iit::HyQ Namespace Reference

Namespaces
	dyn
	tpl

Classes
class	JointDataMap
class	LinkDataMap

Typedefs
using	Column12d = tpl::Column12d< double >
typedef Column12d	JointState
typedef tpl::Traits< double >	Traits

Enumerations
enum	JointIdentifiers {   LF_HAA = 0, LF_HFE, LF_KFE, RF_HAA,   RF_HFE, RF_KFE, LH_HAA, LH_HFE,   LH_KFE, RH_HAA, RH_HFE, RH_KFE }
enum	LinkIdentifiers {   TRUNK = 0, LF_HIPASSEMBLY, LF_UPPERLEG, LF_LOWERLEG,   RF_HIPASSEMBLY, RF_UPPERLEG, RF_LOWERLEG, LH_HIPASSEMBLY,   LH_UPPERLEG, LH_LOWERLEG, RH_HIPASSEMBLY, RH_UPPERLEG,   RH_LOWERLEG }

Functions
template<typename T >
std::ostream &	operator<< (std::ostream &out, const JointDataMap< T > &map)
template<typename T >
std::ostream &	operator<< (std::ostream &out, const LinkDataMap< T > &map)
Center of mass calculation
Computes the Center Of Mass (COM) position of the whole robot, in base coordinates. Common parameters are the inertia properties of the robot and the set of homogeneous coordinate transforms. If a joint status variable is also passed, then the transforms are updated accordingly; otherwise, they are not modified before being used.
iit::rbd::Vector3d	getWholeBodyCOM (const dyn::InertiaProperties &inertia, const HomogeneousTransforms &transforms)
iit::rbd::Vector3d	getWholeBodyCOM (const dyn::InertiaProperties &inertia, const JointState &q, HomogeneousTransforms &transforms)

Typedef Documentation

Column12d

using iit::HyQ::Column12d = typedef tpl::Column12d<double>

JointState

typedef Column12d iit::HyQ::JointState

Traits

typedef tpl::Traits<double> iit::HyQ::Traits

Enumeration Type Documentation

JointIdentifiers

enum iit::HyQ::JointIdentifiers

Enumerator
LF_HAA
LF_HFE
LF_KFE
RF_HAA
RF_HFE
RF_KFE
LH_HAA
LH_HFE
LH_KFE
RH_HAA
RH_HFE
RH_KFE

LinkIdentifiers

enum iit::HyQ::LinkIdentifiers

Enumerator
TRUNK
LF_HIPASSEMBLY
LF_UPPERLEG
LF_LOWERLEG
RF_HIPASSEMBLY
RF_UPPERLEG
RF_LOWERLEG
LH_HIPASSEMBLY
LH_UPPERLEG
LH_LOWERLEG
RH_HIPASSEMBLY
RH_UPPERLEG
RH_LOWERLEG

Function Documentation

operator<<() [1/2]

template<typename T >

std::ostream& iit::HyQ::operator<< ( std::ostream &  out, const JointDataMap< T > &  map  )

inline

References LF_HAA, LF_HFE, LF_KFE, LH_HAA, LH_HFE, LH_KFE, RF_HAA, RF_HFE, RF_KFE, RH_HAA, RH_HFE, and RH_KFE.

operator<<() [2/2]

template<typename T >

std::ostream& iit::HyQ::operator<< ( std::ostream &  out, const LinkDataMap< T > &  map  )

inline

References LF_HIPASSEMBLY, LF_LOWERLEG, LF_UPPERLEG, LH_HIPASSEMBLY, LH_LOWERLEG, LH_UPPERLEG, RF_HIPASSEMBLY, RF_LOWERLEG, RF_UPPERLEG, RH_HIPASSEMBLY, RH_LOWERLEG, RH_UPPERLEG, and TRUNK.

getWholeBodyCOM() [1/2]

iit::rbd::Vector3d iit::HyQ::getWholeBodyCOM	(	const dyn::InertiaProperties &	inertia,
		const HomogeneousTransforms &	transforms
	)

Parameters

inertia	the inertia properties of the links of the robot
transforms	the homogeneous coordinate transforms of the robot

Returns

the position of the Center Of Mass of the whole robot, expressed in base coordinates

getWholeBodyCOM() [2/2]

iit::rbd::Vector3d iit::HyQ::getWholeBodyCOM	(	const dyn::InertiaProperties &	inertia,
		const JointState &	q,
		HomogeneousTransforms &	transforms
	)

Parameters

inertia	the inertia properties of the links of the robot
q	the joint status vector describing the configuration of the robot
transforms	the homogeneous coordinate transforms of the robot

Returns

the position of the Center Of Mass of the whole robot, expressed in base coordinates