Container class containing all robcogen classes. More...

#include <RobCoGenContainer.h>

Public Types
typedef RBDTrait::S	SCALAR

typedef RBDTrait	TRAIT

typedef U	UTILS

typedef RobCoGenContainer< RBDTrait, LinkDataMapT, UTILS >	specialized_t

typedef std::shared_ptr< specialized_t >	Ptr_t

typedef RBDTrait::HomogeneousTransforms	HomogeneousTransforms

typedef RBDTrait::MotionTransforms	MotionTransforms

typedef RBDTrait::ForceTransforms	ForceTransforms

typedef RBDTrait::Jacobians	Jacobians

typedef RBDTrait::InertiaProperties	InertiaProperties

typedef RBDTrait::JSIM	JSIM

typedef RBDTrait::FwdDynEngine	ForwardDynamics

typedef RBDTrait::InvDynEngine	InverseDynamics

typedef RBDTrait::LinkID	LinkIdentifiers

typedef LinkDataMapT< Eigen::Matrix< SCALAR, 6, 1 > >	LinkForceMap

typedef Eigen::Matrix< SCALAR, 4, 4 >	HomogeneousTransform

typedef Eigen::Matrix< SCALAR, 6, 6 >	ForceTransform

typedef Eigen::Matrix< SCALAR, 6, NJOINTS >	Jacobian

typedef Eigen::Matrix< SCALAR, 3, 3 >	Matrix3Tpl

typedef kindr::Position< SCALAR, 3 >	Position3Tpl

typedef Eigen::Matrix< SCALAR, 3, 1 >	Vector3Tpl

using	RigidBodyPoseTpl = tpl::RigidBodyPose< SCALAR >

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RobCoGenContainer ()

HomogeneousTransforms &	homogeneousTransforms ()

const HomogeneousTransforms &	homogeneousTransforms () const

MotionTransforms &	motionTransforms ()

const MotionTransforms &	motionTransforms () const

ForceTransforms &	forceTransforms ()

const ForceTransforms &	forceTransforms () const

Jacobians &	jacobians ()

const Jacobians &	jacobians () const

InertiaProperties &	inertiaProperties ()

const InertiaProperties &	inertiaProperties () const

JSIM &	jSim ()

const JSIM &	jSim () const

ForwardDynamics &	forwardDynamics ()

const ForwardDynamics &	forwardDynamics () const

InverseDynamics &	inverseDynamics ()

const InverseDynamics &	inverseDynamics () const

HomogeneousTransform	getHomogeneousTransformBaseLinkById (size_t linkId, const typename JointState< NJOINTS, SCALAR >::Position &jointPosition)
	Get a homogeneous transformation from link to base provided a link id. More...

ForceTransform	getForceTransformLinkBaseById (size_t linkId, const typename JointState< NJOINTS, SCALAR >::Position &jointPosition)
	Get a force transformation from link to base provided a link id. More...

HomogeneousTransform	getHomogeneousTransformBaseEEById (size_t eeId, const typename JointState< NJOINTS, SCALAR >::Position &jointPosition)
	Get a homogeneous transformation from base to an endeffector provided an endeffector id. More...

Jacobian	getJacobianBaseEEbyId (size_t eeId, const typename JointState< NJOINTS, SCALAR >::Position &jointPosition)
	Get the end-effector Jacobian expressed in the base frame. More...

Position3Tpl	getEEPositionInBase (size_t eeId, const typename JointState< NJOINTS, SCALAR >::Position &jointPosition)
	Get a force transformation from base to an endeffector provided an endeffector id. More...

RigidBodyPoseTpl	getEEPoseInBase (size_t eeId, const typename JointState< NJOINTS, SCALAR >::Position &jointPosition, typename RigidBodyPoseTpl::STORAGE_TYPE storage=RigidBodyPoseTpl::EULER)
	Get the endeffector pose expressed in the base frame. More...

Matrix3Tpl	getEERotInBase (size_t eeId, const typename JointState< NJOINTS, SCALAR >::Position &jointPosition)

Static Public Attributes
static const size_t	NJOINTS = RBDTrait::joints_count

static const size_t	NLINKS = RBDTrait::links_count

Detailed Description

template<class RBDTrait, template< typename > class LinkDataMapT, class U>
class ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >

Container class containing all robcogen classes.

Member Typedef Documentation

◆ SCALAR

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::S ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::SCALAR

◆ TRAIT

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::TRAIT

◆ UTILS

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef U ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::UTILS

◆ specialized_t

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RobCoGenContainer<RBDTrait, LinkDataMapT, UTILS> ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::specialized_t

◆ Ptr_t

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef std::shared_ptr<specialized_t> ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::Ptr_t

◆ HomogeneousTransforms

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::HomogeneousTransforms ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::HomogeneousTransforms

◆ MotionTransforms

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::MotionTransforms ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::MotionTransforms

◆ ForceTransforms

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::ForceTransforms ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::ForceTransforms

◆ Jacobians

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::Jacobians ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::Jacobians

◆ InertiaProperties

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::InertiaProperties ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::InertiaProperties

◆ JSIM

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::JSIM ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::JSIM

◆ ForwardDynamics

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::FwdDynEngine ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::ForwardDynamics

◆ InverseDynamics

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::InvDynEngine ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::InverseDynamics

◆ LinkIdentifiers

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef RBDTrait::LinkID ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::LinkIdentifiers

◆ LinkForceMap

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef LinkDataMapT<Eigen::Matrix<SCALAR, 6, 1> > ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::LinkForceMap

◆ HomogeneousTransform

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef Eigen::Matrix<SCALAR, 4, 4> ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::HomogeneousTransform

◆ ForceTransform

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef Eigen::Matrix<SCALAR, 6, 6> ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::ForceTransform

◆ Jacobian

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef Eigen::Matrix<SCALAR, 6, NJOINTS> ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::Jacobian

◆ Matrix3Tpl

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef Eigen::Matrix<SCALAR, 3, 3> ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::Matrix3Tpl

◆ Position3Tpl

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef kindr::Position<SCALAR, 3> ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::Position3Tpl

◆ Vector3Tpl

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

typedef Eigen::Matrix<SCALAR, 3, 1> ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::Vector3Tpl

◆ RigidBodyPoseTpl

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

using ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::RigidBodyPoseTpl = tpl::RigidBodyPose<SCALAR>

Constructor & Destructor Documentation

◆ RobCoGenContainer()

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::RobCoGenContainer ( )

inline

Member Function Documentation

◆ homogeneousTransforms() [1/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

HomogeneousTransforms& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::homogeneousTransforms ( )

inline

Referenced by ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getHomogeneousTransformBaseEEById(), and ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getHomogeneousTransformBaseLinkById().

◆ homogeneousTransforms() [2/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const HomogeneousTransforms& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::homogeneousTransforms ( ) const

inline

◆ motionTransforms() [1/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

MotionTransforms& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::motionTransforms ( )

inline

◆ motionTransforms() [2/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const MotionTransforms& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::motionTransforms ( ) const

inline

◆ forceTransforms() [1/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

ForceTransforms& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::forceTransforms ( )

inline

Referenced by ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getForceTransformLinkBaseById().

◆ forceTransforms() [2/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const ForceTransforms& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::forceTransforms ( ) const

inline

◆ jacobians() [1/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

Jacobians& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::jacobians ( )

inline

Referenced by ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getJacobianBaseEEbyId().

◆ jacobians() [2/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const Jacobians& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::jacobians ( ) const

inline

◆ inertiaProperties() [1/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

InertiaProperties& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::inertiaProperties ( )

inline

◆ inertiaProperties() [2/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const InertiaProperties& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::inertiaProperties ( ) const

inline

◆ jSim() [1/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

JSIM& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::jSim ( )

inline

◆ jSim() [2/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const JSIM& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::jSim ( ) const

inline

◆ forwardDynamics() [1/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

ForwardDynamics& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::forwardDynamics ( )

inline

◆ forwardDynamics() [2/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const ForwardDynamics& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::forwardDynamics ( ) const

inline

◆ inverseDynamics() [1/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

InverseDynamics& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::inverseDynamics ( )

inline

◆ inverseDynamics() [2/2]

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const InverseDynamics& ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::inverseDynamics ( ) const

inline

◆ getHomogeneousTransformBaseLinkById()

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

HomogeneousTransform ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getHomogeneousTransformBaseLinkById	(	size_t	linkId,
		const typename JointState< NJOINTS, SCALAR >::Position &	jointPosition
	)

inline

Get a homogeneous transformation from link to base provided a link id.

The homogeneous transform takes a quantity expressed in the link frame and transforms it into the base frame, i.e. ${_Bx} = T_{BL} {_Lx}$ where $T_{BL}$ is the transform you obtain from this function.

Parameters

linkId	link id
position	joint positions (angles)

Returns: Homogeneous transformation from link to base $T_{BL}$

References ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::homogeneousTransforms().

◆ getForceTransformLinkBaseById()

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

ForceTransform ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getForceTransformLinkBaseById	(	size_t	linkId,
		const typename JointState< NJOINTS, SCALAR >::Position &	jointPosition
	)

inline

Get a force transformation from link to base provided a link id.

The force transform takes a torque-force vector expressed in the base frame and transforms it into the link frame, i.e. ${_Lx} = T_{LB} {_Bx}$ where $T_{LB}$ is the transform you obtain from this function.

Parameters

linkId	link id
position	joint positions (angles)

Returns: Force transformation from link to base $T_{LB}$

References ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::forceTransforms().

◆ getHomogeneousTransformBaseEEById()

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

HomogeneousTransform ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getHomogeneousTransformBaseEEById	(	size_t	eeId,
		const typename JointState< NJOINTS, SCALAR >::Position &	jointPosition
	)

inline

Get a homogeneous transformation from base to an endeffector provided an endeffector id.

The homogeneous transform converts a quantity expressed in the base and converts it to the end-effector frame, i.e. ${_EEx} = T_{EE-B} {_Bx}$ The endeffector frame corresponds to the convention used when creating the RobCoGen code.

Parameters

eeId	End-effector ID
jointPosition	Joint angles/positions

Returns: Homogeneous transformation from base to endeffector $T_{EE-B}$

References ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::homogeneousTransforms().

Referenced by ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getEEPoseInBase(), ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getEEPositionInBase(), and ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getEERotInBase().

◆ getJacobianBaseEEbyId()

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

Jacobian ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getJacobianBaseEEbyId	(	size_t	eeId,
		const typename JointState< NJOINTS, SCALAR >::Position &	jointPosition
	)

inline

Get the end-effector Jacobian expressed in the base frame.

Parameters

eeId	endeffector ID
jointPosition	current joint position

Returns: Jacobian of the endeffector expressed in the base frame

References ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::jacobians().

◆ getEEPositionInBase()

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

Position3Tpl ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getEEPositionInBase	(	size_t	eeId,
		const typename JointState< NJOINTS, SCALAR >::Position &	jointPosition
	)

inline

Get a force transformation from base to an endeffector provided an endeffector id.

The force transform converts a torque-force vector expressed in the base and converts it to the end-effector frame, i.e. ${_EEx} = T_{EE-B} {_Bx}$ The endeffector frame corresponds to the convention used when creating the RobCoGen code.

Parameters

eeId	End-effector ID
jointPosition	Joint angles/positions

Returns: Homogeneous transformation from base to endeffector $T_{EE-B}$

Get the endeffector position expressed in the base frame

Parameters

eeId	endeffector ID
jointPosition	current joint position

Returns: position of the endeffector expressed in the base frame

References ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getHomogeneousTransformBaseEEById().

◆ getEEPoseInBase()

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

RigidBodyPoseTpl ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getEEPoseInBase	(	size_t	eeId,
		const typename JointState< NJOINTS, SCALAR >::Position &	jointPosition,
		typename RigidBodyPoseTpl::STORAGE_TYPE	storage = `RigidBodyPoseTpl::EULER`
	)

inline

Get the endeffector pose expressed in the base frame.

Parameters

eeId	endeffector ID
jointPosition	current joint position
storage	the type of storage inteded for the pose

Returns: position of the endeffector expressed in the base frame

References ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getHomogeneousTransformBaseEEById().

◆ getEERotInBase()

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

Matrix3Tpl ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getEERotInBase	(	size_t	eeId,
		const typename JointState< NJOINTS, SCALAR >::Position &	jointPosition
	)

inline

compute the forward kinematics and return a rotation matrix specifying the ee-rotation w.r.t. the base frame

References ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::getHomogeneousTransformBaseEEById().

Member Data Documentation

◆ NJOINTS

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const size_t ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::NJOINTS = RBDTrait::joints_count

static

◆ NLINKS

template<class RBDTrait, template< typename > class LinkDataMapT, class U>

const size_t ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >::NLINKS = RBDTrait::links_count

static

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/RobCoGenContainer.h

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<class RBDTrait, template< typename > class LinkDataMapT, class U> class ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >

Member Typedef Documentation

◆ SCALAR

◆ TRAIT

◆ UTILS

◆ specialized_t

◆ Ptr_t

◆ HomogeneousTransforms

◆ MotionTransforms

◆ ForceTransforms

◆ Jacobians

◆ InertiaProperties

◆ JSIM

◆ ForwardDynamics

◆ InverseDynamics

◆ LinkIdentifiers

◆ LinkForceMap

◆ HomogeneousTransform

◆ ForceTransform

◆ Jacobian

◆ Matrix3Tpl

◆ Position3Tpl

◆ Vector3Tpl

◆ RigidBodyPoseTpl

Constructor & Destructor Documentation

◆ RobCoGenContainer()

Member Function Documentation

◆ homogeneousTransforms() [1/2]

◆ homogeneousTransforms() [2/2]

◆ motionTransforms() [1/2]

◆ motionTransforms() [2/2]

◆ forceTransforms() [1/2]

◆ forceTransforms() [2/2]

◆ jacobians() [1/2]

◆ jacobians() [2/2]

◆ inertiaProperties() [1/2]

◆ inertiaProperties() [2/2]

◆ jSim() [1/2]

◆ jSim() [2/2]

◆ forwardDynamics() [1/2]

◆ forwardDynamics() [2/2]

◆ inverseDynamics() [1/2]

◆ inverseDynamics() [2/2]

◆ getHomogeneousTransformBaseLinkById()

◆ getForceTransformLinkBaseById()

◆ getHomogeneousTransformBaseEEById()

◆ getJacobianBaseEEbyId()

◆ getEEPositionInBase()

◆ getEEPoseInBase()

◆ getEERotInBase()

Member Data Documentation

◆ NJOINTS

◆ NLINKS

template<class RBDTrait, template< typename > class LinkDataMapT, class U>
class ct::rbd::RobCoGenContainer< RBDTrait, LinkDataMapT, U >