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Robotics Library
0.6.2
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27 #ifndef _RL_MDL_MODEL_H_
28 #define _RL_MDL_MODEL_H_
32 #include <boost/shared_ptr.hpp>
33 #include <boost/graph/adjacency_list.hpp>
62 bool areColliding(const ::std::size_t& i, const ::std::size_t& j)
const;
68 void getAccelerationUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >& units)
const;
74 ::std::size_t
getDof()
const;
100 const ::std::string&
getName()
const;
104 void getPositionUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >& units)
const;
108 void getTorqueUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >& units)
const;
112 void getSpeedUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >& units)
const;
116 void getVelocityUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >& units)
const;
157 typedef ::boost::adjacency_list<
160 ::boost::bidirectionalS,
163 ::boost::shared_ptr< Frame >
167 ::boost::shared_ptr< Transform >
169 ::boost::no_property,
173 typedef ::boost::graph_traits< Tree >::edge_descriptor
Edge;
187 typedef ::boost::graph_traits< Tree >::vertex_descriptor
Vertex;
223 #endif // _RL_MDL_MODEL_H_
::std::size_t getDofPosition() const
Definition: Model.cpp:156
::boost::graph_traits< Tree >::vertex_descriptor Vertex
Definition: Model.h:187
void getTorqueUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
Definition: Model.cpp:286
Model * clone() const
Definition: Model.cpp:105
void getVelocity(::rl::math::Vector &qd) const
Definition: Model.cpp:313
void setManufacturer(const ::std::string &manufacturer)
Definition: Model.cpp:388
::std::pair< InEdgeIterator, InEdgeIterator > InEdgeIteratorPair
Definition: Model.h:181
void getMaximum(::rl::math::Vector &max) const
Definition: Model.cpp:235
::std::vector< Edge > tools
Definition: Model.h:211
Joint * getJoint(const ::std::size_t &i) const
Definition: Model.cpp:177
::std::pair< EdgeIterator, EdgeIterator > EdgeIteratorPair
Definition: Model.h:177
void getMinimum(::rl::math::Vector &min) const
Definition: Model.cpp:244
::std::size_t getOperationalDof() const
Definition: Model.cpp:199
::boost::graph_traits< Tree >::edge_descriptor Edge
Definition: Model.h:173
virtual void update()
Definition: Model.cpp:449
::std::vector< Body * > bodies
Definition: Model.h:195
::std::size_t getDof() const
Definition: Model.cpp:143
::boost::graph_traits< Tree >::vertex_iterator VertexIterator
Definition: Model.h:189
void getSpeedUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
Definition: Model.cpp:304
void add(Compound *compound, const Frame *a, const Frame *b)
Definition: Model.cpp:58
Model()
Definition: Model.cpp:38
Vertex root
Definition: Model.h:209
bool isColliding(const ::std::size_t &i) const
Definition: Model.cpp:331
void setOperationalVelocity(const ::std::size_t &i, const ::rl::math::MotionVector &v) const
Definition: Model.cpp:400
void replace(Compound *compound, Transform *transform)
Definition: Model.cpp:339
const ::std::string & getName() const
Definition: Model.cpp:253
::std::vector< Vertex > leaves
Definition: Model.h:203
const ::rl::math::Transform & getFrame(const ::std::size_t &i) const
Definition: Model.cpp:169
::std::vector< Frame * > frames
Definition: Model.h:199
::std::vector< Transform * > transforms
Definition: Model.h:213
void getAcceleration(::rl::math::Vector &qdd) const
Definition: Model.cpp:111
void getSpeed(::rl::math::Vector &speed) const
Definition: Model.cpp:295
::std::string name
Definition: Model.h:207
const ::rl::math::MotionVector & getOperationalVelocity(const ::std::size_t &i) const
Definition: Model.cpp:221
Definition: Compound.h:42
::boost::graph_traits< Tree >::in_edge_iterator InEdgeIterator
Definition: Model.h:179
::rl::math::Transform & world()
Definition: Model.cpp:506
::rl::math::Transform & tool(const ::std::size_t &i=0)
Definition: Model.cpp:433
const ::rl::math::Transform & getOperationalPosition(const ::std::size_t &i) const
Definition: Model.cpp:213
::std::pair< VertexIterator, VertexIterator > VertexIteratorPair
Definition: Model.h:191
void getAccelerationUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
Definition: Model.cpp:120
spatial::ForceVector< Real > ForceVector
Definition: Spatial.h:53
Tree tree
Definition: Model.h:215
::boost::graph_traits< Tree >::edge_iterator EdgeIterator
Definition: Model.h:175
spatial::MotionVector< Real > MotionVector
Definition: Spatial.h:55
Body * getBody(const ::std::size_t &i) const
Definition: Model.cpp:135
::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::property< ::boost::vertex_color_t, Compound *, ::boost::shared_ptr< Frame > >, ::boost::property< ::boost::edge_weight_t, Compound *, ::boost::shared_ptr< Transform > >, ::boost::no_property, ::boost::listS > Tree
Definition: Model.h:171
const ::rl::math::MotionVector & getOperationalAcceleration(const ::std::size_t &i) const
Definition: Model.cpp:191
::std::size_t getJoints() const
Definition: Model.cpp:185
::std::string manufacturer
Definition: Model.h:205
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Definition: Transform.h:42
const ::rl::math::ForceVector & getOperationalForce(const ::std::size_t &i) const
Definition: Model.cpp:205
::std::vector< Joint * > joints
Definition: Model.h:201
void setName(const ::std::string &name)
Definition: Model.cpp:394
void setPosition(const ::rl::math::Vector &q)
Definition: Model.cpp:406
::std::vector< Element * > elements
Definition: Model.h:197
virtual ~Model()
Definition: Model.cpp:53
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
::std::pair< OutEdgeIterator, OutEdgeIterator > OutEdgeIteratorPair
Definition: Model.h:185
bool areColliding(const ::std::size_t &i, const ::std::size_t &j) const
Definition: Model.cpp:89
::boost::graph_traits< Tree >::out_edge_iterator OutEdgeIterator
Definition: Model.h:183
::std::size_t getBodies() const
Definition: Model.cpp:129
void getVelocityUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
Definition: Model.cpp:322
void setVelocity(const ::rl::math::Vector &qd)
Definition: Model.cpp:424
void getPosition(::rl::math::Vector &q) const
Definition: Model.cpp:259
void getPositionUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
Definition: Model.cpp:268
void setAcceleration(const ::rl::math::Vector &qdd)
Definition: Model.cpp:379
void getTorque(::rl::math::Vector &tau) const
Definition: Model.cpp:277
const ::std::string & getManufacturer() const
Definition: Model.cpp:229
void remove(Compound *compound)
Definition: Model.cpp:353
void setTorque(const ::rl::math::Vector &tau)
Definition: Model.cpp:415