10 #ifndef __SOT_DYNAMIC_PINOCCHIO_H__ 11 #define __SOT_DYNAMIC_PINOCCHIO_H__ 23 #include <pinocchio/fwd.hpp> 24 #include <sot/core/flags.hh> 25 #include <dynamic-graph/entity.h> 26 #include <dynamic-graph/pool.h> 27 #include <dynamic-graph/signal-ptr.h> 28 #include <dynamic-graph/signal-time-dependent.h> 29 #include <sot/core/exception-dynamic.hh> 30 #include <sot/core/matrix-geometry.hh> 32 #include <dynamic-graph/linear-algebra.h> 33 #include <sot/dynamic-pinocchio/deprecated.hh> 36 #include <pinocchio/macros.hpp> 37 #include <pinocchio/multibody/model.hpp> 38 #include <pinocchio/algorithm/rnea.hpp> 39 #include <pinocchio/algorithm/jacobian.hpp> 40 #include <pinocchio/algorithm/frames.hpp> 47 #if defined(dynamic_EXPORTS) 48 #define SOTDYNAMIC_EXPORT __declspec(dllexport) 50 #define SOTDYNAMIC_EXPORT __declspec(dllimport) 53 #define SOTDYNAMIC_EXPORT 75 friend class sot::command::SetFile;
76 friend class sot::command::CreateOpPoint;
80 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81 DYNAMIC_GRAPH_ENTITY_DECL();
85 std::unique_ptr<pinocchio::Data>
m_data;
91 dg::SignalTimeDependent<dg::Matrix, int>& createEndeffJacobianSignal(
const std::string& signame,
const std::string&,
92 const bool isLocal =
true);
93 dg::SignalTimeDependent<dg::Matrix, int>& createJacobianSignal(
const std::string& signame,
const std::string&);
94 void destroyJacobianSignal(
const std::string& signame);
96 dg::SignalTimeDependent<MatrixHomogeneous, int>& createPositionSignal(
const std::string&,
const std::string&);
97 void destroyPositionSignal(
const std::string& signame);
99 dg::SignalTimeDependent<dg::Vector, int>& createVelocitySignal(
const std::string&,
const std::string&);
100 void destroyVelocitySignal(
const std::string& signame);
102 dg::SignalTimeDependent<dg::Vector, int>& createAccelerationSignal(
const std::string&,
const std::string&);
103 void destroyAccelerationSignal(
const std::string& signame);
127 int& computeNewtonEuler(
int& dummy,
const int& time);
128 int& computeForwardKinematics(
int& dummy,
const int& time);
129 int& computeCcrba(
int& dummy,
const int& time);
130 int& computeJacobians(
int& dummy,
const int& time);
132 dg::SignalTimeDependent<dg::Vector, int>
zmpSOUT;
134 dg::SignalTimeDependent<dg::Vector, int>
comSOUT;
137 dg::SignalTimeDependent<dg::Matrix, int>& jacobiansSOUT(
const std::string& name);
138 dg::SignalTimeDependent<MatrixHomogeneous, int>& positionsSOUT(
const std::string& name);
139 dg::SignalTimeDependent<dg::Vector, int>& velocitiesSOUT(
const std::string& name);
140 dg::SignalTimeDependent<dg::Vector, int>& accelerationsSOUT(
const std::string& name);
164 std::cout << (*m_model) << std::endl;
167 void setModel(pinocchio::Model*);
173 void setData(pinocchio::Data*) SOT_DYNAMIC_PINOCCHIO_DEPRECATED;
177 pinocchio::Data*
getData() {
return m_data.get(); };
185 dg::Vector& getLowerPositionLimits(dg::Vector& res,
const int&)
const;
191 dg::Vector& getUpperPositionLimits(dg::Vector& res,
const int&)
const;
197 dg::Vector& getUpperVelocityLimits(dg::Vector& res,
const int&)
const;
203 dg::Vector& getMaxEffortLimits(dg::Vector& res,
const int&)
const;
208 dg::Matrix& computeGenericJacobian(
const bool isFrame,
const int jointId, dg::Matrix& res,
const int& time);
209 dg::Matrix& computeGenericEndeffJacobian(
const bool isFrame,
const bool isLocal,
const int jointId, dg::Matrix& res,
211 MatrixHomogeneous& computeGenericPosition(
const bool isFrame,
const int jointId, MatrixHomogeneous& res,
213 dg::Vector& computeGenericVelocity(
const int jointId, dg::Vector& res,
const int& time);
214 dg::Vector& computeGenericAcceleration(
const int jointId, dg::Vector& res,
const int& time);
216 dg::Vector& computeZmp(dg::Vector& res,
const int& time);
217 dg::Vector& computeMomenta(dg::Vector& res,
const int& time);
218 dg::Vector& computeAngularMomentum(dg::Vector& res,
const int& time);
219 dg::Matrix& computeJcom(dg::Matrix& res,
const int& time);
220 dg::Vector& computeCom(dg::Vector& res,
const int& time);
221 dg::Matrix& computeInertia(dg::Matrix& res,
const int& time);
222 dg::Matrix& computeInertiaReal(dg::Matrix& res,
const int& time);
223 double& computeFootHeight(
double& res,
const int& time);
225 dg::Vector& computeTorqueDrift(dg::Vector& res,
const int& time);
228 void cmd_createOpPointSignals(
const std::string& sig,
const std::string& j);
229 void cmd_createJacobianWorldSignal(
const std::string& sig,
const std::string& j);
230 void cmd_createJacobianEndEffectorSignal(
const std::string& sig,
const std::string& j);
231 void cmd_createJacobianEndEffectorWorldSignal(
const std::string& sig,
const std::string& j);
232 void cmd_createPositionSignal(
const std::string& sig,
const std::string& j);
233 void cmd_createVelocitySignal(
const std::string& sig,
const std::string& j);
234 void cmd_createAccelerationSignal(
const std::string& sig,
const std::string& j);
239 dg::Vector& getPinocchioPos(dg::Vector& q,
const int& time);
240 dg::Vector& getPinocchioVel(dg::Vector& v,
const int& time);
241 dg::Vector& getPinocchioAcc(dg::Vector& a,
const int& time);
244 std::vector<int> sphericalJoints;
251 #endif // #ifndef __SOT_DYNAMIC_PINOCCHIO_H__ dg::SignalPtr< dg::Vector, int > freeFlyerVelocitySIN
Definition: dynamic-pinocchio.h:114
dg::SignalTimeDependent< Dummy, int > jacobiansSINTERN
Definition: dynamic-pinocchio.h:123
dg::SignalTimeDependent< Dummy, int > newtonEulerSINTERN
Definition: dynamic-pinocchio.h:122
dg::SignalTimeDependent< dg::Matrix, int > JcomSOUT
Definition: dynamic-pinocchio.h:133
pinocchio::Model * m_model
Definition: dynamic-pinocchio.h:84
dg::Signal< dg::Vector, int > inertiaRotorSOUT
Definition: dynamic-pinocchio.h:148
dg::SignalTimeDependent< dg::Vector, int > comSOUT
Definition: dynamic-pinocchio.h:134
dg::SignalPtr< dg::Vector, int > freeFlyerPositionSIN
Definition: dynamic-pinocchio.h:112
std::unique_ptr< pinocchio::Data > m_data
Definition: dynamic-pinocchio.h:85
dg::SignalPtr< dg::Vector, int > jointVelocitySIN
Definition: dynamic-pinocchio.h:113
dg::SignalTimeDependent< dg::Matrix, int > inertiaSOUT
Definition: dynamic-pinocchio.h:135
dg::SignalTimeDependent< dg::Vector, int > MomentaSOUT
Definition: dynamic-pinocchio.h:151
This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler a...
Definition: dynamic-pinocchio.h:74
dg::SignalTimeDependent< dg::Vector, int > pinocchioAccSINTERN
Definition: dynamic-pinocchio.h:120
pinocchio::Data * getData()
Definition: dynamic-pinocchio.h:177
dg::SignalTimeDependent< dg::Vector, int > dynamicDriftSOUT
Definition: dynamic-pinocchio.h:153
dg::SignalTimeDependent< Dummy, int > ccrbaSINTERN
Definition: dynamic-pinocchio.h:125
dg::SignalPtr< dg::Vector, int > jointAccelerationSIN
Definition: dynamic-pinocchio.h:115
dg::SignalTimeDependent< dg::Vector, int > lowerJlSOUT
Definition: dynamic-pinocchio.h:144
dg::Signal< dg::Vector, int > gearRatioSOUT
Definition: dynamic-pinocchio.h:149
#define SOTDYNAMIC_EXPORT
Definition: dynamic-pinocchio.h:53
dg::SignalTimeDependent< double, int > footHeightSOUT
Definition: dynamic-pinocchio.h:142
dg::SignalTimeDependent< dg::Vector, int > pinocchioVelSINTERN
Definition: dynamic-pinocchio.h:119
int Dummy
Definition: dynamic-pinocchio.h:110
pinocchio::Model * getModel()
Definition: dynamic-pinocchio.h:175
dg::SignalTimeDependent< dg::Vector, int > AngularMomentumSOUT
Definition: dynamic-pinocchio.h:152
std::list< dg::SignalBase< int > * > genericSignalRefs
Definition: dynamic-pinocchio.h:106
dg::SignalTimeDependent< dg::Vector, int > upperJlSOUT
Definition: dynamic-pinocchio.h:143
dg::SignalTimeDependent< dg::Vector, int > upperTlSOUT
Definition: dynamic-pinocchio.h:146
dg::SignalPtr< dg::Vector, int > freeFlyerAccelerationSIN
Definition: dynamic-pinocchio.h:116
dg::SignalTimeDependent< dg::Vector, int > upperVlSOUT
Definition: dynamic-pinocchio.h:145
dg::SignalTimeDependent< dg::Vector, int > zmpSOUT
Definition: dynamic-pinocchio.h:132
dg::SignalTimeDependent< Dummy, int > forwardKinematicsSINTERN
Definition: dynamic-pinocchio.h:124
void displayModel() const
Definition: dynamic-pinocchio.h:162
dg::SignalTimeDependent< dg::Matrix, int > inertiaRealSOUT
Definition: dynamic-pinocchio.h:150
dg::SignalTimeDependent< dg::Vector, int > pinocchioPosSINTERN
Definition: dynamic-pinocchio.h:118
Definition: angle-estimator.h:42
dg::SignalPtr< dg::Vector, int > jointPositionSIN
Definition: dynamic-pinocchio.h:111