rml::TwoLinksArmModel Class Reference

#include <twolinks_armmodel.h>

Inheritance diagram for rml::TwoLinksArmModel:

Public Member Functions
	TwoLinksArmModel (std::string id)
virtual	~TwoLinksArmModel ()
Public Member Functions inherited from rml::ArmModel
	ArmModel (const std::string id) noexcept(false)
	Default constructor.
virtual	~ArmModel ()
	Default destructor.
void	AddJointLink (JointType type, const Eigen::Vector3d &axis, const Eigen::TransformationMatrix &baseTransf, double jointLimMin, double jointLimMax)
	Adds a link to the kinematic chain of the model.
void	AddFixedLink (const Eigen::TransformationMatrix &baseTransf)
	Adds a fixed link to the kinematic chain of the model.
virtual void	JointsPosition (const Eigen::VectorXd q) noexcept(false)
	Set the joint position.
virtual auto	JointsPosition () const -> const Eigen::VectorXd &
	Get the moving joint position.
virtual void	JointsVelocity (const Eigen::VectorXd qdot) noexcept(false)
	Set the moving joints velocity.
virtual auto	JointsVelocity () const -> const Eigen::VectorXd &
	Get the moving joints velocity.
void	JointsAcceleration (const Eigen::VectorXd qddot) noexcept(false)
	Set the moving joints acceleration.
auto	JointsAcceleration () const -> const Eigen::VectorXd &
	Get moving joints acceleration.
void	AttachRigidBodyFrame (std::string frameID, std::string attachedFrameID, Eigen::TransformationMatrix attachedFrameID_T_frameID) noexcept(false)
	Method adding a rigid body frame to a joint.
Eigen::TransformationMatrix	TransformationMatrix (const std::string &frameID) noexcept(false)
	Method returning the transformation matrix related to the input frameID wrt to the arm base.
Eigen::TransformationMatrix	TransformationMatrix (const std::string &frameID_j, const std::string &frameID_k)
	Method returing a transformation matrix from frameID_j to frameID_k, i.e. jTk.
virtual Eigen::MatrixXd	Jacobian (const std::string &frameID) noexcept(false)
	Method returning the jacobian related to the input frameID wrt to the arm base.
Eigen::MatrixXd	ManipulabilityJacobian (const std::string &frameID)
	Method returning the manipulability jacobian related to the input frameID wrt to the arm base.
virtual auto	NumJoints () const -> unsigned int
	Method returning the arm number of moving joints.
auto	dJdq () const -> const std::vector< Eigen::MatrixXd > &
	Method returning dJdq evaluated numerically.
RobotLink &	Link (int jointIndex) noexcept(false)
	Method returning the arm link.
auto	IsModelInitialized () const -> bool
	Method returning true if the model is initialized false otherwise.
auto	ControlVector () const -> const Eigen::VectorXd &
	Method returning the arm control vector.
void	ControlVector (const Eigen::VectorXd controlRef) noexcept(false)
	Method setting the arm control vector.
double	Manipulability (const std::string &frameID)
	Method returning the arm manipulability.
Eigen::MatrixXd	DexterityJacobian (const std::string &frameID)
	Method returning the dexterity jacobian related to the input frameID wrt to the arm base.
double	Dexterity (const std::string &frameID)
	Method returning the arm dexterity.
auto	ID () const -> const std::string &
	Method returning the arm id.
auto	ID () -> std::string &
	Method setting the arm id.
std::vector< std::string >	GetRigidBodyFrameIDs () const noexcept
	Method returning the list of rigid body frame IDs.
std::vector< std::string >	GetJointFrameIDs () const noexcept
	Method returning the list of joint frame IDs.
std::vector< std::string >	GetJacobianFrameIDs () const noexcept
	Method returning the list of Jacobian frame IDs.
std::string	GetEndEffectorFrameID () const noexcept
	Method returning the end-effector frame ID.

Additional Inherited Members
Protected Member Functions inherited from rml::ArmModel
void	EvaluateTotalForwardGeometry ()
	Method evaluating the total forward geometry for the arm.
virtual void	EvaluatedJdqNumeric ()
	Evaluates numerically the Jacobian derivative w.r.t. joint variations.
virtual Eigen::MatrixXd	EvaluateManipulability (const std::string &frameID)
	Evaluates the manipulability measure and its Jacobian This method returns the manipulability measure and its Jacobian.
virtual Eigen::MatrixXd	EvaluateDexterity (const std::string &frameID)
	Evaluates the dexterity measure and its Jacobian This method returns the dexterity measure and its Jacobian.
Eigen::TransformationMatrix	EvaluateRigidBodyTransf (const std::string &frameID)
	Method returning the attached body frame wrt to the arm base.
Eigen::MatrixXd	EvaluateRigidBodyJacobian (const std::string &frameID)
	Method returning the attached body frame jacobian wrt to the arm base.
Eigen::MatrixXd	EvaluateBase2JointJacobian (unsigned int jointIndex)
	Evaluates the jacobian matrix (w.r.t. robot base) of the specified joint.
void	ForwardDirectGeometry (unsigned int jointNumber)
	Method performing the forward direct geometry untill the input joint number.
void	BackwardDirectGeometry (unsigned int jointNumber, unsigned int endEffectorIndex)
	Backward Direct Geometry from the input joint number to the input end effector index.
Protected Attributes inherited from rml::ArmModel
bool	modelInitialized_
	boolean stating whether the model is initialized
bool	isMapInitialized_
	boolean stating whether the transformation and jacobian maps are initialized
unsigned int	totalNumJoints_
unsigned int	movingNumJoints_
	moving joints number
std::vector< unsigned int >	movingJoints_
	vector containing the indexes of the moving joints
std::vector< RobotLink >	links_
	vector of the arm links
std::unordered_map< std::string, IndexedTMat >	rigidBodyFrames_
std::unordered_map< std::string, Eigen::MatrixXd >	jacobians_
std::unordered_map< std::string, Eigen::TransformationMatrix >	transformation_
std::unordered_map< std::string, Eigen::MatrixXd >	manipulabilityJacobians_
	map of the manipulability jacobians
std::unordered_map< std::string, double >	manipulability_
	map of the manipulability values
Eigen::VectorXd	q_total_
Eigen::VectorXd	q_moving_
Eigen::VectorXd	q_dot_moving_
Eigen::VectorXd	q_ddot_moving_
Eigen::VectorXd	controlRef_
std::vector< Eigen::TransformationMatrix >	baseTei_
std::vector< Eigen::TransformationMatrix >	biTei_
Eigen::TransformationMatrix	baseTbi_
Eigen::TransformationMatrix	Tz_
	transformation matrix for rotation or prismatic joint
Eigen::Vector3d	base_ki_
std::vector< Eigen::Vector6d >	h_
std::vector< Eigen::MatrixXd >	dJdq_
	dJdq evaluated numerically
Eigen::MatrixXd	djdqJpinv_
	djdq * jacobian pseudoinverse
Eigen::RotationMatrix	I3_
	identity matrix
bool	modelReadFromFile_
	boolean stating whether the model is read from file
std::string	id_
	arm id
std::unordered_map< std::string, Eigen::MatrixXd >	dexterityJacobians_
	map of the manipulability jacobians
std::unordered_map< std::string, double >	dexterity_
	map of the manipulability values
Eigen::MatrixXd	Jdjdq_
	jacobian * djdq
Eigen::MatrixXd	Jpinvdjpinvdq_
	jacobian pseudoinverse * djpinvdq

Constructor & Destructor Documentation

TwoLinksArmModel()

rml::TwoLinksArmModel::TwoLinksArmModel

(

std::string

id

)

~TwoLinksArmModel()

virtual rml::TwoLinksArmModel::~TwoLinksArmModel ( )

virtual

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

• twolinks_armmodel.h