IcubControllerServer Class Reference

#include <IcubControllerServer.h>

List of all members.

Public Member Functions
	IcubControllerServer (std::shared_ptr< wbi::wholeBodyInterface > robot, std::string icubName, const bool usingFloatingBase, const ocra_recipes::CONTROLLER_TYPE ctrlType=ocra_recipes::WOCRA_CONTROLLER, const ocra_recipes::SOLVER_TYPE solver=ocra_recipes::QUADPROG, const bool usingInterprocessCommunication=true, const bool useOdometry=false)
virtual	~IcubControllerServer ()
virtual ocra::Model::Ptr	loadRobotModel ()
virtual void	getRobotState (Eigen::VectorXd &q, Eigen::VectorXd &qd, Eigen::Displacementd &H_root, Eigen::Twistd &T_root)
bool	initializeOdometry (std::string model_file, std::string initialFixedFrame)
std::vector< std::string >	getCanonical_iCubJoints ()
void	rootFrameVelocity (Eigen::VectorXd &q, Eigen::VectorXd &qd, iDynTree::Transform &wbi_H_root_Transform, double regularization, int LEFT_FOOT_CONTACT, int RIGHT_FOOT_CONTACT, Eigen::VectorXd &twist)
void	rootFrameVelocityPivLU (Eigen::VectorXd &q, Eigen::VectorXd &qd, iDynTree::Transform &wbi_H_root_Transform, Eigen::VectorXd &twist)
void	rootFrameVelocityPivLU (Eigen::VectorXd &q, Eigen::VectorXd &qd, iDynTree::Transform &wbi_H_root_Transform, int LEFT_FOOT_CONTACT, int RIGHT_FOOT_CONTACT, Eigen::VectorXd &twist)
void	pinv (Eigen::MatrixXd mat, Eigen::MatrixXd &pinvmat, double pinvtoler=1.0e-6) const
void	velocityError (Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::MatrixXd X)
Private Attributes
std::shared_ptr < wbi::wholeBodyInterface >	wbi
std::string	robotName
bool	isFloatingBase
bool	useOdometry
int	nDoF
Eigen::VectorXd	wbi_H_root_Vector
Eigen::VectorXd	wbi_T_root_Vector
wbi::Frame	wbi_H_root
iDynTree::SimpleLeggedOdometry	odometry
Static Private Attributes
static constexpr double	ALL_JOINTS = -1.0

---

Constructor & Destructor Documentation

IcubControllerServer::IcubControllerServer	(	std::shared_ptr< wbi::wholeBodyInterface >	robot,
		std::string	icubName,
		const bool	usingFloatingBase,
		const ocra_recipes::CONTROLLER_TYPE	ctrlType = ocra_recipes::WOCRA_CONTROLLER,
		const ocra_recipes::SOLVER_TYPE	solver = ocra_recipes::QUADPROG,
		const bool	usingInterprocessCommunication = true,
		const bool	useOdometry = false
	)

IcubControllerServer::~IcubControllerServer

(

)

[virtual]

---

Member Function Documentation

std::vector< std::string > IcubControllerServer::getCanonical_iCubJoints

(

)

void IcubControllerServer::getRobotState	(	Eigen::VectorXd &	q,
		Eigen::VectorXd &	qd,
		Eigen::Displacementd &	H_root,
		Eigen::Twistd &	T_root
	)		[virtual]

bool IcubControllerServer::initializeOdometry	(	std::string	model_file,
		std::string	initialFixedFrame
	)

ocra::Model::Ptr IcubControllerServer::loadRobotModel

(

)

[virtual]

void IcubControllerServer::pinv	(	Eigen::MatrixXd	mat,
		Eigen::MatrixXd &	pinvmat,
		double	pinvtoler = 1.0e-6
	)		const

void IcubControllerServer::rootFrameVelocity	(	Eigen::VectorXd &	q,
		Eigen::VectorXd &	qd,
		iDynTree::Transform &	wbi_H_root_Transform,
		double	regularization,
		int	LEFT_FOOT_CONTACT,
		int	RIGHT_FOOT_CONTACT,
		Eigen::VectorXd &	twist
	)

void IcubControllerServer::rootFrameVelocityPivLU	(	Eigen::VectorXd &	q,
		Eigen::VectorXd &	qd,
		iDynTree::Transform &	wbi_H_root_Transform,
		Eigen::VectorXd &	twist
	)

void IcubControllerServer::rootFrameVelocityPivLU	(	Eigen::VectorXd &	q,
		Eigen::VectorXd &	qd,
		iDynTree::Transform &	wbi_H_root_Transform,
		int	LEFT_FOOT_CONTACT,
		int	RIGHT_FOOT_CONTACT,
		Eigen::VectorXd &	twist
	)

void IcubControllerServer::velocityError	(	Eigen::MatrixXd	A,
		Eigen::MatrixXd	B,
		Eigen::MatrixXd	X
	)

---

Member Data Documentation

constexpr double IcubControllerServer::ALL_JOINTS = -1.0 [static, private]

bool IcubControllerServer::isFloatingBase [private]

int IcubControllerServer::nDoF [private]

iDynTree::SimpleLeggedOdometry IcubControllerServer::odometry [private]

std::string IcubControllerServer::robotName [private]

bool IcubControllerServer::useOdometry [private]

std::shared_ptr<wbi::wholeBodyInterface> IcubControllerServer::wbi [private]

The WBI used to talk to the robot.

wbi::Frame IcubControllerServer::wbi_H_root [private]

Eigen::VectorXd IcubControllerServer::wbi_H_root_Vector [private]

Eigen::VectorXd IcubControllerServer::wbi_T_root_Vector [private]

---

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

• ocra-wbi-plugins/ocra-icub-server/include/ocra-icub-server/IcubControllerServer.h
• ocra-wbi-plugins/ocra-icub-server/src/IcubControllerServer.cpp