Blender  V2.59
Classes | Public Types | Public Member Functions | Protected Member Functions
iTaSC::Armature Class Reference

#include <Armature.hpp>

Inheritance diagram for iTaSC::Armature:
Inheritance graph
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List of all members.

Classes

struct  Effector_struct
struct  Joint_struct
struct  JointConstraint_struct

Public Types

enum  ID {
  ID_JOINT = 1, ID_JOINT_RX = 2, ID_JOINT_RY = 3, ID_JOINT_RZ = 4,
  ID_JOINT_TX = 2, ID_JOINT_TY = 3, ID_JOINT_TZ = 4
}
typedef std::vector
< Effector_struct > 		EffectorList
typedef std::vector
< JointConstraint_struct * > 		JointConstraintList
typedef std::vector< Joint_struct > JointList

Public Member Functions

 Armature ()
virtual ~Armature ()
bool addSegment (const std::string &segment_name, const std::string &hook_name, const Joint &joint, const double &q_rest, const Frame &f_tip=F_identity, const Inertia &M=Inertia::Zero())
int addConstraint (const std::string &segment_name, ConstraintCallback _function, void *_param=NULL, bool _freeParam=false, bool _substep=false)
int addLimitConstraint (const std::string &segment_name, unsigned int dof, double _min, double _max)
double getMaxJointChange ()
double getMaxEndEffectorChange ()
bool getSegment (const std::string &segment_name, const unsigned int q_size, const Joint *&p_joint, double &q_rest, double &q, const Frame *&p_tip)
bool getRelativeFrame (Frame &result, const std::string &segment_name, const std::string &base_name=m_root)
virtual void finalize ()
virtual int addEndEffector (const std::string &name)
virtual const Frame & getPose (const unsigned int end_effector)
virtual bool updateJoint (const Timestamp &timestamp, JointLockCallback &callback)
virtual void updateKinematics (const Timestamp &timestamp)
virtual void pushCache (const Timestamp &timestamp)
virtual void updateControlOutput (const Timestamp &timestamp)
virtual bool setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep=0.0)
virtual void initCache (Cache *_cache)
virtual bool setJointArray (const KDL::JntArray &joints)
virtual const KDL::JntArray & getJointArray ()
virtual double getArmLength ()

Protected Member Functions

virtual void updateJacobian ()

Detailed Description

Definition at line 19 of file Armature.hpp.

Member Typedef Documentation

typedef std::vector<Effector_struct> iTaSC::Armature::EffectorList

Definition at line 58 of file Armature.hpp.

typedef std::vector<JointConstraint_struct*> iTaSC::Armature::JointConstraintList

Definition at line 82 of file Armature.hpp.

typedef std::vector<Joint_struct> iTaSC::Armature::JointList

Definition at line 96 of file Armature.hpp.

Member Enumeration Documentation

enum iTaSC::Armature::ID
Enumerator:
ID_JOINT 
ID_JOINT_RX 
ID_JOINT_RY 
ID_JOINT_RZ 
ID_JOINT_TX 
ID_JOINT_TY 
ID_JOINT_TZ 

Definition at line 60 of file Armature.hpp.

Constructor & Destructor Documentation

iTaSC::Armature::Armature ( )

Definition at line 22 of file Armature.cpp.

iTaSC::Armature::~Armature ( ) [virtual]

Definition at line 47 of file Armature.cpp.

References NULL.

Member Function Documentation

int iTaSC::Armature::addConstraint ( const std::string &  segment_name,
ConstraintCallback  _function,
void *  _param = NULL,
bool  _freeParam = false,
bool  _substep = false 
)

Definition at line 296 of file Armature.cpp.

References iTaSC::Armature::JointConstraint_struct::freeParam, iTaSC::Armature::JointConstraint_struct::function, KDL::Tree::getSegment(), KDL::Tree::getSegments(), iTaSC::Armature::JointConstraint_struct::param, iTaSC::Armature::JointConstraint_struct::segment, iTaSC::Armature::JointConstraint_struct::substep, and iTaSC::Armature::JointConstraint_struct::v_nr.

int iTaSC::Armature::addEndEffector ( const std::string &  name) [virtual]

Reimplemented from iTaSC::Object.

Definition at line 353 of file Armature.cpp.

References KDL::Tree::getSegments().

int iTaSC::Armature::addLimitConstraint ( const std::string &  segment_name,
unsigned int  dof,
double  _min,
double  _max 
)

Definition at line 334 of file Armature.cpp.

References KDL::Joint::getNDof(), KDL::Tree::getSegment(), KDL::Tree::getSegments(), KDL::Joint::getType(), iTaSC::Armature::Joint_struct::max, iTaSC::Armature::Joint_struct::min, KDL::Joint::Swing, and iTaSC::Armature::Joint_struct::useLimit.

bool iTaSC::Armature::addSegment ( const std::string &  segment_name,
const std::string &  hook_name,
const Joint &  joint,
const double &  q_rest,
const Frame &  f_tip = F_identity,
const Inertia &  M = Inertia::Zero() 
)

Definition at line 230 of file Armature.cpp.

References KDL::Tree::addSegment(), KDL::Joint::getNDof(), and KDL::Joint::getType().

void iTaSC::Armature::finalize ( ) [virtual]

Reimplemented from iTaSC::Object.

Definition at line 372 of file Armature.cpp.

References iTaSC::ConstraintValues::alpha, KDL::epsilon, KDL::Tree::getSegment(), i, iTaSC::ControlledObject::initialize(), length(), iTaSC::ControlledObject::m_Cq, iTaSC::ControlledObject::m_Wy, KDL::Vector::Norm(), KDL::Frame::p, KDL::JntArray::resize(), iTaSC::Armature::JointConstraint_struct::segment, updateJacobian(), iTaSC::Armature::JointConstraint_struct::v_nr, and iTaSC::Armature::JointConstraint_struct::values.

virtual double iTaSC::Armature::getArmLength ( ) [inline, virtual]

Definition at line 47 of file Armature.hpp.

const KDL::JntArray & iTaSC::Armature::getJointArray ( ) [virtual]

Definition at line 434 of file Armature.cpp.

double iTaSC::Armature::getMaxEndEffectorChange ( )

Definition at line 277 of file Armature.cpp.

References KDL::diff(), i, KDL::Vector::Norm(), KDL::Twist::rot, and KDL::Twist::vel.

Referenced by execute_scene().

double iTaSC::Armature::getMaxJointChange ( )

Definition at line 263 of file Armature.cpp.

References fabs(), and i.

Referenced by execute_scene().

const Frame & iTaSC::Armature::getPose ( const unsigned int  end_effector) [virtual]

Reimplemented from iTaSC::Object.

Definition at line 650 of file Armature.cpp.

References iTaSC::F_identity, and iTaSC::ControlledObject::m_nee.

Referenced by base_callback().

bool iTaSC::Armature::getRelativeFrame ( Frame &  result,
const std::string &  segment_name,
const std::string &  base_name = m_root 
)

Definition at line 657 of file Armature.cpp.

References KDL::TreeFkSolverPos_recursive::JntToCart().

Referenced by base_callback(), and execute_scene().

bool iTaSC::Armature::getSegment ( const std::string &  segment_name,
const unsigned int  q_size,
const Joint *&  p_joint,
double &  q_rest,
double &  q,
const Frame *&  p_tip 
)

Definition at line 247 of file Armature.cpp.

References KDL::Joint::getNDof(), KDL::Tree::getSegment(), and KDL::Tree::getSegments().

Referenced by base_callback(), and execute_scene().

void iTaSC::Armature::initCache ( Cache *  _cache) [virtual]

Implements iTaSC::Object.

Definition at line 134 of file Armature.cpp.

References iTaSC::Cache::addChannel(), iTaSC::constraintCacheSize, NULL, and KDL::JntArray::rows().

void iTaSC::Armature::pushCache ( const Timestamp &  timestamp) [virtual]

Implements iTaSC::Object.

Definition at line 415 of file Armature.cpp.

References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.

Referenced by updateKinematics().

bool iTaSC::Armature::setControlParameter ( unsigned int  constraintId,
unsigned int  valueId,
ConstraintAction  action,
double  value,
double  timestep = 0.0 
) [virtual]

Definition at line 710 of file Armature.cpp.

References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, iTaSC::ACT_NONE, iTaSC::ACT_TOLERANCE, iTaSC::ACT_VALUE, iTaSC::ACT_VELOCITY, iTaSC::ConstraintValues::alpha, CONSTRAINT_ID_ALL, iTaSC::ConstraintValues::feedback, i, iTaSC::ConstraintSingleValue::id, ID_JOINT, iTaSC::ControlledObject::m_Wy, iTaSC::ConstraintValues::tolerance, iTaSC::Armature::JointConstraint_struct::v_nr, iTaSC::Armature::JointConstraint_struct::value, iTaSC::Armature::JointConstraint_struct::values, iTaSC::Armature::JointConstraint_struct::y_nr, iTaSC::ConstraintSingleValue::yd, and iTaSC::ConstraintSingleValue::yddot.

bool iTaSC::Armature::setJointArray ( const KDL::JntArray &  joints) [virtual]

Definition at line 423 of file Armature.cpp.

References KDL::JntArray::rows(), and updateJacobian().

Referenced by execute_scene().

void iTaSC::Armature::updateControlOutput ( const Timestamp &  timestamp) [virtual]

Implements iTaSC::ControlledObject.

Definition at line 664 of file Armature.cpp.

References iTaSC::ConstraintValues::alpha, iTaSC::Timestamp::cacheTimestamp, iTaSC::ConstraintValues::feedback, iTaSC::Armature::JointConstraint_struct::function, i, iTaSC::Timestamp::interpolate, jit, iTaSC::ControlledObject::m_Wy, iTaSC::ControlledObject::m_ydot, iTaSC::Armature::JointConstraint_struct::param, iTaSC::Timestamp::reiterate, KDL::JntArray::rows(), iTaSC::Armature::JointConstraint_struct::segment, iTaSC::Timestamp::substep, iTaSC::Armature::JointConstraint_struct::substep, iTaSC::Armature::JointConstraint_struct::v_nr, iTaSC::Armature::JointConstraint_struct::value, iTaSC::Armature::JointConstraint_struct::values, iTaSC::ConstraintSingleValue::y, iTaSC::Armature::JointConstraint_struct::y_nr, iTaSC::ConstraintSingleValue::yd, iTaSC::ConstraintSingleValue::yddot, and iTaSC::ConstraintSingleValue::ydot.

void iTaSC::Armature::updateJacobian ( ) [protected, virtual]

Implements iTaSC::Object.

Definition at line 631 of file Armature.cpp.

References KDL::changeRefPoint(), e_matrix, i, KDL::TreeFkSolverPos_recursive::JntToCart(), KDL::TreeJntToJacSolver::JntToJac(), iTaSC::ControlledObject::m_JqArray, iTaSC::ControlledObject::m_nee, iTaSC::ControlledObject::m_nq, and iTaSC::Object::m_updated.

Referenced by finalize(), setJointArray(), and updateKinematics().

bool iTaSC::Armature::updateJoint ( const Timestamp &  timestamp,
JointLockCallback &  callback 
) [virtual]

Implements iTaSC::ControlledObject.

Definition at line 439 of file Armature.cpp.

References KDL::epsilon, KDL::epsilon2, i, KDL::Rotation::Inverse(), iTaSC::Armature::Joint_struct::locked, iTaSC::ControlledObject::JointLockCallback::lockJoint(), iTaSC::ControlledObject::m_nq, iTaSC::ControlledObject::m_qdot, max, iTaSC::Armature::Joint_struct::max, min, iTaSC::Armature::Joint_struct::min, iTaSC::Armature::Joint_struct::ndof, norm(), iTaSC::Timestamp::realTimestep, Rot(), KDL::Joint::Sphere, KDL::sqr(), sqrt(), KDL::Joint::Swing, and iTaSC::Armature::Joint_struct::type.

void iTaSC::Armature::updateKinematics ( const Timestamp &  timestamp) [virtual]

Implements iTaSC::Object.

Definition at line 617 of file Armature.cpp.

References pushCache(), KDL::JntArray::rows(), and updateJacobian().

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