#include <Model3T.h>

Inheritance diagram for Model3T:

Collaboration diagram for Model3T:

Classes
struct	Pimpl

Public Member Functions
	Model3T (const std::string &robotName)

virtual	~Model3T ()

virtual const Eigen::VectorXd &	getJointPositions () const

virtual const Eigen::VectorXd &	getJointVelocities () const

virtual const Eigen::Displacementd &	getFreeFlyerPosition () const

virtual const Eigen::Twistd &	getFreeFlyerVelocity () const

virtual int	nbSegments () const

virtual const Eigen::VectorXd &	getActuatedDofs () const

virtual const Eigen::VectorXd &	getJointLowerLimits () const

virtual const Eigen::VectorXd &	getJointUpperLimits () const

virtual double	getMass () const

virtual const Eigen::Vector3d &	getCoMPosition () const

virtual const Eigen::Vector3d &	getCoMVelocity () const

virtual const Eigen::Vector3d &	getCoMJdotQdot () const

virtual const Eigen::Matrix< double, 3, Eigen::Dynamic > &	getCoMJacobian () const

virtual const Eigen::Matrix< double, 3, Eigen::Dynamic > &	getCoMJacobianDot () const

virtual const Eigen::MatrixXd &	getInertiaMatrix () const

virtual const Eigen::MatrixXd &	getInertiaMatrixInverse () const

virtual const Eigen::MatrixXd &	getDampingMatrix () const

virtual const Eigen::VectorXd &	getNonLinearTerms () const

virtual const Eigen::VectorXd &	getLinearTerms () const

virtual const Eigen::VectorXd &	getGravityTerms () const

virtual const Eigen::Displacementd &	getSegmentPosition (int index) const

virtual const Eigen::Twistd &	getSegmentVelocity (int index) const

virtual const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getSegmentJacobian (int index) const

virtual const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getSegmentJdot (int index) const

virtual const Eigen::Twistd &	getSegmentJdotQdot (int index) const

virtual const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getJointJacobian (int index) const

virtual double	getSegmentMass (int index) const

virtual const Eigen::Vector3d &	getSegmentCoM (int index) const

virtual const Eigen::Matrix< double, 6, 6 > &	getSegmentMassMatrix (int index) const

virtual const Eigen::Vector3d &	getSegmentMomentsOfInertia (int index) const

virtual const Eigen::Rotation3d &	getSegmentInertiaAxes (int index) const

void	testConstantData ()

void	testVariableData ()

Public Member Functions inherited from ocra::Model
	Model (const std::string &name, int ndofs, bool freeRoot, const std::string &jointTorqueVariableName="tau", const std::string &forceVariableName="f", const std::string &configurationVariableName="q", const std::string &internalDofsSuffix="_int", const std::string &externalDofsSuffix="_root")

virtual	~Model ()

void	setJointPositions (const Eigen::VectorXd &q)

void	setJointVelocities (const Eigen::VectorXd &q_dot)

void	setFreeFlyerPosition (const Eigen::Displacementd &H_root)

void	setFreeFlyerVelocity (const Eigen::Twistd &T_root)

void	setState (const Eigen::VectorXd &q, const Eigen::VectorXd &q_dot)

void	setState (const Eigen::Displacementd &H_root, const Eigen::VectorXd &q, const Eigen::Twistd &T_root, const Eigen::VectorXd &q_dot)

virtual const Eigen::VectorXd &	getJointAccelerations () const

virtual const Eigen::VectorXd &	getJointTorques () const =0

int	nbDofs () const

int	nbInternalDofs () const

bool	hasFixedRoot () const

virtual const Eigen::Vector3d &	getCoMAcceleration () const

virtual const Eigen::Vector3d &	getCoMAngularVelocity () const

virtual const Eigen::Matrix< double, 3, Eigen::Dynamic > &	getCoMAngularJacobian () const

const Eigen::Displacementd &	getSegmentPosition (const std::string &segName) const

const Eigen::Twistd &	getSegmentVelocity (const std::string &segName) const

const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getSegmentJacobian (const std::string &segName) const

const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getSegmentJdot (const std::string &segName) const

const Eigen::Twistd &	getSegmentJdotQdot (const std::string &segName) const

const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getJointJacobian (const std::string &segName) const

double	getSegmentMass (const std::string &segName) const

const Eigen::Vector3d &	getSegmentCoM (const std::string &segName) const

const Eigen::Matrix< double, 6, 6 > &	getSegmentMassMatrix (const std::string &segName) const

const Eigen::Vector3d &	getSegmentMomentsOfInertia (const std::string &segName) const

const Eigen::Rotation3d &	getSegmentInertiaAxes (const std::string &segName) const

void	setJointDamping (const Eigen::VectorXd &damping)

