Contains functions for computing various kinematic quantities of a tinyrobotics model. More...

#include <Eigen/Core>
#include <Eigen/Geometry>
#include "Math.hpp"
#include "Model.hpp"

Functions
template<typename Scalar , int nq, typename TargetLink >
const int	tinyrobotics::get_link_idx (const Model< Scalar, nq > &model, const TargetLink &target_link)
	Retrieves the index of the target link in the tinyrobotics model.

template<typename Scalar , int nq>
std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > >	tinyrobotics::forward_kinematics (Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q)
	Computes the transform to all the links in the tinyrobotics model.

template<typename Scalar , int nq, typename TargetLink >
Eigen::Transform< Scalar, 3, Eigen::Isometry >	tinyrobotics::forward_kinematics (const Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q, const TargetLink &target_link)
	Computes the transform to the target from the base link.

template<typename Scalar , int nq, typename TargetLink , typename SourceLink >
Eigen::Transform< Scalar, 3, Eigen::Isometry >	tinyrobotics::forward_kinematics (const Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q, const TargetLink &target_link, const SourceLink &source_link)
	Computes the homogeneous transform from a source to target link.

template<typename Scalar , int nq>
std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > >	tinyrobotics::forward_kinematics_com (Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q)
	Computes the transform to centre of mass of all the links in the tinyrobotics model.

template<typename Scalar , int nq, typename TargetLink , typename SourceLink = int>
Eigen::Transform< Scalar, 3, Eigen::Isometry >	tinyrobotics::forward_kinematics_com (const Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q, const TargetLink &target_link, const SourceLink &source_link=0)
	Computes the transform between source link {s} and target {t} centre of mass (CoM) {c}.

template<typename Scalar , int nq, typename TargetLink , typename SourceLink = int>
Eigen::Matrix< Scalar, 3, 1 >	tinyrobotics::translation (const Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q, const TargetLink &target_link, const SourceLink &source_link=0)
	Computes the translation of the target link from the source link in the source link frame.

template<typename Scalar , int nq, typename TargetLink , typename SourceLink = int>
Eigen::Matrix< Scalar, 3, 3 >	tinyrobotics::rotation (const Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q, const TargetLink &target_link, const SourceLink &source_link=0)
	Computes the rotation matrix between the target link and the source link in the source link frame.

template<typename Scalar , int nq, typename TargetLink >
Eigen::Matrix< Scalar, 6, nq >	tinyrobotics::geometric_jacobian (const Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q, const TargetLink &target_link)
	Computes the geometric jacobian of the target link from the base link in the base link frame.

template<typename Scalar , int nq, typename TargetLink >
Eigen::Matrix< Scalar, 6, nq >	tinyrobotics::geometric_jacobian_com (const Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q, const TargetLink &target_link)
	Computes the geometric jacobian relative to the base for the specified target link's center of mass.

template<typename Scalar , int nq, typename SourceLink = int>
Eigen::Matrix< Scalar, 3, 1 >	tinyrobotics::centre_of_mass (const Model< Scalar, nq > &model, const Eigen::Matrix< Scalar, nq, 1 > &q, const SourceLink &source_link=0)
	Computes the centre of mass expressed in source link frame.

Detailed Description

Contains functions for computing various kinematic quantities of a tinyrobotics model.

Function Documentation

◆ centre_of_mass()

template<typename Scalar , int nq, typename SourceLink = int>

Eigen::Matrix< Scalar, 3, 1 > tinyrobotics::centre_of_mass	(	const Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const SourceLink &	source_link = `0`
	)

Computes the centre of mass expressed in source link frame.

Parameters

model	tinyrobotics model.
q	The configuration vector of the robot model.
source_link	Source link, which can be an integer (index) or a string (name), from which the centre of mass is expressed.

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
SourceLink	Type of source_link parameter, which can be int or std::string.

Returns: The centre of mass position expressed in source link frame.

◆ forward_kinematics() [1/3]

template<typename Scalar , int nq, typename TargetLink >

Eigen::Transform< Scalar, 3, Eigen::Isometry > tinyrobotics::forward_kinematics	(	const Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const TargetLink &	target_link
	)

Computes the transform to the target from the base link.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.
target_link	Target link, which can be an integer (index) or a string (name).

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
TargetLink	Type of target_link parameter, which can be int or std::string.

Returns: Homogeneous transform between the base and the target link.

◆ forward_kinematics() [2/3]

template<typename Scalar , int nq, typename TargetLink , typename SourceLink >

Eigen::Transform< Scalar, 3, Eigen::Isometry > tinyrobotics::forward_kinematics	(	const Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const TargetLink &	target_link,
		const SourceLink &	source_link
	)

Computes the homogeneous transform from a source to target link.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.
source_link	Source link, which can be an integer (index) or a string (name).
target_link	Target link, which can be an integer (index) or a string (name).

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
TargetLink	Type of target_link parameter, which can be int or std::string.
SourceLink	Type of source_link parameter, which can be int or std::string.

Returns: Homogeneous transform from source {s} to target {t} link.

◆ forward_kinematics() [3/3]

template<typename Scalar , int nq>

std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > > tinyrobotics::forward_kinematics	(	Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q
	)

Computes the transform to all the links in the tinyrobotics model.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).

Returns: Stores the transform to all the links in model.data.forward_kinematics.

◆ forward_kinematics_com() [1/2]

template<typename Scalar , int nq, typename TargetLink , typename SourceLink = int>

Eigen::Transform< Scalar, 3, Eigen::Isometry > tinyrobotics::forward_kinematics_com	(	const Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const TargetLink &	target_link,
		const SourceLink &	source_link = `0`
	)

Computes the transform between source link {s} and target {t} centre of mass (CoM) {c}.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.
source_link	Source link, which can be an integer (index) or a string (name).
target_link	Target link, which can be an integer (index) or a string (name).

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
TargetLink	Type of target_link parameter, which can be int or std::string.
SourceLink	Type of source_link parameter, which can be int or std::string.

Returns: Homogeneous transform from source link {s} to target link centre of mass {c}.

◆ forward_kinematics_com() [2/2]

template<typename Scalar , int nq>

std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > > tinyrobotics::forward_kinematics_com	(	Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q
	)

Computes the transform to centre of mass of all the links in the tinyrobotics model.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).

Returns: Stores the transform to all the links in model.data.forward_kinematics.

◆ geometric_jacobian()

template<typename Scalar , int nq, typename TargetLink >

Eigen::Matrix< Scalar, 6, nq > tinyrobotics::geometric_jacobian	(	const Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const TargetLink &	target_link
	)

Computes the geometric jacobian of the target link from the base link in the base link frame.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.
target_link	Target link, which can be an integer (index) or a string (name).

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
TargetLink	Type of target_link parameter, which can be int or std::string.

Returns: The geometric jacobian of the target link from the base link in the base link frame.

◆ geometric_jacobian_com()

template<typename Scalar , int nq, typename TargetLink >

Eigen::Matrix< Scalar, 6, nq > tinyrobotics::geometric_jacobian_com	(	const Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const TargetLink &	target_link
	)

Computes the geometric jacobian relative to the base for the specified target link's center of mass.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.
target_link	Target link, which can be an integer (index) or a string (name).

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
TargetLink	Type of target_link parameter, which can be int or std::string.

Returns: The geometric jacobian of the target link from the base link in the base link frame.

◆ get_link_idx()

template<typename Scalar , int nq, typename TargetLink >

const int tinyrobotics::get_link_idx	(	const Model< Scalar, nq > &	model,
		const TargetLink &	target_link
	)

Retrieves the index of the target link in the tinyrobotics model.

Parameters

model	tinyrobotics model.
target_link	Target link, which can be an integer (index) or a string (name).

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
TargetLink	Type of target_link parameter, which can be int or std::string.

Returns: Index of the target link in the model.

Exceptions

std::invalid_argument if the TargetLink type is not int or std::string.

◆ rotation()

template<typename Scalar , int nq, typename TargetLink , typename SourceLink = int>

Eigen::Matrix< Scalar, 3, 3 > tinyrobotics::rotation	(	const Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const TargetLink &	target_link,
		const SourceLink &	source_link = `0`
	)

Computes the rotation matrix between the target link and the source link in the source link frame.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.
source_link	Source link, which can be an integer (index) or a string (name).
target_link	Target link, which can be an integer (index) or a string (name).

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
TargetLink	Type of target_link parameter, which can be int or std::string.
SourceLink	Type of source_link parameter, which can be int or std::string.

Returns: Rotation matrix between the target link and the source link in the source link frame.

◆ translation()

template<typename Scalar , int nq, typename TargetLink , typename SourceLink = int>

Eigen::Matrix< Scalar, 3, 1 > tinyrobotics::translation	(	const Model< Scalar, nq > &	model,
		const Eigen::Matrix< Scalar, nq, 1 > &	q,
		const TargetLink &	target_link,
		const SourceLink &	source_link = `0`
	)

Computes the translation of the target link from the source link in the source link frame.

Parameters

model	tinyrobotics model.
q	Joint configuration of the robot.
source_link	Source link, which can be an integer (index) or a string (name).
target_link	Target link, which can be an integer (index) or a string (name).

Template Parameters

Scalar	type of the tinyrobotics model.
nq	Number of configuration coordinates (degrees of freedom).
TargetLink	Type of target_link parameter, which can be int or std::string.
SourceLink	Type of source_link parameter, which can be int or std::string.

Returns: Translation of the target link from the source link in the source link frame.

Functions

Detailed Description

Function Documentation

◆ centre_of_mass()

◆ forward_kinematics() [1/3]

◆ forward_kinematics() [2/3]

◆ forward_kinematics() [3/3]

◆ forward_kinematics_com() [1/2]

◆ forward_kinematics_com() [2/2]

◆ geometric_jacobian()

◆ geometric_jacobian_com()

◆ get_link_idx()

◆ rotation()

◆ translation()