iit::ct_HyA Namespace Reference

Namespaces
	dyn
	tpl

Classes
class	JointDataMap
class	LinkDataMap

Typedefs
using	Column6d = tpl::Column6d< double >
typedef Column6d	JointState
typedef tpl::Traits< double >	Traits

Enumerations
enum	JointIdentifiers {   SAA = 0, SFE, HR, EFE,   WR, WFE }
enum	LinkIdentifiers {   HYABASE = 0, SHOULDER_AA, SHOULDER_FE, HUMERUS_R,   ELBOW_FE, WRIST_R, WRIST_FE }

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

Column6d

using iit::ct_HyA::Column6d = typedef tpl::Column6d<double>

JointState

typedef Column6d iit::ct_HyA::JointState

Traits

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

Enumeration Type Documentation

JointIdentifiers

enum iit::ct_HyA::JointIdentifiers

Enumerator
SAA
SFE
HR
EFE
WR
WFE

LinkIdentifiers

enum iit::ct_HyA::LinkIdentifiers

Enumerator
HYABASE
SHOULDER_AA
SHOULDER_FE
HUMERUS_R
ELBOW_FE
WRIST_R
WRIST_FE

Function Documentation

operator<<() [1/2]

template<typename T >

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

inline

References EFE, HR, SAA, SFE, WFE, and WR.

operator<<() [2/2]

template<typename T >

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

inline

References ELBOW_FE, HUMERUS_R, HYABASE, SHOULDER_AA, SHOULDER_FE, WRIST_FE, and WRIST_R.

getWholeBodyCOM() [1/2]

iit::rbd::Vector3d iit::ct_HyA::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::ct_HyA::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