iCub class \ More...

Inheritance diagram for PhyiCub:

Public Types
enum	{ torso_yaw = 0, torso_roll, torso_pitch, left_shoulder_pitch, left_shoulder_roll, left_shoulder_yaw, left_elbow, left_wrist_prosup, left_wrist_pitch, left_wrist_yaw, left_hand_finger, left_thumb_oppose, left_thumb_proximal, left_thumb_distal, left_index_proximal, left_index_distal, left_middle_proximal, left_middle_distal, left_pinky, right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw, right_elbow, right_wrist_prosup, right_wrist_pitch, right_wrist_yaw, right_hand_finger, right_thumb_oppose, right_thumb_proximal, right_thumb_distal, right_index_proximal, right_index_distal, right_middle_proximal, right_middle_distal, right_pinky, neck_pitch, neck_roll, neck_yaw, eyes_tilt, eyes_version, eyes_vergence, left_hip_pitch, left_hip_roll, left_hip_yaw, left_knee, left_ankle_pitch, left_ankle_roll, right_hip_pitch, right_hip_roll, right_hip_yaw, right_knee, right_ankle_pitch, right_ankle_roll, numOfJoints }
	Enum for referring to the iCub's joints for configurePosture. More...
Public Slots
void	blockTorso0 (bool)
	block/unblock the movements of torso0
void	enableCameras (bool)
	enable/disable simuation of eye cameras
void	enableHead (bool)
	enable/disable simulation of objects
void	enableLeftArm (bool)
	enable/disable simulation of objects
void	enableLeftArmCartesianController ()
	create/destroy a cartesian controller server
void	enableLeftKinematicHand (bool)
	enable/disable simulation of the left hand in kinematic simulations (enabled by default)
void	enableLeftLeg (bool)
	enable/disable simulation of objects
void	enableRightArm (bool)
	enable/disable simulation of objects
void	enableRightArmCartesianController ()
	create/destroy a cartesian controller server
void	enableRightKinematicHand (bool)
	enable/disable simulation of the right hand in kinematic simulations (enabled by default)
void	enableRightLeg (bool)
	enable/disable simulation of objects
void	enableTorso (bool)
	enable/disable simulation of objects
bool	isBlockedTorso0 ()
bool	isEnabledCameras ()
bool	isEnabledHead ()
bool	isEnabledLeftArm ()
bool	isEnabledLeftKinematicHand ()
bool	isEnabledLeftLeg ()
bool	isEnabledRightArm ()
bool	isEnabledRightKinematicHand ()
bool	isEnabledRightLeg ()
bool	isEnabledTorso ()
Public Member Functions
	PhyiCub (World *world, QString name, const wMatrix &tm=wMatrix::identity(), bool createServerControlBoards=true)
	Create an iCub.
virtual	~PhyiCub ()
	Destroy the iCub.
void	configurePosture (QMap< int, real > jointSetup)
	Configure the angles of the joints (this method by-pass physics, so can lead to instability, please use carefully.
const QVector< WMesh * > &	covers ()
	Return the Meshes representing the Covers.
void	doKinematicSimulation (bool k, bool clh=false, bool crh=false)
	Changes the robot model from dynamic to kinematic and vice-versa.
void	forceKinematicChainsUpdate (bool enable)
	Set to true to have all kinematic chains updated no matter if they are enabled or not This is set to true by the rendered to be able to render disabled objects.
const QVector< PhyObject * > &	headNeck ()
	return the head-neck parts
MultiMotorController *	headNeckController ()
	return the MultiMotorController for acting on head-neck joints
const QVector< PhyJoint * > &	headNeckJoints ()
	return the head-neck joints
bool	isKinematic ()
	Returns true if we are using the kinematic model.
const QVector< PhyObject * > &	leftArm ()
	return the left arm parts
yarp::dev::ICartesianControl *	leftArmCartesianController ()
	return the Cartesian Controller Interface for acting on Left Arm
MultiMotorController *	leftArmController ()
	return the MultiMotorController for acting on left arm joints
const QVector< PhyJoint * > &	leftArmJoints ()
	return the left arm joints inside the array the joints are arranged as follow: 0, 1, 2 -> joints on shoulder 3 -> elbow joint 4, 5, 6 -> wrist joints 7, 8, 9, 10 -> knuckles joints 11, 12, 13 -> index joints 14, 15, 16 -> middle joints 17, 18, 19 -> ring joints 20, 21, 22 -> pinky joints 23, 24, 25, 26 -> thumb joints
yarp::dev::IFrameGrabberImage *	leftEyeFrameGrabber ()
	returns the frame grabber for the left eye
const QVector< PhyObject * > &	leftLeg ()
	return the left leg parts
MultiMotorController *	leftLegController ()
	return the MultiMotorController for acting on left leg joints
const QVector< PhyJoint * > &	leftLegJoints ()
	return the left leg joints
virtual void	postUpdate ()
	postUpdate the WObject this method is called at each step of the world just after the physic update
virtual void	preUpdate ()
	preUpdate the WObject this method is called at each step of the world just before the physic update (after motor controllers have been updated
const QVector< PhyObject * > &	rightArm ()
	return the rigth arm parts
yarp::dev::ICartesianControl *	rightArmCartesianController ()
	return the Cartesian Controller Interface for acting on Right Arm
MultiMotorController *	rightArmController ()
	return the MultiMotorController for acting on right arm joints
const QVector< PhyJoint * > &	rightArmJoints ()
	return the rigth arm joints inside the array the joints are arranged as follow: 0, 1, 2 -> joints on shoulder 3 -> elbow joint 4, 5, 6 -> wrist joints 7, 8, 9, 10 -> knuckles joints 11, 12, 13 -> index joints 14, 15, 16 -> middle joints 17, 18, 19 -> ring joints 20, 21, 22 -> pinky joints 23, 24, 25, 26 -> thumb joints
yarp::dev::IFrameGrabberImage *	rightEyeFrameGrabber ()
	returns the frame grabber for the right eye
const QVector< PhyObject * > &	rightLeg ()
	return the rigth leg parts
MultiMotorController *	rightLegController ()
	return the MultiMotorController for acting on right leg joints
const QVector< PhyJoint * > &	rightLegJoints ()
	return the rigth leg joints
const QVector< PhyObject * > &	torso ()
	return the torso parts
MultiMotorController *	torsoController ()
	return the MultiMotorController for acting on torso joints
const QVector< PhyJoint * > &	torsoJoints ()
	return the torso joints
Public Attributes
enum farsa::PhyiCub:: { ... }	jointNames
Protected Slots
void	leftEyeChangedDesiredPosition (real wishpos)
	Configures the virtual DOF after a change in the desired position of the left eye DOF.
void	leftEyeChangedDesiredVelocity (real wishvel)
	Configures the virtual DOF after a change in the desired velocity of the left eye DOF.
void	leftEyeChangedLimits (real lowlimit, real highlimit)
	Configures the virtual DOF after a change in the limits of the left eye DOF.
void	leftEyeChangedPosition (real newpos)
	Configures the virtual DOF after a change in the position of the left eye DOF.
void	leftEyeChangedVelocity (real newvel)
	Configures the virtual DOF after a change in the velocity of the left eye DOF.
void	rightEyeChangedDesiredPosition (real wishpos)
	Configures the virtual DOF after a change in the desired position of the right eye DOF.
void	rightEyeChangedDesiredVelocity (real wishvel)
	Configures the virtual DOF after a change in the desired velocity of the right eye DOF.
void	rightEyeChangedLimits (real lowlimit, real highlimit)
	Configures the virtual DOF after a change in the limits of the right eye DOF.
void	rightEyeChangedPosition (real newpos)
	Configures the virtual DOF after a change in the position of the right eye DOF.
void	rightEyeChangedVelocity (real newvel)
	Configures the virtual DOF after a change in the velocity of the right eye DOF.
void	vergenceChangedDesiredPosition (real wishpos)
	Configures the real DOF after a change in the desired position of the vergence DOF.
void	vergenceChangedDesiredVelocity (real wishvel)
	Configures the real DOF after a change in the desired velocity of the vergence DOF.
void	vergenceChangedLimits (real lowlimit, real highlimit)
	Configures the real DOF after a change in the limits of the vergence DOF.
void	vergenceChangedPosition (real newpos)
	Configures the real DOF after a change in the position of the vergence DOF.
void	vergenceChangedVelocity (real newvel)
	Configures the real DOF after a change in the velocity of the vergence DOF.
void	versionChangedDesiredPosition (real wishpos)
	Configures the real DOF after a change in the desired position of the version DOF.
void	versionChangedDesiredVelocity (real wishvel)
	Configures the real DOF after a change in the desired velocity of the version DOF.
void	versionChangedLimits (real lowlimit, real highlimit)
	Configures the real DOF after a change in the limits of the version DOF.
void	versionChangedPosition (real newpos)
	Configures the real DOF after a change in the position of the version DOF.
void	versionChangedVelocity (real newvel)
	Configures the real DOF after a change in the velocity of the version DOF.
Protected Member Functions
virtual void	changedMatrix ()
	update the matrix of all sub-objects
void	enableObjectsAndLinks (bool enable, QVector< PhyObject * > &objects, QVector< PhyJoint * > &joints)
	helper function to enable/disable a list of objects and joints
void	setTorso0Matrix ()
	computes and sets the transformation matrix for torso0
Static Protected Member Functions
static real	highEyeLimitFromVersionAndVergenceLimits (real versionHigh, real vergenceHigh)
	returns the eye high limit given the version and vergence high limits
static real	leftEyeFromVersionAndVergence (real version, real vergence)
	returns the left eye angle/velocity given the version and vergence angles/velocities
static real	lowEyeLimitFromVersionAndVergenceLimits (real versionLow, real vergenceLow)
	returns the eye low limit given the version and vergence low limits
static real	rightEyeFromVersionAndVergence (real version, real vergence)
	returns the right eye angle/velocity given the version and vergence angles/velocities
static real	vergenceFromRightAndLeftEye (real left, real right)
	returns the vergence angle/velocity given the left and right eye angles/velocities
static real	versionFromRightAndLeftEye (real left, real right)
	returns the version angle/velocity given the left and right eye angles/velocities

Detailed Description

iCub class \

Motivation: The iCub represent an iCub humanoid robot.
This version uses iKin to have a correct position of body parts and to be able to perform kinematic simulations

Description

Warnings: Warnings

Definition at line 94 of file phyicub.h.

Member Enumeration Documentation

anonymous enum

Enum for referring to the iCub's joints for configurePosture.

Definition at line 99 of file phyicub.h.

Constructor & Destructor Documentation

PhyiCub	(	World *	world,
		QString	name,
		const wMatrix &	tm = `wMatrix::identity()`,
		bool	createServerControlBoards = `true`
	)

Create an iCub.

Parameters:

tm	specify the position and rotation of the element torso0, in order to put foots at position <0,0,0> the tors0 has to be positioned at <-0.034, 0.0, 0.4912>
createServerControlBoards	if true it will create ServerControlBoards for controlling the robot remotely via YARP ports.

Definition at line 58 of file phyicub.cpp.

References PhyObjectsGroup::addJointDOF(), PhyObjectsGroup::addObject(), WMesh::attachTo(), KinematicLimb< iKinLimb_t >::createJoint(), MaterialDB::createMaterial(), MaterialDB::enableCollision(), KinematicLinkInfo::getAxis(), KinematicLimb< iKinLimb_t >::getLinkInfo(), KinematicLinkInfo::getRotAxis(), KinematicLinkInfo::getRotCenterWObject(), KinematicLinkInfo::getYarpMatrixAswMatrix(), wMatrix::identity(), PhyiCub::leftEyeChangedDesiredPosition(), PhyiCub::leftEyeChangedDesiredVelocity(), PhyiCub::leftEyeChangedLimits(), PhyiCub::leftEyeChangedPosition(), PhyiCub::leftEyeChangedVelocity(), WMesh::loadMS3DModel(), PhyObject::mass(), World::materials(), WObject::matrix(), farsa::max(), farsa::min(), wVectorT< Shared >::norm(), PhyJoint::numDofs(), wMatrix::pitch(), PhyCylinder::radius(), farsa::ramp(), YarpObject::registerServerControlBoard(), PhyiCub::rightEyeChangedDesiredPosition(), PhyiCub::rightEyeChangedDesiredVelocity(), PhyiCub::rightEyeChangedLimits(), PhyiCub::rightEyeChangedPosition(), PhyiCub::rightEyeChangedVelocity(), wMatrix::roll(), wMatrix::rotateAround(), wMatrix::rotateVector(), KinematicLinkInfo::setBuddies(), MultiMotorController::setEnableLimitsRaw(), MaterialDB::setGravityForce(), KinematicLinkInfo::setiKinLinkLimits(), PhyDOF::setLimits(), MultiMotorController::setLimits(), MultiMotorController::setLimitsRaw(), PhyObject::setMass(), WObject::setMatrix(), Ownable::setOwner(), WObject::setPosition(), KinematicLimb< iKinLimb_t >::setRootObject(), WObject::setTexture(), PhyiCub::setTorso0Matrix(), KinematicLinkInfo::setWObject(), KinematicLimb< iKinLimb_t >::setWorldMatrix(), PhyBox::sideX(), WObject::tm, farsa::toRad(), KinematicLimb< iKinLimb_t >::updateInformationFromiKin(), PhyiCub::vergenceChangedDesiredPosition(), PhyiCub::vergenceChangedDesiredVelocity(), PhyiCub::vergenceChangedLimits(), PhyiCub::vergenceChangedPosition(), PhyiCub::vergenceChangedVelocity(), PhyiCub::versionChangedDesiredPosition(), PhyiCub::versionChangedDesiredVelocity(), PhyiCub::versionChangedLimits(), PhyiCub::versionChangedPosition(), PhyiCub::versionChangedVelocity(), and wMatrix::yaw().

~PhyiCub ( ) [virtual]

Destroy the iCub.

Note:: You will not lose 250K euro if you call this destructor ;-)

Definition at line 1904 of file phyicub.cpp.

References YarpObject::removeServerControlBoard().

Member Function Documentation

void blockTorso0 ( bool b ) [slot]

block/unblock the movements of torso0

Definition at line 2613 of file phyicub.cpp.

void changedMatrix ( ) [protected, virtual]

update the matrix of all sub-objects

Reimplemented from WObject.

Definition at line 2750 of file phyicub.cpp.

References PhyObjectsGroup::resetObjectPositions(), PhyiCub::setTorso0Matrix(), PhyJoint::updateJointInfo(), and KinematicLimb< iKinLimb_t >::updateMatrixFromiKin().

void configurePosture ( QMap< int, real > jointSetup )

Configure the angles of the joints (this method by-pass physics, so can lead to instability, please use carefully.

Parameters:

jointSetup is a map containing the initial angle position of the joints. See the jointNames enumeration to know the joint's identifiers. Angles has to be specified in degrees

Warning:: Angles passed by jointSetup aren't controlled if they respect iCub joint limits. So, pay attention on what you write inside jointSetup

Definition at line 2116 of file phyicub.cpp.

References KinematicLimb< iKinLimb_t >::getLinkInfo(), PhyiCub::leftEyeFromVersionAndVergence(), PhyDOF::position(), PhyObjectsGroup::resetObjectPositions(), PhyiCub::rightEyeFromVersionAndVergence(), PhyObjectsGroup::setDOFPosition(), KinematicLinkInfo::setLinkAngle(), MultiMotorController::stop(), farsa::toRad(), PhyJoint::updateJointInfo(), KinematicLimb< iKinLimb_t >::updateMatrixFromiKin(), and PhyObjectsGroup::updateRelativePositions().

const QVector<WMesh*>& covers ( ) [inline]

Return the Meshes representing the Covers.

Definition at line 197 of file phyicub.h.

void doKinematicSimulation	(	bool	k,
		bool	clh = `false`,
		bool	crh = `false`
	)

Changes the robot model from dynamic to kinematic and vice-versa.

Parameters:

k	if true switches to the kinematic iCub model, if false to the dynamic one (at creation the model is always dynamic)
clh	if true the left hand continues to collide with objects even in kinematic mode (fingers and the palm are dynamic objects)
crh	if true the right hand continues to collide with objects even in kinematic mode (fingers and the palm are dynamic objects)

Note:: Switches from kinematic to dynamic use methods wimilar to those used in configurePosture, so the same warning about instability holds here

Definition at line 1981 of file phyicub.cpp.

void enableCameras ( bool b ) [slot]

enable/disable simuation of eye cameras

Definition at line 2574 of file phyicub.cpp.

References WObject::name(), and WObject::world().

void enableHead ( bool b ) [slot]

enable/disable simulation of objects

Definition at line 2562 of file phyicub.cpp.

References PhyiCub::enableObjectsAndLinks(), and MotorController::setEnabled().

void enableLeftArm ( bool b ) [slot]

enable/disable simulation of objects

Definition at line 2589 of file phyicub.cpp.

References PhyiCub::enableObjectsAndLinks(), and MotorController::setEnabled().

void enableLeftArmCartesianController ( ) [slot]

create/destroy a cartesian controller server

Definition at line 2634 of file phyicub.cpp.

void enableLeftKinematicHand ( bool b ) [slot]

enable/disable simulation of the left hand in kinematic simulations (enabled by default)

Definition at line 2623 of file phyicub.cpp.

void enableLeftLeg ( bool b ) [slot]

enable/disable simulation of objects

Definition at line 2507 of file phyicub.cpp.

References PhyiCub::enableObjectsAndLinks(), and MotorController::setEnabled().

void enableObjectsAndLinks	(	bool	enable,
		QVector< PhyObject * > &	objects,
		QVector< PhyJoint * > &	joints
	)		`[protected]`

helper function to enable/disable a list of objects and joints

Definition at line 2803 of file phyicub.cpp.

Referenced by PhyiCub::enableHead(), PhyiCub::enableLeftArm(), PhyiCub::enableLeftLeg(), PhyiCub::enableRightArm(), and PhyiCub::enableRightLeg().

void enableRightArm ( bool b ) [slot]

enable/disable simulation of objects

Definition at line 2601 of file phyicub.cpp.

References PhyiCub::enableObjectsAndLinks(), and MotorController::setEnabled().

void enableRightArmCartesianController ( ) [slot]

create/destroy a cartesian controller server

Definition at line 2694 of file phyicub.cpp.

References WObject::name(), YarpObject::polydriver(), and WObject::world().

void enableRightKinematicHand ( bool b ) [slot]

enable/disable simulation of the right hand in kinematic simulations (enabled by default)

Definition at line 2628 of file phyicub.cpp.

void enableRightLeg ( bool b ) [slot]

enable/disable simulation of objects

Definition at line 2519 of file phyicub.cpp.

References PhyiCub::enableObjectsAndLinks(), and MotorController::setEnabled().

void enableTorso ( bool b ) [slot]

enable/disable simulation of objects

Definition at line 2531 of file phyicub.cpp.

References MotorController::setEnabled().

void forceKinematicChainsUpdate ( bool enable ) [inline]

Set to true to have all kinematic chains updated no matter if they are enabled or not This is set to true by the rendered to be able to render disabled objects.

Definition at line 303 of file phyicub.h.

const QVector<PhyObject*>& headNeck ( ) [inline]

return the head-neck parts

Definition at line 192 of file phyicub.h.

MultiMotorController* headNeckController ( ) [inline]

return the MultiMotorController for acting on head-neck joints

Definition at line 265 of file phyicub.h.

const QVector<PhyJoint*>& headNeckJoints ( ) [inline]

return the head-neck joints

Definition at line 249 of file phyicub.h.

real highEyeLimitFromVersionAndVergenceLimits	(	real	versionHigh,
		real	vergenceHigh
	)		`[static, protected]`

returns the eye high limit given the version and vergence high limits

Definition at line 2856 of file phyicub.cpp.

Referenced by PhyiCub::vergenceChangedLimits(), and PhyiCub::versionChangedLimits().

bool isKinematic ( ) [inline]

Returns true if we are using the kinematic model.

Definition at line 150 of file phyicub.h.

const QVector<PhyObject*>& leftArm ( ) [inline]

return the left arm parts

Definition at line 182 of file phyicub.h.

yarp::dev::ICartesianControl* leftArmCartesianController ( ) [inline]

return the Cartesian Controller Interface for acting on Left Arm

Definition at line 277 of file phyicub.h.

MultiMotorController* leftArmController ( ) [inline]

return the MultiMotorController for acting on left arm joints

Definition at line 257 of file phyicub.h.

const QVector<PhyJoint*>& leftArmJoints ( ) [inline]

return the left arm joints inside the array the joints are arranged as follow: 0, 1, 2 -> joints on shoulder 3 -> elbow joint 4, 5, 6 -> wrist joints 7, 8, 9, 10 -> knuckles joints 11, 12, 13 -> index joints 14, 15, 16 -> middle joints 17, 18, 19 -> ring joints 20, 21, 22 -> pinky joints 23, 24, 25, 26 -> thumb joints

Definition at line 228 of file phyicub.h.

void leftEyeChangedDesiredPosition ( real wishpos ) [protected, slot]

Configures the virtual DOF after a change in the desired position of the left eye DOF.

Definition at line 3100 of file phyicub.cpp.

References PhyDOF::position(), PhyDOF::setDesiredPosition(), PhyiCub::vergenceFromRightAndLeftEye(), and PhyiCub::versionFromRightAndLeftEye().

void leftEyeChangedLimits	(	real	lowlimit,
		real	highlimit
	)		`[protected, slot]`

real leftEyeFromVersionAndVergence	(	real	version,
		real	vergence
	)		`[static, protected]`

real lowEyeLimitFromVersionAndVergenceLimits	(	real	versionLow,
		real	vergenceLow
	)		`[static, protected]`

void rightEyeChangedLimits	(	real	lowlimit,
		real	highlimit
	)		`[protected, slot]`

real rightEyeFromVersionAndVergence	(	real	version,
		real	vergence
	)		`[static, protected]`

void vergenceChangedLimits	(	real	lowlimit,
		real	highlimit
	)		`[protected, slot]`

real vergenceFromRightAndLeftEye	(	real	left,
		real	right
	)		`[static, protected]`

void versionChangedLimits	(	real	lowlimit,
		real	highlimit
	)		`[protected, slot]`

real versionFromRightAndLeftEye	(	real	left,
		real	right
	)		`[static, protected]`

WorldSim - 0.6.0

PhyiCub Class Reference

Public Types

Public Slots

Public Member Functions

Public Attributes

Protected Slots

Protected Member Functions

Static Protected Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation