From a8d101544b344bcdd447b8c1aa71493db715ea9e Mon Sep 17 00:00:00 2001 From: dmronga Date: Fri, 7 Jun 2024 07:57:21 +0000 Subject: [PATCH] deploy: 3d440c7ddfa14b498f267736746e0a377274e58e --- CartesianTask_8hpp_source.html | 2 +- KinematicChainKDL_8cpp.html | 89 -- KinematicChainKDL_8hpp.html | 110 -- KinematicChainKDL_8hpp_source.html | 177 --- RobotModelKDL_8cpp.html | 94 -- RobotModelKDL_8hpp.html | 100 -- RobotModelKDL_8hpp_source.html | 202 --- annotated.html | 76 +- classes.html | 21 +- classwbc_1_1KinematicChainKDL-members.html | 110 -- classwbc_1_1KinematicChainKDL.html | 665 ---------- classwbc_1_1RobotModel.html | 31 +- classwbc_1_1RobotModel.png | Bin 1328 -> 1144 bytes classwbc_1_1RobotModelKDL-members.html | 166 --- classwbc_1_1RobotModelKDL.html | 1349 -------------------- classwbc_1_1RobotModelKDL.png | Bin 560 -> 0 bytes dir_4b0a3be32108824a8cbe2b2dafa78f1b.html | 94 -- dir_88439d26a4e189b0caff163511948ba7.html | 2 - dir_f621786a8d819b7aecfe1f8e64790879.html | 83 -- doxygen_crawl.html | 106 +- files.html | 35 +- functions_a.html | 2 +- functions_b.html | 6 +- functions_c.html | 17 +- functions_f.html | 4 - functions_func_b.html | 4 +- functions_func_c.html | 15 +- functions_func_g.html | 1 - functions_func_j.html | 4 +- functions_func_k.html | 75 -- functions_func_r.html | 4 +- functions_func_s.html | 7 +- functions_func_u.html | 2 +- functions_func_~.html | 1 - functions_g.html | 1 - functions_h.html | 1 - functions_j.html | 13 +- functions_k.html | 78 -- functions_p.html | 1 - functions_q.html | 7 +- functions_r.html | 7 +- functions_s.html | 11 +- functions_t.html | 5 +- functions_type.html | 2 - functions_u.html | 2 +- functions_vars_a.html | 2 +- functions_vars_b.html | 2 - functions_vars_c.html | 2 - functions_vars_f.html | 4 - functions_vars_h.html | 1 - functions_vars_j.html | 9 +- functions_vars_k.html | 75 -- functions_vars_p.html | 1 - functions_vars_q.html | 7 +- functions_vars_r.html | 3 +- functions_vars_s.html | 4 +- functions_vars_t.html | 5 +- functions_vars_z.html | 75 -- functions_z.html | 75 -- functions_~.html | 1 - globals.html | 6 +- globals_defs.html | 4 +- globals_func.html | 2 +- hierarchy.html | 147 ++- menudata.js | 7 +- namespaces.html | 76 +- namespacewbc.html | 6 - structwbc_1_1RobotModelFactory.html | 7 +- structwbc_1_1RobotModelFactory.png | Bin 2391 -> 2088 bytes test__model__consistency_8cpp.html | 22 +- test__robot__model__kdl_8cpp.html | 246 ---- 71 files changed, 260 insertions(+), 4311 deletions(-) delete mode 100644 KinematicChainKDL_8cpp.html delete mode 100644 KinematicChainKDL_8hpp.html delete mode 100644 KinematicChainKDL_8hpp_source.html delete mode 100644 RobotModelKDL_8cpp.html delete mode 100644 RobotModelKDL_8hpp.html delete mode 100644 RobotModelKDL_8hpp_source.html delete mode 100644 classwbc_1_1KinematicChainKDL-members.html delete mode 100644 classwbc_1_1KinematicChainKDL.html delete mode 100644 classwbc_1_1RobotModelKDL-members.html delete mode 100644 classwbc_1_1RobotModelKDL.html delete mode 100644 classwbc_1_1RobotModelKDL.png delete mode 100644 dir_4b0a3be32108824a8cbe2b2dafa78f1b.html delete mode 100644 dir_f621786a8d819b7aecfe1f8e64790879.html delete mode 100644 functions_func_k.html delete mode 100644 functions_k.html delete mode 100644 functions_vars_k.html delete mode 100644 functions_vars_z.html delete mode 100644 functions_z.html delete mode 100644 test__robot__model__kdl_8cpp.html diff --git a/CartesianTask_8hpp_source.html b/CartesianTask_8hpp_source.html index 820392b1..e1f86427 100644 --- a/CartesianTask_8hpp_source.html +++ b/CartesianTask_8hpp_source.html @@ -72,7 +72,7 @@
3
4#include "../core/Task.hpp"
5
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6namespace base{ namespace samples { class RigidBodyStateSE3; } }
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6namespace base{ namespace samples { class RigidBodyStateSE3; } }
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8namespace wbc {
9
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KinematicChainKDL.cpp File Reference
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-#include <base-logging/Logging.hpp>
-#include <base/samples/Joints.hpp>
-#include <kdl/chaindynparam.hpp>
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KinematicChainKDL.hpp File Reference
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#include <memory>
-#include <kdl/frameacc.hpp>
-#include <kdl/chain.hpp>
-#include <kdl/jacobian.hpp>
-#include <kdl/jntarray.hpp>
-#include <kdl/jntarrayacc.hpp>
-#include <base/Time.hpp>
-#include <base/samples/RigidBodyStateSE3.hpp>
-#include <kdl/chainfksolvervel_recursive.hpp>
-#include <kdl/chainjnttojacsolver.hpp>
-#include <kdl/chainjnttojacdotsolver.hpp>
-#include <map>
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class  wbc::KinematicChainKDL
 Helper class for storing information of a KDL chain in the robot model. More...
 
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namespace  base
 
namespace  base::samples
 
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KinematicChainKDL.hpp
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1#ifndef KINMATICCHAINKDL_HPP
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2#define KINMATICCHAINKDL_HPP
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3
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4#include <memory>
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5#include <kdl/frameacc.hpp>
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6#include <kdl/chain.hpp>
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7#include <kdl/jacobian.hpp>
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8#include <kdl/jntarray.hpp>
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9#include <kdl/jntarrayacc.hpp>
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10#include <base/Time.hpp>
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11#include <base/samples/RigidBodyStateSE3.hpp>
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12#include <kdl/chainfksolvervel_recursive.hpp>
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13#include <kdl/chainjnttojacsolver.hpp>
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14#include <kdl/chainjnttojacdotsolver.hpp>
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15#include <map>
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16
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17namespace base{
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18 namespace samples{
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19 class Joints;
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20 }
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21}
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22namespace wbc{
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23
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27class KinematicChainKDL{
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28
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29protected:
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30 base::samples::RigidBodyStateSE3 cartesian_state;
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31
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32public:
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33 KinematicChainKDL(const KDL::Chain &chain, const std::string &root_frame, const std::string &tip_frame);
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34
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39 void update(const KDL::JntArray& q, const KDL::JntArray& qd, const KDL::JntArray& qdd, std::map<std::string,int> joint_idx_map);
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41 const base::samples::RigidBodyStateSE3& rigidBodyState();
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42
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45 void calculateForwardKinematics();
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47 void calculateSpaceJacobian();
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49 void calculateBodyJacobian();
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51 void calculateJacobianDot();
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52
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53
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54 KDL::Frame pose_kdl;
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55 KDL::FrameVel frame_vel;
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56 KDL::Twist twist_kdl;
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57 base::Vector6d acc;
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58 KDL::Chain chain;
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59 KDL::JntArrayVel jnt_array_vel;
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60 KDL::JntArrayAcc jnt_array_acc;
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61 KDL::Jacobian space_jacobian;
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62 KDL::Jacobian body_jacobian;
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63 KDL::Jacobian jacobian_dot;
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64 std::vector<std::string> joint_names;
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65 std::string root_frame;
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66 std::string tip_frame;
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67 base::Time stamp;
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68 bool has_acceleration, space_jacobian_is_up_to_date, body_jacobian_is_up_to_date, jac_dot_is_up_to_date, fk_is_up_to_date;
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69 std::shared_ptr<KDL::ChainJntToJacSolver> jac_solver;
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70 std::shared_ptr<KDL::ChainFkSolverVel_recursive> fk_solver_vel;
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71 std::shared_ptr<KDL::ChainJntToJacDotSolver> jac_dot_solver;
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72
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73};
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74
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75} // namespace wbc
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76#endif
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wbc::KinematicChainKDL
Helper class for storing information of a KDL chain in the robot model.
Definition KinematicChainKDL.hpp:27
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wbc::KinematicChainKDL::calculateSpaceJacobian
void calculateSpaceJacobian()
Definition KinematicChainKDL.cpp:87
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wbc::KinematicChainKDL::space_jacobian_is_up_to_date
bool space_jacobian_is_up_to_date
Definition KinematicChainKDL.hpp:68
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wbc::KinematicChainKDL::calculateBodyJacobian
void calculateBodyJacobian()
Definition KinematicChainKDL.cpp:93
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wbc::KinematicChainKDL::root_frame
std::string root_frame
Definition KinematicChainKDL.hpp:65
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wbc::KinematicChainKDL::update
void update(const KDL::JntArray &q, const KDL::JntArray &qd, const KDL::JntArray &qdd, std::map< std::string, int > joint_idx_map)
Update all joints of the kinematic chain.
Definition KinematicChainKDL.cpp:49
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wbc::KinematicChainKDL::calculateForwardKinematics
void calculateForwardKinematics()
Definition KinematicChainKDL.cpp:70
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wbc::KinematicChainKDL::has_acceleration
bool has_acceleration
Definition KinematicChainKDL.hpp:68
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wbc::KinematicChainKDL::chain
KDL::Chain chain
Definition KinematicChainKDL.hpp:58
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wbc::KinematicChainKDL::tip_frame
std::string tip_frame
Definition KinematicChainKDL.hpp:66
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wbc::KinematicChainKDL::body_jacobian_is_up_to_date
bool body_jacobian_is_up_to_date
Definition KinematicChainKDL.hpp:68
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wbc::KinematicChainKDL::KinematicChainKDL
KinematicChainKDL(const KDL::Chain &chain, const std::string &root_frame, const std::string &tip_frame)
Definition KinematicChainKDL.cpp:8
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wbc::KinematicChainKDL::fk_solver_vel
std::shared_ptr< KDL::ChainFkSolverVel_recursive > fk_solver_vel
Definition KinematicChainKDL.hpp:70
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wbc::KinematicChainKDL::calculateJacobianDot
void calculateJacobianDot()
Definition KinematicChainKDL.cpp:103
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wbc::KinematicChainKDL::jac_dot_is_up_to_date
bool jac_dot_is_up_to_date
Definition KinematicChainKDL.hpp:68
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wbc::KinematicChainKDL::stamp
base::Time stamp
Definition KinematicChainKDL.hpp:67
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wbc::KinematicChainKDL::space_jacobian
KDL::Jacobian space_jacobian
Definition KinematicChainKDL.hpp:61
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wbc::KinematicChainKDL::acc
base::Vector6d acc
Definition KinematicChainKDL.hpp:57
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wbc::KinematicChainKDL::pose_kdl
KDL::Frame pose_kdl
Definition KinematicChainKDL.hpp:54
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wbc::KinematicChainKDL::jacobian_dot
KDL::Jacobian jacobian_dot
Definition KinematicChainKDL.hpp:63
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wbc::KinematicChainKDL::rigidBodyState
const base::samples::RigidBodyStateSE3 & rigidBodyState()
Definition KinematicChainKDL.cpp:37
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wbc::KinematicChainKDL::twist_kdl
KDL::Twist twist_kdl
Definition KinematicChainKDL.hpp:56
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wbc::KinematicChainKDL::jnt_array_acc
KDL::JntArrayAcc jnt_array_acc
Definition KinematicChainKDL.hpp:60
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wbc::KinematicChainKDL::joint_names
std::vector< std::string > joint_names
Definition KinematicChainKDL.hpp:64
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wbc::KinematicChainKDL::fk_is_up_to_date
bool fk_is_up_to_date
Definition KinematicChainKDL.hpp:68
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wbc::KinematicChainKDL::jac_solver
std::shared_ptr< KDL::ChainJntToJacSolver > jac_solver
Definition KinematicChainKDL.hpp:69
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wbc::KinematicChainKDL::body_jacobian
KDL::Jacobian body_jacobian
Definition KinematicChainKDL.hpp:62
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wbc::KinematicChainKDL::jnt_array_vel
KDL::JntArrayVel jnt_array_vel
Definition KinematicChainKDL.hpp:59
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wbc::KinematicChainKDL::cartesian_state
base::samples::RigidBodyStateSE3 cartesian_state
Definition KinematicChainKDL.hpp:30
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wbc::KinematicChainKDL::jac_dot_solver
std::shared_ptr< KDL::ChainJntToJacDotSolver > jac_dot_solver
Definition KinematicChainKDL.hpp:71
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wbc::KinematicChainKDL::frame_vel
KDL::FrameVel frame_vel
Definition KinematicChainKDL.hpp:55
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base
Definition ControllerTools.cpp:6
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Definition ContactsAccelerationConstraint.cpp:3
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-#include "KinematicChainKDL.hpp"
-#include <kdl_parser/kdl_parser.hpp>
-#include <base-logging/Logging.hpp>
-#include "../../core/RobotModelConfig.hpp"
-#include <kdl/treeidsolver_recursive_newton_euler.hpp>
-#include <algorithm>
-#include <tools/URDFTools.hpp>
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RobotModelKDL.hpp File Reference
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#include "../../core/RobotModel.hpp"
-#include <kdl/tree.hpp>
-#include <kdl/jacobian.hpp>
-#include <kdl/jntarray.hpp>
-#include <urdf_world/types.h>
-#include <map>
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class  wbc::RobotModelKDL
 This model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios. More...
 
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RobotModelKDL.hpp
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1#ifndef ROBOTMODELKDL_HPP
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2#define ROBOTMODELKDL_HPP
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3
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4#include "../../core/RobotModel.hpp"
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5
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6#include <kdl/tree.hpp>
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7#include <kdl/jacobian.hpp>
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8#include <kdl/jntarray.hpp>
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9#include <urdf_world/types.h>
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10#include <map>
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11
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12namespace wbc{
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13
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14class KinematicChainKDL;
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15
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20class RobotModelKDL : public RobotModel{
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21protected:
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22
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23 static RobotModelRegistry<RobotModelKDL> reg;
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24
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25 typedef std::shared_ptr<KinematicChainKDL> KinematicChainKDLPtr;
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26 typedef std::map<std::string, KinematicChainKDLPtr> KinematicChainKDLMap;
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27
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28 KDL::JntArray q,qd,qdd,tau,zero;
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29 base::VectorXd qdot_tmp;
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30 base::VectorXd tmp_acc;
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31
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32 KDL::Tree full_tree;
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33 std::map<std::string,int> joint_idx_map_kdl;
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34 KinematicChainKDLMap kdl_chain_map;
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41 void createChain(const std::string &root_frame, const std::string &tip_frame);
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42
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49 void createChain(const KDL::Tree& tree, const std::string &root_frame, const std::string &tip_frame);
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50
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57 void clear();
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65 void recursiveCOM( const KDL::SegmentMap::const_iterator& currentSegment,
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66 const KDL::Frame& frame,
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67 double& mass, KDL::Vector& cog);
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68
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75 virtual const base::MatrixXd &spaceJacobianFromTree(const KDL::Tree& tree, const std::string &root_frame, const std::string &tip_frame);
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78public:
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79 RobotModelKDL();
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80 virtual ~RobotModelKDL();
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81
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92 virtual bool configure(const RobotModelConfig& cfg);
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93
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101 virtual void update(const base::samples::Joints& joint_state,
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102 const base::samples::RigidBodyStateSE3& floating_base_state = base::samples::RigidBodyStateSE3());
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103
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105 virtual void systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd);
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113 virtual const base::samples::RigidBodyStateSE3 &rigidBodyState(const std::string &root_frame, const std::string &tip_frame);
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120 virtual const base::MatrixXd &spaceJacobian(const std::string &root_frame, const std::string &tip_frame);
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127 virtual const base::MatrixXd &bodyJacobian(const std::string &root_frame, const std::string &tip_frame);
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135 virtual const base::MatrixXd &comJacobian();
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136
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144 virtual const base::MatrixXd &jacobianDot(const std::string &root_frame, const std::string &tip_frame);
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145
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151 virtual const base::Acceleration &spatialAccelerationBias(const std::string &root_frame, const std::string &tip_frame);
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152
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154 virtual const base::MatrixXd &jointSpaceInertiaMatrix();
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155
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157 virtual const base::VectorXd &biasForces();
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158
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160 KDL::Tree getTree(){return full_tree;}
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161
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163 virtual const base::samples::RigidBodyStateSE3& centerOfMass();
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166 virtual void computeInverseDynamics(base::commands::Joints &solver_output);
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168};
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170}
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171
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172#endif // KINEMATICMODEL_HPP
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wbc::RobotModelKDL
This model describes the kinemetic relationships required for velocity based wbc. It is based on a si...
Definition RobotModelKDL.hpp:20
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wbc::RobotModelKDL::update
virtual void update(const base::samples::Joints &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state=base::samples::RigidBodyStateSE3())
Update the robot model. The joint state has to contain all joints that are relevant in the model....
Definition RobotModelKDL.cpp:143
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wbc::RobotModelKDL::systemState
virtual void systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd)
Definition RobotModelKDL.cpp:206
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wbc::RobotModelKDL::qdd
KDL::JntArray qdd
Definition RobotModelKDL.hpp:28
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wbc::RobotModelKDL::createChain
void createChain(const std::string &root_frame, const std::string &tip_frame)
Create a KDL chain and add it to the KDL Chain map. Throws an exception if chain cannot be extracted ...
Definition RobotModelKDL.cpp:123
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wbc::RobotModelKDL::clear
void clear()
Definition RobotModelKDL.cpp:21
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wbc::RobotModelKDL::spaceJacobian
virtual const base::MatrixXd & spaceJacobian(const std::string &root_frame, const std::string &tip_frame)
Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobi...
Definition RobotModelKDL.cpp:239
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wbc::RobotModelKDL::kdl_chain_map
KinematicChainKDLMap kdl_chain_map
Definition RobotModelKDL.hpp:34
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wbc::RobotModelKDL::jointSpaceInertiaMatrix
virtual const base::MatrixXd & jointSpaceInertiaMatrix()
Definition RobotModelKDL.cpp:393
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wbc::RobotModelKDL::~RobotModelKDL
virtual ~RobotModelKDL()
Definition RobotModelKDL.cpp:18
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wbc::RobotModelKDL::spatialAccelerationBias
virtual const base::Acceleration & spatialAccelerationBias(const std::string &root_frame, const std::string &tip_frame)
Returns the spatial acceleration bias, i.e. the term Jdot*qdot.
Definition RobotModelKDL.cpp:364
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wbc::RobotModelKDL::full_tree
KDL::Tree full_tree
Definition RobotModelKDL.hpp:32
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wbc::RobotModelKDL::centerOfMass
virtual const base::samples::RigidBodyStateSE3 & centerOfMass()
Compute and return center of mass expressed in base frame.
Definition RobotModelKDL.cpp:468
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wbc::RobotModelKDL::recursiveCOM
void recursiveCOM(const KDL::SegmentMap::const_iterator &currentSegment, const KDL::Frame &frame, double &mass, KDL::Vector &cog)
Definition RobotModelKDL.cpp:421
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wbc::RobotModelKDL::bodyJacobian
virtual const base::MatrixXd & bodyJacobian(const std::string &root_frame, const std::string &tip_frame)
Returns the Body Jacobian for the kinematic chain between root and the tip frame as full body Jacobia...
Definition RobotModelKDL.cpp:267
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wbc::RobotModelKDL::joint_idx_map_kdl
std::map< std::string, int > joint_idx_map_kdl
Definition RobotModelKDL.hpp:33
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wbc::RobotModelKDL::qd
KDL::JntArray qd
Definition RobotModelKDL.hpp:28
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wbc::RobotModelKDL::configure
virtual bool configure(const RobotModelConfig &cfg)
Load and configure the robot model. In this implementation, each model config constains a URDF file t...
Definition RobotModelKDL.cpp:29
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wbc::RobotModelKDL::rigidBodyState
virtual const base::samples::RigidBodyStateSE3 & rigidBodyState(const std::string &root_frame, const std::string &tip_frame)
Computes and returns the relative transform between the two given frames. By convention this is the p...
Definition RobotModelKDL.cpp:220
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wbc::RobotModelKDL::computeInverseDynamics
virtual void computeInverseDynamics(base::commands::Joints &solver_output)
Compute and return the inverse dynamics solution.
Definition RobotModelKDL.cpp:491
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wbc::RobotModelKDL::spaceJacobianFromTree
virtual const base::MatrixXd & spaceJacobianFromTree(const KDL::Tree &tree, const std::string &root_frame, const std::string &tip_frame)
Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobi...
Definition RobotModelKDL.cpp:243
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wbc::RobotModelKDL::tmp_acc
base::VectorXd tmp_acc
Definition RobotModelKDL.hpp:30
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wbc::RobotModelKDL::reg
static RobotModelRegistry< RobotModelKDL > reg
Definition RobotModelKDL.hpp:23
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wbc::RobotModelKDL::zero
KDL::JntArray zero
Definition RobotModelKDL.hpp:28
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wbc::RobotModelKDL::KinematicChainKDLMap
std::map< std::string, KinematicChainKDLPtr > KinematicChainKDLMap
Definition RobotModelKDL.hpp:26
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wbc::RobotModelKDL::jacobianDot
virtual const base::MatrixXd & jacobianDot(const std::string &root_frame, const std::string &tip_frame)
Returns the derivative of the Jacobian for the kinematic chain between root and the tip frame as full...
Definition RobotModelKDL.cpp:340
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wbc::RobotModelKDL::comJacobian
virtual const base::MatrixXd & comJacobian()
Returns the CoM Jacobian for the entire robot, which maps the robot joint velocities to linear spatia...
Definition RobotModelKDL.cpp:292
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wbc::RobotModelKDL::KinematicChainKDLPtr
std::shared_ptr< KinematicChainKDL > KinematicChainKDLPtr
Definition RobotModelKDL.hpp:25
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wbc::RobotModelKDL::RobotModelKDL
RobotModelKDL()
Definition RobotModelKDL.cpp:15
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wbc::RobotModelKDL::q
KDL::JntArray q
Definition RobotModelKDL.hpp:28
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wbc::RobotModelKDL::getTree
KDL::Tree getTree()
Definition RobotModelKDL.hpp:160
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wbc::RobotModelKDL::qdot_tmp
base::VectorXd qdot_tmp
Definition RobotModelKDL.hpp:29
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wbc::RobotModelKDL::biasForces
virtual const base::VectorXd & biasForces()
Definition RobotModelKDL.cpp:374
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wbc::RobotModelKDL::tau
KDL::JntArray tau
Definition RobotModelKDL.hpp:28
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wbc::RobotModel
Interface for all robot models. This has to provide all kinematics and dynamics information that is r...
Definition RobotModel.hpp:22
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wbc::RobotModel::floating_base_state
base::samples::RigidBodyStateSE3 floating_base_state
Definition RobotModel.hpp:31
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wbc::RobotModel::joint_state
base::samples::Joints joint_state
Definition RobotModel.hpp:42
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wbc
Definition ContactsAccelerationConstraint.cpp:3
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wbc::RobotModelConfig
Robot Model configuration class.
Definition RobotModelConfig.hpp:40
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wbc::RobotModelRegistry
Definition RobotModel.hpp:239
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- - diff --git a/annotated.html b/annotated.html index 88b64e3c..c5a21326 100644 --- a/annotated.html +++ b/annotated.html @@ -100,45 +100,43 @@  CJointTorquePIDController  CJointVelocityTaskImplementation of a Joint velocity task  CJointWeights - CKinematicChainKDLHelper class for storing information of a KDL chain in the robot model - COsqpSolver - CPIDControllerImplements an n-dimensional PID controller - CPIDCtrlParams - CPlanarPotentialFieldPlanar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal) - CPluginLoader - CPosPDControllerImplements the following two control scemes - CPotentialFieldBase class for potential fields - CPotentialFieldInfo - CPotentialFieldsControllerBase class for potential field controllers - CProxQPSolverWrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: - CQPOASESSolverWrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: - CQPSolver - CQPSolverConfig - CQPSolverFactory - CQPSolverRegistry - CQPSwiftSolver - CQuadraticProgramDescribes a quadratic program of the form - CRadialPotentialFieldRadial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field: - CRigidbodyDynamicsConstraintAbstract class to represent a generic hard constraint for a WBC optimization problem - CRobotModelInterface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC - CRobotModelConfigRobot Model configuration class - CRobotModelFactory - CRobotModelHyrodyn - CRobotModelKDLThis model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios - CRobotModelPinocchio - CRobotModelRBDL - CRobotModelRegistry - CSceneBase class for all wbc scenes - CSceneConfig - CSceneFactory - CSceneRegistry - CTaskAbstract class to represent a generic task for a WBC optimization problem - CTaskConfigDefines a task in the whole body control problem. Valid Configurations are e.g - CTasksStatus - CTaskStatus - CURDFTools - CVelocitySceneVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: - CVelocitySceneQPVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: + COsqpSolver + CPIDControllerImplements an n-dimensional PID controller + CPIDCtrlParams + CPlanarPotentialFieldPlanar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal) + CPluginLoader + CPosPDControllerImplements the following two control scemes + CPotentialFieldBase class for potential fields + CPotentialFieldInfo + CPotentialFieldsControllerBase class for potential field controllers + CProxQPSolverWrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape: + CQPOASESSolverWrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape: + CQPSolver + CQPSolverConfig + CQPSolverFactory + CQPSolverRegistry + CQPSwiftSolver + CQuadraticProgramDescribes a quadratic program of the form + CRadialPotentialFieldRadial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field: + CRigidbodyDynamicsConstraintAbstract class to represent a generic hard constraint for a WBC optimization problem + CRobotModelInterface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC + CRobotModelConfigRobot Model configuration class + CRobotModelFactory + CRobotModelHyrodyn + CRobotModelPinocchio + CRobotModelRBDL + CRobotModelRegistry + CSceneBase class for all wbc scenes + CSceneConfig + CSceneFactory + CSceneRegistry + CTaskAbstract class to represent a generic task for a WBC optimization problem + CTaskConfigDefines a task in the whole body control problem. Valid Configurations are e.g + CTasksStatus + CTaskStatus + CURDFTools + CVelocitySceneVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: + CVelocitySceneQPVelocity-based implementation of the WBC Scene. It sets up and solves the following problem: diff --git a/classes.html b/classes.html index 97823fd9..e1a3e84c 100644 --- a/classes.html +++ b/classes.html @@ -63,7 +63,7 @@
Class Index
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J
JointAccelerationTask (wbc)
JointIntegrator (wbc)
JointLimitAvoidanceController (wbc)
JointLimitsAccelerationConstraint (wbc)
JointLimitsVelocityConstraint (wbc)
JointPosPDController (wbc)
JointTask (wbc)
JointTorquePIDController (wbc)
JointVelocityTask (wbc)
JointWeights (wbc)
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K
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KinematicChainKDL (wbc)
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O
OsqpSolver (wbc)
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P
PIDController (wbc)
PIDCtrlParams (wbc)
PlanarPotentialField (wbc)
PluginLoader (wbc)
PosPDController (wbc)
PotentialField (wbc)
PotentialFieldInfo (wbc)
PotentialFieldsController (wbc)
HierarchicalLSSolver::PriorityData (wbc)
ProxQPSolver (wbc)
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Q
QPOASESSolver (wbc)
QPSolver (wbc)
QPSolverConfig (wbc)
QPSolverFactory (wbc)
QPSolverRegistry (wbc)
QPSwiftSolver (wbc)
QuadraticProgram (wbc)
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RadialPotentialField (wbc)
RigidbodyDynamicsConstraint (wbc)
RobotModel (wbc)
RobotModelConfig (wbc)
RobotModelFactory (wbc)
RobotModelHyrodyn (wbc)
RobotModelKDL (wbc)
RobotModelPinocchio (wbc)
RobotModelRBDL (wbc)
RobotModelRegistry (wbc)
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R
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RadialPotentialField (wbc)
RigidbodyDynamicsConstraint (wbc)
RobotModel (wbc)
RobotModelConfig (wbc)
RobotModelFactory (wbc)
RobotModelHyrodyn (wbc)
RobotModelPinocchio (wbc)
RobotModelRBDL (wbc)
RobotModelRegistry (wbc)
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S
Scene (wbc)
SceneConfig (wbc)
SceneFactory (wbc)
SceneRegistry (wbc)
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Task (wbc)
TaskConfig (wbc)
TasksStatus (wbc)
TaskStatus (wbc)
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U
URDFTools (wbc)
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VelocityScene (wbc)
VelocitySceneQP (wbc)
diff --git a/classwbc_1_1KinematicChainKDL-members.html b/classwbc_1_1KinematicChainKDL-members.html deleted file mode 100644 index c41fa84f..00000000 --- a/classwbc_1_1KinematicChainKDL-members.html +++ /dev/null @@ -1,110 +0,0 @@ - - - - - - - -wbc: Member List - - - - - - - - - - - -
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wbc::KinematicChainKDL Member List
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This is the complete list of members for wbc::KinematicChainKDL, including all inherited members.

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accwbc::KinematicChainKDL
body_jacobianwbc::KinematicChainKDL
body_jacobian_is_up_to_datewbc::KinematicChainKDL
calculateBodyJacobian()wbc::KinematicChainKDL
calculateForwardKinematics()wbc::KinematicChainKDL
calculateJacobianDot()wbc::KinematicChainKDL
calculateSpaceJacobian()wbc::KinematicChainKDL
cartesian_statewbc::KinematicChainKDLprotected
chainwbc::KinematicChainKDL
fk_is_up_to_datewbc::KinematicChainKDL
fk_solver_velwbc::KinematicChainKDL
frame_velwbc::KinematicChainKDL
has_accelerationwbc::KinematicChainKDL
jac_dot_is_up_to_datewbc::KinematicChainKDL
jac_dot_solverwbc::KinematicChainKDL
jac_solverwbc::KinematicChainKDL
jacobian_dotwbc::KinematicChainKDL
jnt_array_accwbc::KinematicChainKDL
jnt_array_velwbc::KinematicChainKDL
joint_nameswbc::KinematicChainKDL
KinematicChainKDL(const KDL::Chain &chain, const std::string &root_frame, const std::string &tip_frame)wbc::KinematicChainKDL
pose_kdlwbc::KinematicChainKDL
rigidBodyState()wbc::KinematicChainKDL
root_framewbc::KinematicChainKDL
space_jacobianwbc::KinematicChainKDL
space_jacobian_is_up_to_datewbc::KinematicChainKDL
stampwbc::KinematicChainKDL
tip_framewbc::KinematicChainKDL
twist_kdlwbc::KinematicChainKDL
update(const KDL::JntArray &q, const KDL::JntArray &qd, const KDL::JntArray &qdd, std::map< std::string, int > joint_idx_map)wbc::KinematicChainKDL
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wbc::KinematicChainKDL Class Reference
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Helper class for storing information of a KDL chain in the robot model. - More...

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#include <KinematicChainKDL.hpp>

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 KinematicChainKDL (const KDL::Chain &chain, const std::string &root_frame, const std::string &tip_frame)
 
void update (const KDL::JntArray &q, const KDL::JntArray &qd, const KDL::JntArray &qdd, std::map< std::string, int > joint_idx_map)
 Update all joints of the kinematic chain.
 
const base::samples::RigidBodyStateSE3 & rigidBodyState ()
 
void calculateForwardKinematics ()
 
void calculateSpaceJacobian ()
 
void calculateBodyJacobian ()
 
void calculateJacobianDot ()
 
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KDL::Frame pose_kdl
 
KDL::FrameVel frame_vel
 
KDL::Twist twist_kdl
 
base::Vector6d acc
 
KDL::Chain chain
 
KDL::JntArrayVel jnt_array_vel
 
KDL::JntArrayAcc jnt_array_acc
 
KDL::Jacobian space_jacobian
 
KDL::Jacobian body_jacobian
 
KDL::Jacobian jacobian_dot
 
std::vector< std::string > joint_names
 
std::string root_frame
 
std::string tip_frame
 
base::Time stamp
 
bool has_acceleration
 
bool space_jacobian_is_up_to_date
 
bool body_jacobian_is_up_to_date
 
bool jac_dot_is_up_to_date
 
bool fk_is_up_to_date
 
std::shared_ptr< KDL::ChainJntToJacSolver > jac_solver
 
std::shared_ptr< KDL::ChainFkSolverVel_recursive > fk_solver_vel
 
std::shared_ptr< KDL::ChainJntToJacDotSolver > jac_dot_solver
 
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base::samples::RigidBodyStateSE3 cartesian_state
 
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Detailed Description

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Helper class for storing information of a KDL chain in the robot model.

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Constructor & Destructor Documentation

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◆ KinematicChainKDL()

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wbc::KinematicChainKDL::KinematicChainKDL (const KDL::Chain & chain,
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◆ calculateBodyJacobian()

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void wbc::KinematicChainKDL::calculateBodyJacobian ()
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Compute body Jacobian using the current joint state. Note: This will call calculateSpaceJacobian() if space_jacobian is not up to date

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◆ calculateForwardKinematics()

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void wbc::KinematicChainKDL::calculateForwardKinematics ()
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Compute FK (pose, twist,spatial acc) for the chain using the current joint state. Note: This will call calculateSpaceJacobian() and calculateJacobianDot() if space_jacobian and jacobian_dot are not up to date

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◆ calculateJacobianDot()

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Compute derivative of space Jacobian (hybrid representation) using the current joint state

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◆ calculateSpaceJacobian()

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Compute space Jacobian using the current joint state

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Convert and return current Cartesian state

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◆ update()

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void wbc::KinematicChainKDL::update (const KDL::JntArray & q,
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std::map< std::string, int > joint_idx_map )
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Update all joints of the kinematic chain.

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◆ acc

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KDL Pose of the tip segment in root coordinate of the chain

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Space Jacobian of the Chain. Reference frame is root & reference point is tip

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◆ body_jacobian_is_up_to_date

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Helper to store current frame acceleration

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KDL Pose of the tip segment in root coordinate of the chain

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Body Jacobian of the Chain. Reference frame is root & reference point is tip

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Vector of positions and velocities of all included joints

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The underlying KDL chain

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Derivative of Jacobian of the Chain. Reference frame & reference point is the root frame

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Names of the joint included in the kinematic chain

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Vector of positions, velocities and accelerations of all included joints

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wbc::RobotModelHyrodyn, wbc::RobotModelKDL, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

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Returns
A 6xN matrix, where N is the number of robot joints
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Returns
A 6xN matrix, where N is the number of robot joints
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Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelKDL, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

+

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

@@ -970,7 +969,7 @@

wbc::RobotModelHyrodyn, wbc::RobotModelKDL, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

+

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

@@ -1093,7 +1092,7 @@

Returns the pose, twist and spatial acceleration between the two given frames. All quantities are defined in root_frame coordinates

-

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelKDL, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

+

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

@@ -1234,7 +1233,7 @@

Returns
A 6xN matrix, where N is the number of robot joints
-

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelKDL, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

+

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

@@ -1275,7 +1274,7 @@

Returns
A Nx1 vector, where N is the number of robot joints
-

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelKDL, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

+

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

@@ -1312,7 +1311,7 @@

Return entire system state

-

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelKDL, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

+

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

@@ -1352,7 +1351,7 @@

wbc::RobotModelHyrodyn, wbc::RobotModelKDL, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

+

Implemented in wbc::RobotModelHyrodyn, wbc::RobotModelPinocchio, and wbc::RobotModelRBDL.

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wbc::RobotModelKDL Member List
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This is the complete list of members for wbc::RobotModelKDL, including all inherited members.

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active_contactswbc::RobotModelprotected
actuated_joint_nameswbc::RobotModelprotected
actuatedJointNames()wbc::RobotModelinline
base_framewbc::RobotModelprotected
baseFrame()wbc::RobotModelinline
bias_forceswbc::RobotModelprotected
biasForces()wbc::RobotModelKDLvirtual
body_jac_mapwbc::RobotModelprotected
bodyJacobian(const std::string &root_frame, const std::string &tip_frame)wbc::RobotModelKDLvirtual
centerOfMass()wbc::RobotModelKDLvirtual
chainID(const std::string &root, const std::string &tip)wbc::RobotModelinlineprotected
clear()wbc::RobotModelKDLprotected
com_jacwbc::RobotModelprotected
com_rbswbc::RobotModelprotected
comJacobian()wbc::RobotModelKDLvirtual
computeInverseDynamics(base::commands::Joints &solver_output)wbc::RobotModelKDLvirtual
configure(const RobotModelConfig &cfg)wbc::RobotModelKDLvirtual
contact_wrencheswbc::RobotModelprotected
createChain(const std::string &root_frame, const std::string &tip_frame)wbc::RobotModelKDLprotected
createChain(const KDL::Tree &tree, const std::string &root_frame, const std::string &tip_frame)wbc::RobotModelKDLprotected
floating_base_statewbc::RobotModelprotected
floatingBaseState()wbc::RobotModelinline
full_treewbc::RobotModelKDLprotected
getActiveContacts()wbc::RobotModelinline
getRobotModelConfig()wbc::RobotModelinline
getTree()wbc::RobotModelKDLinline
gravitywbc::RobotModelprotected
has_floating_basewbc::RobotModelprotected
hasActuatedJoint(const std::string &joint_name)wbc::RobotModel
hasFloatingBase()wbc::RobotModelinline
hasJoint(const std::string &joint_name)wbc::RobotModel
hasLink(const std::string &link_name)wbc::RobotModel
independent_joint_nameswbc::RobotModelprotected
independentJointNames()wbc::RobotModelinline
jac_dot_mapwbc::RobotModelprotected
jacobianDot(const std::string &root_frame, const std::string &tip_frame)wbc::RobotModelKDLvirtual
JacobianMap typedefwbc::RobotModelprotected
joint_idx_map_kdlwbc::RobotModelKDLprotected
joint_limitswbc::RobotModelprotected
joint_nameswbc::RobotModelprotected
joint_names_floating_basewbc::RobotModelprotected
joint_space_inertia_matwbc::RobotModelprotected
joint_statewbc::RobotModelprotected
joint_state_outwbc::RobotModelprotected
jointIndex(const std::string &joint_name)wbc::RobotModel
jointLimits()wbc::RobotModelinline
jointNames()wbc::RobotModelinline
jointSpaceInertiaMatrix()wbc::RobotModelKDLvirtual
jointState(const std::vector< std::string > &joint_names)wbc::RobotModel
kdl_chain_mapwbc::RobotModelKDLprotected
KinematicChainKDLMap typedefwbc::RobotModelKDLprotected
KinematicChainKDLPtr typedefwbc::RobotModelKDLprotected
loadRobotURDF(const std::string &file_or_string)wbc::RobotModel
noOfActuatedJoints()wbc::RobotModelinline
noOfJoints()wbc::RobotModelinline
qwbc::RobotModelKDLprotected
qdwbc::RobotModelKDLprotected
qddwbc::RobotModelKDLprotected
qdot_tmpwbc::RobotModelKDLprotected
rbswbc::RobotModelprotected
recursiveCOM(const KDL::SegmentMap::const_iterator &currentSegment, const KDL::Frame &frame, double &mass, KDL::Vector &cog)wbc::RobotModelKDLprotected
regwbc::RobotModelKDLprotectedstatic
rigidBodyState(const std::string &root_frame, const std::string &tip_frame)wbc::RobotModelKDLvirtual
robot_model_configwbc::RobotModelprotected
robot_urdfwbc::RobotModelprotected
RobotModel()wbc::RobotModel
RobotModelKDL()wbc::RobotModelKDL
selection_matrixwbc::RobotModelprotected
selectionMatrix()wbc::RobotModelinline
setActiveContacts(const ActiveContacts &contacts)wbc::RobotModel
setContactWrenches(const base::samples::Wrenches &wrenches)wbc::RobotModelinline
setGravityVector(const base::Vector3d &g)wbc::RobotModelinline
space_jac_mapwbc::RobotModelprotected
spaceJacobian(const std::string &root_frame, const std::string &tip_frame)wbc::RobotModelKDLvirtual
spaceJacobianFromTree(const KDL::Tree &tree, const std::string &root_frame, const std::string &tip_frame)wbc::RobotModelKDLprotectedvirtual
spatial_acc_biaswbc::RobotModelprotected
spatialAccelerationBias(const std::string &root_frame, const std::string &tip_frame)wbc::RobotModelKDLvirtual
systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd)wbc::RobotModelKDLvirtual
tauwbc::RobotModelKDLprotected
tmp_accwbc::RobotModelKDLprotected
update(const base::samples::Joints &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state=base::samples::RigidBodyStateSE3())wbc::RobotModelKDLvirtual
world_framewbc::RobotModelprotected
worldFrame()wbc::RobotModelinline
zerowbc::RobotModelKDLprotected
~RobotModel()wbc::RobotModelinlinevirtual
~RobotModelKDL()wbc::RobotModelKDLvirtual
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wbc::RobotModelKDL Class Reference
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This model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios. - More...

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#include <RobotModelKDL.hpp>

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-Inheritance diagram for wbc::RobotModelKDL:
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-Public Member Functions

 RobotModelKDL ()
 
virtual ~RobotModelKDL ()
 
virtual bool configure (const RobotModelConfig &cfg)
 Load and configure the robot model. In this implementation, each model config constains a URDF file that will be parsed into a KDL tree. If the overall model is empty, the overall KDL::Tree will be replaced by the given tree. If there is already a KDL Tree, the new tree will be attached with the given pose to the 'hook' frame of the overall tree. The relative poses of the trees can be updated online by calling update() with poses parameter appropriately set.
 
virtual void update (const base::samples::Joints &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state=base::samples::RigidBodyStateSE3())
 Update the robot model. The joint state has to contain all joints that are relevant in the model. This means: All joints that are ever required when requesting rigid body states, Jacobians or joint states. Note that.
 
virtual void systemState (base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd)
 
virtual const base::samples::RigidBodyStateSE3 & rigidBodyState (const std::string &root_frame, const std::string &tip_frame)
 Computes and returns the relative transform between the two given frames. By convention this is the pose of the tip frame in root coordinates. This will create a kinematic chain between root and tip frame, if called for the first time with the given arguments.
 
virtual const base::MatrixXd & spaceJacobian (const std::string &root_frame, const std::string &tip_frame)
 Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobian. Size of the Jacobian will be 6 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the joint order of the robot. The columns that correspond to joints that are not part of the kinematic chain will have only zeros as entries.
 
virtual const base::MatrixXd & bodyJacobian (const std::string &root_frame, const std::string &tip_frame)
 Returns the Body Jacobian for the kinematic chain between root and the tip frame as full body Jacobian. Size of the Jacobian will be 6 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the joint order of the robot. The columns that correspond to joints that are not part of the kinematic chain will have only zeros as entries.
 
virtual const base::MatrixXd & comJacobian ()
 Returns the CoM Jacobian for the entire robot, which maps the robot joint velocities to linear spatial velocities in robot base coordinates. Size of the Jacobian will be 3 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the configured joint order of the robot.
 
virtual const base::MatrixXd & jacobianDot (const std::string &root_frame, const std::string &tip_frame)
 Returns the derivative of the Jacobian for the kinematic chain between root and the tip frame as full body Jacobian. By convention reference frame & reference point of the Jacobian will be the root frame (corresponding to the body Jacobian). Size of the Jacobian will be 6 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the joint order of the robot. The columns that correspond to joints that are not part of the kinematic chain will have only zeros as entries.
 
virtual const base::Acceleration & spatialAccelerationBias (const std::string &root_frame, const std::string &tip_frame)
 Returns the spatial acceleration bias, i.e. the term Jdot*qdot.
 
virtual const base::MatrixXd & jointSpaceInertiaMatrix ()
 
virtual const base::VectorXd & biasForces ()
 
KDL::Tree getTree ()
 
virtual const base::samples::RigidBodyStateSE3 & centerOfMass ()
 Compute and return center of mass expressed in base frame.
 
virtual void computeInverseDynamics (base::commands::Joints &solver_output)
 Compute and return the inverse dynamics solution.
 
- Public Member Functions inherited from wbc::RobotModel
 RobotModel ()
 
virtual ~RobotModel ()
 
const base::samples::Joints & jointState (const std::vector< std::string > &joint_names)
 
const std::vector< std::string > & jointNames ()
 Return all joint names.
 
const std::vector< std::string > & actuatedJointNames ()
 Return only actuated joint names.
 
const std::vector< std::string > & independentJointNames ()
 Return only independent joint names.
 
uint jointIndex (const std::string &joint_name)
 Get index of joint name.
 
const std::string & baseFrame ()
 Get the base frame of the robot.
 
const std::string & worldFrame ()
 Get the world frame id.
 
const base::JointLimits & jointLimits ()
 Return current joint limits.
 
bool hasLink (const std::string &link_name)
 Return True if given link name is available in robot model, false otherwise.
 
bool hasJoint (const std::string &joint_name)
 Return True if given joint name is available in robot model, false otherwise.
 
bool hasActuatedJoint (const std::string &joint_name)
 Return True if given joint name is an actuated joint in robot model, false otherwise.
 
const base::MatrixXd & selectionMatrix ()
 Return current selection matrix S that maps complete joint vector to actuated joint vector: q_a = S * q. The matrix consists of only zeros and ones. Size is na x nq, where na is the number of actuated joints and nq the total number of joints.
 
void setActiveContacts (const ActiveContacts &contacts)
 Provide information about which link is currently in contact with the environment.
 
const ActiveContacts & getActiveContacts ()
 Provide links names that are possibly in contact with the environment (typically the end effector links)
 
uint noOfJoints ()
 Return number of joints.
 
uint noOfActuatedJoints ()
 Return number of actuated/active joints.
 
void setGravityVector (const base::Vector3d &g)
 Set the current gravity vector.
 
const base::samples::RigidBodyStateSE3 & floatingBaseState ()
 Get current status of floating base.
 
void setContactWrenches (const base::samples::Wrenches &wrenches)
 Set contact wrenches, names have to consistent with the configured contact points.
 
const RobotModelConfig & getRobotModelConfig ()
 Get current robot model config.
 
bool hasFloatingBase ()
 Is floating base robot?
 
urdf::ModelInterfaceSharedPtr loadRobotURDF (const std::string &file_or_string)
 Load URDF model from either file or string.
 
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-Protected Types

typedef std::shared_ptr< KinematicChainKDL > KinematicChainKDLPtr
 
typedef std::map< std::string, KinematicChainKDLPtr > KinematicChainKDLMap
 
- Protected Types inherited from wbc::RobotModel
typedef std::map< std::string, base::MatrixXd > JacobianMap
 
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-Protected Member Functions

void createChain (const std::string &root_frame, const std::string &tip_frame)
 Create a KDL chain and add it to the KDL Chain map. Throws an exception if chain cannot be extracted from KDL Tree.
 
void createChain (const KDL::Tree &tree, const std::string &root_frame, const std::string &tip_frame)
 Create a KDL chain and add it to the KDL Chain map. Throws an exception if chain cannot be extracted from KDL Tree.
 
void clear ()
 
void recursiveCOM (const KDL::SegmentMap::const_iterator &currentSegment, const KDL::Frame &frame, double &mass, KDL::Vector &cog)
 
virtual const base::MatrixXd & spaceJacobianFromTree (const KDL::Tree &tree, const std::string &root_frame, const std::string &tip_frame)
 Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobian. Size of the Jacobian will be 6 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the joint order of the robot. The columns that correspond to joints that are not part of the kinematic chain will have only zeros as entries.
 
- Protected Member Functions inherited from wbc::RobotModel
void clear ()
 
const std::string chainID (const std::string &root, const std::string &tip)
 
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-Protected Attributes

KDL::JntArray q
 
KDL::JntArray qd
 
KDL::JntArray qdd
 
KDL::JntArray tau
 
KDL::JntArray zero
 
base::VectorXd qdot_tmp
 
base::VectorXd tmp_acc
 
KDL::Tree full_tree
 
std::map< std::string, int > joint_idx_map_kdl
 
KinematicChainKDLMap kdl_chain_map
 
- Protected Attributes inherited from wbc::RobotModel
ActiveContacts active_contacts
 
base::Vector3d gravity
 
base::samples::RigidBodyStateSE3 floating_base_state
 
base::samples::Wrenches contact_wrenches
 
RobotModelConfig robot_model_config
 
std::string world_frame
 
std::string base_frame
 
base::JointLimits joint_limits
 
std::vector< std::string > actuated_joint_names
 
std::vector< std::string > independent_joint_names
 
std::vector< std::string > joint_names
 
std::vector< std::string > joint_names_floating_base
 
urdf::ModelInterfaceSharedPtr robot_urdf
 
bool has_floating_base
 
base::samples::Joints joint_state
 
base::MatrixXd joint_space_inertia_mat
 
base::MatrixXd com_jac
 
base::VectorXd bias_forces
 
base::Acceleration spatial_acc_bias
 
base::MatrixXd selection_matrix
 
base::samples::RigidBodyStateSE3 com_rbs
 
base::samples::RigidBodyStateSE3 rbs
 
JacobianMap space_jac_map
 
JacobianMap body_jac_map
 
JacobianMap jac_dot_map
 
base::samples::Joints joint_state_out
 
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-Static Protected Attributes

static RobotModelRegistry< RobotModelKDL > reg
 
-

Detailed Description

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This model describes the kinemetic relationships required for velocity based wbc. It is based on a single KDL Tree. However, multiple KDL trees can be added and will be appropriately concatenated. This way you can describe e.g. geometric robot-object relationships or create multi-robot scenarios.

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Member Typedef Documentation

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◆ KinematicChainKDLMap

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typedef std::map<std::string, KinematicChainKDLPtr> wbc::RobotModelKDL::KinematicChainKDLMap
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◆ KinematicChainKDLPtr

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typedef std::shared_ptr<KinematicChainKDL> wbc::RobotModelKDL::KinematicChainKDLPtr
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Constructor & Destructor Documentation

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◆ RobotModelKDL()

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◆ ~RobotModelKDL()

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Member Function Documentation

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◆ biasForces()

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const base::VectorXd & wbc::RobotModelKDL::biasForces ()
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Compute and return the bias force vector, which is nj x 1, where nj is the number of joints of the system

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Implements wbc::RobotModel.

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◆ bodyJacobian()

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const base::MatrixXd & wbc::RobotModelKDL::bodyJacobian (const std::string & root_frame,
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Returns the Body Jacobian for the kinematic chain between root and the tip frame as full body Jacobian. Size of the Jacobian will be 6 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the joint order of the robot. The columns that correspond to joints that are not part of the kinematic chain will have only zeros as entries.

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root_frameRoot frame of the chain. Has to be a valid link in the robot model.
tip_frameTip frame of the chain. Has to be a valid link in the robot model.
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Implements wbc::RobotModel.

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◆ centerOfMass()

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const base::samples::RigidBodyStateSE3 & wbc::RobotModelKDL::centerOfMass ()
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Compute and return center of mass expressed in base frame.

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◆ clear()

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void wbc::RobotModelKDL::clear ()
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Add a KDL Tree to the model. If the model is empty, the overall KDL::Tree will be replaced by the given tree. If there is already a KDL Tree, the new tree will be attached with the given pose to the hook frame of the overall tree. The relative poses of the trees can be updated online by calling update() with poses parameter appropriately set. This will also create the joint index map Free storage and clear data structures

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◆ comJacobian()

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const base::MatrixXd & wbc::RobotModelKDL::comJacobian ()
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Returns the CoM Jacobian for the entire robot, which maps the robot joint velocities to linear spatial velocities in robot base coordinates. Size of the Jacobian will be 3 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the configured joint order of the robot.

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A 3xN matrix, where N is the number of robot joints
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Implements wbc::RobotModel.

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◆ computeInverseDynamics()

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void wbc::RobotModelKDL::computeInverseDynamics (base::commands::Joints & solver_output)
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Compute and return the inverse dynamics solution.

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Implements wbc::RobotModel.

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◆ configure()

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bool wbc::RobotModelKDL::configure (const RobotModelConfig & cfg)
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Load and configure the robot model. In this implementation, each model config constains a URDF file that will be parsed into a KDL tree. If the overall model is empty, the overall KDL::Tree will be replaced by the given tree. If there is already a KDL Tree, the new tree will be attached with the given pose to the 'hook' frame of the overall tree. The relative poses of the trees can be updated online by calling update() with poses parameter appropriately set.

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model_configThe models configuration(s). These include the path to the URDF model file(s), the relative poses and hooks to which the models shall be attached. This way you can add multiple robot model tree and attach them to each other.
base_frameBase frame of the model. If left empty, the base will be selected as the root frame of the first URDF model.
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True in case of success, else false
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Implements wbc::RobotModel.

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◆ createChain() [1/2]

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void wbc::RobotModelKDL::createChain (const KDL::Tree & tree,
const std::string & root_frame,
const std::string & tip_frame )
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Create a KDL chain and add it to the KDL Chain map. Throws an exception if chain cannot be extracted from KDL Tree.

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treetree from which the kinematic chain is extracted
root_frameRoot frame of the chain
tip_frameTip frame of the chain
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◆ createChain() [2/2]

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void wbc::RobotModelKDL::createChain (const std::string & root_frame,
const std::string & tip_frame )
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Create a KDL chain and add it to the KDL Chain map. Throws an exception if chain cannot be extracted from KDL Tree.

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Map of KDL Chains

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root_frameRoot frame of the chain
tip_frameTip frame of the chain
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◆ getTree()

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KDL::Tree wbc::RobotModelKDL::getTree ()
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Return full tree (KDL model)

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◆ jacobianDot()

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const base::MatrixXd & wbc::RobotModelKDL::jacobianDot (const std::string & root_frame,
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Returns the derivative of the Jacobian for the kinematic chain between root and the tip frame as full body Jacobian. By convention reference frame & reference point of the Jacobian will be the root frame (corresponding to the body Jacobian). Size of the Jacobian will be 6 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the joint order of the robot. The columns that correspond to joints that are not part of the kinematic chain will have only zeros as entries.

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root_frameRoot frame of the chain. Has to be a valid link in the robot model.
tip_frameTip frame of the chain. Has to be a valid link in the robot model.
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A 6xN Jacobian derivative matrix, where N is the number of robot joints
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Implements wbc::RobotModel.

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◆ jointSpaceInertiaMatrix()

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const base::MatrixXd & wbc::RobotModelKDL::jointSpaceInertiaMatrix ()
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Compute and return the joint space mass-inertia matrix, which is nj x nj, where nj is the number of joints of the system

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Implements wbc::RobotModel.

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◆ recursiveCOM()

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void wbc::RobotModelKDL::recursiveCOM (const KDL::SegmentMap::const_iterator & currentSegment,
const KDL::Frame & frame,
double & mass,
KDL::Vector & cog )
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Recursively loops through all the tree segments and compute the COG of the complete tree.

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currentSegementCurrent Segement in the recursive loop
statusCurrent joint state
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◆ rigidBodyState()

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const base::samples::RigidBodyStateSE3 & wbc::RobotModelKDL::rigidBodyState (const std::string & root_frame,
const std::string & tip_frame )
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Computes and returns the relative transform between the two given frames. By convention this is the pose of the tip frame in root coordinates. This will create a kinematic chain between root and tip frame, if called for the first time with the given arguments.

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root_frameRoot frame of the chain. Has to be a valid link in the robot model.
tip_frameTip frame of the chain. Has to be a valid link in the robot model.
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Implements wbc::RobotModel.

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◆ spaceJacobian()

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const base::MatrixXd & wbc::RobotModelKDL::spaceJacobian (const std::string & root_frame,
const std::string & tip_frame )
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Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobian. Size of the Jacobian will be 6 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the joint order of the robot. The columns that correspond to joints that are not part of the kinematic chain will have only zeros as entries.

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root_frameRoot frame of the chain. Has to be a valid link in the robot model.
tip_frameTip frame of the chain. Has to be a valid link in the robot model.
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Implements wbc::RobotModel.

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◆ spaceJacobianFromTree()

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const base::MatrixXd & wbc::RobotModelKDL::spaceJacobianFromTree (const KDL::Tree & tree,
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const std::string & tip_frame )
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Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobian. Size of the Jacobian will be 6 x nJoints, where nJoints is the number of joints of the whole robot. The order of the columns will be the same as the joint order of the robot. The columns that correspond to joints that are not part of the kinematic chain will have only zeros as entries.

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treekinematic tree from which the jacobian is computed.
root_frameRoot frame of the chain. Has to be a valid link in the robot model.
tip_frameTip frame of the chain. Has to be a valid link in the robot model.
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◆ spatialAccelerationBias()

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const base::Acceleration & wbc::RobotModelKDL::spatialAccelerationBias (const std::string & root_frame,
const std::string & tip_frame )
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Returns the spatial acceleration bias, i.e. the term Jdot*qdot.

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root_frameRoot frame of the chain. Has to be a valid link in the robot model.
tip_frameTip frame of the chain. Has to be a valid link in the robot model.
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A Nx1 vector, where N is the number of robot joints
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Implements wbc::RobotModel.

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◆ systemState()

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void wbc::RobotModelKDL::systemState (base::VectorXd & q,
base::VectorXd & qd,
base::VectorXd & qdd )
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Return entire system state

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Implements wbc::RobotModel.

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◆ update()

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void wbc::RobotModelKDL::update (const base::samples::Joints & joint_state,
const base::samples::RigidBodyStateSE3 & floating_base_state = base::samples::RigidBodyStateSE3() )
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Update the robot model. The joint state has to contain all joints that are relevant in the model. This means: All joints that are ever required when requesting rigid body states, Jacobians or joint states. Note that.

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joint_stateThe joint_state vector. Has to contain all robot joints.
posesOptionally update links of the robot model. This can be used to update e.g. the relative position between two robots in the model. The source frame of the given rigid body state has to match the segment name in the KDL Tree that shall be updated
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Implements wbc::RobotModel.

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Member Data Documentation

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◆ full_tree

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KDL::Tree wbc::RobotModelKDL::full_tree
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◆ joint_idx_map_kdl

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std::map<std::string,int> wbc::RobotModelKDL::joint_idx_map_kdl
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Overall kinematic tree

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◆ kdl_chain_map

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KinematicChainKDLMap wbc::RobotModelKDL::kdl_chain_map
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◆ q

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KDL::JntArray wbc::RobotModelKDL::q
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◆ qd

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KDL::JntArray wbc::RobotModelKDL::qd
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◆ qdd

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◆ qdot_tmp

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◆ reg

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RobotModelRegistry< RobotModelKDL > wbc::RobotModelKDL::reg
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◆ tau

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KDL::JntArray wbc::RobotModelKDL::tau
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◆ tmp_acc

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◆ zero

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- - diff --git a/classwbc_1_1RobotModelKDL.png b/classwbc_1_1RobotModelKDL.png deleted file mode 100644 index 3ba1ad5577f26aaf7386ba89b3ff7376381b6753..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 560 zcmV-00?+-4P)x~0000RP)t-s|Ns90 z008Lh^>vTJr#LVva2S`&=-}Ys|Ns9r%~qrU000SeQchC<|NsC0|NsC0Hv*f~0005I zNkl;^<57{&_y=Md$ZLadfK zhxoEP+Da*z4PlgxLH7M|45g{+S{0_%9jy;Ya;ZB+ME=wr!XZS2%pvXu5o3&-9RPmm z4*=NhcYt_2Za{Gdh=XB2#VsJbI~)Q4*d4+l0FXI^LjWLi2!{Yb<`516fXpEr0sz^6 zfe0al-Hwn_N_*WQ93rJec80K^o+Uh!9B(yn8W<$`x2DqhK7%;r93VO4(;VgCxl}4N(`GGxZ62GkEuGh(4n|wY}^MA0%}FI%r7N5GkZ?gQg#(8hZ~h zBK;bI-GFEW!&ssJ@Hk2_tRR-loI==zIfLjbN@hbCWn&${D533GLr`}N8)jRQl y-SL{)1g-!4-?l@fl*k;yAyP_Y2Sf-VZ1x}1hHQzw=H2xG0000 - - - - - - -wbc: src/robot_models/kdl Directory Reference - - - - - - - - - - - -
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 KinematicChainKDL.hpp
 
 RobotModelKDL.cpp
 
 RobotModelKDL.hpp
 
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