diff --git a/AccelerometerSensor_8h.html b/AccelerometerSensor_8h.html index a6271b1618..a5927cde9d 100644 --- a/AccelerometerSensor_8h.html +++ b/AccelerometerSensor_8h.html @@ -69,7 +69,6 @@

Contents

@@ -90,15 +89,6 @@

Classes

Interface to the Accelerometer class.
-
-

Typedefs

-
-
- using LinAcceleration = LinearMotionVector3 -
-
-
-
diff --git a/GeomVector3_8h.html b/GeomVector3_8h.html index e54f886ddb..5ab733109d 100644 --- a/GeomVector3_8h.html +++ b/GeomVector3_8h.html @@ -101,10 +101,18 @@

Typedefs

using LinVelocity = LinearMotionVector3
+
+ using LinAcceleration = LinearMotionVector3 +
+
using AngularMotionVector3 = GeomVector3
+
+ using AngVelocity = AngularMotionVector3 +
+
using AngAcceleration = AngularMotionVector3
diff --git a/GyroscopeSensor_8h.html b/GyroscopeSensor_8h.html index c1151b5f7e..e1e1b67ed9 100644 --- a/GyroscopeSensor_8h.html +++ b/GyroscopeSensor_8h.html @@ -69,7 +69,6 @@

Contents

@@ -90,15 +89,6 @@

Classes

Interface to the Gyroscope class.
-
-

Typedefs

-
-
- using AngVelocity = AngularMotionVector3 -
-
-
-
diff --git a/ModelTransformersSolidShapes_8h.html b/ModelTransformersSolidShapes_8h.html index 53b14c725b..2ecbd01ce4 100644 --- a/ModelTransformersSolidShapes_8h.html +++ b/ModelTransformersSolidShapes_8h.html @@ -95,9 +95,15 @@

Classes

Enums

- enum ApproximateSolidShapesWithPrimitiveShapeConversionType { ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes } + enum class ApproximateSolidShapesWithPrimitiveShapeConversionType { ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes }
+
+ enum class ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate { VisualShapes, + CollisionShapes, + BothShapes } +
+
Enum class representing which shape should be approximated.
@@ -111,6 +117,16 @@

Functions

\function Approximate solid shapes of the input model with some primitive shapes.
+
+

Enum documentation

+
+

+ enum class ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate +

+

Enum class representing which shape should be approximated.

+

Namely teh visual, collision or both shapes.

+
+

Function documentation

diff --git a/classiDynTree_1_1IModelVisualization.html b/classiDynTree_1_1IModelVisualization.html index b56a22deac..2a29dbe499 100644 --- a/classiDynTree_1_1IModelVisualization.html +++ b/classiDynTree_1_1IModelVisualization.html @@ -120,6 +120,12 @@

Public functions

const ColorViz& linkColor) -> bool pure virtual
Set the color of all the geometries of the given link.
+
+ auto setVisualColor(const LinkIndex& linkIndex, + const std::string& visualName, + const ColorViz& visualColor) -> bool pure virtual +
+
Set the color of a single visual of a given link.
auto setLinkTransparency(const LinkIndex& linkIndex, const double transparency) -> bool pure virtual @@ -279,6 +285,15 @@

Set the color of all the geometries of the given link.

This will overwrite the material of the link, but it can be reset by resetLinkColor.

+
+
+

+ bool iDynTree::IModelVisualization::setVisualColor(const LinkIndex& linkIndex, + const std::string& visualName, + const ColorViz& visualColor) pure virtual +

+

Set the color of a single visual of a given link.

+

This will overwrite the material of the visual, but it can be reset by resetLinkColor.

diff --git a/classiDynTree_1_1SimpleLeggedOdometry.html b/classiDynTree_1_1SimpleLeggedOdometry.html index 8b3258797d..eb45e640d6 100644 --- a/classiDynTree_1_1SimpleLeggedOdometry.html +++ b/classiDynTree_1_1SimpleLeggedOdometry.html @@ -174,12 +174,12 @@

Contents

- - - + + + diff --git a/namespaceiDynTree.html b/namespaceiDynTree.html index 2deaabced8..a354f39fb4 100644 --- a/namespaceiDynTree.html +++ b/namespaceiDynTree.html @@ -96,535 +96,599 @@

Namespaces

Classes

- class BoundingBoxProjectionConstraint -
-
BoundingBoxProjectionConstraint helper.
-
- class Polygon + class iKinLimbImported
-
Class representing a 2D Polygon expressed in the 3D space.
+
iKinLimb class to extract a iKinLimb from iDynTree structures.
- class Polygon2D + class skinDynLibLinkID
-
Class representing a 2D Polygon expressed in the 2D space.
+
Identifier for a link and a body frame in skinDynLib.
- class ConvexHullProjectionConstraint + class iDynTreeLinkAndFrame
-
ConvexHullProjectionConstraint helper.
+
Identifier for a link and frame couple in an iDynTree model.
- class InverseKinematics + class skinDynLibConversionsHelper
-
NLP-based Inverse kinematics.
+
Helper for conversion between iDynTree data structures and skinDynLib data structures.
- struct ApproximateSolidShapesWithPrimitiveShapeOptions + class ArticulatedBodyInertia
-
+
Class representing an Articulated Body Inertia.
- class AccelerometerSensor + class Axis
-
Interface to the Accelerometer class.
+
Class representing an axis (a directed line) in space.
- class ContactWrench + class ClassicalAcc
-
A wrench excerted on a link due to an external contact.
+
Class representing a classical 6D acceleration, i.e.
- class LinkContactWrenches + class CubicSpline
-
A set of ContactWrench for each link, representing all the contacts between the model and the external environment.
+
- struct DHLink + class Direction
-
Structure representing the four DH parameters of a link in a Chain.
+
Class representing the coordinates of a direction in the 3D space.
- class DHChain +
template<typename>
+ struct is_sparsematrix
-
Simple representation of a chain described with Denavit-Hartenberg Parameters.
+
- struct ArticulatedBodyAlgorithmInternalBuffers +
template<iDynTree::MatrixStorageOrdering ordering>
+ struct is_sparsematrix<iDynTree::SparseMatrix<ordering>>
-
Structure of buffers required by ArticulatedBodyAlgorithm.
+
- struct ForwardDynamicsLinearizationInternalBuffers + class GeomVector3
-
Structure containing the internal buffers used by the ForwardDynamicsLinearization function.
+
- class FreeFloatingStateLinearization + class RigidBodyInertiaNonLinearParametrization
- class SpatialMotionWrtMotionDerivative + class MatrixDynSize
-
Class representing the derivative of a spatial motion vector with respect to another spatial motion vector.
+
Class providing a simple form of matrix with dynamic size.
- class SpatialForceWrtMotionDerivative +
template<unsigned int nRows, unsigned int nCols>
+ class MatrixFixSize
-
Class representing the derivative of a spatial force vector with respect to a spatial motion vector.
+
Class providing a simple form of matrix with dynamic size.
- class FixedJoint +
template<class ElementType>
+ class MatrixView
-
Class representing a fixed joint, i.e.
+
MatrixView implements a view interface of Matrices.
- class FrameFreeFloatingJacobian + class Position
-
Jacobian of the 6D frame velocity.
+
Class representation the coordinates of the Position of a point with respect to another point.
- class MomentumFreeFloatingJacobian + class Rotation
-
Jacobian of the 6D momentum.
+
Class representation the rotation of an orientation frame with respect to a reference orientation frame, expressed as a Rotation matrix.
- class FreeFloatingMassMatrix + class RotationalInertia
-
Class representing the mass matrix of a Free Floating robot.
+
Class providing the coordinates for a 3d inertia matrix.
- class FreeFloatingPos + struct GeodesicL2MeanOptions
-
Class representing the position of a Free Floating robot.
+
Struct containing the options for geodesicL2MeanRotation and geodesicL2WeightedMeanRotation.
- class FreeFloatingGeneralizedTorques +
template<class ElementType, std::ptrdiff_t Extent>
+ class Span
- class FreeFloatingVel +
template<iDynTree::MatrixStorageOrdering ordering>
+ class SparseMatrix
-
+
Sparse Matrix class.
- class FreeFloatingAcc + class SpatialAcc
-
Class representing the accelerations of a Free Floating robot.
+
Class representing a spatial acceleration, i.e.
- class GyroscopeSensor + class SpatialForceVector
-
Interface to the Gyroscope class.
+
Class providing the raw coordinates for any spatial force vector, (i.e.
- class IJoint + class SpatialInertia
-
Interface (i.e.
+
Class representing a six dimensional inertia.
-
template<class ElementType>
- class MatrixView + class SpatialMomentum
-
MatrixView implements a view interface of Matrices.
+
Class representing a spatial momentum, i.e.
- class JointPosDoubleArray + class Dummy
-
Class for storing a vector of scalar values, one for each internal position coordinate in a model.
+
- class JointDOFsDoubleArray + class SpatialMotionVector
-
Class for storing a vector of scalar values, one for each internal coordinate in a model.
+
Class providing the coordinates for any motion spatial vector (i.e.
- class DOFSpatialForceArray +
template<class SpatialMotionForceVectorT>
+ class SpatialMotionForceVectorT_traits
-
Class for storing a vector of spatial force vectors, one for each dof in a model.
+
Traits class for SpatialMotionVector and SpatialForceVector classes.
- class DOFSpatialMotionArray +
template<>
+ class SpatialMotionForceVectorT_traits<SpatialMotionVector>
-
Class for storing a vector of spatial motion vectors, one for each (internal) dof in a model.
+
- class Link +
template<>
+ class SpatialMotionForceVectorT_traits<SpatialForceVector>
-
Class that represents a link.
+
- class LinkPositions +
template<class SpatialVectorT>
+ struct DualSpace
-
+
Helper structure for dual space definition.
- class LinkWrenches +
template<>
+ struct DualSpace<SpatialMotionVector>
-
Vector of wrenches connected in some way to the link of a model.
+
- class LinkInertias +
template<>
+ struct DualSpace<SpatialForceVector>
-
Class for storing a vector of SpatialInertia objects , one for each link in a model.
+
- class LinkArticulatedBodyInertias + class SpatialVector
-
Class for storing a vector of ArticulatedBodyInertias objects , one for each link in a model.
+
- class LinkVelArray + struct TestMatrixMismatch
-
Class for storing a vector of twists, one for each link in a model.
+
- class LinkAccArray + class Transform
-
Class for storing a vector of spatial accelerations, one for each link in a model.
+
Class representation the relative displacement between two different frames.
- class LinkTraversalsCache + class TransformDerivative
-
Link traversal cache, store a traversal for each link in the model.
+
Class representing the derivative of Transform object.
- struct Neighbor + class Triplet
- class Model + class Triplets
-
Class that represents a generic multibody model.
+
-
template<unsigned int nrOfPosCoords, unsigned int nrOfDOFs>
- class MovableJointImpl + class Twist
-
Base template for implementation of non-fixed joints.
+
Class representing a twist, i.e.
- class PrismaticJoint + struct IndexRange
-
Class representing a prismatic joint, i.e.
+
Simple structure describing a range of rows or columns in a vector or a matrix.
- class RevoluteJoint + class VectorDynSize
-
Class representing a revolute joint, i.e.
+
Class providing a simple form of vector with dynamic size.
- class Sensor +
template<unsigned int VecSize>
+ class VectorFixSize
-
Interface for Sensor classes in iDynTree .
+
Class providing a simple vector of N elements.
- class JointSensor + class Wrench
-
Interface for Sensor that are associated to a Joint.
+
Class representing a wrench, i.e.
- class LinkSensor + class MeshcatVisualizer
-
Interface for Sensor that are associated to a Link.
+
MeshcatVisualizer is an iDynTree-based wrapper to the meshcat-cpp visualizer.
- class SensorsList + class ICameraAnimator
-
Structure representing a group of sensors associated with an UndirectedTree.
+
Interface to animate the camera and control it via the mouse.
- class SensorsMeasurements + class ICamera
-
A list of measurements associated with a SensorsList .
+
Interface to manipulate the camera parameters.
- class SixAxisForceTorqueSensor + class ColorViz
-
A six axis force torque sensor class implementation of the Sensor.
+
Basic structure to encode color information.
- class Material + class PixelViz
-
+
Basic structure to encode pixel information.
- class SolidShape + class ILight
-
+
Interface to a light visualization.
- class Sphere + class IEnvironment
-
+
Interface to manipulate the elements in the enviroment (background, root frame, reference lines)
- class Box + class IJetsVisualization
-
Box, i.e.
+
Interface to the visualization of jets attached to a model.
- class Cylinder + class ILabel
-
+
The interface to add a label in the visualizer.
- class ExternalMesh + class IVectorsVisualization
-
+
Interface to the visualization of vectors.
- class ModelSolidShapes + class IFrameVisualization
-
+
Interface to the visualization of frames.
- class SubModelDecomposition + class IShapeVisualization
-
Class representing the decomposition in one model in several submodels.
+
Interface to the visualization of generic solid shapes.
- class ThreeAxisAngularAccelerometerSensor + class IModelVisualization
-
Class representing a three axis angular accelerometer, i.e.
+
Interface to the visualization of a model istance.
- class ThreeAxisForceTorqueContactSensor + class ITexture
-
Class representing a three axis force-torque contact sensor.
+
The interface for an object that can be used as an additional target for the renderer.
- class Traversal + struct VisualizerOptions
-
Class that represents a traversal of a set of links of a Model.
+
Visualizer options.
- class iKinLimbImported + class ITexturesHandler
-
iKinLimb class to extract a iKinLimb from iDynTree structures.
+
- class skinDynLibLinkID + class Visualizer
-
Identifier for a link and a body frame in skinDynLib.
+
Class to visualize a set of iDynTree models.
- class iDynTreeLinkAndFrame + class AccelerometerSensor
-
Identifier for a link and frame couple in an iDynTree model.
+
Interface to the Accelerometer class.
- class skinDynLibConversionsHelper + class ContactWrench
-
Helper for conversion between iDynTree data structures and skinDynLib data structures.
+
A wrench excerted on a link due to an external contact.
- class KinDynComputations + class LinkContactWrenches
-
High level stateful class wrapping several kinematics and dynamics algorithms.
+
A set of ContactWrench for each link, representing all the contacts between the model and the external environment.
- struct AttitudeEstimatorState + struct DHLink
-
+
Structure representing the four DH parameters of a link in a Chain.
- class IAttitudeEstimator + class DHChain
-
for attitude estimator classes
+
Simple representation of a chain described with Denavit-Hartenberg Parameters.
- struct AttitudeMahonyFilterParameters + struct ArticulatedBodyAlgorithmInternalBuffers
-
set up the quaternion EKF
+
Structure of buffers required by ArticulatedBodyAlgorithm.
- class AttitudeMahonyFilter + struct ForwardDynamicsLinearizationInternalBuffers
-
explicit passive complementary filter on quaternion groups described in the paper Non-linear complementary filters on SO3 groups
+
Structure containing the internal buffers used by the ForwardDynamicsLinearization function.
- struct AttitudeQuaternionEKFParameters + class FreeFloatingStateLinearization
-
set up the quaternion EKF
+
- class AttitudeQuaternionEKF + class SpatialMotionWrtMotionDerivative
-
Quaternion based Discrete Extended Kalman Filter fusing IMU measurements, to give estimates of orientation, angular velocity and gyroscope bias.
+
Class representing the derivative of a spatial motion vector with respect to another spatial motion vector.
- struct BerdyOptions + class SpatialForceWrtMotionDerivative
-
Options of the BerdyHelper class.
+
Class representing the derivative of a spatial force vector with respect to a spatial motion vector.
- struct BerdySensor + class FixedJoint
-
Structure which describes the essential information about a sensor used in berdy A sensor is identified by the pair (type, id)
+
Class representing a fixed joint, i.e.
- struct BerdyDynamicVariable + class FrameFreeFloatingJacobian
-
+
Jacobian of the 6D frame velocity.
- class BerdyHelper + class MomentumFreeFloatingJacobian
-
Helper class for computing Berdy matrices.
+
Jacobian of the 6D momentum.
-
template<iDynTree::MatrixStorageOrdering ordering>
- class SparseMatrix + class FreeFloatingMassMatrix
-
Sparse Matrix class.
+
Class representing the mass matrix of a Free Floating robot.
- class BerdySparseMAPSolver + class FreeFloatingPos
-
+
Class representing the position of a Free Floating robot.
- class BipedFootContactClassifier + class FreeFloatingGeneralizedTorques
- struct SchmittParams + class FreeFloatingVel
-
struct to hold schmitt trigger device parameters
+
- class ContactStateMachine + class FreeFloatingAcc
-
Contact State Machine class for binary contact state detection Contains a Schmitt Trigger device for updating the contact states using the contact normal force acting on the contact link and Determines contact transitions using simple binary switching logic.
+
Class representing the accelerations of a Free Floating robot.
- class DiscreteExtendedKalmanFilterHelper + class GyroscopeSensor
-
class implementation of discrete EKF with additive Gaussian noise
+
Interface to the Gyroscope class.
- struct UnknownWrenchContact + class IJoint
-
A contact whose wrench is unknown.
+
Interface (i.e.
- class LinkUnknownWrenchContacts + class JointPosDoubleArray
-
A set of UnknownWrenchContact for each link, representing all the contacts between the model and the external environment whose wrench is unkwnon.
+
Class for storing a vector of scalar values, one for each internal position coordinate in a model.
- struct estimateExternalWrenchesBuffers + class JointDOFsDoubleArray
-
+
Class for storing a vector of scalar values, one for each internal coordinate in a model.
- class ExtWrenchesAndJointTorquesEstimator + class DOFSpatialForceArray
-
Estimator for external wrenches and joint torques using internal F/T sensors.
+
Class for storing a vector of spatial force vectors, one for each dof in a model.
- class GravityCompensationHelper + class DOFSpatialMotionArray
-
Class computing the gravity compensation torques using accelerometer measurements.
+
Class for storing a vector of spatial motion vectors, one for each (internal) dof in a model.
- class DiscreteKalmanFilterHelper + class Link
-
Discrete Kalman Filter with additive Gaussian noise.
+
Class that represents a link.
- class SchmittTrigger + class LinkPositions
-
Schmitt Trigger class for binary state detection This device is used to obtain a binary state (ON/OFF) at some time instant depending on a value inputted to the device.
+
- class SimpleLeggedOdometry + class LinkWrenches
-
A simple legged odometry for a legged robot.
+
Vector of wrenches connected in some way to the link of a model.
- class ArticulatedBodyInertia + class LinkInertias
-
Class representing an Articulated Body Inertia.
+
Class for storing a vector of SpatialInertia objects , one for each link in a model.
- class Axis + class LinkArticulatedBodyInertias
-
Class representing an axis (a directed line) in space.
+
Class for storing a vector of ArticulatedBodyInertias objects , one for each link in a model.
- class ClassicalAcc + class LinkVelArray
-
Class representing a classical 6D acceleration, i.e.
+
Class for storing a vector of twists, one for each link in a model.
- class CubicSpline + class LinkAccArray
-
+
Class for storing a vector of spatial accelerations, one for each link in a model.
- class Direction + class LinkTraversalsCache
-
Class representing the coordinates of a direction in the 3D space.
+
Link traversal cache, store a traversal for each link in the model.
-
template<typename>
- struct is_sparsematrix + struct Neighbor
-
template<iDynTree::MatrixStorageOrdering ordering>
- struct is_sparsematrix<iDynTree::SparseMatrix<ordering>> + class Model
-
+
Class that represents a generic multibody model.
- class GeomVector3 +
template<unsigned int nrOfPosCoords, unsigned int nrOfDOFs>
+ class MovableJointImpl
-
+
Base template for implementation of non-fixed joints.
- class RigidBodyInertiaNonLinearParametrization + class PrismaticJoint
-
+
Class representing a prismatic joint, i.e.
- class MatrixDynSize + class RevoluteJoint
-
Class providing a simple form of matrix with dynamic size.
+
Class representing a revolute joint, i.e.
-
template<unsigned int nRows, unsigned int nCols>
- class MatrixFixSize + class Sensor
-
Class providing a simple form of matrix with dynamic size.
+
Interface for Sensor classes in iDynTree .
- class Position + class JointSensor
-
Class representation the coordinates of the Position of a point with respect to another point.
+
Interface for Sensor that are associated to a Joint.
- class Rotation + class LinkSensor
-
Class representation the rotation of an orientation frame with respect to a reference orientation frame, expressed as a Rotation matrix.
+
Interface for Sensor that are associated to a Link.
- class RotationalInertia + class SensorsList
-
Class providing the coordinates for a 3d inertia matrix.
+
Structure representing a group of sensors associated with an UndirectedTree.
- struct GeodesicL2MeanOptions + class SensorsMeasurements
-
Struct containing the options for geodesicL2MeanRotation and geodesicL2WeightedMeanRotation.
+
A list of measurements associated with a SensorsList .
-
template<class ElementType, std::ptrdiff_t Extent>
- class Span + class SixAxisForceTorqueSensor
-
+
A six axis force torque sensor class implementation of the Sensor.
- class SpatialAcc + class Material
-
Class representing a spatial acceleration, i.e.
+
- class SpatialForceVector + class SolidShape
-
Class providing the raw coordinates for any spatial force vector, (i.e.
+
- class SpatialInertia + class Sphere
-
Class representing a six dimensional inertia.
+
- class SpatialMomentum + class Box
-
Class representing a spatial momentum, i.e.
+
Box, i.e.
- class Dummy + class Cylinder
- class SpatialMotionVector -
-
Class providing the coordinates for any motion spatial vector (i.e.
-
-
template<class SpatialMotionForceVectorT>
- class SpatialMotionForceVectorT_traits + class ExternalMesh
-
Traits class for SpatialMotionVector and SpatialForceVector classes.
+
-
template<>
- class SpatialMotionForceVectorT_traits<SpatialMotionVector> + class ModelSolidShapes
-
template<>
- class SpatialMotionForceVectorT_traits<SpatialForceVector> + class SubModelDecomposition
-
+
Class representing the decomposition in one model in several submodels.
-
template<class SpatialVectorT>
- struct DualSpace + class ThreeAxisAngularAccelerometerSensor
-
Helper structure for dual space definition.
+
Class representing a three axis angular accelerometer, i.e.
-
template<>
- struct DualSpace<SpatialMotionVector> + class ThreeAxisForceTorqueContactSensor
-
+
Class representing a three axis force-torque contact sensor.
-
template<>
- struct DualSpace<SpatialForceVector> + class Traversal
-
+
Class that represents a traversal of a set of links of a Model.
- class SpatialVector + class BoundingBoxProjectionConstraint
-
+
BoundingBoxProjectionConstraint helper.
- struct TestMatrixMismatch + class Polygon
-
+
Class representing a 2D Polygon expressed in the 3D space.
- class Transform + class Polygon2D
-
Class representation the relative displacement between two different frames.
+
Class representing a 2D Polygon expressed in the 2D space.
- class TransformDerivative + class ConvexHullProjectionConstraint
-
Class representing the derivative of Transform object.
+
ConvexHullProjectionConstraint helper.
- class Triplet + class InverseKinematics
-
+
NLP-based Inverse kinematics.
- class Triplets + struct AttitudeEstimatorState
- class Twist + class IAttitudeEstimator
-
Class representing a twist, i.e.
+
for attitude estimator classes
- struct IndexRange + struct AttitudeMahonyFilterParameters
-
Simple structure describing a range of rows or columns in a vector or a matrix.
+
set up the quaternion EKF
- class VectorDynSize + class AttitudeMahonyFilter
-
Class providing a simple form of vector with dynamic size.
+
explicit passive complementary filter on quaternion groups described in the paper Non-linear complementary filters on SO3 groups
-
template<unsigned int VecSize>
- class VectorFixSize + struct AttitudeQuaternionEKFParameters
-
Class providing a simple vector of N elements.
+
set up the quaternion EKF
- class Wrench + class AttitudeQuaternionEKF
-
Class representing a wrench, i.e.
+
Quaternion based Discrete Extended Kalman Filter fusing IMU measurements, to give estimates of orientation, angular velocity and gyroscope bias.
+
+ struct BerdyOptions +
+
Options of the BerdyHelper class.
+
+ struct BerdySensor +
+
Structure which describes the essential information about a sensor used in berdy A sensor is identified by the pair (type, id)
+
+ struct BerdyDynamicVariable +
+
+
+ class BerdyHelper +
+
Helper class for computing Berdy matrices.
+
+ class BerdySparseMAPSolver +
+
+
+ class BipedFootContactClassifier +
+
+
+ struct SchmittParams +
+
struct to hold schmitt trigger device parameters
+
+ class ContactStateMachine +
+
Contact State Machine class for binary contact state detection Contains a Schmitt Trigger device for updating the contact states using the contact normal force acting on the contact link and Determines contact transitions using simple binary switching logic.
+
+ class DiscreteExtendedKalmanFilterHelper +
+
class implementation of discrete EKF with additive Gaussian noise
+
+ struct UnknownWrenchContact +
+
A contact whose wrench is unknown.
+
+ class LinkUnknownWrenchContacts +
+
A set of UnknownWrenchContact for each link, representing all the contacts between the model and the external environment whose wrench is unkwnon.
+
+ struct estimateExternalWrenchesBuffers +
+
+
+ class ExtWrenchesAndJointTorquesEstimator +
+
Estimator for external wrenches and joint torques using internal F/T sensors.
+
+ class GravityCompensationHelper +
+
Class computing the gravity compensation torques using accelerometer measurements.
+
+ class DiscreteKalmanFilterHelper +
+
Discrete Kalman Filter with additive Gaussian noise.
+
+ class SchmittTrigger +
+
Schmitt Trigger class for binary state detection This device is used to obtain a binary state (ON/OFF) at some time instant depending on a value inputted to the device.
+
+ class SimpleLeggedOdometry +
+
A simple legged odometry for a legged robot.
+
+ class KinDynComputations +
+
High level stateful class wrapping several kinematics and dynamics algorithms.
class XMLAttribute
@@ -726,92 +790,22 @@

Classes

- class MeshcatVisualizer -
-
MeshcatVisualizer is an iDynTree-based wrapper to the meshcat-cpp visualizer.
-
- class ICameraAnimator -
-
Interface to animate the camera and control it via the mouse.
-
- class ICamera -
-
Interface to manipulate the camera parameters.
-
- class ColorViz -
-
Basic structure to encode color information.
-
- class PixelViz -
-
Basic structure to encode pixel information.
-
- class ILight -
-
Interface to a light visualization.
-
- class IEnvironment -
-
Interface to manipulate the elements in the enviroment (background, root frame, reference lines)
-
- class IJetsVisualization -
-
Interface to the visualization of jets attached to a model.
-
- class ILabel -
-
The interface to add a label in the visualizer.
-
- class IVectorsVisualization -
-
Interface to the visualization of vectors.
-
- class IFrameVisualization -
-
Interface to the visualization of frames.
-
- class IShapeVisualization -
-
Interface to the visualization of generic solid shapes.
-
- class IModelVisualization -
-
Interface to the visualization of a model istance.
-
- class ITexture -
-
The interface for an object that can be used as an additional target for the renderer.
-
- struct VisualizerOptions -
-
Visualizer options.
-
- class ITexturesHandler + struct ApproximateSolidShapesWithPrimitiveShapeOptions
-
- class Visualizer -
-
Class to visualize a set of iDynTree models.

Enums

- enum InverseKinematicsRotationParametrization { InverseKinematicsRotationParametrizationQuaternion, - InverseKinematicsRotationParametrizationRollPitchYaw } -
-
type of parametrization for the rotation (SO3) element
-
- enum InverseKinematicsTreatTargetAsConstraint { InverseKinematicsTreatTargetAsConstraintNone = 0, - InverseKinematicsTreatTargetAsConstraintPositionOnly = 1, - InverseKinematicsTreatTargetAsConstraintRotationOnly = 1 << 1, - InverseKinematicsTreatTargetAsConstraintFull = InverseKinematicsTreatTargetAsConstraintPositionOnly | InverseKinematicsTreatTargetAsConstraintRotationOnly } + enum MatrixStorageOrdering { RowMajor, + ColumnMajor }
-
Specify how to solve for the desired target.
+
Enum describing the possible matrix storage ordering.
- enum ApproximateSolidShapesWithPrimitiveShapeConversionType { ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes } + enum LightType { POINT_LIGHT, + DIRECTIONAL_LIGHT }
@@ -833,6 +827,18 @@

Enums

THREE_AXIS_FORCE_TORQUE_CONTACT = 4 }
+
+ enum InverseKinematicsRotationParametrization { InverseKinematicsRotationParametrizationQuaternion, + InverseKinematicsRotationParametrizationRollPitchYaw } +
+
type of parametrization for the rotation (SO3) element
+
+ enum InverseKinematicsTreatTargetAsConstraint { InverseKinematicsTreatTargetAsConstraintNone = 0, + InverseKinematicsTreatTargetAsConstraintPositionOnly = 1, + InverseKinematicsTreatTargetAsConstraintRotationOnly = 1 << 1, + InverseKinematicsTreatTargetAsConstraintFull = InverseKinematicsTreatTargetAsConstraintPositionOnly | InverseKinematicsTreatTargetAsConstraintRotationOnly } +
+
Specify how to solve for the desired target.
enum BerdyVariants { ORIGINAL_BERDY_FIXED_BASE = 0, BERDY_FLOATING_BASE = 1, @@ -876,250 +882,250 @@

Enums

Type of a UnknownWrenchContact.
- enum MatrixStorageOrdering { RowMajor, - ColumnMajor } + enum class ApproximateSolidShapesWithPrimitiveShapeConversionType { ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes }
-
Enum describing the possible matrix storage ordering.
+
- enum LightType { POINT_LIGHT, - DIRECTIONAL_LIGHT } + enum class ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate { VisualShapes, + CollisionShapes, + BothShapes }
-
+
Enum class representing which shape should be approximated.

Typedefs

- using LinAcceleration = LinearMotionVector3 + using iDynTreeEigenVector = Eigen::Map<Eigen::VectorXd>
- using AngVelocity = AngularMotionVector3 + using iDynTreeEigenConstVector = Eigen::Map<const Eigen::VectorXd>
- using IJointPtr = IJoint* + using iDynTreeEigenMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
- using IJointConstPtr = const IJoint* + using iDynTreeEigenConstMatrix = const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
- using LinkIndex = std::ptrdiff_t + using iDynTreeEigenMatrixMap = Eigen::Map<iDynTreeEigenMatrix>
- using JointIndex = std::ptrdiff_t + using iDynTreeEigenConstMatrixMap = Eigen::Map<iDynTreeEigenConstMatrix>
- using DOFIndex = std::ptrdiff_t + using LinearMotionVector3 = GeomVector3
- using FrameIndex = std::ptrdiff_t + using LinVelocity = LinearMotionVector3
- using TraversalIndex = std::ptrdiff_t + using LinAcceleration = LinearMotionVector3
- using LinkPtr = Link* + using AngularMotionVector3 = GeomVector3
- using LinkConstPtr = const Link* + using AngVelocity = AngularMotionVector3
- using LinkNetExternalWrenches = LinkWrenches + using AngAcceleration = AngularMotionVector3
-
Vector of the sum of all the external wrenches excerted on each link.
+
- using LinkInternalWrenches = LinkWrenches + using LinearForceVector3 = GeomVector3
-
Vector of the wrenches acting that a link excert on his parent, given a Traversal.
+
- using LinkNetTotalWrenchesWithoutGravity = LinkWrenches + using LinMomentum = LinearForceVector3
-
Vector of the sum of all the wrenches (both internal and external, excluding gravity) acting on link i, expressed (both orientation and point) with respect to the reference frame of link i.
+
- using LinkCompositeRigidBodyInertias = LinkInertias + using Force = LinearForceVector3
- using LinkProperAccArray = LinkAccArray + using AngularForceVector3 = GeomVector3
-
Typedef used when the vector is meant to be a vector of link proper accelerations.
+
- using MovableJointImpl1 = MovableJointImpl<1, 1> + using AngMomentum = AngularForceVector3
- using MovableJointImpl2 = MovableJointImpl<2, 2> + using Torque = AngularForceVector3
- using MovableJointImpl3 = MovableJointImpl<3, 3> + using MotionVector3 = GeomVector3
- using MovableJointImpl4 = MovableJointImpl<4, 4> + using Matrix1x6 = MatrixFixSize<1, 6>
- using MovableJointImpl5 = MovableJointImpl<5, 5> + using Matrix2x3 = MatrixFixSize<2, 3>
- using MovableJointImpl6 = MovableJointImpl<6, 6> + using Matrix3x3 = MatrixFixSize<3, 3>
- using LinearAccelerometerMeasurements = iDynTree::Vector3 + using Matrix4x4 = MatrixFixSize<4, 4>
- using GyroscopeMeasurements = iDynTree::Vector3 + using Matrix6x1 = MatrixFixSize<6, 1>
- using MagnetometerMeasurements = iDynTree::Vector3 + using Matrix6x6 = MatrixFixSize<6, 6>
- using UnitQuaternion = iDynTree::Vector4 + using Matrix6x10 = MatrixFixSize<6, 10>
- using RPY = iDynTree::Vector3 + using Matrix10x16 = MatrixFixSize<10, 16>
- using iDynTreeEigenVector = Eigen::Map<Eigen::VectorXd> + using Vector2 = VectorFixSize<2>
- using iDynTreeEigenConstVector = Eigen::Map<const Eigen::VectorXd> + using Vector3 = VectorFixSize<3>
- using iDynTreeEigenMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> + using Vector4 = VectorFixSize<4>
- using iDynTreeEigenConstMatrix = const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> + using Vector6 = VectorFixSize<6>
- using iDynTreeEigenMatrixMap = Eigen::Map<iDynTreeEigenMatrix> + using Vector10 = VectorFixSize<10>
- using iDynTreeEigenConstMatrixMap = Eigen::Map<iDynTreeEigenConstMatrix> + using Vector16 = VectorFixSize<16>
- using LinearMotionVector3 = GeomVector3 + using IJointPtr = IJoint*
- using LinVelocity = LinearMotionVector3 + using IJointConstPtr = const IJoint*
- using AngularMotionVector3 = GeomVector3 + using LinkIndex = std::ptrdiff_t
- using AngAcceleration = AngularMotionVector3 + using JointIndex = std::ptrdiff_t
- using LinearForceVector3 = GeomVector3 + using DOFIndex = std::ptrdiff_t
- using LinMomentum = LinearForceVector3 + using FrameIndex = std::ptrdiff_t
- using Force = LinearForceVector3 + using TraversalIndex = std::ptrdiff_t
- using AngularForceVector3 = GeomVector3 + using LinkPtr = Link*
- using AngMomentum = AngularForceVector3 + using LinkConstPtr = const Link*
- using Torque = AngularForceVector3 + using LinkNetExternalWrenches = LinkWrenches
-
+
Vector of the sum of all the external wrenches excerted on each link.
- using MotionVector3 = GeomVector3 + using LinkInternalWrenches = LinkWrenches
-
+
Vector of the wrenches acting that a link excert on his parent, given a Traversal.
- using Matrix1x6 = MatrixFixSize<1, 6> + using LinkNetTotalWrenchesWithoutGravity = LinkWrenches
-
+
Vector of the sum of all the wrenches (both internal and external, excluding gravity) acting on link i, expressed (both orientation and point) with respect to the reference frame of link i.
- using Matrix2x3 = MatrixFixSize<2, 3> + using LinkCompositeRigidBodyInertias = LinkInertias
- using Matrix3x3 = MatrixFixSize<3, 3> + using LinkProperAccArray = LinkAccArray
-
+
Typedef used when the vector is meant to be a vector of link proper accelerations.
- using Matrix4x4 = MatrixFixSize<4, 4> + using MovableJointImpl1 = MovableJointImpl<1, 1>
- using Matrix6x1 = MatrixFixSize<6, 1> + using MovableJointImpl2 = MovableJointImpl<2, 2>
- using Matrix6x6 = MatrixFixSize<6, 6> + using MovableJointImpl3 = MovableJointImpl<3, 3>
- using Matrix6x10 = MatrixFixSize<6, 10> + using MovableJointImpl4 = MovableJointImpl<4, 4>
- using Matrix10x16 = MatrixFixSize<10, 16> + using MovableJointImpl5 = MovableJointImpl<5, 5>
- using Vector2 = VectorFixSize<2> + using MovableJointImpl6 = MovableJointImpl<6, 6>
- using Vector3 = VectorFixSize<3> + using LinearAccelerometerMeasurements = iDynTree::Vector3
- using Vector4 = VectorFixSize<4> + using GyroscopeMeasurements = iDynTree::Vector3
- using Vector6 = VectorFixSize<6> + using MagnetometerMeasurements = iDynTree::Vector3
- using Vector10 = VectorFixSize<10> + using UnitQuaternion = iDynTree::Vector4
- using Vector16 = VectorFixSize<16> + using RPY = iDynTree::Vector3
@@ -1128,1240 +1134,1219 @@

Typedefs

Functions

- auto sizeOfRotationParametrization(enum InverseKinematicsRotationParametrization rotationParametrization) -> int + auto parseRotationMatrix(const yarp::os::Searchable& rf, + const std::string& key, + iDynTree::Rotation& rotation) -> bool
-
+
Takes a rotation matrix from configuration file.
- auto estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(const double totalMass, - iDynTree::Model& model, - VectorDynSize& estimatedInertialParams) -> bool + auto toiDynTree(const yarp::sig::Vector& yarpVector, + iDynTree::Wrench& iDynTreeWrench) -> bool
-
Estimate the inertial parameters of a model using link bounding boxes and the total mass.
+
Convert a yarp::sig::Vector to a iDynTree::Wrench.
- auto computeBoundingBoxFromShape(const SolidShape& geom, - Box& box) -> bool + auto toYarp(const iDynTree::Wrench& iDynTreeWrench, + yarp::sig::Vector& yarpVector) -> bool
-
Compute bounding box from a solid shape object.
+
Convert a iDynTree::Wrench to a yarp::sig::Vector.
- auto computeBoxVertices(const Box box) -> std::vector<Position> + auto toiDynTree(const yarp::sig::Vector& yarpVector, + iDynTree::Position& iDynTreePosition) -> bool
-
Get the bounding box vertices in the link frame.
+
Convert a yarp::sig::Vector to a iDynTree::Position.
- auto approximateSolidShapesWithPrimitiveShape(const Model& inputModel, - Model& outputModel, - ApproximateSolidShapesWithPrimitiveShapeOptions options = ApproximateSolidShapesWithPrimitiveShapeOptions()) -> bool + auto toiDynTree(const yarp::sig::Vector& yarpVector, + iDynTree::Vector3& iDynTreeVector3) -> bool
-
\function Approximate solid shapes of the input model with some primitive shapes.
+
Convert a yarp::sig::Vector to a iDynTree::Vector3.
- auto TransformFromDHCraig1989(double a, - double alpha, - double d, - double theta) -> Transform + auto toYarp(const iDynTree::Position& iDynTreePosition, + yarp::sig::Vector& yarpVector) -> bool
-
+
Convert a iDynTree::Position to a yarp::sig::Vector of 3 elements.
- auto TransformFromDH(double a, - double alpha, - double d, - double theta) -> Transform + auto toiDynTree(const yarp::sig::Vector& yarpVector, + iDynTree::Direction& iDynTreeDirection) -> bool
-
DH : constructs a transformationmatrix T_link(i-1)_link(i) with the Denavit-Hartenberg convention as described in the original publictation: Denavit, J.
+
Convert a yarp::sig::Vector of 3 elements to a iDynTree::Direction.
- auto ExtractDHChainFromModel(const iDynTree::Model& model, - const std::string baseFrame, - const std::string eeFrame, - DHChain& outputChain, - double tolerance = 1e-5) -> bool + auto toYarp(const iDynTree::Vector3& iDynTreeDirection, + yarp::sig::Vector& yarpVector) -> bool
-
Extract a Denavit Hartenberg Chain from a iDynTree::Model.
+
Convert a iDynTree::Direction to a yarp::sig::Vector of 3 elements.
- auto CreateModelFromDHChain(const DHChain& inputChain, - Model& outputModel) -> bool + auto toiDynTree(const yarp::sig::Matrix& yarpHomogeneousMatrix, + iDynTree::Transform& iDynTreeTransform) -> bool
-
Create an iDynTree::Model from a DHChain.
+
Convert a 4x4 yarp::sig::Matrix representing an homegeneous matrix to a iDynTree::Transform.
- auto ComputeLinearAndAngularMomentum(const Model& model, - const LinkPositions& linkPositions, - const LinkVelArray& linkVels, - SpatialMomentum& totalMomentum) -> bool + auto toYarp(const iDynTree::Transform& iDynTreeTransform, + yarp::sig::Matrix& yarpHomogeneousMatrix) -> bool
-
Compute the total linear and angular momentum of a robot, expressed in the world frame.
+
Convert a iDynTree::Transform to a 4x4 yarp::sig::Matrix representing an homegeneous matrix.
- auto ComputeLinearAndAngularMomentumDerivativeBias(const Model& model, - const LinkPositions& linkPositions, - const LinkVelArray& linkVel, - const LinkAccArray& linkBiasAcc, - Wrench& totalMomentumBias) -> bool + auto toiDynTree(const yarp::sig::Vector& yarpVector, + iDynTree::VectorDynSize& iDynTreeVector) -> bool
-
Compute the total momentum derivatitive bias, i.e.
+
Convert a yarp::sig::Vector to a iDynTree::VectorDynSize.
- auto RNEADynamicPhase(const iDynTree::Model& model, - const iDynTree::Traversal& traversal, - const iDynTree::JointPosDoubleArray& jointPos, - const iDynTree::LinkVelArray& linksVel, - const iDynTree::LinkAccArray& linksProperAcc, - const iDynTree::LinkNetExternalWrenches& linkExtForces, - iDynTree::LinkInternalWrenches& linkIntWrenches, - iDynTree::FreeFloatingGeneralizedTorques& baseForceAndJointTorques) -> bool +
template<typename VectorType>
+ void toYarp(const VectorType& iDynTreeVector, + yarp::sig::Vector& yarpVector)
-
Compute the inverse dynamics, i.e.
+
Convert a iDynTree::VectorFixSize to a yarp::sig::Vector.
- auto CompositeRigidBodyAlgorithm(const Model& model, - const Traversal& traversal, - const JointPosDoubleArray& jointPos, - LinkCompositeRigidBodyInertias& linkCRBs, - FreeFloatingMassMatrix& massMatrix) -> bool +
template<typename MatrixType>
+ void toYarp(const MatrixType& iDynTreeMatrix, + yarp::sig::Matrix& yarpMatrix)
-
Compute the floating base mass matrix, using the composite rigid body algorithm.
+
Convert a iDynTree::MatrixFixSize to a yarp::sig::Matrix.
- auto ArticulatedBodyAlgorithm(const Model& model, - const Traversal& traversal, - const FreeFloatingPos& robotPos, - const FreeFloatingVel& robotVel, - const LinkNetExternalWrenches& linkExtWrenches, - const JointDOFsDoubleArray& jointTorques, - ArticulatedBodyAlgorithmInternalBuffers& buffers, - FreeFloatingAcc& robotAcc) -> bool +
template<typename VectorType>
+ auto toiDynTree(const yarp::sig::Vector& yarpVector, + VectorType& iDynTreeVector) -> bool
-
Compute the floating base acceleration of an unconstrianed robot, using as input the external forces and the joint torques.
+
Convert a yarp::sig::Vector to a iDynTree::VectorFixSize.
- auto InverseDynamicsInertialParametersRegressor(const iDynTree::Model& model, - const iDynTree::Traversal& traversal, - const iDynTree::LinkPositions& referenceFrame_H_link, - const iDynTree::LinkVelArray& linksVel, - const iDynTree::LinkAccArray& linksAcc, - iDynTree::MatrixDynSize& baseForceAndJointTorquesRegressor) -> bool +
template<typename MatrixType>
+ auto toiDynTree(const yarp::sig::Matrix& yarpMatrix, + MatrixType& iDynTreeMatrix) -> bool
-
Compute the inverse dynamics of the model as linear function of the inertial parameters.
+
Convert a yarp::sig::Matrix to a iDynTree::MatrixFixSize.
- auto ForwardDynamicsLinearization(const Model& model, - const Traversal& traversal, - const FreeFloatingPos& robotPos, - const FreeFloatingVel& robotVel, - const LinkNetExternalWrenches& linkExtWrenches, - const JointDOFsDoubleArray& jointTorques, - ForwardDynamicsLinearizationInternalBuffers& bufs, - FreeFloatingAcc& robotAcc, - FreeFloatingStateLinearization& A) -> bool + auto toEigen(yarp::sig::Vector& yarpVector) -> Eigen::Map<Eigen::VectorXd>
-
+
Convert a yarp::sig::Vector to a Eigen::Map<Eigen::VectorXd> object.
- auto operator*(const Transform& a_X_b, - const SpatialMotionWrtMotionDerivative& op2) -> SpatialMotionWrtMotionDerivative + auto toEigen(yarp::sig::Matrix& yarpMatrix) -> Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>
-
Equivalent to:
+
Convert a yarp::sig::Matrix to a Eigen::Map< Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > object.
- auto operator*(const Transform& a_X_b, - const SpatialForceWrtMotionDerivative& op2) -> SpatialForceWrtMotionDerivative + auto toEigen(const yarp::sig::Vector& yarpVector) -> Eigen::Map<const Eigen::VectorXd>
-
Equivalent to:
+
Convert a const yarp::sig::Vector to a Eigen::Map<const Eigen::VectorXd> object.
- biasWrenchVelocityDerivative(SpatialInertia M, - SpatialMotionVector V) + auto toEigen(const yarp::sig::Matrix& yarpMatrix) -> Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>
-
Given a rigid body inertia - -$M$ - - - - - - - - and spatial motion vector - -$V$ - - - - - - - -, the bias wrench - -$B$ - - - - - - - - of rigid body is defined as:
+
Convert a const yarp::sig::Matrix to a Eigen::Map< const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > object.
- auto ForwardPositionKinematics(const Model& model, - const Traversal& traversal, - const Transform& worldHbase, - const VectorDynSize& jointPositions, - LinkPositions& linkPositions) -> bool + auto DHChainFromiKinChain(iCub::iKin::iKinChain& ikinChain, + DHChain& out) -> bool
-
Given a robot floating base configuration (i.e.
+
Load a iDynTree::DHChain object from a iCub::iKin::iKinChain .
- auto ForwardPositionKinematics(const Model& model, - const Traversal& traversal, - const FreeFloatingPos& jointPos, - LinkPositions& linkPos) -> bool + auto modelFromiKinChain(iCub::iKin::iKinChain& ikinChain, + Model& output) -> bool
-
Variant of ForwardPositionKinematics that takes in input a FreeFloatingPos object instead of a separate couple of (worldHbase,jointPositions)
+
Load a iDynTree::Model object from a iCub::iKin::iKinChain .
- auto ForwardVelAccKinematics(const iDynTree::Model& model, - const iDynTree::Traversal& traversal, - const iDynTree::FreeFloatingPos& robotPos, - const iDynTree::FreeFloatingVel& robotVel, - const iDynTree::FreeFloatingAcc& robotAcc, - iDynTree::LinkVelArray& linkVel, - iDynTree::LinkAccArray& linkAcc) -> bool + auto iKinLimbFromModel(const Model& model, + const std::string& baseFrame, + const std::string& distalFrame, + iCub::iKin::iKinLimb& ikinLimb) -> bool
-
Function that compute the links velocities and accelerations given the free floating robot velocities and accelerations.
+
Extract an iCub::iKin::iKinLimb from an iDynTree::Model .
- auto ForwardPosVelAccKinematics(const iDynTree::Model& model, - const iDynTree::Traversal& traversal, - const iDynTree::FreeFloatingPos& robotPos, - const iDynTree::FreeFloatingVel& robotVel, - const iDynTree::FreeFloatingAcc& robotAcc, - iDynTree::LinkPositions& linkPos, - iDynTree::LinkVelArray& linkVel, - iDynTree::LinkAccArray& linkAcc) -> bool + auto iKinLimbFromDHChain(const DHChain& dhChain, + iCub::iKin::iKinLimb& ikinLimb) -> bool
-
Function that compute the links position, velocities and accelerations given the free floating robot position, velocities and accelerations.
+
Create a iCub::iKin::iKinLimb from an iDynTree::DHChain.
- auto ForwardPosVelKinematics(const iDynTree::Model& model, - const iDynTree::Traversal& traversal, - const iDynTree::FreeFloatingPos& robotPos, - const iDynTree::FreeFloatingVel& robotVel, - iDynTree::LinkPositions& linkPos, - iDynTree::LinkVelArray& linkVel) -> bool + auto iKinLink2DHLink(const iCub::iKin::iKinLink& ikinlink) -> DHLink
-
Function that compute the links position and velocities and accelerations given the free floating robot position and velocities.
+
- auto ForwardAccKinematics(const Model& model, - const Traversal& traversal, - const FreeFloatingPos& robotPos, - const FreeFloatingVel& robotVel, - const FreeFloatingAcc& robotAcc, - const LinkVelArray& linkVel, - LinkAccArray& linkAcc) -> bool + auto DHLink2iKinLink(const DHLink& dhLink) -> iCub::iKin::iKinLink
-
Function that computes the links accelerations given the free floating robot velocities and accelerations.
+
- auto ForwardBiasAccKinematics(const Model& model, - const Traversal& traversal, - const FreeFloatingPos& robotPos, - const FreeFloatingVel& robotVel, - const SpatialAcc& baseBiasAcc, - const LinkVelArray& linkVel, - LinkAccArray& linkBiasAcc) -> bool +
template<class contactsList>
+ auto fromSkinDynLibToiDynTreeHelper(const Model& model, + const contactsList& dynList, + LinkUnknownWrenchContacts& unknowns, + const skinDynLibConversionsHelper& conversionHelper) -> bool
-
Function that computes the links bias accelerations given the free floating robot velocities.
+
Templated version of fromSkinDynLibToiDynTree, useful to implement the exact same function for dynContactList and skinContactList, that have exactly the same interface, but they don't have any common ancestor in the class structure.
- auto ForwardBiasAccKinematics(const Model& model, - const Traversal& traversal, - const FreeFloatingPos& robotPos, - const FreeFloatingVel& robotVel, - const LinkVelArray& linkVel, - LinkAccArray& linkBiasAcc) -> bool + auto toEigen(VectorDynSize& vec) -> Eigen::Map<Eigen::VectorXd>
-
Legacy function, will be deprecated, use the variant with an explicit baseBiasAcc value.
+
- auto FreeFloatingJacobianUsingLinkPos(const Model& model, - const Traversal& traversal, - const JointPosDoubleArray& jointPositions, - const LinkPositions& linkPositions, - const LinkIndex linkIndex, - const Transform& jacobFrame_X_world, - const Transform& baseFrame_X_jacobBaseFrame, - const MatrixView<double>& jacobian) -> bool + auto toEigen(MatrixDynSize& mat) -> Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>
-
Compute a free floating jacobian.
+
- auto createReducedModelAndSensors(const Model& fullModel, - const SensorsList& fullSensors, - const std::vector<std::string>& jointsInReducedModel, - Model& reducedModel, - SensorsList& reducedSensors) -> bool + auto toEigen(const VectorDynSize& vec) -> Eigen::Map<const Eigen::VectorXd>
-
Variant of createReducedModel function that also process the sensorList .
+
- auto getRandomLink() -> Link + auto toEigen(Span<const double> vec) -> Eigen::Map<const Eigen::VectorXd>
- void addRandomLinkToModel(Model& model, - std::string parentLink, - std::string newLinkName, - bool onlyRevoluteJoints = false) + auto toEigen(const MatrixView<const double>& mat) -> Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>>
-
Add a random link with random model.
+
- void addRandomAdditionalFrameToModel(Model& model, - std::string parentLink, - std::string newFrameName) + auto toEigen(const MatrixView<double>& mat) -> Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>>
-
Add a random additional frame to a model model.
+
- auto getRandomLinkIndexOfModel(const Model& model) -> LinkIndex + auto toEigen(const MatrixDynSize& mat) -> Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>
- auto getRandomLinkOfModel(const Model& model) -> std::string +
template<unsigned int VecSize>
+ auto toEigen(VectorFixSize<VecSize>& vec) -> Eigen::Map<Eigen::Matrix<double, VecSize, 1>>
- auto int2string(int i) -> std::string +
template<unsigned int VecSize>
+ auto toEigen(const VectorFixSize<VecSize>& vec) -> Eigen::Map<const Eigen::Matrix<double, VecSize, 1>>
- auto getRandomModel(unsigned int nrOfJoints, - size_t nrOfAdditionalFrames = 10, - bool onlyRevoluteJoints = false) -> Model +
template<unsigned int nRows, unsigned int nCols>
+ auto toEigen(MatrixFixSize<nRows, nCols>& mat) -> Eigen::Map<Eigen::Matrix<double, nRows, nCols, Eigen::RowMajor>>
- auto getRandomChain(unsigned int nrOfJoints, - size_t nrOfAdditionalFrames = 10, - bool onlyRevoluteJoints = false) -> Model +
template<unsigned int nRows>
+ auto toEigen(MatrixFixSize<nRows, 1>& mat) -> Eigen::Map<Eigen::Matrix<double, nRows, 1>>
- void getRandomJointPositions(VectorDynSize& vec, - const Model& model) +
template<unsigned int nCols>
+ auto toEigen(MatrixFixSize<1, nCols>& mat) -> Eigen::Map<Eigen::Matrix<double, 1, nCols>>
-
Get random joint position consistently with the limits of the model.
+
- auto getRandomInverseDynamicsInputs(FreeFloatingPos& pos, - FreeFloatingVel& vel, - FreeFloatingAcc& acc, - LinkNetExternalWrenches& extWrenches) -> bool +
template<unsigned int nRows, unsigned int nCols>
+ auto toEigen(const MatrixFixSize<nRows, nCols>& mat) -> Eigen::Map<const Eigen::Matrix<double, nRows, nCols, Eigen::RowMajor>>
-
Get random robot positions, velocities and accelerations and external wrenches to be given as an input to InverseDynamics.
+
- auto removeFakeLinks(const Model& modelWithFakeLinks, - Model& modelWithoutFakeLinks) -> bool + auto toEigen(const SpatialMotionVector& vec) -> const Eigen::Matrix<double, 6, 1>
-
\function Remove all fake links in the model, transforming them in frames.
+
- auto createReducedModel(const Model& fullModel, - const std::vector<std::string>& jointsInReducedModel, - Model& reducedModel) -> bool + auto toEigen(const SpatialForceVector& vec) -> const Eigen::Matrix<double, 6, 1>
-
This function takes in input a iDynTree::Model and an ordered list of joints and returns a model with just the joint specified in the list, with that exact order.
+
- auto createReducedModel(const Model& fullModel, - const std::vector<std::string>& jointsInReducedModel, - Model& reducedModel, - const std::unordered_map<std::string, double>& removedJointPositions) -> bool + void fromEigen(SpatialMotionVector& vec, + const Eigen::Matrix<double, 6, 1>& eigVec)
-
This function takes in input a iDynTree::Model and an ordered list of joints and returns a model with just the joint specified in the list, with that exact order.
+
- auto createModelWithNormalizedJointNumbering(const Model& model, - const std::string& baseForNormalizedJointNumbering, - Model& reducedModel) -> bool + void fromEigen(SpatialForceVector& vec, + const Eigen::Matrix<double, 6, 1>& eigVec)
-
Given a specified base, return a model with a "normalized" joint numbering for that base.
+
- auto extractSubModel(const iDynTree::Model& fullModel, - const iDynTree::Traversal& subModelTraversal, - iDynTree::Model& outputSubModel) -> bool + void fromEigen(Transform& trans, + const Eigen::Matrix4d& eigMat)
-
Extract sub model from sub model traversal.
+
- auto addValidNamesToAllSolidShapes(const iDynTree::Model& inputModel, - iDynTree::Model& outputModel) -> bool +
template<class Derived>
+ auto skew(const Eigen::MatrixBase<Derived>& vec) -> Eigen::Matrix<typename Derived::Scalar, 3, 3, Eigen::RowMajor>
-
Add automatically generated names to all visual and collision solid shapes of the model.
+
- auto moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink(const iDynTree::Model& inputModel, - iDynTree::Model& outputModel) -> bool +
template<class Derived>
+ auto unskew(const Eigen::MatrixBase<Derived>& mat) -> Eigen::Matrix<typename Derived::Scalar, 3, 1>
-
Transform the input model in model that can be exported as URDF with the given base link.
+
- auto predictSensorsMeasurements(const Model& model, - const Traversal& traversal, - const FreeFloatingPos& robotPos, - const FreeFloatingVel& robotVel, - const FreeFloatingAcc& robotAcc, - const LinAcceleration& gravity, - const LinkNetExternalWrenches& externalWrenches, - FreeFloatingAcc& buf_properRobotAcc, - LinkPositions& buf_linkPos, - LinkVelArray& buf_linkVel, - LinkAccArray& buf_linkProperAcc, - LinkInternalWrenches& buf_internalWrenches, - FreeFloatingGeneralizedTorques& buf_outputTorques, - SensorsMeasurements& predictedMeasurement) -> bool +
template<unsigned int nRows, unsigned int nCols, typename iDynTreeMatrixType>
+ void setSubMatrix(iDynTreeMatrixType& mat, + const IndexRange rowRange, + const IndexRange colRange, + const MatrixFixSize<nRows, nCols>& subMat)
-
Predict the measurement of a set of sensors.
+
Submatrix helpers.
- auto predictSensorsMeasurementsFromRawBuffers(const Model& model, - const Traversal& traversal, - const LinkVelArray& buf_linkVel, - const LinkAccArray& buf_linkProperAcc, - const LinkInternalWrenches& buf_internalWrenches, - SensorsMeasurements& predictedMeasurement) -> bool +
template<typename iDynTreeMatrixType, typename EigMatType>
+ void setSubMatrix(iDynTreeMatrixType& mat, + const IndexRange rowRange, + const IndexRange colRange, + const EigMatType& subMat)
-
Predict the measurement of a set of sensors.
+
- auto predictSensorsMeasurements(const Model& model, - const SensorsList& sensorList, - const Traversal& traversal, - const FreeFloatingPos& robotPos, - const FreeFloatingVel& robotVel, - const FreeFloatingAcc& robotAcc, - const LinAcceleration& gravity, - const LinkNetExternalWrenches& externalWrenches, - FreeFloatingAcc& buf_properRobotAcc, - LinkPositions& buf_linkPos, - LinkVelArray& buf_linkVel, - LinkAccArray& buf_linkProperAcc, - LinkInternalWrenches& buf_internalWrenches, - FreeFloatingGeneralizedTorques& buf_outputTorques, - SensorsMeasurements& predictedMeasurement) -> bool +
template<typename iDynTreeMatrixType>
+ void setSubMatrix(iDynTreeMatrixType& mat, + const IndexRange rowRange, + const IndexRange colRange, + const double subMat)
-
Predict the measurement of a set of sensors.
+
- auto predictSensorsMeasurementsFromRawBuffers(const Model& model, - const SensorsList& sensorList, - const Traversal& traversal, - const LinkVelArray& buf_linkVel, - const LinkAccArray& buf_linkProperAcc, - const LinkInternalWrenches& buf_internalWrenches, - SensorsMeasurements& predictedMeasurement) -> bool +
template<typename iDynTreeMatrixType>
+ void setSubMatrixToIdentity(iDynTreeMatrixType& mat, + const IndexRange rowRange, + const IndexRange colRange)
-
Predict the measurement of a set of sensors.
+
- auto isLinkSensor(const SensorType type) -> bool +
template<typename iDynTreeMatrixType>
+ void setSubMatrixToMinusIdentity(iDynTreeMatrixType& mat, + const IndexRange rowRange, + const IndexRange colRange)
-
Short function to check if a SensorType is a LinkSensor.
+
- auto isJointSensor(const SensorType type) -> bool +
template<unsigned int size>
+ void setSubVector(VectorDynSize& vec, + const IndexRange range, + const VectorFixSize<size>& subVec)
-
Short function to check if a SensorType is.
+
- auto getSensorTypeSize(const SensorType type) -> std::size_t + void setSubVector(VectorDynSize& vec, + const IndexRange range, + double subVec)
- void computeTransformToTraversalBase(const Model& fullModel, - const Traversal& traversal, - const JointPosDoubleArray& jointPos, - LinkPositions& traversalBase_H_link) + void setSubVector(VectorDynSize& vec, + const IndexRange range, + const SpatialMotionVector& twist)
-
Helper loop to compute the position of each link wrt to the frame of the subModel base.
+
- void computeTransformToSubModelBase(const Model& fullModel, - const SubModelDecomposition& subModelDecomposition, - const JointPosDoubleArray& jointPos, - LinkPositions& subModelBase_H_link) + void setSubVector(VectorDynSize& vec, + const IndexRange range, + const SpatialForceVector& wrench)
-
Run the computeTransformToTraversalBase for all the traversal in the subModelDecomposition, and store the results in the linkPos array.
+
- auto DHChainFromiKinChain(iCub::iKin::iKinChain& ikinChain, - DHChain& out) -> bool +
template<typename T>
+ void setSubVector(VectorDynSize& vec, + const IndexRange range, + const T& subVec)
-
Load a iDynTree::DHChain object from a iCub::iKin::iKinChain .
+
- auto modelFromiKinChain(iCub::iKin::iKinChain& ikinChain, - Model& output) -> bool +
template<typename MapType>
+ void pseudoInverse_helper2(const MapType& A, + Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition, + MapType& Apinv, + double tolerance, + unsigned int computationOptions = Eigen::ComputeThinU|Eigen::ComputeThinV)
-
Load a iDynTree::Model object from a iCub::iKin::iKinChain .
+
- auto iKinLimbFromModel(const Model& model, - const std::string& baseFrame, - const std::string& distalFrame, - iCub::iKin::iKinLimb& ikinLimb) -> bool +
template<typename MapType>
+ void pseudoInverse_helper1(const MapType& A, + Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition, + MapType& Apinv, + double tolerance, + unsigned int computationOptions = Eigen::ComputeThinU|Eigen::ComputeThinV)
-
Extract an iCub::iKin::iKinLimb from an iDynTree::Model .
+
- auto iKinLimbFromDHChain(const DHChain& dhChain, - iCub::iKin::iKinLimb& ikinLimb) -> bool +
template<typename MapType>
+ void pseudoInverse(const MapType A, + MapType Apinv, + double tolerance, + unsigned int computationOptions = Eigen::ComputeThinU|Eigen::ComputeThinV)
-
Create a iCub::iKin::iKinLimb from an iDynTree::DHChain.
+
- auto iKinLink2DHLink(const iCub::iKin::iKinLink& ikinlink) -> DHLink + auto toEigen(iDynTree::SparseMatrix<iDynTree::RowMajor>& mat) -> Eigen::Map<Eigen::SparseMatrix<double, Eigen::RowMajor>>
- auto DHLink2iKinLink(const DHLink& dhLink) -> iCub::iKin::iKinLink + auto toEigen(const iDynTree::SparseMatrix<iDynTree::RowMajor>& mat) -> Eigen::Map<const Eigen::SparseMatrix<double, Eigen::RowMajor>>
-
template<class contactsList>
- auto fromSkinDynLibToiDynTreeHelper(const Model& model, - const contactsList& dynList, - LinkUnknownWrenchContacts& unknowns, - const skinDynLibConversionsHelper& conversionHelper) -> bool + auto toEigen(iDynTree::SparseMatrix<iDynTree::ColumnMajor>& mat) -> Eigen::Map<Eigen::SparseMatrix<double, Eigen::ColMajor>>
-
Templated version of fromSkinDynLibToiDynTree, useful to implement the exact same function for dynContactList and skinContactList, that have exactly the same interface, but they don't have any common ancestor in the class structure.
+
- auto parseRotationMatrix(const yarp::os::Searchable& rf, - const std::string& key, - iDynTree::Rotation& rotation) -> bool + auto toEigen(const iDynTree::SparseMatrix<iDynTree::ColumnMajor>& mat) -> Eigen::Map<const Eigen::SparseMatrix<double, Eigen::ColMajor>>
-
Takes a rotation matrix from configuration file.
+
- auto toiDynTree(const yarp::sig::Vector& yarpVector, - iDynTree::Wrench& iDynTreeWrench) -> bool +
template<class ElementType>
+ auto make_matrix_view(ElementType* ptr, + typename MatrixView<ElementType>::index_type rows, + typename MatrixView<ElementType>::index_type cols, + const MatrixStorageOrdering& order = MatrixStorageOrdering::RowMajor) -> IDYNTREE_CONSTEXPR MatrixView<ElementType>
-
Convert a yarp::sig::Vector to a iDynTree::Wrench.
+
- auto toYarp(const iDynTree::Wrench& iDynTreeWrench, - yarp::sig::Vector& yarpVector) -> bool +
template<class Container, std::enable_if_t<MatrixViewInternal::has_IsRowMajor<Container>::value||std::is_same<MatrixView<typename Container::value_type>, Container>::value, int> = 0>
+ auto make_matrix_view(Container& cont) -> IDYNTREE_CONSTEXPR MatrixView<typename Container::value_type>
-
Convert a iDynTree::Wrench to a yarp::sig::Vector.
+
- auto toiDynTree(const yarp::sig::Vector& yarpVector, - iDynTree::Position& iDynTreePosition) -> bool +
template<class Container, std::enable_if_t<MatrixViewInternal::has_IsRowMajor<Container>::value||std::is_same<MatrixView<const typename Container::value_type>, Container>::value, int> = 0>
+ auto make_matrix_view(const Container& cont) -> IDYNTREE_CONSTEXPR MatrixView<const typename Container::value_type>
-
Convert a yarp::sig::Vector to a iDynTree::Position.
+
- auto toiDynTree(const yarp::sig::Vector& yarpVector, - iDynTree::Vector3& iDynTreeVector3) -> bool +
template<class Container, std::enable_if_t<!MatrixViewInternal::has_IsRowMajor<Container>::value && !std::is_same<MatrixView<typename Container::value_type>, Container>::value, int> = 0>
+ auto make_matrix_view(Container& cont, + const MatrixStorageOrdering& order = MatrixStorageOrdering::RowMajor) -> IDYNTREE_CONSTEXPR MatrixView<typename Container::value_type>
-
Convert a yarp::sig::Vector to a iDynTree::Vector3.
+
- auto toYarp(const iDynTree::Position& iDynTreePosition, - yarp::sig::Vector& yarpVector) -> bool +
template<class Container, std::enable_if_t<!MatrixViewInternal::has_IsRowMajor<Container>::value && !std::is_same<MatrixView<typename Container::value_type>, Container>::value, int> = 0>
+ auto make_matrix_view(const Container& cont, + const MatrixStorageOrdering& order = MatrixStorageOrdering::RowMajor) -> IDYNTREE_CONSTEXPR MatrixView<const typename Container::value_type>
-
Convert a iDynTree::Position to a yarp::sig::Vector of 3 elements.
+
- auto toiDynTree(const yarp::sig::Vector& yarpVector, - iDynTree::Direction& iDynTreeDirection) -> bool + IDYNTREE_DEPRECATED_WITH_MSG("iDynTree::PositionRaw is deprecated, + use iDynTree::Position") typedef Position PositionRaw
-
Convert a yarp::sig::Vector of 3 elements to a iDynTree::Direction.
+
- auto toYarp(const iDynTree::Vector3& iDynTreeDirection, - yarp::sig::Vector& yarpVector) -> bool + auto squareCrossProductMatrix(const Eigen::Vector3d& v) -> Eigen::Matrix3d
-
Convert a iDynTree::Direction to a yarp::sig::Vector of 3 elements.
+
Maps a 3d vector to the square of the cross product matrix: v --> (v\times)^2 or, if you prefer another notation: v --> S^2(v)
- auto toiDynTree(const yarp::sig::Matrix& yarpHomogeneousMatrix, - iDynTree::Transform& iDynTreeTransform) -> bool + auto skew(const Eigen::Vector3d& vec) -> Eigen::Matrix3d
-
Convert a 4x4 yarp::sig::Matrix representing an homegeneous matrix to a iDynTree::Transform.
+
Maps a 3d vector to the cross product matrix: v --> (v\times) or, if you prefer another notation: v --> S(v)
- auto toYarp(const iDynTree::Transform& iDynTreeTransform, - yarp::sig::Matrix& yarpHomogeneousMatrix) -> bool +
template<typename vector6d>
+ void efficient6dCopy(vector6d* pthis, + const vector6d& other)
-
Convert a iDynTree::Transform to a 4x4 yarp::sig::Matrix representing an homegeneous matrix.
+
Efficient version of the copy from one 6D vector to another.
- auto toiDynTree(const yarp::sig::Vector& yarpVector, - iDynTree::VectorDynSize& iDynTreeVector) -> bool +
template<typename vector6d>
+ auto efficient6dSum(const vector6d& op1, + const vector6d& op2) -> vector6d
-
Convert a yarp::sig::Vector to a iDynTree::VectorDynSize.
+
Efficient version of the sum of two 6D vectors.
-
template<typename VectorType>
- void toYarp(const VectorType& iDynTreeVector, - yarp::sig::Vector& yarpVector) +
template<typename vector6d>
+ auto efficient6ddifference(const vector6d& op1, + const vector6d& op2) -> vector6d
-
Convert a iDynTree::VectorFixSize to a yarp::sig::Vector.
+
Efficient version of the different of two 6D vectors.
-
template<typename MatrixType>
- void toYarp(const MatrixType& iDynTreeMatrix, - yarp::sig::Matrix& yarpMatrix) +
template<typename twistType, typename motionVectorType, typename resultType>
+ auto efficientTwistCrossTwist(const twistType& op1, + const motionVectorType& op2) -> resultType
-
Convert a iDynTree::MatrixFixSize to a yarp::sig::Matrix.
+
Efficient version of the cross product between a twist and a spatial motion vector (another twist, acceleration, ..)
-
template<typename VectorType>
- auto toiDynTree(const yarp::sig::Vector& yarpVector, - VectorType& iDynTreeVector) -> bool +
template<typename twistType, typename momentumVectorType, typename resultType>
+ auto efficientTwistCrossMomentum(const twistType& op1, + const momentumVectorType& op2) -> resultType
-
Convert a yarp::sig::Vector to a iDynTree::VectorFixSize.
+
Efficient version of the cross product between a twist and a spatial force vector (momentum, wrench, ..)
-
template<typename MatrixType>
- auto toiDynTree(const yarp::sig::Matrix& yarpMatrix, - MatrixType& iDynTreeMatrix) -> bool + IDYNTREE_DEPRECATED_WITH_MSG("iDynTree::RotationRaw is deprecated, + use iDynTree::Rotation") typedef Rotation RotationRaw
-
Convert a yarp::sig::Matrix to a iDynTree::MatrixFixSize.
+
- auto toEigen(yarp::sig::Vector& yarpVector) -> Eigen::Map<Eigen::VectorXd> + IDYNTREE_DEPRECATED_WITH_MSG("iDynTree::RotationalInertiaRaw is deprecated, + use iDynTree::RotationalInertia") typedef RotationalInertia RotationalInertiaRaw
-
Convert a yarp::sig::Vector to a Eigen::Map<Eigen::VectorXd> object.
+
- auto toEigen(yarp::sig::Matrix& yarpMatrix) -> Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> + auto isValidRotationMatrix(const iDynTree::Rotation& r) -> bool
-
Convert a yarp::sig::Matrix to a Eigen::Map< Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > object.
+
Check if the rotation matrix is valid.
- auto toEigen(const yarp::sig::Vector& yarpVector) -> Eigen::Map<const Eigen::VectorXd> + auto geodesicL2Distance(const iDynTree::Rotation& rotation1, + const iDynTree::Rotation& rotation2) -> double
-
Convert a const yarp::sig::Vector to a Eigen::Map<const Eigen::VectorXd> object.
+
Computes the geodesic distance between two rotation matrices.
- auto toEigen(const yarp::sig::Matrix& yarpMatrix) -> Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> + auto geodesicL2MeanRotation(const std::vector<iDynTree::Rotation>& inputRotations, + iDynTree::Rotation& meanRotation, + const GeodesicL2MeanOptions& options = GeodesicL2MeanOptions()) -> bool
-
Convert a const yarp::sig::Matrix to a Eigen::Map< const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > object.
+
Computes the geodesic mean amongst the provided rotations.
- auto isLinkBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool + auto geodesicL2WeightedMeanRotation(const std::vector<iDynTree::Rotation>& inputRotations, + const std::vector<double>& weights, + iDynTree::Rotation& meanRotation, + const GeodesicL2MeanOptions& options = GeodesicL2MeanOptions()) -> bool
-
+
Computes the weighted geodesic mean amongst the provided rotations.
- auto isJointBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool +
template<class ElementType, std::ptrdiff_t FirstExtent, std::ptrdiff_t SecondExtent>
+ auto operator==(Span<ElementType, FirstExtent> l, + Span<ElementType, SecondExtent> r) -> IDYNTREE_CONSTEXPR bool
- auto isDOFBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool +
template<class ElementType, std::ptrdiff_t Extent>
+ auto operator!=(Span<ElementType, Extent> l, + Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool
- auto estimateExternalWrenchesWithoutInternalFT(const Model& model, - const Traversal& traversal, - const LinkUnknownWrenchContacts& unknownWrenches, - const JointPosDoubleArray& jointPos, - const LinkVelArray& linkVel, - const LinkAccArray& linkProperAcc, - estimateExternalWrenchesBuffers& bufs, - LinkContactWrenches& outputContactWrenches) -> bool +
template<class ElementType, std::ptrdiff_t Extent>
+ auto operator<(Span<ElementType, Extent> l, + Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool
-
Estimate the external contact wrenches using the MultiBody Newton-Euler equations.
+
- auto estimateExternalWrenches(const Model& model, - const SubModelDecomposition& subModels, - const SensorsList& sensors, - const LinkUnknownWrenchContacts& unknownWrenches, - const JointPosDoubleArray& jointPos, - const LinkVelArray& linkVel, - const LinkAccArray& linkProperAcc, - const SensorsMeasurements& ftSensorsMeasurements, - estimateExternalWrenchesBuffers& bufs, - LinkContactWrenches& outputContactWrenches) -> bool +
template<class ElementType, std::ptrdiff_t Extent>
+ auto operator<=(Span<ElementType, Extent> l, + Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool
-
Estimate the external wrenches trasmitted by the contacts between the model and the external environment.
+
- auto dynamicsEstimationForwardVelAccKinematics(const Model& model, - const Traversal& traversal, - const Vector3& base_classicalProperAcc, - const Vector3& base_angularVel, - const Vector3& base_angularAcc, - const JointPosDoubleArray& jointPos, - const JointDOFsDoubleArray& jointVel, - const JointDOFsDoubleArray& jointAcc, - LinkVelArray& linkVel, - LinkAccArray& linkProperAcc) -> bool +
template<class ElementType, std::ptrdiff_t Extent>
+ auto operator>(Span<ElementType, Extent> l, + Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool
-
Modified forward kinematics for torque/force estimation.
+
- auto dynamicsEstimationForwardVelKinematics(const Model& model, - const Traversal& traversal, - const Vector3& base_angularVel, - const JointPosDoubleArray& jointPos, - const JointDOFsDoubleArray& jointVel, - LinkVelArray& linkVel) -> bool -
-
Modified forward kinematics for floating basedynamics estimation.
-
- auto computeLinkNetWrenchesWithoutGravity(const Model& model, - const LinkVelArray& linkVel, - const LinkAccArray& linkProperAcc, - LinkNetTotalWrenchesWithoutGravity& linkNetWrenchesWithoutGravity) -> bool -
-
Compute the net internal and external wrenches (excluding gravity forces) acting on the links.
-
- auto estimateLinkContactWrenchesFromLinkNetExternalWrenches(const Model& model, - const LinkUnknownWrenchContacts& unknownWrenches, - const LinkNetExternalWrenches& netExtWrenches, - LinkContactWrenches& outputContactWrenches) -> bool -
-
Compute the link contact wrenches from the net external wrenches.
-
- auto toEigen(VectorDynSize& vec) -> Eigen::Map<Eigen::VectorXd> -
-
-
- auto toEigen(MatrixDynSize& mat) -> Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> +
template<class ElementType, std::ptrdiff_t Extent>
+ auto operator>=(Span<ElementType, Extent> l, + Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool
- auto toEigen(const VectorDynSize& vec) -> Eigen::Map<const Eigen::VectorXd> +
template<class ElementType>
+ auto make_span(ElementType* ptr, + typename Span<ElementType>::index_type count) -> IDYNTREE_CONSTEXPR Span<ElementType>
- auto toEigen(Span<const double> vec) -> Eigen::Map<const Eigen::VectorXd> +
template<class ElementType>
+ auto make_span(ElementType* firstElem, + ElementType* lastElem) -> IDYNTREE_CONSTEXPR Span<ElementType>
- auto toEigen(const MatrixView<const double>& mat) -> Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>> +
template<class ElementType, std::size_t N>
+ auto make_span(ElementType(&arr)[N]) -> IDYNTREE_CONSTEXPR Span<ElementType, N> noexcept
- auto toEigen(const MatrixView<double>& mat) -> Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>> +
template<class Container>
+ auto make_span(Container& cont) -> IDYNTREE_CONSTEXPR Span<typename Container::value_type>
- auto toEigen(const MatrixDynSize& mat) -> Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> +
template<class Container, typename = typename std::enable_if<SpanUtils::is_value_defined<Container>::value>::type>
+ auto make_span(const Container& cont) -> IDYNTREE_CONSTEXPR Span<const typename Container::value_type>
-
template<unsigned int VecSize>
- auto toEigen(VectorFixSize<VecSize>& vec) -> Eigen::Map<Eigen::Matrix<double, VecSize, 1>> +
template<class Ptr>
+ auto make_span(Ptr& cont, + std::ptrdiff_t count) -> IDYNTREE_CONSTEXPR Span<typename Ptr::element_type>
-
template<unsigned int VecSize>
- auto toEigen(const VectorFixSize<VecSize>& vec) -> Eigen::Map<const Eigen::Matrix<double, VecSize, 1>> +
template<class Ptr, typename = typename std::enable_if<!SpanUtils::is_value_defined<Ptr>::value&& SpanUtils::is_element_defined<Ptr>::value>::type>
+ auto make_span(Ptr& cont) -> IDYNTREE_CONSTEXPR Span<typename Ptr::element_type>
-
template<unsigned int nRows, unsigned int nCols>
- auto toEigen(MatrixFixSize<nRows, nCols>& mat) -> Eigen::Map<Eigen::Matrix<double, nRows, nCols, Eigen::RowMajor>> +
template<class Container, typename = typename std::enable_if<!SpanUtils::is_value_defined<Container>::value&& !SpanUtils::is_element_defined<Container>::value&& SpanUtils::has_data_method<Container>::value>::type>
+ auto make_span(Container& cont) -> IDYNTREE_CONSTEXPR Span<typename std::remove_pointer<decltype(std::declval<Container>).data())>::type>
-
template<unsigned int nRows>
- auto toEigen(MatrixFixSize<nRows, 1>& mat) -> Eigen::Map<Eigen::Matrix<double, nRows, 1>> + void assertStringAreEqual(const std::string& val1, + const std::string& val2, + double tol = DEFAULT_TOL, + std::string file = "", + int line = -1)
-
template<unsigned int nCols>
- auto toEigen(MatrixFixSize<1, nCols>& mat) -> Eigen::Map<Eigen::Matrix<double, 1, nCols>> + void assertDoubleAreEqual(const double& val1, + const double& val2, + double tol = DEFAULT_TOL, + std::string file = "", + int line = -1)
-
template<unsigned int nRows, unsigned int nCols>
- auto toEigen(const MatrixFixSize<nRows, nCols>& mat) -> Eigen::Map<const Eigen::Matrix<double, nRows, nCols, Eigen::RowMajor>> + void assertTransformsAreEqual(const Transform& trans1, + const Transform& trans2, + double tol = DEFAULT_TOL, + std::string file = "", + int line = -1)
-
+
Assert that two transforms are equal, and exit with EXIT_FAILURE if they are not.
- auto toEigen(const SpatialMotionVector& vec) -> const Eigen::Matrix<double, 6, 1> + void assertSpatialMotionAreEqual(const SpatialMotionVector& t1, + const SpatialMotionVector& t2, + double tol = DEFAULT_TOL, + std::string file = "", + int line = -1)
-
+
Assert that two spatial motion vectors are equal, and exit with EXIT_FAILURE if they are not.
- auto toEigen(const SpatialForceVector& vec) -> const Eigen::Matrix<double, 6, 1> + void assertSpatialForceAreEqual(const SpatialForceVector& f1, + const SpatialForceVector& f2, + double tol = DEFAULT_TOL, + std::string file = "", + int line = -1)
-
+
Assert that two spatial force vectors are equal, and exit with EXIT_FAILURE if they are not.
- void fromEigen(SpatialMotionVector& vec, - const Eigen::Matrix<double, 6, 1>& eigVec) + void assertTrue(bool prop, + std::string file = "", + int line = -1)
- void fromEigen(SpatialForceVector& vec, - const Eigen::Matrix<double, 6, 1>& eigVec) + auto getRandomBool() -> bool
-
+
Get random bool.
- void fromEigen(Transform& trans, - const Eigen::Matrix4d& eigMat) + auto getRandomDouble(double min = 0.0, + double max = 1.0) -> double
-
+
Get a random double between min and max .
-
template<class Derived>
- auto skew(const Eigen::MatrixBase<Derived>& vec) -> Eigen::Matrix<typename Derived::Scalar, 3, 3, Eigen::RowMajor> + auto getRandomInteger(int min, + int max) -> int
-
+
Get a random integer between min and max (included).
-
template<class Derived>
- auto unskew(const Eigen::MatrixBase<Derived>& mat) -> Eigen::Matrix<typename Derived::Scalar, 3, 1> +
template<typename VectorType>
+ void getRandomVector(VectorType& vec, + double min = 0.0, + double max = 1.0)
-
+
Fill a vector with random double.
-
template<unsigned int nRows, unsigned int nCols, typename iDynTreeMatrixType>
- void setSubMatrix(iDynTreeMatrixType& mat, - const IndexRange rowRange, - const IndexRange colRange, - const MatrixFixSize<nRows, nCols>& subMat) +
template<typename MatrixType>
+ void getRandomMatrix(MatrixType& mat)
-
Submatrix helpers.
+
Fill a matrix of random doubles.
-
template<typename iDynTreeMatrixType, typename EigMatType>
- void setSubMatrix(iDynTreeMatrixType& mat, - const IndexRange rowRange, - const IndexRange colRange, - const EigMatType& subMat) + auto getRandomPosition() -> Position
-
+
Get a random position.
-
template<typename iDynTreeMatrixType>
- void setSubMatrix(iDynTreeMatrixType& mat, - const IndexRange rowRange, - const IndexRange colRange, - const double subMat) + auto getRandomRotation() -> Rotation
-
+
Get a random rotation.
-
template<typename iDynTreeMatrixType>
- void setSubMatrixToIdentity(iDynTreeMatrixType& mat, - const IndexRange rowRange, - const IndexRange colRange) + auto getRandomTransform() -> Transform
-
+
Get a random transform.
-
template<typename iDynTreeMatrixType>
- void setSubMatrixToMinusIdentity(iDynTreeMatrixType& mat, - const IndexRange rowRange, - const IndexRange colRange) + auto getRandomAxis() -> Axis
-
+
Get a random axis.
-
template<unsigned int size>
- void setSubVector(VectorDynSize& vec, - const IndexRange range, - const VectorFixSize<size>& subVec) + auto getRandomInertia() -> SpatialInertia
-
+
Get a random (but physically consistent) inertia.
- void setSubVector(VectorDynSize& vec, - const IndexRange range, - double subVec) + auto getRandomTwist() -> SpatialMotionVector
-
+
Get a random twist-like 6D vector.
- void setSubVector(VectorDynSize& vec, - const IndexRange range, - const SpatialMotionVector& twist) + auto getRandomWrench() -> SpatialForceVector
-
+
Get a random wrench-like 6D object.
- void setSubVector(VectorDynSize& vec, - const IndexRange range, - const SpatialForceVector& wrench) +
template<typename VectorType>
+ void printVector(std::string, + const VectorType& vec)
-
+
Helper for printing vectors.
-
template<typename T>
- void setSubVector(VectorDynSize& vec, - const IndexRange range, - const T& subVec) +
template<typename VectorType1, typename VectorType2>
+ void printVectorDifference(std::string name, + const VectorType1& vec1, + const VectorType2& vec2)
-
+
Helper for printing difference of two vectors.
-
template<typename MapType>
- void pseudoInverse_helper2(const MapType& A, - Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition, - MapType& Apinv, - double tolerance, - unsigned int computationOptions = Eigen::ComputeThinU|Eigen::ComputeThinV) + void printVectorWrongElements(std::string name, + std::vector<bool>& correctElems)
-
+
Helper for printing the patter of wrong elements in between two vectors.
-
template<typename MapType>
- void pseudoInverse_helper1(const MapType& A, - Eigen::JacobiSVD<Eigen::MatrixXd>& svdDecomposition, - MapType& Apinv, - double tolerance, - unsigned int computationOptions = Eigen::ComputeThinU|Eigen::ComputeThinV) + void printMatrixWrongElements(std::string name, + std::vector<std::vector<TestMatrixMismatch>>& correctElems)
-
+
Helper for printing the patter of wrong elements in between two matrix.
-
template<typename MapType>
- void pseudoInverse(const MapType A, - MapType Apinv, - double tolerance, - unsigned int computationOptions = Eigen::ComputeThinU|Eigen::ComputeThinV) +
template<typename MatrixType1, typename MatrixType2>
+ void printMatrixPercentageError(const MatrixType1& mat1, + const MatrixType2& mat2)
-
+
Helper for printing the patter of wrong elements in between two matrix.
- auto toEigen(iDynTree::SparseMatrix<iDynTree::RowMajor>& mat) -> Eigen::Map<Eigen::SparseMatrix<double, Eigen::RowMajor>> +
template<typename VectorType1, typename VectorType2>
+ void assertVectorAreEqual(const VectorType1& vec1, + const VectorType2& vec2, + double tol, + std::string file, + int line)
-
+
Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not.
- auto toEigen(const iDynTree::SparseMatrix<iDynTree::RowMajor>& mat) -> Eigen::Map<const Eigen::SparseMatrix<double, Eigen::RowMajor>> +
template<typename VectorType1, typename VectorType2>
+ void assertVectorAreEqualWithRelativeTol(const VectorType1& vec1, + const VectorType2& vec2, + double relativeTol, + double minAbsoluteTol, + std::string file, + int line)
-
+
Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not.
- auto toEigen(iDynTree::SparseMatrix<iDynTree::ColumnMajor>& mat) -> Eigen::Map<Eigen::SparseMatrix<double, Eigen::ColMajor>> -
-
+
template<typename MatrixType1, typename MatrixType2>
+ void assertMatrixAreEqual(const MatrixType1& mat1, + const MatrixType2& mat2, + double tol, + std::string file, + int line) + +
Assert that two matrices are equal, and exit with EXIT_FAILURE if they are not.
- auto toEigen(const iDynTree::SparseMatrix<iDynTree::ColumnMajor>& mat) -> Eigen::Map<const Eigen::SparseMatrix<double, Eigen::ColMajor>> + void assertWoAbort(const char* semCheck, + const char* file, + const char* func, + int line)
-
+
Function embedding the semantic checks.
-
template<class ElementType>
- auto make_matrix_view(ElementType* ptr, - typename MatrixView<ElementType>::index_type rows, - typename MatrixView<ElementType>::index_type cols, - const MatrixStorageOrdering& order = MatrixStorageOrdering::RowMajor) -> IDYNTREE_CONSTEXPR MatrixView<ElementType> + auto checkEqualOrUnknown(const int op1, + const int op2) -> bool
-
+
Helper class for semantic checking.
-
template<class Container, std::enable_if_t<MatrixViewInternal::has_IsRowMajor<Container>::value||std::is_same<MatrixView<typename Container::value_type>, Container>::value, int> = 0>
- auto make_matrix_view(Container& cont) -> IDYNTREE_CONSTEXPR MatrixView<typename Container::value_type> + void reportError(const char* className, + const char* methodName, + const char* errorMessage)
-
+
Helper function for reporting error if the semantic check fails.
-
template<class Container, std::enable_if_t<MatrixViewInternal::has_IsRowMajor<Container>::value||std::is_same<MatrixView<const typename Container::value_type>, Container>::value, int> = 0>
- auto make_matrix_view(const Container& cont) -> IDYNTREE_CONSTEXPR MatrixView<const typename Container::value_type> + auto reportErrorIf(bool condition, + const char* className_methodName, + const char* errorMessage) -> bool
-
+
Call report error if condition is true.
-
template<class Container, std::enable_if_t<!MatrixViewInternal::has_IsRowMajor<Container>::value && !std::is_same<MatrixView<typename Container::value_type>, Container>::value, int> = 0>
- auto make_matrix_view(Container& cont, - const MatrixStorageOrdering& order = MatrixStorageOrdering::RowMajor) -> IDYNTREE_CONSTEXPR MatrixView<typename Container::value_type> + void reportWarning(const char* className, + const char* methodName, + const char* errorMessage)
-
+
Helper function for reporting warnings in iDynTree.
-
template<class Container, std::enable_if_t<!MatrixViewInternal::has_IsRowMajor<Container>::value && !std::is_same<MatrixView<typename Container::value_type>, Container>::value, int> = 0>
- auto make_matrix_view(const Container& cont, - const MatrixStorageOrdering& order = MatrixStorageOrdering::RowMajor) -> IDYNTREE_CONSTEXPR MatrixView<const typename Container::value_type> + void reportInfo(const char* className, + const char* methodName, + const char* message)
-
+
Helper function for reporting information messages in iDynTree.
- IDYNTREE_DEPRECATED_WITH_MSG("iDynTree::PositionRaw is deprecated, - use iDynTree::Position") typedef Position PositionRaw + void reportDebug(const char* className, + const char* methodName, + const char* message)
-
+
Helper function for reporting debug messages in iDynTree.
- auto squareCrossProductMatrix(const Eigen::Vector3d& v) -> Eigen::Matrix3d + auto deg2rad(const double valueInDeg) -> double
-
Maps a 3d vector to the square of the cross product matrix: v --> (v\times)^2 or, if you prefer another notation: v --> S^2(v)
+
Convert a double from degrees to radians.
- auto skew(const Eigen::Vector3d& vec) -> Eigen::Matrix3d + auto rad2deg(const double valueInRad) -> double
-
Maps a 3d vector to the cross product matrix: v --> (v\times) or, if you prefer another notation: v --> S(v)
+
Convert a double from radians to degree.
-
template<typename vector6d>
- void efficient6dCopy(vector6d* pthis, - const vector6d& other) + auto checkDoublesAreEqual(const double& val1, + const double& val2, + double tol = DEFAULT_TOL) -> bool
-
Efficient version of the copy from one 6D vector to another.
+
Check whether two doubles are equal given a tolerance tol.
-
template<typename vector6d>
- auto efficient6dSum(const vector6d& op1, - const vector6d& op2) -> vector6d + auto TransformFromDHCraig1989(double a, + double alpha, + double d, + double theta) -> Transform
-
Efficient version of the sum of two 6D vectors.
+
-
template<typename vector6d>
- auto efficient6ddifference(const vector6d& op1, - const vector6d& op2) -> vector6d + auto TransformFromDH(double a, + double alpha, + double d, + double theta) -> Transform
-
Efficient version of the different of two 6D vectors.
+
DH : constructs a transformationmatrix T_link(i-1)_link(i) with the Denavit-Hartenberg convention as described in the original publictation: Denavit, J.
-
template<typename twistType, typename motionVectorType, typename resultType>
- auto efficientTwistCrossTwist(const twistType& op1, - const motionVectorType& op2) -> resultType + auto ExtractDHChainFromModel(const iDynTree::Model& model, + const std::string baseFrame, + const std::string eeFrame, + DHChain& outputChain, + double tolerance = 1e-5) -> bool
-
Efficient version of the cross product between a twist and a spatial motion vector (another twist, acceleration, ..)
+
Extract a Denavit Hartenberg Chain from a iDynTree::Model.
-
template<typename twistType, typename momentumVectorType, typename resultType>
- auto efficientTwistCrossMomentum(const twistType& op1, - const momentumVectorType& op2) -> resultType + auto CreateModelFromDHChain(const DHChain& inputChain, + Model& outputModel) -> bool
-
Efficient version of the cross product between a twist and a spatial force vector (momentum, wrench, ..)
+
Create an iDynTree::Model from a DHChain.
- IDYNTREE_DEPRECATED_WITH_MSG("iDynTree::RotationRaw is deprecated, - use iDynTree::Rotation") typedef Rotation RotationRaw + auto ComputeLinearAndAngularMomentum(const Model& model, + const LinkPositions& linkPositions, + const LinkVelArray& linkVels, + SpatialMomentum& totalMomentum) -> bool
-
+
Compute the total linear and angular momentum of a robot, expressed in the world frame.
- IDYNTREE_DEPRECATED_WITH_MSG("iDynTree::RotationalInertiaRaw is deprecated, - use iDynTree::RotationalInertia") typedef RotationalInertia RotationalInertiaRaw + auto ComputeLinearAndAngularMomentumDerivativeBias(const Model& model, + const LinkPositions& linkPositions, + const LinkVelArray& linkVel, + const LinkAccArray& linkBiasAcc, + Wrench& totalMomentumBias) -> bool
-
+
Compute the total momentum derivatitive bias, i.e.
- auto isValidRotationMatrix(const iDynTree::Rotation& r) -> bool + auto RNEADynamicPhase(const iDynTree::Model& model, + const iDynTree::Traversal& traversal, + const iDynTree::JointPosDoubleArray& jointPos, + const iDynTree::LinkVelArray& linksVel, + const iDynTree::LinkAccArray& linksProperAcc, + const iDynTree::LinkNetExternalWrenches& linkExtForces, + iDynTree::LinkInternalWrenches& linkIntWrenches, + iDynTree::FreeFloatingGeneralizedTorques& baseForceAndJointTorques) -> bool
-
Check if the rotation matrix is valid.
+
Compute the inverse dynamics, i.e.
- auto geodesicL2Distance(const iDynTree::Rotation& rotation1, - const iDynTree::Rotation& rotation2) -> double + auto CompositeRigidBodyAlgorithm(const Model& model, + const Traversal& traversal, + const JointPosDoubleArray& jointPos, + LinkCompositeRigidBodyInertias& linkCRBs, + FreeFloatingMassMatrix& massMatrix) -> bool
-
Computes the geodesic distance between two rotation matrices.
+
Compute the floating base mass matrix, using the composite rigid body algorithm.
- auto geodesicL2MeanRotation(const std::vector<iDynTree::Rotation>& inputRotations, - iDynTree::Rotation& meanRotation, - const GeodesicL2MeanOptions& options = GeodesicL2MeanOptions()) -> bool + auto ArticulatedBodyAlgorithm(const Model& model, + const Traversal& traversal, + const FreeFloatingPos& robotPos, + const FreeFloatingVel& robotVel, + const LinkNetExternalWrenches& linkExtWrenches, + const JointDOFsDoubleArray& jointTorques, + ArticulatedBodyAlgorithmInternalBuffers& buffers, + FreeFloatingAcc& robotAcc) -> bool
-
Computes the geodesic mean amongst the provided rotations.
+
Compute the floating base acceleration of an unconstrianed robot, using as input the external forces and the joint torques.
- auto geodesicL2WeightedMeanRotation(const std::vector<iDynTree::Rotation>& inputRotations, - const std::vector<double>& weights, - iDynTree::Rotation& meanRotation, - const GeodesicL2MeanOptions& options = GeodesicL2MeanOptions()) -> bool + auto InverseDynamicsInertialParametersRegressor(const iDynTree::Model& model, + const iDynTree::Traversal& traversal, + const iDynTree::LinkPositions& referenceFrame_H_link, + const iDynTree::LinkVelArray& linksVel, + const iDynTree::LinkAccArray& linksAcc, + iDynTree::MatrixDynSize& baseForceAndJointTorquesRegressor) -> bool
-
Computes the weighted geodesic mean amongst the provided rotations.
+
Compute the inverse dynamics of the model as linear function of the inertial parameters.
-
template<class ElementType, std::ptrdiff_t FirstExtent, std::ptrdiff_t SecondExtent>
- auto operator==(Span<ElementType, FirstExtent> l, - Span<ElementType, SecondExtent> r) -> IDYNTREE_CONSTEXPR bool + auto ForwardDynamicsLinearization(const Model& model, + const Traversal& traversal, + const FreeFloatingPos& robotPos, + const FreeFloatingVel& robotVel, + const LinkNetExternalWrenches& linkExtWrenches, + const JointDOFsDoubleArray& jointTorques, + ForwardDynamicsLinearizationInternalBuffers& bufs, + FreeFloatingAcc& robotAcc, + FreeFloatingStateLinearization& A) -> bool
-
template<class ElementType, std::ptrdiff_t Extent>
- auto operator!=(Span<ElementType, Extent> l, - Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool + auto operator*(const Transform& a_X_b, + const SpatialMotionWrtMotionDerivative& op2) -> SpatialMotionWrtMotionDerivative
-
+
Equivalent to:
-
template<class ElementType, std::ptrdiff_t Extent>
- auto operator<(Span<ElementType, Extent> l, - Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool + auto operator*(const Transform& a_X_b, + const SpatialForceWrtMotionDerivative& op2) -> SpatialForceWrtMotionDerivative
-
+
Equivalent to:
-
template<class ElementType, std::ptrdiff_t Extent>
- auto operator<=(Span<ElementType, Extent> l, - Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool + biasWrenchVelocityDerivative(SpatialInertia M, + SpatialMotionVector V)
-
+
Given a rigid body inertia + +$M$ + + + + + + + + and spatial motion vector + +$V$ + + + + + + + +, the bias wrench + +$B$ + + + + + + + + of rigid body is defined as:
-
template<class ElementType, std::ptrdiff_t Extent>
- auto operator>(Span<ElementType, Extent> l, - Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool + auto ForwardPositionKinematics(const Model& model, + const Traversal& traversal, + const Transform& worldHbase, + const VectorDynSize& jointPositions, + LinkPositions& linkPositions) -> bool
-
+
Given a robot floating base configuration (i.e.
-
template<class ElementType, std::ptrdiff_t Extent>
- auto operator>=(Span<ElementType, Extent> l, - Span<ElementType, Extent> r) -> IDYNTREE_CONSTEXPR bool + auto ForwardPositionKinematics(const Model& model, + const Traversal& traversal, + const FreeFloatingPos& jointPos, + LinkPositions& linkPos) -> bool
-
+
Variant of ForwardPositionKinematics that takes in input a FreeFloatingPos object instead of a separate couple of (worldHbase,jointPositions)
-
template<class ElementType>
- auto make_span(ElementType* ptr, - typename Span<ElementType>::index_type count) -> IDYNTREE_CONSTEXPR Span<ElementType> + auto ForwardVelAccKinematics(const iDynTree::Model& model, + const iDynTree::Traversal& traversal, + const iDynTree::FreeFloatingPos& robotPos, + const iDynTree::FreeFloatingVel& robotVel, + const iDynTree::FreeFloatingAcc& robotAcc, + iDynTree::LinkVelArray& linkVel, + iDynTree::LinkAccArray& linkAcc) -> bool
-
+
Function that compute the links velocities and accelerations given the free floating robot velocities and accelerations.
-
template<class ElementType>
- auto make_span(ElementType* firstElem, - ElementType* lastElem) -> IDYNTREE_CONSTEXPR Span<ElementType> + auto ForwardPosVelAccKinematics(const iDynTree::Model& model, + const iDynTree::Traversal& traversal, + const iDynTree::FreeFloatingPos& robotPos, + const iDynTree::FreeFloatingVel& robotVel, + const iDynTree::FreeFloatingAcc& robotAcc, + iDynTree::LinkPositions& linkPos, + iDynTree::LinkVelArray& linkVel, + iDynTree::LinkAccArray& linkAcc) -> bool
-
+
Function that compute the links position, velocities and accelerations given the free floating robot position, velocities and accelerations.
-
template<class ElementType, std::size_t N>
- auto make_span(ElementType(&arr)[N]) -> IDYNTREE_CONSTEXPR Span<ElementType, N> noexcept + auto ForwardPosVelKinematics(const iDynTree::Model& model, + const iDynTree::Traversal& traversal, + const iDynTree::FreeFloatingPos& robotPos, + const iDynTree::FreeFloatingVel& robotVel, + iDynTree::LinkPositions& linkPos, + iDynTree::LinkVelArray& linkVel) -> bool
-
+
Function that compute the links position and velocities and accelerations given the free floating robot position and velocities.
-
template<class Container>
- auto make_span(Container& cont) -> IDYNTREE_CONSTEXPR Span<typename Container::value_type> + auto ForwardAccKinematics(const Model& model, + const Traversal& traversal, + const FreeFloatingPos& robotPos, + const FreeFloatingVel& robotVel, + const FreeFloatingAcc& robotAcc, + const LinkVelArray& linkVel, + LinkAccArray& linkAcc) -> bool
-
+
Function that computes the links accelerations given the free floating robot velocities and accelerations.
-
template<class Container, typename = typename std::enable_if<SpanUtils::is_value_defined<Container>::value>::type>
- auto make_span(const Container& cont) -> IDYNTREE_CONSTEXPR Span<const typename Container::value_type> + auto ForwardBiasAccKinematics(const Model& model, + const Traversal& traversal, + const FreeFloatingPos& robotPos, + const FreeFloatingVel& robotVel, + const SpatialAcc& baseBiasAcc, + const LinkVelArray& linkVel, + LinkAccArray& linkBiasAcc) -> bool
-
+
Function that computes the links bias accelerations given the free floating robot velocities.
-
template<class Ptr>
- auto make_span(Ptr& cont, - std::ptrdiff_t count) -> IDYNTREE_CONSTEXPR Span<typename Ptr::element_type> + auto ForwardBiasAccKinematics(const Model& model, + const Traversal& traversal, + const FreeFloatingPos& robotPos, + const FreeFloatingVel& robotVel, + const LinkVelArray& linkVel, + LinkAccArray& linkBiasAcc) -> bool
-
+
Legacy function, will be deprecated, use the variant with an explicit baseBiasAcc value.
-
template<class Ptr, typename = typename std::enable_if<!SpanUtils::is_value_defined<Ptr>::value&& SpanUtils::is_element_defined<Ptr>::value>::type>
- auto make_span(Ptr& cont) -> IDYNTREE_CONSTEXPR Span<typename Ptr::element_type> + auto FreeFloatingJacobianUsingLinkPos(const Model& model, + const Traversal& traversal, + const JointPosDoubleArray& jointPositions, + const LinkPositions& linkPositions, + const LinkIndex linkIndex, + const Transform& jacobFrame_X_world, + const Transform& baseFrame_X_jacobBaseFrame, + const MatrixView<double>& jacobian) -> bool
-
+
Compute a free floating jacobian.
-
template<class Container, typename = typename std::enable_if<!SpanUtils::is_value_defined<Container>::value&& !SpanUtils::is_element_defined<Container>::value&& SpanUtils::has_data_method<Container>::value>::type>
- auto make_span(Container& cont) -> IDYNTREE_CONSTEXPR Span<typename std::remove_pointer<decltype(std::declval<Container>).data())>::type> + auto createReducedModelAndSensors(const Model& fullModel, + const SensorsList& fullSensors, + const std::vector<std::string>& jointsInReducedModel, + Model& reducedModel, + SensorsList& reducedSensors) -> bool
-
+
Variant of createReducedModel function that also process the sensorList .
- void assertStringAreEqual(const std::string& val1, - const std::string& val2, - double tol = DEFAULT_TOL, - std::string file = "", - int line = -1) + auto getRandomLink() -> Link
- void assertDoubleAreEqual(const double& val1, - const double& val2, - double tol = DEFAULT_TOL, - std::string file = "", - int line = -1) + void addRandomLinkToModel(Model& model, + std::string parentLink, + std::string newLinkName, + bool onlyRevoluteJoints = false)
-
+
Add a random link with random model.
- void assertTransformsAreEqual(const Transform& trans1, - const Transform& trans2, - double tol = DEFAULT_TOL, - std::string file = "", - int line = -1) + void addRandomAdditionalFrameToModel(Model& model, + std::string parentLink, + std::string newFrameName)
-
Assert that two transforms are equal, and exit with EXIT_FAILURE if they are not.
+
Add a random additional frame to a model model.
- void assertSpatialMotionAreEqual(const SpatialMotionVector& t1, - const SpatialMotionVector& t2, - double tol = DEFAULT_TOL, - std::string file = "", - int line = -1) + auto getRandomLinkIndexOfModel(const Model& model) -> LinkIndex
-
Assert that two spatial motion vectors are equal, and exit with EXIT_FAILURE if they are not.
+
- void assertSpatialForceAreEqual(const SpatialForceVector& f1, - const SpatialForceVector& f2, - double tol = DEFAULT_TOL, - std::string file = "", - int line = -1) + auto getRandomLinkOfModel(const Model& model) -> std::string
-
Assert that two spatial force vectors are equal, and exit with EXIT_FAILURE if they are not.
+
- void assertTrue(bool prop, - std::string file = "", - int line = -1) + auto int2string(int i) -> std::string
- auto getRandomBool() -> bool + auto getRandomModel(unsigned int nrOfJoints, + size_t nrOfAdditionalFrames = 10, + bool onlyRevoluteJoints = false) -> Model
-
Get random bool.
+
- auto getRandomDouble(double min = 0.0, - double max = 1.0) -> double + auto getRandomChain(unsigned int nrOfJoints, + size_t nrOfAdditionalFrames = 10, + bool onlyRevoluteJoints = false) -> Model
-
Get a random double between min and max .
+
- auto getRandomInteger(int min, - int max) -> int + void getRandomJointPositions(VectorDynSize& vec, + const Model& model)
-
Get a random integer between min and max (included).
+
Get random joint position consistently with the limits of the model.
-
template<typename VectorType>
- void getRandomVector(VectorType& vec, - double min = 0.0, - double max = 1.0) + auto getRandomInverseDynamicsInputs(FreeFloatingPos& pos, + FreeFloatingVel& vel, + FreeFloatingAcc& acc, + LinkNetExternalWrenches& extWrenches) -> bool
-
Fill a vector with random double.
+
Get random robot positions, velocities and accelerations and external wrenches to be given as an input to InverseDynamics.
-
template<typename MatrixType>
- void getRandomMatrix(MatrixType& mat) + auto removeFakeLinks(const Model& modelWithFakeLinks, + Model& modelWithoutFakeLinks) -> bool
-
Fill a matrix of random doubles.
+
\function Remove all fake links in the model, transforming them in frames.
- auto getRandomPosition() -> Position + auto createReducedModel(const Model& fullModel, + const std::vector<std::string>& jointsInReducedModel, + Model& reducedModel) -> bool
-
Get a random position.
+
This function takes in input a iDynTree::Model and an ordered list of joints and returns a model with just the joint specified in the list, with that exact order.
- auto getRandomRotation() -> Rotation + auto createReducedModel(const Model& fullModel, + const std::vector<std::string>& jointsInReducedModel, + Model& reducedModel, + const std::unordered_map<std::string, double>& removedJointPositions) -> bool
-
Get a random rotation.
+
This function takes in input a iDynTree::Model and an ordered list of joints and returns a model with just the joint specified in the list, with that exact order.
- auto getRandomTransform() -> Transform + auto createModelWithNormalizedJointNumbering(const Model& model, + const std::string& baseForNormalizedJointNumbering, + Model& reducedModel) -> bool
-
Get a random transform.
+
Given a specified base, return a model with a "normalized" joint numbering for that base.
- auto getRandomAxis() -> Axis + auto extractSubModel(const iDynTree::Model& fullModel, + const iDynTree::Traversal& subModelTraversal, + iDynTree::Model& outputSubModel) -> bool
-
Get a random axis.
+
Extract sub model from sub model traversal.
- auto getRandomInertia() -> SpatialInertia + auto addValidNamesToAllSolidShapes(const iDynTree::Model& inputModel, + iDynTree::Model& outputModel) -> bool
-
Get a random (but physically consistent) inertia.
+
Add automatically generated names to all visual and collision solid shapes of the model.
- auto getRandomTwist() -> SpatialMotionVector + auto moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink(const iDynTree::Model& inputModel, + iDynTree::Model& outputModel) -> bool
-
Get a random twist-like 6D vector.
+
Transform the input model in model that can be exported as URDF with the given base link.
- auto getRandomWrench() -> SpatialForceVector + auto predictSensorsMeasurements(const Model& model, + const Traversal& traversal, + const FreeFloatingPos& robotPos, + const FreeFloatingVel& robotVel, + const FreeFloatingAcc& robotAcc, + const LinAcceleration& gravity, + const LinkNetExternalWrenches& externalWrenches, + FreeFloatingAcc& buf_properRobotAcc, + LinkPositions& buf_linkPos, + LinkVelArray& buf_linkVel, + LinkAccArray& buf_linkProperAcc, + LinkInternalWrenches& buf_internalWrenches, + FreeFloatingGeneralizedTorques& buf_outputTorques, + SensorsMeasurements& predictedMeasurement) -> bool
-
Get a random wrench-like 6D object.
+
Predict the measurement of a set of sensors.
-
template<typename VectorType>
- void printVector(std::string, - const VectorType& vec) + auto predictSensorsMeasurementsFromRawBuffers(const Model& model, + const Traversal& traversal, + const LinkVelArray& buf_linkVel, + const LinkAccArray& buf_linkProperAcc, + const LinkInternalWrenches& buf_internalWrenches, + SensorsMeasurements& predictedMeasurement) -> bool
-
Helper for printing vectors.
+
Predict the measurement of a set of sensors.
-
template<typename VectorType1, typename VectorType2>
- void printVectorDifference(std::string name, - const VectorType1& vec1, - const VectorType2& vec2) + auto predictSensorsMeasurements(const Model& model, + const SensorsList& sensorList, + const Traversal& traversal, + const FreeFloatingPos& robotPos, + const FreeFloatingVel& robotVel, + const FreeFloatingAcc& robotAcc, + const LinAcceleration& gravity, + const LinkNetExternalWrenches& externalWrenches, + FreeFloatingAcc& buf_properRobotAcc, + LinkPositions& buf_linkPos, + LinkVelArray& buf_linkVel, + LinkAccArray& buf_linkProperAcc, + LinkInternalWrenches& buf_internalWrenches, + FreeFloatingGeneralizedTorques& buf_outputTorques, + SensorsMeasurements& predictedMeasurement) -> bool
-
Helper for printing difference of two vectors.
+
Predict the measurement of a set of sensors.
- void printVectorWrongElements(std::string name, - std::vector<bool>& correctElems) + auto predictSensorsMeasurementsFromRawBuffers(const Model& model, + const SensorsList& sensorList, + const Traversal& traversal, + const LinkVelArray& buf_linkVel, + const LinkAccArray& buf_linkProperAcc, + const LinkInternalWrenches& buf_internalWrenches, + SensorsMeasurements& predictedMeasurement) -> bool
-
Helper for printing the patter of wrong elements in between two vectors.
+
Predict the measurement of a set of sensors.
- void printMatrixWrongElements(std::string name, - std::vector<std::vector<TestMatrixMismatch>>& correctElems) + auto isLinkSensor(const SensorType type) -> bool
-
Helper for printing the patter of wrong elements in between two matrix.
+
Short function to check if a SensorType is a LinkSensor.
-
template<typename MatrixType1, typename MatrixType2>
- void printMatrixPercentageError(const MatrixType1& mat1, - const MatrixType2& mat2) + auto isJointSensor(const SensorType type) -> bool
-
Helper for printing the patter of wrong elements in between two matrix.
+
Short function to check if a SensorType is.
-
template<typename VectorType1, typename VectorType2>
- void assertVectorAreEqual(const VectorType1& vec1, - const VectorType2& vec2, - double tol, - std::string file, - int line) + auto getSensorTypeSize(const SensorType type) -> std::size_t
-
Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not.
+
-
template<typename VectorType1, typename VectorType2>
- void assertVectorAreEqualWithRelativeTol(const VectorType1& vec1, - const VectorType2& vec2, - double relativeTol, - double minAbsoluteTol, - std::string file, - int line) + void computeTransformToTraversalBase(const Model& fullModel, + const Traversal& traversal, + const JointPosDoubleArray& jointPos, + LinkPositions& traversalBase_H_link)
-
Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not.
+
Helper loop to compute the position of each link wrt to the frame of the subModel base.
-
template<typename MatrixType1, typename MatrixType2>
- void assertMatrixAreEqual(const MatrixType1& mat1, - const MatrixType2& mat2, - double tol, - std::string file, - int line) + void computeTransformToSubModelBase(const Model& fullModel, + const SubModelDecomposition& subModelDecomposition, + const JointPosDoubleArray& jointPos, + LinkPositions& subModelBase_H_link)
-
Assert that two matrices are equal, and exit with EXIT_FAILURE if they are not.
+
Run the computeTransformToTraversalBase for all the traversal in the subModelDecomposition, and store the results in the linkPos array.
- void assertWoAbort(const char* semCheck, - const char* file, - const char* func, - int line) + auto sizeOfRotationParametrization(enum InverseKinematicsRotationParametrization rotationParametrization) -> int
-
Function embedding the semantic checks.
+
- auto checkEqualOrUnknown(const int op1, - const int op2) -> bool + auto isLinkBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool
-
Helper class for semantic checking.
+
- void reportError(const char* className, - const char* methodName, - const char* errorMessage) + auto isJointBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool
-
Helper function for reporting error if the semantic check fails.
+
- auto reportErrorIf(bool condition, - const char* className_methodName, - const char* errorMessage) -> bool + auto isDOFBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool
-
Call report error if condition is true.
+
- void reportWarning(const char* className, - const char* methodName, - const char* errorMessage) + auto estimateExternalWrenchesWithoutInternalFT(const Model& model, + const Traversal& traversal, + const LinkUnknownWrenchContacts& unknownWrenches, + const JointPosDoubleArray& jointPos, + const LinkVelArray& linkVel, + const LinkAccArray& linkProperAcc, + estimateExternalWrenchesBuffers& bufs, + LinkContactWrenches& outputContactWrenches) -> bool
-
Helper function for reporting warnings in iDynTree.
+
Estimate the external contact wrenches using the MultiBody Newton-Euler equations.
- void reportInfo(const char* className, - const char* methodName, - const char* message) + auto estimateExternalWrenches(const Model& model, + const SubModelDecomposition& subModels, + const SensorsList& sensors, + const LinkUnknownWrenchContacts& unknownWrenches, + const JointPosDoubleArray& jointPos, + const LinkVelArray& linkVel, + const LinkAccArray& linkProperAcc, + const SensorsMeasurements& ftSensorsMeasurements, + estimateExternalWrenchesBuffers& bufs, + LinkContactWrenches& outputContactWrenches) -> bool
-
Helper function for reporting information messages in iDynTree.
+
Estimate the external wrenches trasmitted by the contacts between the model and the external environment.
- void reportDebug(const char* className, - const char* methodName, - const char* message) + auto dynamicsEstimationForwardVelAccKinematics(const Model& model, + const Traversal& traversal, + const Vector3& base_classicalProperAcc, + const Vector3& base_angularVel, + const Vector3& base_angularAcc, + const JointPosDoubleArray& jointPos, + const JointDOFsDoubleArray& jointVel, + const JointDOFsDoubleArray& jointAcc, + LinkVelArray& linkVel, + LinkAccArray& linkProperAcc) -> bool
-
Helper function for reporting debug messages in iDynTree.
+
Modified forward kinematics for torque/force estimation.
- auto deg2rad(const double valueInDeg) -> double + auto dynamicsEstimationForwardVelKinematics(const Model& model, + const Traversal& traversal, + const Vector3& base_angularVel, + const JointPosDoubleArray& jointPos, + const JointDOFsDoubleArray& jointVel, + LinkVelArray& linkVel) -> bool
-
Convert a double from degrees to radians.
+
Modified forward kinematics for floating basedynamics estimation.
- auto rad2deg(const double valueInRad) -> double + auto computeLinkNetWrenchesWithoutGravity(const Model& model, + const LinkVelArray& linkVel, + const LinkAccArray& linkProperAcc, + LinkNetTotalWrenchesWithoutGravity& linkNetWrenchesWithoutGravity) -> bool
-
Convert a double from radians to degree.
+
Compute the net internal and external wrenches (excluding gravity forces) acting on the links.
- auto checkDoublesAreEqual(const double& val1, - const double& val2, - double tol = DEFAULT_TOL) -> bool + auto estimateLinkContactWrenchesFromLinkNetExternalWrenches(const Model& model, + const LinkUnknownWrenchContacts& unknownWrenches, + const LinkNetExternalWrenches& netExtWrenches, + LinkContactWrenches& outputContactWrenches) -> bool
-
Check whether two doubles are equal given a tolerance tol.
+
Compute the link contact wrenches from the net external wrenches.
auto dofsListFromURDF(const std::string& urdf_filename, std::vector<std::string>& dofs) -> bool @@ -2433,11 +2418,44 @@

Functions

Vector4& out) -> bool
+
+ auto estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(const double totalMass, + iDynTree::Model& model, + VectorDynSize& estimatedInertialParams) -> bool +
+
Estimate the inertial parameters of a model using link bounding boxes and the total mass.
+
+ auto computeBoundingBoxFromShape(const SolidShape& geom, + Box& box) -> bool +
+
Compute bounding box from a solid shape object.
+
+ auto computeBoxVertices(const Box box) -> std::vector<Position> +
+
Get the bounding box vertices in the link frame.
+
+ auto approximateSolidShapesWithPrimitiveShape(const Model& inputModel, + Model& outputModel, + ApproximateSolidShapesWithPrimitiveShapeOptions options = ApproximateSolidShapesWithPrimitiveShapeOptions()) -> bool +
+
\function Approximate solid shapes of the input model with some primitive shapes.

Variables

+
+ IDYNTREE_CONSTEXPR const std::ptrdiff_t dynamic_extent +
+
+
+ IDYNTREE_CORE_EXPORT int UNKNOWN +
+
+
+ IDYNTREE_CORE_EXPORT double DEFAULT_TOL +
+
Default tolerance for methods with a tolerance, setted to 1e-10.
IDYNTREE_MODEL_EXPORT LinkIndex LINK_INVALID_INDEX
@@ -2529,18 +2547,6 @@

Variables

gyroscope measurements -
- IDYNTREE_CONSTEXPR const std::ptrdiff_t dynamic_extent -
-
-
- IDYNTREE_CORE_EXPORT int UNKNOWN -
-
-
- IDYNTREE_CORE_EXPORT double DEFAULT_TOL -
-
Default tolerance for methods with a tolerance, setted to 1e-10.
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diff --git a/structiDynTree_1_1ApproximateSolidShapesWithPrimitiveShapeOptions.html b/structiDynTree_1_1ApproximateSolidShapesWithPrimitiveShapeOptions.html index eae7cdce3b..b9d33a0fe6 100644 --- a/structiDynTree_1_1ApproximateSolidShapesWithPrimitiveShapeOptions.html +++ b/structiDynTree_1_1ApproximateSolidShapesWithPrimitiveShapeOptions.html @@ -80,6 +80,10 @@

Public variables

ApproximateSolidShapesWithPrimitiveShapeConversionType conversionType
+
+ ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate shapesToApproximate +
+
diff --git a/xml/AccelerometerSensor_8h.xml b/xml/AccelerometerSensor_8h.xml index de6e77b2b5..6c63b6ddf2 100644 --- a/xml/AccelerometerSensor_8h.xml +++ b/xml/AccelerometerSensor_8h.xml @@ -8,21 +8,6 @@ iDynTree/Sensors/AccelerometerSensor.h iDynTree::AccelerometerSensor iDynTree - - - LinearMotionVector3 - typedef LinearMotionVector3 iDynTree::LinAcceleration - - LinAcceleration - - - - - - - - - diff --git a/xml/ArticulatedBodyInertia_8h.xml b/xml/ArticulatedBodyInertia_8h.xml index 18f5374a50..04c9a352ee 100644 --- a/xml/ArticulatedBodyInertia_8h.xml +++ b/xml/ArticulatedBodyInertia_8h.xml @@ -4,8 +4,8 @@ ArticulatedBodyInertia.h iDynTree/MatrixFixSize.h string - iDynTree/LinkState.h iDynTree/Core/ArticulatedBodyInertia.h + iDynTree/LinkState.h diff --git a/xml/AttitudeEstimatorUtils_8h.xml b/xml/AttitudeEstimatorUtils_8h.xml index 24f4fe7623..d085bb76df 100644 --- a/xml/AttitudeEstimatorUtils_8h.xml +++ b/xml/AttitudeEstimatorUtils_8h.xml @@ -32,7 +32,7 @@ - + @@ -220,7 +220,7 @@ omega -computes $ 3 \times 3 $ skew-symmetric matrix ( $ \mathbb{so}(3) $ space) for a given 3d vector ( $ \mathbb{R}^3 $ space) +computes $ 3 \times 3 $ skew-symmetric matrix ( $ \mathbb{so}(3) $ space) for a given 3d vector ( $ \mathbb{R}^3 $ space) @@ -250,15 +250,15 @@ S -checks if the $ 3 \times 3 $ matrix is skew-symmetric +checks if the $ 3 \times 3 $ matrix is skew-symmetric -\[ S + S^T = 0 \] +\[ S + S^T = 0 \] S -$ 3 \times 3 $ matrix +$ 3 \times 3 $ matrix diff --git a/xml/AttitudeQuaternionEKF_8h.xml b/xml/AttitudeQuaternionEKF_8h.xml index c28702a280..5784189524 100644 --- a/xml/AttitudeQuaternionEKF_8h.xml +++ b/xml/AttitudeQuaternionEKF_8h.xml @@ -17,7 +17,7 @@ output_dimensions_with_magnetometer = 4 -dimension of $ \mathbb{R}^3 \times \mathbb{R} $ accelerometer measurements and magnetometer yaw measurement +dimension of $ \mathbb{R}^3 \times \mathbb{R} $ accelerometer measurements and magnetometer yaw measurement @@ -32,7 +32,7 @@ output_dimensions_without_magnetometer = 3 -dimension of $ \mathbb{R}^3 $ accelerometer measurements +dimension of $ \mathbb{R}^3 $ accelerometer measurements @@ -47,7 +47,7 @@ input_dimensions = 3 -dimension of $ \mathbb{R}^3 $ gyroscope measurements +dimension of $ \mathbb{R}^3 $ gyroscope measurements diff --git a/xml/Axis_8h.xml b/xml/Axis_8h.xml index c24d35a25a..cd3bed0151 100644 --- a/xml/Axis_8h.xml +++ b/xml/Axis_8h.xml @@ -6,9 +6,9 @@ iDynTree/Direction.h iDynTree/Position.h iDynTree/Utils.h + iDynTree/Core/Axis.h iDynTree/PrismaticJoint.h iDynTree/RevoluteJoint.h - iDynTree/Core/Axis.h private/JointElement.h diff --git a/xml/BerdyHelper_8h.xml b/xml/BerdyHelper_8h.xml index ee1fc70e0b..cad3f08ba8 100644 --- a/xml/BerdyHelper_8h.xml +++ b/xml/BerdyHelper_8h.xml @@ -88,7 +88,7 @@ -$ a_i $ Note that is is the spatial proper acceleration expressed, i.e. the time derivative of the left-trivialized velocity minus the gravity expressed in body frame. $ f^B_i $ +$ a_i $ Note that is is the spatial proper acceleration expressed, i.e. the time derivative of the left-trivialized velocity minus the gravity expressed in body frame. $ f^B_i $ @@ -96,7 +96,7 @@ -$ f_i $ +$ f_i $ @@ -104,7 +104,7 @@ -$ \tau_i $ +$ \tau_i $ @@ -112,7 +112,7 @@ -$ f^x_i $ +$ f^x_i $ @@ -120,7 +120,7 @@ -$ \ddot{q}_i $ +$ \ddot{q}_i $ diff --git a/xml/ClassicalAcc_8h.xml b/xml/ClassicalAcc_8h.xml index c7e8a01da9..f265279173 100644 --- a/xml/ClassicalAcc_8h.xml +++ b/xml/ClassicalAcc_8h.xml @@ -3,8 +3,8 @@ ClassicalAcc.h iDynTree/VectorFixSize.h - iDynTree/GravityCompensationHelpers.h iDynTree/Core/ClassicalAcc.h + iDynTree/GravityCompensationHelpers.h iDynTree::ClassicalAcc iDynTree diff --git a/xml/ContactWrench_8h.xml b/xml/ContactWrench_8h.xml index 11b0d849ca..2655b67bd0 100644 --- a/xml/ContactWrench_8h.xml +++ b/xml/ContactWrench_8h.xml @@ -7,8 +7,8 @@ iDynTree/Indices.h iDynTree/LinkState.h vector - iDynTree/Model/ContactWrench.h iDynTree/skinDynLibConversionsImplementation.h + iDynTree/Model/ContactWrench.h iDynTree/ExtWrenchesAndJointTorquesEstimator.h diff --git a/xml/DenavitHartenberg_8h.xml b/xml/DenavitHartenberg_8h.xml index d5a3489177..c17877f967 100644 --- a/xml/DenavitHartenberg_8h.xml +++ b/xml/DenavitHartenberg_8h.xml @@ -6,8 +6,8 @@ iDynTree/Model.h iDynTree/Transform.h vector - iDynTree/Model/DenavitHartenberg.h iDynTree/iKinConversionsImplementation.h + iDynTree/Model/DenavitHartenberg.h diff --git a/xml/Direction_8h.xml b/xml/Direction_8h.xml index 7dc7fc033a..53d7b2616b 100644 --- a/xml/Direction_8h.xml +++ b/xml/Direction_8h.xml @@ -5,15 +5,15 @@ string iDynTree/VectorFixSize.h iDynTree/Utils.h - iDynTree/InverseKinematics.h iDynTree/YARPConversionsImplementation.h + iDynTree/Axis.h + iDynTree/Core/Direction.h + iDynTree/Visualizer.h + iDynTree/InverseKinematics.h iDynTree/AttitudeMahonyFilter.h iDynTree/AttitudeQuaternionEKF.h iDynTree/BerdyHelper.h iDynTree/ExternalWrenchesEstimation.h - iDynTree/Axis.h - iDynTree/Core/Direction.h - iDynTree/Visualizer.h diff --git a/xml/DynamicsUtils_8h.xml b/xml/DynamicsUtils_8h.xml index cc2ab7a9c3..93daf288ff 100644 --- a/xml/DynamicsUtils_8h.xml +++ b/xml/DynamicsUtils_8h.xml @@ -22,10 +22,10 @@ V -Given a rigid body inertia $M$ and spatial motion vector $V$, the bias wrench $B$ of rigid body is defined as: +Given a rigid body inertia $M$ and spatial motion vector $V$, the bias wrench $B$ of rigid body is defined as: -\[ B = \times \] +\[ B = \times \] diff --git a/xml/Dynamics_8h.xml b/xml/Dynamics_8h.xml index a62ddb6d49..3c80c7a8f8 100644 --- a/xml/Dynamics_8h.xml +++ b/xml/Dynamics_8h.xml @@ -187,7 +187,7 @@ linksVel -Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). +Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). @@ -195,7 +195,7 @@ linksProperAcc -Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . See iDynTree::LinkNetExternalWrenches . +Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . See iDynTree::LinkNetExternalWrenches . @@ -203,7 +203,7 @@ linkExtForces -Vector of external 6D force/torques applied to the links. For each link $L$, the corresponding external force is ${}_L \mathrm{f}^x_L$, i.e. the force that the enviroment applies on the on the link $L$, expressed in the link frame $L$. +Vector of external 6D force/torques applied to the links. For each link $L$, the corresponding external force is ${}_L \mathrm{f}^x_L$, i.e. the force that the enviroment applies on the on the link $L$, expressed in the link frame $L$. @@ -367,7 +367,7 @@ referenceFrame_H_link -Position of each link w.r.t. to given frame D (tipically an inertial frame A, the base frame B or the mixed frame B[A]). For each link $L$, the corresponding transform is ${}^D H_L$. +Position of each link w.r.t. to given frame D (tipically an inertial frame A, the base frame B or the mixed frame B[A]). For each link $L$, the corresponding transform is ${}^D H_L$. @@ -375,7 +375,7 @@ linksVel -Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). +Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). @@ -383,7 +383,7 @@ linksProperAcc -Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . +Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . diff --git a/xml/EigenHelpers_8h.xml b/xml/EigenHelpers_8h.xml index f9241fab34..b408464f3d 100644 --- a/xml/EigenHelpers_8h.xml +++ b/xml/EigenHelpers_8h.xml @@ -13,11 +13,11 @@ iDynTree/Transform.h iDynTree/Utils.h iDynTree/SparseMatrix.h + iDynTree/Core/EigenHelpers.h + iDynTree/PrivateUtils.h iDynTree/AttitudeEstimatorUtils.h iDynTree/GravityCompensationHelpers.h iDynTree/KalmanFilter.h - iDynTree/Core/EigenHelpers.h - iDynTree/PrivateUtils.h diff --git a/xml/ForwardKinematics_8h.xml b/xml/ForwardKinematics_8h.xml index a7a9f348a5..9090f8d7b6 100644 --- a/xml/ForwardKinematics_8h.xml +++ b/xml/ForwardKinematics_8h.xml @@ -353,7 +353,7 @@ robotPos -the position of the robot, i.e. $ ({}^A H_B, s)$, +the position of the robot, i.e. $ ({}^A H_B, s)$, @@ -361,7 +361,7 @@ robotVel -the velocity of the robot, with the base velocity expressed in BODY_FIXED representation i.e. $ \nu = \begin{bmatrix} {}^B \mathrm{v}_{A,B} \newline \dot{s} \end{bmatrix} $, +the velocity of the robot, with the base velocity expressed in BODY_FIXED representation i.e. $ \nu = \begin{bmatrix} {}^B \mathrm{v}_{A,B} \newline \dot{s} \end{bmatrix} $, @@ -377,7 +377,7 @@ linkVel -the velocity of each link of the robot, with velocity expressed with BODY_FIXED representation i.e. for each link $ $ we have $ {}^L \mathrm{v}_{A,L} $, +the velocity of each link of the robot, with velocity expressed with BODY_FIXED representation i.e. for each link $ $ we have $ {}^L \mathrm{v}_{A,L} $, diff --git a/xml/FreeFloatingMatrices_8h.xml b/xml/FreeFloatingMatrices_8h.xml index 17e2289746..2d20906653 100644 --- a/xml/FreeFloatingMatrices_8h.xml +++ b/xml/FreeFloatingMatrices_8h.xml @@ -38,10 +38,10 @@ Possible frame velocity representation convention. -Given a link $L$ and an absolute frame $A$, the the possible frame velocity representation are the following: -INERTIAL_FIXED_REPRESENTATION : Velocity representation is ${}^{A} \mathrm{v}_{A,B}$, -BODY_FIXED_REPRESENTATION : Velocity representation is ${}^{B} \mathrm{v}_{A,B}$, -MIXED_REPRESENTATION : Velocity representation is ${}^{B[A]} \mathrm{v}_{A,B}$. +Given a link $L$ and an absolute frame $A$, the the possible frame velocity representation are the following: +INERTIAL_FIXED_REPRESENTATION : Velocity representation is ${}^{A} \mathrm{v}_{A,B}$, +BODY_FIXED_REPRESENTATION : Velocity representation is ${}^{B} \mathrm{v}_{A,B}$, +MIXED_REPRESENTATION : Velocity representation is ${}^{B[A]} \mathrm{v}_{A,B}$. See iDynTree::KinDynComputations documentation for more details. diff --git a/xml/GeomVector3_8h.xml b/xml/GeomVector3_8h.xml index f6b3e33ba4..aebccda353 100644 --- a/xml/GeomVector3_8h.xml +++ b/xml/GeomVector3_8h.xml @@ -3,18 +3,18 @@ GeomVector3.h iDynTree/VectorFixSize.h - iDynTree/AccelerometerSensor.h - iDynTree/GyroscopeSensor.h - iDynTree/PredictSensorsMeasurements.h - iDynTree/Sensors.h - iDynTree/ThreeAxisAngularAccelerometerSensor.h - iDynTree/ThreeAxisForceTorqueContactSensor.h iDynTree/Core/GeomVector3.h iDynTree/Rotation.h iDynTree/SO3Utils.h iDynTree/SpatialForceVector.h iDynTree/SpatialMotionVector.h iDynTree/SpatialVector.h + iDynTree/AccelerometerSensor.h + iDynTree/GyroscopeSensor.h + iDynTree/PredictSensorsMeasurements.h + iDynTree/Sensors.h + iDynTree/ThreeAxisAngularAccelerometerSensor.h + iDynTree/ThreeAxisForceTorqueContactSensor.h iDynTree::GeomVector3 iDynTree @@ -44,6 +44,19 @@ + + LinearMotionVector3 + typedef LinearMotionVector3 iDynTree::LinAcceleration + + LinAcceleration + + + + + + + + GeomVector3 typedef GeomVector3 iDynTree::AngularMotionVector3 @@ -57,6 +70,19 @@ + + AngularMotionVector3 + typedef AngularMotionVector3 iDynTree::AngVelocity + + AngVelocity + + + + + + + + AngularMotionVector3 typedef AngularMotionVector3 iDynTree::AngAcceleration diff --git a/xml/GyroscopeSensor_8h.xml b/xml/GyroscopeSensor_8h.xml index ce097ebd44..e61af2c541 100644 --- a/xml/GyroscopeSensor_8h.xml +++ b/xml/GyroscopeSensor_8h.xml @@ -20,21 +20,6 @@ iDynTree::GyroscopeSensor iDynTree - - - AngularMotionVector3 - typedef AngularMotionVector3 iDynTree::AngVelocity - - AngVelocity - - - - - - - - - diff --git a/xml/Indices_8h.xml b/xml/Indices_8h.xml index c585f5e84e..843b590cd3 100644 --- a/xml/Indices_8h.xml +++ b/xml/Indices_8h.xml @@ -5,6 +5,7 @@ cstddef string ModelExport.h + iDynTree/skinDynLibConversions.h iDynTree/Centroidal.h iDynTree/ContactWrench.h iDynTree/DenavitHartenberg.h @@ -25,12 +26,11 @@ iDynTree/SolidShapes.h iDynTree/SubModel.h iDynTree/Traversal.h - iDynTree/skinDynLibConversions.h - iDynTree/KinDynComputations.h iDynTree/BerdyHelper.h iDynTree/BerdySparseMAPSolver.h iDynTree/ExternalWrenchesEstimation.h iDynTree/SimpleLeggedOdometry.h + iDynTree/KinDynComputations.h diff --git a/xml/JointState_8h.xml b/xml/JointState_8h.xml index 77d297ccac..c52cae0f80 100644 --- a/xml/JointState_8h.xml +++ b/xml/JointState_8h.xml @@ -6,12 +6,12 @@ iDynTree/VectorDynSize.h iDynTree/SpatialForceVector.h vector + iDynTree/Visualizer.h iDynTree/Dynamics.h iDynTree/FreeFloatingState.h iDynTree/Model/JointState.h iDynTree/ExtWrenchesAndJointTorquesEstimator.h iDynTree/SimpleLeggedOdometry.h - iDynTree/Visualizer.h diff --git a/xml/LinkState_8h.xml b/xml/LinkState_8h.xml index 72c35e0703..802553d9ca 100644 --- a/xml/LinkState_8h.xml +++ b/xml/LinkState_8h.xml @@ -9,6 +9,7 @@ iDynTree/ArticulatedBodyInertia.h iDynTree/Indices.h vector + iDynTree/Visualizer.h iDynTree/ContactWrench.h iDynTree/Dynamics.h iDynTree/FreeFloatingState.h @@ -16,11 +17,10 @@ iDynTree/ModelTestUtils.h iDynTree/PredictSensorsMeasurements.h iDynTree/SixAxisForceTorqueSensor.h - iDynTree/KinDynComputations.h iDynTree/BerdyHelper.h iDynTree/ExternalWrenchesEstimation.h iDynTree/SimpleLeggedOdometry.h - iDynTree/Visualizer.h + iDynTree/KinDynComputations.h diff --git a/xml/MatrixDynSize_8h.xml b/xml/MatrixDynSize_8h.xml index d187ef67da..3b509f6b9c 100644 --- a/xml/MatrixDynSize_8h.xml +++ b/xml/MatrixDynSize_8h.xml @@ -4,21 +4,21 @@ MatrixDynSize.h string iDynTree/MatrixView.h + iDynTree/Core/MatrixDynSize.h + iDynTree/EigenHelpers.h + iDynTree/TestUtils.h + iDynTree/Dynamics.h + iDynTree/DynamicsLinearization.h + iDynTree/FreeFloatingMatrices.h iDynTree/BoundingBoxHelpers.h iDynTree/ConvexHullHelpers.h private/InverseKinematicsData.h private/InverseKinematicsNLP.h - iDynTree/Dynamics.h - iDynTree/DynamicsLinearization.h - iDynTree/FreeFloatingMatrices.h - iDynTree/KinDynComputations.h iDynTree/BerdyHelper.h iDynTree/ExtendedKalmanFilter.h iDynTree/ExternalWrenchesEstimation.h iDynTree/KalmanFilter.h - iDynTree/Core/MatrixDynSize.h - iDynTree/EigenHelpers.h - iDynTree/TestUtils.h + iDynTree/KinDynComputations.h iDynTree/Integrator.h iDynTree/LinearConstraint.h iDynTree/QuadraticCost.h diff --git a/xml/MatrixFixSize_8h.xml b/xml/MatrixFixSize_8h.xml index 2849422ad8..18e3c63cc8 100644 --- a/xml/MatrixFixSize_8h.xml +++ b/xml/MatrixFixSize_8h.xml @@ -9,8 +9,6 @@ string iostream sstream - iDynTree/DynamicsLinearization.h - iDynTree/DynamicsLinearizationHelpers.h iDynTree/ArticulatedBodyInertia.h iDynTree/Core/MatrixFixSize.h iDynTree/EigenHelpers.h @@ -19,6 +17,8 @@ iDynTree/Transform.h iDynTree/TransformDerivative.h iDynTree/Triplets.h + iDynTree/DynamicsLinearization.h + iDynTree/DynamicsLinearizationHelpers.h diff --git a/xml/MatrixView_8h.xml b/xml/MatrixView_8h.xml index a391397a54..db6cd85c31 100644 --- a/xml/MatrixView_8h.xml +++ b/xml/MatrixView_8h.xml @@ -6,11 +6,11 @@ type_traits iDynTree/Span.h iDynTree/Utils.h - iDynTree/KinDynComputations.h iDynTree/Core/MatrixView.h iDynTree/MatrixDynSize.h iDynTree/MatrixFixSize.h iDynTree/MeshcatVisualizer.h + iDynTree/KinDynComputations.h diff --git a/xml/ModelTransformersSolidShapes_8h.xml b/xml/ModelTransformersSolidShapes_8h.xml index 4dfff0f4cf..033a66f8d7 100644 --- a/xml/ModelTransformersSolidShapes_8h.xml +++ b/xml/ModelTransformersSolidShapes_8h.xml @@ -5,10 +5,10 @@ iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions iDynTree - + ApproximateSolidShapesWithPrimitiveShapeConversionType - + ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes @@ -23,6 +23,40 @@ + + + ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate + + VisualShapes + + + + + + + CollisionShapes + + + + + + + BothShapes + + + + + + +Enum class representing which shape should be approximated. + + +Namely teh visual, collision or both shapes. + + + + + @@ -54,7 +88,7 @@ - + diff --git a/xml/Model_8h.xml b/xml/Model_8h.xml index 3697c265d8..489b024e60 100644 --- a/xml/Model_8h.xml +++ b/xml/Model_8h.xml @@ -11,12 +11,12 @@ cstdlib string vector - private/InverseKinematicsData.h - iDynTree/InertialParametersSolidShapesHelpers.h + iDynTree/skinDynLibConversionsImplementation.h + iDynTree/MeshcatVisualizer.h iDynTree/DenavitHartenberg.h iDynTree/Model/Model.h iDynTree/ModelTestUtils.h - iDynTree/skinDynLibConversionsImplementation.h + private/InverseKinematicsData.h iDynTree/BerdyHelper.h iDynTree/ExtWrenchesAndJointTorquesEstimator.h iDynTree/GravityCompensationHelpers.h @@ -26,7 +26,7 @@ iDynTree/ModelLoader.h private/InertialElement.h private/URDFDocument.h - iDynTree/MeshcatVisualizer.h + iDynTree/InertialParametersSolidShapesHelpers.h diff --git a/xml/Position_8h.xml b/xml/Position_8h.xml index c5cbc301e4..af26a1911c 100644 --- a/xml/Position_8h.xml +++ b/xml/Position_8h.xml @@ -4,12 +4,7 @@ Position.h iDynTree/Rotation.h string - iDynTree/BoundingBoxHelpers.h - iDynTree/ConvexHullHelpers.h - iDynTree/ContactWrench.h iDynTree/skinDynLibConversionsImplementation.h - iDynTree/BerdyHelper.h - iDynTree/ExternalWrenchesEstimation.h iDynTree/Axis.h iDynTree/Core/Position.h iDynTree/Core/PositionRaw.h @@ -17,6 +12,11 @@ iDynTree/SpatialVector.h iDynTree/Transform.h iDynTree/Visualizer.h + iDynTree/ContactWrench.h + iDynTree/BoundingBoxHelpers.h + iDynTree/ConvexHullHelpers.h + iDynTree/BerdyHelper.h + iDynTree/ExternalWrenchesEstimation.h diff --git a/xml/Rotation_8h.xml b/xml/Rotation_8h.xml index 4e96b850a1..d2c3d7173d 100644 --- a/xml/Rotation_8h.xml +++ b/xml/Rotation_8h.xml @@ -8,7 +8,6 @@ iDynTree/VectorFixSize.h iDynTree/Utils.h iDynTree/YARPConfigurationsLoader.h - iDynTree/AttitudeEstimator.h iDynTree/Core/Rotation.h iDynTree/Core/RotationRaw.h iDynTree/InertiaNonLinearParametrization.h @@ -17,6 +16,7 @@ iDynTree/SO3Utils.h iDynTree/SpatialVector.h iDynTree/Transform.h + iDynTree/AttitudeEstimator.h diff --git a/xml/SO3Utils_8h.xml b/xml/SO3Utils_8h.xml index 208c338dcd..7cf6a005d1 100644 --- a/xml/SO3Utils_8h.xml +++ b/xml/SO3Utils_8h.xml @@ -67,7 +67,7 @@ Computes the geodesic distance between two rotation matrices. -It implements the angular distance presented in Sec. 4 of "Rotation Averaging" (available at http://users.cecs.anu.edu.au/~hongdong/rotationaveraging.pdf), in particular $d = ||log(R_1^\top R_2)||^2 $. +It implements the angular distance presented in Sec. 4 of "Rotation Averaging" (available at http://users.cecs.anu.edu.au/~hongdong/rotationaveraging.pdf), in particular $d = ||log(R_1^\top R_2)||^2 $. rotation1 diff --git a/xml/SolidShapes_8h.xml b/xml/SolidShapes_8h.xml index a2a798da18..e1221e1ea2 100644 --- a/xml/SolidShapes_8h.xml +++ b/xml/SolidShapes_8h.xml @@ -7,11 +7,11 @@ vector iDynTree/Transform.h iDynTree/Indices.h - iDynTree/InertialParametersSolidShapesHelpers.h + iDynTree/Visualizer.h iDynTree/Model/SolidShapes.h iDynTree/Model.h private/VisualElement.h - iDynTree/Visualizer.h + iDynTree/InertialParametersSolidShapesHelpers.h diff --git a/xml/Span_8h.xml b/xml/Span_8h.xml index e6fda33048..61f3b57f94 100644 --- a/xml/Span_8h.xml +++ b/xml/Span_8h.xml @@ -11,12 +11,12 @@ stdexcept type_traits utility - iDynTree/KinDynComputations.h iDynTree/Core/Span.h iDynTree/MatrixView.h iDynTree/VectorDynSize.h iDynTree/VectorFixSize.h iDynTree/MeshcatVisualizer.h + iDynTree/KinDynComputations.h diff --git a/xml/SpatialAcc_8h.xml b/xml/SpatialAcc_8h.xml index 709ea1a224..1df68c5a15 100644 --- a/xml/SpatialAcc_8h.xml +++ b/xml/SpatialAcc_8h.xml @@ -3,9 +3,9 @@ SpatialAcc.h iDynTree/SpatialMotionVector.h - iDynTree/LinkState.h iDynTree/Core/SpatialAcc.h iDynTree/SpatialInertia.h + iDynTree/LinkState.h iDynTree::SpatialAcc iDynTree diff --git a/xml/SpatialForceVector_8h.xml b/xml/SpatialForceVector_8h.xml index d6c6a5230f..289d6bbbc0 100644 --- a/xml/SpatialForceVector_8h.xml +++ b/xml/SpatialForceVector_8h.xml @@ -5,12 +5,12 @@ iDynTree/VectorFixSize.h iDynTree/GeomVector3.h iDynTree/SpatialVector.h - iDynTree/DynamicsUtils.h - iDynTree/JointState.h iDynTree/Core/SpatialForceVector.h iDynTree/EigenHelpers.h iDynTree/SpatialMomentum.h iDynTree/Wrench.h + iDynTree/DynamicsUtils.h + iDynTree/JointState.h iDynTree::SpatialForceVector iDynTree diff --git a/xml/SpatialInertia_8h.xml b/xml/SpatialInertia_8h.xml index a6d049d7aa..557af131e3 100644 --- a/xml/SpatialInertia_8h.xml +++ b/xml/SpatialInertia_8h.xml @@ -8,11 +8,11 @@ iDynTree/SpatialMomentum.h iDynTree/SpatialAcc.h iDynTree/Wrench.h - iDynTree/DynamicsUtils.h - iDynTree/Link.h iDynTree/Core/SpatialInertia.h iDynTree/Core/SpatialInertiaRaw.h iDynTree/SpatialInertiaRaw.h + iDynTree/DynamicsUtils.h + iDynTree/Link.h iDynTree::SpatialInertia iDynTree diff --git a/xml/SpatialMotionVector_8h.xml b/xml/SpatialMotionVector_8h.xml index dfe02cfa74..073e8d147e 100644 --- a/xml/SpatialMotionVector_8h.xml +++ b/xml/SpatialMotionVector_8h.xml @@ -5,13 +5,13 @@ iDynTree/VectorFixSize.h iDynTree/GeomVector3.h iDynTree/SpatialVector.h - iDynTree/DynamicsUtils.h - iDynTree/PrismaticJoint.h - iDynTree/RevoluteJoint.h iDynTree/Core/SpatialMotionVector.h iDynTree/EigenHelpers.h iDynTree/SpatialAcc.h iDynTree/Twist.h + iDynTree/DynamicsUtils.h + iDynTree/PrismaticJoint.h + iDynTree/RevoluteJoint.h iDynTree::Dummy iDynTree::SpatialMotionVector iDynTree diff --git a/xml/TestUtils_8h.xml b/xml/TestUtils_8h.xml index 094d96f5fa..647d4577fe 100644 --- a/xml/TestUtils_8h.xml +++ b/xml/TestUtils_8h.xml @@ -11,8 +11,8 @@ vector cstdlib cmath - iDynTree/ModelTestUtils.h iDynTree/Core/TestUtils.h + iDynTree/ModelTestUtils.h diff --git a/xml/Transform_8h.xml b/xml/Transform_8h.xml index 7967d2c453..71aaa43e3b 100644 --- a/xml/Transform_8h.xml +++ b/xml/Transform_8h.xml @@ -6,11 +6,11 @@ iDynTree/Rotation.h iDynTree/MatrixFixSize.h string - iDynTree/BoundingBoxHelpers.h - iDynTree/ConvexHullHelpers.h - private/InverseKinematicsData.h - private/InverseKinematicsNLP.h - private/TransformConstraint.h + iDynTree/YARPConversionsImplementation.h + iDynTree/Core/Transform.h + iDynTree/EigenHelpers.h + iDynTree/InertiaNonLinearParametrization.h + iDynTree/MeshcatVisualizer.h iDynTree/DenavitHartenberg.h iDynTree/FixedJoint.h iDynTree/FreeFloatingState.h @@ -20,18 +20,18 @@ iDynTree/RevoluteJoint.h iDynTree/Sensors.h iDynTree/SolidShapes.h - iDynTree/YARPConversionsImplementation.h + iDynTree/BoundingBoxHelpers.h + iDynTree/ConvexHullHelpers.h + private/InverseKinematicsData.h + private/InverseKinematicsNLP.h + private/TransformConstraint.h iDynTree/SimpleLeggedOdometry.h - iDynTree/Core/Transform.h - iDynTree/EigenHelpers.h - iDynTree/InertiaNonLinearParametrization.h private/InertialElement.h private/JointElement.h private/SensorElement.h private/URDFParsingUtils.h private/VisualElement.h iDynTree/TimeVaryingObject.h - iDynTree/MeshcatVisualizer.h diff --git a/xml/Traversal_8h.xml b/xml/Traversal_8h.xml index ddc151e1ac..4e7d568a93 100644 --- a/xml/Traversal_8h.xml +++ b/xml/Traversal_8h.xml @@ -4,8 +4,8 @@ Traversal.h iDynTree/Indices.h vector - iDynTree/Model/Traversal.h iDynTree/skinDynLibConversionsImplementation.h + iDynTree/Model/Traversal.h iDynTree/BerdyHelper.h iDynTree/ExtWrenchesAndJointTorquesEstimator.h iDynTree/GravityCompensationHelpers.h diff --git a/xml/Triplets_8h.xml b/xml/Triplets_8h.xml index 3fce7a9a3d..e39cbecbb7 100644 --- a/xml/Triplets_8h.xml +++ b/xml/Triplets_8h.xml @@ -7,9 +7,9 @@ iterator string vector - iDynTree/BerdyHelper.h iDynTree/Core/Triplets.h iDynTree/SparseMatrix.h + iDynTree/BerdyHelper.h diff --git a/xml/Twist_8h.xml b/xml/Twist_8h.xml index 2ecb199480..6bf972d662 100644 --- a/xml/Twist_8h.xml +++ b/xml/Twist_8h.xml @@ -3,12 +3,12 @@ Twist.h iDynTree/SpatialMotionVector.h - private/InverseKinematicsData.h - private/InverseKinematicsNLP.h - iDynTree/FreeFloatingState.h - iDynTree/LinkState.h iDynTree/Core/Twist.h iDynTree/SpatialInertia.h + iDynTree/FreeFloatingState.h + iDynTree/LinkState.h + private/InverseKinematicsData.h + private/InverseKinematicsNLP.h iDynTree::Twist iDynTree diff --git a/xml/Utils_8h.xml b/xml/Utils_8h.xml index 66d33844fa..a5ab6158ef 100644 --- a/xml/Utils_8h.xml +++ b/xml/Utils_8h.xml @@ -4,13 +4,6 @@ Utils.h cstddef CoreExport.h - iDynTree/ModelSensorsTransformers.h - iDynTree/KinDynComputations.h - iDynTree/BerdyHelper.h - iDynTree/BerdySparseMAPSolver.h - iDynTree/ExtendedKalmanFilter.h - iDynTree/GravityCompensationHelpers.h - iDynTree/KalmanFilter.h iDynTree/Axis.h iDynTree/Core/Utils.h iDynTree/Direction.h @@ -23,6 +16,13 @@ iDynTree/TestUtils.h iDynTree/Triplets.h iDynTree/VectorFixSize.h + iDynTree/ModelSensorsTransformers.h + iDynTree/BerdyHelper.h + iDynTree/BerdySparseMAPSolver.h + iDynTree/ExtendedKalmanFilter.h + iDynTree/GravityCompensationHelpers.h + iDynTree/KalmanFilter.h + iDynTree/KinDynComputations.h iDynTree/L2NormCost.h iDynTree/OptimalControlProblem.h iDynTree/SparsityStructure.h diff --git a/xml/VectorDynSize_8h.xml b/xml/VectorDynSize_8h.xml index 6ebd3c096b..1fbd54ff41 100644 --- a/xml/VectorDynSize_8h.xml +++ b/xml/VectorDynSize_8h.xml @@ -4,22 +4,23 @@ VectorDynSize.h iDynTree/Span.h string + iDynTree/YARPConversionsImplementation.h + iDynTree/Core/VectorDynSize.h + iDynTree/CubicSpline.h + iDynTree/EigenHelpers.h + iDynTree/SparseMatrix.h + iDynTree/MeshcatVisualizer.h + iDynTree/FreeFloatingState.h + iDynTree/JointState.h + iDynTree/Sensors.h iDynTree/BoundingBoxHelpers.h iDynTree/ConvexHullHelpers.h private/InverseKinematicsData.h private/InverseKinematicsNLP.h - iDynTree/FreeFloatingState.h - iDynTree/JointState.h - iDynTree/Sensors.h - iDynTree/YARPConversionsImplementation.h iDynTree/BerdyHelper.h iDynTree/ExtendedKalmanFilter.h iDynTree/ExternalWrenchesEstimation.h iDynTree/KalmanFilter.h - iDynTree/Core/VectorDynSize.h - iDynTree/CubicSpline.h - iDynTree/EigenHelpers.h - iDynTree/SparseMatrix.h iDynTree/Constraint.h iDynTree/DynamicalSystem.h iDynTree/Integrator.h @@ -27,7 +28,6 @@ iDynTree/Integrators/RK4.h iDynTree/QuadraticCost.h iDynTree/TimeVaryingObject.h - iDynTree/MeshcatVisualizer.h diff --git a/xml/VectorFixSize_8h.xml b/xml/VectorFixSize_8h.xml index eff12f072a..24add85a97 100644 --- a/xml/VectorFixSize_8h.xml +++ b/xml/VectorFixSize_8h.xml @@ -9,13 +9,6 @@ cassert cstddef cstring - private/InverseKinematicsNLP.h - iDynTree/JointState.h - iDynTree/KinDynComputations.h - iDynTree/AttitudeEstimator.h - iDynTree/BerdyHelper.h - iDynTree/BerdySparseMAPSolver.h - iDynTree/ExternalWrenchesEstimation.h iDynTree/ClassicalAcc.h iDynTree/Core/VectorFixSize.h iDynTree/CubicSpline.h @@ -28,6 +21,13 @@ iDynTree/SpatialInertia.h iDynTree/SpatialMotionVector.h iDynTree/TransformDerivative.h + iDynTree/JointState.h + private/InverseKinematicsNLP.h + iDynTree/AttitudeEstimator.h + iDynTree/BerdyHelper.h + iDynTree/BerdySparseMAPSolver.h + iDynTree/ExternalWrenchesEstimation.h + iDynTree/KinDynComputations.h private/MaterialElement.h private/URDFParsingUtils.h diff --git a/xml/Wrench_8h.xml b/xml/Wrench_8h.xml index 0f483b056f..9c9dc4b3a4 100644 --- a/xml/Wrench_8h.xml +++ b/xml/Wrench_8h.xml @@ -3,12 +3,12 @@ Wrench.h iDynTree/SpatialForceVector.h - iDynTree/ContactWrench.h - iDynTree/LinkState.h - iDynTree/skinDynLibConversionsImplementation.h iDynTree/YARPConversions.h + iDynTree/skinDynLibConversionsImplementation.h iDynTree/Core/Wrench.h iDynTree/SpatialInertia.h + iDynTree/ContactWrench.h + iDynTree/LinkState.h iDynTree::Wrench iDynTree diff --git a/xml/YARPConversions_8h.xml b/xml/YARPConversions_8h.xml index fd385c8678..e800090184 100644 --- a/xml/YARPConversions_8h.xml +++ b/xml/YARPConversions_8h.xml @@ -6,9 +6,9 @@ yarp/sig/Vector.h iDynTree/Wrench.h YARPConversionsImplementation.h + iDynTree/yarp/YARPConversions.h iDynTree/iKinConversionsImplementation.h iDynTree/skinDynLibConversionsImplementation.h - iDynTree/yarp/YARPConversions.h diff --git a/xml/classiDynTree_1_1AccelerometerSensor.xml b/xml/classiDynTree_1_1AccelerometerSensor.xml index e444e2bdfd..6aa08d8ab3 100644 --- a/xml/classiDynTree_1_1AccelerometerSensor.xml +++ b/xml/classiDynTree_1_1AccelerometerSensor.xml @@ -238,7 +238,7 @@ Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (. -\[ {}^l H_s \]). +\[ {}^l H_s \]). the link_H_sensor transform diff --git a/xml/classiDynTree_1_1ArticulatedBodyInertia.xml b/xml/classiDynTree_1_1ArticulatedBodyInertia.xml index 3847625583..3a293e62c4 100644 --- a/xml/classiDynTree_1_1ArticulatedBodyInertia.xml +++ b/xml/classiDynTree_1_1ArticulatedBodyInertia.xml @@ -385,7 +385,7 @@ d -Build the ArticulatedInertia $U d^{-1} U^\top$ . +Build the ArticulatedInertia $U d^{-1} U^\top$ . Used in the articulated body algorithm . diff --git a/xml/classiDynTree_1_1AttitudeMahonyFilter.xml b/xml/classiDynTree_1_1AttitudeMahonyFilter.xml index 1a52ba64fc..fb300cc4bb 100644 --- a/xml/classiDynTree_1_1AttitudeMahonyFilter.xml +++ b/xml/classiDynTree_1_1AttitudeMahonyFilter.xml @@ -52,7 +52,7 @@ m_orientationInSO3 -orientation estimate as rotation matrix $ {^A}R_B $ where $ A $ is inertial frame and $ B $ is the frame attached to the body +orientation estimate as rotation matrix $ {^A}R_B $ where $ A $ is inertial frame and $ B $ is the frame attached to the body @@ -66,7 +66,7 @@ m_orientationInRPY -orientation estimate as a 3D vector in RPY representation, where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll) $ +orientation estimate as a 3D vector in RPY representation, where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll) $ @@ -80,7 +80,7 @@ m_omega_mes -vectorial estimate from accelerometer and magnetometer measurements, $ \omega_{mes} \in \mathbb{R}^3 $, notation from the paper Non linear complementary filters on the special orthogonal group +vectorial estimate from accelerometer and magnetometer measurements, $ \omega_{mes} \in \mathbb{R}^3 $, notation from the paper Non linear complementary filters on the special orthogonal group @@ -94,7 +94,7 @@ m_Omega_y -gyroscope measurement, $ \Omega_{y} \in \mathbb{R}^3 $, notation from the paper Non linear complementary filters on the special orthogonal group +gyroscope measurement, $ \Omega_{y} \in \mathbb{R}^3 $, notation from the paper Non linear complementary filters on the special orthogonal group @@ -108,7 +108,7 @@ m_gravity_direction -direction of the gravity vector expressed in the inertial frame denoted by $ A $, default set to $ e_3 = \begin{bmatrix} 0 & 0 & 1.0 \end{bmatrix}^T $ +direction of the gravity vector expressed in the inertial frame denoted by $ A $, default set to $ e_3 = \begin{bmatrix} 0 & 0 & 1.0 \end{bmatrix}^T $ @@ -122,7 +122,7 @@ m_earth_magnetic_field_direction -direction of absolute magnetic field expressed in the inertial frame denoted by $ A $, default set to $ {^A}m = \begin{bmatrix} 0 & 0 & 1.0 \end{bmatrix}^T $ +direction of absolute magnetic field expressed in the inertial frame denoted by $ A $, default set to $ {^A}m = \begin{bmatrix} 0 & 0 & 1.0 \end{bmatrix}^T $ @@ -191,7 +191,7 @@ confidence -can take values between $ [0, 1] $ +can take values between $ [0, 1] $ @@ -500,7 +500,7 @@ rot -Get orientation of the body with respect to inertial frame, in rotation matrix form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}R_B $ as the rotation matrix. +Get orientation of the body with respect to inertial frame, in rotation matrix form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}R_B $ as the rotation matrix. @@ -531,7 +531,7 @@ q -Get orientation of the body with respect to inertial frame, in unit quaternion form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}q_B as the quaternion $. +Get orientation of the body with respect to inertial frame, in unit quaternion form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}q_B as the quaternion $. quaternion has the form (real, imaginary) and is normalized @@ -566,7 +566,7 @@ rpy -Get orientation of the body with respect to inertial frame, in Euler's RPY form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us the RPY 3d vector of Euler Angles when composed together gives us $ {^A}R_B $ as the rotation matrix where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll)$. +Get orientation of the body with respect to inertial frame, in Euler's RPY form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us the RPY 3d vector of Euler Angles when composed together gives us $ {^A}R_B $ as the rotation matrix where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll)$. For more details about the range of the RPY Euler angles, please refer the documentation of GetRPY() @@ -616,10 +616,10 @@ stateBuffer -Get internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +Get internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. -The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ +The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ stateBuffer @@ -647,10 +647,10 @@ stateBuffer -Get initial internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +Get initial internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. -The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ +The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ stateBuffer @@ -681,7 +681,7 @@ set internal state of the estimator. -The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. stateBuffer @@ -712,7 +712,7 @@ set the initial orientation for the internal state of the estimator. -The initial orientation for the internal state of the estimator is described as $ {^A}q_B $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , +The initial orientation for the internal state of the estimator is described as $ {^A}q_B $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , stateBuffer @@ -734,10 +734,10 @@ explicit passive complementary filter on quaternion groups described in the paper Non-linear complementary filters on SO3 groups -The filter is used to estimate the states $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ where $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. : we will drop the subscripts and superscripts in the rest of the documentation for convenience +The filter is used to estimate the states $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ where $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. : we will drop the subscripts and superscripts in the rest of the documentation for convenience -The discretized dynamics of the filter is implemented in the propagateStates() method and is described by the following equations, $ q_{k+1} = q_{k} + \Delta t \frac{1}{2}q_{k} \circ \begin{bmatrix} 0 \\ {\Omega_y}_{k+1} - b_k + K_p \omega_{mes_{k+1}}\end{bmatrix}$ $ \Omega_{k+1} = {\Omega_y}_{k+1} - b_k $ $ b_{k+1} = b_k - K_i \Delta t \frac{1}{2} \omega_{mes_{k+1}} $ -The updateFilterWithMeasurements() uses the recent IMU measurements to compute the term $ \omega_{mes} $ which gives the vectorial from accelerometer and magnetometer measurements $ \omega_{mes} = -(\Sigma{n}{i=1} \frac{k_i}{2} (v_i \hat{v}_i^T - \hat{v}_i v_i^T) )^{\vee} $ where $ v_i $ is the normalized accelerometer or magnetometer measurement, $ \hat{v_i} $ is the vector obtained from the orientation estimated combined with gravity direction or absolute magnetic field direction, for e.g, $ \hat{v_acc} = {^w}R_b^T e_3 $ and $ k_i $ is the confidence weight on the i-th measurement. In our case, i = 1 or 2. +The discretized dynamics of the filter is implemented in the propagateStates() method and is described by the following equations, $ q_{k+1} = q_{k} + \Delta t \frac{1}{2}q_{k} \circ \begin{bmatrix} 0 \\ {\Omega_y}_{k+1} - b_k + K_p \omega_{mes_{k+1}}\end{bmatrix}$ $ \Omega_{k+1} = {\Omega_y}_{k+1} - b_k $ $ b_{k+1} = b_k - K_i \Delta t \frac{1}{2} \omega_{mes_{k+1}} $ +The updateFilterWithMeasurements() uses the recent IMU measurements to compute the term $ \omega_{mes} $ which gives the vectorial from accelerometer and magnetometer measurements $ \omega_{mes} = -(\Sigma{n}{i=1} \frac{k_i}{2} (v_i \hat{v}_i^T - \hat{v}_i v_i^T) )^{\vee} $ where $ v_i $ is the normalized accelerometer or magnetometer measurement, $ \hat{v_i} $ is the vector obtained from the orientation estimated combined with gravity direction or absolute magnetic field direction, for e.g, $ \hat{v_acc} = {^w}R_b^T e_3 $ and $ k_i $ is the confidence weight on the i-th measurement. In our case, i = 1 or 2. The usage of the attitude estimator can be as follows, After instantiation, the parameters of the filter can be set using the individual parameter methods or the struct method. The filter state can be initialized by calling the setInternalState() method diff --git a/xml/classiDynTree_1_1AttitudeQuaternionEKF.xml b/xml/classiDynTree_1_1AttitudeQuaternionEKF.xml index dc4f1ff5f8..70ed51ae67 100644 --- a/xml/classiDynTree_1_1AttitudeQuaternionEKF.xml +++ b/xml/classiDynTree_1_1AttitudeQuaternionEKF.xml @@ -53,7 +53,7 @@ m_orientationInSO3 -orientation estimate as rotation matrix $ {^A}R_B $ where $ A $ is inertial frame and $ B $ is the frame attached to the body +orientation estimate as rotation matrix $ {^A}R_B $ where $ A $ is inertial frame and $ B $ is the frame attached to the body @@ -67,7 +67,7 @@ m_orientationInRPY -orientation estimate as a 3D vector in RPY representation, where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll) $ +orientation estimate as a 3D vector in RPY representation, where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll) $ @@ -222,7 +222,7 @@ m_Id4 -$ 4 \times 4 $ identity matrix +$ 4 \times 4 $ identity matrix @@ -236,7 +236,7 @@ m_Id3 -$ 3 \times 3 $ identity matrix +$ 3 \times 3 $ identity matrix @@ -250,7 +250,7 @@ m_gravity_direction -direction of the gravity vector expressed in the inertial frame denoted by $ A $, default set to $ e_3 = \begin{bmatrix} 0 & 0 & 1.0 \end{bmatrix}^T $ +direction of the gravity vector expressed in the inertial frame denoted by $ A $, default set to $ e_3 = \begin{bmatrix} 0 & 0 & 1.0 \end{bmatrix}^T $ @@ -740,7 +740,7 @@ rot -Get orientation of the body with respect to inertial frame, in rotation matrix form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}R_B $ as the rotation matrix. +Get orientation of the body with respect to inertial frame, in rotation matrix form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}R_B $ as the rotation matrix. @@ -771,7 +771,7 @@ q -Get orientation of the body with respect to inertial frame, in unit quaternion form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}q_B as the quaternion $. +Get orientation of the body with respect to inertial frame, in unit quaternion form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}q_B as the quaternion $. quaternion has the form (real, imaginary) and is normalized @@ -806,7 +806,7 @@ rpy -Get orientation of the body with respect to inertial frame, in Euler's RPY form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us the RPY 3d vector of Euler Angles when composed together gives us $ {^A}R_B $ as the rotation matrix where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll)$. +Get orientation of the body with respect to inertial frame, in Euler's RPY form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us the RPY 3d vector of Euler Angles when composed together gives us $ {^A}R_B $ as the rotation matrix where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll)$. For more details about the range of the RPY Euler angles, please refer the documentation of GetRPY() @@ -856,10 +856,10 @@ stateBuffer -Get internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +Get internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. -The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ +The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ stateBuffer @@ -887,10 +887,10 @@ stateBuffer -Get initial internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +Get initial internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. -The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ +The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ stateBuffer @@ -921,7 +921,7 @@ set internal state of the estimator. -The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. stateBuffer @@ -952,7 +952,7 @@ set the initial orientation for the internal state of the estimator. -The initial orientation for the internal state of the estimator is described as $ {^A}q_B $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , +The initial orientation for the internal state of the estimator is described as $ {^A}q_B $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , stateBuffer @@ -990,7 +990,7 @@ xhat_k_plus_one -discrete system propagation $ f(X, u) = f(X, y_gyro) $ where $ X = \begin{bmatrix} q_0 & q_1 & q_2 & q_3 & \omega_x & \omega_y & \omega_z & b_x & b_y & b_z \end{bmatrix}^T $ $ u = \begin{bmatrix} {y_{gyro}}_x & {y_{gyro}}_y & {y_{gyro}}_z \end{bmatrix}^T $ $ f(X, u) = \begin{bmatrix} q_{k} \otimes \text{exp}(\omega \Delta T) \\ y_{gyro} - b \\ (1 - \lambda_{b} \Delta t)b \end{bmatrix}$ +discrete system propagation $ f(X, u) = f(X, y_gyro) $ where $ X = \begin{bmatrix} q_0 & q_1 & q_2 & q_3 & \omega_x & \omega_y & \omega_z & b_x & b_y & b_z \end{bmatrix}^T $ $ u = \begin{bmatrix} {y_{gyro}}_x & {y_{gyro}}_y & {y_{gyro}}_z \end{bmatrix}^T $ $ f(X, u) = \begin{bmatrix} q_{k} \otimes \text{exp}(\omega \Delta T) \\ y_{gyro} - b \\ (1 - \lambda_{b} \Delta t)b \end{bmatrix}$ @@ -1013,7 +1013,7 @@ zhat_k_plus_one -discrete measurement prediction where $ h(X) = \begin{bmatrix} h_{acc}(X) & h_{mag}(X) \end{bmatrix}^T $ $ h_{acc}(X) = R^T \begin{bmatrix} 0 \\ 0 \\ -1 \end{bmatrix} $ $ h_{mag}(X) = atan2(tan(yaw))$ +discrete measurement prediction where $ h(X) = \begin{bmatrix} h_{acc}(X) & h_{mag}(X) \end{bmatrix}^T $ $ h_{acc}(X) = R^T \begin{bmatrix} 0 \\ 0 \\ -1 \end{bmatrix} $ $ h_{mag}(X) = atan2(tan(yaw))$ @@ -1174,7 +1174,7 @@ Q -prepares the system noise covariance matrix using internal struct params system model is as good as gyroscope measurement and bias estimate system noise covariance can be descibed as $ Q = F_u U {F_u}^T $ where $ F = \begin{bmatrix} \frac{\partial f}{\partial y_gyro} & \frac{\partial f}{ \partial x_gyrobias} \end{bmatrix} $ $ = \begin{bmatrix} 0_{4 \times 3} & 0_{4 \times 3} \\ I_{3 \times 3} & 0_{3 \times 3} \\ 0_{3 \times 3} & I_{3 \times 3} \end{bmatrix}$ $ U = diag(\begin{bmatrix} \sigma_{gyro}^{2} I_{3 \times 3} & \sigma_{gyrobias}^{2} I_{3 \times 3} \end{bmatrix}) $ +prepares the system noise covariance matrix using internal struct params system model is as good as gyroscope measurement and bias estimate system noise covariance can be descibed as $ Q = F_u U {F_u}^T $ where $ F = \begin{bmatrix} \frac{\partial f}{\partial y_gyro} & \frac{\partial f}{ \partial x_gyrobias} \end{bmatrix} $ $ = \begin{bmatrix} 0_{4 \times 3} & 0_{4 \times 3} \\ I_{3 \times 3} & 0_{3 \times 3} \\ 0_{3 \times 3} & I_{3 \times 3} \end{bmatrix}$ $ U = diag(\begin{bmatrix} \sigma_{gyro}^{2} I_{3 \times 3} & \sigma_{gyrobias}^{2} I_{3 \times 3} \end{bmatrix}) $ @@ -1202,10 +1202,10 @@ R -prepares the measurement noise covariance matrix using internal struct parameters measurement noise depends only on accelerometer measurement along x-,y- and z- directions along with magnetometer z-direction if included measurement noise covariance can be descibed as, $ R = \begin{bmatrix} \sigma_{acc}^{2} I_{3 \times 3} & 0_{3 \times 1} \\ 0_{1 \times 3} & \sigma_{mag}^{2}$ if magnetometer measurements is also considered. +prepares the measurement noise covariance matrix using internal struct parameters measurement noise depends only on accelerometer measurement along x-,y- and z- directions along with magnetometer z-direction if included measurement noise covariance can be descibed as, $ R = \begin{bmatrix} \sigma_{acc}^{2} I_{3 \times 3} & 0_{3 \times 1} \\ 0_{1 \times 3} & \sigma_{mag}^{2}$ if magnetometer measurements is also considered. -In case of magnetometer measurements not being considered, it is reduced to the $ 3 \times 3 $ matrix +In case of magnetometer measurements not being considered, it is reduced to the $ 3 \times 3 $ matrix R @@ -1284,11 +1284,11 @@ Quaternion based Discrete Extended Kalman Filter fusing IMU measurements, to give estimates of orientation, angular velocity and gyroscope bias. -It follows the implementation detailed in Quaternion Based Extended Kalman Filter, slides by Michael Stohmeier The filter is used to estimate the states $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ where $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. : we will drop the subscripts and superscripts in the rest of the documentation for convenience +It follows the implementation detailed in Quaternion Based Extended Kalman Filter, slides by Michael Stohmeier The filter is used to estimate the states $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ where $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. : we will drop the subscripts and superscripts in the rest of the documentation for convenience -Discretized dynamics during the prediction step, \[ \hat{{x}}_{k+1} = \begin{bmatrix} q_{k} \otimes \text{exp}(\omega \Delta T) \\ y_{gyro_{k}} - b_{k} \\ (1 - \lambda_{b} \Delta t)b_k \end{bmatrix} \] -Measurement model for accelerometer is given as, \[ h_{acc}(\hat{x}_{k+1}) = \begin{bmatrix} 2(q_1q_3 - q_0q_2) \\ 2(q_2q_3 - q_0q_1) \\ q_0^2 - q_1^2 - q_2^2 + q_3^2 \end{bmatrix} \] obtained from $ {^w}R_b^T e_3 $ of the assumed gravity direction. -Measurement model for magnetometer measurement is given as, \[ h_{mag}(\hat{x}_{k+1}) = atan2( 2(q_0q_3 + q_1q_2),1 - 2(q_2^2 + q_3^2) ) \] +Discretized dynamics during the prediction step, \[ \hat{{x}}_{k+1} = \begin{bmatrix} q_{k} \otimes \text{exp}(\omega \Delta T) \\ y_{gyro_{k}} - b_{k} \\ (1 - \lambda_{b} \Delta t)b_k \end{bmatrix} \] +Measurement model for accelerometer is given as, \[ h_{acc}(\hat{x}_{k+1}) = \begin{bmatrix} 2(q_1q_3 - q_0q_2) \\ 2(q_2q_3 - q_0q_1) \\ q_0^2 - q_1^2 - q_2^2 + q_3^2 \end{bmatrix} \] obtained from $ {^w}R_b^T e_3 $ of the assumed gravity direction. +Measurement model for magnetometer measurement is given as, \[ h_{mag}(\hat{x}_{k+1}) = atan2( 2(q_0q_3 + q_1q_2),1 - 2(q_2^2 + q_3^2) ) \] The linearized system propogation and measurement model is obtained by computing Jacobins F and H with respect to the state. The zero mean, additive Gaussian noise can be set using the covariance matrices which will be used during predict and update steps. The propagateStates() method is called to set the input vector for the EKF, then ekfPredict() is called to propagate the state through the propagation function f() and propate the state covariance using the Jacobian F. diff --git a/xml/classiDynTree_1_1DiscreteExtendedKalmanFilterHelper.xml b/xml/classiDynTree_1_1DiscreteExtendedKalmanFilterHelper.xml index 48dd5d70c4..5ea6501630 100644 --- a/xml/classiDynTree_1_1DiscreteExtendedKalmanFilterHelper.xml +++ b/xml/classiDynTree_1_1DiscreteExtendedKalmanFilterHelper.xml @@ -323,7 +323,7 @@ xhat_k_plus_one -Describes the state propagation for a given dynamical system If state of the system is denoted by $ x $ and the control input by $ u $, then the system dynamics is given as $ x_{k+1} = f(x_k, u_k) $. +Describes the state propagation for a given dynamical system If state of the system is denoted by $ x $ and the control input by $ u $, then the system dynamics is given as $ x_{k+1} = f(x_k, u_k) $. the detail of this function needs to be implemented by the child class @@ -376,7 +376,7 @@ zhat_k_plus_one -Describes the measurement model of the system, i.e., how the measurements can be described as a function of states, Given a state of the system described by $ x $, what would be the measurement $ z $ observed from this state $ z_{k+1} = h(\hat{x}_{k+1}) $. +Describes the measurement model of the system, i.e., how the measurements can be described as a function of states, Given a state of the system described by $ x $, what would be the measurement $ z $ observed from this state $ z_{k+1} = h(\hat{x}_{k+1}) $. the detail of this function needs to be implemented by the child class @@ -537,7 +537,7 @@ () ekfPredict -Implements the Discrete EKF prediction equation described by $ \hat{x}_{k+1} = f(x_k, u_k) $ is given by the ekf_f() method $ \hat{P}_{k+1} = F_k P_k F_k^T + Q $ where, $ F \mid_{x = x_k} $ is given by the ekfComputejacobianF() method. +Implements the Discrete EKF prediction equation described by $ \hat{x}_{k+1} = f(x_k, u_k) $ is given by the ekf_f() method $ \hat{P}_{k+1} = F_k P_k F_k^T + Q $ where, $ F \mid_{x = x_k} $ is given by the ekfComputejacobianF() method. this function can be called only after setting up the filter properly through ekfInit() step @@ -560,7 +560,7 @@ () ekfUpdate -Implements the Discrete EKF update equation described by $ z_{k+1} = h(\hat{x}_{k+1}) $ is given by ekf_h() method innovation $ \tilde{y}_{k+1} = y_{k+1} - z_{k+1} $ innovation covariance $ S_{k+1} = H_{k+1} \hat{P}_{k+1} H_{k+1}^T + R $, where $ H \mid_{x = \hat{x}_{k+1}} $ is given by ekfComputejacobianH() method Kalman gain $ K_{k+1} = \hat{P}_{k+1} H_{k+1}^T S_{k+1}^{-1} $ Updated covariance $ P_{k+1} = \hat{P}_{k+1} - (K_{k+1} H \hat{P}_{k+1}) $ Updated state estimate $ x_{k+1} = \hat{x}_{k+1} + K_{k+1} \tilde{y}_{k+1} $. +Implements the Discrete EKF update equation described by $ z_{k+1} = h(\hat{x}_{k+1}) $ is given by ekf_h() method innovation $ \tilde{y}_{k+1} = y_{k+1} - z_{k+1} $ innovation covariance $ S_{k+1} = H_{k+1} \hat{P}_{k+1} H_{k+1}^T + R $, where $ H \mid_{x = \hat{x}_{k+1}} $ is given by ekfComputejacobianH() method Kalman gain $ K_{k+1} = \hat{P}_{k+1} H_{k+1}^T S_{k+1}^{-1} $ Updated covariance $ P_{k+1} = \hat{P}_{k+1} - (K_{k+1} H \hat{P}_{k+1}) $ Updated state estimate $ x_{k+1} = \hat{x}_{k+1} + K_{k+1} \tilde{y}_{k+1} $. this function can be called only after setting up the filter properly through ekfInit() step diff --git a/xml/classiDynTree_1_1DiscreteKalmanFilterHelper.xml b/xml/classiDynTree_1_1DiscreteKalmanFilterHelper.xml index 38c67d88ff..f11219eff4 100644 --- a/xml/classiDynTree_1_1DiscreteKalmanFilterHelper.xml +++ b/xml/classiDynTree_1_1DiscreteKalmanFilterHelper.xml @@ -403,7 +403,7 @@ Describes the state propagation for a given dynamical system and the measurement model given the available measurements. -If state of the system is denoted by $ x $, the control input by $ u $ and the measurements by $ y $, then the system dynamics is given as $ x_{k+1} = A x_{k} + B u_{k} + w_k $ and the measurement model is given by $ y_{k+1} = C x_{k+1} + D u_{k} + v_k $ +If state of the system is denoted by $ x $, the control input by $ u $ and the measurements by $ y $, then the system dynamics is given as $ x_{k+1} = A x_{k} + B u_{k} + w_k $ and the measurement model is given by $ y_{k+1} = C x_{k+1} + D u_{k} + v_k $ all matrices are assumed to be time-invariant @@ -515,7 +515,7 @@ x0 -initial state of dimension $ dim_x \times 1 $ +initial state of dimension $ dim_x \times 1 $ @@ -547,7 +547,7 @@ P -state covariance matrix of dimensions $ dim_x \times dim_x $ +state covariance matrix of dimensions $ dim_x \times dim_x $ @@ -579,7 +579,7 @@ Q -system noise covariance matrix of dimensions $ dim_x \times dim_x $ +system noise covariance matrix of dimensions $ dim_x \times dim_x $ @@ -611,7 +611,7 @@ R -measurement covariance matrix of dimensions $ dim_y \times dim_y $ +measurement covariance matrix of dimensions $ dim_y \times dim_y $ @@ -660,7 +660,7 @@ u -input vector of dimension $ dim_u \times 1 $ +input vector of dimension $ dim_u \times 1 $ @@ -678,7 +678,7 @@ () kfPredict -Runs one step of the Discrete Kalman Filter prediction equation described by $ \hat{x}_{k+1} = A x_{k} + B u_{k} $ $ \hat{P}_{k+1} = A_k P_k A_k^T + Q $. +Runs one step of the Discrete Kalman Filter prediction equation described by $ \hat{x}_{k+1} = A x_{k} + B u_{k} $ $ \hat{P}_{k+1} = A_k P_k A_k^T + Q $. this function can be called only after setting up the filter properly through kfInit() step @@ -711,7 +711,7 @@ y -input vector of dimension $ dim_y \times 1 $ +input vector of dimension $ dim_y \times 1 $ @@ -729,7 +729,7 @@ () kfUpdate -Runs one step of the Discrete Kalman Filter update equation described by $ \tilde{y}_{k+1} = C \hat{x}_{k+1} + D u_{k} $ $ x_{k+1} = \hat{x}_{k+1} + K_{k+1}(\tilde{y}_{k+1} - z_{k+1}) $ $ P_{k+1} = (I - K_{k+1} C) \hat{P}_{k+1} $ where K is the Kalman gain. +Runs one step of the Discrete Kalman Filter update equation described by $ \tilde{y}_{k+1} = C \hat{x}_{k+1} + D u_{k} $ $ x_{k+1} = \hat{x}_{k+1} + K_{k+1}(\tilde{y}_{k+1} - z_{k+1}) $ $ P_{k+1} = (I - K_{k+1} C) \hat{P}_{k+1} $ where K is the Kalman gain. this function can be called only after setting up the filter properly through kfInit() step @@ -762,7 +762,7 @@ x -system state of dimension $ dim_x \times 1 $ +system state of dimension $ dim_x \times 1 $ @@ -792,7 +792,7 @@ P -system state covariance matrix of dimension $ dim_x \times dim_x $ +system state covariance matrix of dimension $ dim_x \times dim_x $ @@ -850,7 +850,7 @@ x0 -initial state vector of dimensions $ dim_x \times 1 $ +initial state vector of dimensions $ dim_x \times 1 $ @@ -858,7 +858,7 @@ P -state covariance matrix of dimensions $ dim_x \times dim_x $ +state covariance matrix of dimensions $ dim_x \times dim_x $ @@ -866,7 +866,7 @@ Q -system noise covariance matrix of dimensions $ dim_x \times dim_x $ +system noise covariance matrix of dimensions $ dim_x \times dim_x $ @@ -874,7 +874,7 @@ R -measurement noise covariance matrix of dimensions $ dim_y \times dim_y $ +measurement noise covariance matrix of dimensions $ dim_y \times dim_y $ @@ -890,7 +890,7 @@ The Kalman filter can be constructed by giving the system design matrices A, B, C and D. where A is the state transition matrix, B is the control input matrix, C is the output matrix and D the feed through matrix. These matrices can be used to describe a stochastic model for a linear dynamical system. -\[ x_{k+1} = A x_{k} + B u_{k} + w_k \] \[ y_{k+1} = C x_{k+1} + D u_{k} + v_k \] +\[ x_{k+1} = A x_{k} + B u_{k} + w_k \] \[ y_{k+1} = C x_{k+1} + D u_{k} + v_k \] Once the filter is constructed, the system noise and measurement noise covariance matrices can be set. The filter can be run, after setting initial state and state covariance matrix. The filter init method is called to check if the filter is properly configured and is ready to use. care must be taken to design these matrices with proper dimensions, so that the filter does not crash diff --git a/xml/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.xml b/xml/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.xml index 75db1d8ccf..027f1953cd 100644 --- a/xml/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.xml +++ b/xml/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.xml @@ -789,30 +789,30 @@ For each submodel in which there are no external forces, we can write the following equation: -\[ A w = b \] Where: -$w$ is the vector of dimension 6*nrOfFTSensors obtained by stacking the FT sensors measures: -$A$ is a matrix of size 6 x 6*nrOfFTSensors that depends on position in space of the FT sensors -$b$ is a vector of size 6 that depends on the position, velocity, acceleration and gravity of each link in the submodel +\[ A w = b \] Where: +$w$ is the vector of dimension 6*nrOfFTSensors obtained by stacking the FT sensors measures: +$A$ is a matrix of size 6 x 6*nrOfFTSensors that depends on position in space of the FT sensors +$b$ is a vector of size 6 that depends on the position, velocity, acceleration and gravity of each link in the submodel This function provides an easy way to compute A and B . Typically, these quantities are not used online during the estimation of external wrenches or internal torques, but rather as an helper method when calibrating FT sensors. In the rest of the documentation, we will refer to this quantities: -nrOfSubModels ( $n_{sm}$): the number of submodels in which the model is divided, as induced by the FT sensors present in the model. +nrOfSubModels ( $n_{sm}$): the number of submodels in which the model is divided, as induced by the FT sensors present in the model. nrOfSubModelsWithoutExtWrenches: the number of submodels on which there is no external wrench -nrOfFTSensors ( $n_{ft}$): the number of FT sensors present in the model In particular, the value of A and b for a given submodel is the following. First of all, for any submodel $sm$ with no external force, we can write (from Equation 4.19 of https://traversaro.github.io/traversaro-phd-thesis/traversaro-phd-thesis.pdf, modified to account for all FT sensors in the submodel and to remove external wrenches): +nrOfFTSensors ( $n_{ft}$): the number of FT sensors present in the model In particular, the value of A and b for a given submodel is the following. First of all, for any submodel $sm$ with no external force, we can write (from Equation 4.19 of https://traversaro.github.io/traversaro-phd-thesis/traversaro-phd-thesis.pdf, modified to account for all FT sensors in the submodel and to remove external wrenches): -\[ \sum_{s=1}^{n_ft}~\mu_{sm, ft}~\sigma_{sm, ft}~{}_{B_{sm}} X^{ft} \mathrm{f}^{meas}_{ft} = \sum_{L \in \mathbb{L}_{sm}} {}_{B_{sm}} X^{L} {}_L \phi_L \] +\[ \sum_{s=1}^{n_ft}~\mu_{sm, ft}~\sigma_{sm, ft}~{}_{B_{sm}} X^{ft} \mathrm{f}^{meas}_{ft} = \sum_{L \in \mathbb{L}_{sm}} {}_{B_{sm}} X^{L} {}_L \phi_L \] where: -$ \mu_{sm, ft} $ is equal to $1$ if the sensor $ft$ is attached to the submodel $sm$, and $0$ otherwise -$ \sigma_{sm, ft} $ is equal to $1$ if the sensor $ft$ is measuring the force applied on submodel $sm$ or $-1$ if it is measuring the force that the submodel excerts on its neighbor submodel -$ {B_{sm}} $ is a frame in which this equation is expressed, that for this function it is the base link of the submodel. +$ \mu_{sm, ft} $ is equal to $1$ if the sensor $ft$ is attached to the submodel $sm$, and $0$ otherwise +$ \sigma_{sm, ft} $ is equal to $1$ if the sensor $ft$ is measuring the force applied on submodel $sm$ or $-1$ if it is measuring the force that the submodel excerts on its neighbor submodel +$ {B_{sm}} $ is a frame in which this equation is expressed, that for this function it is the base link of the submodel. -With this definitions, we can see that A_sm and b_sm for a given submodel $sm$ can be simply be defined as: -$ A_{sm} = \begin{bmatrix} \mu_{sm, ft0}~\sigma_{sm, ft(0)}~{}_C X^{ft(0)} & \hdots & \mu_{sm, ft(n_ft-1)}~\sigma_{sm, ft(n_ft-1)}~X^{ft(n_ft-1)} \end{bmatrix} $ -$ w_{sm} = \begin{bmatrix} \mathrm{f}^{meas}_{ft(0)} \\ \vdots \\ \mathrm{f}^{meas}_{ft(n_ft-1)} \end{bmatrix} $ -$ b_{sm} = \sum_{L \in \mathbb{L}_{sm}} {}_C X^{L} {}^L \phi_L $ +With this definitions, we can see that A_sm and b_sm for a given submodel $sm$ can be simply be defined as: +$ A_{sm} = \begin{bmatrix} \mu_{sm, ft0}~\sigma_{sm, ft(0)}~{}_C X^{ft(0)} & \hdots & \mu_{sm, ft(n_ft-1)}~\sigma_{sm, ft(n_ft-1)}~X^{ft(n_ft-1)} \end{bmatrix} $ +$ w_{sm} = \begin{bmatrix} \mathrm{f}^{meas}_{ft(0)} \\ \vdots \\ \mathrm{f}^{meas}_{ft(n_ft-1)} \end{bmatrix} $ +$ b_{sm} = \sum_{L \in \mathbb{L}_{sm}} {}_C X^{L} {}^L \phi_L $ Before calling this method, either updateKinematicsFromFloatingBase or updateKinematicsFromFixedBase must be called. diff --git a/xml/classiDynTree_1_1FixedJoint.xml b/xml/classiDynTree_1_1FixedJoint.xml index d3d2959ce3..0675e2074a 100644 --- a/xml/classiDynTree_1_1FixedJoint.xml +++ b/xml/classiDynTree_1_1FixedJoint.xml @@ -411,7 +411,7 @@ Get the derivative of the transform with respect to a position coordinate. -In particular, if the selected position coordinate is $q$, return the derivative: \[ \frac{\partial {}^\texttt{child} H_\texttt{parent} }{\partial q} \] +In particular, if the selected position coordinate is $q$, return the derivative: \[ \frac{\partial {}^\texttt{child} H_\texttt{parent} }{\partial q} \] If posCoord_i is not >= 0 and < getNrOfPosCoords(), the returned value is undefined. diff --git a/xml/classiDynTree_1_1GyroscopeSensor.xml b/xml/classiDynTree_1_1GyroscopeSensor.xml index 79047fbd40..762642c354 100644 --- a/xml/classiDynTree_1_1GyroscopeSensor.xml +++ b/xml/classiDynTree_1_1GyroscopeSensor.xml @@ -233,7 +233,7 @@ Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (. -\[ {}^l H_s \]). +\[ {}^l H_s \]). the link_H_sensor transform diff --git a/xml/classiDynTree_1_1IAttitudeEstimator.xml b/xml/classiDynTree_1_1IAttitudeEstimator.xml index b34b32b5c8..6d4ce5c38c 100644 --- a/xml/classiDynTree_1_1IAttitudeEstimator.xml +++ b/xml/classiDynTree_1_1IAttitudeEstimator.xml @@ -151,7 +151,7 @@ rot -Get orientation of the body with respect to inertial frame, in rotation matrix form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}R_B $ as the rotation matrix. +Get orientation of the body with respect to inertial frame, in rotation matrix form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}R_B $ as the rotation matrix. @@ -183,7 +183,7 @@ q -Get orientation of the body with respect to inertial frame, in unit quaternion form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}q_B as the quaternion $. +Get orientation of the body with respect to inertial frame, in unit quaternion form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us $ {^A}q_B as the quaternion $. quaternion has the form (real, imaginary) and is normalized @@ -219,7 +219,7 @@ rpy -Get orientation of the body with respect to inertial frame, in Euler's RPY form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us the RPY 3d vector of Euler Angles when composed together gives us $ {^A}R_B $ as the rotation matrix where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll)$. +Get orientation of the body with respect to inertial frame, in Euler's RPY form If we denote $ A $ as inertial frame and $ B $ as the frame attached to the body, then this method gives us the RPY 3d vector of Euler Angles when composed together gives us $ {^A}R_B $ as the rotation matrix where $ {^A}R_B = Rot_z(yaw)Rot_y(pitch)Rot_x(roll)$. For more details about the range of the RPY Euler angles, please refer the documentation of GetRPY() @@ -271,10 +271,10 @@ stateBuffer -Get internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +Get internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. -The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ +The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ stateBuffer @@ -303,10 +303,10 @@ stateBuffer -Get initial internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +Get initial internal state of the estimator The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. -The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ +The default internal state of the estimator would be $ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $ stateBuffer @@ -338,7 +338,7 @@ set internal state of the estimator. -The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. stateBuffer @@ -370,7 +370,7 @@ set the initial orientation for the internal state of the estimator. -The initial orientation for the internal state of the estimator is described as $ {^A}q_B $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , +The initial orientation for the internal state of the estimator is described as $ {^A}q_B $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , stateBuffer @@ -404,7 +404,7 @@ However, additional methods to set and get parameters for the filter might be available with respect to the filters. -The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. +The internal state of the estimator is described as $ X = \begin{bmatrix} {^A}q_B \\ {^B}\Omega_{A,B} \\ {^B}b \end{bmatrix}^T $ $ {^A}q_B \in \mathbb{R}^4 $ is the quaternion representing the orientation of a body(IMU) frame with respect to an inertial frame , $ {^B}\Omega_{A,B} \in \mathbb{R}^3 $ is the angular velocity of a body(IMU) frame with respect to an inertial frame, expressed in the body frame and $ {^B}b \in \mathbb{R}^3 $ is the gyroscope bias expressed in the body frame. diff --git a/xml/classiDynTree_1_1IJoint.xml b/xml/classiDynTree_1_1IJoint.xml index 3c9f3592ce..03efa981eb 100644 --- a/xml/classiDynTree_1_1IJoint.xml +++ b/xml/classiDynTree_1_1IJoint.xml @@ -191,7 +191,7 @@ Get the derivative of the transform with respect to a position coordinate. -In particular, if the selected position coordinate is $q$, return the derivative: \[ \frac{\partial {}^\texttt{child} H_\texttt{parent} }{\partial q} \] +In particular, if the selected position coordinate is $q$, return the derivative: \[ \frac{\partial {}^\texttt{child} H_\texttt{parent} }{\partial q} \] If posCoord_i is not >= 0 and < getNrOfPosCoords(), the returned value is undefined. diff --git a/xml/classiDynTree_1_1IModelVisualization.xml b/xml/classiDynTree_1_1IModelVisualization.xml index 7178b52ada..71cbe2c913 100644 --- a/xml/classiDynTree_1_1IModelVisualization.xml +++ b/xml/classiDynTree_1_1IModelVisualization.xml @@ -160,6 +160,33 @@ + + bool + virtual bool iDynTree::IModelVisualization::setVisualColor + (const LinkIndex &linkIndex, const std::string &visualName, const ColorViz &visualColor)=0 + setVisualColor + + const LinkIndex & + linkIndex + + + const std::string & + visualName + + + const ColorViz & + visualColor + + +Set the color of a single visual of a given link. + + +This will overwrite the material of the visual, but it can be reset by resetLinkColor. + + + + + bool virtual bool iDynTree::IModelVisualization::setLinkTransparency @@ -181,7 +208,7 @@ - + void @@ -200,7 +227,7 @@ - + bool @@ -218,7 +245,7 @@ - + std::vector< std::string > @@ -232,7 +259,7 @@ - + bool @@ -254,7 +281,7 @@ - + std::vector< std::string > @@ -280,7 +307,7 @@ - + bool @@ -304,7 +331,7 @@ - + IJetsVisualization & @@ -318,7 +345,7 @@ - + Transform @@ -330,13 +357,13 @@ linkIndex -Get the transformation of given link with respect to visualizer world $ {}^w wH_{link}$. +Get the transformation of given link with respect to visualizer world $ {}^w wH_{link}$. - + Transform @@ -348,13 +375,13 @@ linkName -Get the transformation of given link with respect to visualizer world $ {}^w H_{link}$. +Get the transformation of given link with respect to visualizer world $ {}^w H_{link}$. - + Transform @@ -366,13 +393,13 @@ frameIndex -Get the transformation of given frame with respect to visualizer world $ {}^w H_{frame}$. +Get the transformation of given frame with respect to visualizer world $ {}^w H_{frame}$. - + Transform @@ -384,13 +411,13 @@ frameName -Get the transformation of given frame with respect to visualizer world $ {}^w H_{frame}$. +Get the transformation of given frame with respect to visualizer world $ {}^w H_{frame}$. - + ILabel & @@ -404,7 +431,7 @@ - + @@ -412,7 +439,7 @@ - + iDynTree::IModelVisualizationgetFeatures iDynTree::IModelVisualizationgetInstanceName @@ -435,6 +462,7 @@ iDynTree::IModelVisualizationsetModelTransparency iDynTree::IModelVisualizationsetModelVisibility iDynTree::IModelVisualizationsetPositions + iDynTree::IModelVisualizationsetVisualColor iDynTree::IModelVisualization~IModelVisualization diff --git a/xml/classiDynTree_1_1ITexture.xml b/xml/classiDynTree_1_1ITexture.xml index 91c73bc8d7..500dd370c7 100644 --- a/xml/classiDynTree_1_1ITexture.xml +++ b/xml/classiDynTree_1_1ITexture.xml @@ -16,7 +16,7 @@ - + IEnvironment & @@ -30,7 +30,7 @@ - + ColorViz @@ -72,7 +72,7 @@ - + bool @@ -104,7 +104,7 @@ - + bool @@ -128,7 +128,7 @@ - + void @@ -157,7 +157,7 @@ - + int @@ -171,7 +171,7 @@ - + int @@ -185,7 +185,7 @@ - + bool @@ -216,7 +216,7 @@ - + @@ -225,7 +225,7 @@ This allows rendering the scene using dimensions and environment that are different from the main window. The camera is in common. Any camera change in the main window is also reflected in the other textures. - + iDynTree::ITexturedrawToFile iDynTree::ITextureenableDraw diff --git a/xml/classiDynTree_1_1ITexturesHandler.xml b/xml/classiDynTree_1_1ITexturesHandler.xml index 19d3c66e64..b4b13a6ecc 100644 --- a/xml/classiDynTree_1_1ITexturesHandler.xml +++ b/xml/classiDynTree_1_1ITexturesHandler.xml @@ -15,7 +15,7 @@ - + ITexture * @@ -60,7 +60,7 @@ - + ITexture * @@ -92,14 +92,14 @@ - + - + iDynTree::ITexturesHandleradd iDynTree::ITexturesHandlerget diff --git a/xml/classiDynTree_1_1InverseKinematics.xml b/xml/classiDynTree_1_1InverseKinematics.xml index 10b9355458..571541c92a 100644 --- a/xml/classiDynTree_1_1InverseKinematics.xml +++ b/xml/classiDynTree_1_1InverseKinematics.xml @@ -262,7 +262,7 @@ Adds a (constancy) constraint for the specified frame -The constraint is $ {}^w X_{frame}(q) = {}^w X_{frame}(q^0) $ where the robot configuration $q$ is the one specified with setRobotConfiguration you should specify first the robot configuration. Otherwise call the versions with explicit constraint value +The constraint is $ {}^w X_{frame}(q) = {}^w X_{frame}(q^0) $ where the robot configuration $q$ is the one specified with setRobotConfiguration you should specify first the robot configuration. Otherwise call the versions with explicit constraint value @@ -3196,7 +3196,7 @@ This call is equivalent to call \[ q \in \operatorname{SE}(3) \times \mathbb{R}^n \] and possibly multiple target frames \[ F_i^d \in \operatorname{SE}(3) \] the inverse kinematics is responsible to find the configuration $ q^* $ such that \[ F_i(q^*) = F_i^d \forall i, \] where the meaning of the $=$ and $\forall$ depends on the resolution mode and on the references specified +Given a mechanical structure configuration \[ q \in \operatorname{SE}(3) \times \mathbb{R}^n \] and possibly multiple target frames \[ F_i^d \in \operatorname{SE}(3) \] the inverse kinematics is responsible to find the configuration $ q^* $ such that \[ F_i(q^*) = F_i^d \forall i, \] where the meaning of the $=$ and $\forall$ depends on the resolution mode and on the references specified Example //Allocateaninversekinematicsobject iDynTree::InverseKinematricik; diff --git a/xml/classiDynTree_1_1KinDynComputations.xml b/xml/classiDynTree_1_1KinDynComputations.xml index 0889256c10..0c8d802ed5 100644 --- a/xml/classiDynTree_1_1KinDynComputations.xml +++ b/xml/classiDynTree_1_1KinDynComputations.xml @@ -1838,7 +1838,7 @@ Return the relative Jacobian between the two frames. -The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed depending on the velocity representation, i.e \[ v_{refFrame, frame} = J_{refFrame, frame}(s) \dot{s} \] +The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed depending on the velocity representation, i.e \[ v_{refFrame, frame} = J_{refFrame, frame}(s) \dot{s} \] @@ -1865,7 +1865,7 @@ Return the relative Jacobian between the two frames (MatrixView implementation). -The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed depending on the velocity representation, i.e \[ v_{refFrame, frame} = J_{refFrame, frame}(s) \dot{s} \] +The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed depending on the velocity representation, i.e \[ v_{refFrame, frame} = J_{refFrame, frame}(s) \dot{s} \] the MatrixView objects should point an already existing memory. Memory allocation and resizing cannot be achieved with this kind of objects. true if all went well, false otherwise. @@ -1905,7 +1905,7 @@ Return the relative Jacobian between the two frames. -The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed in the specified frame, i.e \[ {}^{expressedOriginFrame, [expressedOrientationFrame]} \mathrm{v}_{refFrame, frame} = {}^{expressedOriginFrame, [expressedOrientationFrame]} J_{refFrame, frame}(s) \dot{s} \] +The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed in the specified frame, i.e \[ {}^{expressedOriginFrame, [expressedOrientationFrame]} \mathrm{v}_{refFrame, frame} = {}^{expressedOriginFrame, [expressedOrientationFrame]} J_{refFrame, frame}(s) \dot{s} \] refFrameIndex @@ -1976,7 +1976,7 @@ Return the relative Jacobian between the two frames (MatrixView implementation) -The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed in the specified frame, i.e \[ {}^{expressedOriginFrame, [expressedOrientationFrame]} \mathrm{v}_{refFrame, frame} = {}^{expressedOriginFrame, [expressedOrientationFrame]} J_{refFrame, frame}(s) \dot{s} \] +The Jacobian maps the internal robot shape with the relative velocity of refFrame w.r.t. frame expressed in the specified frame, i.e \[ {}^{expressedOriginFrame, [expressedOrientationFrame]} \mathrm{v}_{refFrame, frame} = {}^{expressedOriginFrame, [expressedOrientationFrame]} J_{refFrame, frame}(s) \dot{s} \] refFrameIndex @@ -2034,7 +2034,7 @@ acceleration not due to robot acceleration) of the frame velocity. -This term is usually called $\dot{J} \nu$ or $\dot{J} \dot{q}$. +This term is usually called $\dot{J} \nu$ or $\dot{J} \dot{q}$. @@ -2058,7 +2058,7 @@ acceleration not due to robot acceleration) of the frame velocity. -This term is usually called $\dot{J} \nu$ or $\dot{J} \dot{q}$. the Span object should point an already existing memory. Memory allocation and resizing cannot be achieved with this kind of objects. +This term is usually called $\dot{J} \nu$ or $\dot{J} \dot{q}$. the Span object should point an already existing memory. Memory allocation and resizing cannot be achieved with this kind of objects. true on success, false otherwise @@ -2082,7 +2082,7 @@ acceleration not due to robot acceleration) of the frame velocity. -This term is usually called $\dot{J} \nu$ or $\dot{J} \dot{q}$. +This term is usually called $\dot{J} \nu$ or $\dot{J} \dot{q}$. @@ -2106,7 +2106,7 @@ acceleration not due to robot acceleration) of the frame velocity. -This term is usually called $\dot{J} \nu$ or $\dot{J} \dot{q}$. the Span object should point an already existing memory. Memory allocation and resizing cannot be achieved with this kind of objects. +This term is usually called $\dot{J} \nu$ or $\dot{J} \dot{q}$. the Span object should point an already existing memory. Memory allocation and resizing cannot be achieved with this kind of objects. true on success, false otherwise @@ -2217,7 +2217,7 @@ Return the center of mass jacobian, i.e. -the $3 \times (n+6)$ matrix such that: getCenterOfMassVelocity() == getCenterOfMassJacobian() * $ \nu$. +the $3 \times (n+6)$ matrix such that: getCenterOfMassVelocity() == getCenterOfMassJacobian() * $ \nu$. @@ -2236,7 +2236,7 @@ Return the center of mass jacobian, i.e. -the $3 \times (n+6)$ matrix such that: getCenterOfMassVelocity() == getCenterOfMassJacobian() * $\nu $. +the $3 \times (n+6)$ matrix such that: getCenterOfMassVelocity() == getCenterOfMassJacobian() * $\nu $. the MatrixView object should point an already existing memory. Memory allocation and resizing cannot be achieved with this kind of objects. true on success, false otherwise. @@ -2706,22 +2706,22 @@
Methods to get quantities related to unconstrained free floating equation of motions.
This methods permits to compute several quantities related to free floating equation of methods. Note that this equations needs to be coupled with a description of the interaction between the model and the enviroment (such as a contant model, a bilateral constraint on some links or by considering some external forces as inputs) to actually obtain a dynamical system description of the mechanical model evolution. -The equations of motion of a free floating mechanical system under the effect of a uniform gravitational field are: \[ M(q) \dot{\nu} + C(q, \nu) \nu + G(q) = \begin{bmatrix} 0_{6\times1} \newline \tau \end{bmatrix} + \sum_{L \in \mathcal{L}} J_L^T \mathrm{f}_L^x \] +The equations of motion of a free floating mechanical system under the effect of a uniform gravitational field are: \[ M(q) \dot{\nu} + C(q, \nu) \nu + G(q) = \begin{bmatrix} 0_{6\times1} \newline \tau \end{bmatrix} + \sum_{L \in \mathcal{L}} J_L^T \mathrm{f}_L^x \] where: -$n_{PC}$ is the value returned by Model::getNrOfPosCoords, -$n_{DOF}$ is the value returned by Model::getNrOfDOFs, -$n_{L}$ is the value returned by Model::getNrOfLinks, -$q \in \mathbb{R}^3 \times \textrm{SO}(3) \times \mathbb{R}^{n_{PC}}$ is the robot position, -$\nu \in \mathbb{R}^{6+n_{DOF}}$ is the robot velocity, -$\dot{\nu} \in \mathbb{R}^{6+n_{DOF}}$ is the robot acceleration, -$M(q) \in \mathbb{R}^{(6+n_{DOF}) \times (6+n_{DOF})}$ is the free floating mass matrix, -$C(q, \nu) \in \mathbb{R}^{(6+n_{DOF}) \times (6+n_{DOF})}$ is the coriolis matrix, -$G(q) \in \mathbb{R}^{6+n_{DOF}}$ is the vector of gravity generalized forces, -$\tau \in \mathbb{R}^6$ is the vector of torques applied on the joint of the multibody model, -$\mathcal{L}$ is the set of all the links contained in the multibody model, -$J_L \in \mathbb{R}^{6+n_{DOF}}$ is the free floating jacobian of link $L$ as obtained by KinDynComputations::getFrameFreeFloatingJacobian, -$\mathrm{f}_L^x$ is the 6D force/torque applied by the enviroment on link $L$. +$n_{PC}$ is the value returned by Model::getNrOfPosCoords, +$n_{DOF}$ is the value returned by Model::getNrOfDOFs, +$n_{L}$ is the value returned by Model::getNrOfLinks, +$q \in \mathbb{R}^3 \times \textrm{SO}(3) \times \mathbb{R}^{n_{PC}}$ is the robot position, +$\nu \in \mathbb{R}^{6+n_{DOF}}$ is the robot velocity, +$\dot{\nu} \in \mathbb{R}^{6+n_{DOF}}$ is the robot acceleration, +$M(q) \in \mathbb{R}^{(6+n_{DOF}) \times (6+n_{DOF})}$ is the free floating mass matrix, +$C(q, \nu) \in \mathbb{R}^{(6+n_{DOF}) \times (6+n_{DOF})}$ is the coriolis matrix, +$G(q) \in \mathbb{R}^{6+n_{DOF}}$ is the vector of gravity generalized forces, +$\tau \in \mathbb{R}^6$ is the vector of torques applied on the joint of the multibody model, +$\mathcal{L}$ is the set of all the links contained in the multibody model, +$J_L \in \mathbb{R}^{6+n_{DOF}}$ is the free floating jacobian of link $L$ as obtained by KinDynComputations::getFrameFreeFloatingJacobian, +$\mathrm{f}_L^x$ is the 6D force/torque applied by the enviroment on link $L$. The precise definition of each quantity (in particular the part related to the base) actually depends on the choice of FrameVelocityRepresentation, specified with the setFrameVelocityRepresentation method. @@ -2739,7 +2739,7 @@ Get the free floating mass matrix of the system. -This method computes $M(q) \in \mathbb{R}^{(6+n_{DOF}) \times (6+n_{DOF})}$. +This method computes $M(q) \in \mathbb{R}^{(6+n_{DOF}) \times (6+n_{DOF})}$. The mass matrix depends on the joint positions, specified by the setRobotState methods. If the chosen FrameVelocityRepresentation is MIXED_REPRESENTATION or INERTIAL_FIXED_REPRESENTATION, the mass matrix depends also on the base orientation with respect to the inertial frame, that is also set by the setRobotState methods. For more details on the structure of the free floating mass matrix, please check: S. Traversaro, A. Saccon Multibody Dynamics Notation http://repository.tue.nl/849895 @@ -2772,7 +2772,7 @@ Get the free floating mass matrix of the system (MatrixView version). -This method computes $M(q) \in \mathbb{R}^{(6+n_{DOF}) \times (6+n_{DOF})}$. +This method computes $M(q) \in \mathbb{R}^{(6+n_{DOF}) \times (6+n_{DOF})}$. The mass matrix depends on the joint positions, specified by the setRobotState methods. If the chosen FrameVelocityRepresentation is MIXED_REPRESENTATION or INERTIAL_FIXED_REPRESENTATION, the mass matrix depends also on the base orientation with respect to the inertial frame, that is also set by the setRobotState methods. For more details on the structure of the free floating mass matrix, please check: S. Traversaro, A. Saccon Multibody Dynamics Notation http://repository.tue.nl/849895 @@ -2819,7 +2819,7 @@ Compute the free floating inverse dynamics. -This method computes $M(q) \dot{\nu} + C(q, \nu) \nu + G(q) - \sum_{L \in \mathcal{L}} J_L^T \mathrm{f}_L^x \in \mathbb{R}^{6+n_{DOF}}$. +This method computes $M(q) \dot{\nu} + C(q, \nu) \nu + G(q) - \sum_{L \in \mathcal{L}} J_L^T \mathrm{f}_L^x \in \mathbb{R}^{6+n_{DOF}}$. The semantics of baseAcc, the base part of baseForceAndJointTorques and of the elements of linkExtWrenches depend of the chosen FrameVelocityRepresentation . The state is the one given set by the setRobotState method. @@ -2888,7 +2888,7 @@ Compute the free floating inverse dynamics (Span version). -This method computes $M(q) \dot{\nu} + C(q, \nu) \nu + G(q) - \sum_{L \in \mathcal{L}} J_L^T \mathrm{f}_L^x \in \mathbb{R}^{6+n_{DOF}}$. +This method computes $M(q) \dot{\nu} + C(q, \nu) \nu + G(q) - \sum_{L \in \mathcal{L}} J_L^T \mathrm{f}_L^x \in \mathbb{R}^{6+n_{DOF}}$. The semantics of baseAcc, the base part of baseForceAndJointTorques and of the elements of linkExtWrenches depend of the chosen FrameVelocityRepresentation . The state is the one given set by the setRobotState method. @@ -2963,27 +2963,27 @@ This method is similar to inverseDynamics, but provides as an additional output the internal 6D force/torques (aka wrenches) excerted by the two links connected to each joint, in the linkInternalWrenches argument. -The linkInternalWrenches is a container of $n_{L}$ (number of links) 6D Force/Torques, one associated to each link. In particular, if the link $L$ is the link with index $L$ the element linkInternalWrenches(i) contains, depending on the choice of FrameVelocityRepresentation: +The linkInternalWrenches is a container of $n_{L}$ (number of links) 6D Force/Torques, one associated to each link. In particular, if the link $L$ is the link with index $L$ the element linkInternalWrenches(i) contains, depending on the choice of FrameVelocityRepresentation: FrameVelocityRepresentation linkInternalWrenches(i) MIXED_REPRESENTATION (default) -$ {}_{L[A]} \mathrm{f}_{\lambda(L), L} $ +$ {}_{L[A]} \mathrm{f}_{\lambda(L), L} $ BODY_FIXED_REPRESENTATION -$ {}_{L} \mathrm{f}_{\lambda(L), L} $ +$ {}_{L} \mathrm{f}_{\lambda(L), L} $ INERTIAL_FIXED_REPRESENTATION -$ {}_{A} \mathrm{f}_{\lambda(L), L} $ +$ {}_{A} \mathrm{f}_{\lambda(L), L} $
-Where if $C$ is a given frame, $ {}_{C} \mathrm{f}_{\lambda(L), L} $ is the 6D force/torque that the parent link $\lambda(L)$ excerts on its child $L$ expressed in frame $C$. -Note that this definition strictly depends on the floating base specified in the KinDynComputations instances, as given a link $L$, its parent \lambda(L) depends on the choosen base link. +Where if $C$ is a given frame, $ {}_{C} \mathrm{f}_{\lambda(L), L} $ is the 6D force/torque that the parent link $\lambda(L)$ excerts on its child $L$ expressed in frame $C$. +Note that this definition strictly depends on the floating base specified in the KinDynComputations instances, as given a link $L$, its parent \lambda(L) depends on the choosen base link. @@ -3039,7 +3039,7 @@ Compute the getNrOfDOFS()+6 vector of generalized bias (gravity+coriolis) forces. -This method computes $C(q, \nu) \nu + G(q) \in \mathbb{R}^{6+n_{DOF}}$. +This method computes $C(q, \nu) \nu + G(q) \in \mathbb{R}^{6+n_{DOF}}$. The semantics of the base part of generalizedBiasForces depend of the chosen FrameVelocityRepresentation . The state is the one given set by the setRobotState method. @@ -3073,7 +3073,7 @@ (Span version) -This method computes $C(q, \nu) \nu + G(q) \in \mathbb{R}^{6+n_{DOF}}$. +This method computes $C(q, \nu) \nu + G(q) \in \mathbb{R}^{6+n_{DOF}}$. The semantics of the base part of generalizedBiasForces depend of the chosen FrameVelocityRepresentation . The state is the one given set by the setRobotState method. generalizedBiasForces has to be a (6 + dofs)-d vector. The first 6 elements will contain the bias forces related to the system base, while the last dofs elements related to the joints. @@ -3101,7 +3101,7 @@ Compute the getNrOfDOFS()+6 vector of generalized gravity forces. -This method computes $G(q) \in \mathbb{R}^{6+n_{DOF}}$. +This method computes $G(q) \in \mathbb{R}^{6+n_{DOF}}$. The semantics of the base part of generalizedGravityForces depend of the chosen FrameVelocityRepresentation . The state is the one given set by the setRobotState method. @@ -3134,7 +3134,7 @@ Compute the getNrOfDOFS()+6 vector of generalized gravity forces. -This method computes $G(q) \in \mathbb{R}^{6+n_{DOF}}$. +This method computes $G(q) \in \mathbb{R}^{6+n_{DOF}}$. The semantics of the base part of generalizedGravityForces depend of the chosen FrameVelocityRepresentation . The state is the one given set by the setRobotState method. generalizedGravityForces has to be a (6 + dofs)-d vector. The first 6 elements will contain the bias forces related to the system base, while the last dofs elements related to the joints. @@ -3166,7 +3166,7 @@ Compute the getNrOfDOFS()+6 vector of generalized external forces. -This method computes $ -\sum_{L \in \mathcal{L}} J_L^T \mathrm{f}_L^x \in \mathbb{R}^{6+n_{DOF}} $. +This method computes $ -\sum_{L \in \mathcal{L}} J_L^T \mathrm{f}_L^x \in \mathbb{R}^{6+n_{DOF}} $. Note that this method returns the negated sum of the product of jacobian and the external force, consistently with how the generalized external forces are computed in the KinDynComputations::inverseDynamics method. The semantics of the base part of generalizedExternalForces and of the elements of linkExtWrenches depend of the chosen FrameVelocityRepresentation . @@ -3209,8 +3209,8 @@ The semantics of the base part of generalizedExternalForces and of the elements Compute the free floating inverse dynamics as a linear function of inertial parameters. -This methods computes the $ Y(\dot{\nu}, \nu, q) \in \mathbb{R}^{ (6+n_{DOF}) \times (10n_{L}) } $ matrix such that: \[ Y(\dot{\nu}, \nu, q) \phi = M(q) \dot{\nu} + C(q, \nu) \nu + G(q) \] -where $\phi \in \mathbb{R}^{10n_{L}}$ is the vector of inertial parameters returned by the Model::getInertialParameters . +This methods computes the $ Y(\dot{\nu}, \nu, q) \in \mathbb{R}^{ (6+n_{DOF}) \times (10n_{L}) } $ matrix such that: \[ Y(\dot{\nu}, \nu, q) \phi = M(q) \dot{\nu} + C(q, \nu) \nu + G(q) \] +where $\phi \in \mathbb{R}^{10n_{L}}$ is the vector of inertial parameters returned by the Model::getInertialParameters . The semantics of baseAcc, the base part (first six rows) of baseForceAndJointTorquesRegressor depend of the chosen FrameVelocityRepresentation . The state is the one given set by the setRobotState method. iDynTree::InverseDynamicsInertialParametersRegressor for more info on the underlying algorithm. diff --git a/xml/classiDynTree_1_1LinkSensor.xml b/xml/classiDynTree_1_1LinkSensor.xml index 208058af7d..bc28641e72 100644 --- a/xml/classiDynTree_1_1LinkSensor.xml +++ b/xml/classiDynTree_1_1LinkSensor.xml @@ -75,7 +75,7 @@ Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (. -\[ {}^l H_s \]). +\[ {}^l H_s \]). the link_H_sensor transform diff --git a/xml/classiDynTree_1_1PrismaticJoint.xml b/xml/classiDynTree_1_1PrismaticJoint.xml index 6da9acf080..5fce27bc4e 100644 --- a/xml/classiDynTree_1_1PrismaticJoint.xml +++ b/xml/classiDynTree_1_1PrismaticJoint.xml @@ -620,7 +620,7 @@ See Get the derivative of the transform with respect to a position coordinate. -In particular, if the selected position coordinate is $q$, return the derivative: \[ \frac{\partial {}^\texttt{child} H_\texttt{parent} }{\partial q} \] +In particular, if the selected position coordinate is $q$, return the derivative: \[ \frac{\partial {}^\texttt{child} H_\texttt{parent} }{\partial q} \] If posCoord_i is not >= 0 and < getNrOfPosCoords(), the returned value is undefined. diff --git a/xml/classiDynTree_1_1RevoluteJoint.xml b/xml/classiDynTree_1_1RevoluteJoint.xml index dd4af5a274..4c2ceb7199 100644 --- a/xml/classiDynTree_1_1RevoluteJoint.xml +++ b/xml/classiDynTree_1_1RevoluteJoint.xml @@ -643,7 +643,7 @@ See Get the derivative of the transform with respect to a position coordinate. -In particular, if the selected position coordinate is $q$, return the derivative: \[ \frac{\partial {}^\texttt{child} H_\texttt{parent} }{\partial q} \] +In particular, if the selected position coordinate is $q$, return the derivative: \[ \frac{\partial {}^\texttt{child} H_\texttt{parent} }{\partial q} \] If posCoord_i is not >= 0 and < getNrOfPosCoords(), the returned value is undefined. diff --git a/xml/classiDynTree_1_1Rotation.xml b/xml/classiDynTree_1_1Rotation.xml index cfedab7acd..f5a465d1e3 100644 --- a/xml/classiDynTree_1_1Rotation.xml +++ b/xml/classiDynTree_1_1Rotation.xml @@ -27,7 +27,7 @@ Get a roll, pitch and yaw corresponding to this rotation. -Get $ (r,p,y) \in ( (-\pi, \pi] \times (-\frac{\pi}{2}, \frac{\pi}{2}) \times (-\pi, \pi] ) \cup ( \{0\} \times \{-\frac{\pi}{2}\} \times (-\pi,\pi] ) \cup ( \{0\} \times \{\frac{\pi}{2}\} \times [-\pi,\pi) )$ such that *this == RotZ(y)*RotY(p)*RotX(r) +Get $ (r,p,y) \in ( (-\pi, \pi] \times (-\frac{\pi}{2}, \frac{\pi}{2}) \times (-\pi, \pi] ) \cup ( \{0\} \times \{-\frac{\pi}{2}\} \times (-\pi,\pi] ) \cup ( \{0\} \times \{\frac{\pi}{2}\} \times [-\pi,\pi) )$ such that *this == RotZ(y)*RotY(p)*RotX(r) r @@ -90,7 +90,7 @@ Get a unit quaternion corresponding to this rotation. -The quaternion is defined as [s, r] where $s \in \mathbb{R}$ is the real and $r \in \mathbb{R}^3$ is the imaginary part. +The quaternion is defined as [s, r] where $s \in \mathbb{R}$ is the real and $r \in \mathbb{R}^3$ is the imaginary part. The returned quaternion is such that *this is equal to RotationFromQuaternion(quaternion). For each rotation, there are two quaternion corresponding to it. In this method we return the one that has the first non-zero (with a tolerance of 1e-7) component positive. If the real part is non-zero, this mean that we return the quaternion with positive real part. @@ -134,7 +134,7 @@ Get a unit quaternion corresponding to this rotation. -The unit quaternion is defined as [s, r] where $s \in \mathbb{R}$ is the real and $r \in \mathbb{R}^3$ is the imaginary part. +The unit quaternion is defined as [s, r] where $s \in \mathbb{R}$ is the real and $r \in \mathbb{R}^3$ is the imaginary part. The returned quaternion is such that *this is equal to RotationFromQuaternion(quaternion). For each rotation, there are two quaternion corresponding to it. In this method we return the one that has the first non-zero (with a tolerance of 1e-7) component positive. If the real part is non-zero, this mean that we return the quaternion with positive real part. @@ -186,7 +186,7 @@ Get a unit quaternion corresponding to this rotation. -The quaternion is defined as [s, r] where $s \in \mathbb{R}$ is the costituent and $r \in \mathbb{R}^3$ is the imaginary part. +The quaternion is defined as [s, r] where $s \in \mathbb{R}$ is the costituent and $r \in \mathbb{R}^3$ is the imaginary part. The returned quaternion is such that *this is equal to RotationFromQuaternion(quaternion). For each rotation, there are two quaternion corresponding to it. In this method we return the one that has the first non-zero (with a tolerance of 1e-7) component positive. If the real part is non-zero, this mean that we return the quaternion with positive real part. @@ -245,7 +245,7 @@ Return a Rotation around axis X of given angle. -If $ \theta $ is the input angle, this function returns the $ R_x(\theta) $ rotation matrix such that : \[ R_x(\theta) = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\theta) & - \sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \\ \end{bmatrix} \] +If $ \theta $ is the input angle, this function returns the $ R_x(\theta) $ rotation matrix such that : \[ R_x(\theta) = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\theta) & - \sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \\ \end{bmatrix} \] angle @@ -274,7 +274,7 @@ Return a Rotation around axis Y of given angle. -If $ \theta $ is the input angle, this function returns the $ R_y(\theta) $ rotation matrix such that : \[ R_y(\theta) = \begin{bmatrix} \cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta) \\ \end{bmatrix} \] +If $ \theta $ is the input angle, this function returns the $ R_y(\theta) $ rotation matrix such that : \[ R_y(\theta) = \begin{bmatrix} \cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta) \\ \end{bmatrix} \] angle @@ -303,7 +303,7 @@ Return a Rotation around axis Z of given angle. -If $ \theta $ is the input angle, this function returns the $ R_z(\theta) $ rotation matrix such that : \[ R_z(\theta) = \begin{bmatrix} \cos(\theta) & -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \\ \end{bmatrix} \] +If $ \theta $ is the input angle, this function returns the $ R_z(\theta) $ rotation matrix such that : \[ R_z(\theta) = \begin{bmatrix} \cos(\theta) & -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \\ \end{bmatrix} \] angle @@ -336,7 +336,7 @@ Return a Rotation around axis given by direction of given angle. -If we indicate with $ d \in \mathbb{R}^3 $ the unit norm of the direction, and with $ \theta $ the input angle, the return rotation matrix $ R $ can be computed using the Rodrigues' rotation formula [1] : \[ R = I_{3\times3} + d^{\wedge} \sin(\theta) + {d^{\wedge}}^2 (1-\cos(\theta)) \] +If we indicate with $ d \in \mathbb{R}^3 $ the unit norm of the direction, and with $ \theta $ the input angle, the return rotation matrix $ R $ can be computed using the Rodrigues' rotation formula [1] : \[ R = I_{3\times3} + d^{\wedge} \sin(\theta) + {d^{\wedge}}^2 (1-\cos(\theta)) \] [1] : http://mathworld.wolfram.com/RodriguesRotationFormula.html direction @@ -377,7 +377,7 @@ Return the derivative of the RotAxis function with respect to the angle argument. -If we indicate with $ d \in \mathbb{R}^3 $ the unit norm of the direction, and with $ \theta $ the input angle, the derivative of the rotation matrix $ \frac{\partial R}{\partial \theta} $ can be computed using the derivative of the Rodrigues' rotation formula [1] : \[ \frac{\partial R}{\partial \theta} = d^{\vee} \cos(\theta) + {d^{\vee}}^2 \sin(\theta) \] +If we indicate with $ d \in \mathbb{R}^3 $ the unit norm of the direction, and with $ \theta $ the input angle, the derivative of the rotation matrix $ \frac{\partial R}{\partial \theta} $ can be computed using the derivative of the Rodrigues' rotation formula [1] : \[ \frac{\partial R}{\partial \theta} = d^{\vee} \cos(\theta) + {d^{\vee}}^2 \sin(\theta) \] [1] : http://mathworld.wolfram.com/RodriguesRotationFormula.html @@ -454,7 +454,7 @@ Return the right-trivialized derivative of the RPY function. -If we indicate with $ rpy \in \mathbb{R}^3 $ the roll pitch yaw vector, and with $ RPY(rpy) : \mathbb{R}^3 \mapsto SO(3) $ the function implemented in the Rotation::RPY method, this method returns the right-trivialized partial derivative of Rotation::RPY, i.e. : \[ (RPY(rpy) \frac{\partial RPY(rpy)}{\partial rpy})^\vee \] +If we indicate with $ rpy \in \mathbb{R}^3 $ the roll pitch yaw vector, and with $ RPY(rpy) : \mathbb{R}^3 \mapsto SO(3) $ the function implemented in the Rotation::RPY method, this method returns the right-trivialized partial derivative of Rotation::RPY, i.e. : \[ (RPY(rpy) \frac{\partial RPY(rpy)}{\partial rpy})^\vee \] @@ -493,7 +493,7 @@ Return the rate of change of the right-trivialized derivative of the RPY function. -If we indicate with $ rpy \in \mathbb{R}^3 $ the roll pitch yaw vector, and with $ RPY(rpy) : \mathbb{R}^3 \mapsto SO(3) $ the function implemented in the Rotation::RPY method, this method returns the right-trivialized partial derivative of Rotation::RPY, i.e. : \[ (RPY(rpy) \frac{d}{d t}\frac{\partial RPY(rpy)}{\partial rpy})^\vee \] +If we indicate with $ rpy \in \mathbb{R}^3 $ the roll pitch yaw vector, and with $ RPY(rpy) : \mathbb{R}^3 \mapsto SO(3) $ the function implemented in the Rotation::RPY method, this method returns the right-trivialized partial derivative of Rotation::RPY, i.e. : \[ (RPY(rpy) \frac{d}{d t}\frac{\partial RPY(rpy)}{\partial rpy})^\vee \] @@ -578,7 +578,7 @@ Return the right-trivialized derivative of the Quaternion function. -If we indicate with $ quat \in \mathbb{Q} $ the quaternion, and with $ QUAT(quat) : \mathbb{Q} \mapsto SO(3) $ the function implemented in the Rotation::RotationFromQuaternion method, this method returns the right-trivialized partial derivative of Rotation::RotationFromQuaternion, i.e. : \[ (QUAT(quat) \frac{\partial QUAT(quat)}{\partial quat})^\vee \] +If we indicate with $ quat \in \mathbb{Q} $ the quaternion, and with $ QUAT(quat) : \mathbb{Q} \mapsto SO(3) $ the function implemented in the Rotation::RotationFromQuaternion method, this method returns the right-trivialized partial derivative of Rotation::RotationFromQuaternion, i.e. : \[ (QUAT(quat) \frac{\partial QUAT(quat)}{\partial quat})^\vee \] @@ -633,11 +633,11 @@ The quaternion is expected to be ordered in the following way: -$s \in \mathbb{R}$ the real part of the quaterion -$r \in \mathbb{R}^3$ the imaginary part of the quaternion +$s \in \mathbb{R}$ the real part of the quaterion +$r \in \mathbb{R}^3$ the imaginary part of the quaternion -The returned rotation matrix is given by the following formula: \[ R(s,r) = I_{3\times3} + 2s r^{\wedge} + 2{r^\wedge}^2, \] where $ r^{\wedge} $ is the skew-symmetric matrix such that: \[ r \times v = r^\wedge v \] +The returned rotation matrix is given by the following formula: \[ R(s,r) = I_{3\times3} + 2s r^{\wedge} + 2{r^\wedge}^2, \] where $ r^{\wedge} $ is the skew-symmetric matrix such that: \[ r \times v = r^\wedge v \] the quaternion is normalized @@ -670,9 +670,9 @@ Get the left Jacobian of rotation matrix. -$ \omega \in \mathbb{R}^3 $ is the angular motion vector $ [\omega_\times]: \mathbb{R}^n \to \mathfrak{so}(3) $ where $ \mathfrak{so}(3) $ is the set of skew symmetric matrices or the Lie algebra of $ SO(3) $ \[ J_{l_{SO(3)}} = \sum_{n = 0}^{\infty} \frac{1}{(n+1)!} [\omega_\times]^n = (I_3 + \frac{1 - \text{cos}(||\omega||)}{||\omega||^{2}} [\omega _{\times}] + \frac{||\omega|| - \text{sin}(||\omega||)}{||\omega||^{3}} [\omega _{\times}]^{2} \] -When simplified further, \[ J_{l_{SO(3)}} = \frac{\text{sin}(||\omega||)}{||\omega||}I_3 + \frac{1 - \text{cos}(||\omega||)}{||\omega||} [\phi _{\times}] + \bigg(1 - \frac{\text{sin}(||\omega||)}{||\omega||}\bigg) \phi\phi^T \] -where $ \phi = \frac{\omega}{||\omega||} $ +$ \omega \in \mathbb{R}^3 $ is the angular motion vector $ [\omega_\times]: \mathbb{R}^n \to \mathfrak{so}(3) $ where $ \mathfrak{so}(3) $ is the set of skew symmetric matrices or the Lie algebra of $ SO(3) $ \[ J_{l_{SO(3)}} = \sum_{n = 0}^{\infty} \frac{1}{(n+1)!} [\omega_\times]^n = (I_3 + \frac{1 - \text{cos}(||\omega||)}{||\omega||^{2}} [\omega _{\times}] + \frac{||\omega|| - \text{sin}(||\omega||)}{||\omega||^{3}} [\omega _{\times}]^{2} \] +When simplified further, \[ J_{l_{SO(3)}} = \frac{\text{sin}(||\omega||)}{||\omega||}I_3 + \frac{1 - \text{cos}(||\omega||)}{||\omega||} [\phi _{\times}] + \bigg(1 - \frac{\text{sin}(||\omega||)}{||\omega||}\bigg) \phi\phi^T \] +where $ \phi = \frac{\omega}{||\omega||} $ omega @@ -682,7 +682,7 @@ -$ 3 \times 3 $ left Jacobian matrix +$ 3 \times 3 $ left Jacobian matrix @@ -703,8 +703,8 @@ Get the left Jacobian inverse of rotation matrix. -$ \omega \in \mathbb{R}^3 $ is the angular motion vector $ [\omega_\times]: \mathbb{R}^n \to \mathfrak{so}(3) $ where $ \mathfrak{so}(3) $ is the set of skew symmetric matrices or the Lie algebra of $ SO(3) $ \[ J^{-1} _{l _{SO(3)}} = \frac{||\omega||}{2} \text{cot} \bigg(\frac{||\omega||}{2}\bigg) I _3 + \bigg( 1 - \frac{||\omega||}{2} \text{cot} \bigg(\frac{||\omega||}{2}\bigg) \bigg) \phi \phi^T - \frac{||\omega||}{2} [\phi _{\times}] \] -where $ \phi = \frac{\omega}{||\omega||} $ +$ \omega \in \mathbb{R}^3 $ is the angular motion vector $ [\omega_\times]: \mathbb{R}^n \to \mathfrak{so}(3) $ where $ \mathfrak{so}(3) $ is the set of skew symmetric matrices or the Lie algebra of $ SO(3) $ \[ J^{-1} _{l _{SO(3)}} = \frac{||\omega||}{2} \text{cot} \bigg(\frac{||\omega||}{2}\bigg) I _3 + \bigg( 1 - \frac{||\omega||}{2} \text{cot} \bigg(\frac{||\omega||}{2}\bigg) \bigg) \phi \phi^T - \frac{||\omega||}{2} [\phi _{\times}] \] +where $ \phi = \frac{\omega}{||\omega||} $ omega @@ -714,7 +714,7 @@ -$ 3 \times 3 $ left Jacobian inverse matrix +$ 3 \times 3 $ left Jacobian inverse matrix @@ -1337,7 +1337,7 @@ Set the rotation matrix as the passed rotation expressed in quaternion. -the quaternion is expressed as (real, imaginary) part with real $\in \mathbb{R}$ and imaginary $\in \mathbb{R}^3$ +the quaternion is expressed as (real, imaginary) part with real $\in \mathbb{R}$ and imaginary $\in \mathbb{R}^3$ the quaternion is normalized diff --git a/xml/classiDynTree_1_1SimpleLeggedOdometry.xml b/xml/classiDynTree_1_1SimpleLeggedOdometry.xml index 042705a7a8..0ec75a14b7 100644 --- a/xml/classiDynTree_1_1SimpleLeggedOdometry.xml +++ b/xml/classiDynTree_1_1SimpleLeggedOdometry.xml @@ -575,8 +575,8 @@ an optional transform between the desired location of the world and the fixed frame (world_H_initialFixedFrame) At the beginning, the world_H_fixed is the one specified (default is the identity) -At this point, the getWorldFrameTransform(iDynTree::FrameIndex frame_id) will return the world_H_frame ( ${}^{world} H_{frame}$ ) transform simply by computing the forward kinematics from the fixed frame to the frame specified by frame_id : world_H_frame = world_H_fixed * fixed_H_frame(qj), i.e. ${}^{world} H_{frame} = {}^{world} H_{fixed} \cdot {}^{fixed} H_{frame}(q_j)$ -If the fixed frame changes, we can simply change the frame used as "fixed" (changeFixedLink()), and consistently update the world_H_fixed transform to be equal to world_H_new_fixed = world_H_old_fixed * old_fixed_H_new_fixed(qj), i.e. ${}^{world} H_{new\_fixed} = {}^{world} H_{old\_fixed} \cdot {}^{old\_fixed} H_{new\_fixed}(q_j)$ +At this point, the getWorldFrameTransform(iDynTree::FrameIndex frame_id) will return the world_H_frame ( ${}^{world} H_{frame}$ ) transform simply by computing the forward kinematics from the fixed frame to the frame specified by frame_id : world_H_frame = world_H_fixed * fixed_H_frame(qj), i.e. ${}^{world} H_{frame} = {}^{world} H_{fixed} \cdot {}^{fixed} H_{frame}(q_j)$ +If the fixed frame changes, we can simply change the frame used as "fixed" (changeFixedLink()), and consistently update the world_H_fixed transform to be equal to world_H_new_fixed = world_H_old_fixed * old_fixed_H_new_fixed(qj), i.e. ${}^{world} H_{new\_fixed} = {}^{world} H_{old\_fixed} \cdot {}^{old\_fixed} H_{new\_fixed}(q_j)$ After the update, the getWorldFrameTransform(iDynTree::FrameIndex frame_id) can be obtained as in point 1b . diff --git a/xml/classiDynTree_1_1SpatialInertia.xml b/xml/classiDynTree_1_1SpatialInertia.xml index 6a23a8557d..1821cdb5fa 100644 --- a/xml/classiDynTree_1_1SpatialInertia.xml +++ b/xml/classiDynTree_1_1SpatialInertia.xml @@ -230,7 +230,7 @@ Get the SpatialInertia as a 6x6 matrix. -If $ m \in \mathbb{R} $ is the mass, $ c \in \mathbb{R}^3 $ is the center of mass, $ I \in \mathbb{R}^{3 \times 3} $ is the 3d inertia, and $ 1_3 \in \mathbb{R}^{3 \times 3} $ is the 3d identity matrix this method returns the $ \mathbb{M} \in \mathbb{R}^{6 \times 6} $ matrix such that: \[ \mathbb{M} = \begin{bmatrix} m 1_3 & -m c \times \\ m c \times & I \end{bmatrix} \]. +If $ m \in \mathbb{R} $ is the mass, $ c \in \mathbb{R}^3 $ is the center of mass, $ I \in \mathbb{R}^{3 \times 3} $ is the 3d inertia, and $ 1_3 \in \mathbb{R}^{3 \times 3} $ is the 3d identity matrix this method returns the $ \mathbb{M} \in \mathbb{R}^{6 \times 6} $ matrix such that: \[ \mathbb{M} = \begin{bmatrix} m 1_3 & -m c \times \\ m c \times & I \end{bmatrix} \]. As all quantities in iDynTree, this inertia assumes the linear-angular serialization. @@ -350,7 +350,7 @@ Return the bias wrench v.cross(M*v). -Defining $ \mathbb{M} $ as this inertia, return the bias wrench v.cross(M*v), defined in math as: \[ \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} = \\ \begin{bmatrix} \omega \times & 0 \\ v \times & \omega \times \end{bmatrix} \begin{bmatrix} m 1_3 & -mc\times \\ mc\times & I \end{bmatrix} \begin{bmatrix} v \\ \omega \end{bmatrix} = \\ \begin{bmatrix} m \omega \times v - \omega \times ( m c \times \omega) \\ m c \times ( \omega \times v ) + \omega \times I \omega \end{bmatrix} \] +Defining $ \mathbb{M} $ as this inertia, return the bias wrench v.cross(M*v), defined in math as: \[ \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} = \\ \begin{bmatrix} \omega \times & 0 \\ v \times & \omega \times \end{bmatrix} \begin{bmatrix} m 1_3 & -mc\times \\ mc\times & I \end{bmatrix} \begin{bmatrix} v \\ \omega \end{bmatrix} = \\ \begin{bmatrix} m \omega \times v - \omega \times ( m c \times \omega) \\ m c \times ( \omega \times v ) + \omega \times I \omega \end{bmatrix} \] @@ -369,9 +369,9 @@ Return the derivative of the bias wrench with respect to the link 6D velocity. -Defining $ \mathbb{M} \in \mathbb{R}^{6 \times 6} $ as this inertia, return the derivative with respect to $ \mathrm{v} = \begin{bmatrix} v \\ \omega \end{bmatrix} \in \mathbb{R}^6 $ of the bias wrench $ \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} $ (i.e. v.cross(M*v)). -The bias wrench is: \[ \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} = \\ \begin{bmatrix} m \omega \times v - \omega \times ( m c \times \omega) \\ m c \times ( \omega \times v ) + \omega \times I \omega \end{bmatrix} \] -So the derivative with respect to the twist V is : \[ \partial_\mathrm{v} ( \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} ) = \\ \begin{bmatrix} m \omega \times & - m v \times + ( m c \times \omega) \times - (\omega \times) (mc \times) \\ (m c \times) ( \omega \times) & - (m c \times )(v \times) + \omega \times I - (I \omega) \times \end{bmatrix} \] +Defining $ \mathbb{M} \in \mathbb{R}^{6 \times 6} $ as this inertia, return the derivative with respect to $ \mathrm{v} = \begin{bmatrix} v \\ \omega \end{bmatrix} \in \mathbb{R}^6 $ of the bias wrench $ \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} $ (i.e. v.cross(M*v)). +The bias wrench is: \[ \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} = \\ \begin{bmatrix} m \omega \times v - \omega \times ( m c \times \omega) \\ m c \times ( \omega \times v ) + \omega \times I \omega \end{bmatrix} \] +So the derivative with respect to the twist V is : \[ \partial_\mathrm{v} ( \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} ) = \\ \begin{bmatrix} m \omega \times & - m v \times + ( m c \times \omega) \times - (\omega \times) (mc \times) \\ (m c \times) ( \omega \times) & - (m c \times )(v \times) + \omega \times I - (I \omega) \times \end{bmatrix} \] @@ -394,23 +394,23 @@ 0 -$ m $ +$ m $ The mass of the rigid body 1-3 -$ m c $ +$ m c $ The first moment of mass of the rigid body 4-9 -$ \mathop{vech}(I) $ -The 6 independent elements of the 3d inertia matrix, i.e. $ \begin{bmatrix} I_{xx} \\ I_{xy} \\ I_{xz} \\ I_{yy} \\ I_{yz} \\ I_{zz} \end{bmatrix} $ . +$ \mathop{vech}(I) $ +The 6 independent elements of the 3d inertia matrix, i.e. $ \begin{bmatrix} I_{xx} \\ I_{xy} \\ I_{xz} \\ I_{yy} \\ I_{yz} \\ I_{zz} \end{bmatrix} $ . -The first moment of mass is the center of mass ( $ c \in \mathbb{R}^3 $ ) w.r.t. to the frame where this rigid body inertia is expressed multiplied by the rigid body mass $ m $. -The 3d rigid body inertia $ I \in \mathbb{R}^{3 \times 3} $ is expressed with the orientation of the frame in which this rigid body inertia is expressed, and with respect to the frame origin. +The first moment of mass is the center of mass ( $ c \in \mathbb{R}^3 $ ) w.r.t. to the frame where this rigid body inertia is expressed multiplied by the rigid body mass $ m $. +The 3d rigid body inertia $ I \in \mathbb{R}^{3 \times 3} $ is expressed with the orientation of the frame in which this rigid body inertia is expressed, and with respect to the frame origin. @@ -505,8 +505,8 @@ Get the momentum inertial parameters regressor. -Get the matrix \[ Y(\mathrm{v}) \in \mathbb{R}^{6 \times 10} \] such that: \[ \mathbb{M} \mathrm{v} = Y(\mathrm{v}) \alpha \] -If $ \alpha \in \mathbb{R}^{10} $ is the inertial parameters representation of $ \mathbb{M} $, as returned by the asVector method. +Get the matrix \[ Y(\mathrm{v}) \in \mathbb{R}^{6 \times 10} \] such that: \[ \mathbb{M} \mathrm{v} = Y(\mathrm{v}) \alpha \] +If $ \alpha \in \mathbb{R}^{10} $ is the inertial parameters representation of $ \mathbb{M} $, as returned by the asVector method. @@ -529,8 +529,8 @@ Get the momentum derivative inertial parameters regressor. -Get the matrix \[ Y(\mathrm{v},a) \in \mathbb{R}^{6 \times 10} \] such that: \[ \mathbb{M} a + \mathrm{v} \overline{\times}^{*} \mathbb{M} \mathrm{v} = Y(\mathrm{v}, a)\alpha \] -If $ \alpha \in \mathbb{R}^{10} $ is the inertial parameters representation of $ \mathbb{M} $, as returned by the asVector method. +Get the matrix \[ Y(\mathrm{v},a) \in \mathbb{R}^{6 \times 10} \] such that: \[ \mathbb{M} a + \mathrm{v} \overline{\times}^{*} \mathbb{M} \mathrm{v} = Y(\mathrm{v}, a)\alpha \] +If $ \alpha \in \mathbb{R}^{10} $ is the inertial parameters representation of $ \mathbb{M} $, as returned by the asVector method. This is also the regressor of the net wrench acting on a rigid body. As such, it is the building block of all other algorithms to compute dynamics regressors. @@ -558,9 +558,9 @@ Get the momentum derivative inertial parameters regressor. -Get the matrix \[ Y(\mathrm{v},\mathrm{v}_r,a_r) \in \mathbb{R}^{6\times10} \] such that: \[ \mathbb{M} a_r + (\mathrm{v} \overline{\times}^{*} \mathbb{M} - \mathbb{M} \mathrm{v} \times) \mathrm{v}_r = Y(\mathrm{v},\mathrm{v}_r,a_r)\alpha \] -If $ \alpha \in \mathbb{R}^{10} $ is the inertial parameters representation of $ \mathbb{M} $, as returned by the asVector method. -Notice that if $ \mathrm{v} = \mathrm{v}_r $, this regressor reduces to the one computed by momentumDerivativeRegressor. The main difference is that (assuming constant $ \mathbb{M} $) this regressor respect the passivity condition and thus is the basic building block for building Slotine Li style regressors. +Get the matrix \[ Y(\mathrm{v},\mathrm{v}_r,a_r) \in \mathbb{R}^{6\times10} \] such that: \[ \mathbb{M} a_r + (\mathrm{v} \overline{\times}^{*} \mathbb{M} - \mathbb{M} \mathrm{v} \times) \mathrm{v}_r = Y(\mathrm{v},\mathrm{v}_r,a_r)\alpha \] +If $ \alpha \in \mathbb{R}^{10} $ is the inertial parameters representation of $ \mathbb{M} $, as returned by the asVector method. +Notice that if $ \mathrm{v} = \mathrm{v}_r $, this regressor reduces to the one computed by momentumDerivativeRegressor. The main difference is that (assuming constant $ \mathbb{M} $) this regressor respect the passivity condition and thus is the basic building block for building Slotine Li style regressors. For more on this, please check: Garofalo, G.; Ott, C.; Albu-Schaffer, A., "On the closed form computation of the dynamic matrices and their differentiations," in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on doi: 10.1109/IROS.2013.6696688 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6696688&isnumber=6696319 diff --git a/xml/classiDynTree_1_1SpatialMotionVector.xml b/xml/classiDynTree_1_1SpatialMotionVector.xml index 0b11cbc0b6..ff6f5c1c89 100644 --- a/xml/classiDynTree_1_1SpatialMotionVector.xml +++ b/xml/classiDynTree_1_1SpatialMotionVector.xml @@ -105,10 +105,10 @@ other -Cross product between two 6D motion vectors $ V_1 = \begin{bmatrix} v_1 \\ \omega_1 \end{bmatrix} $ and $ V_2 = \begin{bmatrix} v_2 \\ \omega_2 \end{bmatrix} $. +Cross product between two 6D motion vectors $ V_1 = \begin{bmatrix} v_1 \\ \omega_1 \end{bmatrix} $ and $ V_2 = \begin{bmatrix} v_2 \\ \omega_2 \end{bmatrix} $. -Returns: \[ V_1 \times V_2 = \begin{bmatrix} v_1 \times \omega_2 + \omega_1 \times v_2 \\ \omega_1 \times \omega_2 \end{bmatrix} \] +Returns: \[ V_1 \times V_2 = \begin{bmatrix} v_1 \times \omega_2 + \omega_1 \times v_2 \\ \omega_1 \times \omega_2 \end{bmatrix} \] @@ -124,10 +124,10 @@ other -Cross product between a 6D motion vector $ V = \begin{bmatrix} v \\ \omega \end{bmatrix} $ and a 6D force vector $ F = \begin{bmatrix} f \\ \mu \end{bmatrix} $. +Cross product between a 6D motion vector $ V = \begin{bmatrix} v \\ \omega \end{bmatrix} $ and a 6D force vector $ F = \begin{bmatrix} f \\ \mu \end{bmatrix} $. -Returns: \[ V \bar{\times}^* F = \begin{bmatrix} \omega \times f \\ v \times f + \omega \times \mu \end{bmatrix} \] +Returns: \[ V \bar{\times}^* F = \begin{bmatrix} \omega \times f \\ v \times f + \omega \times \mu \end{bmatrix} \] @@ -142,8 +142,8 @@ Cross product matrices. -If this object is $ V = \begin{bmatrix} v \\ \omega \end{bmatrix} $, return the 6x6 matrix $ V\times $ such that, if U is a SpatialMotionVector : \[ (V \times) U = V\texttt{.cross}(U) \] -The returned matrix is then the following one: \[ V \times = \begin{bmatrix} \omega \times & v \times \\ 0_{3\times3} & \omega \times \end{bmatrix} \] +If this object is $ V = \begin{bmatrix} v \\ \omega \end{bmatrix} $, return the 6x6 matrix $ V\times $ such that, if U is a SpatialMotionVector : \[ (V \times) U = V\texttt{.cross}(U) \] +The returned matrix is then the following one: \[ V \times = \begin{bmatrix} \omega \times & v \times \\ 0_{3\times3} & \omega \times \end{bmatrix} \] @@ -155,11 +155,11 @@ () const asCrossProductMatrixWrench -If this object is $ V = \begin{bmatrix} v \\ \omega \end{bmatrix} $, return the 6x6 matrix $ V\times $ such that, if F is a SpatialForceVector : +If this object is $ V = \begin{bmatrix} v \\ \omega \end{bmatrix} $, return the 6x6 matrix $ V\times $ such that, if F is a SpatialForceVector : -\[ (V \bar{\times}^*) F = V\texttt{.cross}(F) \] -The returned matrix is then the following one: \[ V \bar{\times}^* = \begin{bmatrix} \omega \times & 0_{3\times3} \\ v \times & \omega \times \end{bmatrix} \] +\[ (V \bar{\times}^*) F = V\texttt{.cross}(F) \] +The returned matrix is then the following one: \[ V \bar{\times}^* = \begin{bmatrix} \omega \times & 0_{3\times3} \\ v \times & \omega \times \end{bmatrix} \] diff --git a/xml/classiDynTree_1_1ThreeAxisAngularAccelerometerSensor.xml b/xml/classiDynTree_1_1ThreeAxisAngularAccelerometerSensor.xml index 637fd8a6c4..0cfba9ac7d 100644 --- a/xml/classiDynTree_1_1ThreeAxisAngularAccelerometerSensor.xml +++ b/xml/classiDynTree_1_1ThreeAxisAngularAccelerometerSensor.xml @@ -238,7 +238,7 @@ Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (. -\[ {}^l H_s \]). +\[ {}^l H_s \]). the link_H_sensor transform diff --git a/xml/classiDynTree_1_1ThreeAxisForceTorqueContactSensor.xml b/xml/classiDynTree_1_1ThreeAxisForceTorqueContactSensor.xml index 1cdcc9fe19..1114413f9d 100644 --- a/xml/classiDynTree_1_1ThreeAxisForceTorqueContactSensor.xml +++ b/xml/classiDynTree_1_1ThreeAxisForceTorqueContactSensor.xml @@ -313,7 +313,7 @@ Return the transform that applied on a element expressed in sensor frames it transform it in one expressed in the link frame (. -\[ {}^l H_s \]). +\[ {}^l H_s \]). the link_H_sensor transform diff --git a/xml/classiDynTree_1_1Transform.xml b/xml/classiDynTree_1_1Transform.xml index 2750fee382..3be697240c 100644 --- a/xml/classiDynTree_1_1Transform.xml +++ b/xml/classiDynTree_1_1Transform.xml @@ -5,7 +5,7 @@ iDynTree/Transform.h
Overloaded operators.
- This operators are used to change the frame in which a quantity is expressed from the $\texttt{frame}$ to the $\texttt{refFrame}$ of the transform. + This operators are used to change the frame in which a quantity is expressed from the $\texttt{frame}$ to the $\texttt{refFrame}$ of the transform. Transform @@ -20,9 +20,9 @@ Combine two transforms. -If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] and the argument is \[ (p',R') = ( {}^{\texttt{orient}} p_{\texttt{point},\texttt{newPoint}} , {}^{\texttt{orient}} R_{\texttt{newOrient}} ) \]. -The resulting transform will be: \[ (p+Rp', RR') = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{newPoint}} , {}^{\texttt{refOrient}} R_{\texttt{newOrient}} ) \]. -Notice that this is equivalent to multiply the associated homogemeous matrices: \[ {}^{\texttt{refFrame}} H_{\texttt{newFrame}} = {}^{\texttt{refFrame}} H_{\texttt{frame}} {}^{\texttt{frame}} H_{\texttt{newFrame}} \] or the associated adjoint matrices : \[ {}^{\texttt{refFrame}} X_{\texttt{newFrame}} = {}^{\texttt{refFrame}} X_{\texttt{frame}} {}^{\texttt{frame}} X_{\texttt{newFrame}} \] +If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] and the argument is \[ (p',R') = ( {}^{\texttt{orient}} p_{\texttt{point},\texttt{newPoint}} , {}^{\texttt{orient}} R_{\texttt{newOrient}} ) \]. +The resulting transform will be: \[ (p+Rp', RR') = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{newPoint}} , {}^{\texttt{refOrient}} R_{\texttt{newOrient}} ) \]. +Notice that this is equivalent to multiply the associated homogemeous matrices: \[ {}^{\texttt{refFrame}} H_{\texttt{newFrame}} = {}^{\texttt{refFrame}} H_{\texttt{frame}} {}^{\texttt{frame}} H_{\texttt{newFrame}} \] or the associated adjoint matrices : \[ {}^{\texttt{refFrame}} X_{\texttt{newFrame}} = {}^{\texttt{refFrame}} X_{\texttt{frame}} {}^{\texttt{frame}} X_{\texttt{newFrame}} \] @@ -37,7 +37,7 @@ Return the inverse of this Transform. -If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] this function will return: \[ (-R^\top p , R^\top) = ( {}^{\texttt{orient}} p_{\texttt{point},\texttt{refPoint}} , {}^{\texttt{orient}} R_{\texttt{refOrient}} ) \] +If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] this function will return: \[ (-R^\top p , R^\top) = ( {}^{\texttt{orient}} p_{\texttt{point},\texttt{refPoint}} , {}^{\texttt{orient}} R_{\texttt{refOrient}} ) \] @@ -56,9 +56,9 @@ Change reference frame of a point. -If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] -And the Position argument represent a point: \[ p' = {}^{\texttt{orient}} p_{\texttt{point},\texttt{newPoint}} \] -The result of the operation is: \[ Rp' + p = {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{newPoint}} \] +If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] +And the Position argument represent a point: \[ p' = {}^{\texttt{orient}} p_{\texttt{point},\texttt{newPoint}} \] +The result of the operation is: \[ Rp' + p = {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{newPoint}} \] @@ -77,9 +77,9 @@ Change frame in which a Wrench is expressed. -If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] -And the argument is a wrench: \[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \] -The result of this operation is : \[ {}_{\texttt{refFrame}} F = {}_{\texttt{refFrame}}X^{\texttt{frame}} {}_{\texttt{frame}} F = \begin{bmatrix} R & 0_{3\times3} \\ p \times R & R \end{bmatrix} \begin{bmatrix} f \\ \tau \end{bmatrix} = \begin{bmatrix} Rf \\ p \times R f + R\tau \end{bmatrix} \] +If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] +And the argument is a wrench: \[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \] +The result of this operation is : \[ {}_{\texttt{refFrame}} F = {}_{\texttt{refFrame}}X^{\texttt{frame}} {}_{\texttt{frame}} F = \begin{bmatrix} R & 0_{3\times3} \\ p \times R & R \end{bmatrix} \begin{bmatrix} f \\ \tau \end{bmatrix} = \begin{bmatrix} Rf \\ p \times R f + R\tau \end{bmatrix} \] @@ -98,9 +98,9 @@ Change the frame in which a Twist is expressed. -If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] -And the argument is a twist: \[ {}^{\texttt{frame}} V = \begin{bmatrix} v \\ \omega \end{bmatrix} \] -The result of this operation is : \[ {}^{\texttt{refFrame}} V = {}^{\texttt{refFrame}}X_{\texttt{frame}} {}^{\texttt{frame}} V = \begin{bmatrix} R & p \times R\\ 0_{3\times3} & R \end{bmatrix} \begin{bmatrix} v \\ \omega \end{bmatrix} = \begin{bmatrix} R v + p \times R \omega \\ R\omega \end{bmatrix} \] +If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] +And the argument is a twist: \[ {}^{\texttt{frame}} V = \begin{bmatrix} v \\ \omega \end{bmatrix} \] +The result of this operation is : \[ {}^{\texttt{refFrame}} V = {}^{\texttt{refFrame}}X_{\texttt{frame}} {}^{\texttt{frame}} V = \begin{bmatrix} R & p \times R\\ 0_{3\times3} & R \end{bmatrix} \begin{bmatrix} v \\ \omega \end{bmatrix} = \begin{bmatrix} R v + p \times R \omega \\ R\omega \end{bmatrix} \] @@ -231,9 +231,9 @@ Change the frame in which a Direction is expressed. -If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] -And the argument is a direction represented by a unit norm 3d vector : \[ {}^{\texttt{orient}} d \] -The result of this operation is: \[ {}^{\texttt{refOrient}} d = R {}^{\texttt{orient}} d \] +If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] +And the argument is a direction represented by a unit norm 3d vector : \[ {}^{\texttt{orient}} d \] +The result of this operation is: \[ {}^{\texttt{refOrient}} d = R {}^{\texttt{orient}} d \] @@ -252,9 +252,9 @@ Change the frame in which a Axis is expressed. -If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] -And the argument is an axis, specified by the axis origin and the axis direction: \[ {}^{\texttt{frame}} A = ({}^{\texttt{orient}} p_{\texttt{point},\texttt{axisOrigin}} , {}^{\texttt{orient}} d) = (p',d) \] -The result of this operation is: \[ {}^{\texttt{refFrame}} A = ({}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{axisOrigin}} , {}^{\texttt{refOrient}} d) = ( Rp' + p , Rd) \] +If this object is \[ (p,R) = ( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} ) \] +And the argument is an axis, specified by the axis origin and the axis direction: \[ {}^{\texttt{frame}} A = ({}^{\texttt{orient}} p_{\texttt{point},\texttt{axisOrigin}} , {}^{\texttt{orient}} d) = (p',d) \] +The result of this operation is: \[ {}^{\texttt{refFrame}} A = ({}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{axisOrigin}} , {}^{\texttt{refOrient}} d) = ( Rp' + p , Rd) \] @@ -275,8 +275,8 @@ The returned matrix is the one with this structure: -\[ {}^{\texttt{refFrame}} H_{\texttt{frame}} = \begin{bmatrix} {}^{\texttt{refOrient}} R_{\texttt{orient}} & {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} \\ 0_{1\times3} & 1 \end{bmatrix} \] Where ${}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3 \times 3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. -${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame. +\[ {}^{\texttt{refFrame}} H_{\texttt{frame}} = \begin{bmatrix} {}^{\texttt{refOrient}} R_{\texttt{orient}} & {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} \\ 0_{1\times3} & 1 \end{bmatrix} \] Where ${}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3 \times 3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. +${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame. @@ -292,9 +292,9 @@ The returned matrix is the one with this structure: -\[ {}^{\texttt{refFrame}} X_{\texttt{frame}} = \begin{bmatrix} R & p \times R \\ 0_{3\times3} & R \end{bmatrix} \] -Where $R = {}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3\times3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. -$p = p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame $p \times$ is the skew simmetric matrix such that $(p \times) v = p \times v$ . +\[ {}^{\texttt{refFrame}} X_{\texttt{frame}} = \begin{bmatrix} R & p \times R \\ 0_{3\times3} & R \end{bmatrix} \] +Where $R = {}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3\times3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. +$p = p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame $p \times$ is the skew simmetric matrix such that $(p \times) v = p \times v$ . Note that in iDynTree the matrix are stored in row major order, and the 6d quantites are serialized in linear/angular order. @@ -313,9 +313,9 @@ The returned matrix is the one with this structure: -\[ {}_{\texttt{refFrame}} X^{\texttt{frame}} = \begin{bmatrix} R & 0_{3\times3} \\ p \times R & R \end{bmatrix} \] -Where $R = {}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3\times3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. -$p = p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame $p \times$ is the skew simmetric matrix such that $(p \times) v = p \times v$ . +\[ {}_{\texttt{refFrame}} X^{\texttt{frame}} = \begin{bmatrix} R & 0_{3\times3} \\ p \times R & R \end{bmatrix} \] +Where $R = {}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3\times3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. +$p = p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame $p \times$ is the skew simmetric matrix such that $(p \times) v = p \times v$ . Note that in iDynTree the matrix are stored in row major order, and the 6d quantites are serialized in linear/angular order. @@ -379,7 +379,7 @@ The position part of the transform. -The 3d vector ${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}}$, that is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame. +The 3d vector ${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}}$, that is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame. @@ -394,7 +394,7 @@ The rotation part of the transform. -Set the rotation matrix ${}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3 \times 3}$, that is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. +Set the rotation matrix ${}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3 \times 3}$, that is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. @@ -552,7 +552,7 @@ Get the rotation part of the transform. -Get the rotation matrix ${}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3 \times 3}$, that is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. +Get the rotation matrix ${}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3 \times 3}$, that is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. @@ -567,7 +567,7 @@ Get the translation part of the transform. -Get 3d vector ${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}}$, that is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame. +Get 3d vector ${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}}$, that is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame. @@ -586,7 +586,7 @@ Set the rotation part of the transform. -Set the rotation matrix ${}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3 \times 3}$, that is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. +Set the rotation matrix ${}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3 \times 3}$, that is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. @@ -605,7 +605,7 @@ Set the translation part of the transform. -Set 3d vector ${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}}$, that is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame. +Set 3d vector ${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}}$, that is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame. @@ -660,7 +660,7 @@ Return an identity transfom. -Set the rotation to the identity and the translation to 0 : \[ (0_{3 \times 1}, I_{3 \times 3}) \] +Set the rotation to the identity and the translation to 0 : \[ (0_{3 \times 1}, I_{3 \times 3}) \] an identity transform. @@ -677,11 +677,11 @@ This class is designed to be an easy to use proxy to perform change of frame of expression for iDynTree::Position, iDynTree::Twist, iDynTree::Wrench and other data structure in iDynTree core data structures. For this reason the class is called "Transform", because it will be mainly used to transform quantities between frames. -Given that this class it may used to represent homogeneous transform matrix as well as adjoint matrix, no raw access to the underline storage ( data() method ) is provided, because it does not have a canonical representation. Instead, access is given to the two elements of a transform: The position vector ${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}}$ and the rotation matrix ${}^{\texttt{refOrient}} R_{\texttt{orient}}$. -We will indicate this tranform as $( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} )$ -The frame whose origin is the reference point and whose orientation the reference orientation is often indicated as $ \texttt{refFrame} = (\texttt{refPoint},\texttt{refOrient}) $. -Similarly the frame whose origin is the point and whose orientation is the orientation is indicated as $ \texttt{frame} = (\texttt{point},\texttt{orient}) $. -This transform object can be obtained as the ${}^{\texttt{refFrame}} H_{\texttt{frame}}$ 4x4 homogeneous matrix using the asHomogeneousTransform method, or as the ${}^{\texttt{refFrame}} X_{\texttt{frame}}$ 6x6 adjoint matrix using the asAdjointTransform . +Given that this class it may used to represent homogeneous transform matrix as well as adjoint matrix, no raw access to the underline storage ( data() method ) is provided, because it does not have a canonical representation. Instead, access is given to the two elements of a transform: The position vector ${}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}}$ and the rotation matrix ${}^{\texttt{refOrient}} R_{\texttt{orient}}$. +We will indicate this tranform as $( {}^{\texttt{refOrient}} p_{\texttt{refPoint},\texttt{point}} , {}^{\texttt{refOrient}} R_{\texttt{orient}} )$ +The frame whose origin is the reference point and whose orientation the reference orientation is often indicated as $ \texttt{refFrame} = (\texttt{refPoint},\texttt{refOrient}) $. +Similarly the frame whose origin is the point and whose orientation is the orientation is indicated as $ \texttt{frame} = (\texttt{point},\texttt{orient}) $. +This transform object can be obtained as the ${}^{\texttt{refFrame}} H_{\texttt{frame}}$ 4x4 homogeneous matrix using the asHomogeneousTransform method, or as the ${}^{\texttt{refFrame}} X_{\texttt{frame}}$ 6x6 adjoint matrix using the asAdjointTransform . diff --git a/xml/classiDynTree_1_1TransformDerivative.xml b/xml/classiDynTree_1_1TransformDerivative.xml index 462c3f5f94..86d9859d53 100644 --- a/xml/classiDynTree_1_1TransformDerivative.xml +++ b/xml/classiDynTree_1_1TransformDerivative.xml @@ -17,7 +17,7 @@ The returned matrix is the one with this structure: -\[ {}^{\texttt{refFrame}} \dot{H}_{\texttt{frame}} = \begin{bmatrix} {}^{\texttt{refOrient}} \dot{R}_{\texttt{orient}} & {}^{\texttt{refOrient}} \dot{p}_{\texttt{refPoint},\texttt{point}} \\ 0_{1\times3} & 1 \end{bmatrix} \] +\[ {}^{\texttt{refFrame}} \dot{H}_{\texttt{frame}} = \begin{bmatrix} {}^{\texttt{refOrient}} \dot{R}_{\texttt{orient}} & {}^{\texttt{refOrient}} \dot{p}_{\texttt{refPoint},\texttt{point}} \\ 0_{1\times3} & 1 \end{bmatrix} \] For details on this notation, check the Transform::asHomogeneousTransform() method . @@ -38,10 +38,10 @@ The returned matrix is the one with this structure: -\[ {}^{\texttt{refFrame}} X_{\texttt{frame}} = \begin{bmatrix} \dot{R} & \dot{p} \times R + p \times \dot{R} \\ 0_{3\times3} & \dot{R} \end{bmatrix} \] -Where $R = {}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3\times3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. -$p = p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame $p \times$ is the skew simmetric matrix such that $(p \times) v = p \times v$ . -Given that the TransformDerivative object contains only $ \dot{R} $ and $ \dot{p} $, you need to provide $ R $ and $ p $ to this method by passing the relative Transform object. +\[ {}^{\texttt{refFrame}} X_{\texttt{frame}} = \begin{bmatrix} \dot{R} & \dot{p} \times R + p \times \dot{R} \\ 0_{3\times3} & \dot{R} \end{bmatrix} \] +Where $R = {}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3\times3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. +$p = p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame $p \times$ is the skew simmetric matrix such that $(p \times) v = p \times v$ . +Given that the TransformDerivative object contains only $ \dot{R} $ and $ \dot{p} $, you need to provide $ R $ and $ p $ to this method by passing the relative Transform object. Note that in iDynTree the matrix are stored in row major order, and the 6d quantites are serialized in linear/angular order. @@ -64,10 +64,10 @@ The returned matrix is the one with this structure: -\[ {}_{\texttt{refFrame}} X^{\texttt{frame}} = \begin{bmatrix} \dot{R} & 0_{3\times3} \\ \dot{p} \times R + p \times \dot{R} & \dot{R} \end{bmatrix} \] -Where $R = {}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3\times3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. -$p = p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame $p \times$ is the skew simmetric matrix such that $(p \times) v = p \times v$ . -Given that the TransformDerivative object contains only $ \dot{R} $ and $ \dot{p} $, you need to provide $ R $ and $ p $ to this method by passing the relative Transform object. +\[ {}_{\texttt{refFrame}} X^{\texttt{frame}} = \begin{bmatrix} \dot{R} & 0_{3\times3} \\ \dot{p} \times R + p \times \dot{R} & \dot{R} \end{bmatrix} \] +Where $R = {}^{\texttt{refOrient}} R_{\texttt{orient}} \in \mathbb{R}^{3\times3}$ is the rotation matrix that takes a 3d vector expressed in the orientationFrame and transform it in a 3d vector expressed in the reference orientation frame. +$p = p_{\texttt{refPoint},\texttt{point}} \in \mathbb{R}^3$ is the vector between the point and the reference point, pointing toward the point and expressed in the reference orientation frame $p \times$ is the skew simmetric matrix such that $(p \times) v = p \times v$ . +Given that the TransformDerivative object contains only $ \dot{R} $ and $ \dot{p} $, you need to provide $ R $ and $ p $ to this method by passing the relative Transform object. Note that in iDynTree the matrix are stored in row major order, and the 6d quantites are serialized in linear/angular order. @@ -90,7 +90,7 @@ This operation is useful to compose the derivative of a transform for a constant transform. -If this transform derivative represent the derivative of a transform with respect to time $ ~^a \dot{H}_b $, and we have a constant transform $ ~^b H_c $, then this operation returns the derivative of the transform $ ~^a H_c $ : \[ ~^a \dot{H}_c = ~^a \dot{H}_b ~^b H_c \] +If this transform derivative represent the derivative of a transform with respect to time $ ~^a \dot{H}_b $, and we have a constant transform $ ~^b H_c $, then this operation returns the derivative of the transform $ ~^a H_c $ : \[ ~^a \dot{H}_c = ~^a \dot{H}_b ~^b H_c \] the otherTransform must be a quantity that does not depend on the derivation variable. @@ -112,7 +112,7 @@ Get the derivative of the inverse of the transform. -If this TransformDerivative is $ ~^a \dot{H}_b $ and the transform argument is $ ~^a H_b $, returns the derivative of the inverse transform $ ~^b {H}_a $ computed as: \[ ~^b \dot{H}_a = - ~^b {H}_a ~^a \dot{H}_b ~^b H_a \] +If this TransformDerivative is $ ~^a \dot{H}_b $ and the transform argument is $ ~^a H_b $, returns the derivative of the inverse transform $ ~^b {H}_a $ computed as: \[ ~^b \dot{H}_a = - ~^b {H}_a ~^a \dot{H}_b ~^b H_a \] @@ -132,10 +132,10 @@ other -Given a articulated inertia $I$ (other argument), this TransformDerivative $ ~^a\dot{X}_b $ and a transform $ ~^a{X}_b $ return the articulated body inertia: +Given a articulated inertia $I$ (other argument), this TransformDerivative $ ~^a\dot{X}_b $ and a transform $ ~^a{X}_b $ return the articulated body inertia: -\[ ~_a \dot{X}^b Ia ~^a X_b + ~_a {X}^b Ia ~^a \dot{X}_b \] +\[ ~_a \dot{X}^b Ia ~^a X_b + ~_a {X}^b Ia ~^a \dot{X}_b \] @@ -155,10 +155,10 @@ other -Given a SpatialForceVector $F$ (other argument), this TransformDerivative $ ~^a\dot{X}_b $ and a transform $ ~^a{X}_b $ return the spatial force vector: +Given a SpatialForceVector $F$ (other argument), this TransformDerivative $ ~^a\dot{X}_b $ and a transform $ ~^a{X}_b $ return the spatial force vector: -\[ ~_a \dot{X}^b F \] +\[ ~_a \dot{X}^b F \] @@ -178,10 +178,10 @@ other -Given a SpatialMotionVector $V$ (other argument), this TransformDerivative $ ~^a\dot{X}_b $ and a transform $ ~^a{X}_b $ return the spatial force vector: +Given a SpatialMotionVector $V$ (other argument), this TransformDerivative $ ~^a\dot{X}_b $ and a transform $ ~^a{X}_b $ return the spatial force vector: -\[ ~^a \dot{X}_b F \] +\[ ~^a \dot{X}_b F \] diff --git a/xml/classiDynTree_1_1Visualizer.xml b/xml/classiDynTree_1_1Visualizer.xml index dc5d031b63..9c2b6ba8e7 100644 --- a/xml/classiDynTree_1_1Visualizer.xml +++ b/xml/classiDynTree_1_1Visualizer.xml @@ -18,7 +18,7 @@ - + @@ -33,7 +33,7 @@ - + @@ -52,7 +52,7 @@ - + Visualizer & @@ -69,7 +69,7 @@ - + @@ -84,7 +84,7 @@ - + @@ -97,7 +97,7 @@ - + bool @@ -119,7 +119,7 @@ - + size_t @@ -133,7 +133,7 @@ - + std::string @@ -150,7 +150,7 @@ - + int @@ -168,7 +168,7 @@ - + bool @@ -210,7 +210,7 @@ - + IModelVisualization & @@ -233,7 +233,7 @@ - + IModelVisualization & @@ -254,7 +254,7 @@ - + ICamera & @@ -268,7 +268,7 @@ - + IEnvironment & @@ -282,7 +282,7 @@ - + IEnvironment & @@ -296,7 +296,7 @@ - + IVectorsVisualization & @@ -310,7 +310,7 @@ - + IFrameVisualization & @@ -324,7 +324,7 @@ - + ITexturesHandler & @@ -338,7 +338,7 @@ - + IShapeVisualization & @@ -352,7 +352,7 @@ - + ILabel & @@ -371,7 +371,7 @@ - + int @@ -386,7 +386,7 @@ - + int @@ -401,7 +401,7 @@ - + bool @@ -415,7 +415,7 @@ - + void @@ -429,7 +429,7 @@ - + void @@ -460,7 +460,7 @@ - + bool @@ -484,7 +484,7 @@ - + void @@ -498,7 +498,7 @@ - + bool @@ -515,7 +515,7 @@ - + bool @@ -545,7 +545,7 @@ - + @@ -553,7 +553,7 @@ - + iDynTree::VisualizeraddModel iDynTree::Visualizercamera diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1Constraint.xml b/xml/classiDynTree_1_1optimalcontrol_1_1Constraint.xml index 261b46d494..f62311bb69 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1Constraint.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1Constraint.xml @@ -665,7 +665,7 @@ Evaluate constraint second partial derivative wrt the state variables. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x^2}$ +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x^2}$ time @@ -744,7 +744,7 @@ Evaluate constraint second partial derivative wrt the control. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial u^2}$ +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial u^2}$ time @@ -823,7 +823,7 @@ Evaluate constraint second partial derivative wrt the state and control. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. time diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1ConstraintsGroup.xml b/xml/classiDynTree_1_1optimalcontrol_1_1ConstraintsGroup.xml index 1942261315..fa0c113ea9 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1ConstraintsGroup.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1ConstraintsGroup.xml @@ -765,7 +765,7 @@ Evaluate constraint second partial derivative wrt the state variables. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x^2}$ +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x^2}$ time @@ -843,7 +843,7 @@ Evaluate constraint second partial derivative wrt the control. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial u^2}$ +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial u^2}$ time @@ -921,7 +921,7 @@ Evaluate constraint second partial derivative wrt the state and control. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. time @@ -1143,7 +1143,7 @@ This class is still in active development, and so API interface can change between iDynTree versions. -This class allows to define a set of constraints which are enabled only for a particular time range. This allow to change the constraint structure depending on time. Given a specific time instant, only one constraint is enabled (the one whose TimeRange contains the instant and has the higher initTime). If the specified time instant does not fall into any time constraint time range, a dummy constraint wil be evaluated, i.e. $ -1 \leq 0 \leq 1 $. All the constraints that will be added to the group should have dimension at most equal to maxConstraintSize. If the constraint size is smaller than the maxConstraintSize, dummy constraints as the above will be added on the bottom. This allow to keep a constant structure even if the constraints have different dimensions. A typical example is when a constraint is enabled only for a certain period of time. +This class allows to define a set of constraints which are enabled only for a particular time range. This allow to change the constraint structure depending on time. Given a specific time instant, only one constraint is enabled (the one whose TimeRange contains the instant and has the higher initTime). If the specified time instant does not fall into any time constraint time range, a dummy constraint wil be evaluated, i.e. $ -1 \leq 0 \leq 1 $. All the constraints that will be added to the group should have dimension at most equal to maxConstraintSize. If the constraint size is smaller than the maxConstraintSize, dummy constraints as the above will be added on the bottom. This allow to keep a constant structure even if the constraints have different dimensions. A typical example is when a constraint is enabled only for a certain period of time. diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1Cost.xml b/xml/classiDynTree_1_1optimalcontrol_1_1Cost.xml index 959a8fb0c4..4dd5352503 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1Cost.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1Cost.xml @@ -174,7 +174,7 @@ Evaluate cost first partial derivative wrt the state. -It is the result of $\frac{\partial g(t, x, u)}{\partial x}$ +It is the result of $\frac{\partial g(t, x, u)}{\partial x}$ time @@ -242,7 +242,7 @@ Evaluate cost first partial derivative wrt the control variables. -It is the result of $\frac{\partial g(t, x, u)}{\partial u}$ +It is the result of $\frac{\partial g(t, x, u)}{\partial u}$ time @@ -310,7 +310,7 @@ Evaluate cost second partial derivative wrt the state variables. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x^2}$ +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x^2}$ time @@ -378,7 +378,7 @@ Evaluate cost second partial derivative wrt the control. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial u^2}$ +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial u^2}$ time @@ -446,7 +446,7 @@ Evaluate cost second partial derivative wrt the state and control. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. time diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1DynamicalSystem.xml b/xml/classiDynTree_1_1optimalcontrol_1_1DynamicalSystem.xml index b978c8867e..aa181091fa 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1DynamicalSystem.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1DynamicalSystem.xml @@ -193,7 +193,7 @@ Computes the system dynamics. -It return $ f(t,x) $. Notice that here the dependency from the control input is removed, so that basically we are assuming an autonomous system. If the system is controlled, the control input will be set separately with the method setControlInput. This was necessary since the Integrator class needs an autonomous system to be integrated. See ControlledDynamicalSystem class in case you want to join a DynamicalSystem with a Controller. +It return $ f(t,x) $. Notice that here the dependency from the control input is removed, so that basically we are assuming an autonomous system. If the system is controlled, the control input will be set separately with the method setControlInput. This was necessary since the Integrator class needs an autonomous system to be integrated. See ControlledDynamicalSystem class in case you want to join a DynamicalSystem with a Controller. state @@ -402,7 +402,7 @@ Compute the partial derivative of the state dynamics wrt the state. -Namely it computes, $ \frac{\partial f(t,x,u)}{\partial x}$. By default it return false; +Namely it computes, $ \frac{\partial f(t,x,u)}{\partial x}$. By default it return false; state @@ -458,7 +458,7 @@ Compute the partial derivative of the state dynamics wrt the control. -Namely it computes, $ \frac{\partial f(t,x,u)}{\partial u}$. By default it return false; +Namely it computes, $ \frac{\partial f(t,x,u)}{\partial u}$. By default it return false; state @@ -580,7 +580,7 @@ Evaluate the dynamics second partial derivative wrt the state variables. -It is the result of $\frac{\partial^2 f(t, x, u)}{\partial x^2}$ +It is the result of $\frac{\partial^2 f(t, x, u)}{\partial x^2}$ time @@ -647,7 +647,7 @@ Evaluate the dynamics second partial derivative wrt the control. -It is the result of $\frac{\partial^2 f(t, x, u)}{\partial u^2}$ +It is the result of $\frac{\partial^2 f(t, x, u)}{\partial u^2}$ time @@ -714,7 +714,7 @@ Evaluate the dynamics second partial derivative wrt the state and control. -It is the result of $\frac{\partial^2 f(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. +It is the result of $\frac{\partial^2 f(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. time @@ -861,7 +861,7 @@ This class is still in active development, and so API interface can change between iDynTree versions. -It defines a continuos time dynamical system, i.e. $ \dot{x} = f(t,x,u) $ Inherit publicly from this class in order to define your custiom dynamical system. +It defines a continuos time dynamical system, i.e. $ \dot{x} = f(t,x,u) $ Inherit publicly from this class in order to define your custiom dynamical system. diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1L2NormCost.xml b/xml/classiDynTree_1_1optimalcontrol_1_1L2NormCost.xml index add6022f38..b4bc54e2dc 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1L2NormCost.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1L2NormCost.xml @@ -396,7 +396,7 @@ Evaluate cost first partial derivative wrt the state. -It is the result of $\frac{\partial g(t, x, u)}{\partial x}$ +It is the result of $\frac{\partial g(t, x, u)}{\partial x}$ time @@ -463,7 +463,7 @@ Evaluate cost first partial derivative wrt the control variables. -It is the result of $\frac{\partial g(t, x, u)}{\partial u}$ +It is the result of $\frac{\partial g(t, x, u)}{\partial u}$ time @@ -530,7 +530,7 @@ Evaluate cost second partial derivative wrt the state variables. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x^2}$ +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x^2}$ time @@ -597,7 +597,7 @@ Evaluate cost second partial derivative wrt the control. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial u^2}$ +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial u^2}$ time @@ -664,7 +664,7 @@ Evaluate cost second partial derivative wrt the state and control. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. time diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1LinearConstraint.xml b/xml/classiDynTree_1_1optimalcontrol_1_1LinearConstraint.xml index 3dbeabb4eb..d2015b6781 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1LinearConstraint.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1LinearConstraint.xml @@ -448,7 +448,7 @@ Evaluate constraint second partial derivative wrt the state variables. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x^2}$ +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x^2}$ time @@ -527,7 +527,7 @@ Evaluate constraint second partial derivative wrt the control. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial u^2}$ +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial u^2}$ time @@ -606,7 +606,7 @@ Evaluate constraint second partial derivative wrt the state and control. -It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. +It is the result of $\sum \lambda_i \frac{\partial^2 c(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. time diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1LinearSystem.xml b/xml/classiDynTree_1_1optimalcontrol_1_1LinearSystem.xml index 28ae16aaf5..32cdbb8b84 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1LinearSystem.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1LinearSystem.xml @@ -190,7 +190,7 @@ Computes the system dynamics. -It return $ f(t,x) $. Notice that here the dependency from the control input is removed, so that basically we are assuming an autonomous system. If the system is controlled, the control input will be set separately with the method setControlInput. This was necessary since the Integrator class needs an autonomous system to be integrated. See ControlledDynamicalSystem class in case you want to join a DynamicalSystem with a Controller. +It return $ f(t,x) $. Notice that here the dependency from the control input is removed, so that basically we are assuming an autonomous system. If the system is controlled, the control input will be set separately with the method setControlInput. This was necessary since the Integrator class needs an autonomous system to be integrated. See ControlledDynamicalSystem class in case you want to join a DynamicalSystem with a Controller. state @@ -245,7 +245,7 @@ Compute the partial derivative of the state dynamics wrt the state. -Namely it computes, $ \frac{\partial f(t,x,u)}{\partial x}$. By default it return false; +Namely it computes, $ \frac{\partial f(t,x,u)}{\partial x}$. By default it return false; state @@ -301,7 +301,7 @@ Compute the partial derivative of the state dynamics wrt the control. -Namely it computes, $ \frac{\partial f(t,x,u)}{\partial u}$. By default it return false; +Namely it computes, $ \frac{\partial f(t,x,u)}{\partial u}$. By default it return false; state @@ -423,7 +423,7 @@ Evaluate the dynamics second partial derivative wrt the state variables. -It is the result of $\frac{\partial^2 f(t, x, u)}{\partial x^2}$ +It is the result of $\frac{\partial^2 f(t, x, u)}{\partial x^2}$ time @@ -490,7 +490,7 @@ Evaluate the dynamics second partial derivative wrt the control. -It is the result of $\frac{\partial^2 f(t, x, u)}{\partial u^2}$ +It is the result of $\frac{\partial^2 f(t, x, u)}{\partial u^2}$ time @@ -557,7 +557,7 @@ Evaluate the dynamics second partial derivative wrt the state and control. -It is the result of $\frac{\partial^2 f(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. +It is the result of $\frac{\partial^2 f(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. time diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1QuadraticLikeCost.xml b/xml/classiDynTree_1_1optimalcontrol_1_1QuadraticLikeCost.xml index 8238d0e268..13c50cc0ea 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1QuadraticLikeCost.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1QuadraticLikeCost.xml @@ -271,7 +271,7 @@ Evaluate cost first partial derivative wrt the state. -It is the result of $\frac{\partial g(t, x, u)}{\partial x}$ +It is the result of $\frac{\partial g(t, x, u)}{\partial x}$ time @@ -338,7 +338,7 @@ Evaluate cost first partial derivative wrt the control variables. -It is the result of $\frac{\partial g(t, x, u)}{\partial u}$ +It is the result of $\frac{\partial g(t, x, u)}{\partial u}$ time @@ -405,7 +405,7 @@ Evaluate cost second partial derivative wrt the state variables. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x^2}$ +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x^2}$ time @@ -472,7 +472,7 @@ Evaluate cost second partial derivative wrt the control. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial u^2}$ +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial u^2}$ time @@ -539,7 +539,7 @@ Evaluate cost second partial derivative wrt the state and control. -It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. +It is the result of $\frac{\partial^2 g(t, x, u)}{\partial x \partial u}$, thus it has number of rows equals to the number of states and number of cols equal to the number of control inputs. time diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1ForwardEuler.xml b/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1ForwardEuler.xml index 2009921770..ae342ce6dc 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1ForwardEuler.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1ForwardEuler.xml @@ -404,8 +404,8 @@ Evaluate the collocation constraint. -In some optimal control solvers, like the MultipleShootingSolver, we need to discretize the dynamical system associated to the optimal control problem. This function evaluates the discretization error according to specified integration method. The Integrator, when integrating a dynamical system, is performing the following discretization: \[ x_{k+1} = \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) \] where $ x_{k+1}$ is the discretized output. For example, using forward euler, we would have \[ x_{k+1} = x_k + f(t, x, u)\mathrm{d}T. \] -This function returns the result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. +In some optimal control solvers, like the MultipleShootingSolver, we need to discretize the dynamical system associated to the optimal control problem. This function evaluates the discretization error according to specified integration method. The Integrator, when integrating a dynamical system, is performing the following discretization: \[ x_{k+1} = \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) \] where $ x_{k+1}$ is the discretized output. For example, using forward euler, we would have \[ x_{k+1} = x_k + f(t, x, u)\mathrm{d}T. \] +This function returns the result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. time @@ -419,7 +419,7 @@ collocationPoints -A vector containing $x_k$ and $x_{k+1}$. Notice that $x_{k+1}$ corresponds to the state at instant (time + dT). +A vector containing $x_k$ and $x_{k+1}$. Notice that $x_{k+1}$ corresponds to the state at instant (time + dT). @@ -427,7 +427,7 @@ controlInputs -A vector containing $u_k$ and $u_{k+1}$. Notice that $u_{k+1}$ is supposed to be applied at instant (time + dT). +A vector containing $u_k$ and $u_{k+1}$. Notice that $u_{k+1}$ is supposed to be applied at instant (time + dT). @@ -435,7 +435,7 @@ dT -The time distance between $x_k$ and $x_{k+1}$. +The time distance between $x_k$ and $x_{k+1}$. @@ -443,7 +443,7 @@ constraintValue -The result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. +The result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1ImplicitTrapezoidal.xml b/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1ImplicitTrapezoidal.xml index e9560b3e8b..5c5e796bc3 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1ImplicitTrapezoidal.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1ImplicitTrapezoidal.xml @@ -417,8 +417,8 @@ Evaluate the collocation constraint. -In some optimal control solvers, like the MultipleShootingSolver, we need to discretize the dynamical system associated to the optimal control problem. This function evaluates the discretization error according to specified integration method. The Integrator, when integrating a dynamical system, is performing the following discretization: \[ x_{k+1} = \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) \] where $ x_{k+1}$ is the discretized output. For example, using forward euler, we would have \[ x_{k+1} = x_k + f(t, x, u)\mathrm{d}T. \] -This function returns the result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. +In some optimal control solvers, like the MultipleShootingSolver, we need to discretize the dynamical system associated to the optimal control problem. This function evaluates the discretization error according to specified integration method. The Integrator, when integrating a dynamical system, is performing the following discretization: \[ x_{k+1} = \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) \] where $ x_{k+1}$ is the discretized output. For example, using forward euler, we would have \[ x_{k+1} = x_k + f(t, x, u)\mathrm{d}T. \] +This function returns the result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. time @@ -432,7 +432,7 @@ collocationPoints -A vector containing $x_k$ and $x_{k+1}$. Notice that $x_{k+1}$ corresponds to the state at instant (time + dT). +A vector containing $x_k$ and $x_{k+1}$. Notice that $x_{k+1}$ corresponds to the state at instant (time + dT). @@ -440,7 +440,7 @@ controlInputs -A vector containing $u_k$ and $u_{k+1}$. Notice that $u_{k+1}$ is supposed to be applied at instant (time + dT). +A vector containing $u_k$ and $u_{k+1}$. Notice that $u_{k+1}$ is supposed to be applied at instant (time + dT). @@ -448,7 +448,7 @@ dT -The time distance between $x_k$ and $x_{k+1}$. +The time distance between $x_k$ and $x_{k+1}$. @@ -456,7 +456,7 @@ constraintValue -The result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. +The result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. diff --git a/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1Integrator.xml b/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1Integrator.xml index 673a74a294..98cbe8b8fb 100644 --- a/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1Integrator.xml +++ b/xml/classiDynTree_1_1optimalcontrol_1_1integrators_1_1Integrator.xml @@ -382,8 +382,8 @@ Evaluate the collocation constraint. -In some optimal control solvers, like the MultipleShootingSolver, we need to discretize the dynamical system associated to the optimal control problem. This function evaluates the discretization error according to specified integration method. The Integrator, when integrating a dynamical system, is performing the following discretization: \[ x_{k+1} = \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) \] where $ x_{k+1}$ is the discretized output. For example, using forward euler, we would have \[ x_{k+1} = x_k + f(t, x, u)\mathrm{d}T. \] -This function returns the result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. +In some optimal control solvers, like the MultipleShootingSolver, we need to discretize the dynamical system associated to the optimal control problem. This function evaluates the discretization error according to specified integration method. The Integrator, when integrating a dynamical system, is performing the following discretization: \[ x_{k+1} = \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) \] where $ x_{k+1}$ is the discretized output. For example, using forward euler, we would have \[ x_{k+1} = x_k + f(t, x, u)\mathrm{d}T. \] +This function returns the result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. time @@ -397,7 +397,7 @@ collocationPoints -A vector containing $x_k$ and $x_{k+1}$. Notice that $x_{k+1}$ corresponds to the state at instant (time + dT). +A vector containing $x_k$ and $x_{k+1}$. Notice that $x_{k+1}$ corresponds to the state at instant (time + dT). @@ -405,7 +405,7 @@ controlInputs -A vector containing $u_k$ and $u_{k+1}$. Notice that $u_{k+1}$ is supposed to be applied at instant (time + dT). +A vector containing $u_k$ and $u_{k+1}$. Notice that $u_{k+1}$ is supposed to be applied at instant (time + dT). @@ -413,7 +413,7 @@ dT -The time distance between $x_k$ and $x_{k+1}$. +The time distance between $x_k$ and $x_{k+1}$. @@ -421,7 +421,7 @@ constraintValue -The result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. +The result of $ \phi(x_k, x_{k+1}, u_k, u_{k+1}, t) - x_{k+1}$. diff --git a/xml/classinternal_1_1kinematics_1_1InverseKinematicsData.xml b/xml/classinternal_1_1kinematics_1_1InverseKinematicsData.xml index 47c30e2ab9..09754d7cd5 100644 --- a/xml/classinternal_1_1kinematics_1_1InverseKinematicsData.xml +++ b/xml/classinternal_1_1kinematics_1_1InverseKinematicsData.xml @@ -584,7 +584,7 @@ -joint configuration $ q_j \in \mathbb{R}^n $ +joint configuration $ q_j \in \mathbb{R}^n $ @@ -598,7 +598,7 @@ -base position $ {}^w H_{base} \in SE(3) $ +base position $ {}^w H_{base} \in SE(3) $ @@ -612,7 +612,7 @@ -joint velotiy $ \dot{q}_j \in \mathbb{R}^n $ +joint velotiy $ \dot{q}_j \in \mathbb{R}^n $ @@ -626,7 +626,7 @@ -base velocity $ [\dot{p}, {}^I \omega] \in se(3) $ +base velocity $ [\dot{p}, {}^I \omega] \in se(3) $ diff --git a/xml/classinternal_1_1kinematics_1_1InverseKinematicsNLP.xml b/xml/classinternal_1_1kinematics_1_1InverseKinematicsNLP.xml index 2e1edcc555..0d8a127457 100644 --- a/xml/classinternal_1_1kinematics_1_1InverseKinematicsNLP.xml +++ b/xml/classinternal_1_1kinematics_1_1InverseKinematicsNLP.xml @@ -428,7 +428,7 @@ Map between RPY angles and angular velocity in the inertial frame. -The angular velocity $ \omega $ is related with the derivative of the RPY angles by a 3x3 matrix, i.e. \[ {}^I \omega = M(w) \frac{d w}{dt}, \] where $ w \in \mathbb{R}^3 $ are the roll, pitch and yaw angles. +The angular velocity $ \omega $ is related with the derivative of the RPY angles by a 3x3 matrix, i.e. \[ {}^I \omega = M(w) \frac{d w}{dt}, \] where $ w \in \mathbb{R}^3 $ are the roll, pitch and yaw angles. rpyAngles @@ -1088,7 +1088,7 @@ Implementation of the inverse kinematics with IPOPT. -Implements the following optimization problem \begin{align} \min_{x} & \sum_i || {}^w H_{f_i} ( {}^w H_{f_i}^d)^{-1} ||^2 + w_q || q_j - q_j^d ||^2 \\ \text{s.t.} & {}^w H_{f_i} = {}^w H_{f_i}^d \\ & q_{min} \leq q \leq q_{max} \end{align} where \begin{align} & q = \{ {}^w H_{base}, q_j\} \in SE(3) \times \mathbb{R}^n \\ & {}^w H_{f_i} \in SE(3) \end{align} +Implements the following optimization problem \begin{align} \min_{x} & \sum_i || {}^w H_{f_i} ( {}^w H_{f_i}^d)^{-1} ||^2 + w_q || q_j - q_j^d ||^2 \\ \text{s.t.} & {}^w H_{f_i} = {}^w H_{f_i}^d \\ & q_{min} \leq q \leq q_{max} \end{align} where \begin{align} & q = \{ {}^w H_{base}, q_j\} \in SE(3) \times \mathbb{R}^n \\ & {}^w H_{f_i} \in SE(3) \end{align} A target (entirely or partially, with partial meaning the two components composing a tranform, i.e. position and orientation) can be enforced by either considering it as a constraint or as a cost Implementation details this class coordinates with InverseKinematicsData to manages internal data In particular to manages constraints and targets it uses an std::map which is an ordered container. Once the order is defined at configuration time, it is exploited during the optimization by iterating on its elements. As this order is the same as the IPOPT variables the fact that we use a map instead of an unordered_map (which is faster at construction and for random access) is relevant. diff --git a/xml/classinternal_1_1kinematics_1_1TransformConstraint.xml b/xml/classinternal_1_1kinematics_1_1TransformConstraint.xml index a56c5ab353..08caf28484 100644 --- a/xml/classinternal_1_1kinematics_1_1TransformConstraint.xml +++ b/xml/classinternal_1_1kinematics_1_1TransformConstraint.xml @@ -757,7 +757,7 @@ Class representing a constraint (full or partial) on a transform between a given frame and the absolute frame. -The constraint can be of the following type, where we indicate with $A$ the absolute (world) frame and with $C$ the constrained frame. +The constraint can be of the following type, where we indicate with $A$ the absolute (world) frame and with $C$ the constrained frame. Full Transform constraint: the transform ${}^A H_C$ is constrained to a given constant value. Rotation Constraint: the rotation ${}^A R_C$ is constrained to a given constant value. Position Constraint: the linear position ${}^A o_C$ is constrained to a given constant value. diff --git a/xml/group__iDynTreeExperimental.xml b/xml/group__iDynTreeExperimental.xml index c2b150fa93..5e46550abb 100644 --- a/xml/group__iDynTreeExperimental.xml +++ b/xml/group__iDynTreeExperimental.xml @@ -97,7 +97,7 @@ -$ a_i $ Note that is is the spatial proper acceleration expressed, i.e. the time derivative of the left-trivialized velocity minus the gravity expressed in body frame. $ f^B_i $ +$ a_i $ Note that is is the spatial proper acceleration expressed, i.e. the time derivative of the left-trivialized velocity minus the gravity expressed in body frame. $ f^B_i $ @@ -105,7 +105,7 @@ -$ f_i $ +$ f_i $ @@ -113,7 +113,7 @@ -$ \tau_i $ +$ \tau_i $ @@ -121,7 +121,7 @@ -$ f^x_i $ +$ f^x_i $ @@ -129,7 +129,7 @@ -$ \ddot{q}_i $ +$ \ddot{q}_i $ diff --git a/xml/group__iDynTreeModel.xml b/xml/group__iDynTreeModel.xml index 721e32b12c..93654177bb 100644 --- a/xml/group__iDynTreeModel.xml +++ b/xml/group__iDynTreeModel.xml @@ -149,7 +149,7 @@ linksVel -Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). +Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). @@ -157,7 +157,7 @@ linksProperAcc -Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . See iDynTree::LinkNetExternalWrenches . +Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . See iDynTree::LinkNetExternalWrenches . @@ -165,7 +165,7 @@ linkExtForces -Vector of external 6D force/torques applied to the links. For each link $L$, the corresponding external force is ${}_L \mathrm{f}^x_L$, i.e. the force that the enviroment applies on the on the link $L$, expressed in the link frame $L$. +Vector of external 6D force/torques applied to the links. For each link $L$, the corresponding external force is ${}_L \mathrm{f}^x_L$, i.e. the force that the enviroment applies on the on the link $L$, expressed in the link frame $L$. @@ -295,7 +295,7 @@ referenceFrame_H_link -Position of each link w.r.t. to given frame D (tipically an inertial frame A, the base frame B or the mixed frame B[A]). For each link $L$, the corresponding transform is ${}^D H_L$. +Position of each link w.r.t. to given frame D (tipically an inertial frame A, the base frame B or the mixed frame B[A]). For each link $L$, the corresponding transform is ${}^D H_L$. @@ -303,7 +303,7 @@ linksVel -Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). +Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). @@ -311,7 +311,7 @@ linksProperAcc -Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . +Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . diff --git a/xml/index.xml b/xml/index.xml index 998998d452..152a2f8c12 100644 --- a/xml/index.xml +++ b/xml/index.xml @@ -45,6 +45,7 @@ iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions conversionType + shapesToApproximate iDynTree::ArticulatedBodyAlgorithmInternalBuffers S @@ -1408,6 +1409,7 @@ setModelColor resetModelColor setLinkColor + setVisualColor setLinkTransparency setModelTransparency resetLinkColor @@ -4258,16 +4260,12 @@ iCub::iKin iDynTree - InverseKinematicsRotationParametrization - InverseKinematicsRotationParametrizationQuaternion - InverseKinematicsRotationParametrizationRollPitchYaw - InverseKinematicsTreatTargetAsConstraint - InverseKinematicsTreatTargetAsConstraintNone - InverseKinematicsTreatTargetAsConstraintPositionOnly - InverseKinematicsTreatTargetAsConstraintRotationOnly - InverseKinematicsTreatTargetAsConstraintFull - ApproximateSolidShapesWithPrimitiveShapeConversionType - ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes + MatrixStorageOrdering + RowMajor + ColumnMajor + LightType + POINT_LIGHT + DIRECTIONAL_LIGHT FrameVelocityRepresentation INERTIAL_FIXED_REPRESENTATION BODY_FIXED_REPRESENTATION @@ -4281,6 +4279,14 @@ GYROSCOPE THREE_AXIS_ANGULAR_ACCELEROMETER THREE_AXIS_FORCE_TORQUE_CONTACT + InverseKinematicsRotationParametrization + InverseKinematicsRotationParametrizationQuaternion + InverseKinematicsRotationParametrizationRollPitchYaw + InverseKinematicsTreatTargetAsConstraint + InverseKinematicsTreatTargetAsConstraintNone + InverseKinematicsTreatTargetAsConstraintPositionOnly + InverseKinematicsTreatTargetAsConstraintRotationOnly + InverseKinematicsTreatTargetAsConstraintFull BerdyVariants ORIGINAL_BERDY_FIXED_BASE BERDY_FLOATING_BASE @@ -4313,39 +4319,12 @@ PURE_FORCE PURE_FORCE_WITH_KNOWN_DIRECTION NO_UNKNOWNS - MatrixStorageOrdering - RowMajor - ColumnMajor - LightType - POINT_LIGHT - DIRECTIONAL_LIGHT - LinAcceleration - AngVelocity - IJointPtr - IJointConstPtr - LinkIndex - JointIndex - DOFIndex - FrameIndex - TraversalIndex - LinkPtr - LinkConstPtr - LinkNetExternalWrenches - LinkInternalWrenches - LinkNetTotalWrenchesWithoutGravity - LinkCompositeRigidBodyInertias - LinkProperAccArray - MovableJointImpl1 - MovableJointImpl2 - MovableJointImpl3 - MovableJointImpl4 - MovableJointImpl5 - MovableJointImpl6 - LinearAccelerometerMeasurements - GyroscopeMeasurements - MagnetometerMeasurements - UnitQuaternion - RPY + ApproximateSolidShapesWithPrimitiveShapeConversionType + ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes + ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate + VisualShapes + CollisionShapes + BothShapes iDynTreeEigenVector iDynTreeEigenConstVector iDynTreeEigenMatrix @@ -4354,7 +4333,9 @@ iDynTreeEigenConstMatrixMap LinearMotionVector3 LinVelocity + LinAcceleration AngularMotionVector3 + AngVelocity AngAcceleration LinearForceVector3 LinMomentum @@ -4377,6 +4358,34 @@ Vector6 Vector10 Vector16 + IJointPtr + IJointConstPtr + LinkIndex + JointIndex + DOFIndex + FrameIndex + TraversalIndex + LinkPtr + LinkConstPtr + LinkNetExternalWrenches + LinkInternalWrenches + LinkNetTotalWrenchesWithoutGravity + LinkCompositeRigidBodyInertias + LinkProperAccArray + MovableJointImpl1 + MovableJointImpl2 + MovableJointImpl3 + MovableJointImpl4 + MovableJointImpl5 + MovableJointImpl6 + LinearAccelerometerMeasurements + GyroscopeMeasurements + MagnetometerMeasurements + UnitQuaternion + RPY + dynamic_extent + UNKNOWN + DEFAULT_TOL LINK_INVALID_INDEX LINK_INVALID_NAME JOINT_INVALID_INDEX @@ -4390,71 +4399,6 @@ output_dimensions_with_magnetometer output_dimensions_without_magnetometer input_dimensions - dynamic_extent - UNKNOWN - DEFAULT_TOL - sizeOfRotationParametrization - estimateInertialParametersFromLinkBoundingBoxesAndTotalMass - computeBoundingBoxFromShape - computeBoxVertices - approximateSolidShapesWithPrimitiveShape - TransformFromDHCraig1989 - TransformFromDH - ExtractDHChainFromModel - CreateModelFromDHChain - ComputeLinearAndAngularMomentum - ComputeLinearAndAngularMomentumDerivativeBias - RNEADynamicPhase - CompositeRigidBodyAlgorithm - ArticulatedBodyAlgorithm - InverseDynamicsInertialParametersRegressor - ForwardDynamicsLinearization - operator* - operator* - biasWrenchVelocityDerivative - ForwardPositionKinematics - ForwardPositionKinematics - ForwardVelAccKinematics - ForwardPosVelAccKinematics - ForwardPosVelKinematics - ForwardAccKinematics - ForwardBiasAccKinematics - ForwardBiasAccKinematics - FreeFloatingJacobianUsingLinkPos - createReducedModelAndSensors - getRandomLink - addRandomLinkToModel - addRandomAdditionalFrameToModel - getRandomLinkIndexOfModel - getRandomLinkOfModel - int2string - getRandomModel - getRandomChain - getRandomJointPositions - getRandomInverseDynamicsInputs - removeFakeLinks - createReducedModel - createReducedModel - createModelWithNormalizedJointNumbering - extractSubModel - addValidNamesToAllSolidShapes - moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink - predictSensorsMeasurements - predictSensorsMeasurementsFromRawBuffers - predictSensorsMeasurements - predictSensorsMeasurementsFromRawBuffers - isLinkSensor - isJointSensor - getSensorTypeSize - computeTransformToTraversalBase - computeTransformToSubModelBase - DHChainFromiKinChain - modelFromiKinChain - iKinLimbFromModel - iKinLimbFromDHChain - iKinLink2DHLink - DHLink2iKinLink - fromSkinDynLibToiDynTreeHelper parseRotationMatrix toiDynTree toYarp @@ -4474,15 +4418,13 @@ toEigen toEigen toEigen - isLinkBerdyDynamicVariable - isJointBerdyDynamicVariable - isDOFBerdyDynamicVariable - estimateExternalWrenchesWithoutInternalFT - estimateExternalWrenches - dynamicsEstimationForwardVelAccKinematics - dynamicsEstimationForwardVelKinematics - computeLinkNetWrenchesWithoutGravity - estimateLinkContactWrenchesFromLinkNetExternalWrenches + DHChainFromiKinChain + modelFromiKinChain + iKinLimbFromModel + iKinLimbFromDHChain + iKinLink2DHLink + DHLink2iKinLink + fromSkinDynLibToiDynTreeHelper toEigen toEigen toEigen @@ -4589,6 +4531,66 @@ deg2rad rad2deg checkDoublesAreEqual + TransformFromDHCraig1989 + TransformFromDH + ExtractDHChainFromModel + CreateModelFromDHChain + ComputeLinearAndAngularMomentum + ComputeLinearAndAngularMomentumDerivativeBias + RNEADynamicPhase + CompositeRigidBodyAlgorithm + ArticulatedBodyAlgorithm + InverseDynamicsInertialParametersRegressor + ForwardDynamicsLinearization + operator* + operator* + biasWrenchVelocityDerivative + ForwardPositionKinematics + ForwardPositionKinematics + ForwardVelAccKinematics + ForwardPosVelAccKinematics + ForwardPosVelKinematics + ForwardAccKinematics + ForwardBiasAccKinematics + ForwardBiasAccKinematics + FreeFloatingJacobianUsingLinkPos + createReducedModelAndSensors + getRandomLink + addRandomLinkToModel + addRandomAdditionalFrameToModel + getRandomLinkIndexOfModel + getRandomLinkOfModel + int2string + getRandomModel + getRandomChain + getRandomJointPositions + getRandomInverseDynamicsInputs + removeFakeLinks + createReducedModel + createReducedModel + createModelWithNormalizedJointNumbering + extractSubModel + addValidNamesToAllSolidShapes + moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink + predictSensorsMeasurements + predictSensorsMeasurementsFromRawBuffers + predictSensorsMeasurements + predictSensorsMeasurementsFromRawBuffers + isLinkSensor + isJointSensor + getSensorTypeSize + computeTransformToTraversalBase + computeTransformToSubModelBase + sizeOfRotationParametrization + isLinkBerdyDynamicVariable + isJointBerdyDynamicVariable + isDOFBerdyDynamicVariable + estimateExternalWrenchesWithoutInternalFT + estimateExternalWrenches + dynamicsEstimationForwardVelAccKinematics + dynamicsEstimationForwardVelKinematics + computeLinkNetWrenchesWithoutGravity + estimateLinkContactWrenchesFromLinkNetExternalWrenches dofsListFromURDF dofsListFromURDFString URDFFromModel @@ -4603,6 +4605,10 @@ vector3FromString vectorToString vector4FromString + estimateInertialParametersFromLinkBoundingBoxesAndTotalMass + computeBoundingBoxFromShape + computeBoxVertices + approximateSolidShapesWithPrimitiveShape iDynTree::details operator+ @@ -4726,7 +4732,9 @@ GeomVector3.h LinearMotionVector3 LinVelocity + LinAcceleration AngularMotionVector3 + AngVelocity AngAcceleration LinearForceVector3 LinMomentum @@ -5137,7 +5145,6 @@ TransformConstraint.h AccelerometerSensor.h - LinAcceleration AccelerometerSensor.h @@ -5216,7 +5223,6 @@ FreeFloatingState.h GyroscopeSensor.h - AngVelocity GyroscopeSensor.h @@ -5528,7 +5534,11 @@ ModelTransformersSolidShapes.h ApproximateSolidShapesWithPrimitiveShapeConversionType - ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes + ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes + ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate + VisualShapes + CollisionShapes + BothShapes approximateSolidShapesWithPrimitiveShape MeshcatVisualizer.h diff --git a/xml/namespaceiDynTree.xml b/xml/namespaceiDynTree.xml index dd77d4455c..38e798906b 100644 --- a/xml/namespaceiDynTree.xml +++ b/xml/namespaceiDynTree.xml @@ -2,12 +2,68 @@ iDynTree - iDynTree::BoundingBoxProjectionConstraint - iDynTree::Polygon - iDynTree::Polygon2D - iDynTree::ConvexHullProjectionConstraint - iDynTree::InverseKinematics - iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions + iDynTree::iKinLimbImported + iDynTree::skinDynLibLinkID + iDynTree::iDynTreeLinkAndFrame + iDynTree::skinDynLibConversionsHelper + iDynTree::ArticulatedBodyInertia + iDynTree::Axis + iDynTree::ClassicalAcc + iDynTree::CubicSpline + iDynTree::Direction + iDynTree::is_sparsematrix + iDynTree::is_sparsematrix< iDynTree::SparseMatrix< ordering > > + iDynTree::GeomVector3 + iDynTree::RigidBodyInertiaNonLinearParametrization + iDynTree::MatrixDynSize + iDynTree::MatrixFixSize + iDynTree::MatrixView + iDynTree::Position + iDynTree::Rotation + iDynTree::RotationalInertia + iDynTree::GeodesicL2MeanOptions + iDynTree::Span + iDynTree::SparseMatrix + iDynTree::SpatialAcc + iDynTree::SpatialForceVector + iDynTree::SpatialInertia + iDynTree::SpatialMomentum + iDynTree::Dummy + iDynTree::SpatialMotionVector + iDynTree::SpatialMotionForceVectorT_traits + iDynTree::SpatialMotionForceVectorT_traits< SpatialMotionVector > + iDynTree::SpatialMotionForceVectorT_traits< SpatialForceVector > + iDynTree::DualSpace + iDynTree::DualSpace< SpatialMotionVector > + iDynTree::DualSpace< SpatialForceVector > + iDynTree::SpatialVector + iDynTree::TestMatrixMismatch + iDynTree::Transform + iDynTree::TransformDerivative + iDynTree::Triplet + iDynTree::Triplets + iDynTree::Twist + iDynTree::IndexRange + iDynTree::VectorDynSize + iDynTree::VectorFixSize + iDynTree::Wrench + iDynTree::MeshcatVisualizer + iDynTree::ICameraAnimator + iDynTree::ICamera + iDynTree::ColorViz + iDynTree::PixelViz + iDynTree::ILight + iDynTree::IEnvironment + iDynTree::IJetsVisualization + iDynTree::ILabel + iDynTree::IVectorsVisualization + iDynTree::IFrameVisualization + iDynTree::IShapeVisualization + iDynTree::IModelVisualization + iDynTree::ITexture + iDynTree::VisualizerOptions + iDynTree::ITexturesHandler + iDynTree::Visualizer iDynTree::AccelerometerSensor iDynTree::ContactWrench iDynTree::LinkContactWrenches @@ -28,7 +84,6 @@ iDynTree::FreeFloatingAcc iDynTree::GyroscopeSensor iDynTree::IJoint - iDynTree::MatrixView iDynTree::JointPosDoubleArray iDynTree::JointDOFsDoubleArray iDynTree::DOFSpatialForceArray @@ -63,11 +118,11 @@ iDynTree::ThreeAxisAngularAccelerometerSensor iDynTree::ThreeAxisForceTorqueContactSensor iDynTree::Traversal - iDynTree::iKinLimbImported - iDynTree::skinDynLibLinkID - iDynTree::iDynTreeLinkAndFrame - iDynTree::skinDynLibConversionsHelper - iDynTree::KinDynComputations + iDynTree::BoundingBoxProjectionConstraint + iDynTree::Polygon + iDynTree::Polygon2D + iDynTree::ConvexHullProjectionConstraint + iDynTree::InverseKinematics iDynTree::AttitudeEstimatorState iDynTree::IAttitudeEstimator iDynTree::AttitudeMahonyFilterParameters @@ -78,7 +133,6 @@ iDynTree::BerdySensor iDynTree::BerdyDynamicVariable iDynTree::BerdyHelper - iDynTree::SparseMatrix iDynTree::BerdySparseMAPSolver iDynTree::BipedFootContactClassifier iDynTree::SchmittParams @@ -92,45 +146,7 @@ iDynTree::DiscreteKalmanFilterHelper iDynTree::SchmittTrigger iDynTree::SimpleLeggedOdometry - iDynTree::ArticulatedBodyInertia - iDynTree::Axis - iDynTree::ClassicalAcc - iDynTree::CubicSpline - iDynTree::Direction - iDynTree::is_sparsematrix - iDynTree::is_sparsematrix< iDynTree::SparseMatrix< ordering > > - iDynTree::GeomVector3 - iDynTree::RigidBodyInertiaNonLinearParametrization - iDynTree::MatrixDynSize - iDynTree::MatrixFixSize - iDynTree::Position - iDynTree::Rotation - iDynTree::RotationalInertia - iDynTree::GeodesicL2MeanOptions - iDynTree::Span - iDynTree::SpatialAcc - iDynTree::SpatialForceVector - iDynTree::SpatialInertia - iDynTree::SpatialMomentum - iDynTree::Dummy - iDynTree::SpatialMotionVector - iDynTree::SpatialMotionForceVectorT_traits - iDynTree::SpatialMotionForceVectorT_traits< SpatialMotionVector > - iDynTree::SpatialMotionForceVectorT_traits< SpatialForceVector > - iDynTree::DualSpace - iDynTree::DualSpace< SpatialMotionVector > - iDynTree::DualSpace< SpatialForceVector > - iDynTree::SpatialVector - iDynTree::TestMatrixMismatch - iDynTree::Transform - iDynTree::TransformDerivative - iDynTree::Triplet - iDynTree::Triplets - iDynTree::Twist - iDynTree::IndexRange - iDynTree::VectorDynSize - iDynTree::VectorFixSize - iDynTree::Wrench + iDynTree::KinDynComputations iDynTree::XMLAttribute iDynTree::XMLDocument iDynTree::XMLElement @@ -156,110 +172,56 @@ iDynTree::GyroscopeSensorHelper iDynTree::URDFDocument iDynTree::VisualElement - iDynTree::MeshcatVisualizer - iDynTree::ICameraAnimator - iDynTree::ICamera - iDynTree::ColorViz - iDynTree::PixelViz - iDynTree::ILight - iDynTree::IEnvironment - iDynTree::IJetsVisualization - iDynTree::ILabel - iDynTree::IVectorsVisualization - iDynTree::IFrameVisualization - iDynTree::IShapeVisualization - iDynTree::IModelVisualization - iDynTree::ITexture - iDynTree::VisualizerOptions - iDynTree::ITexturesHandler - iDynTree::Visualizer + iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions iDynTree::details iDynTree::MatrixViewInternal iDynTree::optimalcontrol iDynTree::optimization iDynTree::SpanUtils - + - InverseKinematicsRotationParametrization - - InverseKinematicsRotationParametrizationQuaternion + MatrixStorageOrdering + + RowMajor -Quaternion parametrization. -In theory this parametrization does not suffer from discontinuity like the, InverseKinematicsRotationParametrizationRollPitchYaw one, but the existing implementation does not work as expected, and so its use is discouraged. See https://github.com/robotology/idyntree/issues/1059 for more details. +Row Major ordering, i.e. matrix is serialized row by row - - InverseKinematicsRotationParametrizationRollPitchYaw + + ColumnMajor -Roll Pitch Yaw parametrization. -This parametrization is the one used by default, but it may not work properly near the points in which the parametrization has discontinuities. +Column Major ordering, i.e. matrix is serialized row by column -type of parametrization for the rotation (SO3) element +Enum describing the possible matrix storage ordering. - + - + - InverseKinematicsTreatTargetAsConstraint - - InverseKinematicsTreatTargetAsConstraintNone - = 0 - - - - - - - InverseKinematicsTreatTargetAsConstraintPositionOnly - = 1 - - - - - - - InverseKinematicsTreatTargetAsConstraintRotationOnly - = 1 << 1 - - - - - - - InverseKinematicsTreatTargetAsConstraintFull - = InverseKinematicsTreatTargetAsConstraintPositionOnly | InverseKinematicsTreatTargetAsConstraintRotationOnly + LightType + + POINT_LIGHT +point light, it has a position in space and radiates light in all directions - -Specify how to solve for the desired target. - - -A target frame can be solved as a constraints (i.e. if it cannot be obtained the problem is unfeasible) or as a cost (best-effort to reach the target) - - - - - - - - ApproximateSolidShapesWithPrimitiveShapeConversionType - - ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes + + DIRECTIONAL_LIGHT +directional light, coming from a direction from an infinite distance @@ -270,7 +232,7 @@ - + @@ -300,10 +262,10 @@ Possible frame velocity representation convention. -Given a link $L$ and an absolute frame $A$, the the possible frame velocity representation are the following: -INERTIAL_FIXED_REPRESENTATION : Velocity representation is ${}^{A} \mathrm{v}_{A,B}$, -BODY_FIXED_REPRESENTATION : Velocity representation is ${}^{B} \mathrm{v}_{A,B}$, -MIXED_REPRESENTATION : Velocity representation is ${}^{B[A]} \mathrm{v}_{A,B}$. +Given a link $L$ and an absolute frame $A$, the the possible frame velocity representation are the following: +INERTIAL_FIXED_REPRESENTATION : Velocity representation is ${}^{A} \mathrm{v}_{A,B}$, +BODY_FIXED_REPRESENTATION : Velocity representation is ${}^{B} \mathrm{v}_{A,B}$, +MIXED_REPRESENTATION : Velocity representation is ${}^{B[A]} \mathrm{v}_{A,B}$. See iDynTree::KinDynComputations documentation for more details. @@ -398,60 +360,135 @@ - + - BerdyVariants - - ORIGINAL_BERDY_FIXED_BASE - = 0 - -Original version of Berdy, as described in: - - -Latella, C.; Kuppuswamy, N.; Romano, F.; Traversaro, S.; Nori, F. Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing. Sensors 2016, 16, 727. http://www.mdpi.com/1424-8220/16/5/727 -The original version of Berdy is assuming that the joint numbering is a regular ordering of links and joints. For this reason the serialization of link/joints quantities follows the one defined in the traversal. -Furthremore, this version assumes that all joints have 1 Degree of freedom, so it does not work for models with fixed joints. - - - - BERDY_FLOATING_BASE - = 1 + InverseKinematicsRotationParametrization + + InverseKinematicsRotationParametrizationQuaternion -Modified version of Berdy for accounting for free floating dynamics and removing the NET_INT_AND_EXT_WRENCHES_ON_LINK_WITHOUT_GRAV from the dynamic variables. +Quaternion parametrization. +In theory this parametrization does not suffer from discontinuity like the, InverseKinematicsRotationParametrizationRollPitchYaw one, but the existing implementation does not work as expected, and so its use is discouraged. See https://github.com/robotology/idyntree/issues/1059 for more details. - - BERDY_FLOATING_BASE_NON_COLLOCATED_EXT_WRENCHES - = 2 + + InverseKinematicsRotationParametrizationRollPitchYaw -Modified version of floating base Berdy for accounting centroidal dynamics constraints towards estimating the external link wrench independently of the internal joint torque estimates. +Roll Pitch Yaw parametrization. +This parametrization is the one used by default, but it may not work properly near the points in which the parametrization has discontinuities. -Enumeration of the Berdy variants implemented in this class. +type of parametrization for the rotation (SO3) element -This class is still in active development, and so API interface can change between iDynTree versions. - - - + - + - BerdyDynamicVariablesTypes - - LINK_BODY_PROPER_ACCELERATION + InverseKinematicsTreatTargetAsConstraint + + InverseKinematicsTreatTargetAsConstraintNone + = 0 + + + + + + + InverseKinematicsTreatTargetAsConstraintPositionOnly + = 1 + + + + + + + InverseKinematicsTreatTargetAsConstraintRotationOnly + = 1 << 1 + + + + + + + InverseKinematicsTreatTargetAsConstraintFull + = InverseKinematicsTreatTargetAsConstraintPositionOnly | InverseKinematicsTreatTargetAsConstraintRotationOnly + + + + + + +Specify how to solve for the desired target. + + +A target frame can be solved as a constraints (i.e. if it cannot be obtained the problem is unfeasible) or as a cost (best-effort to reach the target) + + + + + + + + BerdyVariants + + ORIGINAL_BERDY_FIXED_BASE + = 0 + +Original version of Berdy, as described in: + + +Latella, C.; Kuppuswamy, N.; Romano, F.; Traversaro, S.; Nori, F. Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing. Sensors 2016, 16, 727. http://www.mdpi.com/1424-8220/16/5/727 +The original version of Berdy is assuming that the joint numbering is a regular ordering of links and joints. For this reason the serialization of link/joints quantities follows the one defined in the traversal. +Furthremore, this version assumes that all joints have 1 Degree of freedom, so it does not work for models with fixed joints. + + + + BERDY_FLOATING_BASE + = 1 + +Modified version of Berdy for accounting for free floating dynamics and removing the NET_INT_AND_EXT_WRENCHES_ON_LINK_WITHOUT_GRAV from the dynamic variables. + + + + + + BERDY_FLOATING_BASE_NON_COLLOCATED_EXT_WRENCHES + = 2 + +Modified version of floating base Berdy for accounting centroidal dynamics constraints towards estimating the external link wrench independently of the internal joint torque estimates. + + + + + +Enumeration of the Berdy variants implemented in this class. + + +This class is still in active development, and so API interface can change between iDynTree versions. + + + + + + + + + + BerdyDynamicVariablesTypes + + LINK_BODY_PROPER_ACCELERATION -$ a_i $ Note that is is the spatial proper acceleration expressed, i.e. the time derivative of the left-trivialized velocity minus the gravity expressed in body frame. $ f^B_i $ +$ a_i $ Note that is is the spatial proper acceleration expressed, i.e. the time derivative of the left-trivialized velocity minus the gravity expressed in body frame. $ f^B_i $ @@ -459,7 +496,7 @@ -$ f_i $ +$ f_i $ @@ -467,7 +504,7 @@ -$ \tau_i $ +$ \tau_i $ @@ -475,7 +512,7 @@ -$ f^x_i $ +$ f^x_i $ @@ -483,7 +520,7 @@ -$ \ddot{q}_i $ +$ \ddot{q}_i $ @@ -699,826 +736,864 @@ - + - MatrixStorageOrdering - - RowMajor - - - -Row Major ordering, i.e. matrix is serialized row by row - - - - ColumnMajor + ApproximateSolidShapesWithPrimitiveShapeConversionType + + ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes -Column Major ordering, i.e. matrix is serialized row by column -Enum describing the possible matrix storage ordering. - + - + - LightType - - POINT_LIGHT + ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate + + VisualShapes -point light, it has a position in space and radiates light in all directions - - DIRECTIONAL_LIGHT + + CollisionShapes + + + + + + + BothShapes -directional light, coming from a direction from an infinite distance +Enum class representing which shape should be approximated. +Namely teh visual, collision or both shapes. - + - - LinearMotionVector3 - typedef LinearMotionVector3 iDynTree::LinAcceleration + + Eigen::Map< Eigen::VectorXd > + typedef Eigen::Map<Eigen::VectorXd> iDynTree::iDynTreeEigenVector - LinAcceleration + iDynTreeEigenVector - + - - AngularMotionVector3 - typedef AngularMotionVector3 iDynTree::AngVelocity + + Eigen::Map< const Eigen::VectorXd > + typedef Eigen::Map<const Eigen::VectorXd> iDynTree::iDynTreeEigenConstVector - AngVelocity + iDynTreeEigenConstVector - + - - IJoint * - typedef IJoint* iDynTree::IJointPtr + + Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > + typedef Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> iDynTree::iDynTreeEigenMatrix - IJointPtr + iDynTreeEigenMatrix - + - - const IJoint * - typedef const IJoint* iDynTree::IJointConstPtr + + const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > + typedef const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> iDynTree::iDynTreeEigenConstMatrix - IJointConstPtr + iDynTreeEigenConstMatrix - + - - std::ptrdiff_t - typedef std::ptrdiff_t iDynTree::LinkIndex + + Eigen::Map< iDynTreeEigenMatrix > + typedef Eigen::Map<iDynTreeEigenMatrix> iDynTree::iDynTreeEigenMatrixMap - LinkIndex + iDynTreeEigenMatrixMap - + - - std::ptrdiff_t - typedef std::ptrdiff_t iDynTree::JointIndex + + Eigen::Map< iDynTreeEigenConstMatrix > + typedef Eigen::Map<iDynTreeEigenConstMatrix> iDynTree::iDynTreeEigenConstMatrixMap - JointIndex + iDynTreeEigenConstMatrixMap - + - - std::ptrdiff_t - typedef std::ptrdiff_t iDynTree::DOFIndex + + GeomVector3 + typedef GeomVector3 iDynTree::LinearMotionVector3 - DOFIndex + LinearMotionVector3 - + - - std::ptrdiff_t - typedef std::ptrdiff_t iDynTree::FrameIndex + + LinearMotionVector3 + typedef LinearMotionVector3 iDynTree::LinVelocity - FrameIndex + LinVelocity - + - - std::ptrdiff_t - typedef std::ptrdiff_t iDynTree::TraversalIndex + + LinearMotionVector3 + typedef LinearMotionVector3 iDynTree::LinAcceleration - TraversalIndex + LinAcceleration - + - - Link * - typedef Link* iDynTree::LinkPtr + + GeomVector3 + typedef GeomVector3 iDynTree::AngularMotionVector3 - LinkPtr + AngularMotionVector3 - + - - const Link * - typedef const Link* iDynTree::LinkConstPtr + + AngularMotionVector3 + typedef AngularMotionVector3 iDynTree::AngVelocity - LinkConstPtr + AngVelocity - + - - LinkWrenches - typedef LinkWrenches iDynTree::LinkNetExternalWrenches + + AngularMotionVector3 + typedef AngularMotionVector3 iDynTree::AngAcceleration - LinkNetExternalWrenches + AngAcceleration -Vector of the sum of all the external wrenches excerted on each link. -The wrench returned by operator(i) is the sum of all external wrenches (thus excluding the wrench applied on the link by other links in the model) that the environment applies on the link $i$, expressed ( both orientation and point) with respect to the reference frame of link i. - + - - LinkWrenches - typedef LinkWrenches iDynTree::LinkInternalWrenches + + GeomVector3 + typedef GeomVector3 iDynTree::LinearForceVector3 - LinkInternalWrenches + LinearForceVector3 -Vector of the wrenches acting that a link excert on his parent, given a Traversal. -Given a Traversal with base link b, the wrench returned by operator(i) is the wrench the parent of link i excerts on link i, expressed (both orientation and point) with respect to the reference frame of link i. - + - - LinkWrenches - typedef LinkWrenches iDynTree::LinkNetTotalWrenchesWithoutGravity - - LinkNetTotalWrenchesWithoutGravity + + LinearForceVector3 + typedef LinearForceVector3 iDynTree::LinMomentum + + LinMomentum -Vector of the sum of all the wrenches (both internal and external, excluding gravity) acting on link i, expressed (both orientation and point) with respect to the reference frame of link i. -This is tipically computed as I*a+v*(I*v) , where a is the proper acceleration. - + - - LinkInertias - typedef LinkInertias iDynTree::LinkCompositeRigidBodyInertias + + LinearForceVector3 + typedef LinearForceVector3 iDynTree::Force - LinkCompositeRigidBodyInertias + Force - + - - LinkAccArray - typedef LinkAccArray iDynTree::LinkProperAccArray + + GeomVector3 + typedef GeomVector3 iDynTree::AngularForceVector3 - LinkProperAccArray + AngularForceVector3 -Typedef used when the vector is meant to be a vector of link proper accelerations. - + - - MovableJointImpl< 1, 1 > - typedef MovableJointImpl<1,1> iDynTree::MovableJointImpl1 + + AngularForceVector3 + typedef AngularForceVector3 iDynTree::AngMomentum - MovableJointImpl1 + AngMomentum - + - - MovableJointImpl< 2, 2 > - typedef MovableJointImpl<2,2> iDynTree::MovableJointImpl2 + + AngularForceVector3 + typedef AngularForceVector3 iDynTree::Torque - MovableJointImpl2 + Torque - + - - MovableJointImpl< 3, 3 > - typedef MovableJointImpl<3,3> iDynTree::MovableJointImpl3 + + GeomVector3 + typedef GeomVector3 iDynTree::MotionVector3 - MovableJointImpl3 + MotionVector3 - + - - MovableJointImpl< 4, 4 > - typedef MovableJointImpl<4,4> iDynTree::MovableJointImpl4 + + MatrixFixSize< 1, 6 > + typedef MatrixFixSize<1,6> iDynTree::Matrix1x6 - MovableJointImpl4 + Matrix1x6 - + - - MovableJointImpl< 5, 5 > - typedef MovableJointImpl<5,5> iDynTree::MovableJointImpl5 + + MatrixFixSize< 2, 3 > + typedef MatrixFixSize<2,3> iDynTree::Matrix2x3 - MovableJointImpl5 + Matrix2x3 - + - - MovableJointImpl< 6, 6 > - typedef MovableJointImpl<6,6> iDynTree::MovableJointImpl6 + + MatrixFixSize< 3, 3 > + typedef MatrixFixSize<3,3> iDynTree::Matrix3x3 - MovableJointImpl6 + Matrix3x3 - + - - iDynTree::Vector3 - typedef iDynTree::Vector3 iDynTree::LinearAccelerometerMeasurements + + MatrixFixSize< 4, 4 > + typedef MatrixFixSize<4,4> iDynTree::Matrix4x4 - LinearAccelerometerMeasurements + Matrix4x4 - + - - iDynTree::Vector3 - typedef iDynTree::Vector3 iDynTree::GyroscopeMeasurements + + MatrixFixSize< 6, 1 > + typedef MatrixFixSize<6,1> iDynTree::Matrix6x1 - GyroscopeMeasurements + Matrix6x1 - + - - iDynTree::Vector3 - typedef iDynTree::Vector3 iDynTree::MagnetometerMeasurements + + MatrixFixSize< 6, 6 > + typedef MatrixFixSize<6,6> iDynTree::Matrix6x6 - MagnetometerMeasurements + Matrix6x6 - + - - iDynTree::Vector4 - typedef iDynTree::Vector4 iDynTree::UnitQuaternion + + MatrixFixSize< 6, 10 > + typedef MatrixFixSize<6,10> iDynTree::Matrix6x10 - UnitQuaternion + Matrix6x10 - + - - iDynTree::Vector3 - typedef iDynTree::Vector3 iDynTree::RPY + + MatrixFixSize< 10, 16 > + typedef MatrixFixSize<10,16> iDynTree::Matrix10x16 - RPY + Matrix10x16 - + - - Eigen::Map< Eigen::VectorXd > - typedef Eigen::Map<Eigen::VectorXd> iDynTree::iDynTreeEigenVector + + VectorFixSize< 2 > + typedef VectorFixSize<2> iDynTree::Vector2 - iDynTreeEigenVector + Vector2 - + - - Eigen::Map< const Eigen::VectorXd > - typedef Eigen::Map<const Eigen::VectorXd> iDynTree::iDynTreeEigenConstVector + + VectorFixSize< 3 > + typedef VectorFixSize<3> iDynTree::Vector3 - iDynTreeEigenConstVector + Vector3 - + - - Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > - typedef Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> iDynTree::iDynTreeEigenMatrix + + VectorFixSize< 4 > + typedef VectorFixSize<4> iDynTree::Vector4 - iDynTreeEigenMatrix + Vector4 - + - - const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > - typedef const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> iDynTree::iDynTreeEigenConstMatrix + + VectorFixSize< 6 > + typedef VectorFixSize<6> iDynTree::Vector6 - iDynTreeEigenConstMatrix + Vector6 - + - - Eigen::Map< iDynTreeEigenMatrix > - typedef Eigen::Map<iDynTreeEigenMatrix> iDynTree::iDynTreeEigenMatrixMap + + VectorFixSize< 10 > + typedef VectorFixSize<10> iDynTree::Vector10 - iDynTreeEigenMatrixMap + Vector10 - + - - Eigen::Map< iDynTreeEigenConstMatrix > - typedef Eigen::Map<iDynTreeEigenConstMatrix> iDynTree::iDynTreeEigenConstMatrixMap + + VectorFixSize< 16 > + typedef VectorFixSize<16> iDynTree::Vector16 - iDynTreeEigenConstMatrixMap + Vector16 - + - - GeomVector3 - typedef GeomVector3 iDynTree::LinearMotionVector3 + + IJoint * + typedef IJoint* iDynTree::IJointPtr - LinearMotionVector3 + IJointPtr - + - - LinearMotionVector3 - typedef LinearMotionVector3 iDynTree::LinVelocity + + const IJoint * + typedef const IJoint* iDynTree::IJointConstPtr - LinVelocity + IJointConstPtr - + - - GeomVector3 - typedef GeomVector3 iDynTree::AngularMotionVector3 + + std::ptrdiff_t + typedef std::ptrdiff_t iDynTree::LinkIndex - AngularMotionVector3 + LinkIndex - + - - AngularMotionVector3 - typedef AngularMotionVector3 iDynTree::AngAcceleration + + std::ptrdiff_t + typedef std::ptrdiff_t iDynTree::JointIndex - AngAcceleration + JointIndex - + - - GeomVector3 - typedef GeomVector3 iDynTree::LinearForceVector3 + + std::ptrdiff_t + typedef std::ptrdiff_t iDynTree::DOFIndex - LinearForceVector3 + DOFIndex - + - - LinearForceVector3 - typedef LinearForceVector3 iDynTree::LinMomentum + + std::ptrdiff_t + typedef std::ptrdiff_t iDynTree::FrameIndex - LinMomentum + FrameIndex - + - - LinearForceVector3 - typedef LinearForceVector3 iDynTree::Force + + std::ptrdiff_t + typedef std::ptrdiff_t iDynTree::TraversalIndex - Force + TraversalIndex - + - - GeomVector3 - typedef GeomVector3 iDynTree::AngularForceVector3 + + Link * + typedef Link* iDynTree::LinkPtr - AngularForceVector3 + LinkPtr - + - - AngularForceVector3 - typedef AngularForceVector3 iDynTree::AngMomentum + + const Link * + typedef const Link* iDynTree::LinkConstPtr - AngMomentum + LinkConstPtr - + - - AngularForceVector3 - typedef AngularForceVector3 iDynTree::Torque + + LinkWrenches + typedef LinkWrenches iDynTree::LinkNetExternalWrenches - Torque + LinkNetExternalWrenches +Vector of the sum of all the external wrenches excerted on each link. +The wrench returned by operator(i) is the sum of all external wrenches (thus excluding the wrench applied on the link by other links in the model) that the environment applies on the link $i$, expressed ( both orientation and point) with respect to the reference frame of link i. - + - - GeomVector3 - typedef GeomVector3 iDynTree::MotionVector3 + + LinkWrenches + typedef LinkWrenches iDynTree::LinkInternalWrenches - MotionVector3 + LinkInternalWrenches +Vector of the wrenches acting that a link excert on his parent, given a Traversal. +Given a Traversal with base link b, the wrench returned by operator(i) is the wrench the parent of link i excerts on link i, expressed (both orientation and point) with respect to the reference frame of link i. - + - - MatrixFixSize< 1, 6 > - typedef MatrixFixSize<1,6> iDynTree::Matrix1x6 + + LinkWrenches + typedef LinkWrenches iDynTree::LinkNetTotalWrenchesWithoutGravity - Matrix1x6 + LinkNetTotalWrenchesWithoutGravity +Vector of the sum of all the wrenches (both internal and external, excluding gravity) acting on link i, expressed (both orientation and point) with respect to the reference frame of link i. +This is tipically computed as I*a+v*(I*v) , where a is the proper acceleration. - + - - MatrixFixSize< 2, 3 > - typedef MatrixFixSize<2,3> iDynTree::Matrix2x3 + + LinkInertias + typedef LinkInertias iDynTree::LinkCompositeRigidBodyInertias - Matrix2x3 + LinkCompositeRigidBodyInertias - + - - MatrixFixSize< 3, 3 > - typedef MatrixFixSize<3,3> iDynTree::Matrix3x3 + + LinkAccArray + typedef LinkAccArray iDynTree::LinkProperAccArray - Matrix3x3 + LinkProperAccArray +Typedef used when the vector is meant to be a vector of link proper accelerations. - + - - MatrixFixSize< 4, 4 > - typedef MatrixFixSize<4,4> iDynTree::Matrix4x4 + + MovableJointImpl< 1, 1 > + typedef MovableJointImpl<1,1> iDynTree::MovableJointImpl1 - Matrix4x4 + MovableJointImpl1 - + - - MatrixFixSize< 6, 1 > - typedef MatrixFixSize<6,1> iDynTree::Matrix6x1 + + MovableJointImpl< 2, 2 > + typedef MovableJointImpl<2,2> iDynTree::MovableJointImpl2 - Matrix6x1 + MovableJointImpl2 - + - - MatrixFixSize< 6, 6 > - typedef MatrixFixSize<6,6> iDynTree::Matrix6x6 + + MovableJointImpl< 3, 3 > + typedef MovableJointImpl<3,3> iDynTree::MovableJointImpl3 - Matrix6x6 + MovableJointImpl3 - + - - MatrixFixSize< 6, 10 > - typedef MatrixFixSize<6,10> iDynTree::Matrix6x10 + + MovableJointImpl< 4, 4 > + typedef MovableJointImpl<4,4> iDynTree::MovableJointImpl4 - Matrix6x10 + MovableJointImpl4 - + - - MatrixFixSize< 10, 16 > - typedef MatrixFixSize<10,16> iDynTree::Matrix10x16 + + MovableJointImpl< 5, 5 > + typedef MovableJointImpl<5,5> iDynTree::MovableJointImpl5 - Matrix10x16 + MovableJointImpl5 - + - - VectorFixSize< 2 > - typedef VectorFixSize<2> iDynTree::Vector2 + + MovableJointImpl< 6, 6 > + typedef MovableJointImpl<6,6> iDynTree::MovableJointImpl6 - Vector2 + MovableJointImpl6 - + - - VectorFixSize< 3 > - typedef VectorFixSize<3> iDynTree::Vector3 + + iDynTree::Vector3 + typedef iDynTree::Vector3 iDynTree::LinearAccelerometerMeasurements - Vector3 + LinearAccelerometerMeasurements - + - - VectorFixSize< 4 > - typedef VectorFixSize<4> iDynTree::Vector4 + + iDynTree::Vector3 + typedef iDynTree::Vector3 iDynTree::GyroscopeMeasurements - Vector4 + GyroscopeMeasurements - + - - VectorFixSize< 6 > - typedef VectorFixSize<6> iDynTree::Vector6 + + iDynTree::Vector3 + typedef iDynTree::Vector3 iDynTree::MagnetometerMeasurements - Vector6 + MagnetometerMeasurements - + - - VectorFixSize< 10 > - typedef VectorFixSize<10> iDynTree::Vector10 + + iDynTree::Vector4 + typedef iDynTree::Vector4 iDynTree::UnitQuaternion - Vector10 + UnitQuaternion - + - - VectorFixSize< 16 > - typedef VectorFixSize<16> iDynTree::Vector16 + + iDynTree::Vector3 + typedef iDynTree::Vector3 iDynTree::RPY - Vector16 + RPY - + + + IDYNTREE_CONSTEXPR const std::ptrdiff_t + IDYNTREE_CONSTEXPR const std::ptrdiff_t iDynTree::dynamic_extent + + dynamic_extent + = -1 + + + + + + + + + + IDYNTREE_CORE_EXPORT int + IDYNTREE_CORE_EXPORT int iDynTree::UNKNOWN + + UNKNOWN + + + + + + + + + + IDYNTREE_CORE_EXPORT double + IDYNTREE_CORE_EXPORT double iDynTree::DEFAULT_TOL + + DEFAULT_TOL + +Default tolerance for methods with a tolerance, setted to 1e-10. + + + + + + + IDYNTREE_MODEL_EXPORT LinkIndex IDYNTREE_MODEL_EXPORT LinkIndex iDynTree::LINK_INVALID_INDEX @@ -1657,7 +1732,7 @@ output_dimensions_with_magnetometer = 4 -dimension of $ \mathbb{R}^3 \times \mathbb{R} $ accelerometer measurements and magnetometer yaw measurement +dimension of $ \mathbb{R}^3 \times \mathbb{R} $ accelerometer measurements and magnetometer yaw measurement @@ -1672,7 +1747,7 @@ output_dimensions_without_magnetometer = 3 -dimension of $ \mathbb{R}^3 $ accelerometer measurements +dimension of $ \mathbb{R}^3 $ accelerometer measurements @@ -1687,7 +1762,7 @@ input_dimensions = 3 -dimension of $ \mathbb{R}^3 $ gyroscope measurements +dimension of $ \mathbb{R}^3 $ gyroscope measurements @@ -1695,1536 +1770,1203 @@ - - IDYNTREE_CONSTEXPR const std::ptrdiff_t - IDYNTREE_CONSTEXPR const std::ptrdiff_t iDynTree::dynamic_extent - - dynamic_extent - = -1 - - - - - - - - - - IDYNTREE_CORE_EXPORT int - IDYNTREE_CORE_EXPORT int iDynTree::UNKNOWN - - UNKNOWN - - - - - - - - - - IDYNTREE_CORE_EXPORT double - IDYNTREE_CORE_EXPORT double iDynTree::DEFAULT_TOL - - DEFAULT_TOL - -Default tolerance for methods with a tolerance, setted to 1e-10. - - - - - - - - - int - int iDynTree::sizeOfRotationParametrization - (enum InverseKinematicsRotationParametrization rotationParametrization) - sizeOfRotationParametrization - - enum InverseKinematicsRotationParametrization - rotationParametrization - - - - - - - - - - + bool - bool iDynTree::estimateInertialParametersFromLinkBoundingBoxesAndTotalMass - (const double totalMass, iDynTree::Model &model, VectorDynSize &estimatedInertialParams) - estimateInertialParametersFromLinkBoundingBoxesAndTotalMass + bool iDynTree::parseRotationMatrix + (const yarp::os::Searchable &rf, const std::string &key, iDynTree::Rotation &rotation) + parseRotationMatrix - const double - totalMass + const yarp::os::Searchable & + rf - iDynTree::Model & - model + const std::string & + key - VectorDynSize & - estimatedInertialParams + iDynTree::Rotation & + rotation -Estimate the inertial parameters of a model using link bounding boxes and the total mass. +Takes a rotation matrix from configuration file. - +Notice, the matrix is parsed row-wise. -totalMass +rf -The total mass of the model, in Kilograms. +yarp::os::Searchable The input searchable -model +key -The model, used to extract the bounding box of the links. +The name corresponding to the matrix to be read -inertialParameters +rotation -vector of inertial parameters, in the format used by Model::getInertialParameters +The output rotation -true if all went well, false otherwise . - -if inertialParameters does not have the correct size, it will be resized. - -This function needs to allocate some internal buffers, and so it performs dynamic memory allocation. - -This function requires IDYNTREE_USES_ASSIMP to be true, otherwise it always returns false. +true if successfull - + - + bool - bool iDynTree::computeBoundingBoxFromShape - (const SolidShape &geom, Box &box) - computeBoundingBoxFromShape + bool iDynTree::toiDynTree + (const yarp::sig::Vector &yarpVector, iDynTree::Wrench &iDynTreeWrench) + toiDynTree - const SolidShape & - geom + const yarp::sig::Vector & + yarpVector - Box & - box + iDynTree::Wrench & + iDynTreeWrench -Compute bounding box from a solid shape object. +Convert a yarp::sig::Vector to a iDynTree::Wrench. -geom +yarpVector -The link collision as a iDynTree solid shape object +yarp::sig::Vector input -box +iDynTreeWrench -The bounding box for the solid shape object +iDynTree::Wrench output -true if all went well, false otherwise . - -If the shape is an ExternalMesh type, this function requires IDYNTREE_USES_ASSIMP to be true, otherwise it always returns false. - -If the shape is an ExternalMesh type, an Axis-Aligned Bounding Box (AABB) is computed from the mesh vertices. This means that the returned bounding box is neither unique nor a minimum volume bounding box for the given mesh. The axes alignment to compute AABB is done with respect to the frame associated with the shape. +true if conversion was successful, false otherwise - + - - std::vector< Position > - std::vector<Position> iDynTree::computeBoxVertices - (const Box box) - computeBoxVertices + + bool + bool iDynTree::toYarp + (const iDynTree::Wrench &iDynTreeWrench, yarp::sig::Vector &yarpVector) + toYarp - const Box - box + const iDynTree::Wrench & + iDynTreeWrench + + + yarp::sig::Vector & + yarpVector -Get the bounding box vertices in the link frame. +Convert a iDynTree::Wrench to a yarp::sig::Vector. -box +iDynTreeWrench -The link collision solid shape as a Box object. +iDynTree::Wrench input + + + + +yarpVector + + +yarp::sig::Vector output -vector of vertex positions in the link frame. +true if conversion was successful, false otherwise - + - + bool - bool iDynTree::approximateSolidShapesWithPrimitiveShape - (const Model &inputModel, Model &outputModel, ApproximateSolidShapesWithPrimitiveShapeOptions options=ApproximateSolidShapesWithPrimitiveShapeOptions()) - approximateSolidShapesWithPrimitiveShape - - const Model & - inputModel - + bool iDynTree::toiDynTree + (const yarp::sig::Vector &yarpVector, iDynTree::Position &iDynTreePosition) + toiDynTree - Model & - outputModel + const yarp::sig::Vector & + yarpVector - ApproximateSolidShapesWithPrimitiveShapeOptions - options - ApproximateSolidShapesWithPrimitiveShapeOptions() + iDynTree::Position & + iDynTreePosition -\function Approximate solid shapes of the input model with some primitive shapes. +Convert a yarp::sig::Vector to a iDynTree::Position. -This function takes in input a Model, and returns in output the same model, but with all solid shapes of the model (both collision and visual) substituted with a primitive shape that approximates in some way the original solid shape. -At the moment, the only conversion type provided is to approximate each solid shape of the model with its axis aligned bounding box, using the iDynTree::computeBoundingBoxFromShape function. + + +yarpVector + + +yarp::sig::Vector input + + + + +iDynTreePosition + + +iDynTree::Position output + + + +true if conversion was successful, false otherwise (if the input yarpVector has size different from 3) - + - - Transform - Transform iDynTree::TransformFromDHCraig1989 - (double a, double alpha, double d, double theta) - TransformFromDHCraig1989 - - double - a - - - double - alpha - + + bool + bool iDynTree::toiDynTree + (const yarp::sig::Vector &yarpVector, iDynTree::Vector3 &iDynTreeVector3) + toiDynTree - double - d + const yarp::sig::Vector & + yarpVector - double - theta + iDynTree::Vector3 & + iDynTreeVector3 +Convert a yarp::sig::Vector to a iDynTree::Vector3. + + +yarpVector + + +yarp::sig::Vector input + + + + +iDynTreePosition + + +iDynTree::Vector3 output + + + +true if conversion was successful, false otherwise (if the input yarpVector has size different from 3) + + - + - - Transform - Transform iDynTree::TransformFromDH - (double a, double alpha, double d, double theta) - TransformFromDH - - double - a - - - double - alpha - + + bool + bool iDynTree::toYarp + (const iDynTree::Position &iDynTreePosition, yarp::sig::Vector &yarpVector) + toYarp - double - d + const iDynTree::Position & + iDynTreePosition - double - theta + yarp::sig::Vector & + yarpVector -DH : constructs a transformationmatrix T_link(i-1)_link(i) with the Denavit-Hartenberg convention as described in the original publictation: Denavit, J. +Convert a iDynTree::Position to a yarp::sig::Vector of 3 elements. -and Hartenberg, R. S., A kinematic notation for lower-pair mechanisms based on matrices, ASME Journal of Applied Mechanics, 23:215-221, 1955. -Function compatible on KDL's Frame::DH method. + + +iDynTreePosition + + +iDynTree::Position input + + + + +yarpVector + + +yarp::sig::Vector output + + + +true if conversion was sucessful, false otherwise + + - + - + bool - bool iDynTree::ExtractDHChainFromModel - (const iDynTree::Model &model, const std::string baseFrame, const std::string eeFrame, DHChain &outputChain, double tolerance=1e-5) - ExtractDHChainFromModel - - const iDynTree::Model & - model - - - const std::string - baseFrame - - - const std::string - eeFrame - + bool iDynTree::toiDynTree + (const yarp::sig::Vector &yarpVector, iDynTree::Direction &iDynTreeDirection) + toiDynTree - DHChain & - outputChain + const yarp::sig::Vector & + yarpVector - double - tolerance - 1e-5 + iDynTree::Direction & + iDynTreeDirection -Extract a Denavit Hartenberg Chain from a iDynTree::Model. +Convert a yarp::sig::Vector of 3 elements to a iDynTree::Direction. -In particular you can specify the base frame and the end effector frame of the chain. The chain is then extracted using the algorithm found in: Chapter 3, Spong, Mark W., Seth Hutchinson, and M. Vidyasagar. "Robot modeling and control". 