Qontrol: Qontrol::Model::GenericModel Class Reference

Inheritance diagram for Qontrol::Model::GenericModel:

Public Member Functions
void	setRobotState (const RobotState &robot_state)
	Load the robot model given a urdf path. More...

auto	getRobotState () -> RobotState
	Get the robot state (position, velocity, acceleration, and external torque) More...

virtual auto	getTipFrameName () -> std::string=0
	Get the name of the tip frame in the model. More...

virtual auto	getRootFrameName () -> std::string=0
	Get the name of the root frame in the model. More...

virtual auto	getNrOfDegreesOfFreedom () -> int=0
	Get the robot number of degrees of freedom. More...

virtual void	setJointPosition (Eigen::VectorXd joint_position)
	Set the robot current joint position. More...

virtual auto	getJointPosition () -> Eigen::VectorXd
	get the robot current joint position More...

void	setLowerJointPositionLimits (Eigen::VectorXd lim)
	Set the robot lower joint position limits. More...

void	setUpperJointPositionLimits (Eigen::VectorXd lim)
	Set the robot upper joint position limits. More...

virtual auto	getLowerJointPositionLimits () -> Eigen::VectorXd
	Get the robot lower joint position limits. More...

virtual auto	getUpperJointPositionLimits () -> Eigen::VectorXd
	Get the robot upper joint position limits. More...

virtual void	setJointVelocity (Eigen::VectorXd joint_velocity)
	Set the robot current joint velocity. More...

virtual auto	getJointVelocity () -> Eigen::VectorXd
	Get the robot current joint velocity. More...

void	setJointVelocityLimits (Eigen::VectorXd lim)
	Set the robot joint velocity limts. More...

auto	getJointVelocityLimits () -> Eigen::VectorXd
	Get the robot joint velocity limts. More...

virtual void	setJointAcceleration (Eigen::VectorXd joint_acceleration)
	Set the robot current joint acceleration. More...

virtual auto	getJointAcceleration () -> Eigen::VectorXd
	Get the robot current joint acceleration. More...

virtual void	setJointTorque (Eigen::VectorXd joint_torque)
	Set the robot current joint torque. More...

virtual auto	getJointTorque () -> Eigen::VectorXd
	Get the robot current joint torque. More...

void	setJointTorqueLimits (Eigen::VectorXd lim)
	Set the robot joint torque limits. More...

auto	getJointTorqueLimits () -> Eigen::VectorXd
	Get the robot joint torque limits. More...

virtual void	setExternalJointTorque (Eigen::VectorXd external_joint_torque)
	Set the robot current external joint torque. More...

virtual auto	getExternalJointTorque () -> Eigen::VectorXd
	Get the robot current external joint torque. More...

virtual auto	getJointCoriolisTorques () -> Eigen::VectorXd=0
	Get the vector representing the gravity effect associated to the $g$ term in the equation of motion: $ M(q)\ddot{q} + c(q, \dot{q}) + g(q) = \tau $. Taken at the current robot state. More...

virtual auto	getJointInertiaMatrix () -> Eigen::MatrixXd=0
	Get the matrix representing the joint space inertia matrix associated to the $M(q)$ term in the equation of motion: $ M(q)\ddot{q} + c(q, \dot{q}) + g(q) = \tau $. Taken at the current robot state. More...

virtual auto	getInverseJointInertiaMatrix () -> Eigen::MatrixXd=0
	Get the matrix representing the inverse of the joint space inertia matrix associated to the $M(q)$ term in the equation of motion: $ M(q)\ddot{q} + c(q, \dot{q}) + g(q) = \tau $. Taken at the current robot state. More...

virtual auto	getFramePose (const std::string &body_name) -> Eigen::Isometry3d=0
	Get the pose of the frame called $\text_it{body_name}$ in the URDF wrt. the root frame. More...

virtual auto	getTipFramePose () -> Eigen::Isometry3d=0
	Get the pose of the tip frame wrt. the root frame. More...

virtual auto	getJacobian (const std::string &body_name) -> Eigen::MatrixXd=0
	Get the Jacobian matrix expressed at the frame name $\textit{body_name}$ in the URDF wrt. the root frame. More...

virtual auto	getJacobian (const std::string &body_name, const Eigen::Isometry3d &frame) -> Eigen::MatrixXd=0

virtual auto	getJacobianTimeDerivativeQdot (const std::string &body_name) -> Eigen::VectorXd=0
	Get the vector representing the $\dot{J}\dot{q}$ terme in the equation $\dot{twist} = \dot{J}\dot{q} + J\ddot{q}$. More...

virtual auto	getJacobianTimeDerivativeQdot (const std::string &body_name, const Eigen::Isometry3d &frame) -> Eigen::VectorXd=0
	Get the vector representing the $\dot{J}\dot{q}$ terme in the equation $\dot{twist} = \dot{J}\dot{q} + J\ddot{q}$. More...

virtual auto	getFrameVelocity (const std::string &body_name) -> Eigen::Matrix< double, 6, 1 >=0
	Get the twist representing the velocity of the frame named $\textit{body_name}$ in the URDF wrt. the root frame. More...

virtual auto	getFrameVelocity (const std::string &body_name, const Eigen::Isometry3d &frame) -> Eigen::Matrix< double, 6, 1 >=0
	Get the twist representing the $\textit{frame}$ velocity wrt. the root frame. More...

virtual auto	getTipFrameVelocity () -> Eigen::Matrix< double, 6, 1 >=0
	The twist representing the velocity of the tip frame wrt. the root frame. More...

virtual auto	getJointAccelerationFromTorques (Eigen::VectorXd torque) -> Eigen::VectorXd=0

virtual auto	getFrameAccelerationFromJointAcceleration (const std::string &body_name) -> Eigen::Matrix< double, 6, 1 >=0
	Get the acceleration of the frame named $\textit{body_name}$ in the URDF wrt. the root frame given the robot current joint position/velocity/acceleration. More...

virtual auto	getFrameAccelerationFromJointAcceleration (const std::string &body_name, const Eigen::Isometry3d &frame) -> Eigen::Matrix< double, 6, 1 >=0
	Get the acceleration of the frame named $\textit{body_name}$ in the URDF wrt. the root frame given the robot current joint position/velocity/acceleration. More...

virtual auto	getFrameAccelerationFromTorques (const std::string &body_name) -> Eigen::Matrix< double, 6, 1 >=0
	Get the acceleration of the frame named $\textit{body_name}$ in the URDF wrt. the root frame given the robot current joint position/velocity/torque/external torque. More...

virtual auto	getFrameAccelerationFromTorques (const std::string &body_name, const Eigen::Isometry3d &frame) -> Eigen::Matrix< double, 6, 1 >=0
	Get the acceleration of the frame named $\textit{body_name}$ in the URDF wrt. the root frame given the robot current joint position/velocity/torque/external torque. More...

virtual auto	getExternalWrench (const std::string &body_name) -> Eigen::Matrix< double, 6, 1 >=0
	Get the external wrench applied on the named $\textit{body_name}$ in the URDF wrt. the root frame given the external joint torques applied on the robot. More...

virtual auto	getExternalWrench (const std::string &body_name, const Eigen::Isometry3d &frame) -> Eigen::Matrix< double, 6, 1 >=0

auto	integrate (Eigen::VectorXd q, Eigen::VectorXd v, double dt) -> Eigen::VectorXd

Static Public Member Functions
static auto	skew (Eigen::Vector3d vector) -> Eigen::Matrix3d
	compute the skew symetry matrix of a vector. Usefull to perform cross products More...

Protected Attributes
Eigen::VectorXd	lower_joint_position_limits

Eigen::VectorXd	upper_joint_position_limits

Eigen::VectorXd	joint_velocity_limits

Eigen::VectorXd	joint_torque_limits

Member Function Documentation

◆ getExternalJointTorque()

auto Qontrol::Model::GenericModel::getExternalJointTorque ( ) -> Eigen::VectorXd

virtual

Get the robot current external joint torque.

Returns: A $ndof$ vector representing the external torque measured on each joint (in Nm for a revolute joint and N for a prismatic joint )

◆ getExternalWrench()

virtual auto Qontrol::Model::GenericModel::getExternalWrench ( const std::string & body_name ) -> Eigen::Matrix< double, 6, 1 >

pure virtual

Get the external wrench applied on the named $\textit{body_name}$ in the URDF wrt. the root frame given the external joint torques applied on the robot.

Parameters

body_name The name of the frame in the urdf.

Returns: Eigen::Vector6d

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getFrameAccelerationFromJointAcceleration() [1/2]

virtual auto Qontrol::Model::GenericModel::getFrameAccelerationFromJointAcceleration ( const std::string & body_name ) -> Eigen::Matrix< double, 6, 1 >

pure virtual

Get the acceleration of the frame named $\textit{body_name}$ in the URDF wrt. the root frame given the robot current joint position/velocity/acceleration.

Parameters

body_name The name of the frame in the urdf.

Returns: Eigen::Vector6d

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getFrameAccelerationFromJointAcceleration() [2/2]

virtual auto Qontrol::Model::GenericModel::getFrameAccelerationFromJointAcceleration	(	const std::string &	body_name,
		const Eigen::Isometry3d &	frame
	)		-> Eigen::Matrix< double, 6, 1 >

pure virtual

Get the acceleration of the frame named $\textit{body_name}$ in the URDF wrt. the root frame given the robot current joint position/velocity/acceleration.

Parameters

body_name The name of the frame in the urdf.

Returns: Eigen::Vector6d

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getFrameAccelerationFromTorques() [1/2]

virtual auto Qontrol::Model::GenericModel::getFrameAccelerationFromTorques ( const std::string & body_name ) -> Eigen::Matrix< double, 6, 1 >

pure virtual

Get the acceleration of the frame named $\textit{body_name}$ in the URDF wrt. the root frame given the robot current joint position/velocity/torque/external torque.

Parameters

body_name The name of the frame in the urdf.

Returns: Eigen::Vector6d

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getFrameAccelerationFromTorques() [2/2]

virtual auto Qontrol::Model::GenericModel::getFrameAccelerationFromTorques	(	const std::string &	body_name,
		const Eigen::Isometry3d &	frame
	)		-> Eigen::Matrix< double, 6, 1 >

pure virtual

Get the acceleration of the frame named $\textit{body_name}$ in the URDF wrt. the root frame given the robot current joint position/velocity/torque/external torque.

Parameters

body_name The name of the frame in the urdf.

Returns: Eigen::Vector6d

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getFramePose()

virtual auto Qontrol::Model::GenericModel::getFramePose ( const std::string & body_name ) -> Eigen::Isometry3d

pure virtual

Get the pose of the frame called $\text_it{body_name}$ in the URDF wrt. the root frame.

Parameters

body_name The name of the frame in the urdf.

Returns: an Isometry.

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getFrameVelocity() [1/2]

virtual auto Qontrol::Model::GenericModel::getFrameVelocity ( const std::string & body_name ) -> Eigen::Matrix< double, 6, 1 >

pure virtual

Get the twist representing the velocity of the frame named $\textit{body_name}$ in the URDF wrt. the root frame.

Parameters

body_name The name of the frame in the urdf.

Returns: a twist.

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getFrameVelocity() [2/2]

virtual auto Qontrol::Model::GenericModel::getFrameVelocity	(	const std::string &	body_name,
		const Eigen::Isometry3d &	frame
	)		-> Eigen::Matrix< double, 6, 1 >

pure virtual

Get the twist representing the $\textit{frame}$ velocity wrt. the root frame.

Parameters

frame A frame expressed wrt. the root frame.

Returns: A twist

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getInverseJointInertiaMatrix()

virtual auto Qontrol::Model::GenericModel::getInverseJointInertiaMatrix ( ) -> Eigen::MatrixXd

pure virtual

Get the matrix representing the inverse of the joint space inertia matrix associated to the $M(q)$ term in the equation of motion: $ M(q)\ddot{q} + c(q, \dot{q}) + g(q) = \tau $. Taken at the current robot state.

Returns: A $ndof \times ndof$ matrix

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getJacobian() [1/2]

virtual auto Qontrol::Model::GenericModel::getJacobian ( const std::string & body_name ) -> Eigen::MatrixXd

pure virtual

Get the Jacobian matrix expressed at the frame name $\textit{body_name}$ in the URDF wrt. the root frame.

Parameters

body_name The name of the frame in the urdf

Returns: A $6 \times ndof$ Jacobian matrix.

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getJacobian() [2/2]

virtual auto Qontrol::Model::GenericModel::getJacobian	(	const std::string &	body_name,
		const Eigen::Isometry3d &	frame
	)		-> Eigen::MatrixXd

pure virtual

Parameters

frame A frame expressed wrt. the root frame.

Returns: A $6 \times ndof$ Jacobian matrix expressed at the $\textit{frame}$ pose wrt. the root frame.

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getJacobianTimeDerivativeQdot() [1/2]

virtual auto Qontrol::Model::GenericModel::getJacobianTimeDerivativeQdot ( const std::string & body_name ) -> Eigen::VectorXd

pure virtual

Get the vector representing the $\dot{J}\dot{q}$ terme in the equation $\dot{twist} = \dot{J}\dot{q} + J\ddot{q}$.

Parameters

body_name The name of the frame in the urdf

Returns: A $6$ vector

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getJacobianTimeDerivativeQdot() [2/2]

virtual auto Qontrol::Model::GenericModel::getJacobianTimeDerivativeQdot	(	const std::string &	body_name,
		const Eigen::Isometry3d &	frame
	)		-> Eigen::VectorXd

pure virtual

Get the vector representing the $\dot{J}\dot{q}$ terme in the equation $\dot{twist} = \dot{J}\dot{q} + J\ddot{q}$.

Parameters

body_name The name of the frame in the urdf

Returns: A $6$ vector

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getJointAcceleration()

auto Qontrol::Model::GenericModel::getJointAcceleration ( ) -> Eigen::VectorXd

virtual

Get the robot current joint acceleration.

Returns: A $ndof$ vector representing the current robot joint acceleration

◆ getJointCoriolisTorques()

virtual auto Qontrol::Model::GenericModel::getJointCoriolisTorques ( ) -> Eigen::VectorXd

pure virtual

Get the vector representing the gravity effect associated to the $g$ term in the equation of motion: $ M(q)\ddot{q} + c(q, \dot{q}) + g(q) = \tau $. Taken at the current robot state.

Returns: A f$ndof $ vector . */ virtual auto getJointGravityTorques() -> Eigen::VectorXd = 0; /** @brief Get the vector representing the Coriolis effect associated to the $@_fakenlc(q,

{q} )\f$ term in the equation of motion: \f$ M(q)\ddot{q} +

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getJointInertiaMatrix()

virtual auto Qontrol::Model::GenericModel::getJointInertiaMatrix ( ) -> Eigen::MatrixXd

pure virtual

Get the matrix representing the joint space inertia matrix associated to the $M(q)$ term in the equation of motion: $ M(q)\ddot{q} + c(q, \dot{q}) + g(q) = \tau $. Taken at the current robot state.

Returns: A $ndof \times ndof$ matrix

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getJointPosition()

auto Qontrol::Model::GenericModel::getJointPosition ( ) -> Eigen::VectorXd

virtual

get the robot current joint position

Returns: A $ndof$ vector representing the current robot joint position

◆ getJointTorque()

auto Qontrol::Model::GenericModel::getJointTorque ( ) -> Eigen::VectorXd

virtual

Get the robot current joint torque.

Returns: A $ndof$ vector representing the current robot joint torque

◆ getJointTorqueLimits()

auto Qontrol::Model::GenericModel::getJointTorqueLimits ( ) -> Eigen::VectorXd

Get the robot joint torque limits.

Returns: The robot torque limits

◆ getJointVelocity()

auto Qontrol::Model::GenericModel::getJointVelocity ( ) -> Eigen::VectorXd

virtual

Get the robot current joint velocity.

Returns: A $ndof$ vector representing the current robot joint velocity

◆ getJointVelocityLimits()

auto Qontrol::Model::GenericModel::getJointVelocityLimits ( ) -> Eigen::VectorXd

Get the robot joint velocity limts.

Returns: The robot velocity limits

◆ getLowerJointPositionLimits()

auto Qontrol::Model::GenericModel::getLowerJointPositionLimits ( ) -> Eigen::VectorXd

virtual

Get the robot lower joint position limits.

Returns: The robot lower position limits

◆ getNrOfDegreesOfFreedom()

virtual auto Qontrol::Model::GenericModel::getNrOfDegreesOfFreedom ( ) -> int

pure virtual

Get the robot number of degrees of freedom.

Returns: The robot number of degrees of freedom

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getRobotState()

auto Qontrol::Model::GenericModel::getRobotState ( ) -> RobotState

Get the robot state (position, velocity, acceleration, and external torque)

Returns: The robot state

◆ getRootFrameName()

virtual auto Qontrol::Model::GenericModel::getRootFrameName ( ) -> std::string

pure virtual

Get the name of the root frame in the model.

Returns: The name of the root frame

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getTipFrameName()

virtual auto Qontrol::Model::GenericModel::getTipFrameName ( ) -> std::string

pure virtual

Get the name of the tip frame in the model.

Returns: The name of the tip frame

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getTipFramePose()

virtual auto Qontrol::Model::GenericModel::getTipFramePose ( ) -> Eigen::Isometry3d

pure virtual

Get the pose of the tip frame wrt. the root frame.

Returns: an Isometry.

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getTipFrameVelocity()

virtual auto Qontrol::Model::GenericModel::getTipFrameVelocity ( ) -> Eigen::Matrix< double, 6, 1 >

pure virtual

The twist representing the velocity of the tip frame wrt. the root frame.

Returns: A twist

Implemented in Qontrol::Model::RobotModel< RobotModelImplType::PINOCCHIO >.

◆ getUpperJointPositionLimits()

auto Qontrol::Model::GenericModel::getUpperJointPositionLimits ( ) -> Eigen::VectorXd

virtual

Get the robot upper joint position limits.

Returns: The robot upper position limits

◆ setExternalJointTorque()

void Qontrol::Model::GenericModel::setExternalJointTorque ( Eigen::VectorXd external_joint_torque )

virtual

Set the robot current external joint torque.

Parameters

external_joint_torque the robot external joint torque

◆ setJointAcceleration()

void Qontrol::Model::GenericModel::setJointAcceleration ( Eigen::VectorXd joint_acceleration )

virtual

Set the robot current joint acceleration.

Parameters

joint_acceleration the robot current joint acceleration

◆ setJointPosition()

void Qontrol::Model::GenericModel::setJointPosition ( Eigen::VectorXd joint_position )

virtual

Set the robot current joint position.

Parameters

joint_position the robot current joint position

◆ setJointTorque()

void Qontrol::Model::GenericModel::setJointTorque ( Eigen::VectorXd joint_torque )

virtual

Set the robot current joint torque.

Parameters

joint_torque the robot current joint torque

◆ setJointTorqueLimits()

void Qontrol::Model::GenericModel::setJointTorqueLimits ( Eigen::VectorXd lim )

Set the robot joint torque limits.

Parameters

lim	The robot upper velocity limits

Remarks: This functions is automatically called by loadModelFromString to set the joint torque limits according to the urdf model

◆ setJointVelocity()

void Qontrol::Model::GenericModel::setJointVelocity ( Eigen::VectorXd joint_velocity )

virtual

Set the robot current joint velocity.

Parameters

joint_velocity the robot current joint velocity

◆ setJointVelocityLimits()

void Qontrol::Model::GenericModel::setJointVelocityLimits ( Eigen::VectorXd lim )

Set the robot joint velocity limts.

Parameters

lim	The robot velocity limits

Remarks: This functions is automatically called by loadModelFromString to set the joint velocity limits according to the urdf model

◆ setLowerJointPositionLimits()

void Qontrol::Model::GenericModel::setLowerJointPositionLimits ( Eigen::VectorXd lim )

Set the robot lower joint position limits.

Parameters

lim	The robot lower position limits

Remarks: This functions is automatically called by loadModelFromString to set the lower joint position limits according to the urdf model

◆ setRobotState()

void Qontrol::Model::GenericModel::setRobotState ( const RobotState & robot_state )

Load the robot model given a urdf path.

Parameters

urdf_path	a urdf string representing the robot description
root_link	The name of the root link in the urdf file. By default the first link in the urdf is taken.
tip_link	The name of the tip link in the urdf file. By default the last link in the urdf is taken.

Sets the robot state (position, velocity, acceleration, and external torque)

Parameters

robot_state the robot state

◆ setUpperJointPositionLimits()

void Qontrol::Model::GenericModel::setUpperJointPositionLimits ( Eigen::VectorXd lim )

Set the robot upper joint position limits.

Parameters

lim	The robot upper position limits

Remarks: This functions is automatically called by loadModelFromString to set the upper joint position limits according to the urdf model

◆ skew()

auto Qontrol::Model::GenericModel::skew ( Eigen::Vector3d vector ) -> Eigen::Matrix3d

static

compute the skew symetry matrix of a vector. Usefull to perform cross products

Parameters

vector a vector

Returns: The skew matrix associated to $vecotr$

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

include/Qontrol/Model/GenericModel.hpp
src/Model/GenericModel.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Member Function Documentation

◆ getExternalJointTorque()

◆ getExternalWrench()

◆ getFrameAccelerationFromJointAcceleration() [1/2]

◆ getFrameAccelerationFromJointAcceleration() [2/2]

◆ getFrameAccelerationFromTorques() [1/2]

◆ getFrameAccelerationFromTorques() [2/2]

◆ getFramePose()

◆ getFrameVelocity() [1/2]

◆ getFrameVelocity() [2/2]

◆ getInverseJointInertiaMatrix()

◆ getJacobian() [1/2]

◆ getJacobian() [2/2]

◆ getJacobianTimeDerivativeQdot() [1/2]

◆ getJacobianTimeDerivativeQdot() [2/2]

◆ getJointAcceleration()

◆ getJointCoriolisTorques()

◆ getJointInertiaMatrix()

◆ getJointPosition()

◆ getJointTorque()

◆ getJointTorqueLimits()

◆ getJointVelocity()

◆ getJointVelocityLimits()

◆ getLowerJointPositionLimits()

◆ getNrOfDegreesOfFreedom()

◆ getRobotState()

◆ getRootFrameName()

◆ getTipFrameName()

◆ getTipFramePose()

◆ getTipFrameVelocity()

◆ getUpperJointPositionLimits()

◆ setExternalJointTorque()

◆ setJointAcceleration()

◆ setJointPosition()

◆ setJointTorque()

◆ setJointTorqueLimits()

◆ setJointVelocity()

◆ setJointVelocityLimits()

◆ setLowerJointPositionLimits()

◆ setRobotState()

◆ setUpperJointPositionLimits()

◆ skew()