KrisLibrary  1.0.0
Public Types | Public Member Functions | Public Attributes | List of all members
RobotWithGeometry Class Reference

The base class for a robot definition. More...

#include <RobotWithGeometry.h>

Inheritance diagram for RobotWithGeometry:
RobotDynamics3D RobotKinematics3D Chain

Public Types

typedef Geometry::AnyCollisionGeometry3D CollisionGeometry
 
typedef Geometry::AnyCollisionQuery CollisionQuery
 
- Public Types inherited from Chain
enum  { NoParent = -1 }
 

Public Member Functions

 RobotWithGeometry (const RobotDynamics3D &rhs)
 
 RobotWithGeometry (const RobotWithGeometry &rhs)
 
void Initialize (int numLinks)
 These should be used by the initialization routines.
 
bool LoadGeometry (int i, const char *file)
 
bool SaveGeometry (int i, const char *file)
 
bool IsGeometryEmpty (int i)
 
void InitCollisions ()
 
void CleanupCollisions ()
 
void InitAllSelfCollisions ()
 
void InitSelfCollisionPair (int i, int j)
 
void InitSelfCollisionPairs (const Array2D< bool > &collision)
 
void GetSelfCollisionPairs (Array2D< bool > &collision) const
 
void CleanupSelfCollisions ()
 
void Merge (const std::vector< RobotWithGeometry * > &robots)
 Creates this into a mega-robot from several other robots.
 
const RobotWithGeometry & operator= (const RobotWithGeometry &rhs)
 Copy, keeping shared references to geometries.
 
const RobotWithGeometry & operator= (const RobotDynamics3D &rhs)
 Copy, creating empty geometries.
 
virtual void UpdateGeometry ()
 Call this before querying self collisions.
 
virtual void UpdateGeometry (int i)
 
virtual void InitMeshCollision (CollisionGeometry &mesh)
 Call this before querying environment collisions.
 
virtual bool SelfCollision (Real distance=0)
 
virtual bool SelfCollision (const std::vector< int > &bodies, Real distance=0)
 Query self-collision between links indexed by bodies. Faster than direct enumeration.
 
virtual bool SelfCollision (const std::vector< int > &set1, const std::vector< int > &set2, Real distance=0)
 Query self-collision between links in set1 and set 2. set1 and set2 are required to be disjoint. Faster than direct enumeration.
 
virtual bool SelfCollision (int i, int j, Real distance=0)
 Query self-collision between geometries i,j. Faster than direct enumeration.
 
virtual void SelfCollisions (std::vector< std::pair< int, int > > &pairs, Real distance=0)
 Compute all self collisions (faster than.
 
virtual bool MeshCollision (CollisionGeometry &mesh)
 
virtual bool MeshCollision (int i, Real distance=0)
 
virtual void DrawGL ()
 
virtual void DrawLinkGL (int i)
 
- Public Member Functions inherited from RobotDynamics3D
void Initialize (int numBodies)
 
void InitializeRigidObject ()
 
void Merge (const std::vector< RobotDynamics3D * > &robots)
 
void Subset (const RobotDynamics3D &robot, const std::vector< int > &subset)
 
void UpdateDynamics ()
 This calls UpdateFrames() and Update_J()
 
void Update_J ()
 Updates JO and JP.
 
void Update_dB_dq ()
 Updates dB_dq. Called internally by GetCoriolis*()
 
bool InVelocityLimits (const Vector &dq) const
 Check physical limits.
 
bool InTorqueLimits (const Vector &torques) const
 
bool InPowerLimits (const Vector &dq, const Vector &torques) const
 
bool IsUnactuatedLink (int i) const
 Query helpers.
 
bool IsActuatedLink (int i) const
 
bool GetJacobianDt (const Vector3 &pi, int i, int j, Vector3 &dtheta_dt, Vector3 &dp_dt) const
 
void GetWorldAcceleration (const Vector3 &pi, int i, const Vector &ddq, Vector3 &dw, Vector3 &dv) const
 Given some ddq, gets the acceleration of point pi on link i.
 
void GetResidualAcceleration (const Vector3 &pi, int i, Vector3 &dw, Vector3 &dv) const
 Given no joint acceleration, gets the acceleration of point pi on link i.
 
Vector3 GetLinearMomentum (int i) const
 Linear momentum of link i.
 
Vector3 GetLinearMomentum () const
 Linear momentum of robot.
 
Vector3 GetAngularMomentum (int i) const
 Angular momentum of link i.
 
Vector3 GetAngularMomentum () const
 Angular momentum of robot.
 
Real GetKineticEnergy (int i) const
 Kinetic energy of link i.
 
Real GetKineticEnergy () const
 Kinetic energy of robot.
 
void GetKineticEnergyMatrix (Matrix &B) const
 Computes the kinetic energy matrix B.
 
Real GetKineticEnergyDeriv (int i, int j, int z) const
 Computes dBij/dqz.
 
void GetKineticEnergyMatrixDeriv (int z, Matrix &dB) const
 Computes the derivative of B with respect to q(z)
 
void GetKineticEnergyMatrixTimeDeriv (Matrix &dB) const
 Computes dB/dt.
 
void GetCoriolisForceMatrix (Matrix &C)
 Computes the coriolis force matrix C (such that C*dq = coriolis forces)
 
void GetCoriolisForces (Vector &Cdq)
 Computes the coriolis forces.
 
void CalcAcceleration (Vector &ddq, const Vector &fext)
 
void CalcTorques (const Vector &ddq, Vector &fext)
 
- Public Member Functions inherited from RobotKinematics3D
virtual std::string LinkName (int i) const
 
void Initialize (int numLinks)
 Initializer: blank robot.
 
void InitializeRigidObject ()
 Initializer: rigid object.
 
void Merge (const std::vector< RobotKinematics3D * > &robots)
 Initializer: merge some robots into one big robot.
 
void Subset (const RobotKinematics3D &robot, const std::vector< int > &subset)
 Initializer: select a subset of the robot links as DOFs.
 
void UpdateFrames ()
 based on the values in q, update the frames T
 
void UpdateSelectedFrames (int link, int root=-1)
 based on the values in q, update the frames of link T up to the root
 
void UpdateConfig (const Config &q)
 sets the current config q and updates frames
 
bool InJointLimits (const Config &q) const
 returns true if q is within joint limits
 
void NormalizeAngles (Config &q) const
 normalizes angles in q to be within the range [qmin,qmax]
 
Real GetTotalMass () const
 
Vector3 GetCOM () const
 
Vector3 GetCOM (const Config &q)
 
Matrix3 GetTotalInertia () const
 
void GetCOMJacobian (Matrix &Jc) const
 
void GetCOMHessian (Matrix &Hx, Matrix &Hy, Matrix &Hz) const
 
void GetGravityTorques (const Vector3 &g0, Vector &G) const
 
Real GetGravityPotentialEnergy (const Vector3 &g0, Real refHeight=Zero) const
 
void GetWorldPosition (const Vector3 &pi, int i, Vector3 &p) const
 in the following, pi is a point in the local frame of body i
 
const Matrix3 & GetWorldRotation (int i) const
 
void GetWorldRotation_Moment (int i, Vector3 &m) const
 
void GetWorldVelocity (const Vector3 &pi, int i, const Vector &dq, Vector3 &dp) const
 gets the world velocity/angular velocity of pi, given dq/dt
 
void GetWorldAngularVelocity (int i, const Vector &dq, Vector3 &omega) const
 
bool GetWorldRotationDeriv (int i, int j, Matrix3 &dR) const
 derivative of Ri w.r.t. qj
 
bool GetWorldRotationDeriv_Moment (int i, int j, Vector3 &dm) const
 
bool GetWorldRotationDeriv_Moment (int i, int j, const Vector3 &m, Vector3 &dm) const
 same as above, but m s.t. Ri=e^[m] is specified
 
bool GetJacobian (const Vector3 &pi, int i, int j, Vector3 &dw, Vector3 &dv) const
 gets the jacobian of pi w.r.t qj
 
bool GetOrientationJacobian (int i, int j, Vector3 &dw) const
 
bool GetPositionJacobian (const Vector3 &pi, int i, int j, Vector3 &dv) const
 
void GetFullJacobian (const Vector3 &pi, int i, Matrix &J) const
 
void GetPositionJacobian (const Vector3 &pi, int i, Matrix &J) const
 rows 3-5 of the above
 
void GetWrenchTorques (const Vector3 &torque, const Vector3 &force, int i, Vector &F) const
 for a wrench w=(torque,force) on link i, returns joint torques F = J^t w
 
void AddWrenchTorques (const Vector3 &torque, const Vector3 &force, int i, Vector &F) const
 
void GetForceTorques (const Vector3 &f, const Vector3 &pi, int i, Vector &F) const
 for a force f at pi on link i, returns joint torques F = J^t f
 
void AddForceTorques (const Vector3 &f, const Vector3 &pi, int i, Vector &F) const
 
bool GetJacobianDeriv (const Vector3 &pm, int m, int i, int j, Vector3 &ddtheta, Vector3 &ddp) const
 
void GetJacobianDeriv_Fast (const Vector3 &pm, int m, int i, int j, Vector3 &ddtheta, Vector3 &ddp) const
 assumes i,j<=m
 
void GetJacobianDeriv (const Vector3 &pm, int m, Matrix *Htheta[3], Matrix *Hp[3]) const
 
void GetPositionHessian (const Vector3 &pm, int m, Matrix *Hp[3]) const
 
void GetDirectionalHessian (const Vector3 &pm, int m, const Vector3 &v, Matrix &Hpv) const
 
Real PointDistanceBound (const Vector3 &pi, int i, const Config &q1, const Config &q2) const
 
Real PointDistanceBound2 (const Vector3 &pi, int i, const Config &q1, const Config &q2)
 A closer upper bound than the previous. Overwrites robot's state.
 
Real SphereDistanceBound (const Vector3 &ci, Real r, int i, const Config &q1, const Config &q2)
 
- Public Member Functions inherited from Chain
bool HasValidOrdering () const
 
bool IsAncestor (int n, int p) const
 Returns true if p is an ancestor of n.
 
bool IsDescendent (int n, int c) const
 Returns true if c is a descendant of n.
 
int LCA (int a, int b) const
 Least common ancestor.
 
void GetChildList (std::vector< std::vector< int > > &children) const
 Returns a vector where element i is a vectors of the children of link i.
 
void GetAncestors (int k, std::vector< bool > &ancestors) const
 Returns a vector where element i is true if it is an ancestor of n.
 
void GetDescendants (int k, std::vector< bool > &descendants) const
 Returns a vector where element i is true if it is an descendant of n.
 

Public Attributes

std::vector< std::shared_ptr< CollisionGeometry > > geometry
 
Array2D< CollisionQuery * > selfCollisions
 matrix(i,j) of collisions between bodies, i < j (upper triangular)
 
std::vector< CollisionQuery * > envCollisions
 
- Public Attributes inherited from RobotDynamics3D
Vector dq
 current velocity
 
Vector velMin
 
Vector velMax
 velocity limits
 
Vector torqueMax
 torque limits
 
Vector powerMax
 Power=|torque||velocity| limits.
 
Array2D< Vector3 > JP
 derivative of cm[i] w.r.t. q(j)
 
Array2D< Vector3 > JO
 derivative of orientation[i] w.r.t. q(j)
 
std::vector< Matrix > dB_dq
 derivative of the kinetic energy matrix w.r.t q(i)
 
- Public Attributes inherited from RobotKinematics3D
std::vector< RobotLink3D > links
 
Config q
 current configuration
 
Vector qMin
 
Vector qMax
 joint limits
 
- Public Attributes inherited from Chain
std::vector< int > parents
 Topologically sorted list of parents.
 

Detailed Description

The base class for a robot definition.

All robot geometry is given as triangulated surfaces. To initialize the robot, one should 1) Initialize the RobotDynamics3D 2) Load the geometry for each link using LoadGeometry(), 3) Initialize the collision structures (and self collision pairs) using InitCollisions() and InitSelfCollisionPair().

The documentation for this class was generated from the following files:
Generated by   doxygen 1.8.11