VirtualRobot::RobotNodeRevolute Class Reference

Inheritance diagram for VirtualRobot::RobotNodeRevolute:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RobotNodeRevolute (RobotWeakPtr rob, const std::string &name, float jointLimitLo, float jointLimitHi, const Eigen::Matrix4f &preJointTransform, const Eigen::Vector3f &axis, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), float jointValueOffset=0.0f, const SceneObject::Physics &p=SceneObject::Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr(), RobotNodeType type=Generic)
	RobotNodeRevolute (RobotWeakPtr rob, const std::string &name, float jointLimitLo, float jointLimitHi, float a, float d, float alpha, float theta, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), float jointValueOffset=0.0f, const SceneObject::Physics &p=SceneObject::Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr(), RobotNodeType type=Generic)
	~RobotNodeRevolute () override
bool	initialize (SceneObjectPtr parent=nullptr, const std::vector< SceneObjectPtr > &children={}) override
void	print (bool printChildren=false, bool printDecoration=true) const override
	Print status information. More...
bool	isRotationalJoint () const override
Eigen::Vector3f	getJointRotationAxis (const SceneObjectPtr coordSystem=nullptr) const
Eigen::Vector3f	getJointRotationAxisInJointCoordSystem () const
	This is the original joint axis, without any transformations applied. More...
virtual float	getLMTC (float angle)
	getLMTC Calculates the spatial distance between the parent of a revolute joint and a given child with the joint set to a given angle (e.g. the length of a muscle-tendon complex attached to the parent and the given child) More...
virtual float	getLMomentArm (float angle)
	getLMomentArm Calculates the spatial length of a moment arm defined through the triangle given by the node's parent, the specified child and the specified angle at the revolulte joint. More...
void	setJointRotationAxis (Eigen::Vector3f newAxis)
Public Member Functions inherited from VirtualRobot::RobotNode
	RobotNode (RobotWeakPtr rob, const std::string &name, float jointLimitLo, float jointLimitHi, VisualizationNodePtr visualization=nullptr, CollisionModelPtr collisionModel=nullptr, float jointValueOffset=0.0f, const SceneObject::Physics &physics={}, CollisionCheckerPtr colChecker=nullptr, RobotNodeType type=Generic)
	~RobotNode () override
RobotPtr	getRobot () const
void	setJointValue (float q)
void	collectAllRobotNodes (std::vector< RobotNodePtr > &storeNodes)
virtual float	getJointValue () const
void	respectJointLimits (float &jointValue) const
bool	checkJointLimits (float jointValue, bool verbose=false) const
virtual Eigen::Matrix4f	getLocalTransformation ()
template<class T >
auto	getChildren ()
void	setGlobalPose (const Eigen::Matrix4f &pose) override
Eigen::Matrix4f	getGlobalPose () const override
virtual Eigen::Matrix4f	getPoseInRootFrame () const
virtual Eigen::Matrix4f	getPoseInFrame (const RobotNodePtr &frame) const
virtual Eigen::Vector3f	getPositionInRootFrame () const
virtual Eigen::Vector3f	getPositionInFrame (const RobotNodePtr &frame) const
virtual Eigen::Matrix3f	getOrientationInRootFrame () const
virtual Eigen::Matrix4f	getPoseInRootFrame (const Eigen::Matrix4f &localPose) const
virtual Eigen::Vector3f	getPositionInRootFrame (const Eigen::Vector3f &localPosition) const
virtual Eigen::Vector3f	getDirectionInRootFrame (const Eigen::Vector3f &localPosition) const
virtual Eigen::Matrix3f	getOrientationInRootFrame (const Eigen::Matrix3f &localOrientation) const
void	showCoordinateSystem (bool enable, float scaling=1.0f, std::string *text=NULL, const std::string &visualizationType="") override
float	getJointLimitLo ()
float	getJointLimitHi ()
JointLimits	getJointLimits ()
virtual void	setJointLimits (float lo, float hi)
bool	isJoint () const
virtual bool	isTranslationalJoint () const
virtual bool	isHemisphereJoint () const
virtual void	setLimitless (bool limitless)
bool	isLimitless () const
virtual float	getDelta (float target)
virtual void	showStructure (bool enable, const std::string &visualizationType="")
virtual std::vector< RobotNodePtr >	getAllParents (RobotNodeSetPtr rns=RobotNodeSetPtr())
virtual RobotNodePtr	clone (RobotPtr newRobot, bool cloneChildren=true, RobotNodePtr initializeWithParent=RobotNodePtr(), CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f, bool preventCloningMeshesIfScalingIs1=false)
float	getJointValueOffset () const
float	getJointLimitHigh () const
float	getJointLimitLow () const
float	scaleJointValue (float val, float min=-1, float max=1)
float	unscaleJointValue (float val, float min=-1, float max=1)
float	getScaledJointValue (float min=-1, float max=1)
void	setScaledJointValue (float val, float min=-1, float max=1)
void	setScaledJointValueNoUpdate (float val, float min=-1, float max=1)
virtual void	setMaxVelocity (float maxVel)
virtual void	setMaxAcceleration (float maxAcc)
virtual void	setMaxTorque (float maxTo)
float	getMaxVelocity ()
float	getMaxAcceleration ()
float	getMaxTorque ()
RobotNodeType	getType ()
SceneObjectPtr	clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const
	Forbid cloning method from SceneObject. We need to know the new robot for cloning. More...
const DHParameter &	getOptionalDHParameters ()
void	updatePose (bool updateChildren=true) override
void	copyPoseFrom (const SceneObjectPtr &sceneobj) override
void	copyPoseFrom (const RobotNodePtr &other)
virtual void	propagateJointValue (const std::string &jointName, float factor=1.0f)
virtual std::string	toXML (const std::string &basePath, const std::string &modelPathRelative="models", bool storeSensors=true, bool storeModelFiles=true)
void	setLocalTransformation (Eigen::Matrix4f &newLocalTransformation)
virtual void	setJointValueNoUpdate (float q)
bool	getEnforceJointLimits () const
void	setEnforceJointLimits (bool value)
Public Member Functions inherited from VirtualRobot::GraspableSensorizedObject
	GraspableSensorizedObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())
bool	initialize (SceneObjectPtr parent=SceneObjectPtr(), const std::vector< SceneObjectPtr > &children=std::vector< SceneObjectPtr >()) override
bool	hasGraspSet (GraspSetPtr graspSet)
bool	hasGraspSet (const std::string &robotType, const std::string &eef)
void	addGraspSet (GraspSetPtr graspSet)
void	includeGraspSet (GraspSetPtr graspSet)
	includeGraspSet More...
GraspSetPtr	getGraspSet (EndEffectorPtr eef)
GraspSetPtr	getGraspSet (const std::string &robotType, const std::string &eefName)
GraspSetPtr	getGraspSet (const std::string &name)
const std::vector< GraspSetPtr > &	getAllGraspSets ()
virtual SensorPtr	getSensor (const std::string &name) const
virtual bool	hasSensor (const std::string &name) const
virtual std::vector< SensorPtr >	getSensors () const
virtual bool	registerSensor (SensorPtr sensor)
void	appendGraspSetsTo (GraspableSensorizedObjectPtr other) const
void	appendSensorsTo (GraspableSensorizedObjectPtr other) const
void	printGrasps () const
Public Member Functions inherited from VirtualRobot::SceneObject
	SceneObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())
virtual	~SceneObject ()
std::string	getName () const
void	setName (const std::string &name)
virtual Eigen::Vector3f	getGlobalPosition () const
virtual Eigen::Matrix3f	getGlobalOrientation () const
virtual Eigen::Matrix4f	getGlobalPose (const Eigen::Matrix4f &localPose) const
virtual Eigen::Vector3f	getGlobalPosition (const Eigen::Vector3f &localPosition) const
virtual Eigen::Vector3f	getGlobalDirection (const Eigen::Vector3f &localDircetion) const
virtual Eigen::Matrix3f	getGlobalOrientation (const Eigen::Matrix3f &localOrientation) const
virtual void	setGlobalPoseNoChecks (const Eigen::Matrix4f &pose)
virtual CollisionModelPtr	getCollisionModel ()
virtual CollisionCheckerPtr	getCollisionChecker ()
void	setVisualization (VisualizationNodePtr visualization)
void	setCollisionModel (CollisionModelPtr colModel)
virtual VisualizationNodePtr	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)
virtual void	setUpdateVisualization (bool enable)
bool	getUpdateVisualizationStatus ()
virtual void	setUpdateCollisionModel (bool enable)
bool	getUpdateCollisionModelStatus ()
virtual void	setupVisualization (bool showVisualization, bool showAttachedVisualizations)
virtual void	showPhysicsInformation (bool enableCoM, bool enableInertial, VisualizationNodePtr comModel=VisualizationNodePtr())
virtual bool	showCoordinateSystemState ()
virtual void	showBoundingBox (bool enable, bool wireframe=false)
virtual bool	ensureVisualization (const std::string &visualizationType="")
Eigen::Matrix4f	toLocalCoordinateSystem (const Eigen::Matrix4f &poseGlobal) const
Eigen::Vector3f	toLocalCoordinateSystemVec (const Eigen::Vector3f &positionGlobal) const
Eigen::Matrix4f	toGlobalCoordinateSystem (const Eigen::Matrix4f &poseLocal) const
Eigen::Vector3f	toGlobalCoordinateSystemVec (const Eigen::Vector3f &positionLocal) const
Eigen::Matrix4f	getTransformationTo (const SceneObjectPtr otherObject) const
Eigen::Matrix4f	getTransformationFrom (const SceneObjectPtr otherObject) const
Eigen::Matrix4f	transformTo (const SceneObjectPtr otherObject, const Eigen::Matrix4f &poseInOtherCoordSystem)
Eigen::Vector3f	transformTo (const SceneObjectPtr otherObject, const Eigen::Vector3f &positionInOtherCoordSystem)
virtual int	getNumFaces (bool collisionModel=false)
virtual Eigen::Vector3f	getCoMLocal ()
void	setCoMLocal (const Eigen::Vector3f &comLocal)
	Set a new position for the CoM of this bode. More...
virtual Eigen::Vector3f	getCoMGlobal ()
float	getMass () const
void	setMass (float m)
Physics::SimulationType	getSimulationType () const
void	setSimulationType (Physics::SimulationType s)
Eigen::Matrix3f	getInertiaMatrix ()
Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift)
	If the Inertia Matrix is given at the CoM, this function returns the Inertia Matrix at the parallel shifted coordinate system. The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...
Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift, const Eigen::Matrix3f &rotation)
Eigen::Matrix3f	getInertiaMatrix (const Eigen::Matrix4f &transform)
void	setInertiaMatrix (const Eigen::Matrix3f &im)
float	getFriction ()
void	setFriction (float friction)
SceneObject::Physics	getPhysics ()
std::vector< std::string >	getIgnoredCollisionModels ()
template<typename T >
std::shared_ptr< T >	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)
void	highlight (VisualizationPtr visualization, bool enable)
SceneObjectPtr	clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const
SceneObjectPtr	clone (CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const
virtual bool	attachChild (SceneObjectPtr child)
virtual void	detachChild (SceneObjectPtr child)
virtual bool	hasChild (SceneObjectPtr child, bool recursive=false) const
virtual bool	hasChild (const std::string &childName, bool recursive=false) const
virtual bool	hasParent () const
virtual SceneObjectPtr	getParent () const
virtual std::vector< SceneObjectPtr >	getChildren () const
virtual bool	saveModelFiles (const std::string &modelPath, bool replaceFilenames)
void	setScaling (float scaling)
float	getScaling ()
bool	reloadVisualizationFromXML (bool useVisAsColModelIfMissing=true)
const std::string &	getVisualizationModelXML () const

Protected Member Functions
	RobotNodeRevolute ()
std::string	_toXML (const std::string &modelPath) override
	Derived classes add custom XML tags here. More...
void	updateVisualizationPose (const Eigen::Matrix4f &globalPose, bool updateChildren=false) override
void	checkValidRobotNodeType () override
	Checks if nodeType constraints are fulfilled. Otherwise an exception is thrown. Called on initialization. More...
void	updateTransformationMatrices (const Eigen::Matrix4f &parentPose) override
RobotNodePtr	_clone (const RobotPtr newRobot, const VisualizationNodePtr visualizationModel, const CollisionModelPtr collisionModel, CollisionCheckerPtr colChecker, float scaling) override
Protected Member Functions inherited from VirtualRobot::RobotNode
virtual void	updateTransformationMatrices ()
void	updatePose (const Eigen::Matrix4f &parentPose, bool updateChildren=true) override
virtual void	updateVisualizationPose (const Eigen::Matrix4f &globalPose, float jointValue, bool updateChildren=false)
	RobotNode ()
SceneObject *	_clone (const std::string &, CollisionCheckerPtr=CollisionCheckerPtr(), float=1.0f) const override
void	setJointValueNotInitialized (float q)
Protected Member Functions inherited from VirtualRobot::GraspableSensorizedObject
	GraspableSensorizedObject ()
std::string	getGraspableSensorizedObjectXML (const std::string &modelPathRelative="models", bool storeSensors=true, int tabs=0)
Protected Member Functions inherited from VirtualRobot::SceneObject
virtual void	detachedFromParent ()
	Parent detached this object. More...
virtual void	attached (SceneObjectPtr parent)
	Parent attached this object. More...
std::string	getFilenameReplacementVisuModel (const std::string standardExtension=".wrl")
std::string	getFilenameReplacementColModel (const std::string standardExtension=".wrl")
	SceneObject ()
std::string	getSceneObjectXMLString (const std::string &basePath, int tabs, const std::string &modelPathRelative="")
	basic data, used by Obstacle and ManipulationObject More...
virtual bool	initializePhysics ()

Protected Attributes
Eigen::Vector3f	jointRotationAxis
Eigen::Matrix4f	tmpRotMat
Protected Attributes inherited from VirtualRobot::RobotNode
float	jointValueOffset
float	jointLimitLo
float	jointLimitHi
bool	enforceJointLimits = true
bool	limitless
DHParameter	optionalDHParameter
float	maxVelocity
float	maxAcceleration
	given in m/s More...
float	maxTorque
	given in m/s^2 More...
Eigen::Matrix4f	localTransformation
	given in Nm More...
std::map< std::string, float >	propagatedJointValues
RobotWeakPtr	robot
RobotNodeType	nodeType
float	jointValue
Protected Attributes inherited from VirtualRobot::GraspableSensorizedObject
std::vector< GraspSetPtr >	graspSets
std::vector< SensorPtr >	sensors
Protected Attributes inherited from VirtualRobot::SceneObject
std::string	name
bool	initialized
Eigen::Matrix4f	globalPose
std::vector< SceneObjectPtr >	children
SceneObjectWeakPtr	parent
CollisionModelPtr	collisionModel
std::string	collisionModelXML
VisualizationNodePtr	visualizationModel
std::string	visualizationModelXML
std::filesystem::path	basePath
bool	updateVisualization
bool	updateCollisionModel
Physics	physics
CollisionCheckerPtr	collisionChecker
float	scaling = 1.0f

Friends
class	RobotFactory

Additional Inherited Members
Public Types inherited from VirtualRobot::RobotNode
enum	RobotNodeType { Generic, Joint, Body, Transform }
	Experimental: Additional information about the node. More...
Public Types inherited from VirtualRobot::SceneObject
enum	VisualizationType { Full, Collision, CollisionData }
Static Public Member Functions inherited from VirtualRobot::SceneObject
static Eigen::Matrix3f	shiftInertia (const Eigen::Matrix3f inertiaMatrix, const Eigen::Vector3f &shift, float mass)
	The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Constructor & Destructor Documentation

RobotNodeRevolute() [1/3]

VirtualRobot::RobotNodeRevolute::RobotNodeRevolute	(	RobotWeakPtr	rob,
		const std::string &	name,
		float	jointLimitLo,
		float	jointLimitHi,
		const Eigen::Matrix4f &	preJointTransform,
		const Eigen::Vector3f &	axis,
		VisualizationNodePtr	visualization = VisualizationNodePtr(),
		CollisionModelPtr	collisionModel = CollisionModelPtr(),
		float	jointValueOffset = 0.0f,
		const SceneObject::Physics &	p = SceneObject::Physics(),
		CollisionCheckerPtr	colChecker = CollisionCheckerPtr(),
		RobotNodeType	type = Generic
	)

Parameters

rob	The robot
name	The name
jointLimitLo	lower joint limit
jointLimitHi	upper joint limit
preJointTransform	This transformation is applied before the translation of the joint is done
axis	The rotation axis (in local joint coord system)
visualization	A visualization model
collisionModel	A collision model
jointValueOffset	An offset that is internally added to the joint value
p	physics information
colChecker	A collision checker instance (if not set, the global col checker is used)

RobotNodeRevolute() [2/3]

VirtualRobot::RobotNodeRevolute::RobotNodeRevolute	(	RobotWeakPtr	rob,
		const std::string &	name,
		float	jointLimitLo,
		float	jointLimitHi,
		float	a,
		float	d,
		float	alpha,
		float	theta,
		VisualizationNodePtr	visualization = VisualizationNodePtr(),
		CollisionModelPtr	collisionModel = CollisionModelPtr(),
		float	jointValueOffset = 0.0f,
		const SceneObject::Physics &	p = SceneObject::Physics(),
		CollisionCheckerPtr	colChecker = CollisionCheckerPtr(),
		RobotNodeType	type = Generic
	)

Parameters

rob	The robot
name	The name
jointLimitLo	lower joint limit
jointLimitHi	upper joint limit
a	dh paramters
d	dh paramters
alpha	dh paramters
theta	dh paramters
visualization	A visualization model
collisionModel	A collision model
jointValueOffset	An offset that is internally added to the joint value
p	physics information
colChecker	A collision checker instance (if not set, the global col checker is used)

~RobotNodeRevolute()

VirtualRobot::RobotNodeRevolute::~RobotNodeRevolute ( )

overridedefault

RobotNodeRevolute() [3/3]

VirtualRobot::RobotNodeRevolute::RobotNodeRevolute ( )

inlineprotected

Member Function Documentation

_clone()

RobotNodePtr VirtualRobot::RobotNodeRevolute::_clone ( const RobotPtr  newRobot, const VisualizationNodePtr  visualizationModel, const CollisionModelPtr  collisionModel, CollisionCheckerPtr  colChecker, float  scaling  )

overrideprotectedvirtual

Derived classes must implement their clone method here. Passed models are already scaled. Scaling factor should be only used for kinematic computations.

Implements VirtualRobot::RobotNode.

_toXML()

std::string VirtualRobot::RobotNodeRevolute::_toXML ( const std::string &  modelPath )

overrideprotectedvirtual

Derived classes add custom XML tags here.

Implements VirtualRobot::RobotNode.

checkValidRobotNodeType()

void VirtualRobot::RobotNodeRevolute::checkValidRobotNodeType ( )

overrideprotectedvirtual

Checks if nodeType constraints are fulfilled. Otherwise an exception is thrown. Called on initialization.

Reimplemented from VirtualRobot::RobotNode.

getJointRotationAxis()

Eigen::Vector3f VirtualRobot::RobotNodeRevolute::getJointRotationAxis

(

const SceneObjectPtr

coordSystem = nullptr

)

const

Standard: In global coordinate system.

Parameters

coordSystem

When not set the axis is transformed to global coordinate system. Otherwise any scene object can be used as coord system.

getJointRotationAxisInJointCoordSystem()

Eigen::Vector3f VirtualRobot::RobotNodeRevolute::getJointRotationAxisInJointCoordSystem

(

)

const

This is the original joint axis, without any transformations applied.

getLMomentArm()

float VirtualRobot::RobotNodeRevolute::getLMomentArm ( float  angle )

virtual

getLMomentArm Calculates the spatial length of a moment arm defined through the triangle given by the node's parent, the specified child and the specified angle at the revolulte joint.

Parameters

child	The child node
angle	The angle of the revolute joint in radians

Returns

The spatial length of the moment arm

getLMTC()

float VirtualRobot::RobotNodeRevolute::getLMTC ( float  angle )

virtual

getLMTC Calculates the spatial distance between the parent of a revolute joint and a given child with the joint set to a given angle (e.g. the length of a muscle-tendon complex attached to the parent and the given child)

Parameters

child	The child node
angle	The angle of the revolute joint in radians

Returns

The spatial distance between parent and given child at given angle

initialize()

bool VirtualRobot::RobotNodeRevolute::initialize ( SceneObjectPtr  parent = nullptr, const std::vector< SceneObjectPtr > &  children = {}  )

overridevirtual

Initialize robot node. Here pointers to robot and children are created from names. Be sure all children are created and registered to robot before calling initialize. Usually RobotFactory manages the initialization.

Reimplemented from VirtualRobot::RobotNode.

isRotationalJoint()

bool VirtualRobot::RobotNodeRevolute::isRotationalJoint ( ) const

overridevirtual

Reimplemented from VirtualRobot::RobotNode.

print()

void VirtualRobot::RobotNodeRevolute::print ( bool  printChildren = false, bool  printDecoration = true  ) const

overridevirtual

Print status information.

Reimplemented from VirtualRobot::RobotNode.

setJointRotationAxis()

void VirtualRobot::RobotNodeRevolute::setJointRotationAxis

(

Eigen::Vector3f

newAxis

)

updateTransformationMatrices()

void VirtualRobot::RobotNodeRevolute::updateTransformationMatrices ( const Eigen::Matrix4f &  parentPose )

overrideprotectedvirtual

Reimplemented from VirtualRobot::RobotNode.

updateVisualizationPose()

void VirtualRobot::RobotNodeRevolute::updateVisualizationPose ( const Eigen::Matrix4f &  globalPose, bool  updateChildren = false  )

overrideprotectedvirtual

Can be called by a RobotNodeActuator in order to set the pose of this node. This is useful, if the node is actuated externally, i.e. via a physics engine.

Parameters

globalPose	The new global pose. The joint value is not determined from this pose. The RobotNodeActuator is responsible for setting the corresponding joint value
updateChildren	Usually it is assumed that all RobotNodes are updated this way (updateChildren=false). If not, the children poses can be updated according to this node (updateCHildren=true).

Reimplemented from VirtualRobot::RobotNode.

Friends And Related Function Documentation

RobotFactory

friend class RobotFactory

friend

Field Documentation

jointRotationAxis

Eigen::Vector3f VirtualRobot::RobotNodeRevolute::jointRotationAxis

protected

tmpRotMat

Eigen::Matrix4f VirtualRobot::RobotNodeRevolute::tmpRotMat

protected