The class modelling an iCub limb. More...

Inheritance diagram for KinematicLimb< iKinLimb_t >:

Public Types
typedef iKinLimb_t	iKinLimb
	The type of limb.

Public Member Functions
	KinematicLimb ()
	Constructor.

	KinematicLimb (const std::string &type)
	Constructor.

	~KinematicLimb ()
	Destructor.

PhyJoint *	createJoint (int linkID, bool invertAxis=true, bool doConnection=true, Qt::ConnectionType connType=Qt::DirectConnection, unsigned int dof=0)
	Creates and returns a joint associated with a link in this chain.

const KinematicLinkInfo &	getLinkInfo (int i) const
	Returns a reference to the information object for the i-th link.

KinematicLinkInfo &	getLinkInfo (int i)
	Returns a reference to the information object for the i-th link.

WObject *	getRootObject () const
	Returns the world object corresponding to this link.

const wMatrix &	getWorldMatrix () const
	Returns the matrix to transform coordinates relative to the kinematic chain root frame to the world root frame.

void	setRootObject (WObject *rootObject)
	Sets root object of the kinematic chain, to which the first link is connected.

void	setWorldMatrix (const wMatrix *mtr)
	Sets the matrix to transform coordinates relative to the kinematic chain root frame to the world root frame for all link elements.

void	updateInformationFromiKin ()
	Updates link information from iKin on all links.

void	updateMatrixFromiKin (int updateObjMatrixFromLink=0, int updateObjMatrixUpToLink=-1)
	Updates link angles and the world object matrix.

Detailed Description

template<class iKinLimb_t>
class farsa::KinematicLimb< iKinLimb_t >

The class modelling an iCub limb.

This class inherits from a class describing the kinematic of an iCub link (e.g. iCubArm, iCubLeg...) and keeps a link of KinematicLinkInfo objects. The iKinLimb template parameter is the actual type of limb.

Note: You should manually set the WObject for each link by calling getLinkInfo(i).setWObject()

Warning: NEVER disable links, we strongly rely on all links being active

Definition at line 1176 of file phyicubhelpers.h.

Member Typedef Documentation

typedef iKinLimb_t iKinLimb

The type of limb.

Definition at line 1182 of file phyicubhelpers.h.

Constructor & Destructor Documentation

KinematicLimb ( )

inline

Constructor.

Definition at line 1188 of file phyicubhelpers.h.

KinematicLimb ( const std::string & type )

inline

Constructor.

Use this only with limbs having a constructor accepting strings

Parameters

type	The string describing the type of link (generally "left" or "right")

Definition at line 1204 of file phyicubhelpers.h.

~KinematicLimb ( )

inline

Destructor.

Definition at line 1215 of file phyicubhelpers.h.

Member Function Documentation

PhyJoint* createJoint	(	int	linkID,
		bool	invertAxis = `true`,
		bool	doConnection = `true`,
		Qt::ConnectionType	connType = `Qt::DirectConnection`,
		unsigned int	dof = `0`
	)

inline

Creates and returns a joint associated with a link in this chain.

The joint previously associated with this link is NOT destroyed. We create a PhyJoint object and keep a reference to it (in the LinkInfo object), but we don't have any responsability over it (i.e. we never destroy it).

Note: If the parent or the child object is of type PhyObjectsGroup, the head object of the group is used

Parameters

linkID	the id of the link for which the joint is to be created. The joint will be between the object in the link having the linkID id and the one with link id (linkID-1). If linkID is 0 the joint will be connected to the root object.
invertAxis	if true we inverted axis of the joint
doConnection	if true also connects the joint dof changedPosition signal to the KinematicLinkInfo setLinkAngle slot
connType	the signal-slot connection type
dof	the dof of the joint to use

Returns: the newly created joint

Definition at line 1370 of file phyicubhelpers.h.

Referenced by PhyiCub::PhyiCub().

const KinematicLinkInfo& getLinkInfo ( int i ) const

inline

Returns a reference to the information object for the i-th link.

Parameters

i	the id of the link whose information is requested

Returns: link information

Definition at line 1226 of file phyicubhelpers.h.

Referenced by PhyiCub::configurePosture(), and PhyiCub::PhyiCub().

KinematicLinkInfo& getLinkInfo ( int i )

inline

Returns a reference to the information object for the i-th link.

Parameters

i	the id of the link whose information is requested

Returns: link information

Definition at line 1238 of file phyicubhelpers.h.

WObject* getRootObject ( ) const

inline

Returns the world object corresponding to this link.

Returns: the world object corresponding to this link

Definition at line 1342 of file phyicubhelpers.h.

const wMatrix& getWorldMatrix ( ) const

inline

Returns the matrix to transform coordinates relative to the kinematic chain root frame to the world root frame.

See the description of KinematicLinkInfo::getWorldMatrix()

Returns: the matrix to transform coordinates relative to the kinematic chain root frame to the world root frame

Definition at line 1268 of file phyicubhelpers.h.

void setRootObject ( WObject * rootObject )

inline

Sets root object of the kinematic chain, to which the first link is connected.

This is only needed to set the child object in the joint of the first link

Parameters

wObject the root world object

Definition at line 1332 of file phyicubhelpers.h.

Referenced by PhyiCub::PhyiCub().

void setWorldMatrix ( const wMatrix * mtr )

inline

Sets the matrix to transform coordinates relative to the kinematic chain root frame to the world root frame for all link elements.

See the description of KinematicLinkInfo::setWorldMatrix()

Parameters

mtr	a pointer to the new world matrix (if NULL we use an identity matrix)

Definition at line 1252 of file phyicubhelpers.h.

Referenced by PhyiCub::PhyiCub().

void updateInformationFromiKin ( )

inline

Updates link information from iKin on all links.

This only updates the information about the link (top, bottom, height, axis), it doesn't touch the WObject matrix.

Definition at line 1279 of file phyicubhelpers.h.

Referenced by PhyiCub::PhyiCub().

void updateMatrixFromiKin	(	int	updateObjMatrixFromLink = `0`,
		int	updateObjMatrixUpToLink = `-1`
	)

inline

Updates link angles and the world object matrix.

This first updates all the links, then sets the angles for all links of the chain, and finally reads the new iKin matrix and sets objects matrixes from that

Parameters

updateObjMatrixFromLink	objects associated with links with an ID equal or greater than this will have their tranformation matrix updated, others don't.
updateObjMatrixUpToLink	objects associated with links with an ID equal or less than this will have their tranformation matrix updated, others don't. Negative values means up to the last link

Definition at line 1304 of file phyicubhelpers.h.

Referenced by PhyiCub::changedMatrix(), PhyiCub::configurePosture(), PhyiCub::postUpdate(), and PhyiCub::preUpdate().

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

worldsim/include/phyicubhelpers.h

WorldSim - 1.2.3

Public Types

Public Member Functions

Detailed Description

template<class iKinLimb_t> class farsa::KinematicLimb< iKinLimb_t >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<class iKinLimb_t>
class farsa::KinematicLimb< iKinLimb_t >