#include <osaODEManipulator.h>

Inheritance diagram for osaODEManipulator:

Public Types
typedef std::vector < osaODEBody::State >	State
	The ODE state of the manipulator. More...

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

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

Public Member Functions
	osaODEManipulator (const std::vector< std::string > &models, osaODEWorld *world, const vctFrame4x4< double > &Rtw0, const std::string &robotfilename, const std::string &basemodel, const vctDynamicVector< double > &qinit)
	ODE Manipulator constructor. More...

	osaODEManipulator (const std::vector< std::string > &models, osaODEWorld *world, const vctFrm3 &Rtw0, const std::string &robotfilename, const std::string &basemodel, const vctDynamicVector< double > &qinit)
	ODE Manipulator constructor. More...

	osaODEManipulator (const std::vector< std::string > &models, osaODEWorld world, const vctFrame4x4< double > &Rtw0, const std::string &robotfilename, osaODEBody base, const vctDynamicVector< double > &qinit)
	ODE Manipulator constructor. More...

	osaODEManipulator (const std::vector< std::string > &models, osaODEWorld world, const vctFrm3 &Rtw0, const std::string &robotfilename, osaODEBody base, const vctDynamicVector< double > &qinit)
	ODE Manipulator constructor. More...

	~osaODEManipulator ()

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

virtual osaODEManipulator::Errno	GetVelocities (vctDynamicVector< double > &qd) const
	Return the joints velocities. More...

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

virtual osaODEManipulator::Errno	SetVelocities (const vctDynamicVector< double > &qds)
	Set the joint velocity. More...

virtual osaODEManipulator::Errno	SetForcesTorques (const vctDynamicVector< double > &ft)
	Set the joint forces or torques. More...

virtual osaODEManipulator::State	GetState () const
	Return the state of the robot. More...

virtual void	SetState (const osaODEManipulator::State &state)
	Set the state of the robot. More...

dBodyID	GetBaseID () const
	Return the base ID of the manipulator. More...

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

void	ForwardKinematics (const vctDynamicVector< double > &q, vctFrm3 &Rt, int N=-1) const

virtual void	Attach (osaOSGManipulator *osgtool)
	Attach a tool to the robot. More...

void	Disable ()
	Disable all the bodies of the manipulator. More...

void	Enable ()
	Enable all the bodies of the manipulator. More...

Public Member Functions inherited from 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. 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 ()

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 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
osaODEWorld *	GetWorld () const
	Return the world ID. More...

dWorldID	GetWorldID () const

void	Insert (osaODEBody *body)
	Insert a body in the manipulator. More...

void	Insert (osaODEJoint *joint)
	Insert a joint in the manipulator. More...

void	Insert (osaODEServoMotor *servo)
	Insert a joint in the manipulator. More...

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

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

Additional Inherited Members
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...

Protected Attributes inherited from osaOSGManipulator
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...

Member Typedef Documentation

typedef std::vector< osaODEBody::State > osaODEManipulator::State

The ODE state of the manipulator.

Constructor & Destructor Documentation

osaODEManipulator::osaODEManipulator	(	const std::vector< std::string > &	models,
		osaODEWorld *	world,
		const vctFrame4x4< double > &	Rtw0,
		const std::string &	robotfilename,
		const std::string &	basemodel,
		const vctDynamicVector< double > &	qinit
	)

ODE Manipulator constructor.

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

Parameters

models	A vector of CAD models file name (one file per link)
world	The ODE world used by the manipulator
Rtw0	The offset transformation of the robot base
robotfilename	The file with the kinematics and dynamics parameters
basemodel	The filename of the CAD file for the base
qinit	The initial joint angles

osaODEManipulator::osaODEManipulator	(	const std::vector< std::string > &	models,
		osaODEWorld *	world,
		const vctFrm3 &	Rtw0,
		const std::string &	robotfilename,
		const std::string &	basemodel,
		const vctDynamicVector< double > &	qinit
	)

ODE Manipulator constructor.

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

Parameters

models	A vector of CAD models file name (one file per link)
world	The ODE world used by the manipulator
Rtw0	The offset transformation of the robot base
robotfilename	The file with the kinematics and dynamics parameters
basemodel	The filename of the CAD file for the base
qinit	The initial joint angles

osaODEManipulator::osaODEManipulator	(	const std::vector< std::string > &	models,
		osaODEWorld *	world,
		const vctFrame4x4< double > &	Rtw0,
		const std::string &	robotfilename,
		osaODEBody *	base,
		const vctDynamicVector< double > &	qinit
	)

ODE Manipulator constructor.

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

Parameters

models	A vector of CAD models file name (one file per link)
world	The ODE world used by the manipulator
Rtw0	The offset transformation of the robot base
robotfilename	The file with the kinematics and dynamics parameters
base	A ODE body used for the base
qinit	The initial joint angles

osaODEManipulator::osaODEManipulator	(	const std::vector< std::string > &	models,
		osaODEWorld *	world,
		const vctFrm3 &	Rtw0,
		const std::string &	robotfilename,
		osaODEBody *	base,
		const vctDynamicVector< double > &	qinit
	)

ODE Manipulator constructor.

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

Parameters

models	A vector of CAD models file name (one file per link)
world	The ODE world used by the manipulator
Rtw0	The offset transformation of the robot base
robotfilename	The file with the kinematics and dynamics parameters
base	A ODE body used for the base
qinit	The initial joint angles

osaODEManipulator::~osaODEManipulator ( )

inline

Member Function Documentation

virtual void osaODEManipulator::Attach ( osaOSGManipulator * osgtool )

virtual

Attach a tool to the robot.

This attaches manipulator to the end-effector. This essentially create a joint between the end-effector and the tool but that joint has 0 angles of rotation.

Parameters

tool	A pointer to a robot tool

void osaODEManipulator::Disable ( )

Disable all the bodies of the manipulator.

void osaODEManipulator::Enable ( )

Enable all the bodies of the manipulator.

virtual vctFrame4x4<double> osaODEManipulator::ForwardKinematics	(	const vctDynamicVector< double > &	q,
		int	N = `-1`
	)		const

virtual

Evaluate the forward kinematics.

Compute the position and orientation of each link wrt to the world frame

Parameters

input]	q The vector of joint positions
input]	N The link number (0 => base, negative => end-effector)

Returns: The position and orientation, as a 4x4 frame

Reimplemented from robManipulator.

void osaODEManipulator::ForwardKinematics	(	const vctDynamicVector< double > &	q,
		vctFrm3 &	Rt,
		int	N = `-1`
	)		const

dBodyID osaODEManipulator::GetBaseID ( ) const

Return the base ID of the manipulator.

This returns the ODE body ID of the base of the robt. This is mostly used for attaching the robot to anothher body.

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

virtual

Return the joints positions.

Query each ODE joint and return the joint positions

Parameters

q	A vector of joint positions

Returns: ESUCCESS if not error. EFAILURE otherwise.

Reimplemented from osaOSGManipulator.

virtual osaODEManipulator::State osaODEManipulator::GetState ( ) const

virtual

Return the state of the robot.

For an ODE manipulator, the state of a manipulator is defined by the position/orientation and the velocity of each link. It is not defined by the position/velocity of each joint. This method queries each link of the robot for its state (position/orientation + angular/linear velocities) and return them in a vector.

Returns: A vector containing the state of each link.

virtual osaODEManipulator::Errno osaODEManipulator::GetVelocities ( vctDynamicVector< double > & qd ) const

virtual

Return the joints velocities.

Query each ODE joint and return the joint velocities

Parameters

qd	A vector of joint velocities

Returns: ESUCCESS if not error. EFAILURE otherwise.

osaODEWorld* osaODEManipulator::GetWorld ( ) const

inlineprotected

Return the world ID.

dWorldID osaODEManipulator::GetWorldID ( ) const

inlineprotected

void osaODEManipulator::Insert ( osaODEBody * body )

protected

Insert a body in the manipulator.

void osaODEManipulator::Insert ( osaODEJoint * joint )

protected

Insert a joint in the manipulator.

void osaODEManipulator::Insert ( osaODEServoMotor * servo )

protected

Insert a joint in the manipulator.

virtual osaODEManipulator::Errno osaODEManipulator::SetForcesTorques ( const vctDynamicVector< double > & ft )

virtual

Set the joint forces or torques.

This sets the force/torque value of each joint. This method does NOT apply the FT right away. The FT will be applied at the next iteration of the world.

Parameters

ft	A vector of joint forces/torques

virtual osaODEManipulator::Errno osaODEManipulator::SetPositions ( const vctDynamicVector< double > & qs )

virtual

Set the joint position.

This sets the position command of ODE (internal) servo motors. This does not instantly changes the position. The position values are used to set the velocity of the ODE servo motors.

Parameters

qs	A vector of joint positions

Returns: ESUCCESS if not error. EFAILURE otherwise.

Reimplemented from osaOSGManipulator.

virtual void osaODEManipulator::SetState ( const osaODEManipulator::State & state )

virtual

Set the state of the robot.

For an ODE manipulator, the state of a manipulator is defined by the position/orientation and the velocity of each link. It is not defined by the position/velocity of each joint. This method set the state of each link of the robot: (position/orientation + angular/linear velocities) and return them in a vector.

virtual osaODEManipulator::Errno osaODEManipulator::SetVelocities ( const vctDynamicVector< double > & qds )

virtual

Set the joint velocity.

This sets the velocity command of ODE (internal) servo motors. This does not instantly changes the velocity. The velocity values are used to set the velocity of the ODE servo motors.

Parameters

qsd	A vector of joint velocities

Returns: ESUCCESS if not error. EFAILURE otherwise.

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawOpenDynamicsEngine/include/sawOpenDynamicsEngine/osaODEManipulator.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation