.

Friends And Related Function Documentation

friend class CollisionObject

friend

friend class DeviceSync

friend

friend class Frame

friend

friend class Joint

friend

Member Data Documentation

LiegroupSpacePtr_t hpp::pinocchio::Device::configSpace_

protected

DeviceData hpp::pinocchio::Device::d_

protected

ExtraConfigSpace hpp::pinocchio::Device::extraConfigSpace_

protected

Grippers_t hpp::pinocchio::Device::grippers_

protected

std::string hpp::pinocchio::Device::name_

protected

DeviceWkPtr_t hpp::pinocchio::Device::weakPtr_

protected

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Construction, copy and destruction

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation