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

#include <RobotModel.hpp>

Inheritance diagram for wbc::RobotModel:

Classes
struct	Matrix

struct	Pose

struct	RigidBodyState

struct	SpatialAcceleration

struct	Twist

struct	Vector

Public Member Functions
	RobotModel ()

virtual	~RobotModel ()

virtual bool	configure (const RobotModelConfig &cfg)=0
	This will read the robot model from the given URDF file and initialize all members accordingly.

void	update (const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities)
	Update kinematics/dynamics for fixed base robots. Joint acceleration will be assumed zero.

virtual void	update (const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities, const Eigen::VectorXd &joint_accelerations)
	Update kinematics/dynamics for fixed base robots.

void	update (const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities, const types::Pose &fb_pose, const types::Twist &fb_twist)
	Update kinematics/dynamics for floating base robots. Joint and spatial acceleration will be assumed zero.

virtual void	update (const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities, const Eigen::VectorXd &joint_accelerations, const types::Pose &fb_pose, const types::Twist &fb_twist, const types::SpatialAcceleration &fb_acc)=0
	Update kinematics/dynamics.

const types::JointState &	jointState ()

virtual const types::Pose &	pose (const std::string &frame_id)=0

virtual const types::Twist &	twist (const std::string &frame_id)=0

virtual const types::SpatialAcceleration &	acceleration (const std::string &frame_id)=0

virtual const Eigen::MatrixXd &	spaceJacobian (const std::string &frame_id)=0
	Returns the Space Jacobian for the given frame. The order of the Jacobian's columns will be the same as in the model (alphabetic). Note that the linear part of the jacobian will be aligned to world frame (floating base robot) or robot root link (fixed base), and the angular part will be in body coordinates. This is refered to as "hybrid" representation.

virtual const Eigen::MatrixXd &	bodyJacobian (const std::string &frame_id)=0
	Returns the Body Jacobian for the given frame. The order of the Jacobian's columns will be the same as in the model (alphabetic).

virtual const Eigen::MatrixXd &	comJacobian ()=0
	Returns the CoM Jacobian for the robot, which maps the robot joint velocities to linear spatial velocities of the CoM expressed in world frame (floating base robot) or robot root link (fixed base). The order of the columns will be the same as the configured joint order of the robot.

virtual const types::SpatialAcceleration &	spatialAccelerationBias (const std::string &frame_id)=0
	Returns the spatial acceleration bias, i.e. the term Jdot*qdot. The linear part of the acceleration will be aligned to world frame (floating base robot) or robot root link (fixed base), and the angular part will be in body coordinates. This is refered to as "hybrid" representation.

virtual const Eigen::MatrixXd &	jointSpaceInertiaMatrix ()=0
	Returns the joint space mass-inertia matrix, which is nj x nj, where nj is the number of joints + number of floating coordinates, i.e. 6 in case of a floating base robot.

virtual const Eigen::VectorXd &	biasForces ()=0
	Returns the bias force vector, which is nj x 1, where nj is the number of joints + number of floating coordinates, i.e. 6 in case of a floating base robot.

const std::vector< std::string > &	jointNames ()
	Return all joint names excluding the floating base. This will be.

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 the internal index for a joint name.

const std::string &	baseFrame ()
	Get the base frame of the robot, i.e. the root of the URDF model.

const std::string &	worldFrame ()
	Get the world frame id. Will be "world" in case of floating base robot and equal to base_frame in case of fixed base robot.

const types::JointLimits	jointLimits ()
	Return current joint limits.

const Eigen::MatrixXd &	selectionMatrix ()
	Return current selection matrix, mapping actuated to all dof.

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.

virtual const types::RigidBodyState &	centerOfMass ()=0
	Return centers of mass expressed in world frame.

void	setContacts (const std::vector< types::Contact > &contacts)
	Set new contact points.

const std::vector< types::Contact > &	getContacts ()
	get current contact points

uint	nj ()
	Return number of joints.

uint	na ()
	Return number of actuated joints.

uint	nfb ()
	Return dof of the floating base, will be either 0 (floating_base == false) or 6 (floating_base = = false)

uint	nac ()

uint	nc ()
	Return total number of contact points.

const Eigen::VectorXd &	getQ ()
	Return full system position vector, incl. floating base. Convention [floating_base_pos, floating_base_ori, joint_positions]: [fb_x,fb_y,fb_z, fb_qx,fb_qy,fb_qz,fb_qw, q_1 ... q_n)].

const Eigen::VectorXd &	getQd ()
	Return full system velocity vector, incl. floating base. Convention [floating_base_vel, floating_base_rot_vel, joint_velocities]: [fb_vx,fb_vx,fb_vx, fb_wx,fb_wy,fb_wz, qd_1 ... qd_n)].

const Eigen::VectorXd &	getQdd ()
	Return full system acceleration vector, incl. floating base. Convention [floating_base_acc, floating_base_rot_acc, joint_accelerations]: [fb_dvx,fb_dvx,fb_dvx, fb_dwx,fb_dwy,fb_dwz, qdd_1 ... qdd_n)].

void	setGravityVector (const Eigen::Vector3d &g)
	Set the current gravity vector. Default is (0,0,-9.81)

const types::RigidBodyState &	floatingBaseState ()
	Get current status of floating base.

const RobotModelConfig &	getRobotModelConfig ()
	Get current robot model config.

bool	hasFloatingBase ()
	Is is a floating base robot?

urdf::ModelInterfaceSharedPtr	loadRobotURDF (const std::string &file_or_string)
	Load URDF model from either file or string.

urdf::ModelInterfaceSharedPtr	getURDFModel ()
	Return current URDF model.

void	setJointWeights (const Eigen::VectorXd &weights)
	set Joint weights by given name

const Eigen::VectorXd &	getJointWeights () const
	Get Joint weights as Named vector.

virtual const Eigen::VectorXd &	inverseDynamics (const Eigen::VectorXd &qdd_ref=Eigen::VectorXd(), const std::vector< types::Wrench > &f_ext=std::vector< types::Wrench >())=0
	Compute tau from internal state.

Protected Member Functions
void	clear ()

void	resetData ()

void	updateData ()

Protected Attributes
std::vector< types::Contact >	contacts

Eigen::Vector3d	gravity

types::RigidBodyState	floating_base_state

RobotModelConfig	robot_model_config

std::string	world_frame

std::string	base_frame

types::JointLimits	joint_limits

std::vector< std::string >	actuated_joint_names

std::vector< std::string >	independent_joint_names

std::vector< std::string >	joint_names

urdf::ModelInterfaceSharedPtr	robot_urdf

bool	has_floating_base

types::JointState	joint_state

Eigen::MatrixXd	selection_matrix

Eigen::VectorXd	q

Eigen::VectorXd	qd

Eigen::VectorXd	qdd

Eigen::VectorXd	tau

Eigen::VectorXd	zero_jnt

std::vector< Matrix >	com_jac

std::vector< Matrix >	joint_space_inertia_mat

std::vector< Vector >	bias_forces

std::vector< RigidBodyState >	com_rbs

std::map< std::string, Matrix >	space_jac_map

std::map< std::string, Matrix >	body_jac_map

std::map< std::string, Pose >	pose_map

std::map< std::string, Twist >	twist_map

std::map< std::string, SpatialAcceleration >	acc_map

std::map< std::string, SpatialAcceleration >	spatial_acc_bias_map

bool	fk_needs_recompute

bool	fk_with_zero_acc_needs_recompute

Eigen::VectorXd	joint_weights

types::SpatialAcceleration	zero_acc

bool	configured

bool	updated

Detailed Description

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

All quantities will be computed with respect to world coordinates (floating base robot) or robot root link (fixed base robot)
Joint order is alphabetic, with the floating base being the first 6 joints: [floating_x,floating_y,floating_z,floating_rx,floating_rx,floating_rz, q1 ... qn] Call jointNames() to get the order of joints (without floating base)
You have to call configure() once and update() in every cycle (to provide new position,velocity,accelerations readings) before you request any kinematics or dynamics data

Constructor & Destructor Documentation

◆ RobotModel()

wbc::RobotModel::RobotModel ( )

◆ ~RobotModel()

virtual wbc::RobotModel::~RobotModel ( )

inlinevirtual

Member Function Documentation

◆ acceleration()

virtual const types::SpatialAcceleration & wbc::RobotModel::acceleration ( const std::string & frame_id )

pure virtual

Returns the spatial acceleration of the body defined by frame_id. Twist will be in "local-world-aligned" (hybrid) representation, i.e., with respect to a frame attached to the given body, but aligned to world coordinates (floating base robot) or robot root link (fixed base)

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

◆ 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, i.e. the root of the URDF model.

◆ biasForces()

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

pure virtual

Returns the bias force vector, which is nj x 1, where nj is the number of joints + number of floating coordinates, i.e. 6 in case of a floating base robot.

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

◆ bodyJacobian()

virtual const Eigen::MatrixXd & wbc::RobotModel::bodyJacobian ( const std::string & frame_id )

pure virtual

Returns the Body Jacobian for the given frame. The order of the Jacobian's columns will be the same as in the model (alphabetic).

Parameters

frame_id Reference frame of the Jacobian. Has to be a valid link in the robot model.

Returns: A 6 x nj matrix, where nj is the number of joints + number of floating coordinates, i.e. 6 in case of a floating base robot.

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

◆ centerOfMass()

virtual const types::RigidBodyState & wbc::RobotModel::centerOfMass ( )

pure virtual

Return centers of mass expressed in world frame.

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

◆ clear()

void wbc::RobotModel::clear ( )

protected

◆ comJacobian()

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

pure virtual

Returns the CoM Jacobian for the robot, which maps the robot joint velocities to linear spatial velocities of the CoM expressed in world frame (floating base robot) or robot root link (fixed base). The order of the columns will be the same as the configured joint order of the robot.

Returns: A 3 x nj matrix, where nj is the number of joints + number of floating coordinates, i.e. 6 in case of a floating base robot.

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

◆ configure()

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

pure virtual

This will read the robot model from the given URDF file and initialize all members accordingly.

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 types::RigidBodyState & wbc::RobotModel::floatingBaseState ( )

inline

Get current status of floating base.

◆ getContacts()

const std::vector< types::Contact > & wbc::RobotModel::getContacts ( )

inline

get current contact points

◆ getJointWeights()

const Eigen::VectorXd & wbc::RobotModel::getJointWeights ( ) const

inline

Get Joint weights as Named vector.

◆ getQ()

const Eigen::VectorXd & wbc::RobotModel::getQ ( )

inline

Return full system position vector, incl. floating base. Convention [floating_base_pos, floating_base_ori, joint_positions]: [fb_x,fb_y,fb_z, fb_qx,fb_qy,fb_qz,fb_qw, q_1 ... q_n)].

◆ getQd()

const Eigen::VectorXd & wbc::RobotModel::getQd ( )

inline

Return full system velocity vector, incl. floating base. Convention [floating_base_vel, floating_base_rot_vel, joint_velocities]: [fb_vx,fb_vx,fb_vx, fb_wx,fb_wy,fb_wz, qd_1 ... qd_n)].

◆ getQdd()

const Eigen::VectorXd & wbc::RobotModel::getQdd ( )

inline

Return full system acceleration vector, incl. floating base. Convention [floating_base_acc, floating_base_rot_acc, joint_accelerations]: [fb_dvx,fb_dvx,fb_dvx, fb_dwx,fb_dwy,fb_dwz, qdd_1 ... qdd_n)].

◆ getRobotModelConfig()

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

inline

Get current robot model config.

◆ getURDFModel()

urdf::ModelInterfaceSharedPtr wbc::RobotModel::getURDFModel ( )

inline

Return current URDF model.

◆ 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 is a 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.

◆ inverseDynamics()

virtual const Eigen::VectorXd & wbc::RobotModel::inverseDynamics	(	const Eigen::VectorXd &	qdd_ref = Eigen::VectorXd(),
		const std::vector< types::Wrench > &	f_ext = std::vector< types::Wrench >() )

pure virtual

Compute tau from internal state.

Parameters

qdd_ref	(Optional) Desired reference joint acceleration (including floating base), if empty actual acceleration will be used.
f_ext	(Optional) Contact wrenches, if not empty, size has to match the number of contact points. All wrenches will be in local coordinates, but aligned wrt. world

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

◆ jointIndex()

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

Get the internal index for a joint name.

◆ jointLimits()

const types::JointLimits wbc::RobotModel::jointLimits ( )

inline

Return current joint limits.

◆ jointNames()

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

inline

Return all joint names excluding the floating base. This will be.

The entire spanning tree if there are parallel loops
Same as independent joints in case of a serial robot
Same as actuated joint names in case of a fully actuated robot

◆ jointSpaceInertiaMatrix()

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

pure virtual

Returns the joint space mass-inertia matrix, which is nj x nj, where nj is the number of joints + number of floating coordinates, i.e. 6 in case of a floating base robot.

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

◆ jointState()

const types::JointState & wbc::RobotModel::jointState ( )

inline

Returns the current joint state (indepenent joints)

◆ loadRobotURDF()

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

Load URDF model from either file or string.

◆ na()

uint wbc::RobotModel::na ( )

inline

Return number of actuated joints.

◆ nac()

uint wbc::RobotModel::nac ( )

Return number of active contacts

◆ nc()

uint wbc::RobotModel::nc ( )

inline

Return total number of contact points.

◆ nfb()

uint wbc::RobotModel::nfb ( )

inline

Return dof of the floating base, will be either 0 (floating_base == false) or 6 (floating_base = = false)

◆ nj()

uint wbc::RobotModel::nj ( )

inline

Return number of joints.

◆ pose()

virtual const types::Pose & wbc::RobotModel::pose ( const std::string & frame_id )

pure virtual

Returns the pose of the body defined by frame_id. Pose will be computed with respect to world frame (floating base robot) or robot root link (fixed base)

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

◆ resetData()

void wbc::RobotModel::resetData ( )

protected

◆ selectionMatrix()

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

inline

Return current selection matrix, mapping actuated to all dof.

◆ setContacts()

void wbc::RobotModel::setContacts ( const std::vector< types::Contact > & contacts )

Set new contact points.

◆ setGravityVector()

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

inline

Set the current gravity vector. Default is (0,0,-9.81)

◆ setJointWeights()

void wbc::RobotModel::setJointWeights ( const Eigen::VectorXd & weights )

set Joint weights by given name

◆ spaceJacobian()

virtual const Eigen::MatrixXd & wbc::RobotModel::spaceJacobian ( const std::string & frame_id )

pure virtual

Returns the Space Jacobian for the given frame. The order of the Jacobian's columns will be the same as in the model (alphabetic). Note that the linear part of the jacobian will be aligned to world frame (floating base robot) or robot root link (fixed base), and the angular part will be in body coordinates. This is refered to as "hybrid" representation.

Parameters

frame_id Tip frame of the Jacobian. Has to be a valid link in the robot model.

Returns: A 6 x nj matrix, where nj is the number of joints + number of floating coordinates, i.e. 6 in case of a floating base robot.

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

◆ spatialAccelerationBias()

virtual const types::SpatialAcceleration & wbc::RobotModel::spatialAccelerationBias ( const std::string & frame_id )

pure virtual

Returns the spatial acceleration bias, i.e. the term Jdot*qdot. The linear part of the acceleration will be aligned to world frame (floating base robot) or robot root link (fixed base), and the angular part will be in body coordinates. This is refered to as "hybrid" representation.

Parameters

frame_id Reference frame of the spatial acceleration. Has to be a valid link in the robot model.

Returns: A 6 dof spatial acceleration.

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

◆ twist()

virtual const types::Twist & wbc::RobotModel::twist ( const std::string & frame_id )

pure virtual

Returns the twist of the body defined by frame_id. Twist will be in "local-world-aligned" (hybrid) representation, i.e., with respect to a frame attached to the given body, but aligned to world coordinates (floating base robot) or robot root link (fixed base)

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

◆ update() [1/4]

void wbc::RobotModel::update	(	const Eigen::VectorXd &	joint_positions,
		const Eigen::VectorXd &	joint_velocities )

Update kinematics/dynamics for fixed base robots. Joint acceleration will be assumed zero.

Parameters

joint_positions	Positions of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().
joint_velocities	Velocities of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().

◆ update() [2/4]

void wbc::RobotModel::update	(	const Eigen::VectorXd &	joint_positions,
		const Eigen::VectorXd &	joint_velocities,
		const Eigen::VectorXd &	joint_accelerations )

virtual

Update kinematics/dynamics for fixed base robots.

Parameters

joint_positions	Positions of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().
joint_velocities	Velocities of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().
joint_accelerations	Accelerations of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().

◆ update() [3/4]

virtual void wbc::RobotModel::update	(	const Eigen::VectorXd &	joint_positions,
		const Eigen::VectorXd &	joint_velocities,
		const Eigen::VectorXd &	joint_accelerations,
		const types::Pose &	fb_pose,
		const types::Twist &	fb_twist,
		const types::SpatialAcceleration &	fb_acc )

pure virtual

Update kinematics/dynamics.

Parameters

joint_positions	Positions of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().
joint_velocities	Velocities of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().
joint_acceleration	Velocities of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().
fb_pose	Pose of the floating base in world coordinates
fb_twist	Twist of the floating base in "local-world-aligned" (hybrid) representation, i.e., with respect to a frame attached to the floating base (robot root), but aligned to world coordinates
fb_acc	Spatial accelerationof the floating base in "local-world-aligned" (hybrid) representation, i.e., with respect to a frame attached to the floating base (robot root), but aligned to world coordinates

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

◆ update() [4/4]

void wbc::RobotModel::update	(	const Eigen::VectorXd &	joint_positions,
		const Eigen::VectorXd &	joint_velocities,
		const types::Pose &	fb_pose,
		const types::Twist &	fb_twist )

Update kinematics/dynamics for floating base robots. Joint and spatial acceleration will be assumed zero.

Parameters

joint_positions	Positions of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().
joint_velocities	Velocities of all independent joints. These have to be in the same order as used by the model (alphabetic). For getting the joint order, call jointNames().
fb_pose	Pose of the floating base in world coordinates
fb_twist	Twist of the floating base in "local-world-aligned" (hybrid) representation, i.e., the frame is attached to the floating base (robot root), but aligned to world coordinates

◆ updateData()

void wbc::RobotModel::updateData ( )

protected

◆ worldFrame()

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

inline

Get the world frame id. Will be "world" in case of floating base robot and equal to base_frame in case of fixed base robot.

