A tinyrobotics model. More...

#include <model.hpp>

Public Member Functions
Link< Scalar >	get_link (const std::string &name) const
	Get a link in the model by name.

Link< Scalar >	get_parent_link (const std::string &name) const
	Get the parent link of a link in the model by name.

Joint< Scalar >	get_joint (const std::string &name) const
	Get the joint in the model by name.

void	show_details ()
	Display details of the model.

Eigen::Matrix< Scalar, nq, 1 >	home_configuration () const
	Get a configuration vector for the model of all zeros.

Eigen::Matrix< Scalar, nq, 1 >	random_configuration (Scalar range=M_PI) const
	Get a random configuration vector for the model.

template<typename NewScalar >
Model< NewScalar, nq >	cast ()
	Casts the model to a new scalar type.

Public Attributes
std::string	name = ""
	************** Model Information **************

int	n_q = 0
	Number of configuration coordinates (degrees of freedom) in the model.

int	base_link_idx = -1
	Index of the base link in the models links vector.

std::vector< int >	q_map = {}
	Map to indices of links in the models link vector that have a non-fixed joints.

std::vector< int >	parent = {}
	Vector of parent link indices of the links which have a non-fixed joints.

Eigen::Matrix< Scalar, 3, 1 >	gravity = {0, 0, -9.81}
	Gravitational acceleration vector experienced by model.

Scalar	mass = 0
	Total mass of the model.

std::vector< Link< Scalar > >	links = {}
	Vector of links in the model.

Eigen::Matrix< Scalar, nq, nq >	mass_matrix = Eigen::Matrix<Scalar, nq, nq>::Zero()
	************** Pre-allcoated variables for kinematics algorithms **************

Scalar	potential_energy = 0
	Potential energy.

std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > >	forward_kinematics = {}
	Vector of forward kinematics data.

std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > >	forward_kinematics_com = {}
	Vector of forward kinematics com data.

Eigen::Matrix< Scalar, 3, 1 >	center_of_mass = Eigen::Matrix<Scalar, 3, 1>::Zero()
	center of mass position

std::vector< Eigen::Matrix< Scalar, 6, 6 > >	Xup
	************** Pre-allcoated variables for dynamics algorithms **************

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	S
	Motion subspace matrices for the joints.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	v
	Spatial velocities of the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	c
	Spatial acceleration bias terms for the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 6 > >	IA
	Articulated-body inertia matrices for the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	pA
	Articulated-body forces for the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	U
	Spatial force projections for the joints.

std::vector< Scalar >	d = std::vector<Scalar>(nq, 0)
	Joint force inertia terms for the robot links.

std::vector< Scalar >	u = std::vector<Scalar>(nq, 0)
	Joint force bias terms for the robot links.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	a
	Spatial accelerations of the robot links.

Eigen::Matrix< Scalar, 6, 1 >	vJ = Eigen::Matrix<Scalar, 6, 1>::Zero()
	Joint spatial velocities.

std::vector< Eigen::Matrix< Scalar, 6, 1 > >	fvp
	Joint spatial forces.

Eigen::Matrix< Scalar, nq, 1 >	C = Eigen::Matrix<Scalar, nq, 1>::Zero()
	Bias force vector.

Eigen::Matrix< Scalar, 6, 1 >	fh = Eigen::Matrix<Scalar, 6, 1>::Zero()
	Force term for intermediately storing the result.

std::vector< Eigen::Matrix< Scalar, 6, 6 > >	IC
	Articulated-body inertias.

Eigen::Matrix< Scalar, 6, 1 >	spatial_gravity = Eigen::Matrix<Scalar, 6, 1>::Zero()
	Gravity vector in spatial coordinates.

Eigen::Matrix< Scalar, 6, nq >	J = Eigen::Matrix<Scalar, 6, nq>::Zero()
	Jacobian.

Eigen::Matrix< Scalar, nq, 1 >	ddq = Eigen::Matrix<Scalar, nq, 1>::Zero()
	Joint acceleration.

Eigen::Matrix< Scalar, nq, 1 >	tau = Eigen::Matrix<Scalar, nq, 1>::Zero()
	Joint torque/force.

Detailed Description

template<typename Scalar, int nq>
struct tinyrobotics::Model< Scalar, nq >

A tinyrobotics model.

A tinyrobotics model is a collection of links and joints that represents a robot.

Template Parameters

Scalar	The scalar type for the model.
nq	The number of configuration coordinates (number of degrees of freedom).

Member Function Documentation

◆ cast()

template<typename Scalar , int nq>

template<typename NewScalar >

Model< NewScalar, nq > tinyrobotics::Model< Scalar, nq >::cast ( )

inline

Casts the model to a new scalar type.

Template Parameters

NewScalar scalar type to cast the model to.

Returns: Model with new scalar type.

◆ get_joint()

template<typename Scalar , int nq>

Joint< Scalar > tinyrobotics::Model< Scalar, nq >::get_joint ( const std::string & name ) const

inline

Get the joint in the model by name.

Parameters

name	Name of the joint.

Returns: Joint in the model.

◆ get_link()

template<typename Scalar , int nq>

Link< Scalar > tinyrobotics::Model< Scalar, nq >::get_link ( const std::string & name ) const

inline

Get a link in the model by name.

Parameters

name	Name of the link.

Returns: Link in the model.

◆ get_parent_link()

template<typename Scalar , int nq>

Link< Scalar > tinyrobotics::Model< Scalar, nq >::get_parent_link ( const std::string & name ) const

inline

Get the parent link of a link in the model by name.

Parameters

link_idx Index of the link in the model.

Returns: Parent link of the link.

◆ home_configuration()

template<typename Scalar , int nq>

Eigen::Matrix< Scalar, nq, 1 > tinyrobotics::Model< Scalar, nq >::home_configuration ( ) const

inline

Get a configuration vector for the model of all zeros.

Returns: Configuration vector of all zeros.

◆ random_configuration()

template<typename Scalar , int nq>

Eigen::Matrix< Scalar, nq, 1 > tinyrobotics::Model< Scalar, nq >::random_configuration ( Scalar range = M_PI ) const

inline

Get a random configuration vector for the model.

Parameters

range Range of the random values. Values will be between -range and range.

Returns: Configuration vector of random values between -pi and pi.

Member Data Documentation

◆ a

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Model< Scalar, nq >::a

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Spatial accelerations of the robot links.

◆ c

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Model< Scalar, nq >::c

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Spatial acceleration bias terms for the robot links.

◆ fvp

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Model< Scalar, nq >::fvp

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Joint spatial forces.

◆ IA

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 6> > tinyrobotics::Model< Scalar, nq >::IA

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 6>>(nq, Eigen::Matrix<Scalar, 6, 6>::Zero())

Articulated-body inertia matrices for the robot links.

◆ IC

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 6> > tinyrobotics::Model< Scalar, nq >::IC

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 6>>(nq, Eigen::Matrix<Scalar, 6, 6>::Zero())

Articulated-body inertias.

◆ mass_matrix

template<typename Scalar , int nq>

Eigen::Matrix<Scalar, nq, nq> tinyrobotics::Model< Scalar, nq >::mass_matrix = Eigen::Matrix<Scalar, nq, nq>::Zero()

**************** Pre-allcoated variables for kinematics algorithms ****************

Mass matrix

◆ name

template<typename Scalar , int nq>

std::string tinyrobotics::Model< Scalar, nq >::name = ""

**************** Model Information ****************

Name of the model

◆ pA

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Model< Scalar, nq >::pA

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Articulated-body forces for the robot links.

◆ S

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Model< Scalar, nq >::S

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Motion subspace matrices for the joints.

◆ U

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Model< Scalar, nq >::U

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Spatial force projections for the joints.

◆ v

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 1> > tinyrobotics::Model< Scalar, nq >::v

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 1>>(nq, Eigen::Matrix<Scalar, 6, 1>::Zero())

Spatial velocities of the robot links.

◆ Xup

template<typename Scalar , int nq>

std::vector<Eigen::Matrix<Scalar, 6, 6> > tinyrobotics::Model< Scalar, nq >::Xup

Initial value:

=

std::vector<Eigen::Matrix<Scalar, 6, 6>>(nq, Eigen::Matrix<Scalar, 6, 6>::Zero())

**************** Pre-allcoated variables for dynamics algorithms ****************

Spatial transforms from parent to child links

The documentation for this struct was generated from the following file:

include/model.hpp

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ cast()

◆ get_joint()

◆ get_link()

◆ get_parent_link()

◆ home_configuration()

◆ random_configuration()

Member Data Documentation

◆ a

◆ c

◆ fvp

◆ IA

◆ IC

◆ mass_matrix

◆ name

◆ pA

◆ S

◆ U

◆ v

◆ Xup