2006. (section 3.2.3 of http://www.cs.duke.edu/brd/Teaching/Bio/asmb/current/Papers/chap3-forward-kinematics.pdf) -The DH representation supports only revolute and translational 1-DOF joints. In this implementation only revolute joints are supported. + + +yarpVector + + +yarp::sig::Vector input + + + + +iDynTreeDirection + + +iDynTree::Direction output + + + +true if conversion was successful, false otherwise (if the input yarpVector has size different from 3) + +the direction vector will be normalized to have unit norm. - + - + bool - bool iDynTree::CreateModelFromDHChain - (const DHChain &inputChain, Model &outputModel) - CreateModelFromDHChain + bool iDynTree::toYarp + (const iDynTree::Vector3 &iDynTreeDirection, yarp::sig::Vector &yarpVector) + toYarp - const DHChain & - inputChain + const iDynTree::Vector3 & + iDynTreeDirection - Model & - outputModel + yarp::sig::Vector & + yarpVector -Create an iDynTree::Model from a DHChain. +Convert a iDynTree::Direction to a yarp::sig::Vector of 3 elements. -The names of the links will be link0, link1, ... linkN, furthermore there are two additional frame for the base and endEffector frames, named baseFrame and distalFrame . - -The inertia of the links will be set to 1 kg in the origin of the link. - -true if all went ok, false otherwise. + + +iDynTreeDirection + + +iDynTree::Position input + + + + +yarpVector + + +yarp::sig::Vector output + + + +true if conversion was sucessful, false otherwise - + - + bool - bool iDynTree::ComputeLinearAndAngularMomentum - (const Model &model, const LinkPositions &linkPositions, const LinkVelArray &linkVels, SpatialMomentum &totalMomentum) - ComputeLinearAndAngularMomentum - - const Model & - model - - - const LinkPositions & - linkPositions - + bool iDynTree::toiDynTree + (const yarp::sig::Matrix &yarpHomogeneousMatrix, iDynTree::Transform &iDynTreeTransform) + toiDynTree - const LinkVelArray & - linkVels + const yarp::sig::Matrix & + yarpHomogeneousMatrix - SpatialMomentum & - totalMomentum + iDynTree::Transform & + iDynTreeTransform -Compute the total linear and angular momentum of a robot, expressed in the world frame. +Convert a 4x4 yarp::sig::Matrix representing an homegeneous matrix to a iDynTree::Transform. -model +yarpHomogeneousMatrix -the used model, +yarp::sig::Matrix 4x4 homegeneous matrix input -linkPositions +iDynTreeTransform -linkPositions(l) contains the world_H_link transform. +iDynTree::Transform output - + +true if conversion was successful, false otherwise + + + + + + + + + bool + bool iDynTree::toYarp + (const iDynTree::Transform &iDynTreeTransform, yarp::sig::Matrix &yarpHomogeneousMatrix) + toYarp + + const iDynTree::Transform & + iDynTreeTransform + + + yarp::sig::Matrix & + yarpHomogeneousMatrix + + +Convert a iDynTree::Transform to a 4x4 yarp::sig::Matrix representing an homegeneous matrix. + + + -linkVels +iDynTreeTransform -linkVels(l) contains the link l velocity expressed in l frame. +iDynTree::Transform input -totalMomentum +yarpHomogeneousMatrix -total momentum, expressed in world frame. +yarp::sig::Matrix 4x4 homegeneous matrix output -true if all went well, false otherwise. +true if conversion was successful, false otherwise - + - + bool - bool iDynTree::ComputeLinearAndAngularMomentumDerivativeBias - (const Model &model, const LinkPositions &linkPositions, const LinkVelArray &linkVel, const LinkAccArray &linkBiasAcc, Wrench &totalMomentumBias) - ComputeLinearAndAngularMomentumDerivativeBias - - const Model & - model - - - const LinkPositions & - linkPositions - - - const LinkVelArray & - linkVel - + bool iDynTree::toiDynTree + (const yarp::sig::Vector &yarpVector, iDynTree::VectorDynSize &iDynTreeVector) + toiDynTree - const LinkAccArray & - linkBiasAcc + const yarp::sig::Vector & + yarpVector - Wrench & - totalMomentumBias + iDynTree::VectorDynSize & + iDynTreeVector -Compute the total momentum derivatitive bias, i.e. +Convert a yarp::sig::Vector to a iDynTree::VectorDynSize. -the part of the total momentum derivative that does not depend on robot acceleration. -The linear and angular momentum derivative depends on the robot position, velocity and acceleration. This function computes the part that do not depend on the robot accelearation. -This function returns the bias of the derivative of the ComputeLinearAndAngularMomentum function. - - + + +yarpVector + + +yarp::sig::Vector input + + + + +iDynTreeVector + + +iDynTree::VectorDynSize output + + + +true if conversion was successful, false otherwise + +the output VectorDynSize will be resized if necessary. + + + + - + - - bool - bool iDynTree::RNEADynamicPhase - (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::JointPosDoubleArray &jointPos, const iDynTree::LinkVelArray &linksVel, const iDynTree::LinkAccArray &linksProperAcc, const iDynTree::LinkNetExternalWrenches &linkExtForces, iDynTree::LinkInternalWrenches &linkIntWrenches, iDynTree::FreeFloatingGeneralizedTorques &baseForceAndJointTorques) - RNEADynamicPhase - - const iDynTree::Model & - model - - - const iDynTree::Traversal & - traversal - - - const iDynTree::JointPosDoubleArray & - jointPos - - - const iDynTree::LinkVelArray & - linksVel - - - const iDynTree::LinkAccArray & - linksProperAcc - - - const iDynTree::LinkNetExternalWrenches & - linkExtForces - + + + + typename VectorType + + + void + void iDynTree::toYarp + (const VectorType &iDynTreeVector, yarp::sig::Vector &yarpVector) + toYarp - iDynTree::LinkInternalWrenches & - linkIntWrenches + const VectorType & + iDynTreeVector - iDynTree::FreeFloatingGeneralizedTorques & - baseForceAndJointTorques + yarp::sig::Vector & + yarpVector -Compute the inverse dynamics, i.e. +Convert a iDynTree::VectorFixSize to a yarp::sig::Vector. -the generalized torques corresponding to a given set of robot accelerations and external force/torques. -model +iDynTreeVector -The model used for the computation. +iDynTree::VectorFixSize input -traversal +yarpVector -The traversal used for the computation, it defines the used base link. +yarp::sig::Vector output - + +the output yarp::sig::Vector will be resized if necessary. + + + + + + + + + + + typename MatrixType + + + void + void iDynTree::toYarp + (const MatrixType &iDynTreeMatrix, yarp::sig::Matrix &yarpMatrix) + toYarp + + const MatrixType & + iDynTreeMatrix + + + yarp::sig::Matrix & + yarpMatrix + + +Convert a iDynTree::MatrixFixSize to a yarp::sig::Matrix. + + + -jointPos +iDynTreeMatrix -The (internal) joint position of the model. +iDynTree::MatrixFixSize input -linksVel +yarpMatrix -Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). +yarp::sig::Matrix output - + +the output yarp::sig::Matrix will be resized if necessary. + + + + + + + + + + + typename VectorType + + + bool + bool iDynTree::toiDynTree + (const yarp::sig::Vector &yarpVector, VectorType &iDynTreeVector) + toiDynTree + + const yarp::sig::Vector & + yarpVector + + + VectorType & + iDynTreeVector + + +Convert a yarp::sig::Vector to a iDynTree::VectorFixSize. + + + -linksProperAcc +yarpVector -Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . See iDynTree::LinkNetExternalWrenches . +yarp::sig::Vector input -linkExtForces +iDynTreeVector -Vector of external 6D force/torques applied to the links. For each link $L$, the corresponding external force is ${}_L \mathrm{f}^x_L$, i.e. the force that the enviroment applies on the on the link $L$, expressed in the link frame $L$. +iDynTree::VectorFixSize output - + +true if conversion was successful, false otherwise (if the input yarpMatrix has size different from the output VectorFixSize) + + + + + + + + + + + typename MatrixType + + + bool + bool iDynTree::toiDynTree + (const yarp::sig::Matrix &yarpMatrix, MatrixType &iDynTreeMatrix) + toiDynTree + + const yarp::sig::Matrix & + yarpMatrix + + + MatrixType & + iDynTreeMatrix + + +Convert a yarp::sig::Matrix to a iDynTree::MatrixFixSize. + + + -linkIntWrenches +yarpMatrix -Vector of internal joint force/torques. See iDynTree::LinkInternalWrenches . +yarp::sig::Matrix input -baseForceAndJointTorques +iDynTreeMatrix -Generalized torques output. The base element is the residual force on the base (that is equal to zero if the robot acceleration and the external forces provided in LinkNetExternalWrenches were consistent), while the joint part is composed by the joint torques. +iDynTree::MatrixFixSize output +true if conversion was successful, false otherwise (if the input yarpMatrix has size different from the MatrixFixSize) + - + - - bool - bool iDynTree::CompositeRigidBodyAlgorithm - (const Model &model, const Traversal &traversal, const JointPosDoubleArray &jointPos, LinkCompositeRigidBodyInertias &linkCRBs, FreeFloatingMassMatrix &massMatrix) - CompositeRigidBodyAlgorithm - - const Model & - model - - - const Traversal & - traversal - - - const JointPosDoubleArray & - jointPos - - - LinkCompositeRigidBodyInertias & - linkCRBs - + + Eigen::Map< Eigen::VectorXd > + Eigen::Map<Eigen::VectorXd> iDynTree::toEigen + (yarp::sig::Vector &yarpVector) + toEigen - FreeFloatingMassMatrix & - massMatrix + yarp::sig::Vector & + yarpVector -Compute the floating base mass matrix, using the composite rigid body algorithm. +Convert a yarp::sig::Vector to a Eigen::Map<Eigen::VectorXd> object. + + +yarpVector + + +yarp::sig::Vector input + + + +a Eigen::Map vector that points to the data contained in the yarp vector + + - + - - bool - bool iDynTree::ArticulatedBodyAlgorithm - (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const LinkNetExternalWrenches &linkExtWrenches, const JointDOFsDoubleArray &jointTorques, ArticulatedBodyAlgorithmInternalBuffers &buffers, FreeFloatingAcc &robotAcc) - ArticulatedBodyAlgorithm - - const Model & - model - - - const Traversal & - traversal - - - const FreeFloatingPos & - robotPos - - - const FreeFloatingVel & - robotVel - - - const LinkNetExternalWrenches & - linkExtWrenches - - - const JointDOFsDoubleArray & - jointTorques - - - ArticulatedBodyAlgorithmInternalBuffers & - buffers - + + Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > + Eigen::Map< Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > iDynTree::toEigen + (yarp::sig::Matrix &yarpMatrix) + toEigen - FreeFloatingAcc & - robotAcc + yarp::sig::Matrix & + yarpMatrix -Compute the floating base acceleration of an unconstrianed robot, using as input the external forces and the joint torques. +Convert a yarp::sig::Matrix to a Eigen::Map< Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > object. -We follow the algorithm described in Featherstone 2008, modified for the floating base case and for handling fixed joints. + + +yarpVector + + +yarp::sig::Matrix input + + + +a Eigen::Map vector that points to the data contained in the yarp matrix + + - + - - bool - bool iDynTree::InverseDynamicsInertialParametersRegressor - (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::LinkPositions &referenceFrame_H_link, const iDynTree::LinkVelArray &linksVel, const iDynTree::LinkAccArray &linksAcc, iDynTree::MatrixDynSize &baseForceAndJointTorquesRegressor) - InverseDynamicsInertialParametersRegressor - - const iDynTree::Model & - model - - - const iDynTree::Traversal & - traversal - - - const iDynTree::LinkPositions & - referenceFrame_H_link - - - const iDynTree::LinkVelArray & - linksVel - - - const iDynTree::LinkAccArray & - linksAcc - + + Eigen::Map< const Eigen::VectorXd > + Eigen::Map<const Eigen::VectorXd> iDynTree::toEigen + (const yarp::sig::Vector &yarpVector) + toEigen - iDynTree::MatrixDynSize & - baseForceAndJointTorquesRegressor + const yarp::sig::Vector & + yarpVector -Compute the inverse dynamics of the model as linear function of the inertial parameters. +Convert a const yarp::sig::Vector to a Eigen::Map<const Eigen::VectorXd> object. -This function computes the matrix that multiplied by the vector of inertial parameters of a model (see iDynTree::Model::getInertialParameters) returns the inverse dynamics generalized torques. In particular it is consistent with the result of the iDynTree::RNEADynamicPhase function, i.e. the first six rows of the regressor correspond to the sum of all external force/torques acting on the robot, expressed in the origin and with the orientation of the specified referenceFrame, as defined by the referenceFrame_H_link argument. -The regressor only computes the inverse dynamics generalized torques assuming that the external forces are equal to zero, as the contribution of the external forces to the inverse dynamics is indipendent from inertial parameters. - - - -model - - -The model used for the computation. - - - - -traversal - - -The traversal used for the computation, it defines the used base link. - - - - -referenceFrame_H_link - - -Position of each link w.r.t. to given frame D (tipically an inertial frame A, the base frame B or the mixed frame B[A]). For each link $L$, the corresponding transform is ${}^D H_L$. - - - - -linksVel - - -Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). - - - + -linksProperAcc +yarpVector -Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . +yarp::sig::Vector input - + +a Eigen::Map vector that points to the data contained in the yarp vector + + + + + + + + + Eigen::Map< const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > + Eigen::Map<const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > iDynTree::toEigen + (const yarp::sig::Matrix &yarpMatrix) + toEigen + + const yarp::sig::Matrix & + yarpMatrix + + +Convert a const yarp::sig::Matrix to a Eigen::Map< const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > object. + + + -baseForceAndJointTorquesRegressor +yarpVector -The (6+model.getNrOfDOFs() X 10*model.getNrOfLinks()) inverse dynamics regressor. +yarp::sig::Matrix input +a Eigen::Map vector that points to the data contained in the yarp matrix + - + - + bool - bool iDynTree::ForwardDynamicsLinearization - (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const LinkNetExternalWrenches &linkExtWrenches, const JointDOFsDoubleArray &jointTorques, ForwardDynamicsLinearizationInternalBuffers &bufs, FreeFloatingAcc &robotAcc, FreeFloatingStateLinearization &A) - ForwardDynamicsLinearization - - const Model & - model - - - const Traversal & - traversal - - - const FreeFloatingPos & - robotPos - - - const FreeFloatingVel & - robotVel - - - const LinkNetExternalWrenches & - linkExtWrenches - - - const JointDOFsDoubleArray & - jointTorques - - - ForwardDynamicsLinearizationInternalBuffers & - bufs - + bool iDynTree::DHChainFromiKinChain + (iCub::iKin::iKinChain &ikinChain, DHChain &out) + DHChainFromiKinChain - FreeFloatingAcc & - robotAcc + iCub::iKin::iKinChain & + ikinChain - FreeFloatingStateLinearization & - A + DHChain & + out +Load a iDynTree::DHChain object from a iCub::iKin::iKinChain . +true if all went ok, false otherwise. + + - + - - SpatialMotionWrtMotionDerivative - SpatialMotionWrtMotionDerivative iDynTree::operator* - (const Transform &a_X_b, const SpatialMotionWrtMotionDerivative &op2) - operator* + + bool + bool iDynTree::modelFromiKinChain + (iCub::iKin::iKinChain &ikinChain, Model &output) + modelFromiKinChain - const Transform & - a_X_b + iCub::iKin::iKinChain & + ikinChain - const SpatialMotionWrtMotionDerivative & - op2 + Model & + output -Equivalent to: +Load a iDynTree::Model object from a iCub::iKin::iKinChain . -SpatialForceWrtMotionDerivativeret; -toEigen(ret)=toEigen(transform.asAdjointMatrixWrench())*toEigen(ret); -returnret; - +true if all went ok, false otherwise. + + - + - - SpatialForceWrtMotionDerivative - SpatialForceWrtMotionDerivative iDynTree::operator* - (const Transform &a_X_b, const SpatialForceWrtMotionDerivative &op2) - operator* + + bool + bool iDynTree::iKinLimbFromModel + (const Model &model, const std::string &baseFrame, const std::string &distalFrame, iCub::iKin::iKinLimb &ikinLimb) + iKinLimbFromModel - const Transform & - a_X_b + const Model & + model - const SpatialForceWrtMotionDerivative & - op2 + const std::string & + baseFrame + + + const std::string & + distalFrame + + + iCub::iKin::iKinLimb & + ikinLimb -Equivalent to: +Extract an iCub::iKin::iKinLimb from an iDynTree::Model . -SpatialForceWrtMotionDerivativeret; -toEigen(ret)=toEigen(transform.asAdjointMatrixWrench())*toEigen(ret); -returnret; - +true if all went ok, false otherwise. + + - + - - - iDynTree::biasWrenchVelocityDerivative - (SpatialInertia M, SpatialMotionVector V) - biasWrenchVelocityDerivative + + bool + bool iDynTree::iKinLimbFromDHChain + (const DHChain &dhChain, iCub::iKin::iKinLimb &ikinLimb) + iKinLimbFromDHChain - SpatialInertia - M + const DHChain & + dhChain - SpatialMotionVector - V + iCub::iKin::iKinLimb & + ikinLimb -Given a rigid body inertia $M$ and spatial motion vector $V$, the bias wrench $B$ of rigid body is defined as: +Create a iCub::iKin::iKinLimb from an iDynTree::DHChain. -\[ B = \times \] - + - - bool - bool iDynTree::ForwardPositionKinematics - (const Model &model, const Traversal &traversal, const Transform &worldHbase, const VectorDynSize &jointPositions, LinkPositions &linkPositions) - ForwardPositionKinematics - - const Model & - model - - - const Traversal & - traversal - - - const Transform & - worldHbase - + + DHLink + DHLink iDynTree::iKinLink2DHLink + (const iCub::iKin::iKinLink &ikinlink) + iKinLink2DHLink - const VectorDynSize & - jointPositions + const iCub::iKin::iKinLink & + ikinlink + + + + + + + + + + iCub::iKin::iKinLink + iCub::iKin::iKinLink iDynTree::DHLink2iKinLink + (const DHLink &dhLink) + DHLink2iKinLink - LinkPositions & - linkPositions + const DHLink & + dhLink -Given a robot floating base configuration (i.e. -world_H_base and the joint positions) compute for each link the world_H_link transform. - - -model - - -the used model, - - - - -traversal - - -the used traversal, - - - - -worldHbase - - -the world_H_base transform, - - - - -jointPositions - - -the vector of (internal) joint positions, - - - - -linkPositions - - -linkPositions(l) contains the world_H_link transform. - - - -true if all went well, false otherwise. - - - + - + + + + class contactsList + + bool - bool iDynTree::ForwardPositionKinematics - (const Model &model, const Traversal &traversal, const FreeFloatingPos &jointPos, LinkPositions &linkPos) - ForwardPositionKinematics + bool iDynTree::fromSkinDynLibToiDynTreeHelper + (const Model &model, const contactsList &dynList, LinkUnknownWrenchContacts &unknowns, const skinDynLibConversionsHelper &conversionHelper) + fromSkinDynLibToiDynTreeHelper const Model & model - const Traversal & - traversal + const contactsList & + dynList - const FreeFloatingPos & - jointPos + LinkUnknownWrenchContacts & + unknowns - LinkPositions & - linkPos + const skinDynLibConversionsHelper & + conversionHelper -Variant of ForwardPositionKinematics that takes in input a FreeFloatingPos object instead of a separate couple of (worldHbase,jointPositions) +Templated version of fromSkinDynLibToiDynTree, useful to implement the exact same function for dynContactList and skinContactList, that have exactly the same interface, but they don't have any common ancestor in the class structure. - + - - bool - bool iDynTree::ForwardVelAccKinematics - (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::FreeFloatingPos &robotPos, const iDynTree::FreeFloatingVel &robotVel, const iDynTree::FreeFloatingAcc &robotAcc, iDynTree::LinkVelArray &linkVel, iDynTree::LinkAccArray &linkAcc) - ForwardVelAccKinematics - - const iDynTree::Model & - model - - - const iDynTree::Traversal & - traversal - - - const iDynTree::FreeFloatingPos & - robotPos - - - const iDynTree::FreeFloatingVel & - robotVel - - - const iDynTree::FreeFloatingAcc & - robotAcc - - - iDynTree::LinkVelArray & - linkVel - + + Eigen::Map< Eigen::VectorXd > + Eigen::Map<Eigen::VectorXd> iDynTree::toEigen + (VectorDynSize &vec) + toEigen - iDynTree::LinkAccArray & - linkAcc + VectorDynSize & + vec -Function that compute the links velocities and accelerations given the free floating robot velocities and accelerations. -This function implements what is usually known as the "forward pass" of the Recursive Newton Euler algorithm. - + - - bool - bool iDynTree::ForwardPosVelAccKinematics - (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::FreeFloatingPos &robotPos, const iDynTree::FreeFloatingVel &robotVel, const iDynTree::FreeFloatingAcc &robotAcc, iDynTree::LinkPositions &linkPos, iDynTree::LinkVelArray &linkVel, iDynTree::LinkAccArray &linkAcc) - ForwardPosVelAccKinematics - - const iDynTree::Model & - model - - - const iDynTree::Traversal & - traversal - - - const iDynTree::FreeFloatingPos & - robotPos - - - const iDynTree::FreeFloatingVel & - robotVel - - - const iDynTree::FreeFloatingAcc & - robotAcc - - - iDynTree::LinkPositions & - linkPos - - - iDynTree::LinkVelArray & - linkVel - + + Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > + Eigen::Map< Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > iDynTree::toEigen + (MatrixDynSize &mat) + toEigen - iDynTree::LinkAccArray & - linkAcc + MatrixDynSize & + mat -Function that compute the links position, velocities and accelerations given the free floating robot position, velocities and accelerations. - + - - bool - bool iDynTree::ForwardPosVelKinematics - (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::FreeFloatingPos &robotPos, const iDynTree::FreeFloatingVel &robotVel, iDynTree::LinkPositions &linkPos, iDynTree::LinkVelArray &linkVel) - ForwardPosVelKinematics - - const iDynTree::Model & - model - - - const iDynTree::Traversal & - traversal - - - const iDynTree::FreeFloatingPos & - robotPos - - - const iDynTree::FreeFloatingVel & - robotVel - - - iDynTree::LinkPositions & - linkPos - + + Eigen::Map< const Eigen::VectorXd > + Eigen::Map<const Eigen::VectorXd> iDynTree::toEigen + (const VectorDynSize &vec) + toEigen - iDynTree::LinkVelArray & - linkVel + const VectorDynSize & + vec -Function that compute the links position and velocities and accelerations given the free floating robot position and velocities. - + - - bool - bool iDynTree::ForwardAccKinematics - (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const FreeFloatingAcc &robotAcc, const LinkVelArray &linkVel, LinkAccArray &linkAcc) - ForwardAccKinematics - - const Model & - model - - - const Traversal & - traversal - - - const FreeFloatingPos & - robotPos - - - const FreeFloatingVel & - robotVel - - - const FreeFloatingAcc & - robotAcc - - - const LinkVelArray & - linkVel - + + Eigen::Map< const Eigen::VectorXd > + Eigen::Map< Eigen::VectorXd > iDynTree::toEigen + (Span< const double > vec) + toEigen - LinkAccArray & - linkAcc + Span< const double > + vec -Function that computes the links accelerations given the free floating robot velocities and accelerations. -This function implements what is usually known as the acceleration part "forward pass" of the Recursive Newton Euler algorithm. - + - - bool - bool iDynTree::ForwardBiasAccKinematics - (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const SpatialAcc &baseBiasAcc, const LinkVelArray &linkVel, LinkAccArray &linkBiasAcc) - ForwardBiasAccKinematics - - const Model & - model - - - const Traversal & - traversal - - - const FreeFloatingPos & - robotPos - - - const FreeFloatingVel & - robotVel - - - const SpatialAcc & - baseBiasAcc - - - const LinkVelArray & - linkVel - + + Eigen::Map< const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >, 0, Eigen::Stride< Eigen::Dynamic, Eigen::Dynamic > > + Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic> > iDynTree::toEigen + (const MatrixView< const double > &mat) + toEigen - LinkAccArray & - linkBiasAcc + const MatrixView< const double > & + mat -Function that computes the links bias accelerations given the free floating robot velocities. -This function can also consider a non-zero base acceleration, because when computing the bias acc for the MIXED representation, a zero mixed base acceleration is a equivalent to a non-zero BODY_FIXED base acceleration. - - - -model - - -the used model, - - - - -traversal - - -the used traversal, - - - - -worldHbase - - -the world_H_base transform, - - - - -robotPos - - -the position of the robot, i.e. $ ({}^A H_B, s)$, - - - - -robotVel - - -the velocity of the robot, with the base velocity expressed in BODY_FIXED representation i.e. $ \nu = \begin{bmatrix} {}^B \mathrm{v}_{A,B} \newline \dot{s} \end{bmatrix} $, - - - - -baseBiasAcc - - -base bias acceleration with BODY_FIXED rapresentation, useful when the bias acceleration is considering the MIXED base acceleration to be zero, - - - - -linkVel - - -the velocity of each link of the robot, with velocity expressed with BODY_FIXED representation i.e. for each link $ $ we have $ {}^L \mathrm{v}_{A,L} $, - - - - -linkBiasAcc - - -the bias acceleration of each link of the robot, with the acceleration expressed with BODY_FIXED representation. - - - - - + - - bool - bool iDynTree::ForwardBiasAccKinematics - (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const LinkVelArray &linkVel, LinkAccArray &linkBiasAcc) - ForwardBiasAccKinematics - - const Model & - model - - - const Traversal & - traversal - - - const FreeFloatingPos & - robotPos - - - const FreeFloatingVel & - robotVel - - - const LinkVelArray & - linkVel - + + Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >, 0, Eigen::Stride< Eigen::Dynamic, Eigen::Dynamic > > + Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic> > iDynTree::toEigen + (const MatrixView< double > &mat) + toEigen - LinkAccArray & - linkBiasAcc + const MatrixView< double > & + mat -Legacy function, will be deprecated, use the variant with an explicit baseBiasAcc value. - + - - bool - bool iDynTree::FreeFloatingJacobianUsingLinkPos - (const Model &model, const Traversal &traversal, const JointPosDoubleArray &jointPositions, const LinkPositions &linkPositions, const LinkIndex linkIndex, const Transform &jacobFrame_X_world, const Transform &baseFrame_X_jacobBaseFrame, const MatrixView< double > &jacobian) - FreeFloatingJacobianUsingLinkPos + + Eigen::Map< const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > + Eigen::Map<const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > iDynTree::toEigen + (const MatrixDynSize &mat) + toEigen - const Model & - model + const MatrixDynSize & + mat + + + + + + + + + + + + unsigned int + VecSize + VecSize + + + Eigen::Map< Eigen::Matrix< double, VecSize, 1 > > + Eigen::Map<Eigen::Matrix<double,VecSize,1> > iDynTree::toEigen + (VectorFixSize< VecSize > &vec) + toEigen - const Traversal & - traversal - - - const JointPosDoubleArray & - jointPositions - - - const LinkPositions & - linkPositions - - - const LinkIndex - linkIndex - - - const Transform & - jacobFrame_X_world - - - const Transform & - baseFrame_X_jacobBaseFrame - - - const MatrixView< double > & - jacobian + VectorFixSize< VecSize > & + vec -Compute a free floating jacobian. - - -model - - -the used model, - - - - -traversal - - -the used traversal, - - - - -jointPositions - - -the vector of (internal) joint positions, - - - - -linkPositions - - -linkPositions(l) contains the world_H_link transform. - - - - -linkIndex - - -the index of the link of which we compute the jacobian. - - - - -jacobFrame_X_world - - -TODO - - - - -baseFrame_X_jacobBaseFrame - - -TODO - - - - -jacobian - - -the computed Jacobian - - - -true if all went well, false otherwise. - - - + - - bool - bool iDynTree::createReducedModelAndSensors - (const Model &fullModel, const SensorsList &fullSensors, const std::vector< std::string > &jointsInReducedModel, Model &reducedModel, SensorsList &reducedSensors) - createReducedModelAndSensors - - const Model & - fullModel - - - const SensorsList & - fullSensors - - - const std::vector< std::string > & - jointsInReducedModel - - - Model & - reducedModel - + + + + unsigned int + VecSize + VecSize + + + Eigen::Map< const Eigen::Matrix< double, VecSize, 1 > > + Eigen::Map<const Eigen::Matrix<double,VecSize,1> > iDynTree::toEigen + (const VectorFixSize< VecSize > &vec) + toEigen - SensorsList & - reducedSensors + const VectorFixSize< VecSize > & + vec -Variant of createReducedModel function that also process the sensorList . - - -Note: since iDynTree 10, this has been superseded by the regular createReducedModel that also operated on the SensorsList associated with the model. -To migrate to this version, just change from: -Model fullModel, reducedModel; std::vector<std::string> jointsInReducedModel; SensorsList fullSensors, reducedSensors; -bool ok = createReducedModelAndSensors(fullModel, fullSensors, jointsInReducedModel, reducedModel, reducedSensors); -// handle ok // access reducedModel and reducedSensors -to -Model fullModel, reducedModel; std::vector<std::string> jointsInReducedModel; SensorsList fullSensors; fullModel.sensors() = fullSensors; -bool ok = createReducedModel(fullModel, jointsInReducedModel, reducedModel); -// Handle ok // access reducedModel and reducedModel.sensors() - - - - - - - Link - Link iDynTree::getRandomLink - () - getRandomLink - - + - - void - void iDynTree::addRandomLinkToModel - (Model &model, std::string parentLink, std::string newLinkName, bool onlyRevoluteJoints=false) - addRandomLinkToModel - - Model & - model - - - std::string - parentLink - - - std::string - newLinkName - + + + + unsigned int + nRows + nRows + + + unsigned int + nCols + nCols + + + Eigen::Map< Eigen::Matrix< double, nRows, nCols, Eigen::RowMajor > > + Eigen::Map< Eigen::Matrix<double,nRows,nCols,Eigen::RowMajor> > iDynTree::toEigen + (MatrixFixSize< nRows, nCols > &mat) + toEigen - bool - onlyRevoluteJoints - false + MatrixFixSize< nRows, nCols > & + mat -Add a random link with random model. - + - - void - void iDynTree::addRandomAdditionalFrameToModel - (Model &model, std::string parentLink, std::string newFrameName) - addRandomAdditionalFrameToModel - - Model & - model - - - std::string - parentLink - + + + + unsigned int + nRows + nRows + + + Eigen::Map< Eigen::Matrix< double, nRows, 1 > > + Eigen::Map< Eigen::Matrix<double,nRows,1> > iDynTree::toEigen + (MatrixFixSize< nRows, 1 > &mat) + toEigen - std::string - newFrameName + MatrixFixSize< nRows, 1 > & + mat -Add a random additional frame to a model model. - + - - LinkIndex - LinkIndex iDynTree::getRandomLinkIndexOfModel - (const Model &model) - getRandomLinkIndexOfModel + + + + unsigned int + nCols + nCols + + + Eigen::Map< Eigen::Matrix< double, 1, nCols > > + Eigen::Map< Eigen::Matrix<double,1,nCols> > iDynTree::toEigen + (MatrixFixSize< 1, nCols > &mat) + toEigen - const Model & - model + MatrixFixSize< 1, nCols > & + mat @@ -3232,16 +2974,28 @@ - + - - std::string - std::string iDynTree::getRandomLinkOfModel - (const Model &model) - getRandomLinkOfModel + + + + unsigned int + nRows + nRows + + + unsigned int + nCols + nCols + + + Eigen::Map< const Eigen::Matrix< double, nRows, nCols, Eigen::RowMajor > > + Eigen::Map< const Eigen::Matrix<double,nRows,nCols,Eigen::RowMajor> > iDynTree::toEigen + (const MatrixFixSize< nRows, nCols > &mat) + toEigen - const Model & - model + const MatrixFixSize< nRows, nCols > & + mat @@ -3249,16 +3003,16 @@ - + - - std::string - std::string iDynTree::int2string - (int i) - int2string + + const Eigen::Matrix< double, 6, 1 > + const Eigen::Matrix<double,6,1> iDynTree::toEigen + (const SpatialMotionVector &vec) + toEigen - int - i + const SpatialMotionVector & + vec @@ -3266,26 +3020,16 @@ - + - - Model - Model iDynTree::getRandomModel - (unsigned int nrOfJoints, size_t nrOfAdditionalFrames=10, bool onlyRevoluteJoints=false) - getRandomModel - - unsigned int - nrOfJoints - - - size_t - nrOfAdditionalFrames - 10 - + + const Eigen::Matrix< double, 6, 1 > + const Eigen::Matrix<double,6,1> iDynTree::toEigen + (const SpatialForceVector &vec) + toEigen - bool - onlyRevoluteJoints - false + const SpatialForceVector & + vec @@ -3293,26 +3037,20 @@ - + - - Model - Model iDynTree::getRandomChain - (unsigned int nrOfJoints, size_t nrOfAdditionalFrames=10, bool onlyRevoluteJoints=false) - getRandomChain - - unsigned int - nrOfJoints - + + void + void iDynTree::fromEigen + (SpatialMotionVector &vec, const Eigen::Matrix< double, 6, 1 > &eigVec) + fromEigen - size_t - nrOfAdditionalFrames - 10 + SpatialMotionVector & + vec - bool - onlyRevoluteJoints - false + const Eigen::Matrix< double, 6, 1 > & + eigVec @@ -3320,1164 +3058,951 @@ - + - + void - void iDynTree::getRandomJointPositions - (VectorDynSize &vec, const Model &model) - getRandomJointPositions + void iDynTree::fromEigen + (SpatialForceVector &vec, const Eigen::Matrix< double, 6, 1 > &eigVec) + fromEigen - VectorDynSize & + SpatialForceVector & vec - const Model & - model + const Eigen::Matrix< double, 6, 1 > & + eigVec -Get random joint position consistently with the limits of the model. -If the input vector has the wrong size, it will be resized. - + - - bool - bool iDynTree::getRandomInverseDynamicsInputs - (FreeFloatingPos &pos, FreeFloatingVel &vel, FreeFloatingAcc &acc, LinkNetExternalWrenches &extWrenches) - getRandomInverseDynamicsInputs - - FreeFloatingPos & - pos - - - FreeFloatingVel & - vel - + + void + void iDynTree::fromEigen + (Transform &trans, const Eigen::Matrix4d &eigMat) + fromEigen - FreeFloatingAcc & - acc + Transform & + trans - LinkNetExternalWrenches & - extWrenches + const Eigen::Matrix4d & + eigMat -Get random robot positions, velocities and accelerations and external wrenches to be given as an input to InverseDynamics. - + - - bool - bool iDynTree::removeFakeLinks - (const Model &modelWithFakeLinks, Model &modelWithoutFakeLinks) - removeFakeLinks - - const Model & - modelWithFakeLinks - + + + + class Derived + + + Eigen::Matrix< typename Derived::Scalar, 3, 3, Eigen::RowMajor > + Eigen::Matrix<typename Derived::Scalar, 3, 3, Eigen::RowMajor> iDynTree::skew + (const Eigen::MatrixBase< Derived > &vec) + skew - Model & - modelWithoutFakeLinks + const Eigen::MatrixBase< Derived > & + vec -\function Remove all fake links in the model, transforming them in frames. -Given a Model in input, this function copies all its links and joints to the model in output, except for links that recognized as "fake links". -The condition for a link to be classified as "fake link" are: -The link has a zero mass. -The link is a leaf, i.e. it is connected to only one neighbor. -The link is connected to its only neighbor with a fixed joint. - - -Once a "fake link" has been identified to respect this two conditions, it and the joint that it connects it to its only neighbor is not copied to the output model, but a frame with the same name of the "fake link" and with the same transform is added to the model. -This function does not handle SensorsList contained inside the input model. - -The definition of "fake link" used in this function excludes the case in which two fake links are attached to one another. - - - + - - bool - bool iDynTree::createReducedModel - (const Model &fullModel, const std::vector< std::string > &jointsInReducedModel, Model &reducedModel) - createReducedModel - - const Model & - fullModel - - - const std::vector< std::string > & - jointsInReducedModel - + + + + class Derived + + + Eigen::Matrix< typename Derived::Scalar, 3, 1 > + Eigen::Matrix<typename Derived::Scalar, 3, 1> iDynTree::unskew + (const Eigen::MatrixBase< Derived > &mat) + unskew - Model & - reducedModel + const Eigen::MatrixBase< Derived > & + mat -This function takes in input a iDynTree::Model and an ordered list of joints and returns a model with just the joint specified in the list, with that exact order. -All other joints are be removed by lumping (i.e. fusing together) the inertia of the links that are connected by that joint, assuming the joint to be in "rest" position (i.e. zero for revolute or prismatic joints). The links eliminated with this process are be added back to the reduced model as "frames", and are copied in the same way all the additional frames of the lumped links. - + - - bool - bool iDynTree::createReducedModel - (const Model &fullModel, const std::vector< std::string > &jointsInReducedModel, Model &reducedModel, const std::unordered_map< std::string, double > &removedJointPositions) - createReducedModel + + + + unsigned int + nRows + nRows + + + unsigned int + nCols + nCols + + + typename iDynTreeMatrixType + + + void + void iDynTree::setSubMatrix + (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange, const MatrixFixSize< nRows, nCols > &subMat) + setSubMatrix - const Model & - fullModel + iDynTreeMatrixType & + mat - const std::vector< std::string > & - jointsInReducedModel + const IndexRange + rowRange - Model & - reducedModel + const IndexRange + colRange - const std::unordered_map< std::string, double > & - removedJointPositions + const MatrixFixSize< nRows, nCols > & + subMat -This function takes in input a iDynTree::Model and an ordered list of joints and returns a model with just the joint specified in the list, with that exact order. +Submatrix helpers. -All other joints are be removed by lumping (i.e. fusing together) the inertia of the links that are connected by that joint, assuming the joint to be in "rest" position (i.e. zero for revolute or prismatic joints), or the position specified in the removedJointPositions if a given joint is specified in removedJointPositions - + - - bool - bool iDynTree::createModelWithNormalizedJointNumbering - (const Model &model, const std::string &baseForNormalizedJointNumbering, Model &reducedModel) - createModelWithNormalizedJointNumbering + + + + typename iDynTreeMatrixType + + + typename EigMatType + + + void + void iDynTree::setSubMatrix + (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange, const EigMatType &subMat) + setSubMatrix - const Model & - model + iDynTreeMatrixType & + mat - const std::string & - baseForNormalizedJointNumbering + const IndexRange + rowRange - Model & - reducedModel + const IndexRange + colRange + + + const EigMatType & + subMat -Given a specified base, return a model with a "normalized" joint numbering for that base. -This function takes in input a iDynTree::Model and a name of a link in that model. It returns a model identical to the one in input, but with the joint serialization of the non-fixed joint modified in such a way that a non-fixed joint has an index higher than all the non-fixed joints on the path between it and the base. After all the non-fixed joints, the fixed joints are also added with the same criteria, but applied to fixed joints. -This method make sure that the non-fixed joint in the model have a "regular numbering" as described in Featherstone "Rigid Body Dynamics Algorithm", section 4.1.2 . Note that this numbering is not required by any algorithm in iDynTree, but it may be useful for example to ensure that for a chain model the joint numbering is the one induced by the kinematic structure. - -This function does not handle SensorsList contained inside the input model. - -true if all went well, false if there was an error in conversion. - - - + - - bool - bool iDynTree::extractSubModel - (const iDynTree::Model &fullModel, const iDynTree::Traversal &subModelTraversal, iDynTree::Model &outputSubModel) - extractSubModel + + + + typename iDynTreeMatrixType + + + void + void iDynTree::setSubMatrix + (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange, const double subMat) + setSubMatrix - const iDynTree::Model & - fullModel + iDynTreeMatrixType & + mat - const iDynTree::Traversal & - subModelTraversal + const IndexRange + rowRange - iDynTree::Model & - outputSubModel + const IndexRange + colRange + + + const double + subMat -Extract sub model from sub model traversal. -This function creates a new iDynTree::Model containing links and joints composing the subModelTraversal. The function takes in input a iDynTree::Model and a iDynTree::Traversal. The new model will contain joints and links composing the subModelTraversal, with the same order. The FT sensor frames are added as additional frames. -This function does not handle SensorsList contained inside the input model. - -true if all went well, false if there was an error in creating the sub model. - - - + - - bool - bool iDynTree::addValidNamesToAllSolidShapes - (const iDynTree::Model &inputModel, iDynTree::Model &outputModel) - addValidNamesToAllSolidShapes + + + + typename iDynTreeMatrixType + + + void + void iDynTree::setSubMatrixToIdentity + (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange) + setSubMatrixToIdentity - const iDynTree::Model & - inputModel + iDynTreeMatrixType & + mat - iDynTree::Model & - outputModel + const IndexRange + rowRange + + + const IndexRange + colRange -Add automatically generated names to all visual and collision solid shapes of the model. -This function creates a new iDynTree::Model that is identical to the input one, but that sets a valid name for all the visual and collision solid shapes of the model. -For links that already have at least either collision or visual with valid name, all the corresponding shapes (collision or visual) will not be modified. -For links in which all shapes of a given type that do not have a valid name, a name will be generated as the following: -If there is a single collision or visual element in the link, it will be named <linkName>_collision or <linkName>_visual -If there are multiple collision or visual elements in the link, the solid shapes will be <linkName>_collision_0, <linkName>_collision_1, ... <linkName>_collision_n or <linkName>_visual_0, <linkName>_visual_1, ... <linkName>_visual_n - - -true if all went well, false if there was an error in creating the sub model. - - - + - - bool - bool iDynTree::moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink - (const iDynTree::Model &inputModel, iDynTree::Model &outputModel) - moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink + + + + typename iDynTreeMatrixType + + + void + void iDynTree::setSubMatrixToMinusIdentity + (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange) + setSubMatrixToMinusIdentity - const iDynTree::Model & - inputModel + iDynTreeMatrixType & + mat - iDynTree::Model & - outputModel + const IndexRange + rowRange + + + const IndexRange + colRange -Transform the input model in model that can be exported as URDF with the given base link. -In iDynTree, the link frame can be placed without constraint w.r.t. to the joints to which the link is connected. On the other hand, in the URDF format, the origin of the frame of the child link connected to its parent with a non-fixed joint must lay on the axis of the joint. -That means that if you want to export a model with an arbitrary base link, some link frame will need to be moved to respect the constraint given by the URDF format. This function perform exactly this transformation, ensuring that inertia, visual and collision information is probably accounted for, and leaving the original link frames in the model as "additional frames" with the naming scheme <linkName>_original_frame . -Note that the operation done depends on the base link used, if you want to use a different base link, change the default base link of the model via inputModel.setDefaultBaseLink method. -true if all went well, false if there was an error in creating the sub model. - - - + - - bool - bool iDynTree::predictSensorsMeasurements - (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const FreeFloatingAcc &robotAcc, const LinAcceleration &gravity, const LinkNetExternalWrenches &externalWrenches, FreeFloatingAcc &buf_properRobotAcc, LinkPositions &buf_linkPos, LinkVelArray &buf_linkVel, LinkAccArray &buf_linkProperAcc, LinkInternalWrenches &buf_internalWrenches, FreeFloatingGeneralizedTorques &buf_outputTorques, SensorsMeasurements &predictedMeasurement) - predictSensorsMeasurements + + + + unsigned int + size + size + + + void + void iDynTree::setSubVector + (VectorDynSize &vec, const IndexRange range, const VectorFixSize< size > &subVec) + setSubVector - const Model & - model + VectorDynSize & + vec - const Traversal & - traversal + const IndexRange + range - const FreeFloatingPos & - robotPos + const VectorFixSize< size > & + subVec + + + + + + + + + + void + void iDynTree::setSubVector + (VectorDynSize &vec, const IndexRange range, double subVec) + setSubVector - const FreeFloatingVel & - robotVel + VectorDynSize & + vec - const FreeFloatingAcc & - robotAcc + const IndexRange + range - const LinAcceleration & - gravity + double + subVec + + + + + + + + + + void + void iDynTree::setSubVector + (VectorDynSize &vec, const IndexRange range, const SpatialMotionVector &twist) + setSubVector - const LinkNetExternalWrenches & - externalWrenches + VectorDynSize & + vec - FreeFloatingAcc & - buf_properRobotAcc + const IndexRange + range - LinkPositions & - buf_linkPos + const SpatialMotionVector & + twist + + + + + + + + + + void + void iDynTree::setSubVector + (VectorDynSize &vec, const IndexRange range, const SpatialForceVector &wrench) + setSubVector - LinkVelArray & - buf_linkVel - + VectorDynSize & + vec + - LinkAccArray & - buf_linkProperAcc + const IndexRange + range - LinkInternalWrenches & - buf_internalWrenches + const SpatialForceVector & + wrench + + + + + + + + + + + + typename T + + + void + void iDynTree::setSubVector + (VectorDynSize &vec, const IndexRange range, const T &subVec) + setSubVector - FreeFloatingGeneralizedTorques & - buf_outputTorques + VectorDynSize & + vec - SensorsMeasurements & - predictedMeasurement + const IndexRange + range + + + const T & + subVec -Predict the measurement of a set of sensors. -Given a SensorList object describing a list of sensor of a model fill the output argument predictedMeasurement with the predicted measurement of the sensors consistent with the state and the acceleration/torques and forces of the Model. -This function takes in input the internal buffers used for the computation to avoid dynamic memory allocation. - - -model - - -the model used to predict the sensor measurements. - - - - -sensorList - - -the sensors list used to predict the sensors measurements. - - - - -traversal - - -the Traversal used for predict the sensor measurements. - - - - -robotPos - - -the position of the model used for prediction. - - - - -robotVel - - -the velocity of the model used for prediction. - - - - -robotAcc - - -the acceleration of the model used for prediction. - - - - -gravity - - -the gravity acceleration (in world frame) used for prediction. - - - - -externalWrenches - - -the net external wrench acting on each link. - - - - -buf_properRobotAcc - - -internal buffer, storing the proper acceleration of the model. - - - - -buf_linkPos - - -internal buffer, storing the position of every link in the model. - - - - -buf_linkVel - - -internal buffer, storing the velocity of every link in the model. - - - - -buf_linkProperAcc - - -internal buffer, storing the proper acceleration of every link in the model. - - - - -buf_internalWrenches - - -internal buffer, storing the internal wrenches. - - - - -buf_outputTorques - - -internal buffer, storing the generalized joint torques. - - - - -predictedMeasurement - - -the predicted measurements for the sensors. - - - -true if the sensors in the list are all valid - - - + - - bool - bool iDynTree::predictSensorsMeasurementsFromRawBuffers - (const Model &model, const Traversal &traversal, const LinkVelArray &buf_linkVel, const LinkAccArray &buf_linkProperAcc, const LinkInternalWrenches &buf_internalWrenches, SensorsMeasurements &predictedMeasurement) - predictSensorsMeasurementsFromRawBuffers + + + + typename MapType + + + void + void iDynTree::pseudoInverse_helper2 + (const MapType &A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, MapType &Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV) + pseudoInverse_helper2 - const Model & - model + const MapType & + A - const Traversal & - traversal + Eigen::JacobiSVD< Eigen::MatrixXd > & + svdDecomposition - const LinkVelArray & - buf_linkVel + MapType & + Apinv - const LinkAccArray & - buf_linkProperAcc + double + tolerance - const LinkInternalWrenches & - buf_internalWrenches + unsigned int + computationOptions + Eigen::ComputeThinU|Eigen::ComputeThinV + + + + + + + + + + + + + typename MapType + + + void + void iDynTree::pseudoInverse_helper1 + (const MapType &A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, MapType &Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV) + pseudoInverse_helper1 + + const MapType & + A - SensorsMeasurements & - predictedMeasurement + Eigen::JacobiSVD< Eigen::MatrixXd > & + svdDecomposition + + + MapType & + Apinv + + + double + tolerance + + + unsigned int + computationOptions + Eigen::ComputeThinU|Eigen::ComputeThinV -Predict the measurement of a set of sensors. -Helper function that works on buffers already compute with Dynamics functions - - -model - - -the model used to predict the sensor measurements. - - - - -traversal - - -the Traversal used for predict the sensor measurements. - - - - -buf_linkVel - - -internal buffer, storing the velocity of every link in the model. - - - - -buf_linkProperAcc - - -internal buffer, storing the proper acceleration of every link in the model. - - - - -buf_internalWrenches - - -internal buffer, storing the internal wrenches. - - - - -predictedMeasurement - - -the predicted measurements for the sensors. - - - -true if the sensors in the list are all valid - - - + - - bool - bool iDynTree::predictSensorsMeasurements - (const Model &model, const SensorsList &sensorList, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const FreeFloatingAcc &robotAcc, const LinAcceleration &gravity, const LinkNetExternalWrenches &externalWrenches, FreeFloatingAcc &buf_properRobotAcc, LinkPositions &buf_linkPos, LinkVelArray &buf_linkVel, LinkAccArray &buf_linkProperAcc, LinkInternalWrenches &buf_internalWrenches, FreeFloatingGeneralizedTorques &buf_outputTorques, SensorsMeasurements &predictedMeasurement) - predictSensorsMeasurements - - const Model & - model - + + + + typename MapType + + + void + void iDynTree::pseudoInverse + (const MapType A, MapType Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV) + pseudoInverse - const SensorsList & - sensorList + const MapType + A - const Traversal & - traversal + MapType + Apinv - const FreeFloatingPos & - robotPos + double + tolerance - const FreeFloatingVel & - robotVel + unsigned int + computationOptions + Eigen::ComputeThinU|Eigen::ComputeThinV + + + + + + + + + + Eigen::Map< Eigen::SparseMatrix< double, Eigen::RowMajor > > + Eigen::Map< Eigen::SparseMatrix<double, Eigen::RowMajor> > iDynTree::toEigen + (iDynTree::SparseMatrix< iDynTree::RowMajor > &mat) + toEigen - const FreeFloatingAcc & - robotAcc + iDynTree::SparseMatrix< iDynTree::RowMajor > & + mat + + + + + + + + + + Eigen::Map< const Eigen::SparseMatrix< double, Eigen::RowMajor > > + Eigen::Map<const Eigen::SparseMatrix<double, Eigen::RowMajor> > iDynTree::toEigen + (const iDynTree::SparseMatrix< iDynTree::RowMajor > &mat) + toEigen - const LinAcceleration & - gravity + const iDynTree::SparseMatrix< iDynTree::RowMajor > & + mat + + + + + + + + + + Eigen::Map< Eigen::SparseMatrix< double, Eigen::ColMajor > > + Eigen::Map< Eigen::SparseMatrix<double, Eigen::ColMajor> > iDynTree::toEigen + (iDynTree::SparseMatrix< iDynTree::ColumnMajor > &mat) + toEigen - const LinkNetExternalWrenches & - externalWrenches + iDynTree::SparseMatrix< iDynTree::ColumnMajor > & + mat + + + + + + + + + + Eigen::Map< const Eigen::SparseMatrix< double, Eigen::ColMajor > > + Eigen::Map<const Eigen::SparseMatrix<double, Eigen::ColMajor> > iDynTree::toEigen + (const iDynTree::SparseMatrix< iDynTree::ColumnMajor > &mat) + toEigen - FreeFloatingAcc & - buf_properRobotAcc + const iDynTree::SparseMatrix< iDynTree::ColumnMajor > & + mat + + + + + + + + + + + + class ElementType + + + IDYNTREE_CONSTEXPR MatrixView< ElementType > + IDYNTREE_CONSTEXPR MatrixView<ElementType> iDynTree::make_matrix_view + (ElementType *ptr, typename MatrixView< ElementType >::index_type rows, typename MatrixView< ElementType >::index_type cols, const MatrixStorageOrdering &order=MatrixStorageOrdering::RowMajor) + make_matrix_view - LinkPositions & - buf_linkPos + ElementType * + ptr - LinkVelArray & - buf_linkVel + typename MatrixView< ElementType >::index_type + rows - LinkAccArray & - buf_linkProperAcc + typename MatrixView< ElementType >::index_type + cols - LinkInternalWrenches & - buf_internalWrenches + const MatrixStorageOrdering & + order + MatrixStorageOrdering::RowMajor + + + + + + + + + + + + class Container + + + std::enable_if_t< MatrixViewInternal::has_IsRowMajor< Container >::value||std::is_same< MatrixView< typename Container::value_type >, Container >::value, int > + 0 + + + IDYNTREE_CONSTEXPR MatrixView< typename Container::value_type > + IDYNTREE_CONSTEXPR MatrixView<typename Container::value_type> iDynTree::make_matrix_view + (Container &cont) + make_matrix_view - FreeFloatingGeneralizedTorques & - buf_outputTorques + Container & + cont + + + + + + + + + + + + class Container + + + std::enable_if_t< MatrixViewInternal::has_IsRowMajor< Container >::value||std::is_same< MatrixView< const typename Container::value_type >, Container >::value, int > + 0 + + + IDYNTREE_CONSTEXPR MatrixView< const typename Container::value_type > + IDYNTREE_CONSTEXPR MatrixView<const typename Container::value_type> iDynTree::make_matrix_view + (const Container &cont) + make_matrix_view - SensorsMeasurements & - predictedMeasurement + const Container & + cont -Predict the measurement of a set of sensors. -Given a SensorList object describing a list of sensor of a model fill the output argument predictedMeasurement with the predicted measurement of the sensors consistent with the state and the acceleration/torques and forces of the Model. -This function takes in input the internal buffers used for the computation to avoid dynamic memory allocation. - - -model - - -the model used to predict the sensor measurements. - - - - -sensorList - - -the sensors list used to predict the sensors measurements. - - - - -traversal - - -the Traversal used for predict the sensor measurements. - - - - -robotPos - - -the position of the model used for prediction. - - - - -robotVel - - -the velocity of the model used for prediction. - - - - -robotAcc - - -the acceleration of the model used for prediction. - - - - -gravity - - -the gravity acceleration (in world frame) used for prediction. - - - - -externalWrenches - - -the net external wrench acting on each link. - - - - -buf_properRobotAcc - - -internal buffer, storing the proper acceleration of the model. - - - - -buf_linkPos - - -internal buffer, storing the position of every link in the model. - - - - -buf_linkVel - - -internal buffer, storing the velocity of every link in the model. - - - - -buf_linkProperAcc - - -internal buffer, storing the proper acceleration of every link in the model. - - - - -buf_internalWrenches - - -internal buffer, storing the internal wrenches. - - - - -buf_outputTorques - - -internal buffer, storing the generalized joint torques. - - - - -predictedMeasurement - - -the predicted measurements for the sensors. - - - -true if the sensors in the list are all valid - - - + - - bool - bool iDynTree::predictSensorsMeasurementsFromRawBuffers - (const Model &model, const SensorsList &sensorList, const Traversal &traversal, const LinkVelArray &buf_linkVel, const LinkAccArray &buf_linkProperAcc, const LinkInternalWrenches &buf_internalWrenches, SensorsMeasurements &predictedMeasurement) - predictSensorsMeasurementsFromRawBuffers - - const Model & - model - - - const SensorsList & - sensorList - - - const Traversal & - traversal - - - const LinkVelArray & - buf_linkVel - - - const LinkAccArray & - buf_linkProperAcc - + + + + class Container + + + std::enable_if_t< !MatrixViewInternal::has_IsRowMajor< Container >::value &&!std::is_same< MatrixView< typename Container::value_type >, Container >::value, int > + 0 + + + IDYNTREE_CONSTEXPR MatrixView< typename Container::value_type > + IDYNTREE_CONSTEXPR MatrixView<typename Container::value_type> iDynTree::make_matrix_view + (Container &cont, const MatrixStorageOrdering &order=MatrixStorageOrdering::RowMajor) + make_matrix_view - const LinkInternalWrenches & - buf_internalWrenches + Container & + cont - SensorsMeasurements & - predictedMeasurement + const MatrixStorageOrdering & + order + MatrixStorageOrdering::RowMajor -Predict the measurement of a set of sensors. -Helper function that works on buffers already compute with Dynamics functions - - -model - - -the model used to predict the sensor measurements. - - - - -sensorList - - -the sensors list used to predict the sensors measurements. - - - - -traversal - - -the Traversal used for predict the sensor measurements. - - - - -buf_linkVel - - -internal buffer, storing the velocity of every link in the model. - - - - -buf_linkProperAcc - - -internal buffer, storing the proper acceleration of every link in the model. - - - - -buf_internalWrenches - - -internal buffer, storing the internal wrenches. - - - - -predictedMeasurement - - -the predicted measurements for the sensors. - - - -true if the sensors in the list are all valid - - - + - - bool - bool iDynTree::isLinkSensor - (const SensorType type) - isLinkSensor + + + + class Container + + + std::enable_if_t< !MatrixViewInternal::has_IsRowMajor< Container >::value &&!std::is_same< MatrixView< typename Container::value_type >, Container >::value, int > + 0 + + + IDYNTREE_CONSTEXPR MatrixView< const typename Container::value_type > + IDYNTREE_CONSTEXPR MatrixView<const typename Container::value_type> iDynTree::make_matrix_view + (const Container &cont, const MatrixStorageOrdering &order=MatrixStorageOrdering::RowMajor) + make_matrix_view - const SensorType - type + const Container & + cont + + + const MatrixStorageOrdering & + order + MatrixStorageOrdering::RowMajor -Short function to check if a SensorType is a LinkSensor. - + - - bool - bool iDynTree::isJointSensor - (const SensorType type) - isJointSensor + + + iDynTree::IDYNTREE_DEPRECATED_WITH_MSG + ("iDynTree::PositionRaw is deprecated, use iDynTree::Position") typedef Position PositionRaw + IDYNTREE_DEPRECATED_WITH_MSG - const SensorType - type + "iDynTree::PositionRaw is + deprecated + + + use iDynTree::Position" -Short function to check if a SensorType is. - + - - std::size_t - std::size_t iDynTree::getSensorTypeSize - (const SensorType type) - getSensorTypeSize + + Eigen::Matrix3d + Eigen::Matrix3d iDynTree::squareCrossProductMatrix + (const Eigen::Vector3d &v) + squareCrossProductMatrix - const SensorType - type + const Eigen::Vector3d & + v +Maps a 3d vector to the square of the cross product matrix: v --> (v\times)^2 or, if you prefer another notation: v --> S^2(v) - + - - void - void iDynTree::computeTransformToTraversalBase - (const Model &fullModel, const Traversal &traversal, const JointPosDoubleArray &jointPos, LinkPositions &traversalBase_H_link) - computeTransformToTraversalBase - - const Model & - fullModel - - - const Traversal & - traversal - - - const JointPosDoubleArray & - jointPos - + + Eigen::Matrix3d + Eigen::Matrix3d iDynTree::skew + (const Eigen::Vector3d &vec) + skew - LinkPositions & - traversalBase_H_link + const Eigen::Vector3d & + vec -Helper loop to compute the position of each link wrt to the frame of the subModel base. +Maps a 3d vector to the cross product matrix: v --> (v\times) or, if you prefer another notation: v --> S(v) - - -fullModel - - -full model - - - - -traversal - - -traversal on which to run the loop - - - - -jointPos - - -joint positions for the full model - - - - -traversalBase_H_link - - -traversalBase_H_link[i] will store the traversalBase_H_i transform - - - - - + - + + + + typename vector6d + + void - void iDynTree::computeTransformToSubModelBase - (const Model &fullModel, const SubModelDecomposition &subModelDecomposition, const JointPosDoubleArray &jointPos, LinkPositions &subModelBase_H_link) - computeTransformToSubModelBase - - const Model & - fullModel - - - const SubModelDecomposition & - subModelDecomposition - + void iDynTree::efficient6dCopy + (vector6d *pthis, const vector6d &other) + efficient6dCopy - const JointPosDoubleArray & - jointPos + vector6d * + pthis - LinkPositions & - subModelBase_H_link + const vector6d & + other -Run the computeTransformToTraversalBase for all the traversal in the subModelDecomposition, and store the results in the linkPos array. +Efficient version of the copy from one 6D vector to another. - - -fullModel - - -full model - - - - -subModelDecomposition - - -model decomposition on which the loop will run - - - - -jointPos - - -joint positions for the full model - - - - -subModelBase_H_link - - -subModelBase_H_link[i] will store the subModelBase_H_i transform - - - - - + - - bool - bool iDynTree::DHChainFromiKinChain - (iCub::iKin::iKinChain &ikinChain, DHChain &out) - DHChainFromiKinChain + + + + typename vector6d + + + vector6d + vector6d iDynTree::efficient6dSum + (const vector6d &op1, const vector6d &op2) + efficient6dSum - iCub::iKin::iKinChain & - ikinChain + const vector6d & + op1 - DHChain & - out + const vector6d & + op2 -Load a iDynTree::DHChain object from a iCub::iKin::iKinChain . +Efficient version of the sum of two 6D vectors. -true if all went ok, false otherwise. - - - + - - bool - bool iDynTree::modelFromiKinChain - (iCub::iKin::iKinChain &ikinChain, Model &output) - modelFromiKinChain + + + + typename vector6d + + + vector6d + vector6d iDynTree::efficient6ddifference + (const vector6d &op1, const vector6d &op2) + efficient6ddifference - iCub::iKin::iKinChain & - ikinChain + const vector6d & + op1 - Model & - output + const vector6d & + op2 -Load a iDynTree::Model object from a iCub::iKin::iKinChain . +Efficient version of the different of two 6D vectors. -true if all went ok, false otherwise. - - - + - - bool - bool iDynTree::iKinLimbFromModel - (const Model &model, const std::string &baseFrame, const std::string &distalFrame, iCub::iKin::iKinLimb &ikinLimb) - iKinLimbFromModel + + + + typename twistType + + + typename motionVectorType + + + typename resultType + + + resultType + resultType iDynTree::efficientTwistCrossTwist + (const twistType &op1, const motionVectorType &op2) + efficientTwistCrossTwist - const Model & - model + const twistType & + op1 - const std::string & - baseFrame - - - const std::string & - distalFrame - - - iCub::iKin::iKinLimb & - ikinLimb + const motionVectorType & + op2 -Extract an iCub::iKin::iKinLimb from an iDynTree::Model . +Efficient version of the cross product between a twist and a spatial motion vector (another twist, acceleration, ..) -true if all went ok, false otherwise. - - - + - - bool - bool iDynTree::iKinLimbFromDHChain - (const DHChain &dhChain, iCub::iKin::iKinLimb &ikinLimb) - iKinLimbFromDHChain + + + + typename twistType + + + typename momentumVectorType + + + typename resultType + + + resultType + resultType iDynTree::efficientTwistCrossMomentum + (const twistType &op1, const momentumVectorType &op2) + efficientTwistCrossMomentum - const DHChain & - dhChain + const twistType & + op1 - iCub::iKin::iKinLimb & - ikinLimb + const momentumVectorType & + op2 -Create a iCub::iKin::iKinLimb from an iDynTree::DHChain. +Efficient version of the cross product between a twist and a spatial force vector (momentum, wrench, ..) - + - - DHLink - DHLink iDynTree::iKinLink2DHLink - (const iCub::iKin::iKinLink &ikinlink) - iKinLink2DHLink + + + iDynTree::IDYNTREE_DEPRECATED_WITH_MSG + ("iDynTree::RotationRaw is deprecated, use iDynTree::Rotation") typedef Rotation RotationRaw + IDYNTREE_DEPRECATED_WITH_MSG - const iCub::iKin::iKinLink & - ikinlink + "iDynTree::RotationRaw is + deprecated + + + use iDynTree::Rotation" @@ -4485,16 +4010,19 @@ - + - - iCub::iKin::iKinLink - iCub::iKin::iKinLink iDynTree::DHLink2iKinLink - (const DHLink &dhLink) - DHLink2iKinLink + + + iDynTree::IDYNTREE_DEPRECATED_WITH_MSG + ("iDynTree::RotationalInertiaRaw is deprecated, use iDynTree::RotationalInertia") typedef RotationalInertia RotationalInertiaRaw + IDYNTREE_DEPRECATED_WITH_MSG - const DHLink & - dhLink + "iDynTree::RotationalInertiaRaw is + deprecated + + + use iDynTree::RotationalInertia" @@ -4502,837 +4030,629 @@ - + - - - - class contactsList - - + bool - bool iDynTree::fromSkinDynLibToiDynTreeHelper - (const Model &model, const contactsList &dynList, LinkUnknownWrenchContacts &unknowns, const skinDynLibConversionsHelper &conversionHelper) - fromSkinDynLibToiDynTreeHelper - - const Model & - model - - - const contactsList & - dynList - - - LinkUnknownWrenchContacts & - unknowns - + bool iDynTree::isValidRotationMatrix + (const iDynTree::Rotation &r) + isValidRotationMatrix - const skinDynLibConversionsHelper & - conversionHelper + const iDynTree::Rotation & + r -Templated version of fromSkinDynLibToiDynTree, useful to implement the exact same function for dynContactList and skinContactList, that have exactly the same interface, but they don't have any common ancestor in the class structure. +Check if the rotation matrix is valid. +It checks that the determinant is 1, that the Frobenius norm is finite and that it is orthogonal. + +r + + +The input rotation + + + +True if it is a rotation matrix. + + - + - - bool - bool iDynTree::parseRotationMatrix - (const yarp::os::Searchable &rf, const std::string &key, iDynTree::Rotation &rotation) - parseRotationMatrix - - const yarp::os::Searchable & - rf - + + double + double iDynTree::geodesicL2Distance + (const iDynTree::Rotation &rotation1, const iDynTree::Rotation &rotation2) + geodesicL2Distance - const std::string & - key + const iDynTree::Rotation & + rotation1 - iDynTree::Rotation & - rotation + const iDynTree::Rotation & + rotation2 -Takes a rotation matrix from configuration file. +Computes the geodesic distance between two rotation matrices. -Notice, the matrix is parsed row-wise. - -rf - - -yarp::os::Searchable The input searchable - - - +It implements the angular distance presented in Sec. 4 of "Rotation Averaging" (available at http://users.cecs.anu.edu.au/~hongdong/rotationaveraging.pdf), in particular $d = ||log(R_1^\top R_2)||^2 $. -key +rotation1 -The name corresponding to the matrix to be read +The first rotation. -rotation +rotation2 -The output rotation +The other rotation. -true if successfull +the geodesic L2 distance between the two rotation matrices. - + - + bool - bool iDynTree::toiDynTree - (const yarp::sig::Vector &yarpVector, iDynTree::Wrench &iDynTreeWrench) - toiDynTree + bool iDynTree::geodesicL2MeanRotation + (const std::vector< iDynTree::Rotation > &inputRotations, iDynTree::Rotation &meanRotation, const GeodesicL2MeanOptions &options=GeodesicL2MeanOptions()) + geodesicL2MeanRotation - const yarp::sig::Vector & - yarpVector + const std::vector< iDynTree::Rotation > & + inputRotations - iDynTree::Wrench & - iDynTreeWrench + iDynTree::Rotation & + meanRotation + + + const GeodesicL2MeanOptions & + options + GeodesicL2MeanOptions() -Convert a yarp::sig::Vector to a iDynTree::Wrench. +Computes the geodesic mean amongst the provided rotations. +It implements Algorithm 1 in Sec. 5.3 of "Rotation Averaging" (available at http://users.cecs.anu.edu.au/~hongdong/rotationaveraging.pdf). +Inside it calls geodesicL2WeightedMeanRotation. -yarpVector +inputRotations -yarp::sig::Vector input +The rotations to average. -iDynTreeWrench +meanRotation -iDynTree::Wrench output +The mean rotation. + + + + +options + + +The options for the inner optimization (refinement) loop. -true if conversion was successful, false otherwise +false in case of failure, true otherwise. - + - + bool - bool iDynTree::toYarp - (const iDynTree::Wrench &iDynTreeWrench, yarp::sig::Vector &yarpVector) - toYarp + bool iDynTree::geodesicL2WeightedMeanRotation + (const std::vector< iDynTree::Rotation > &inputRotations, const std::vector< double > &weights, iDynTree::Rotation &meanRotation, const GeodesicL2MeanOptions &options=GeodesicL2MeanOptions()) + geodesicL2WeightedMeanRotation - const iDynTree::Wrench & - iDynTreeWrench + const std::vector< iDynTree::Rotation > & + inputRotations - yarp::sig::Vector & - yarpVector + const std::vector< double > & + weights + + + iDynTree::Rotation & + meanRotation + + + const GeodesicL2MeanOptions & + options + GeodesicL2MeanOptions() -Convert a iDynTree::Wrench to a yarp::sig::Vector. +Computes the weighted geodesic mean amongst the provided rotations. +It implements Algorithm 1 in Sec. 5.3 of "Rotation Averaging" (available at http://users.cecs.anu.edu.au/~hongdong/rotationaveraging.pdf), with a small modification to take into accounts weights different from 1. -iDynTreeWrench +inputRotations -iDynTree::Wrench input +The rotations to average. -yarpVector +weights -yarp::sig::Vector output +The weights for each rotation. If this vector is null assumes that each weight is 1.0 (equivalent to geodesicL2MeanRotation) - -true if conversion was successful, false otherwise - - - - - - - - - bool - bool iDynTree::toiDynTree - (const yarp::sig::Vector &yarpVector, iDynTree::Position &iDynTreePosition) - toiDynTree - - const yarp::sig::Vector & - yarpVector - - - iDynTree::Position & - iDynTreePosition - - -Convert a yarp::sig::Vector to a iDynTree::Position. - - - + -yarpVector +meanRotation -yarp::sig::Vector input +The weighted mean rotation. -iDynTreePosition +options -iDynTree::Position output +The options for the inner optimization (refinement) loop. -true if conversion was successful, false otherwise (if the input yarpVector has size different from 3) +false in case of failure, true otherwise. - + - - bool - bool iDynTree::toiDynTree - (const yarp::sig::Vector &yarpVector, iDynTree::Vector3 &iDynTreeVector3) - toiDynTree + + + + class ElementType + + + std::ptrdiff_t + FirstExtent + FirstExtent + + + std::ptrdiff_t + SecondExtent + SecondExtent + + + IDYNTREE_CONSTEXPR bool + IDYNTREE_CONSTEXPR bool iDynTree::operator== + (Span< ElementType, FirstExtent > l, Span< ElementType, SecondExtent > r) + operator== - const yarp::sig::Vector & - yarpVector + Span< ElementType, FirstExtent > + l - iDynTree::Vector3 & - iDynTreeVector3 + Span< ElementType, SecondExtent > + r -Convert a yarp::sig::Vector to a iDynTree::Vector3. - - -yarpVector - - -yarp::sig::Vector input - - - - -iDynTreePosition - - -iDynTree::Vector3 output - - - -true if conversion was successful, false otherwise (if the input yarpVector has size different from 3) - - - + - - bool - bool iDynTree::toYarp - (const iDynTree::Position &iDynTreePosition, yarp::sig::Vector &yarpVector) - toYarp + + + + class ElementType + + + std::ptrdiff_t + Extent + Extent + + + IDYNTREE_CONSTEXPR bool + IDYNTREE_CONSTEXPR bool iDynTree::operator!= + (Span< ElementType, Extent > l, Span< ElementType, Extent > r) + operator!= - const iDynTree::Position & - iDynTreePosition + Span< ElementType, Extent > + l - yarp::sig::Vector & - yarpVector + Span< ElementType, Extent > + r -Convert a iDynTree::Position to a yarp::sig::Vector of 3 elements. - - -iDynTreePosition - - -iDynTree::Position input - - - - -yarpVector - - -yarp::sig::Vector output - - - -true if conversion was sucessful, false otherwise - - - + - - bool - bool iDynTree::toiDynTree - (const yarp::sig::Vector &yarpVector, iDynTree::Direction &iDynTreeDirection) - toiDynTree + + + + class ElementType + + + std::ptrdiff_t + Extent + Extent + + + IDYNTREE_CONSTEXPR bool + IDYNTREE_CONSTEXPR bool iDynTree::operator< + (Span< ElementType, Extent > l, Span< ElementType, Extent > r) + operator< - const yarp::sig::Vector & - yarpVector + Span< ElementType, Extent > + l - iDynTree::Direction & - iDynTreeDirection + Span< ElementType, Extent > + r -Convert a yarp::sig::Vector of 3 elements to a iDynTree::Direction. - - -yarpVector - - -yarp::sig::Vector input - - - - -iDynTreeDirection - - -iDynTree::Direction output - - - -true if conversion was successful, false otherwise (if the input yarpVector has size different from 3) - -the direction vector will be normalized to have unit norm. - - - + - - bool - bool iDynTree::toYarp - (const iDynTree::Vector3 &iDynTreeDirection, yarp::sig::Vector &yarpVector) - toYarp + + + + class ElementType + + + std::ptrdiff_t + Extent + Extent + + + IDYNTREE_CONSTEXPR bool + IDYNTREE_CONSTEXPR bool iDynTree::operator<= + (Span< ElementType, Extent > l, Span< ElementType, Extent > r) + operator<= - const iDynTree::Vector3 & - iDynTreeDirection + Span< ElementType, Extent > + l - yarp::sig::Vector & - yarpVector + Span< ElementType, Extent > + r -Convert a iDynTree::Direction to a yarp::sig::Vector of 3 elements. - - -iDynTreeDirection - - -iDynTree::Position input - - - - -yarpVector - - -yarp::sig::Vector output - - - -true if conversion was sucessful, false otherwise - - - + - - bool - bool iDynTree::toiDynTree - (const yarp::sig::Matrix &yarpHomogeneousMatrix, iDynTree::Transform &iDynTreeTransform) - toiDynTree - - const yarp::sig::Matrix & - yarpHomogeneousMatrix + + + + class ElementType + + + std::ptrdiff_t + Extent + Extent + + + IDYNTREE_CONSTEXPR bool + IDYNTREE_CONSTEXPR bool iDynTree::operator> + (Span< ElementType, Extent > l, Span< ElementType, Extent > r) + operator> + + Span< ElementType, Extent > + l - iDynTree::Transform & - iDynTreeTransform + Span< ElementType, Extent > + r -Convert a 4x4 yarp::sig::Matrix representing an homegeneous matrix to a iDynTree::Transform. - - -yarpHomogeneousMatrix - - -yarp::sig::Matrix 4x4 homegeneous matrix input - - - - -iDynTreeTransform - - -iDynTree::Transform output - - - -true if conversion was successful, false otherwise - - - + - - bool - bool iDynTree::toYarp - (const iDynTree::Transform &iDynTreeTransform, yarp::sig::Matrix &yarpHomogeneousMatrix) - toYarp + + + + class ElementType + + + std::ptrdiff_t + Extent + Extent + + + IDYNTREE_CONSTEXPR bool + IDYNTREE_CONSTEXPR bool iDynTree::operator>= + (Span< ElementType, Extent > l, Span< ElementType, Extent > r) + operator>= - const iDynTree::Transform & - iDynTreeTransform + Span< ElementType, Extent > + l - yarp::sig::Matrix & - yarpHomogeneousMatrix + Span< ElementType, Extent > + r -Convert a iDynTree::Transform to a 4x4 yarp::sig::Matrix representing an homegeneous matrix. - - -iDynTreeTransform - - -iDynTree::Transform input - - - - -yarpHomogeneousMatrix - - -yarp::sig::Matrix 4x4 homegeneous matrix output - - - -true if conversion was successful, false otherwise - - - + - - bool - bool iDynTree::toiDynTree - (const yarp::sig::Vector &yarpVector, iDynTree::VectorDynSize &iDynTreeVector) - toiDynTree + + + + class ElementType + + + IDYNTREE_CONSTEXPR Span< ElementType > + IDYNTREE_CONSTEXPR Span<ElementType> iDynTree::make_span + (ElementType *ptr, typename Span< ElementType >::index_type count) + make_span - const yarp::sig::Vector & - yarpVector + ElementType * + ptr - iDynTree::VectorDynSize & - iDynTreeVector + typename Span< ElementType >::index_type + count -Convert a yarp::sig::Vector to a iDynTree::VectorDynSize. - - -yarpVector - - -yarp::sig::Vector input - - - - -iDynTreeVector - - -iDynTree::VectorDynSize output - - - -true if conversion was successful, false otherwise - -the output VectorDynSize will be resized if necessary. - - - + - + - typename VectorType + class ElementType - void - void iDynTree::toYarp - (const VectorType &iDynTreeVector, yarp::sig::Vector &yarpVector) - toYarp + IDYNTREE_CONSTEXPR Span< ElementType > + IDYNTREE_CONSTEXPR Span<ElementType> iDynTree::make_span + (ElementType *firstElem, ElementType *lastElem) + make_span - const VectorType & - iDynTreeVector + ElementType * + firstElem - yarp::sig::Vector & - yarpVector + ElementType * + lastElem -Convert a iDynTree::VectorFixSize to a yarp::sig::Vector. - - -iDynTreeVector - - -iDynTree::VectorFixSize input - - - - -yarpVector - - -yarp::sig::Vector output - - - -the output yarp::sig::Vector will be resized if necessary. - - - + - + - typename MatrixType + class ElementType + + + std::size_t + N + N - void - void iDynTree::toYarp - (const MatrixType &iDynTreeMatrix, yarp::sig::Matrix &yarpMatrix) - toYarp - - const MatrixType & - iDynTreeMatrix - + IDYNTREE_CONSTEXPR Span< ElementType, N > + IDYNTREE_CONSTEXPR Span<ElementType, N> iDynTree::make_span + (ElementType(&arr)[N]) noexcept + make_span - yarp::sig::Matrix & - yarpMatrix + ElementType(&) + arr + [N] -Convert a iDynTree::MatrixFixSize to a yarp::sig::Matrix. - - -iDynTreeMatrix - - -iDynTree::MatrixFixSize input - - - - -yarpMatrix - - -yarp::sig::Matrix output - - - -the output yarp::sig::Matrix will be resized if necessary. - - - + - + - typename VectorType + class Container - bool - bool iDynTree::toiDynTree - (const yarp::sig::Vector &yarpVector, VectorType &iDynTreeVector) - toiDynTree + IDYNTREE_CONSTEXPR Span< typename Container::value_type > + IDYNTREE_CONSTEXPR Span<typename Container::value_type> iDynTree::make_span + (Container &cont) + make_span - const yarp::sig::Vector & - yarpVector - - - VectorType & - iDynTreeVector + Container & + cont -Convert a yarp::sig::Vector to a iDynTree::VectorFixSize. - - -yarpVector - - -yarp::sig::Vector input - - - - -iDynTreeVector - - -iDynTree::VectorFixSize output - - - -true if conversion was successful, false otherwise (if the input yarpMatrix has size different from the output VectorFixSize) - - - + - + - typename MatrixType + class Container + + + typename + typename std::enable_if<SpanUtils::is_value_defined<Container>::value>::type - bool - bool iDynTree::toiDynTree - (const yarp::sig::Matrix &yarpMatrix, MatrixType &iDynTreeMatrix) - toiDynTree - - const yarp::sig::Matrix & - yarpMatrix - + IDYNTREE_CONSTEXPR Span< const typename Container::value_type > + IDYNTREE_CONSTEXPR Span<const typename Container::value_type> iDynTree::make_span + (const Container &cont) + make_span - MatrixType & - iDynTreeMatrix + const Container & + cont -Convert a yarp::sig::Matrix to a iDynTree::MatrixFixSize. - - -yarpMatrix - - -yarp::sig::Matrix input - - - - -iDynTreeMatrix - - -iDynTree::MatrixFixSize output - - - -true if conversion was successful, false otherwise (if the input yarpMatrix has size different from the MatrixFixSize) - - - + - - Eigen::Map< Eigen::VectorXd > - Eigen::Map<Eigen::VectorXd> iDynTree::toEigen - (yarp::sig::Vector &yarpVector) - toEigen + + + + class Ptr + + + IDYNTREE_CONSTEXPR Span< typename Ptr::element_type > + IDYNTREE_CONSTEXPR Span<typename Ptr::element_type> iDynTree::make_span + (Ptr &cont, std::ptrdiff_t count) + make_span - yarp::sig::Vector & - yarpVector + Ptr & + cont - -Convert a yarp::sig::Vector to a Eigen::Map<Eigen::VectorXd> object. - - - - -yarpVector - - -yarp::sig::Vector input - - - -a Eigen::Map vector that points to the data contained in the yarp vector - - - - - - - - - Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > - Eigen::Map< Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > iDynTree::toEigen - (yarp::sig::Matrix &yarpMatrix) - toEigen - yarp::sig::Matrix & - yarpMatrix + std::ptrdiff_t + count -Convert a yarp::sig::Matrix to a Eigen::Map< Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > object. - - -yarpVector - - -yarp::sig::Matrix input - - - -a Eigen::Map vector that points to the data contained in the yarp matrix - - - + - - Eigen::Map< const Eigen::VectorXd > - Eigen::Map<const Eigen::VectorXd> iDynTree::toEigen - (const yarp::sig::Vector &yarpVector) - toEigen + + + + class Ptr + + + typename + typename std::enable_if<!SpanUtils::is_value_defined<Ptr>::value && SpanUtils::is_element_defined<Ptr>::value>::type + + + IDYNTREE_CONSTEXPR Span< typename Ptr::element_type > + IDYNTREE_CONSTEXPR Span<typename Ptr::element_type> iDynTree::make_span + (Ptr &cont) + make_span - const yarp::sig::Vector & - yarpVector + Ptr & + cont -Convert a const yarp::sig::Vector to a Eigen::Map<const Eigen::VectorXd> object. - - -yarpVector - - -yarp::sig::Vector input - - - -a Eigen::Map vector that points to the data contained in the yarp vector - - - + - - Eigen::Map< const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > - Eigen::Map<const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > iDynTree::toEigen - (const yarp::sig::Matrix &yarpMatrix) - toEigen + + + + class Container + + + typename + typename std::enable_if<!SpanUtils::is_value_defined<Container>::value && !SpanUtils::is_element_defined<Container>::value && SpanUtils::has_data_method<Container>::value>::type + + + IDYNTREE_CONSTEXPR Span< typename std::remove_pointer< decltype(std::declval< Container >).data())>::type > + IDYNTREE_CONSTEXPR Span<typename std::remove_pointer<decltype (std::declval<Container>).data())>::type> iDynTree::make_span + (Container &cont) + make_span - const yarp::sig::Matrix & - yarpMatrix + Container & + cont -Convert a const yarp::sig::Matrix to a Eigen::Map< const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > object. - - -yarpVector - - -yarp::sig::Matrix input - - - -a Eigen::Map vector that points to the data contained in the yarp matrix - - - + - - bool - bool iDynTree::isLinkBerdyDynamicVariable - (const BerdyDynamicVariablesTypes dynamicVariableType) - isLinkBerdyDynamicVariable + + void + void iDynTree::assertStringAreEqual + (const std::string &val1, const std::string &val2, double tol=DEFAULT_TOL, std::string file="", int line=-1) + assertStringAreEqual - const BerdyDynamicVariablesTypes - dynamicVariableType + const std::string & + val1 + + + const std::string & + val2 + + + double + tol + DEFAULT_TOL + + + std::string + file + "" + + + int + line + -1 @@ -5340,16 +4660,35 @@ - + - - bool - bool iDynTree::isJointBerdyDynamicVariable - (const BerdyDynamicVariablesTypes dynamicVariableType) - isJointBerdyDynamicVariable + + void + void iDynTree::assertDoubleAreEqual + (const double &val1, const double &val2, double tol=DEFAULT_TOL, std::string file="", int line=-1) + assertDoubleAreEqual - const BerdyDynamicVariablesTypes - dynamicVariableType + const double & + val1 + + + const double & + val2 + + + double + tol + DEFAULT_TOL + + + std::string + file + "" + + + int + line + -1 @@ -5357,1011 +4696,893 @@ - + - - bool - bool iDynTree::isDOFBerdyDynamicVariable - (const BerdyDynamicVariablesTypes dynamicVariableType) - isDOFBerdyDynamicVariable + + void + void iDynTree::assertTransformsAreEqual + (const Transform &trans1, const Transform &trans2, double tol=DEFAULT_TOL, std::string file="", int line=-1) + assertTransformsAreEqual - const BerdyDynamicVariablesTypes - dynamicVariableType + const Transform & + trans1 + + + const Transform & + trans2 + + + double + tol + DEFAULT_TOL + + + std::string + file + "" + + + int + line + -1 +Assert that two transforms are equal, and exit with EXIT_FAILURE if they are not. - + - - bool - bool iDynTree::estimateExternalWrenchesWithoutInternalFT - (const Model &model, const Traversal &traversal, const LinkUnknownWrenchContacts &unknownWrenches, const JointPosDoubleArray &jointPos, const LinkVelArray &linkVel, const LinkAccArray &linkProperAcc, estimateExternalWrenchesBuffers &bufs, LinkContactWrenches &outputContactWrenches) - estimateExternalWrenchesWithoutInternalFT + + void + void iDynTree::assertSpatialMotionAreEqual + (const SpatialMotionVector &t1, const SpatialMotionVector &t2, double tol=DEFAULT_TOL, std::string file="", int line=-1) + assertSpatialMotionAreEqual - const Model & - model + const SpatialMotionVector & + t1 - const Traversal & - traversal + const SpatialMotionVector & + t2 - const LinkUnknownWrenchContacts & - unknownWrenches + double + tol + DEFAULT_TOL - const JointPosDoubleArray & - jointPos + std::string + file + "" - const LinkVelArray & - linkVel + int + line + -1 + + +Assert that two spatial motion vectors are equal, and exit with EXIT_FAILURE if they are not. + + + + + + + + + void + void iDynTree::assertSpatialForceAreEqual + (const SpatialForceVector &f1, const SpatialForceVector &f2, double tol=DEFAULT_TOL, std::string file="", int line=-1) + assertSpatialForceAreEqual + + const SpatialForceVector & + f1 - const LinkAccArray & - linkProperAcc + const SpatialForceVector & + f2 - estimateExternalWrenchesBuffers & - bufs + double + tol + DEFAULT_TOL - LinkContactWrenches & - outputContactWrenches + std::string + file + "" + + + int + line + -1 -Estimate the external contact wrenches using the MultiBody Newton-Euler equations. +Assert that two spatial force vectors are equal, and exit with EXIT_FAILURE if they are not. -This function is used to estimate the external contacts forces without using any measurement of the internal FT sensors. It is tipically used to get data for calibrating the offset of the internal FT sensors. - + - - bool - bool iDynTree::estimateExternalWrenches - (const Model &model, const SubModelDecomposition &subModels, const SensorsList &sensors, const LinkUnknownWrenchContacts &unknownWrenches, const JointPosDoubleArray &jointPos, const LinkVelArray &linkVel, const LinkAccArray &linkProperAcc, const SensorsMeasurements &ftSensorsMeasurements, estimateExternalWrenchesBuffers &bufs, LinkContactWrenches &outputContactWrenches) - estimateExternalWrenches + + void + void iDynTree::assertTrue + (bool prop, std::string file="", int line=-1) + assertTrue - const Model & - model + bool + prop - const SubModelDecomposition & - subModels + std::string + file + "" - const SensorsList & - sensors + int + line + -1 + + + + + + + + + + bool + bool iDynTree::getRandomBool + () + getRandomBool + +Get random bool. + + + + + + + + + double + double iDynTree::getRandomDouble + (double min=0.0, double max=1.0) + getRandomDouble - const LinkUnknownWrenchContacts & - unknownWrenches + double + min + 0.0 - const JointPosDoubleArray & - jointPos + double + max + 1.0 + +Get a random double between min and max . + + + + + + + + + int + int iDynTree::getRandomInteger + (int min, int max) + getRandomInteger - const LinkVelArray & - linkVel + int + min - const LinkAccArray & - linkProperAcc + int + max + +Get a random integer between min and max (included). + + +For example a dice could be simulated with getRandomInteger(1,6); + + + + + + + + + typename VectorType + + + void + void iDynTree::getRandomVector + (VectorType &vec, double min=0.0, double max=1.0) + getRandomVector - const SensorsMeasurements & - ftSensorsMeasurements + VectorType & + vec - estimateExternalWrenchesBuffers & - bufs + double + min + 0.0 - LinkContactWrenches & - outputContactWrenches + double + max + 1.0 -Estimate the external wrenches trasmitted by the contacts between the model and the external environment. +Fill a vector with random double. -This function exploits the measurements of internal FT sensors (whose structure is contained in the sensors parameters and which measurements are contained in the ftSensorsMeasurements parameters) to compute an estimation of the values of the unknown wrenches specified in the unknownWrenches parameter. - - -model - - -the considered model. - - - - -subModels - - -a decomposition of the model along the joint of the six axis F/T sensors. - - - - -sensors - - -a description of the sensors available in the model. - - - - -unknownWrenches - - -a description of the contacts for which the contact wrench is unknown. - - - - -linkVel - - -a vector of link twists, expressed w.r.t to the link orientation and the link origin - - - - -linkProperAcc - - -a vector of link spatial (in the Featherstone sense) and proper accelerations, expressed w.r.t to the link orientation and the link origin - - - - -ftSensorsMeasurements - - -the measurements of the internal six axis F/T sensors. - - - - -outputContactWrenches - - -the estimated contact wrenches. - - - -true if all went well (the dimension of the inputs are consistent), false otherwise - - - + - - bool - bool iDynTree::dynamicsEstimationForwardVelAccKinematics - (const Model &model, const Traversal &traversal, const Vector3 &base_classicalProperAcc, const Vector3 &base_angularVel, const Vector3 &base_angularAcc, const JointPosDoubleArray &jointPos, const JointDOFsDoubleArray &jointVel, const JointDOFsDoubleArray &jointAcc, LinkVelArray &linkVel, LinkAccArray &linkProperAcc) - dynamicsEstimationForwardVelAccKinematics - - const Model & - model - - - const Traversal & - traversal - - - const Vector3 & - base_classicalProperAcc - - - const Vector3 & - base_angularVel - - - const Vector3 & - base_angularAcc - - - const JointPosDoubleArray & - jointPos - - - const JointDOFsDoubleArray & - jointVel - - - const JointDOFsDoubleArray & - jointAcc - - - LinkVelArray & - linkVel - + + + + typename MatrixType + + + void + void iDynTree::getRandomMatrix + (MatrixType &mat) + getRandomMatrix - LinkAccArray & - linkProperAcc + MatrixType & + mat -Modified forward kinematics for torque/force estimation. +Fill a matrix of random doubles. -This is a version of forward kinematics modified to fit the needs of joint torques/external wrenches estimation. -There are several difference with respect to the classical forward kinematics. The first one is that the only inputs necessary related to the base link are the base link classical proper acceleration, the base link angular velocity and the base link angular acceleration. This is because the dynamics of an articulated system does not depend on an offset in linear velocity, and hence the estimation of joint torques/external wrenches is not affected by the base link linear velocity. This will mean that the link velocitity computed by this algorithm are not the velocity of the links with respect to an inertial frame. Nevertherless they can still be used for estimation. -There are two main ways in which the base information is computed: one is exploiting the knoledge that a link is not moving with respect to an inertial frame: in this case the classical proper acceleration boils down to the inverted gravitational acceleration, while the angular velocity and angular accelerations are equal to zero. The other way is to exploit the measure of an accelerometer and of a gyroscope mounted on the base link of the traversal: the accelerometer will then measure directly the classical proper acceleration, while the gyroscope will measure the angular velocity. The angular acceleration can be computed by numerical derivation, or simply neglected if its effect on the estimation is minimal. - - -model - - -the input model - - - - -traversal - - -the traversal used to propagate the velocity and the proper acceleration - - - - -base_classicalProperAcc - - -classical proper acceleration of the base origin - - - - -base_angularVel - - -angular velocity of the base link frame - - - - -base_angularAcc - - -angular acceleration of the base link frame - - - - -jointPos - - -joint positions - - - - -jointVel - - -joint velocities - - - - -jointAcc - - -joint accelerations - - - - -linkVel - - -vector of link twists, expressed in the link frame for both orientation and origin - - - - -linkProperAcc - - -vector of link proper spatial acceleration, expressed in the link frame for both orientation and origin - - - -true if all went well, false otherwise - - - + - - bool - bool iDynTree::dynamicsEstimationForwardVelKinematics - (const Model &model, const Traversal &traversal, const Vector3 &base_angularVel, const JointPosDoubleArray &jointPos, const JointDOFsDoubleArray &jointVel, LinkVelArray &linkVel) - dynamicsEstimationForwardVelKinematics - - const Model & - model - - - const Traversal & - traversal - - - const Vector3 & - base_angularVel - - - const JointPosDoubleArray & - jointPos - - - const JointDOFsDoubleArray & - jointVel - - - LinkVelArray & - linkVel - + + Position + Position iDynTree::getRandomPosition + () + getRandomPosition -Modified forward kinematics for floating basedynamics estimation. +Get a random position. -This is a version of velocity forward kinematics modified to fit the needs of free floating dynamics estimation. -There are several difference with respect to the classical forward kinematics. The first one is that the only inputs necessary related to the base link is the base link angular velocity. This is because the dynamics of an articulated system does not depend on an offset in linear velocity. This will mean that the link velocities computed by this algorithm are not the velocity of the links with respect to an inertial frame. Nevertherless they can still be used for estimation. -There are two main ways in which the base information is computed: one is exploiting the knoledge that a link is not moving with respect to an inertial frame: in this case the angular velocity is equal to zero. The other way is to exploit the measure of a gyroscope mounted on the base link of the traversal: the gyroscope will measure the link angular velocity. - - -model - - -the input model - - - - -traversal - - -the traversal used to propagate the velocity and the proper acceleration - - - - -base_angularVel - - -angular velocity of the base link frame - - - - -jointPos - - -joint positions - - - - -jointVel - - -joint velocities - - - - -linkVel - - -vector of link twists, expressed in the link frame for both orientation and origin - - - -true if all went well, false otherwise - - - + - - bool - bool iDynTree::computeLinkNetWrenchesWithoutGravity - (const Model &model, const LinkVelArray &linkVel, const LinkAccArray &linkProperAcc, LinkNetTotalWrenchesWithoutGravity &linkNetWrenchesWithoutGravity) - computeLinkNetWrenchesWithoutGravity - - const Model & - model - - - const LinkVelArray & - linkVel - - - const LinkAccArray & - linkProperAcc - - - LinkNetTotalWrenchesWithoutGravity & - linkNetWrenchesWithoutGravity - + + Rotation + Rotation iDynTree::getRandomRotation + () + getRandomRotation -Compute the net internal and external wrenches (excluding gravity forces) acting on the links. +Get a random rotation. - - -model - - -the input model - - - - -linkVel - - -a vector of link twists, expressed w.r.t to the link orientation and the link origin - - - - -linkProperAcc - - -a vector of link spatial (in the Featherstone sense) and proper accelerations, expressed w.r.t to the link orientation and the link origin - - - - -linkNetWrenchesWithoutGravity - - -the vector of the sum of all the wrenches (both internal and external, excluding gravity) acting on link i, expressed (both orientation and point) with respect to the reference frame of link i - - - - - + - - bool - bool iDynTree::estimateLinkContactWrenchesFromLinkNetExternalWrenches - (const Model &model, const LinkUnknownWrenchContacts &unknownWrenches, const LinkNetExternalWrenches &netExtWrenches, LinkContactWrenches &outputContactWrenches) - estimateLinkContactWrenchesFromLinkNetExternalWrenches - - const Model & - model - - - const LinkUnknownWrenchContacts & - unknownWrenches - - - const LinkNetExternalWrenches & - netExtWrenches - - - LinkContactWrenches & - outputContactWrenches - + + Transform + Transform iDynTree::getRandomTransform + () + getRandomTransform -Compute the link contact wrenches from the net external wrenches. +Get a random transform. -If there are more than 6 unknows for link, the problem becomes ill-defined and the function just assign all the external wrench to the first contact. - + - - Eigen::Map< Eigen::VectorXd > - Eigen::Map<Eigen::VectorXd> iDynTree::toEigen - (VectorDynSize &vec) - toEigen - - VectorDynSize & - vec - + + Axis + Axis iDynTree::getRandomAxis + () + getRandomAxis +Get a random axis. - + - - Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > - Eigen::Map< Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > iDynTree::toEigen - (MatrixDynSize &mat) - toEigen - - MatrixDynSize & - mat - + + SpatialInertia + SpatialInertia iDynTree::getRandomInertia + () + getRandomInertia +Get a random (but physically consistent) inertia. - + - - Eigen::Map< const Eigen::VectorXd > - Eigen::Map<const Eigen::VectorXd> iDynTree::toEigen - (const VectorDynSize &vec) - toEigen + + SpatialMotionVector + SpatialMotionVector iDynTree::getRandomTwist + () + getRandomTwist + +Get a random twist-like 6D vector. + + + + + + + + + SpatialForceVector + SpatialForceVector iDynTree::getRandomWrench + () + getRandomWrench + +Get a random wrench-like 6D object. + + + + + + + + + + + typename VectorType + + + void + void iDynTree::printVector + (std::string, const VectorType &vec) + printVector - const VectorDynSize & + std::string + + + const VectorType & vec +Helper for printing vectors. - + - - Eigen::Map< const Eigen::VectorXd > - Eigen::Map< Eigen::VectorXd > iDynTree::toEigen - (Span< const double > vec) - toEigen + + + + typename VectorType1 + + + typename VectorType2 + + + void + void iDynTree::printVectorDifference + (std::string name, const VectorType1 &vec1, const VectorType2 &vec2) + printVectorDifference - Span< const double > - vec + std::string + name + + + const VectorType1 & + vec1 + + + const VectorType2 & + vec2 +Helper for printing difference of two vectors. - + - - Eigen::Map< const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >, 0, Eigen::Stride< Eigen::Dynamic, Eigen::Dynamic > > - Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic> > iDynTree::toEigen - (const MatrixView< const double > &mat) - toEigen + + void + void iDynTree::printVectorWrongElements + (std::string name, std::vector< bool > &correctElems) + printVectorWrongElements - const MatrixView< const double > & - mat + std::string + name + + + std::vector< bool > & + correctElems +Helper for printing the patter of wrong elements in between two vectors. - + - - Eigen::Map< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >, 0, Eigen::Stride< Eigen::Dynamic, Eigen::Dynamic > > - Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, 0, Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic> > iDynTree::toEigen - (const MatrixView< double > &mat) - toEigen + + void + void iDynTree::printMatrixWrongElements + (std::string name, std::vector< std::vector< TestMatrixMismatch > > &correctElems) + printMatrixWrongElements - const MatrixView< double > & - mat + std::string + name + + + std::vector< std::vector< TestMatrixMismatch > > & + correctElems +Helper for printing the patter of wrong elements in between two matrix. - + - - Eigen::Map< const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > - Eigen::Map<const Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> > iDynTree::toEigen - (const MatrixDynSize &mat) - toEigen + + + + typename MatrixType1 + + + typename MatrixType2 + + + void + void iDynTree::printMatrixPercentageError + (const MatrixType1 &mat1, const MatrixType2 &mat2) + printMatrixPercentageError - const MatrixDynSize & - mat + const MatrixType1 & + mat1 + + + const MatrixType2 & + mat2 +Helper for printing the patter of wrong elements in between two matrix. - + - + - unsigned int - VecSize - VecSize + typename VectorType1 + + + typename VectorType2 - Eigen::Map< Eigen::Matrix< double, VecSize, 1 > > - Eigen::Map<Eigen::Matrix<double,VecSize,1> > iDynTree::toEigen - (VectorFixSize< VecSize > &vec) - toEigen + void + void iDynTree::assertVectorAreEqual + (const VectorType1 &vec1, const VectorType2 &vec2, double tol, std::string file, int line) + assertVectorAreEqual - VectorFixSize< VecSize > & - vec + const VectorType1 & + vec1 + + + const VectorType2 & + vec2 + + + double + tol + + + std::string + file + + + int + line +Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not. - + - + - unsigned int - VecSize - VecSize + typename VectorType1 + + + typename VectorType2 - Eigen::Map< const Eigen::Matrix< double, VecSize, 1 > > - Eigen::Map<const Eigen::Matrix<double,VecSize,1> > iDynTree::toEigen - (const VectorFixSize< VecSize > &vec) - toEigen + void + void iDynTree::assertVectorAreEqualWithRelativeTol + (const VectorType1 &vec1, const VectorType2 &vec2, double relativeTol, double minAbsoluteTol, std::string file, int line) + assertVectorAreEqualWithRelativeTol - const VectorFixSize< VecSize > & - vec + const VectorType1 & + vec1 + + + const VectorType2 & + vec2 + + + double + relativeTol + + + double + minAbsoluteTol + + + std::string + file + + + int + line +Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not. +The tolerance passed in this function is a relative tolerance on the max element of the comparison, i.e. absoluteTol = max(relativeTol*max(val1,val2), minAbsoluteTol) - + - + - unsigned int - nRows - nRows + typename MatrixType1 - unsigned int - nCols - nCols + typename MatrixType2 - Eigen::Map< Eigen::Matrix< double, nRows, nCols, Eigen::RowMajor > > - Eigen::Map< Eigen::Matrix<double,nRows,nCols,Eigen::RowMajor> > iDynTree::toEigen - (MatrixFixSize< nRows, nCols > &mat) - toEigen + void + void iDynTree::assertMatrixAreEqual + (const MatrixType1 &mat1, const MatrixType2 &mat2, double tol, std::string file, int line) + assertMatrixAreEqual - MatrixFixSize< nRows, nCols > & - mat + const MatrixType1 & + mat1 - - - - - - - - - - - - unsigned int - nRows - nRows - - - Eigen::Map< Eigen::Matrix< double, nRows, 1 > > - Eigen::Map< Eigen::Matrix<double,nRows,1> > iDynTree::toEigen - (MatrixFixSize< nRows, 1 > &mat) - toEigen - MatrixFixSize< nRows, 1 > & - mat + const MatrixType2 & + mat2 + + + double + tol + + + std::string + file + + + int + line +Assert that two matrices are equal, and exit with EXIT_FAILURE if they are not. - + - - - - unsigned int - nCols - nCols - - - Eigen::Map< Eigen::Matrix< double, 1, nCols > > - Eigen::Map< Eigen::Matrix<double,1,nCols> > iDynTree::toEigen - (MatrixFixSize< 1, nCols > &mat) - toEigen + + void + void iDynTree::assertWoAbort + (const char *semCheck, const char *file, const char *func, int line) + assertWoAbort - MatrixFixSize< 1, nCols > & - mat + const char * + semCheck + + + const char * + file + + + const char * + func + + + int + line +Function embedding the semantic checks. +This function can throw an exception if the semantic check detects an error (returns False). - + - - - - unsigned int - nRows - nRows - - - unsigned int - nCols - nCols - - - Eigen::Map< const Eigen::Matrix< double, nRows, nCols, Eigen::RowMajor > > - Eigen::Map< const Eigen::Matrix<double,nRows,nCols,Eigen::RowMajor> > iDynTree::toEigen - (const MatrixFixSize< nRows, nCols > &mat) - toEigen + + bool + bool iDynTree::checkEqualOrUnknown + (const int op1, const int op2) + checkEqualOrUnknown - const MatrixFixSize< nRows, nCols > & - mat + const int + op1 + + + const int + op2 +Helper class for semantic checking. +Return true if two values are equal, or if one of the two is unknown All negative values are used for represent an unknown value. - + - - const Eigen::Matrix< double, 6, 1 > - const Eigen::Matrix<double,6,1> iDynTree::toEigen - (const SpatialMotionVector &vec) - toEigen + + void + void iDynTree::reportError + (const char *className, const char *methodName, const char *errorMessage) + reportError - const SpatialMotionVector & - vec + const char * + className + + + const char * + methodName + + + const char * + errorMessage +Helper function for reporting error if the semantic check fails. - + - - const Eigen::Matrix< double, 6, 1 > - const Eigen::Matrix<double,6,1> iDynTree::toEigen - (const SpatialForceVector &vec) - toEigen + + bool + bool iDynTree::reportErrorIf + (bool condition, const char *className_methodName, const char *errorMessage) + reportErrorIf - const SpatialForceVector & - vec + bool + condition + + + const char * + className_methodName + + + const char * + errorMessage +Call report error if condition is true. - + - + void - void iDynTree::fromEigen - (SpatialMotionVector &vec, const Eigen::Matrix< double, 6, 1 > &eigVec) - fromEigen + void iDynTree::reportWarning + (const char *className, const char *methodName, const char *errorMessage) + reportWarning - SpatialMotionVector & - vec + const char * + className - const Eigen::Matrix< double, 6, 1 > & - eigVec + const char * + methodName + + + const char * + errorMessage +Helper function for reporting warnings in iDynTree. - + - + void - void iDynTree::fromEigen - (SpatialForceVector &vec, const Eigen::Matrix< double, 6, 1 > &eigVec) - fromEigen + void iDynTree::reportInfo + (const char *className, const char *methodName, const char *message) + reportInfo - SpatialForceVector & - vec + const char * + className - const Eigen::Matrix< double, 6, 1 > & - eigVec + const char * + methodName + + + const char * + message +Helper function for reporting information messages in iDynTree. - + - + void - void iDynTree::fromEigen - (Transform &trans, const Eigen::Matrix4d &eigMat) - fromEigen + void iDynTree::reportDebug + (const char *className, const char *methodName, const char *message) + reportDebug - Transform & - trans + const char * + className - const Eigen::Matrix4d & - eigMat + const char * + methodName + + + const char * + message +Helper function for reporting debug messages in iDynTree. - + - - - - class Derived - - - Eigen::Matrix< typename Derived::Scalar, 3, 3, Eigen::RowMajor > - Eigen::Matrix<typename Derived::Scalar, 3, 3, Eigen::RowMajor> iDynTree::skew - (const Eigen::MatrixBase< Derived > &vec) - skew + + double + double iDynTree::deg2rad + (const double valueInDeg) + deg2rad - const Eigen::MatrixBase< Derived > & - vec + const double + valueInDeg +Convert a double from degrees to radians. - + - - - - class Derived - - - Eigen::Matrix< typename Derived::Scalar, 3, 1 > - Eigen::Matrix<typename Derived::Scalar, 3, 1> iDynTree::unskew - (const Eigen::MatrixBase< Derived > &mat) - unskew + + double + double iDynTree::rad2deg + (const double valueInRad) + rad2deg - const Eigen::MatrixBase< Derived > & - mat + const double + valueInRad +Convert a double from radians to degree. - + - - - - unsigned int - nRows - nRows - - - unsigned int - nCols - nCols - - - typename iDynTreeMatrixType - - - void - void iDynTree::setSubMatrix - (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange, const MatrixFixSize< nRows, nCols > &subMat) - setSubMatrix - - iDynTreeMatrixType & - mat - + + bool + bool iDynTree::checkDoublesAreEqual + (const double &val1, const double &val2, double tol=DEFAULT_TOL) + checkDoublesAreEqual - const IndexRange - rowRange + const double & + val1 - const IndexRange - colRange + const double & + val2 - const MatrixFixSize< nRows, nCols > & - subMat + double + tol + DEFAULT_TOL -Submatrix helpers. +Check whether two doubles are equal given a tolerance tol. - + - - - - typename iDynTreeMatrixType - - - typename EigMatType - - - void - void iDynTree::setSubMatrix - (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange, const EigMatType &subMat) - setSubMatrix + + Transform + Transform iDynTree::TransformFromDHCraig1989 + (double a, double alpha, double d, double theta) + TransformFromDHCraig1989 - iDynTreeMatrixType & - mat + double + a - const IndexRange - rowRange + double + alpha - const IndexRange - colRange + double + d - const EigMatType & - subMat + double + theta @@ -6369,446 +5590,536 @@ - + - - - - typename iDynTreeMatrixType - - - void - void iDynTree::setSubMatrix - (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange, const double subMat) - setSubMatrix + + Transform + Transform iDynTree::TransformFromDH + (double a, double alpha, double d, double theta) + TransformFromDH - iDynTreeMatrixType & - mat + double + a - const IndexRange - rowRange + double + alpha - const IndexRange - colRange + double + d - const double - subMat + double + theta +DH : constructs a transformationmatrix T_link(i-1)_link(i) with the Denavit-Hartenberg convention as described in the original publictation: Denavit, J. +and Hartenberg, R. S., A kinematic notation for lower-pair mechanisms based on matrices, ASME Journal of Applied Mechanics, 23:215-221, 1955. +Function compatible on KDL's Frame::DH method. - + - - - - typename iDynTreeMatrixType - - - void - void iDynTree::setSubMatrixToIdentity - (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange) - setSubMatrixToIdentity - - iDynTreeMatrixType & - mat - + + bool + bool iDynTree::ExtractDHChainFromModel + (const iDynTree::Model &model, const std::string baseFrame, const std::string eeFrame, DHChain &outputChain, double tolerance=1e-5) + ExtractDHChainFromModel - const IndexRange - rowRange + const iDynTree::Model & + model - const IndexRange - colRange + const std::string + baseFrame - - - - - - - - - - - - typename iDynTreeMatrixType - - - void - void iDynTree::setSubMatrixToMinusIdentity - (iDynTreeMatrixType &mat, const IndexRange rowRange, const IndexRange colRange) - setSubMatrixToMinusIdentity - iDynTreeMatrixType & - mat + const std::string + eeFrame - const IndexRange - rowRange + DHChain & + outputChain - const IndexRange - colRange + double + tolerance + 1e-5 +Extract a Denavit Hartenberg Chain from a iDynTree::Model. +In particular you can specify the base frame and the end effector frame of the chain. The chain is then extracted using the algorithm found in: Chapter 3, Spong, Mark W., Seth Hutchinson, and M. Vidyasagar. "Robot modeling and control". 2006. (section 3.2.3 of http://www.cs.duke.edu/brd/Teaching/Bio/asmb/current/Papers/chap3-forward-kinematics.pdf) +The DH representation supports only revolute and translational 1-DOF joints. In this implementation only revolute joints are supported. + + - + - - - - unsigned int - size - size - - - void - void iDynTree::setSubVector - (VectorDynSize &vec, const IndexRange range, const VectorFixSize< size > &subVec) - setSubVector - - VectorDynSize & - vec - + + bool + bool iDynTree::CreateModelFromDHChain + (const DHChain &inputChain, Model &outputModel) + CreateModelFromDHChain - const IndexRange - range + const DHChain & + inputChain - const VectorFixSize< size > & - subVec + Model & + outputModel +Create an iDynTree::Model from a DHChain. +The names of the links will be link0, link1, ... linkN, furthermore there are two additional frame for the base and endEffector frames, named baseFrame and distalFrame . + +The inertia of the links will be set to 1 kg in the origin of the link. + +true if all went ok, false otherwise. + + - + - - void - void iDynTree::setSubVector - (VectorDynSize &vec, const IndexRange range, double subVec) - setSubVector + + bool + bool iDynTree::ComputeLinearAndAngularMomentum + (const Model &model, const LinkPositions &linkPositions, const LinkVelArray &linkVels, SpatialMomentum &totalMomentum) + ComputeLinearAndAngularMomentum - VectorDynSize & - vec + const Model & + model - const IndexRange - range + const LinkPositions & + linkPositions - double - subVec + const LinkVelArray & + linkVels + + + SpatialMomentum & + totalMomentum +Compute the total linear and angular momentum of a robot, expressed in the world frame. + + +model + + +the used model, + + + + +linkPositions + + +linkPositions(l) contains the world_H_link transform. + + + + +linkVels + + +linkVels(l) contains the link l velocity expressed in l frame. + + + + +totalMomentum + + +total momentum, expressed in world frame. + + + +true if all went well, false otherwise. + + - + - - void - void iDynTree::setSubVector - (VectorDynSize &vec, const IndexRange range, const SpatialMotionVector &twist) - setSubVector + + bool + bool iDynTree::ComputeLinearAndAngularMomentumDerivativeBias + (const Model &model, const LinkPositions &linkPositions, const LinkVelArray &linkVel, const LinkAccArray &linkBiasAcc, Wrench &totalMomentumBias) + ComputeLinearAndAngularMomentumDerivativeBias - VectorDynSize & - vec + const Model & + model - const IndexRange - range + const LinkPositions & + linkPositions - const SpatialMotionVector & - twist + const LinkVelArray & + linkVel + + + const LinkAccArray & + linkBiasAcc + + + Wrench & + totalMomentumBias +Compute the total momentum derivatitive bias, i.e. +the part of the total momentum derivative that does not depend on robot acceleration. +The linear and angular momentum derivative depends on the robot position, velocity and acceleration. This function computes the part that do not depend on the robot accelearation. +This function returns the bias of the derivative of the ComputeLinearAndAngularMomentum function. - + - - void - void iDynTree::setSubVector - (VectorDynSize &vec, const IndexRange range, const SpatialForceVector &wrench) - setSubVector + + bool + bool iDynTree::RNEADynamicPhase + (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::JointPosDoubleArray &jointPos, const iDynTree::LinkVelArray &linksVel, const iDynTree::LinkAccArray &linksProperAcc, const iDynTree::LinkNetExternalWrenches &linkExtForces, iDynTree::LinkInternalWrenches &linkIntWrenches, iDynTree::FreeFloatingGeneralizedTorques &baseForceAndJointTorques) + RNEADynamicPhase - VectorDynSize & - vec + const iDynTree::Model & + model - const IndexRange - range + const iDynTree::Traversal & + traversal - const SpatialForceVector & - wrench + const iDynTree::JointPosDoubleArray & + jointPos + + + const iDynTree::LinkVelArray & + linksVel + + + const iDynTree::LinkAccArray & + linksProperAcc + + + const iDynTree::LinkNetExternalWrenches & + linkExtForces + + + iDynTree::LinkInternalWrenches & + linkIntWrenches + + + iDynTree::FreeFloatingGeneralizedTorques & + baseForceAndJointTorques +Compute the inverse dynamics, i.e. +the generalized torques corresponding to a given set of robot accelerations and external force/torques. + + +model + + +The model used for the computation. + + + + +traversal + + +The traversal used for the computation, it defines the used base link. + + + + +jointPos + + +The (internal) joint position of the model. + + + + +linksVel + + +Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). + + + + +linksProperAcc + + +Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . See iDynTree::LinkNetExternalWrenches . + + + + +linkExtForces + + +Vector of external 6D force/torques applied to the links. For each link $L$, the corresponding external force is ${}_L \mathrm{f}^x_L$, i.e. the force that the enviroment applies on the on the link $L$, expressed in the link frame $L$. + + + + +linkIntWrenches + + +Vector of internal joint force/torques. See iDynTree::LinkInternalWrenches . + + + + +baseForceAndJointTorques + + +Generalized torques output. The base element is the residual force on the base (that is equal to zero if the robot acceleration and the external forces provided in LinkNetExternalWrenches were consistent), while the joint part is composed by the joint torques. + + + + - + - - - - typename T - - - void - void iDynTree::setSubVector - (VectorDynSize &vec, const IndexRange range, const T &subVec) - setSubVector + + bool + bool iDynTree::CompositeRigidBodyAlgorithm + (const Model &model, const Traversal &traversal, const JointPosDoubleArray &jointPos, LinkCompositeRigidBodyInertias &linkCRBs, FreeFloatingMassMatrix &massMatrix) + CompositeRigidBodyAlgorithm - VectorDynSize & - vec + const Model & + model - const IndexRange - range + const Traversal & + traversal - const T & - subVec + const JointPosDoubleArray & + jointPos + + + LinkCompositeRigidBodyInertias & + linkCRBs + + + FreeFloatingMassMatrix & + massMatrix +Compute the floating base mass matrix, using the composite rigid body algorithm. - + - - - - typename MapType - - - void - void iDynTree::pseudoInverse_helper2 - (const MapType &A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, MapType &Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV) - pseudoInverse_helper2 - - const MapType & - A - - - Eigen::JacobiSVD< Eigen::MatrixXd > & - svdDecomposition - + + bool + bool iDynTree::ArticulatedBodyAlgorithm + (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const LinkNetExternalWrenches &linkExtWrenches, const JointDOFsDoubleArray &jointTorques, ArticulatedBodyAlgorithmInternalBuffers &buffers, FreeFloatingAcc &robotAcc) + ArticulatedBodyAlgorithm - MapType & - Apinv + const Model & + model - double - tolerance + const Traversal & + traversal - unsigned int - computationOptions - Eigen::ComputeThinU|Eigen::ComputeThinV + const FreeFloatingPos & + robotPos - - - - - - - - - - - - typename MapType - - - void - void iDynTree::pseudoInverse_helper1 - (const MapType &A, Eigen::JacobiSVD< Eigen::MatrixXd > &svdDecomposition, MapType &Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV) - pseudoInverse_helper1 - const MapType & - A + const FreeFloatingVel & + robotVel - Eigen::JacobiSVD< Eigen::MatrixXd > & - svdDecomposition + const LinkNetExternalWrenches & + linkExtWrenches - MapType & - Apinv + const JointDOFsDoubleArray & + jointTorques - double - tolerance + ArticulatedBodyAlgorithmInternalBuffers & + buffers - unsigned int - computationOptions - Eigen::ComputeThinU|Eigen::ComputeThinV + FreeFloatingAcc & + robotAcc +Compute the floating base acceleration of an unconstrianed robot, using as input the external forces and the joint torques. +We follow the algorithm described in Featherstone 2008, modified for the floating base case and for handling fixed joints. - + - - - - typename MapType - - - void - void iDynTree::pseudoInverse - (const MapType A, MapType Apinv, double tolerance, unsigned int computationOptions=Eigen::ComputeThinU|Eigen::ComputeThinV) - pseudoInverse - - const MapType - A - + + bool + bool iDynTree::InverseDynamicsInertialParametersRegressor + (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::LinkPositions &referenceFrame_H_link, const iDynTree::LinkVelArray &linksVel, const iDynTree::LinkAccArray &linksAcc, iDynTree::MatrixDynSize &baseForceAndJointTorquesRegressor) + InverseDynamicsInertialParametersRegressor - MapType - Apinv + const iDynTree::Model & + model - double - tolerance + const iDynTree::Traversal & + traversal - unsigned int - computationOptions - Eigen::ComputeThinU|Eigen::ComputeThinV + const iDynTree::LinkPositions & + referenceFrame_H_link - - - - - - - - - - Eigen::Map< Eigen::SparseMatrix< double, Eigen::RowMajor > > - Eigen::Map< Eigen::SparseMatrix<double, Eigen::RowMajor> > iDynTree::toEigen - (iDynTree::SparseMatrix< iDynTree::RowMajor > &mat) - toEigen - iDynTree::SparseMatrix< iDynTree::RowMajor > & - mat + const iDynTree::LinkVelArray & + linksVel - - - - - - - - - - Eigen::Map< const Eigen::SparseMatrix< double, Eigen::RowMajor > > - Eigen::Map<const Eigen::SparseMatrix<double, Eigen::RowMajor> > iDynTree::toEigen - (const iDynTree::SparseMatrix< iDynTree::RowMajor > &mat) - toEigen - const iDynTree::SparseMatrix< iDynTree::RowMajor > & - mat + const iDynTree::LinkAccArray & + linksAcc - - - - - - - - - - Eigen::Map< Eigen::SparseMatrix< double, Eigen::ColMajor > > - Eigen::Map< Eigen::SparseMatrix<double, Eigen::ColMajor> > iDynTree::toEigen - (iDynTree::SparseMatrix< iDynTree::ColumnMajor > &mat) - toEigen - iDynTree::SparseMatrix< iDynTree::ColumnMajor > & - mat + iDynTree::MatrixDynSize & + baseForceAndJointTorquesRegressor +Compute the inverse dynamics of the model as linear function of the inertial parameters. +This function computes the matrix that multiplied by the vector of inertial parameters of a model (see iDynTree::Model::getInertialParameters) returns the inverse dynamics generalized torques. In particular it is consistent with the result of the iDynTree::RNEADynamicPhase function, i.e. the first six rows of the regressor correspond to the sum of all external force/torques acting on the robot, expressed in the origin and with the orientation of the specified referenceFrame, as defined by the referenceFrame_H_link argument. +The regressor only computes the inverse dynamics generalized torques assuming that the external forces are equal to zero, as the contribution of the external forces to the inverse dynamics is indipendent from inertial parameters. + + + +model + + +The model used for the computation. + + + + +traversal + + +The traversal used for the computation, it defines the used base link. + + + + +referenceFrame_H_link + + +Position of each link w.r.t. to given frame D (tipically an inertial frame A, the base frame B or the mixed frame B[A]). For each link $L$, the corresponding transform is ${}^D H_L$. + + + + +linksVel + + +Vector of left-trivialized velocities for each link of the model (for each link $L$, the corresponding velocity is ${}^L \mathrm{v}_{A, L}$). + + + + +linksProperAcc + + +Vector of left-trivialized proper acceleration for each link of the model (for each link $L$, the corresponding proper acceleration is ${}^L \dot{\mathrm{v}}_{A, L} - \begin{bmatrix} {}^L R_A {}^A g \\ 0_{3\times1} \end{bmatrix} $), where $ {}^A g \in \mathbb{R}^3 $ is the gravity acceleration expressed in an inertial frame $A$ . + + + + +baseForceAndJointTorquesRegressor + + +The (6+model.getNrOfDOFs() X 10*model.getNrOfLinks()) inverse dynamics regressor. + + + + - + - - Eigen::Map< const Eigen::SparseMatrix< double, Eigen::ColMajor > > - Eigen::Map<const Eigen::SparseMatrix<double, Eigen::ColMajor> > iDynTree::toEigen - (const iDynTree::SparseMatrix< iDynTree::ColumnMajor > &mat) - toEigen + + bool + bool iDynTree::ForwardDynamicsLinearization + (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const LinkNetExternalWrenches &linkExtWrenches, const JointDOFsDoubleArray &jointTorques, ForwardDynamicsLinearizationInternalBuffers &bufs, FreeFloatingAcc &robotAcc, FreeFloatingStateLinearization &A) + ForwardDynamicsLinearization - const iDynTree::SparseMatrix< iDynTree::ColumnMajor > & - mat + const Model & + model - - - - - - - - - - - - class ElementType - - - IDYNTREE_CONSTEXPR MatrixView< ElementType > - IDYNTREE_CONSTEXPR MatrixView<ElementType> iDynTree::make_matrix_view - (ElementType *ptr, typename MatrixView< ElementType >::index_type rows, typename MatrixView< ElementType >::index_type cols, const MatrixStorageOrdering &order=MatrixStorageOrdering::RowMajor) - make_matrix_view - ElementType * - ptr + const Traversal & + traversal - typename MatrixView< ElementType >::index_type - rows + const FreeFloatingPos & + robotPos - typename MatrixView< ElementType >::index_type - cols + const FreeFloatingVel & + robotVel - const MatrixStorageOrdering & - order - MatrixStorageOrdering::RowMajor + const LinkNetExternalWrenches & + linkExtWrenches + + + const JointDOFsDoubleArray & + jointTorques + + + ForwardDynamicsLinearizationInternalBuffers & + bufs + + + FreeFloatingAcc & + robotAcc + + + FreeFloatingStateLinearization & + A @@ -6816,651 +6127,779 @@ - + - - - - class Container - - - std::enable_if_t< MatrixViewInternal::has_IsRowMajor< Container >::value||std::is_same< MatrixView< typename Container::value_type >, Container >::value, int > - 0 - - - IDYNTREE_CONSTEXPR MatrixView< typename Container::value_type > - IDYNTREE_CONSTEXPR MatrixView<typename Container::value_type> iDynTree::make_matrix_view - (Container &cont) - make_matrix_view + + SpatialMotionWrtMotionDerivative + SpatialMotionWrtMotionDerivative iDynTree::operator* + (const Transform &a_X_b, const SpatialMotionWrtMotionDerivative &op2) + operator* - Container & - cont + const Transform & + a_X_b + + + const SpatialMotionWrtMotionDerivative & + op2 +Equivalent to: +SpatialForceWrtMotionDerivativeret; +toEigen(ret)=toEigen(transform.asAdjointMatrixWrench())*toEigen(ret); +returnret; + - + - - - - class Container - - - std::enable_if_t< MatrixViewInternal::has_IsRowMajor< Container >::value||std::is_same< MatrixView< const typename Container::value_type >, Container >::value, int > - 0 - - - IDYNTREE_CONSTEXPR MatrixView< const typename Container::value_type > - IDYNTREE_CONSTEXPR MatrixView<const typename Container::value_type> iDynTree::make_matrix_view - (const Container &cont) - make_matrix_view + + SpatialForceWrtMotionDerivative + SpatialForceWrtMotionDerivative iDynTree::operator* + (const Transform &a_X_b, const SpatialForceWrtMotionDerivative &op2) + operator* - const Container & - cont + const Transform & + a_X_b + + + const SpatialForceWrtMotionDerivative & + op2 +Equivalent to: +SpatialForceWrtMotionDerivativeret; +toEigen(ret)=toEigen(transform.asAdjointMatrixWrench())*toEigen(ret); +returnret; + - + - - - - class Container - - - std::enable_if_t< !MatrixViewInternal::has_IsRowMajor< Container >::value &&!std::is_same< MatrixView< typename Container::value_type >, Container >::value, int > - 0 - - - IDYNTREE_CONSTEXPR MatrixView< typename Container::value_type > - IDYNTREE_CONSTEXPR MatrixView<typename Container::value_type> iDynTree::make_matrix_view - (Container &cont, const MatrixStorageOrdering &order=MatrixStorageOrdering::RowMajor) - make_matrix_view + + + iDynTree::biasWrenchVelocityDerivative + (SpatialInertia M, SpatialMotionVector V) + biasWrenchVelocityDerivative - Container & - cont + SpatialInertia + M - const MatrixStorageOrdering & - order - MatrixStorageOrdering::RowMajor + SpatialMotionVector + V +Given a rigid body inertia $M$ and spatial motion vector $V$, the bias wrench $B$ of rigid body is defined as: +\[ B = \times \] - + - - - - class Container - - - std::enable_if_t< !MatrixViewInternal::has_IsRowMajor< Container >::value &&!std::is_same< MatrixView< typename Container::value_type >, Container >::value, int > - 0 - - - IDYNTREE_CONSTEXPR MatrixView< const typename Container::value_type > - IDYNTREE_CONSTEXPR MatrixView<const typename Container::value_type> iDynTree::make_matrix_view - (const Container &cont, const MatrixStorageOrdering &order=MatrixStorageOrdering::RowMajor) - make_matrix_view + + bool + bool iDynTree::ForwardPositionKinematics + (const Model &model, const Traversal &traversal, const Transform &worldHbase, const VectorDynSize &jointPositions, LinkPositions &linkPositions) + ForwardPositionKinematics - const Container & - cont + const Model & + model - const MatrixStorageOrdering & - order - MatrixStorageOrdering::RowMajor + const Traversal & + traversal + + + const Transform & + worldHbase + + + const VectorDynSize & + jointPositions + + + LinkPositions & + linkPositions +Given a robot floating base configuration (i.e. +world_H_base and the joint positions) compute for each link the world_H_link transform. + + +model + + +the used model, + + + + +traversal + + +the used traversal, + + + + +worldHbase + + +the world_H_base transform, + + + + +jointPositions + + +the vector of (internal) joint positions, + + + + +linkPositions + + +linkPositions(l) contains the world_H_link transform. + + + +true if all went well, false otherwise. + + - + - - - iDynTree::IDYNTREE_DEPRECATED_WITH_MSG - ("iDynTree::PositionRaw is deprecated, use iDynTree::Position") typedef Position PositionRaw - IDYNTREE_DEPRECATED_WITH_MSG + + bool + bool iDynTree::ForwardPositionKinematics + (const Model &model, const Traversal &traversal, const FreeFloatingPos &jointPos, LinkPositions &linkPos) + ForwardPositionKinematics - "iDynTree::PositionRaw is - deprecated + const Model & + model - use iDynTree::Position" + const Traversal & + traversal - - - - - - - - - - Eigen::Matrix3d - Eigen::Matrix3d iDynTree::squareCrossProductMatrix - (const Eigen::Vector3d &v) - squareCrossProductMatrix - const Eigen::Vector3d & - v + const FreeFloatingPos & + jointPos - -Maps a 3d vector to the square of the cross product matrix: v --> (v\times)^2 or, if you prefer another notation: v --> S^2(v) - - - - - - - - - Eigen::Matrix3d - Eigen::Matrix3d iDynTree::skew - (const Eigen::Vector3d &vec) - skew - const Eigen::Vector3d & - vec + LinkPositions & + linkPos -Maps a 3d vector to the cross product matrix: v --> (v\times) or, if you prefer another notation: v --> S(v) +Variant of ForwardPositionKinematics that takes in input a FreeFloatingPos object instead of a separate couple of (worldHbase,jointPositions) - + - - - - typename vector6d - - - void - void iDynTree::efficient6dCopy - (vector6d *pthis, const vector6d &other) - efficient6dCopy + + bool + bool iDynTree::ForwardVelAccKinematics + (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::FreeFloatingPos &robotPos, const iDynTree::FreeFloatingVel &robotVel, const iDynTree::FreeFloatingAcc &robotAcc, iDynTree::LinkVelArray &linkVel, iDynTree::LinkAccArray &linkAcc) + ForwardVelAccKinematics - vector6d * - pthis + const iDynTree::Model & + model - const vector6d & - other + const iDynTree::Traversal & + traversal - -Efficient version of the copy from one 6D vector to another. - - - - - - - - - - - typename vector6d - - - vector6d - vector6d iDynTree::efficient6dSum - (const vector6d &op1, const vector6d &op2) - efficient6dSum - const vector6d & - op1 + const iDynTree::FreeFloatingPos & + robotPos - const vector6d & - op2 + const iDynTree::FreeFloatingVel & + robotVel - -Efficient version of the sum of two 6D vectors. - - - - - - - - - - - typename vector6d - - - vector6d - vector6d iDynTree::efficient6ddifference - (const vector6d &op1, const vector6d &op2) - efficient6ddifference - const vector6d & - op1 + const iDynTree::FreeFloatingAcc & + robotAcc - const vector6d & - op2 + iDynTree::LinkVelArray & + linkVel + + + iDynTree::LinkAccArray & + linkAcc -Efficient version of the different of two 6D vectors. +Function that compute the links velocities and accelerations given the free floating robot velocities and accelerations. +This function implements what is usually known as the "forward pass" of the Recursive Newton Euler algorithm. - + - - - - typename twistType - - - typename motionVectorType - - - typename resultType - - - resultType - resultType iDynTree::efficientTwistCrossTwist - (const twistType &op1, const motionVectorType &op2) - efficientTwistCrossTwist + + bool + bool iDynTree::ForwardPosVelAccKinematics + (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::FreeFloatingPos &robotPos, const iDynTree::FreeFloatingVel &robotVel, const iDynTree::FreeFloatingAcc &robotAcc, iDynTree::LinkPositions &linkPos, iDynTree::LinkVelArray &linkVel, iDynTree::LinkAccArray &linkAcc) + ForwardPosVelAccKinematics - const twistType & - op1 + const iDynTree::Model & + model - const motionVectorType & - op2 + const iDynTree::Traversal & + traversal - -Efficient version of the cross product between a twist and a spatial motion vector (another twist, acceleration, ..) - - - - - - - - - - - typename twistType - - - typename momentumVectorType - - - typename resultType - - - resultType - resultType iDynTree::efficientTwistCrossMomentum - (const twistType &op1, const momentumVectorType &op2) - efficientTwistCrossMomentum - const twistType & - op1 + const iDynTree::FreeFloatingPos & + robotPos - const momentumVectorType & - op2 + const iDynTree::FreeFloatingVel & + robotVel + + + const iDynTree::FreeFloatingAcc & + robotAcc + + + iDynTree::LinkPositions & + linkPos + + + iDynTree::LinkVelArray & + linkVel + + + iDynTree::LinkAccArray & + linkAcc -Efficient version of the cross product between a twist and a spatial force vector (momentum, wrench, ..) +Function that compute the links position, velocities and accelerations given the free floating robot position, velocities and accelerations. - + - - - iDynTree::IDYNTREE_DEPRECATED_WITH_MSG - ("iDynTree::RotationRaw is deprecated, use iDynTree::Rotation") typedef Rotation RotationRaw - IDYNTREE_DEPRECATED_WITH_MSG + + bool + bool iDynTree::ForwardPosVelKinematics + (const iDynTree::Model &model, const iDynTree::Traversal &traversal, const iDynTree::FreeFloatingPos &robotPos, const iDynTree::FreeFloatingVel &robotVel, iDynTree::LinkPositions &linkPos, iDynTree::LinkVelArray &linkVel) + ForwardPosVelKinematics - "iDynTree::RotationRaw is - deprecated + const iDynTree::Model & + model + + + const iDynTree::Traversal & + traversal + + + const iDynTree::FreeFloatingPos & + robotPos + + + const iDynTree::FreeFloatingVel & + robotVel + + + iDynTree::LinkPositions & + linkPos - use iDynTree::Rotation" + iDynTree::LinkVelArray & + linkVel +Function that compute the links position and velocities and accelerations given the free floating robot position and velocities. - + - - - iDynTree::IDYNTREE_DEPRECATED_WITH_MSG - ("iDynTree::RotationalInertiaRaw is deprecated, use iDynTree::RotationalInertia") typedef RotationalInertia RotationalInertiaRaw - IDYNTREE_DEPRECATED_WITH_MSG + + bool + bool iDynTree::ForwardAccKinematics + (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const FreeFloatingAcc &robotAcc, const LinkVelArray &linkVel, LinkAccArray &linkAcc) + ForwardAccKinematics - "iDynTree::RotationalInertiaRaw is - deprecated + const Model & + model - use iDynTree::RotationalInertia" + const Traversal & + traversal + + + const FreeFloatingPos & + robotPos + + + const FreeFloatingVel & + robotVel + + + const FreeFloatingAcc & + robotAcc + + + const LinkVelArray & + linkVel + + + LinkAccArray & + linkAcc +Function that computes the links accelerations given the free floating robot velocities and accelerations. +This function implements what is usually known as the acceleration part "forward pass" of the Recursive Newton Euler algorithm. - + - + bool - bool iDynTree::isValidRotationMatrix - (const iDynTree::Rotation &r) - isValidRotationMatrix + bool iDynTree::ForwardBiasAccKinematics + (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const SpatialAcc &baseBiasAcc, const LinkVelArray &linkVel, LinkAccArray &linkBiasAcc) + ForwardBiasAccKinematics - const iDynTree::Rotation & - r + const Model & + model + + + const Traversal & + traversal + + + const FreeFloatingPos & + robotPos + + + const FreeFloatingVel & + robotVel + + + const SpatialAcc & + baseBiasAcc + + + const LinkVelArray & + linkVel + + + LinkAccArray & + linkBiasAcc -Check if the rotation matrix is valid. +Function that computes the links bias accelerations given the free floating robot velocities. -It checks that the determinant is 1, that the Frobenius norm is finite and that it is orthogonal. +This function can also consider a non-zero base acceleration, because when computing the bias acc for the MIXED representation, a zero mixed base acceleration is a equivalent to a non-zero BODY_FIXED base acceleration. + + -r +model -The input rotation +the used model, - -True if it is a rotation matrix. - - - - - - - - - double - double iDynTree::geodesicL2Distance - (const iDynTree::Rotation &rotation1, const iDynTree::Rotation &rotation2) - geodesicL2Distance - - const iDynTree::Rotation & - rotation1 - - - const iDynTree::Rotation & - rotation2 - - -Computes the geodesic distance between two rotation matrices. - - -It implements the angular distance presented in Sec. 4 of "Rotation Averaging" (available at http://users.cecs.anu.edu.au/~hongdong/rotationaveraging.pdf), in particular $d = ||log(R_1^\top R_2)||^2 $. + -rotation1 +traversal -The first rotation. +the used traversal, -rotation2 +worldHbase -The other rotation. +the world_H_base transform, + + + + +robotPos + + +the position of the robot, i.e. $ ({}^A H_B, s)$, + + + + +robotVel + + +the velocity of the robot, with the base velocity expressed in BODY_FIXED representation i.e. $ \nu = \begin{bmatrix} {}^B \mathrm{v}_{A,B} \newline \dot{s} \end{bmatrix} $, + + + + +baseBiasAcc + + +base bias acceleration with BODY_FIXED rapresentation, useful when the bias acceleration is considering the MIXED base acceleration to be zero, + + + + +linkVel + + +the velocity of each link of the robot, with velocity expressed with BODY_FIXED representation i.e. for each link $ $ we have $ {}^L \mathrm{v}_{A,L} $, + + + + +linkBiasAcc + + +the bias acceleration of each link of the robot, with the acceleration expressed with BODY_FIXED representation. -the geodesic L2 distance between the two rotation matrices. - - + - + bool - bool iDynTree::geodesicL2MeanRotation - (const std::vector< iDynTree::Rotation > &inputRotations, iDynTree::Rotation &meanRotation, const GeodesicL2MeanOptions &options=GeodesicL2MeanOptions()) - geodesicL2MeanRotation + bool iDynTree::ForwardBiasAccKinematics + (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const LinkVelArray &linkVel, LinkAccArray &linkBiasAcc) + ForwardBiasAccKinematics - const std::vector< iDynTree::Rotation > & - inputRotations + const Model & + model - iDynTree::Rotation & - meanRotation + const Traversal & + traversal - const GeodesicL2MeanOptions & - options - GeodesicL2MeanOptions() + const FreeFloatingPos & + robotPos + + + const FreeFloatingVel & + robotVel + + + const LinkVelArray & + linkVel + + + LinkAccArray & + linkBiasAcc -Computes the geodesic mean amongst the provided rotations. +Legacy function, will be deprecated, use the variant with an explicit baseBiasAcc value. + + + + + + + + + bool + bool iDynTree::FreeFloatingJacobianUsingLinkPos + (const Model &model, const Traversal &traversal, const JointPosDoubleArray &jointPositions, const LinkPositions &linkPositions, const LinkIndex linkIndex, const Transform &jacobFrame_X_world, const Transform &baseFrame_X_jacobBaseFrame, const MatrixView< double > &jacobian) + FreeFloatingJacobianUsingLinkPos + + const Model & + model + + + const Traversal & + traversal + + + const JointPosDoubleArray & + jointPositions + + + const LinkPositions & + linkPositions + + + const LinkIndex + linkIndex + + + const Transform & + jacobFrame_X_world + + + const Transform & + baseFrame_X_jacobBaseFrame + + + const MatrixView< double > & + jacobian + + +Compute a free floating jacobian. -It implements Algorithm 1 in Sec. 5.3 of "Rotation Averaging" (available at http://users.cecs.anu.edu.au/~hongdong/rotationaveraging.pdf). -Inside it calls geodesicL2WeightedMeanRotation. -inputRotations +model + + +the used model, + + + + +traversal -The rotations to average. +the used traversal, -meanRotation +jointPositions -The mean rotation. +the vector of (internal) joint positions, -options +linkPositions -The options for the inner optimization (refinement) loop. +linkPositions(l) contains the world_H_link transform. - -false in case of failure, true otherwise. - - - - - - - - - bool - bool iDynTree::geodesicL2WeightedMeanRotation - (const std::vector< iDynTree::Rotation > &inputRotations, const std::vector< double > &weights, iDynTree::Rotation &meanRotation, const GeodesicL2MeanOptions &options=GeodesicL2MeanOptions()) - geodesicL2WeightedMeanRotation - - const std::vector< iDynTree::Rotation > & - inputRotations - - - const std::vector< double > & - weights - - - iDynTree::Rotation & - meanRotation - - - const GeodesicL2MeanOptions & - options - GeodesicL2MeanOptions() - - -Computes the weighted geodesic mean amongst the provided rotations. - - -It implements Algorithm 1 in Sec. 5.3 of "Rotation Averaging" (available at http://users.cecs.anu.edu.au/~hongdong/rotationaveraging.pdf), with a small modification to take into accounts weights different from 1. - + -inputRotations +linkIndex -The rotations to average. +the index of the link of which we compute the jacobian. -weights +jacobFrame_X_world -The weights for each rotation. If this vector is null assumes that each weight is 1.0 (equivalent to geodesicL2MeanRotation) +TODO -meanRotation +baseFrame_X_jacobBaseFrame -The weighted mean rotation. +TODO -options +jacobian -The options for the inner optimization (refinement) loop. +the computed Jacobian -false in case of failure, true otherwise. +true if all went well, false otherwise. - + - - - - class ElementType - - - std::ptrdiff_t - FirstExtent - FirstExtent - - - std::ptrdiff_t - SecondExtent - SecondExtent - - - IDYNTREE_CONSTEXPR bool - IDYNTREE_CONSTEXPR bool iDynTree::operator== - (Span< ElementType, FirstExtent > l, Span< ElementType, SecondExtent > r) - operator== + + bool + bool iDynTree::createReducedModelAndSensors + (const Model &fullModel, const SensorsList &fullSensors, const std::vector< std::string > &jointsInReducedModel, Model &reducedModel, SensorsList &reducedSensors) + createReducedModelAndSensors - Span< ElementType, FirstExtent > - l + const Model & + fullModel - Span< ElementType, SecondExtent > - r + const SensorsList & + fullSensors + + + const std::vector< std::string > & + jointsInReducedModel + + + Model & + reducedModel + + + SensorsList & + reducedSensors + + +Variant of createReducedModel function that also process the sensorList . + + +Note: since iDynTree 10, this has been superseded by the regular createReducedModel that also operated on the SensorsList associated with the model. +To migrate to this version, just change from: +Model fullModel, reducedModel; std::vector<std::string> jointsInReducedModel; SensorsList fullSensors, reducedSensors; +bool ok = createReducedModelAndSensors(fullModel, fullSensors, jointsInReducedModel, reducedModel, reducedSensors); +// handle ok // access reducedModel and reducedSensors +to +Model fullModel, reducedModel; std::vector<std::string> jointsInReducedModel; SensorsList fullSensors; fullModel.sensors() = fullSensors; +bool ok = createReducedModel(fullModel, jointsInReducedModel, reducedModel); +// Handle ok // access reducedModel and reducedModel.sensors() + + + + + + + Link + Link iDynTree::getRandomLink + () + getRandomLink + + + + + + + + + + void + void iDynTree::addRandomLinkToModel + (Model &model, std::string parentLink, std::string newLinkName, bool onlyRevoluteJoints=false) + addRandomLinkToModel + + Model & + model + + + std::string + parentLink + + + std::string + newLinkName + + + bool + onlyRevoluteJoints + false +Add a random link with random model. - + - - - - class ElementType - - - std::ptrdiff_t - Extent - Extent - - - IDYNTREE_CONSTEXPR bool - IDYNTREE_CONSTEXPR bool iDynTree::operator!= - (Span< ElementType, Extent > l, Span< ElementType, Extent > r) - operator!= + + void + void iDynTree::addRandomAdditionalFrameToModel + (Model &model, std::string parentLink, std::string newFrameName) + addRandomAdditionalFrameToModel - Span< ElementType, Extent > - l + Model & + model - Span< ElementType, Extent > - r + std::string + parentLink + + + std::string + newFrameName +Add a random additional frame to a model model. - + - - - - class ElementType - - - std::ptrdiff_t - Extent - Extent - - - IDYNTREE_CONSTEXPR bool - IDYNTREE_CONSTEXPR bool iDynTree::operator< - (Span< ElementType, Extent > l, Span< ElementType, Extent > r) - operator< + + LinkIndex + LinkIndex iDynTree::getRandomLinkIndexOfModel + (const Model &model) + getRandomLinkIndexOfModel - Span< ElementType, Extent > - l + const Model & + model + + + + + + + + + + + std::string + std::string iDynTree::getRandomLinkOfModel + (const Model &model) + getRandomLinkOfModel + + const Model & + model + + + + + + + + + + std::string + std::string iDynTree::int2string + (int i) + int2string - Span< ElementType, Extent > - r + int + i @@ -7468,30 +6907,26 @@ - + - - - - class ElementType - - - std::ptrdiff_t - Extent - Extent - - - IDYNTREE_CONSTEXPR bool - IDYNTREE_CONSTEXPR bool iDynTree::operator<= - (Span< ElementType, Extent > l, Span< ElementType, Extent > r) - operator<= + + Model + Model iDynTree::getRandomModel + (unsigned int nrOfJoints, size_t nrOfAdditionalFrames=10, bool onlyRevoluteJoints=false) + getRandomModel - Span< ElementType, Extent > - l + unsigned int + nrOfJoints - Span< ElementType, Extent > - r + size_t + nrOfAdditionalFrames + 10 + + + bool + onlyRevoluteJoints + false @@ -7499,30 +6934,26 @@ - + - - - - class ElementType - - - std::ptrdiff_t - Extent - Extent - - - IDYNTREE_CONSTEXPR bool - IDYNTREE_CONSTEXPR bool iDynTree::operator> - (Span< ElementType, Extent > l, Span< ElementType, Extent > r) - operator> + + Model + Model iDynTree::getRandomChain + (unsigned int nrOfJoints, size_t nrOfAdditionalFrames=10, bool onlyRevoluteJoints=false) + getRandomChain - Span< ElementType, Extent > - l + unsigned int + nrOfJoints - Span< ElementType, Extent > - r + size_t + nrOfAdditionalFrames + 10 + + + bool + onlyRevoluteJoints + false @@ -7530,1181 +6961,1617 @@ - + - - - - class ElementType - - - std::ptrdiff_t - Extent - Extent - - - IDYNTREE_CONSTEXPR bool - IDYNTREE_CONSTEXPR bool iDynTree::operator>= - (Span< ElementType, Extent > l, Span< ElementType, Extent > r) - operator>= + + void + void iDynTree::getRandomJointPositions + (VectorDynSize &vec, const Model &model) + getRandomJointPositions - Span< ElementType, Extent > - l + VectorDynSize & + vec - Span< ElementType, Extent > - r + const Model & + model +Get random joint position consistently with the limits of the model. +If the input vector has the wrong size, it will be resized. - + - - - - class ElementType - - - IDYNTREE_CONSTEXPR Span< ElementType > - IDYNTREE_CONSTEXPR Span<ElementType> iDynTree::make_span - (ElementType *ptr, typename Span< ElementType >::index_type count) - make_span + + bool + bool iDynTree::getRandomInverseDynamicsInputs + (FreeFloatingPos &pos, FreeFloatingVel &vel, FreeFloatingAcc &acc, LinkNetExternalWrenches &extWrenches) + getRandomInverseDynamicsInputs - ElementType * - ptr + FreeFloatingPos & + pos - typename Span< ElementType >::index_type - count + FreeFloatingVel & + vel + + + FreeFloatingAcc & + acc + + + LinkNetExternalWrenches & + extWrenches +Get random robot positions, velocities and accelerations and external wrenches to be given as an input to InverseDynamics. - + - - - - class ElementType - - - IDYNTREE_CONSTEXPR Span< ElementType > - IDYNTREE_CONSTEXPR Span<ElementType> iDynTree::make_span - (ElementType *firstElem, ElementType *lastElem) - make_span + + bool + bool iDynTree::removeFakeLinks + (const Model &modelWithFakeLinks, Model &modelWithoutFakeLinks) + removeFakeLinks - ElementType * - firstElem + const Model & + modelWithFakeLinks - ElementType * - lastElem + Model & + modelWithoutFakeLinks +\function Remove all fake links in the model, transforming them in frames. +Given a Model in input, this function copies all its links and joints to the model in output, except for links that recognized as "fake links". +The condition for a link to be classified as "fake link" are: +The link has a zero mass. +The link is a leaf, i.e. it is connected to only one neighbor. +The link is connected to its only neighbor with a fixed joint. + + +Once a "fake link" has been identified to respect this two conditions, it and the joint that it connects it to its only neighbor is not copied to the output model, but a frame with the same name of the "fake link" and with the same transform is added to the model. +This function does not handle SensorsList contained inside the input model. + +The definition of "fake link" used in this function excludes the case in which two fake links are attached to one another. + + - + - - - - class ElementType - - - std::size_t - N - N - - - IDYNTREE_CONSTEXPR Span< ElementType, N > - IDYNTREE_CONSTEXPR Span<ElementType, N> iDynTree::make_span - (ElementType(&arr)[N]) noexcept - make_span + + bool + bool iDynTree::createReducedModel + (const Model &fullModel, const std::vector< std::string > &jointsInReducedModel, Model &reducedModel) + createReducedModel - ElementType(&) - arr - [N] + const Model & + fullModel + + + const std::vector< std::string > & + jointsInReducedModel + + + Model & + reducedModel +This function takes in input a iDynTree::Model and an ordered list of joints and returns a model with just the joint specified in the list, with that exact order. +All other joints are be removed by lumping (i.e. fusing together) the inertia of the links that are connected by that joint, assuming the joint to be in "rest" position (i.e. zero for revolute or prismatic joints). The links eliminated with this process are be added back to the reduced model as "frames", and are copied in the same way all the additional frames of the lumped links. - + - - - - class Container - - - IDYNTREE_CONSTEXPR Span< typename Container::value_type > - IDYNTREE_CONSTEXPR Span<typename Container::value_type> iDynTree::make_span - (Container &cont) - make_span + + bool + bool iDynTree::createReducedModel + (const Model &fullModel, const std::vector< std::string > &jointsInReducedModel, Model &reducedModel, const std::unordered_map< std::string, double > &removedJointPositions) + createReducedModel + + const Model & + fullModel + + + const std::vector< std::string > & + jointsInReducedModel + + + Model & + reducedModel + - Container & - cont + const std::unordered_map< std::string, double > & + removedJointPositions +This function takes in input a iDynTree::Model and an ordered list of joints and returns a model with just the joint specified in the list, with that exact order. +All other joints are be removed by lumping (i.e. fusing together) the inertia of the links that are connected by that joint, assuming the joint to be in "rest" position (i.e. zero for revolute or prismatic joints), or the position specified in the removedJointPositions if a given joint is specified in removedJointPositions - + - - - - class Container - - - typename - typename std::enable_if<SpanUtils::is_value_defined<Container>::value>::type - - - IDYNTREE_CONSTEXPR Span< const typename Container::value_type > - IDYNTREE_CONSTEXPR Span<const typename Container::value_type> iDynTree::make_span - (const Container &cont) - make_span + + bool + bool iDynTree::createModelWithNormalizedJointNumbering + (const Model &model, const std::string &baseForNormalizedJointNumbering, Model &reducedModel) + createModelWithNormalizedJointNumbering - const Container & - cont + const Model & + model + + + const std::string & + baseForNormalizedJointNumbering + + + Model & + reducedModel +Given a specified base, return a model with a "normalized" joint numbering for that base. +This function takes in input a iDynTree::Model and a name of a link in that model. It returns a model identical to the one in input, but with the joint serialization of the non-fixed joint modified in such a way that a non-fixed joint has an index higher than all the non-fixed joints on the path between it and the base. After all the non-fixed joints, the fixed joints are also added with the same criteria, but applied to fixed joints. +This method make sure that the non-fixed joint in the model have a "regular numbering" as described in Featherstone "Rigid Body Dynamics Algorithm", section 4.1.2 . Note that this numbering is not required by any algorithm in iDynTree, but it may be useful for example to ensure that for a chain model the joint numbering is the one induced by the kinematic structure. + +This function does not handle SensorsList contained inside the input model. + +true if all went well, false if there was an error in conversion. + + - + - - - - class Ptr - - - IDYNTREE_CONSTEXPR Span< typename Ptr::element_type > - IDYNTREE_CONSTEXPR Span<typename Ptr::element_type> iDynTree::make_span - (Ptr &cont, std::ptrdiff_t count) - make_span + + bool + bool iDynTree::extractSubModel + (const iDynTree::Model &fullModel, const iDynTree::Traversal &subModelTraversal, iDynTree::Model &outputSubModel) + extractSubModel - Ptr & - cont + const iDynTree::Model & + fullModel - std::ptrdiff_t - count + const iDynTree::Traversal & + subModelTraversal + + + iDynTree::Model & + outputSubModel +Extract sub model from sub model traversal. +This function creates a new iDynTree::Model containing links and joints composing the subModelTraversal. The function takes in input a iDynTree::Model and a iDynTree::Traversal. The new model will contain joints and links composing the subModelTraversal, with the same order. The FT sensor frames are added as additional frames. +This function does not handle SensorsList contained inside the input model. + +true if all went well, false if there was an error in creating the sub model. + + - + - - - - class Ptr - - - typename - typename std::enable_if<!SpanUtils::is_value_defined<Ptr>::value && SpanUtils::is_element_defined<Ptr>::value>::type - - - IDYNTREE_CONSTEXPR Span< typename Ptr::element_type > - IDYNTREE_CONSTEXPR Span<typename Ptr::element_type> iDynTree::make_span - (Ptr &cont) - make_span + + bool + bool iDynTree::addValidNamesToAllSolidShapes + (const iDynTree::Model &inputModel, iDynTree::Model &outputModel) + addValidNamesToAllSolidShapes - Ptr & - cont + const iDynTree::Model & + inputModel + + + iDynTree::Model & + outputModel +Add automatically generated names to all visual and collision solid shapes of the model. +This function creates a new iDynTree::Model that is identical to the input one, but that sets a valid name for all the visual and collision solid shapes of the model. +For links that already have at least either collision or visual with valid name, all the corresponding shapes (collision or visual) will not be modified. +For links in which all shapes of a given type that do not have a valid name, a name will be generated as the following: +If there is a single collision or visual element in the link, it will be named <linkName>_collision or <linkName>_visual +If there are multiple collision or visual elements in the link, the solid shapes will be <linkName>_collision_0, <linkName>_collision_1, ... <linkName>_collision_n or <linkName>_visual_0, <linkName>_visual_1, ... <linkName>_visual_n + + +true if all went well, false if there was an error in creating the sub model. + + - + - - - - class Container - - - typename - typename std::enable_if<!SpanUtils::is_value_defined<Container>::value && !SpanUtils::is_element_defined<Container>::value && SpanUtils::has_data_method<Container>::value>::type - - - IDYNTREE_CONSTEXPR Span< typename std::remove_pointer< decltype(std::declval< Container >).data())>::type > - IDYNTREE_CONSTEXPR Span<typename std::remove_pointer<decltype (std::declval<Container>).data())>::type> iDynTree::make_span - (Container &cont) - make_span + + bool + bool iDynTree::moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink + (const iDynTree::Model &inputModel, iDynTree::Model &outputModel) + moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink - Container & - cont + const iDynTree::Model & + inputModel + + + iDynTree::Model & + outputModel +Transform the input model in model that can be exported as URDF with the given base link. +In iDynTree, the link frame can be placed without constraint w.r.t. to the joints to which the link is connected. On the other hand, in the URDF format, the origin of the frame of the child link connected to its parent with a non-fixed joint must lay on the axis of the joint. +That means that if you want to export a model with an arbitrary base link, some link frame will need to be moved to respect the constraint given by the URDF format. This function perform exactly this transformation, ensuring that inertia, visual and collision information is probably accounted for, and leaving the original link frames in the model as "additional frames" with the naming scheme <linkName>_original_frame . +Note that the operation done depends on the base link used, if you want to use a different base link, change the default base link of the model via inputModel.setDefaultBaseLink method. +true if all went well, false if there was an error in creating the sub model. + + - + - - void - void iDynTree::assertStringAreEqual - (const std::string &val1, const std::string &val2, double tol=DEFAULT_TOL, std::string file="", int line=-1) - assertStringAreEqual - - const std::string & - val1 - + + bool + bool iDynTree::predictSensorsMeasurements + (const Model &model, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const FreeFloatingAcc &robotAcc, const LinAcceleration &gravity, const LinkNetExternalWrenches &externalWrenches, FreeFloatingAcc &buf_properRobotAcc, LinkPositions &buf_linkPos, LinkVelArray &buf_linkVel, LinkAccArray &buf_linkProperAcc, LinkInternalWrenches &buf_internalWrenches, FreeFloatingGeneralizedTorques &buf_outputTorques, SensorsMeasurements &predictedMeasurement) + predictSensorsMeasurements - const std::string & - val2 + const Model & + model - double - tol - DEFAULT_TOL + const Traversal & + traversal - std::string - file - "" + const FreeFloatingPos & + robotPos - int - line - -1 + const FreeFloatingVel & + robotVel - - - - - - - - - - void - void iDynTree::assertDoubleAreEqual - (const double &val1, const double &val2, double tol=DEFAULT_TOL, std::string file="", int line=-1) - assertDoubleAreEqual - const double & - val1 + const FreeFloatingAcc & + robotAcc - const double & - val2 + const LinAcceleration & + gravity - double - tol - DEFAULT_TOL + const LinkNetExternalWrenches & + externalWrenches - std::string - file - "" + FreeFloatingAcc & + buf_properRobotAcc - int - line - -1 + LinkPositions & + buf_linkPos - - - - - - - - - - void - void iDynTree::assertTransformsAreEqual - (const Transform &trans1, const Transform &trans2, double tol=DEFAULT_TOL, std::string file="", int line=-1) - assertTransformsAreEqual - const Transform & - trans1 + LinkVelArray & + buf_linkVel - const Transform & - trans2 + LinkAccArray & + buf_linkProperAcc - double - tol - DEFAULT_TOL + LinkInternalWrenches & + buf_internalWrenches - std::string - file - "" + FreeFloatingGeneralizedTorques & + buf_outputTorques - int - line - -1 + SensorsMeasurements & + predictedMeasurement -Assert that two transforms are equal, and exit with EXIT_FAILURE if they are not. +Predict the measurement of a set of sensors. +Given a SensorList object describing a list of sensor of a model fill the output argument predictedMeasurement with the predicted measurement of the sensors consistent with the state and the acceleration/torques and forces of the Model. +This function takes in input the internal buffers used for the computation to avoid dynamic memory allocation. + + +model + + +the model used to predict the sensor measurements. + + + + +sensorList + + +the sensors list used to predict the sensors measurements. + + + + +traversal + + +the Traversal used for predict the sensor measurements. + + + + +robotPos + + +the position of the model used for prediction. + + + + +robotVel + + +the velocity of the model used for prediction. + + + + +robotAcc + + +the acceleration of the model used for prediction. + + + + +gravity + + +the gravity acceleration (in world frame) used for prediction. + + + + +externalWrenches + + +the net external wrench acting on each link. + + + + +buf_properRobotAcc + + +internal buffer, storing the proper acceleration of the model. + + + + +buf_linkPos + + +internal buffer, storing the position of every link in the model. + + + + +buf_linkVel + + +internal buffer, storing the velocity of every link in the model. + + + + +buf_linkProperAcc + + +internal buffer, storing the proper acceleration of every link in the model. + + + + +buf_internalWrenches + + +internal buffer, storing the internal wrenches. + + + + +buf_outputTorques + + +internal buffer, storing the generalized joint torques. + + + + +predictedMeasurement + + +the predicted measurements for the sensors. + + + +true if the sensors in the list are all valid + + - + - - void - void iDynTree::assertSpatialMotionAreEqual - (const SpatialMotionVector &t1, const SpatialMotionVector &t2, double tol=DEFAULT_TOL, std::string file="", int line=-1) - assertSpatialMotionAreEqual + + bool + bool iDynTree::predictSensorsMeasurementsFromRawBuffers + (const Model &model, const Traversal &traversal, const LinkVelArray &buf_linkVel, const LinkAccArray &buf_linkProperAcc, const LinkInternalWrenches &buf_internalWrenches, SensorsMeasurements &predictedMeasurement) + predictSensorsMeasurementsFromRawBuffers - const SpatialMotionVector & - t1 + const Model & + model - const SpatialMotionVector & - t2 + const Traversal & + traversal - double - tol - DEFAULT_TOL + const LinkVelArray & + buf_linkVel - std::string - file - "" + const LinkAccArray & + buf_linkProperAcc - int - line - -1 + const LinkInternalWrenches & + buf_internalWrenches + + + SensorsMeasurements & + predictedMeasurement -Assert that two spatial motion vectors are equal, and exit with EXIT_FAILURE if they are not. +Predict the measurement of a set of sensors. +Helper function that works on buffers already compute with Dynamics functions + + +model + + +the model used to predict the sensor measurements. + + + + +traversal + + +the Traversal used for predict the sensor measurements. + + + + +buf_linkVel + + +internal buffer, storing the velocity of every link in the model. + + + + +buf_linkProperAcc + + +internal buffer, storing the proper acceleration of every link in the model. + + + + +buf_internalWrenches + + +internal buffer, storing the internal wrenches. + + + + +predictedMeasurement + + +the predicted measurements for the sensors. + + + +true if the sensors in the list are all valid + + - + - - void - void iDynTree::assertSpatialForceAreEqual - (const SpatialForceVector &f1, const SpatialForceVector &f2, double tol=DEFAULT_TOL, std::string file="", int line=-1) - assertSpatialForceAreEqual + + bool + bool iDynTree::predictSensorsMeasurements + (const Model &model, const SensorsList &sensorList, const Traversal &traversal, const FreeFloatingPos &robotPos, const FreeFloatingVel &robotVel, const FreeFloatingAcc &robotAcc, const LinAcceleration &gravity, const LinkNetExternalWrenches &externalWrenches, FreeFloatingAcc &buf_properRobotAcc, LinkPositions &buf_linkPos, LinkVelArray &buf_linkVel, LinkAccArray &buf_linkProperAcc, LinkInternalWrenches &buf_internalWrenches, FreeFloatingGeneralizedTorques &buf_outputTorques, SensorsMeasurements &predictedMeasurement) + predictSensorsMeasurements + + const Model & + model + + + const SensorsList & + sensorList + + + const Traversal & + traversal + - const SpatialForceVector & - f1 + const FreeFloatingPos & + robotPos - const SpatialForceVector & - f2 + const FreeFloatingVel & + robotVel - double - tol - DEFAULT_TOL + const FreeFloatingAcc & + robotAcc - std::string - file - "" + const LinAcceleration & + gravity - int - line - -1 + const LinkNetExternalWrenches & + externalWrenches - -Assert that two spatial force vectors are equal, and exit with EXIT_FAILURE if they are not. - - - - - - - - - void - void iDynTree::assertTrue - (bool prop, std::string file="", int line=-1) - assertTrue - bool - prop + FreeFloatingAcc & + buf_properRobotAcc - std::string - file - "" + LinkPositions & + buf_linkPos - int - line - -1 + LinkVelArray & + buf_linkVel - - - - - - - - - - bool - bool iDynTree::getRandomBool - () - getRandomBool - -Get random bool. - - - - - - - - - double - double iDynTree::getRandomDouble - (double min=0.0, double max=1.0) - getRandomDouble - double - min - 0.0 + LinkAccArray & + buf_linkProperAcc - double - max - 1.0 + LinkInternalWrenches & + buf_internalWrenches - -Get a random double between min and max . - - - - - - - - - int - int iDynTree::getRandomInteger - (int min, int max) - getRandomInteger - int - min + FreeFloatingGeneralizedTorques & + buf_outputTorques - int - max + SensorsMeasurements & + predictedMeasurement -Get a random integer between min and max (included). +Predict the measurement of a set of sensors. -For example a dice could be simulated with getRandomInteger(1,6); +Given a SensorList object describing a list of sensor of a model fill the output argument predictedMeasurement with the predicted measurement of the sensors consistent with the state and the acceleration/torques and forces of the Model. +This function takes in input the internal buffers used for the computation to avoid dynamic memory allocation. + + +model + + +the model used to predict the sensor measurements. + + + + +sensorList + + +the sensors list used to predict the sensors measurements. + + + + +traversal + + +the Traversal used for predict the sensor measurements. + + + + +robotPos + + +the position of the model used for prediction. + + + + +robotVel + + +the velocity of the model used for prediction. + + + + +robotAcc + + +the acceleration of the model used for prediction. + + + + +gravity + + +the gravity acceleration (in world frame) used for prediction. + + + + +externalWrenches + + +the net external wrench acting on each link. + + + + +buf_properRobotAcc + + +internal buffer, storing the proper acceleration of the model. + + + + +buf_linkPos + + +internal buffer, storing the position of every link in the model. + + + + +buf_linkVel + + +internal buffer, storing the velocity of every link in the model. + + + + +buf_linkProperAcc + + +internal buffer, storing the proper acceleration of every link in the model. + + + + +buf_internalWrenches + + +internal buffer, storing the internal wrenches. + + + + +buf_outputTorques + + +internal buffer, storing the generalized joint torques. + + + + +predictedMeasurement + + +the predicted measurements for the sensors. + + + +true if the sensors in the list are all valid + + - + - - - - typename VectorType - - - void - void iDynTree::getRandomVector - (VectorType &vec, double min=0.0, double max=1.0) - getRandomVector + + bool + bool iDynTree::predictSensorsMeasurementsFromRawBuffers + (const Model &model, const SensorsList &sensorList, const Traversal &traversal, const LinkVelArray &buf_linkVel, const LinkAccArray &buf_linkProperAcc, const LinkInternalWrenches &buf_internalWrenches, SensorsMeasurements &predictedMeasurement) + predictSensorsMeasurementsFromRawBuffers - VectorType & - vec + const Model & + model - double - min - 0.0 + const SensorsList & + sensorList - double - max - 1.0 + const Traversal & + traversal - -Fill a vector with random double. - - - - - - - - - - - typename MatrixType - - - void - void iDynTree::getRandomMatrix - (MatrixType &mat) - getRandomMatrix - MatrixType & - mat + const LinkVelArray & + buf_linkVel - -Fill a matrix of random doubles. - - - - - - - - - Position - Position iDynTree::getRandomPosition - () - getRandomPosition - -Get a random position. - - - - - - - - - Rotation - Rotation iDynTree::getRandomRotation - () - getRandomRotation - -Get a random rotation. - - - - - - - - - Transform - Transform iDynTree::getRandomTransform - () - getRandomTransform - -Get a random transform. - - - - - - - - - Axis - Axis iDynTree::getRandomAxis - () - getRandomAxis - -Get a random axis. - - - - - - - - - SpatialInertia - SpatialInertia iDynTree::getRandomInertia - () - getRandomInertia - -Get a random (but physically consistent) inertia. - - - - - - - - - SpatialMotionVector - SpatialMotionVector iDynTree::getRandomTwist - () - getRandomTwist - -Get a random twist-like 6D vector. - - - - - - - - - SpatialForceVector - SpatialForceVector iDynTree::getRandomWrench - () - getRandomWrench - -Get a random wrench-like 6D object. - - - - - - - - - - - typename VectorType - - - void - void iDynTree::printVector - (std::string, const VectorType &vec) - printVector - std::string + const LinkAccArray & + buf_linkProperAcc - const VectorType & - vec + const LinkInternalWrenches & + buf_internalWrenches + + + SensorsMeasurements & + predictedMeasurement -Helper for printing vectors. +Predict the measurement of a set of sensors. +Helper function that works on buffers already compute with Dynamics functions + + +model + + +the model used to predict the sensor measurements. + + + + +sensorList + + +the sensors list used to predict the sensors measurements. + + + + +traversal + + +the Traversal used for predict the sensor measurements. + + + + +buf_linkVel + + +internal buffer, storing the velocity of every link in the model. + + + + +buf_linkProperAcc + + +internal buffer, storing the proper acceleration of every link in the model. + + + + +buf_internalWrenches + + +internal buffer, storing the internal wrenches. + + + + +predictedMeasurement + + +the predicted measurements for the sensors. + + + +true if the sensors in the list are all valid + + - + - - - - typename VectorType1 - - - typename VectorType2 - - - void - void iDynTree::printVectorDifference - (std::string name, const VectorType1 &vec1, const VectorType2 &vec2) - printVectorDifference - - std::string - name - - - const VectorType1 & - vec1 - + + bool + bool iDynTree::isLinkSensor + (const SensorType type) + isLinkSensor - const VectorType2 & - vec2 + const SensorType + type -Helper for printing difference of two vectors. +Short function to check if a SensorType is a LinkSensor. - + - - void - void iDynTree::printVectorWrongElements - (std::string name, std::vector< bool > &correctElems) - printVectorWrongElements - - std::string - name - + + bool + bool iDynTree::isJointSensor + (const SensorType type) + isJointSensor - std::vector< bool > & - correctElems + const SensorType + type -Helper for printing the patter of wrong elements in between two vectors. +Short function to check if a SensorType is. - + - - void - void iDynTree::printMatrixWrongElements - (std::string name, std::vector< std::vector< TestMatrixMismatch > > &correctElems) - printMatrixWrongElements - - std::string - name - + + std::size_t + std::size_t iDynTree::getSensorTypeSize + (const SensorType type) + getSensorTypeSize - std::vector< std::vector< TestMatrixMismatch > > & - correctElems + const SensorType + type -Helper for printing the patter of wrong elements in between two matrix. - + - - - - typename MatrixType1 - - - typename MatrixType2 - - + void - void iDynTree::printMatrixPercentageError - (const MatrixType1 &mat1, const MatrixType2 &mat2) - printMatrixPercentageError + void iDynTree::computeTransformToTraversalBase + (const Model &fullModel, const Traversal &traversal, const JointPosDoubleArray &jointPos, LinkPositions &traversalBase_H_link) + computeTransformToTraversalBase - const MatrixType1 & - mat1 + const Model & + fullModel - const MatrixType2 & - mat2 + const Traversal & + traversal + + + const JointPosDoubleArray & + jointPos + + + LinkPositions & + traversalBase_H_link -Helper for printing the patter of wrong elements in between two matrix. +Helper loop to compute the position of each link wrt to the frame of the subModel base. + + +fullModel + + +full model + + + + +traversal + + +traversal on which to run the loop + + + + +jointPos + + +joint positions for the full model + + + + +traversalBase_H_link + + +traversalBase_H_link[i] will store the traversalBase_H_i transform + + + + - + - - - - typename VectorType1 - - - typename VectorType2 - - + void - void iDynTree::assertVectorAreEqual - (const VectorType1 &vec1, const VectorType2 &vec2, double tol, std::string file, int line) - assertVectorAreEqual - - const VectorType1 & - vec1 - + void iDynTree::computeTransformToSubModelBase + (const Model &fullModel, const SubModelDecomposition &subModelDecomposition, const JointPosDoubleArray &jointPos, LinkPositions &subModelBase_H_link) + computeTransformToSubModelBase - const VectorType2 & - vec2 + const Model & + fullModel - double - tol + const SubModelDecomposition & + subModelDecomposition - std::string - file + const JointPosDoubleArray & + jointPos - int - line + LinkPositions & + subModelBase_H_link -Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not. +Run the computeTransformToTraversalBase for all the traversal in the subModelDecomposition, and store the results in the linkPos array. + + +fullModel + + +full model + + + + +subModelDecomposition + + +model decomposition on which the loop will run + + + + +jointPos + + +joint positions for the full model + + + + +subModelBase_H_link + + +subModelBase_H_link[i] will store the subModelBase_H_i transform + + + + - + - - - - typename VectorType1 - - - typename VectorType2 - - - void - void iDynTree::assertVectorAreEqualWithRelativeTol - (const VectorType1 &vec1, const VectorType2 &vec2, double relativeTol, double minAbsoluteTol, std::string file, int line) - assertVectorAreEqualWithRelativeTol - - const VectorType1 & - vec1 - - - const VectorType2 & - vec2 - + + int + int iDynTree::sizeOfRotationParametrization + (enum InverseKinematicsRotationParametrization rotationParametrization) + sizeOfRotationParametrization - double - relativeTol + enum InverseKinematicsRotationParametrization + rotationParametrization + + + + + + + + + + bool + bool iDynTree::isLinkBerdyDynamicVariable + (const BerdyDynamicVariablesTypes dynamicVariableType) + isLinkBerdyDynamicVariable - double - minAbsoluteTol + const BerdyDynamicVariablesTypes + dynamicVariableType + + + + + + + + + + bool + bool iDynTree::isJointBerdyDynamicVariable + (const BerdyDynamicVariablesTypes dynamicVariableType) + isJointBerdyDynamicVariable - std::string - file + const BerdyDynamicVariablesTypes + dynamicVariableType + + + + + + + + + + bool + bool iDynTree::isDOFBerdyDynamicVariable + (const BerdyDynamicVariablesTypes dynamicVariableType) + isDOFBerdyDynamicVariable - int - line + const BerdyDynamicVariablesTypes + dynamicVariableType -Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not. -The tolerance passed in this function is a relative tolerance on the max element of the comparison, i.e. absoluteTol = max(relativeTol*max(val1,val2), minAbsoluteTol) - + - - - - typename MatrixType1 - - - typename MatrixType2 - - - void - void iDynTree::assertMatrixAreEqual - (const MatrixType1 &mat1, const MatrixType2 &mat2, double tol, std::string file, int line) - assertMatrixAreEqual + + bool + bool iDynTree::estimateExternalWrenchesWithoutInternalFT + (const Model &model, const Traversal &traversal, const LinkUnknownWrenchContacts &unknownWrenches, const JointPosDoubleArray &jointPos, const LinkVelArray &linkVel, const LinkAccArray &linkProperAcc, estimateExternalWrenchesBuffers &bufs, LinkContactWrenches &outputContactWrenches) + estimateExternalWrenchesWithoutInternalFT - const MatrixType1 & - mat1 + const Model & + model - const MatrixType2 & - mat2 + const Traversal & + traversal - double - tol + const LinkUnknownWrenchContacts & + unknownWrenches - std::string - file + const JointPosDoubleArray & + jointPos - int - line + const LinkVelArray & + linkVel + + + const LinkAccArray & + linkProperAcc + + + estimateExternalWrenchesBuffers & + bufs + + + LinkContactWrenches & + outputContactWrenches -Assert that two matrices are equal, and exit with EXIT_FAILURE if they are not. +Estimate the external contact wrenches using the MultiBody Newton-Euler equations. +This function is used to estimate the external contacts forces without using any measurement of the internal FT sensors. It is tipically used to get data for calibrating the offset of the internal FT sensors. - + - - void - void iDynTree::assertWoAbort - (const char *semCheck, const char *file, const char *func, int line) - assertWoAbort + + bool + bool iDynTree::estimateExternalWrenches + (const Model &model, const SubModelDecomposition &subModels, const SensorsList &sensors, const LinkUnknownWrenchContacts &unknownWrenches, const JointPosDoubleArray &jointPos, const LinkVelArray &linkVel, const LinkAccArray &linkProperAcc, const SensorsMeasurements &ftSensorsMeasurements, estimateExternalWrenchesBuffers &bufs, LinkContactWrenches &outputContactWrenches) + estimateExternalWrenches - const char * - semCheck + const Model & + model - const char * - file + const SubModelDecomposition & + subModels - const char * - func + const SensorsList & + sensors - int - line + const LinkUnknownWrenchContacts & + unknownWrenches - -Function embedding the semantic checks. - - -This function can throw an exception if the semantic check detects an error (returns False). - - - - - - - bool - bool iDynTree::checkEqualOrUnknown - (const int op1, const int op2) - checkEqualOrUnknown - const int - op1 + const JointPosDoubleArray & + jointPos - const int - op2 + const LinkVelArray & + linkVel - -Helper class for semantic checking. - - -Return true if two values are equal, or if one of the two is unknown All negative values are used for represent an unknown value. - - - - - - - void - void iDynTree::reportError - (const char *className, const char *methodName, const char *errorMessage) - reportError - const char * - className + const LinkAccArray & + linkProperAcc - const char * - methodName + const SensorsMeasurements & + ftSensorsMeasurements - const char * - errorMessage + estimateExternalWrenchesBuffers & + bufs + + + LinkContactWrenches & + outputContactWrenches -Helper function for reporting error if the semantic check fails. +Estimate the external wrenches trasmitted by the contacts between the model and the external environment. +This function exploits the measurements of internal FT sensors (whose structure is contained in the sensors parameters and which measurements are contained in the ftSensorsMeasurements parameters) to compute an estimation of the values of the unknown wrenches specified in the unknownWrenches parameter. + + +model + + +the considered model. + + + + +subModels + + +a decomposition of the model along the joint of the six axis F/T sensors. + + + + +sensors + + +a description of the sensors available in the model. + + + + +unknownWrenches + + +a description of the contacts for which the contact wrench is unknown. + + + + +linkVel + + +a vector of link twists, expressed w.r.t to the link orientation and the link origin + + + + +linkProperAcc + + +a vector of link spatial (in the Featherstone sense) and proper accelerations, expressed w.r.t to the link orientation and the link origin + + + + +ftSensorsMeasurements + + +the measurements of the internal six axis F/T sensors. + + + + +outputContactWrenches + + +the estimated contact wrenches. + + + +true if all went well (the dimension of the inputs are consistent), false otherwise + + - + - + bool - bool iDynTree::reportErrorIf - (bool condition, const char *className_methodName, const char *errorMessage) - reportErrorIf + bool iDynTree::dynamicsEstimationForwardVelAccKinematics + (const Model &model, const Traversal &traversal, const Vector3 &base_classicalProperAcc, const Vector3 &base_angularVel, const Vector3 &base_angularAcc, const JointPosDoubleArray &jointPos, const JointDOFsDoubleArray &jointVel, const JointDOFsDoubleArray &jointAcc, LinkVelArray &linkVel, LinkAccArray &linkProperAcc) + dynamicsEstimationForwardVelAccKinematics + + const Model & + model + + + const Traversal & + traversal + + + const Vector3 & + base_classicalProperAcc + + + const Vector3 & + base_angularVel + - bool - condition + const Vector3 & + base_angularAcc - const char * - className_methodName + const JointPosDoubleArray & + jointPos - const char * - errorMessage + const JointDOFsDoubleArray & + jointVel - -Call report error if condition is true. - - - - - - - - - void - void iDynTree::reportWarning - (const char *className, const char *methodName, const char *errorMessage) - reportWarning - const char * - className + const JointDOFsDoubleArray & + jointAcc - const char * - methodName + LinkVelArray & + linkVel - const char * - errorMessage + LinkAccArray & + linkProperAcc -Helper function for reporting warnings in iDynTree. +Modified forward kinematics for torque/force estimation. +This is a version of forward kinematics modified to fit the needs of joint torques/external wrenches estimation. +There are several difference with respect to the classical forward kinematics. The first one is that the only inputs necessary related to the base link are the base link classical proper acceleration, the base link angular velocity and the base link angular acceleration. This is because the dynamics of an articulated system does not depend on an offset in linear velocity, and hence the estimation of joint torques/external wrenches is not affected by the base link linear velocity. This will mean that the link velocitity computed by this algorithm are not the velocity of the links with respect to an inertial frame. Nevertherless they can still be used for estimation. +There are two main ways in which the base information is computed: one is exploiting the knoledge that a link is not moving with respect to an inertial frame: in this case the classical proper acceleration boils down to the inverted gravitational acceleration, while the angular velocity and angular accelerations are equal to zero. The other way is to exploit the measure of an accelerometer and of a gyroscope mounted on the base link of the traversal: the accelerometer will then measure directly the classical proper acceleration, while the gyroscope will measure the angular velocity. The angular acceleration can be computed by numerical derivation, or simply neglected if its effect on the estimation is minimal. + + +model + + +the input model + + + + +traversal + + +the traversal used to propagate the velocity and the proper acceleration + + + + +base_classicalProperAcc + + +classical proper acceleration of the base origin + + + + +base_angularVel + + +angular velocity of the base link frame + + + + +base_angularAcc + + +angular acceleration of the base link frame + + + + +jointPos + + +joint positions + + + + +jointVel + + +joint velocities + + + + +jointAcc + + +joint accelerations + + + + +linkVel + + +vector of link twists, expressed in the link frame for both orientation and origin + + + + +linkProperAcc + + +vector of link proper spatial acceleration, expressed in the link frame for both orientation and origin + + + +true if all went well, false otherwise + + - + - - void - void iDynTree::reportInfo - (const char *className, const char *methodName, const char *message) - reportInfo + + bool + bool iDynTree::dynamicsEstimationForwardVelKinematics + (const Model &model, const Traversal &traversal, const Vector3 &base_angularVel, const JointPosDoubleArray &jointPos, const JointDOFsDoubleArray &jointVel, LinkVelArray &linkVel) + dynamicsEstimationForwardVelKinematics - const char * - className + const Model & + model - const char * - methodName + const Traversal & + traversal - const char * - message + const Vector3 & + base_angularVel - -Helper function for reporting information messages in iDynTree. - - - - - - - - - void - void iDynTree::reportDebug - (const char *className, const char *methodName, const char *message) - reportDebug - const char * - className + const JointPosDoubleArray & + jointPos - const char * - methodName + const JointDOFsDoubleArray & + jointVel - const char * - message + LinkVelArray & + linkVel -Helper function for reporting debug messages in iDynTree. +Modified forward kinematics for floating basedynamics estimation. +This is a version of velocity forward kinematics modified to fit the needs of free floating dynamics estimation. +There are several difference with respect to the classical forward kinematics. The first one is that the only inputs necessary related to the base link is the base link angular velocity. This is because the dynamics of an articulated system does not depend on an offset in linear velocity. This will mean that the link velocities computed by this algorithm are not the velocity of the links with respect to an inertial frame. Nevertherless they can still be used for estimation. +There are two main ways in which the base information is computed: one is exploiting the knoledge that a link is not moving with respect to an inertial frame: in this case the angular velocity is equal to zero. The other way is to exploit the measure of a gyroscope mounted on the base link of the traversal: the gyroscope will measure the link angular velocity. + + +model + + +the input model + + + + +traversal + + +the traversal used to propagate the velocity and the proper acceleration + + + + +base_angularVel + + +angular velocity of the base link frame + + + + +jointPos + + +joint positions + + + + +jointVel + + +joint velocities + + + + +linkVel + + +vector of link twists, expressed in the link frame for both orientation and origin + + + +true if all went well, false otherwise + + - + - - double - double iDynTree::deg2rad - (const double valueInDeg) - deg2rad + + bool + bool iDynTree::computeLinkNetWrenchesWithoutGravity + (const Model &model, const LinkVelArray &linkVel, const LinkAccArray &linkProperAcc, LinkNetTotalWrenchesWithoutGravity &linkNetWrenchesWithoutGravity) + computeLinkNetWrenchesWithoutGravity + + const Model & + model + + + const LinkVelArray & + linkVel + - const double - valueInDeg + const LinkAccArray & + linkProperAcc - -Convert a double from degrees to radians. - - - - - - - - - double - double iDynTree::rad2deg - (const double valueInRad) - rad2deg - const double - valueInRad + LinkNetTotalWrenchesWithoutGravity & + linkNetWrenchesWithoutGravity -Convert a double from radians to degree. +Compute the net internal and external wrenches (excluding gravity forces) acting on the links. + + +model + + +the input model + + + + +linkVel + + +a vector of link twists, expressed w.r.t to the link orientation and the link origin + + + + +linkProperAcc + + +a vector of link spatial (in the Featherstone sense) and proper accelerations, expressed w.r.t to the link orientation and the link origin + + + + +linkNetWrenchesWithoutGravity + + +the vector of the sum of all the wrenches (both internal and external, excluding gravity) acting on link i, expressed (both orientation and point) with respect to the reference frame of link i + + + + - + - + bool - bool iDynTree::checkDoublesAreEqual - (const double &val1, const double &val2, double tol=DEFAULT_TOL) - checkDoublesAreEqual + bool iDynTree::estimateLinkContactWrenchesFromLinkNetExternalWrenches + (const Model &model, const LinkUnknownWrenchContacts &unknownWrenches, const LinkNetExternalWrenches &netExtWrenches, LinkContactWrenches &outputContactWrenches) + estimateLinkContactWrenchesFromLinkNetExternalWrenches - const double & - val1 + const Model & + model - const double & - val2 + const LinkUnknownWrenchContacts & + unknownWrenches - double - tol - DEFAULT_TOL + const LinkNetExternalWrenches & + netExtWrenches + + + LinkContactWrenches & + outputContactWrenches -Check whether two doubles are equal given a tolerance tol. +Compute the link contact wrenches from the net external wrenches. +If there are more than 6 unknows for link, the problem becomes ill-defined and the function just assign all the external wrench to the first contact. - + bool @@ -9058,11 +8925,178 @@ + + bool + bool iDynTree::estimateInertialParametersFromLinkBoundingBoxesAndTotalMass + (const double totalMass, iDynTree::Model &model, VectorDynSize &estimatedInertialParams) + estimateInertialParametersFromLinkBoundingBoxesAndTotalMass + + const double + totalMass + + + iDynTree::Model & + model + + + VectorDynSize & + estimatedInertialParams + + +Estimate the inertial parameters of a model using link bounding boxes and the total mass. + + + + +totalMass + + +The total mass of the model, in Kilograms. + + + + +model + + +The model, used to extract the bounding box of the links. + + + + +inertialParameters + + +vector of inertial parameters, in the format used by Model::getInertialParameters + + + +true if all went well, false otherwise . + +if inertialParameters does not have the correct size, it will be resized. + +This function needs to allocate some internal buffers, and so it performs dynamic memory allocation. + +This function requires IDYNTREE_USES_ASSIMP to be true, otherwise it always returns false. + + + + + + + + + bool + bool iDynTree::computeBoundingBoxFromShape + (const SolidShape &geom, Box &box) + computeBoundingBoxFromShape + + const SolidShape & + geom + + + Box & + box + + +Compute bounding box from a solid shape object. + + + + +geom + + +The link collision as a iDynTree solid shape object + + + + +box + + +The bounding box for the solid shape object + + + +true if all went well, false otherwise . + +If the shape is an ExternalMesh type, this function requires IDYNTREE_USES_ASSIMP to be true, otherwise it always returns false. + +If the shape is an ExternalMesh type, an Axis-Aligned Bounding Box (AABB) is computed from the mesh vertices. This means that the returned bounding box is neither unique nor a minimum volume bounding box for the given mesh. The axes alignment to compute AABB is done with respect to the frame associated with the shape. + + + + + + + + + std::vector< Position > + std::vector<Position> iDynTree::computeBoxVertices + (const Box box) + computeBoxVertices + + const Box + box + + +Get the bounding box vertices in the link frame. + + + + +box + + +The link collision solid shape as a Box object. + + + +vector of vertex positions in the link frame. + + + + + + + + + bool + bool iDynTree::approximateSolidShapesWithPrimitiveShape + (const Model &inputModel, Model &outputModel, ApproximateSolidShapesWithPrimitiveShapeOptions options=ApproximateSolidShapesWithPrimitiveShapeOptions()) + approximateSolidShapesWithPrimitiveShape + + const Model & + inputModel + + + Model & + outputModel + + + ApproximateSolidShapesWithPrimitiveShapeOptions + options + ApproximateSolidShapesWithPrimitiveShapeOptions() + + +\function Approximate solid shapes of the input model with some primitive shapes. + + +This function takes in input a Model, and returns in output the same model, but with all solid shapes of the model (both collision and visual) substituted with a primitive shape that approximates in some way the original solid shape. +At the moment, the only conversion type provided is to approximate each solid shape of the model with its axis aligned bounding box, using the iDynTree::computeBoundingBoxFromShape function. + + + + + + + - + diff --git a/xml/structiDynTree_1_1ApproximateSolidShapesWithPrimitiveShapeOptions.xml b/xml/structiDynTree_1_1ApproximateSolidShapesWithPrimitiveShapeOptions.xml index e7994a7164..78f93bc66b 100644 --- a/xml/structiDynTree_1_1ApproximateSolidShapesWithPrimitiveShapeOptions.xml +++ b/xml/structiDynTree_1_1ApproximateSolidShapesWithPrimitiveShapeOptions.xml @@ -8,23 +8,38 @@ ApproximateSolidShapesWithPrimitiveShapeConversionType iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions::conversionType conversionType - = ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes + = ApproximateSolidShapesWithPrimitiveShapeConversionType::ConvertSolidShapesWithEnclosingAxisAlignedBoundingBoxes - + + + + ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate + ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptions::shapesToApproximate + + shapesToApproximate + = ApproximateSolidShapesWithPrimitiveShapeShapesToApproximate::BothShapes + + + + + + + - + iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptionsconversionType + iDynTree::ApproximateSolidShapesWithPrimitiveShapeOptionsshapesToApproximate diff --git a/xml/structiDynTree_1_1AttitudeMahonyFilterParameters.xml b/xml/structiDynTree_1_1AttitudeMahonyFilterParameters.xml index 278e8ed115..20b0bca170 100644 --- a/xml/structiDynTree_1_1AttitudeMahonyFilterParameters.xml +++ b/xml/structiDynTree_1_1AttitudeMahonyFilterParameters.xml @@ -10,7 +10,7 @@ time_step_in_seconds {0.001} -discretization time step in seconds, default value: $ 0.001 s $ +discretization time step in seconds, default value: $ 0.001 s $ @@ -25,7 +25,7 @@ kp {1.0} -Mahony $ K_p $ gain over the correction from IMU measurements, default value: $ 1.0 $. +Mahony $ K_p $ gain over the correction from IMU measurements, default value: $ 1.0 $. @@ -40,7 +40,7 @@ ki {1.0} -Mahony $ K_i $ gain over the gyro bias evolution, default value: $ 1.0 $. +Mahony $ K_i $ gain over the gyro bias evolution, default value: $ 1.0 $. @@ -69,7 +69,7 @@ confidence_magnetometer_measurements {0.0} -confidence on magnetometer measurements, default value: $ 0.0 $ +confidence on magnetometer measurements, default value: $ 0.0 $ diff --git a/xml/structiDynTree_1_1AttitudeQuaternionEKFParameters.xml b/xml/structiDynTree_1_1AttitudeQuaternionEKFParameters.xml index cef22d4600..9cafd5d2e7 100644 --- a/xml/structiDynTree_1_1AttitudeQuaternionEKFParameters.xml +++ b/xml/structiDynTree_1_1AttitudeQuaternionEKFParameters.xml @@ -10,7 +10,7 @@ time_step_in_seconds {0.01} -discretization time step in seconds, default value: $ 0.01 s $ +discretization time step in seconds, default value: $ 0.01 s $ @@ -25,7 +25,7 @@ bias_correlation_time_factor {0.01} -time factor modeling how fast the bias can vary, default value: $ 0.01 $ +time factor modeling how fast the bias can vary, default value: $ 0.01 $ @@ -40,7 +40,7 @@ accelerometer_noise_variance {0.001} -measurement noise covariance $ \sigma_{acc}^{2} $ of accelerometer measurement, default value: $ 0.001 $ +measurement noise covariance $ \sigma_{acc}^{2} $ of accelerometer measurement, default value: $ 0.001 $ @@ -55,7 +55,7 @@ magnetometer_noise_variance {0.001} -measurement noise covariance $ \sigma_{mag}^{2} $ of magnetometer measurement, default value: $ 0.001 $ +measurement noise covariance $ \sigma_{mag}^{2} $ of magnetometer measurement, default value: $ 0.001 $ @@ -70,7 +70,7 @@ gyroscope_noise_variance {0.001} -system noise covariance $ \sigma_{gyro}^{2} $ of gyroscope measurement, since it is the input to the system, default value: $ 0.001 $ +system noise covariance $ \sigma_{gyro}^{2} $ of gyroscope measurement, since it is the input to the system, default value: $ 0.001 $ @@ -85,7 +85,7 @@ gyro_bias_noise_variance {0.0001} -system noise covariance $ \sigma_{gyrobias}^{2} $ of gyroscope bias estimate, default value: $ 0.0001 $ +system noise covariance $ \sigma_{gyrobias}^{2} $ of gyroscope bias estimate, default value: $ 0.0001 $ @@ -100,7 +100,7 @@ initial_orientation_error_variance {10} -initial state covariance $ \sigma_{q_0}^{2} $ of orientation, default value: $ 10 $ +initial state covariance $ \sigma_{q_0}^{2} $ of orientation, default value: $ 10 $ @@ -115,7 +115,7 @@ initial_ang_vel_error_variance {10} -initial state covariance $ \sigma_{\omega_0}^{2} $ of angular velocity, default value: $ 10 $ +initial state covariance $ \sigma_{\omega_0}^{2} $ of angular velocity, default value: $ 10 $ @@ -130,7 +130,7 @@ initial_gyro_bias_error_variance {10} -measurement noise covariance $ \sigma_{acc}^{2} $ of gyroscope bias, default value: $ 10 $ +measurement noise covariance $ \sigma_{acc}^{2} $ of gyroscope bias, default value: $ 10 $ diff --git a/xml/structiDynTree_1_1ForwardDynamicsLinearizationInternalBuffers.xml b/xml/structiDynTree_1_1ForwardDynamicsLinearizationInternalBuffers.xml index c11d554068..f28200564e 100644 --- a/xml/structiDynTree_1_1ForwardDynamicsLinearizationInternalBuffers.xml +++ b/xml/structiDynTree_1_1ForwardDynamicsLinearizationInternalBuffers.xml @@ -107,7 +107,7 @@ Buffer to store the derivative of the product. -\[ V_l \bar\times^* M_l V_l \] +\[ V_l \bar\times^* M_l V_l \] with respect to V_l diff --git a/xml/structiDynTree_1_1VisualizerOptions.xml b/xml/structiDynTree_1_1VisualizerOptions.xml index ab61388649..e9dcb1de65 100644 --- a/xml/structiDynTree_1_1VisualizerOptions.xml +++ b/xml/structiDynTree_1_1VisualizerOptions.xml @@ -16,7 +16,7 @@ - + int @@ -30,7 +30,7 @@ - + int @@ -44,7 +44,7 @@ - + double @@ -58,7 +58,7 @@ - + @@ -73,7 +73,7 @@ - + @@ -81,7 +81,7 @@ - + iDynTree::VisualizerOptionsrootFrameArrowsDimension iDynTree::VisualizerOptionsverbose diff --git a/xml/structinternal_1_1kinematics_1_1InverseKinematicsNLP_1_1FrameInfo.xml b/xml/structinternal_1_1kinematics_1_1InverseKinematicsNLP_1_1FrameInfo.xml index b330f0fdd9..fec8b7d3bf 100644 --- a/xml/structinternal_1_1kinematics_1_1InverseKinematicsNLP_1_1FrameInfo.xml +++ b/xml/structinternal_1_1kinematics_1_1InverseKinematicsNLP_1_1FrameInfo.xml @@ -11,7 +11,7 @@ -frame w.r.t. global frame, i.e. $ {}^w R_f $ +frame w.r.t. global frame, i.e. $ {}^w R_f $