const Eigen::VectorXd &	getJointDamping () const

Variable &	getConfigurationVariable () const

Variable &	getVelocityVariable () const

Variable &	getAccelerationVariable () const

Variable &	getJointTorqueVariable () const

Variable &	getRootConfigurationVariable () const

Variable &	getInternalConfigurationVariable () const

Variable &	getRootVelocityVariable () const

Variable &	getInternalVelocityVariable () const

Variable &	getRootAccelerationVariable () const

Variable &	getInternalAccelerationVariable () const

ModelContacts &	getModelContacts () const

int	getSegmentIndex (const std::string &name) const

const std::string &	getSegmentName (int index) const

int	getDofIndex (const std::string &name) const

const std::string &	getDofName (int index) const

const std::string	DofName (const std::string &name) const

const std::string	SegmentName (const std::string &name) const

virtual const std::string &	getJointName (int index) const =0

Public Member Functions inherited from ocra::ObserverSubject
	ObserverSubject ()

virtual	~ObserverSubject ()

Public Member Functions inherited from ocra::Observer
virtual	~Observer ()

template<int EVT>
void	bind (SubjectBase< EVT > &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

template<int EVT>
void	stopPropagation ()

Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::Subject
virtual	~Subject ()

template<int EVT, class Derived , class Base >
void	connect (Derived &object, void(Base::*newCallback)(int)) const
	Call this method to register a non-static method as a callback. More...

template<int EVT>
void	connect (void(*newCallback)(int)) const
	Call this method to register a free function as a callback. More...

template<int EVT, class Derived , class Base >
void	disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
	Disconnect non-static method. More...

template<int EVT>
void	disconnect (void(*callbackToErase)(int)) const
	Disconnect free function. More...

template<int EVT>
void	propagate () const

template<int EVT>
void	propagate (int timestamp) const

Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Protected Member Functions
virtual void	doSetJointPositions (const Eigen::VectorXd &q)

virtual void	doSetJointVelocities (const Eigen::VectorXd &q_dot)

virtual void	doSetFreeFlyerPosition (const Eigen::Displacementd &H_root)

virtual void	doSetFreeFlyerVelocity (const Eigen::Twistd &T_root)

virtual int	doGetSegmentIndex (const std::string &name) const

virtual const std::string &	doGetSegmentName (int index) const

virtual void	update ()

Protected Member Functions inherited from ocra::Model
virtual void	doSetState (const Eigen::VectorXd &q, const Eigen::VectorXd &q_dot)

virtual void	doSetState (const Eigen::Displacementd &H_root, const Eigen::VectorXd &q, const Eigen::Twistd &T_root, const Eigen::VectorXd &q_dot)

virtual void	doInvalidate ()

virtual int	doGetDofIndex (const std::string &name) const

virtual const std::string &	doGetDofName (int index) const

virtual const std::string	doSegmentName (const std::string &name) const

virtual const std::string	doDofName (const std::string &name) const

Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
	SubjectBase ()

	~SubjectBase ()

Additional Inherited Members
Public Attributes inherited from ocra::Model
yarp::os::Semaphore	modelMutex

Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Detailed Description

Definition at line 7 of file Model3T.h.

Constructor & Destructor Documentation

Model3T::Model3T ( const std::string & robotName )

Definition at line 156 of file Model3T.cpp.

Model3T::~Model3T ( )

virtual

Definition at line 163 of file Model3T.cpp.

Member Function Documentation

int Model3T::doGetSegmentIndex ( const std::string & name ) const

protectedvirtual

Implements ocra::Model.

Definition at line 370 of file Model3T.cpp.

const std::string & Model3T::doGetSegmentName ( int index ) const

protectedvirtual

Implements ocra::Model.

Definition at line 383 of file Model3T.cpp.

void Model3T::doSetFreeFlyerPosition ( const Eigen::Displacementd & H_root )

protectedvirtual

Implements ocra::Model.

Definition at line 356 of file Model3T.cpp.

void Model3T::doSetFreeFlyerVelocity ( const Eigen::Twistd & T_root )

protectedvirtual

Implements ocra::Model.

Definition at line 363 of file Model3T.cpp.

void Model3T::doSetJointPositions ( const Eigen::VectorXd & q )

protectedvirtual

Implements ocra::Model.

Definition at line 344 of file Model3T.cpp.

void Model3T::doSetJointVelocities ( const Eigen::VectorXd & q_dot )

protectedvirtual

Implements ocra::Model.

Definition at line 350 of file Model3T.cpp.

const VectorXd & Model3T::getActuatedDofs ( ) const

virtual

Implements ocra::Model.

Definition at line 196 of file Model3T.cpp.

const Matrix< double, 3, Dynamic > & Model3T::getCoMJacobian ( ) const

virtual

Implements ocra::Model.

Definition at line 237 of file Model3T.cpp.

const Matrix< double, 3, Dynamic > & Model3T::getCoMJacobianDot ( ) const

virtual

Implements ocra::Model.

Definition at line 242 of file Model3T.cpp.

const Vector3d & Model3T::getCoMJdotQdot ( ) const

virtual

Implements ocra::Model.

Definition at line 232 of file Model3T.cpp.

const Vector3d & Model3T::getCoMPosition ( ) const

virtual

Implements ocra::Model.

Definition at line 222 of file Model3T.cpp.

const Vector3d & Model3T::getCoMVelocity ( ) const

virtual

Implements ocra::Model.

Definition at line 227 of file Model3T.cpp.

const MatrixXd & Model3T::getDampingMatrix ( ) const

virtual

Implements ocra::Model.

Definition at line 258 of file Model3T.cpp.

const Displacementd & Model3T::getFreeFlyerPosition ( ) const

virtual

Implements ocra::Model.

Definition at line 181 of file Model3T.cpp.

const Twistd & Model3T::getFreeFlyerVelocity ( ) const

virtual

Implements ocra::Model.

Definition at line 186 of file Model3T.cpp.

const VectorXd & Model3T::getGravityTerms ( ) const

virtual

Implements ocra::Model.

Definition at line 273 of file Model3T.cpp.

const MatrixXd & Model3T::getInertiaMatrix ( ) const

virtual

Implements ocra::Model.

Definition at line 248 of file Model3T.cpp.

const MatrixXd & Model3T::getInertiaMatrixInverse ( ) const

virtual

Implements ocra::Model.

Definition at line 253 of file Model3T.cpp.

const Matrix< double, 6, Dynamic > & Model3T::getJointJacobian ( int index ) const

virtual

Implements ocra::Model.

Definition at line 305 of file Model3T.cpp.

const VectorXd & Model3T::getJointLowerLimits ( ) const

virtual

Implements ocra::Model.

Definition at line 201 of file Model3T.cpp.

const VectorXd & Model3T::getJointPositions ( ) const

virtual

Implements ocra::Model.

Definition at line 171 of file Model3T.cpp.

const VectorXd & Model3T::getJointUpperLimits ( ) const

virtual

Implements ocra::Model.

Definition at line 206 of file Model3T.cpp.

const VectorXd & Model3T::getJointVelocities ( ) const

virtual

Implements ocra::Model.

Definition at line 176 of file Model3T.cpp.

const VectorXd & Model3T::getLinearTerms ( ) const

virtual

Implements ocra::Model.

Definition at line 268 of file Model3T.cpp.

double Model3T::getMass ( ) const

virtual

Implements ocra::Model.

Definition at line 212 of file Model3T.cpp.

const VectorXd & Model3T::getNonLinearTerms ( ) const

virtual

Implements ocra::Model.

Definition at line 263 of file Model3T.cpp.

const Vector3d & Model3T::getSegmentCoM ( int index ) const

virtual

Implements ocra::Model.

Definition at line 317 of file Model3T.cpp.

const Rotation3d & Model3T::getSegmentInertiaAxes ( int index ) const

virtual

Implements ocra::Model.

Definition at line 336 of file Model3T.cpp.

const Matrix< double, 6, Dynamic > & Model3T::getSegmentJacobian ( int index ) const

virtual

Implements ocra::Model.

Definition at line 289 of file Model3T.cpp.

const Matrix< double, 6, Dynamic > & Model3T::getSegmentJdot ( int index ) const

virtual

Implements ocra::Model.

Definition at line 294 of file Model3T.cpp.

const Twistd & Model3T::getSegmentJdotQdot ( int index ) const

virtual

Implements ocra::Model.

Definition at line 299 of file Model3T.cpp.

double Model3T::getSegmentMass ( int index ) const

virtual

Implements ocra::Model.

Definition at line 311 of file Model3T.cpp.

const Matrix< double, 6, 6 > & Model3T::getSegmentMassMatrix ( int index ) const

virtual

Implements ocra::Model.

Definition at line 323 of file Model3T.cpp.

const Vector3d & Model3T::getSegmentMomentsOfInertia ( int index ) const

virtual

Implements ocra::Model.

Definition at line 329 of file Model3T.cpp.

const Displacementd & Model3T::getSegmentPosition ( int index ) const

virtual

Implements ocra::Model.

Definition at line 279 of file Model3T.cpp.

const Twistd & Model3T::getSegmentVelocity ( int index ) const

virtual

Implements ocra::Model.

Definition at line 284 of file Model3T.cpp.

int Model3T::nbSegments ( ) const

virtual

Implements ocra::Model.

Definition at line 191 of file Model3T.cpp.

void Model3T::testConstantData ( )

Definition at line 438 of file Model3T.cpp.

void Model3T::testVariableData ( )

Definition at line 470 of file Model3T.cpp.

void Model3T::update ( )

protectedvirtual

Definition at line 395 of file Model3T.cpp.

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

Classes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation