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 Member Functions inherited from YarpObject
	YarpObject (World *world, QString name, const wMatrix &tm=wMatrix::identity())
	Create a YarpObject; The name is mandatory because it is used as root name for each devices of this object.

virtual	~YarpObject ()
	Destroy the YarpObject.

yarp::dev::PolyDriver *	polydriver (QString name)
	return the PolyDriver with the given name associated to it

Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
	create the object and automatically put this into the world

virtual	~WObject ()
	destroy the Object and drop it from the world

QColor	color () const
	return the color of this object

bool	isInvisible ()
	return if it is invisible

const wMatrix &	matrix () const
	return a reference to the transformation matrix

QString	name () const
	Return the name of this object.

void	setAlpha (int alpha)
	set the value of alpha channel (the transparency)

void	setColor (QColor c)
	Set the color to use on rendering.

void	setInvisible (bool b)
	set invisibility

void	setMatrix (const wMatrix &newm)
	set a new matrix

void	setPosition (const wVector &newpos)
	set the position specified in global coordinate frame

void	setPosition (real x, real y, real z)
	set the position specified in global coordinate frame

void	setTexture (QString textureName)
	Set the texture to use for this WObject when rendered.

void	setUseColorTextureOfOwner (bool b)
	set if the object will be rendered with the color and texture of our owner (if we have one)

QString	texture () const
	Return the texture name.

bool	useColorTextureOfOwner () const
	if true, we will use color and texture of our owner (if we have one)

World *	world ()
	Return the world.

const World *	world () const
	Return the world (const version)

Public Member Functions inherited from Ownable
	Ownable ()
	Constructor.

virtual	~Ownable ()
	Destructor.

const QList< Owned > &	owned () const
	Returns the list of objects owned by this one.

Ownable *	owner () const
	Returns the owner of this object.

void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object.

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

Protected Member Functions inherited from YarpObject
void	registerServerControlBoard (yarp::dev::DeviceDriver *device, QString devicename)
	Add a DeviceDriver to the map of controllers It automatically construct a ServerControlBoard, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.

void	registerServerFrameGrabber (yarp::dev::DeviceDriver *device, QString devicename)
	Add a DeviceDriver to the map of controllers It automatically construct a ServerFrameGrabber, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.

void	removeServerControlBoard (QString devicename)
	Remove, and close the serverControlBoard registered and opened by above call.

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

Additional Inherited Members
Protected Attributes inherited from WObject
QColor	colorv
	Color, it contains also alpha channel.

bool	invisible
	if TRUE it will not renderized

QString	namev
	Name of the WObject.

QString	texturev
	Texture name.

wMatrix	tm
	Trasformation matrix.

bool	usecolortextureofowner
	if true, we will use color and texture of our owner (if we have one).

World *	worldv
	World.

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 92 of file phyicub.h.

Member Enumeration Documentation

anonymous enum

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

Definition at line 97 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 1906 of file phyicub.cpp.

References YarpObject::removeServerControlBoard().

Member Function Documentation

void blockTorso0 ( bool b )

slot

block/unblock the movements of torso0

Definition at line 2615 of file phyicub.cpp.

void changedMatrix ( )

protectedvirtual

update the matrix of all sub-objects

Reimplemented from WObject.

Definition at line 2752 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 2118 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 195 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 1983 of file phyicub.cpp.

void enableCameras ( bool b )

slot

enable/disable simuation of eye cameras

Definition at line 2576 of file phyicub.cpp.

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

void enableHead ( bool b )

slot

enable/disable simulation of objects

Definition at line 2564 of file phyicub.cpp.

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

void enableLeftArm ( bool b )

slot

enable/disable simulation of objects

Definition at line 2591 of file phyicub.cpp.

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

void enableLeftArmCartesianController ( )

slot

create/destroy a cartesian controller server

Definition at line 2636 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 2625 of file phyicub.cpp.

void enableLeftLeg ( bool b )

slot

enable/disable simulation of objects

Definition at line 2509 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 2805 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 2603 of file phyicub.cpp.

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

void enableRightArmCartesianController ( )

slot

create/destroy a cartesian controller server

Definition at line 2696 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 2630 of file phyicub.cpp.

void enableRightLeg ( bool b )

slot

enable/disable simulation of objects

Definition at line 2521 of file phyicub.cpp.

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

void enableTorso ( bool b )

slot

enable/disable simulation of objects

Definition at line 2533 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 301 of file phyicub.h.

const QVector<PhyObject*>& headNeck ( )

inline

return the head-neck parts

Definition at line 190 of file phyicub.h.

MultiMotorController* headNeckController ( )

inline

return the MultiMotorController for acting on head-neck joints

Definition at line 263 of file phyicub.h.

const QVector<PhyJoint*>& headNeckJoints ( )

inline

return the head-neck joints

Definition at line 247 of file phyicub.h.

real highEyeLimitFromVersionAndVergenceLimits	(	real	versionHigh,
		real	vergenceHigh
	)

staticprotected

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

Definition at line 2858 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 148 of file phyicub.h.

const QVector<PhyObject*>& leftArm ( )

inline

return the left arm parts

Definition at line 180 of file phyicub.h.

yarp::dev::ICartesianControl* leftArmCartesianController ( )

inline

return the Cartesian Controller Interface for acting on Left Arm

Definition at line 275 of file phyicub.h.

MultiMotorController* leftArmController ( )

inline

return the MultiMotorController for acting on left arm joints

Definition at line 255 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 226 of file phyicub.h.

void leftEyeChangedDesiredPosition ( real wishpos )

protectedslot

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

Definition at line 3102 of file phyicub.cpp.

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

WorldSim - 1.2.3

Public Types

Public Slots

Public Member Functions

Public Attributes

Protected Slots

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation