#include <osaOSGManipulator.h>

Inheritance diagram for osaOSGManipulator:

Public Member Functions
	osaOSGManipulator (const std::vector< std::string > &models, osaOSGWorld *world, const vctFrame4x4< double > &Rtw0, const std::string &robfilename, const std::string &basemodel="")
	OSG Manipulator generic constructor. More...

	osaOSGManipulator (const std::vector< std::string > &models, osaOSGWorld *world, const vctFrm3 &Rtw0, const std::string &robfilename, const std::string &basemodel="")
	OSG Manipulator generic constructor. More...

	~osaOSGManipulator ()

void	Initialize ()

virtual osaOSGManipulator::Errno	GetPositions (vctDynamicVector< double > &q) const
	Return the joints positions. More...

virtual osaOSGManipulator::Errno	SetPositions (const vctDynamicVector< double > &q)
	Set the joint position. More...

unsigned int	GetNumLinks ()

osaOSGBody *	GetLink (size_t i)

osaOSGBody *	GetBase ()

virtual void	Attach (osaOSGManipulator *CMN_UNUSED(tool))

Public Member Functions inherited from robManipulator
robManipulator::Errno	LoadRobot (const std::string &linkfile)
	Load the kinematics and the dynamics of the robot. More...

robManipulator::Errno	LoadRobot (std::vector< robKinematics * > KinParms)

void	JacobianBody (const vctDynamicVector< double > &q) const
	Evaluate the body Jacobian. More...

bool	JacobianBody (const vctDynamicVector< double > &q, vctDynamicMatrix< double > &J) const
	Evaluate the body Jacobian and return it in the dynamic matrix J. More...

void	JacobianSpatial (const vctDynamicVector< double > &q) const
	Evaluate the spatial Jacobian. More...

bool	JacobianSpatial (const vctDynamicVector< double > &q, vctDynamicMatrix< double > &J) const
	Evaluate the spatial Jacobian and return it in the dynamic matrix J. More...

vctDynamicVector< double >	RNE (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd, const vctFixedSizeVector< double, 6 > &f, double g=9.81) const
	Recursive Newton-Euler altorithm. More...

vctDynamicVector< double >	CCG (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd) const
	Coriolis/centrifugal and gravity. More...

vctFixedSizeVector< double, 6 >	BiasAcceleration (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd) const
	End-effector accelerations. More...

void	JSinertia (double **A, const vctDynamicVector< double > &q) const
	Compute the NxN manipulator inertia matrix. More...

vctDynamicMatrix< double >	JSinertia (const vctDynamicVector< double > &q) const

void	OSinertia (double Ac[6][6], const vctDynamicVector< double > &q) const
	Compute the 6x6 manipulator inertia matrix in operation space. More...

vctFixedSizeMatrix< double, 4, 4 >	SE3Difference (const vctFrame4x4< double > &Rt1, const vctFrame4x4< double > &Rt2) const

void	AddIdentificationColumn (vctDynamicMatrix< double > &J, vctFixedSizeMatrix< double, 4, 4 > &delRt) const

	robManipulator (const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >())

	robManipulator (const std::string &robotfilename, const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >())
	Manipulator generic constructor. More...

	robManipulator (const std::vector< robKinematics * > linkParms, const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >())

virtual	~robManipulator ()
	Manipulator destructor. More...

virtual vctFrame4x4< double >	ForwardKinematics (const vctDynamicVector< double > &q, int N=-1) const
	Evaluate the forward kinematics. More...

virtual robManipulator::Errno	InverseKinematics (vctDynamicVector< double > &q, const vctFrame4x4< double > &Rts, double tolerance=1e-12, size_t Niteration=1000, double LAMBDA=0.001)
	Evaluate the inverse kinematics. More...

virtual robManipulator::Errno	InverseKinematics (vctDynamicVector< double > &q, const vctFrm3 &Rts, double tolerance=1e-12, size_t Niteration=1000)

virtual void	NormalizeAngles (vctDynamicVector< double > &q)
	Normalize angles to -pi to pi. More...

virtual vctDynamicVector< double >	InverseDynamics (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd) const
	Inverse dynamics in joint space. More...

virtual vctDynamicVector< double >	InverseDynamics (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctFixedSizeVector< double, 6 > &vdwd) const
	Inverse dynamics in operation space. More...

virtual vctDynamicMatrix< double >	JacobianKinematicsIdentification (const vctDynamicVector< double > &q, double epsilon=1e-6) const
	Compute Jacobian for kinematics identification. More...

void	PrintKinematics (std::ostream &os) const
	Print the kinematics parameters to the specified output stream. More...

virtual void	Attach (robManipulator *tool)
	Attach a tool. More...

Protected Member Functions
	osaOSGManipulator (const vctFrame4x4< double > &Rtw0, const std::string &robotfile)

	osaOSGManipulator (const vctFrm3 &Rtw0, const std::string &robotfile)

Protected Attributes
vctDynamicVector< double >	q
	Store the current joints values. More...

osg::ref_ptr< osaOSGBody >	base

osg::ref_ptr< osg::Group >	osglinks

Protected Attributes inherited from robManipulator
std::vector< robManipulator * >	tools
	A vector of tools. More...

Additional Inherited Members
Public Types inherited from robManipulator
enum	Errno { ESUCCESS, EFAILURE }

enum	LinkID { L0, L1, L2, L3, L4, L5, L6, L7, L8, L9, LN }

Public Attributes inherited from robManipulator
vctFrame4x4< double >	Rtw0
	Position and orientation of the first link. More...

double **	Jn
	Body Jacobian. More...

double **	Js
	Spatial Jacobian. More...

std::vector< robLink >	links
	A vector of links. More...

Constructor & Destructor Documentation

osaOSGManipulator::osaOSGManipulator	(	const vctFrame4x4< double > &	Rtw0,
		const std::string &	robotfile
	)

inlineprotected

osaOSGManipulator::osaOSGManipulator	(	const vctFrm3 &	Rtw0,
		const std::string &	robotfile
	)

inlineprotected

osaOSGManipulator::osaOSGManipulator	(	const std::vector< std::string > &	models,
		osaOSGWorld *	world,
		const vctFrame4x4< double > &	Rtw0,
		const std::string &	robfilename,
		const std::string &	basemodel = `""`
	)

OSG Manipulator generic constructor.

This constructor initializes an OSG manipulator with the kinematics and dynamics contained in a file. Plus it initializes the OSG elements of the manipulators (bodies and joints) for the engine.

Parameters

models	A vector of 3D model file names
world[in]	The OSG world
Rtw0	The offset transformation of the robot base
robotfile	The file with the kinematics and dynamics parameters
basemodel	The file name of the base 3D model

osaOSGManipulator::osaOSGManipulator	(	const std::vector< std::string > &	models,
		osaOSGWorld *	world,
		const vctFrm3 &	Rtw0,
		const std::string &	robfilename,
		const std::string &	basemodel = `""`
	)

OSG Manipulator generic constructor.

This constructor initializes an OSG manipulator with the kinematics and dynamics contained in a file. Plus it initializes the OSG elements of the manipulators (bodies and joints) for the engine.

Parameters

models	A vector of 3D model file names
world	The OSG world
Rtw0	The offset transformation of the robot base
robotfile	The file with the kinematics and dynamics parameters
basemodel	The file name of the base 3D model

osaOSGManipulator::~osaOSGManipulator ( )

Member Function Documentation

virtual void osaOSGManipulator::Attach ( osaOSGManipulator * CMN_UNUSEDtool )

inlinevirtual

osaOSGBody* osaOSGManipulator::GetBase ( )

inline

osaOSGBody* osaOSGManipulator::GetLink ( size_t i )

unsigned int osaOSGManipulator::GetNumLinks ( )

virtual osaOSGManipulator::Errno osaOSGManipulator::GetPositions ( vctDynamicVector< double > & q ) const

virtual

Return the joints positions.

Query each joint and return the joint positions

Parameters

q[in] A vector of joints positions

Returns: ESUCCESS if successfull. EFAILURE otherwise.

Reimplemented in osaODEManipulator, and osaOSGBH.

void osaOSGManipulator::Initialize ( )

virtual osaOSGManipulator::Errno osaOSGManipulator::SetPositions ( const vctDynamicVector< double > & q )

virtual

Set the joint position.

This sets the position command and stores a local copy

Parameters

q	A vector of joint positions

Returns: ESUCCESS if successfull. EFAILURE otherwise.

Reimplemented in osaODEManipulator, and osaOSGBH.

Member Data Documentation

osg::ref_ptr<osaOSGBody> osaOSGManipulator::base

protected

osg::ref_ptr<osg::Group> osaOSGManipulator::osglinks

protected

vctDynamicVector<double> osaOSGManipulator::q

protected

Store the current joints values.

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawOpenSceneGraph/include/sawOpenSceneGraph/osaOSGManipulator.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation