#include <osaGLUTManipulator.h>

Inheritance diagram for osaGLUTManipulator:

Public Member Functions
	osaGLUTManipulator (const std::vector< std::string > &geomfiles, const vctFrame4x4< double > &Rtw0, const std::string &robotfn, const vctDoubleVec &qinit, const std::string &basefile, bool rotateX90=false)
	GLUT Manipulator generic constructor. More...

	osaGLUTManipulator (const std::vector< std::string > &geomfiles, const vctFrm3 &Rtw0, const std::string &robotfn, const vctDoubleVec &qinit, const std::string &basefile, bool rotateX90=false)
	GLUT Manipulator generic constructor. More...

	~osaGLUTManipulator ()

void	Initialize (const std::vector< std::string > &geomfiles, const std::string &basefile, bool rotateX90)

virtual bool	GetPositions (vctDoubleVec &q) const
	Return the joints positions. More...

virtual bool	SetPositions (const vctDoubleVec &q)
	Set the joint position. More...

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 Attributes
vctDoubleVec	q
	Store the current joints values. More...

osaMeshTriangular *	base

std::vector< osaMeshTriangular * >	meshes

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

osaGLUTManipulator::osaGLUTManipulator	(	const std::vector< std::string > &	geomfiles,
		const vctFrame4x4< double > &	Rtw0,
		const std::string &	robotfn,
		const vctDoubleVec &	qinit,
		const std::string &	basefile,
		bool	rotateX90 = `false`
	)

GLUT Manipulator generic constructor.

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

Parameters

geomfiles	A vector of 3D model file names
Rtw0	The offset transformation of the robot base
robotfn	The file with the kinematics and dynamics parameters
qinit	The initial joint angles
basefile	The file name of the base 3D model

osaGLUTManipulator::osaGLUTManipulator	(	const std::vector< std::string > &	geomfiles,
		const vctFrm3 &	Rtw0,
		const std::string &	robotfn,
		const vctDoubleVec &	qinit,
		const std::string &	basefile,
		bool	rotateX90 = `false`
	)

GLUT Manipulator generic constructor.

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

Parameters

geomfiles	A vector of 3D model file names
Rtw0	The offset transformation of the robot base
robotfn	The file with the kinematics and dynamics parameters
qinit	The initial joint angles
basefile	The file name of the base 3D model

osaGLUTManipulator::~osaGLUTManipulator ( )

Member Function Documentation

virtual bool osaGLUTManipulator::GetPositions ( vctDoubleVec & q ) const

virtual

Return the joints positions.

Query each joint and return the joint positions

Parameters

q[in] A vector of joints positions

Returns: true if successfull. false otherwise.

void osaGLUTManipulator::Initialize	(	const std::vector< std::string > &	geomfiles,
		const std::string &	basefile,
		bool	rotateX90
	)

virtual bool osaGLUTManipulator::SetPositions ( const vctDoubleVec & q )

virtual

Set the joint position.

This sets the position command and stores a local copy

Parameters

q	A vector of joint positions

Returns: true if successfull. false otherwise.

Member Data Documentation

osaMeshTriangular* osaGLUTManipulator::base

protected

std::vector< osaMeshTriangular* > osaGLUTManipulator::meshes

protected

vctDoubleVec osaGLUTManipulator::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/sawGLUTSimulator/include/sawGLUTSimulator/osaGLUTManipulator.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation