Interface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC. More...

#include <RobotModel.hpp>

Inheritance diagram for wbc::RobotModel:

Public Member Functions
	RobotModel ()

virtual	~RobotModel ()

virtual bool	configure (const RobotModelConfig &cfg)=0
	Load and configure the robot model.

virtual void	update (const base::samples::Joints &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state=base::samples::RigidBodyStateSE3())=0
	Update the robot configuration.

const base::samples::Joints &	jointState (const std::vector< std::string > &joint_names)

virtual void	systemState (base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd)=0

virtual const base::samples::RigidBodyStateSE3 &	rigidBodyState (const std::string &root_frame, const std::string &tip_frame)=0

virtual const base::MatrixXd &	spaceJacobian (const std::string &root_frame, const std::string &tip_frame)=0
	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 configured 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)=0
	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 configured 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 ()=0
	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::Acceleration &	spatialAccelerationBias (const std::string &root_frame, const std::string &tip_frame)=0
	Returns the spatial acceleration bias, i.e. the term Jdot*qdot.

virtual const base::MatrixXd &	jacobianDot (const std::string &root_frame, const std::string &tip_frame)=0
	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::MatrixXd &	jointSpaceInertiaMatrix ()=0
	Compute and return the joint space mass-inertia matrix, which is nj x nj, where nj is the number of joints of the system.

virtual const base::VectorXd &	biasForces ()=0
	Compute and return the bias force vector, which is nj x 1, where nj is the number of joints of the system.

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.

virtual const base::samples::RigidBodyStateSE3 &	centerOfMass ()=0
	Compute and return center of mass expressed in base frame.

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.

virtual void	computeInverseDynamics (base::commands::Joints &solver_output)=0
	Compute and return the inverse dynamics solution.

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.

Protected Types
typedef std::map< std::string, base::MatrixXd >	JacobianMap

Protected Member Functions
void	clear ()

const std::string	chainID (const std::string &root, const std::string &tip)

Protected Attributes
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

Detailed Description

Interface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC.

Member Typedef Documentation

◆ JacobianMap

std::map<std::string, base::MatrixXd > wbc::RobotModel::JacobianMap

protected

Constructor & Destructor Documentation

◆ RobotModel()

wbc::RobotModel::RobotModel ( )

◆ ~RobotModel()

virtual wbc::RobotModel::~RobotModel ( )

inlinevirtual

Member Function Documentation

◆ actuatedJointNames()

const std::vector< std::string > & wbc::RobotModel::actuatedJointNames ( )

inline

Return only actuated joint names.

◆ baseFrame()

const std::string & wbc::RobotModel::baseFrame ( )

inline

Get the base frame of the robot.

◆ biasForces()

virtual const base::VectorXd & wbc::RobotModel::biasForces ( )

pure virtual

Compute and return the bias force vector, which is nj x 1, where nj is the number of joints of the system.

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

◆ bodyJacobian()

virtual const base::MatrixXd & wbc::RobotModel::bodyJacobian	(	const std::string &	root_frame,
		const std::string &	tip_frame )

pure virtual

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 configured 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.

Parameters

root_frame	Root frame of the chain. Has to be a valid link in the robot model.
tip_frame	Tip frame of the chain. Has to be a valid link in the robot model.

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

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

◆ centerOfMass()

virtual const base::samples::RigidBodyStateSE3 & wbc::RobotModel::centerOfMass ( )

pure virtual

Compute and return center of mass expressed in base frame.

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

◆ chainID()

const std::string wbc::RobotModel::chainID	(	const std::string &	root,
		const std::string &	tip )

inlineprotected

ID of kinematic chain given root and tip

◆ clear()

void wbc::RobotModel::clear ( )

protected

◆ comJacobian()

virtual const base::MatrixXd & wbc::RobotModel::comJacobian ( )

pure virtual

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.

Returns: A 3xN matrix, where N is the number of robot joints

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

◆ computeInverseDynamics()

virtual void wbc::RobotModel::computeInverseDynamics ( base::commands::Joints & solver_output )

pure virtual

Compute and return the inverse dynamics solution.

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

◆ configure()

virtual bool wbc::RobotModel::configure ( const RobotModelConfig & cfg )

pure virtual

Load and configure the robot model.

Parameters

cfg	Model configuration. See RobotModelConfig.hpp for details

Returns: True in case of success, else false

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

◆ floatingBaseState()

const base::samples::RigidBodyStateSE3 & wbc::RobotModel::floatingBaseState ( )

inline

Get current status of floating base.

◆ getActiveContacts()

const ActiveContacts & wbc::RobotModel::getActiveContacts ( )

inline

Provide links names that are possibly in contact with the environment (typically the end effector links)

◆ getRobotModelConfig()

const RobotModelConfig & wbc::RobotModel::getRobotModelConfig ( )

inline

Get current robot model config.

◆ hasActuatedJoint()

bool wbc::RobotModel::hasActuatedJoint ( const std::string & joint_name )

Return True if given joint name is an actuated joint in robot model, false otherwise.

◆ hasFloatingBase()

bool wbc::RobotModel::hasFloatingBase ( )

inline

Is floating base robot?

◆ hasJoint()

bool wbc::RobotModel::hasJoint ( const std::string & joint_name )

Return True if given joint name is available in robot model, false otherwise.

◆ hasLink()

bool wbc::RobotModel::hasLink ( const std::string & link_name )

Return True if given link name is available in robot model, false otherwise.

◆ independentJointNames()

const std::vector< std::string > & wbc::RobotModel::independentJointNames ( )

inline

Return only independent joint names.

◆ jacobianDot()

virtual const base::MatrixXd & wbc::RobotModel::jacobianDot	(	const std::string &	root_frame,
		const std::string &	tip_frame )

pure virtual

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.

Parameters

root_frame	Root frame of the chain. Has to be a valid link in the robot model.
tip_frame	Tip frame of the chain. Has to be a valid link in the robot model.

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

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

◆ jointIndex()

uint wbc::RobotModel::jointIndex ( const std::string & joint_name )

Get index of joint name.

◆ jointLimits()

const base::JointLimits & wbc::RobotModel::jointLimits ( )

inline

Return current joint limits.

◆ jointNames()

const std::vector< std::string > & wbc::RobotModel::jointNames ( )

inline

Return all joint names.

◆ jointSpaceInertiaMatrix()

virtual const base::MatrixXd & wbc::RobotModel::jointSpaceInertiaMatrix ( )

pure virtual

Compute and return the joint space mass-inertia matrix, which is nj x nj, where nj is the number of joints of the system.

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

◆ jointState()

const base::samples::Joints & wbc::RobotModel::jointState ( const std::vector< std::string > & joint_names )

Returns the current status of the given joint names

◆ loadRobotURDF()

urdf::ModelInterfaceSharedPtr wbc::RobotModel::loadRobotURDF ( const std::string & file_or_string )

Load URDF model from either file or string.

◆ noOfActuatedJoints()

uint wbc::RobotModel::noOfActuatedJoints ( )

inline

Return number of actuated/active joints.

◆ noOfJoints()

uint wbc::RobotModel::noOfJoints ( )

inline

Return number of joints.

◆ rigidBodyState()

virtual const base::samples::RigidBodyStateSE3 & wbc::RobotModel::rigidBodyState	(	const std::string &	root_frame,
		const std::string &	tip_frame )

pure virtual

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::RobotModelPinocchio, and wbc::RobotModelRBDL.

◆ selectionMatrix()

const base::MatrixXd & wbc::RobotModel::selectionMatrix ( )

inline

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.

◆ setActiveContacts()

void wbc::RobotModel::setActiveContacts ( const ActiveContacts & contacts )

Provide information about which link is currently in contact with the environment.

◆ setContactWrenches()

void wbc::RobotModel::setContactWrenches ( const base::samples::Wrenches & wrenches )

inline

Set contact wrenches, names have to consistent with the configured contact points.

◆ setGravityVector()

void wbc::RobotModel::setGravityVector ( const base::Vector3d & g )

inline

Set the current gravity vector.

◆ spaceJacobian()

virtual const base::MatrixXd & wbc::RobotModel::spaceJacobian	(	const std::string &	root_frame,
		const std::string &	tip_frame )

pure virtual

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 configured 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.

Parameters

root_frame	Root frame of the chain. Has to be a valid link in the robot model.
tip_frame	Tip frame of the chain. Has to be a valid link in the robot model.

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

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

◆ spatialAccelerationBias()

virtual const base::Acceleration & wbc::RobotModel::spatialAccelerationBias	(	const std::string &	root_frame,
		const std::string &	tip_frame )

pure virtual

Returns the spatial acceleration bias, i.e. the term Jdot*qdot.

Parameters

root_frame	Root frame of the chain. Has to be a valid link in the robot model.
tip_frame	Tip frame of the chain. Has to be a valid link in the robot model.

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

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

◆ systemState()

virtual void wbc::RobotModel::systemState	(	base::VectorXd &	q,
		base::VectorXd &	qd,
		base::VectorXd &	qdd )

pure virtual

Return entire system state

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

◆ update()

virtual void wbc::RobotModel::update	(	const base::samples::Joints &	joint_state,
		const base::samples::RigidBodyStateSE3 &	floating_base_state = base::samples::RigidBodyStateSE3() )

pure virtual

Update the robot configuration.

Parameters

joint_state	The joint_state vector. Has to contain all robot joints that are configured in the model.
poses	Optional, only for floating base robots: update the floating base state of the robot model.

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

◆ worldFrame()

const std::string & wbc::RobotModel::worldFrame ( )

inline

Get the world frame id.

Member Data Documentation

◆ active_contacts

ActiveContacts wbc::RobotModel::active_contacts

protected

◆ actuated_joint_names

std::vector<std::string> wbc::RobotModel::actuated_joint_names

protected

◆ base_frame

std::string wbc::RobotModel::base_frame

protected

◆ bias_forces

base::VectorXd wbc::RobotModel::bias_forces

protected

◆ body_jac_map

JacobianMap wbc::RobotModel::body_jac_map

protected

◆ com_jac

base::MatrixXd wbc::RobotModel::com_jac

protected

◆ com_rbs

base::samples::RigidBodyStateSE3 wbc::RobotModel::com_rbs

protected

◆ contact_wrenches

base::samples::Wrenches wbc::RobotModel::contact_wrenches

protected

◆ floating_base_state

base::samples::RigidBodyStateSE3 wbc::RobotModel::floating_base_state

protected

◆ gravity

base::Vector3d wbc::RobotModel::gravity

protected

◆ has_floating_base

bool wbc::RobotModel::has_floating_base

protected

◆ independent_joint_names

std::vector<std::string> wbc::RobotModel::independent_joint_names

protected

◆ jac_dot_map

JacobianMap wbc::RobotModel::jac_dot_map

protected

◆ joint_limits

base::JointLimits wbc::RobotModel::joint_limits

protected

◆ joint_names

std::vector<std::string> wbc::RobotModel::joint_names

protected

◆ joint_names_floating_base

std::vector<std::string> wbc::RobotModel::joint_names_floating_base

protected

◆ joint_space_inertia_mat

base::MatrixXd wbc::RobotModel::joint_space_inertia_mat

protected

◆ joint_state

base::samples::Joints wbc::RobotModel::joint_state

protected

◆ joint_state_out

base::samples::Joints wbc::RobotModel::joint_state_out

protected

◆ rbs

base::samples::RigidBodyStateSE3 wbc::RobotModel::rbs

protected

◆ robot_model_config

RobotModelConfig wbc::RobotModel::robot_model_config

protected

◆ robot_urdf

urdf::ModelInterfaceSharedPtr wbc::RobotModel::robot_urdf

protected

◆ selection_matrix

base::MatrixXd wbc::RobotModel::selection_matrix

protected

◆ space_jac_map

JacobianMap wbc::RobotModel::space_jac_map

protected

◆ spatial_acc_bias

base::Acceleration wbc::RobotModel::spatial_acc_bias

protected

◆ world_frame

std::string wbc::RobotModel::world_frame

protected

The documentation for this class was generated from the following files:

src/core/RobotModel.hpp
src/core/RobotModel.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ JacobianMap

Constructor & Destructor Documentation

◆ RobotModel()

◆ ~RobotModel()

Member Function Documentation

◆ actuatedJointNames()

◆ baseFrame()

◆ biasForces()

◆ bodyJacobian()

◆ centerOfMass()

◆ chainID()

◆ clear()

◆ comJacobian()

◆ computeInverseDynamics()

◆ configure()

◆ floatingBaseState()

◆ getActiveContacts()

◆ getRobotModelConfig()

◆ hasActuatedJoint()

◆ hasFloatingBase()

◆ hasJoint()

◆ hasLink()

◆ independentJointNames()

◆ jacobianDot()

◆ jointIndex()

◆ jointLimits()

◆ jointNames()

◆ jointSpaceInertiaMatrix()

◆ jointState()

◆ loadRobotURDF()

◆ noOfActuatedJoints()

◆ noOfJoints()

◆ rigidBodyState()

◆ selectionMatrix()

◆ setActiveContacts()

◆ setContactWrenches()

◆ setGravityVector()

◆ spaceJacobian()

◆ spatialAccelerationBias()

◆ systemState()

◆ update()

◆ worldFrame()

Member Data Documentation

◆ active_contacts

◆ actuated_joint_names

◆ base_frame

◆ bias_forces

◆ body_jac_map

◆ com_jac

◆ com_rbs

◆ contact_wrenches

◆ floating_base_state

◆ gravity

◆ has_floating_base

◆ independent_joint_names

◆ jac_dot_map

◆ joint_limits

◆ joint_names

◆ joint_names_floating_base

◆ joint_space_inertia_mat

◆ joint_state

◆ joint_state_out

◆ rbs

◆ robot_model_config

◆ robot_urdf

◆ selection_matrix

◆ space_jac_map

◆ spatial_acc_bias

◆ world_frame