Member Data Documentation

◆ acc_map

std::map<std::string,SpatialAcceleration> wbc::RobotModel::acc_map

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

std::vector<Vector> wbc::RobotModel::bias_forces

protected

◆ body_jac_map

std::map<std::string,Matrix> wbc::RobotModel::body_jac_map

protected

◆ com_jac

std::vector<Matrix> wbc::RobotModel::com_jac

protected

◆ com_rbs

std::vector<RigidBodyState> wbc::RobotModel::com_rbs

protected

◆ configured

bool wbc::RobotModel::configured

protected

◆ contacts

std::vector<types::Contact> wbc::RobotModel::contacts

protected

◆ fk_needs_recompute

bool wbc::RobotModel::fk_needs_recompute

protected

◆ fk_with_zero_acc_needs_recompute

bool wbc::RobotModel::fk_with_zero_acc_needs_recompute

protected

◆ floating_base_state

types::RigidBodyState wbc::RobotModel::floating_base_state

protected

◆ gravity

Eigen::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

◆ joint_limits

types::JointLimits wbc::RobotModel::joint_limits

protected

◆ joint_names

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

protected

◆ joint_space_inertia_mat

std::vector<Matrix> wbc::RobotModel::joint_space_inertia_mat

protected

◆ joint_state

types::JointState wbc::RobotModel::joint_state

protected

◆ joint_weights

Eigen::VectorXd wbc::RobotModel::joint_weights

protected

◆ pose_map

std::map<std::string,Pose> wbc::RobotModel::pose_map

protected

◆ q

Eigen::VectorXd wbc::RobotModel::q

protected

◆ qd

Eigen::VectorXd wbc::RobotModel::qd

protected

◆ qdd

Eigen::VectorXd wbc::RobotModel::qdd

protected

◆ robot_model_config

RobotModelConfig wbc::RobotModel::robot_model_config

protected

◆ robot_urdf

urdf::ModelInterfaceSharedPtr wbc::RobotModel::robot_urdf

protected

◆ selection_matrix

Eigen::MatrixXd wbc::RobotModel::selection_matrix

protected

◆ space_jac_map

std::map<std::string,Matrix> wbc::RobotModel::space_jac_map

protected

◆ spatial_acc_bias_map

std::map<std::string,SpatialAcceleration> wbc::RobotModel::spatial_acc_bias_map

protected

◆ tau

Eigen::VectorXd wbc::RobotModel::tau

protected

◆ twist_map

std::map<std::string,Twist> wbc::RobotModel::twist_map

protected

◆ updated

bool wbc::RobotModel::updated

protected

◆ world_frame

std::string wbc::RobotModel::world_frame

protected

◆ zero_acc

types::SpatialAcceleration wbc::RobotModel::zero_acc

protected

◆ zero_jnt

Eigen::VectorXd wbc::RobotModel::zero_jnt

protected

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

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotModel()

◆ ~RobotModel()

Member Function Documentation

◆ acceleration()

◆ actuatedJointNames()

◆ baseFrame()

◆ biasForces()

◆ bodyJacobian()

◆ centerOfMass()

◆ clear()

◆ comJacobian()

◆ configure()

◆ floatingBaseState()

◆ getContacts()

◆ getJointWeights()

◆ getQ()

◆ getQd()

◆ getQdd()

◆ getRobotModelConfig()

◆ getURDFModel()

◆ hasActuatedJoint()

◆ hasFloatingBase()

◆ hasJoint()

◆ hasLink()

◆ independentJointNames()

◆ inverseDynamics()

◆ jointIndex()

◆ jointLimits()

◆ jointNames()

◆ jointSpaceInertiaMatrix()

◆ jointState()

◆ loadRobotURDF()

◆ na()

◆ nac()

◆ nc()

◆ nfb()

◆ nj()

◆ pose()

◆ resetData()

◆ selectionMatrix()

◆ setContacts()

◆ setGravityVector()

◆ setJointWeights()

◆ spaceJacobian()

◆ spatialAccelerationBias()

◆ twist()

◆ update() [1/4]

◆ update() [2/4]

◆ update() [3/4]

◆ update() [4/4]

◆ updateData()

◆ worldFrame()

Member Data Documentation

◆ acc_map

◆ actuated_joint_names

◆ base_frame

◆ bias_forces

◆ body_jac_map

◆ com_jac

◆ com_rbs

◆ configured

◆ contacts

◆ fk_needs_recompute

◆ fk_with_zero_acc_needs_recompute

◆ floating_base_state

◆ gravity

◆ has_floating_base

◆ independent_joint_names

◆ joint_limits

◆ joint_names

◆ joint_space_inertia_mat

◆ joint_state

◆ joint_weights

◆ pose_map